diff --git a/README.md b/README.md index cf2905d5d8fa0c4931d502526e6d73d9e3e07b97..1f0dbf45e35e24b65332aaa119567793265c96cb 100644 --- a/README.md +++ b/README.md @@ -23,6 +23,7 @@ Both supervised runs were recorded on **2026-10-26 (Asia/Singapore)** toward ref |---|---|---:|---:|---| | **20261026_goal1012_02** | Measured-depth checks reject all local graph attachments during a head survey | 680 | 380 | [Evidence, download and replay](cases/20261026_goal1012_02/README.md) | | **20261026_goal1012_03** | Transient false BEV occupancy triggers the added path guard; a separate braking handoff bug stops the survey | 500 | 240 | [Evidence, download and replay](cases/20261026_goal1012_03/README.md) | +| **20261026_goal1012_05** | False forward-left occupancy despite survey floor evidence; historical-reference lifting ablation; complete head survey followed by a separate depth-attachment stop | 749 | 376 | [Evidence, download and replay](cases/20261026_goal1012_05/README.md) | Each case is self-contained, including original RGB/depth, odometry and image-time transforms, exact VGGT input tensors and numeric outputs, BEV replay, planner evidence, the reference map, recorded @@ -52,10 +53,19 @@ cases/ reports/ tools/ post_run_fixes/ # later changes, explicitly separate from recorded source + 20261026_goal1012_05/ + README.md + archives/ + code/ + environment/ + manifest.json + previews/ + reports/ + tools/ ``` Archives always belong to their containing case. Archive/member SHA-256 hashes and extraction paths -are in each case's `manifest.json`. Case 03 also includes a file-level `SHA256SUMS`. +are in each case's `manifest.json`. Cases 03 and 05 also include file-level `SHA256SUMS`. The cases include identical reference-map/source archives so either can be downloaded independently. Pretrained model weights are referenced by repository/revision/hash in the case provenance. @@ -64,7 +74,7 @@ Pretrained model weights are referenced by repository/revision/hash in the case ```python from huggingface_hub import snapshot_download -case_id = "20261026_goal1012_03" # or "20261026_goal1012_02" +case_id = "20261026_goal1012_05" # or "20261026_goal1012_02" / "20261026_goal1012_03" snapshot_download( repo_id="jizhuochen/CROSS_nav_debug", repo_type="dataset", @@ -76,12 +86,13 @@ snapshot_download( Change into the downloaded case folder, then run its verifier/unpacker: ```bash -cd CROSS_nav_debug/cases/20261026_goal1012_03 +cd CROSS_nav_debug/cases/20261026_goal1012_05 python tools/unpack.py --output extracted ``` Case 02 needs approximately **3.5 GB** for download plus **3.5 GB** for extraction; case 03 needs -approximately **2.3 GB** for each. Replay and saved-output inspection need no robot or GPU. +approximately **2.3 GB** for each; case 05 needs approximately **3.6 GB** to download and **3.7 GB** to extract. +Replay and saved-output inspection need no robot or GPU. ## Layout migration diff --git a/cases/20261026_goal1012_05/README.md b/cases/20261026_goal1012_05/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0e344c842446c1e55a448c3cda03b09b955eaaf5 --- /dev/null +++ b/cases/20261026_goal1012_05/README.md @@ -0,0 +1,174 @@ +# Case 20261026_goal1012_05: false forward-left occupancy driven by historical reference lifting + +Supervised Stretch run on **2026-10-26, Asia/Singapore**, toward reference-map keyframe **1012**. +Reference mapping sequence: Record3D `2026-10-22--15-48-58`. + +## Finding + +The final displayed BEV contains a false obstacle in the nearby forward-left patch. At capture +frame **747**, selected cells A and B lie on floor seen during the robot's head survey, but receive +high occupancy after the camera returns to its driving view. A controlled offline ablation shows +that explicitly lifting the historical phone references into the BEV head strongly contributes. + +![Current RGB, survey floor evidence, BEV and native map memory](reports/bev_diagnosis/region_analysis.png) + +| Evidence | Cell A | Cell B | +|---|---:|---:| +| BEV row, column | 190, 190 | 189, 189 | +| Forward / left from robot base | 0.475 / 0.475 m | 0.525 / 0.525 m | +| Current occupancy | **0.883898** | **0.947792** | +| Current predicted observability | 0.733810 | 0.640831 | +| Raw head occupancy at the corresponding position | 0.883943 | 0.947565 | +| Separate native accumulated occupancy | 0.511303 | 0.592291 | +| Survey frames with nearby floor returns and no elevated returns in the projected patch | **22** | **21** | +| Latest floor frame | 639 | 638 | +| Latest floor height range over base origin | −31.4 to −20.8 mm | −31.1 to −14.0 mm | +| Latest floor depth pixels / nearby returns | 49 / 49 | 49 / 49 | + +Cell A was predicted only **0.017629 occupied** at frame 634 during the floor survey; it rises to +0.883898 in frame 747 at the same odometry-world location. Its latest direct floor observation was +**27.06 s** earlier; cell B's was 27.33 s earlier. The current ground projections are outside the +camera image: A is approximately `(−92, 976)` in the 480 × 640 image. Positive historical depth rays +also indicate free space at sampled column heights from **0.12 through 1.32 m for A**, and through +**1.20 m for B**, without matching surface returns at those samples. These are discrete historical +measurements, not continuous clearance certificates or a claim that all furniture farther left is absent. + +The saved camera-to-base reprojection reproduces with **zero maximum absolute difference**. +The high value is present in the raw learned head output. The web viewer shows this current +reprojected BEV; it does not render a cached phone-mapping occupancy grid. Native planner map +memory is separate and retains lower occupancy at these cells, below its 0.6 blocking threshold. + +## Historical-reference ablation + +The actual input group contains the current robot RGB and six phone references: +**799, 798, 800, 797, 803, 527**. Recent robot floor-survey frames are not members of this group. + +![Exact input-view group for frame 747](previews/00000747/input_views.jpg) + +The offline experiment recomputes transformer features once from those exact seven tensors, +retains the **recorded depth, confidence, camera-pose encoding, metric scale, gravity and TF**, +then changes only which views the BEV head explicitly lifts/uses: + +| BEV-head mask | Occupancy at A | Observability at A | +|---|---:|---:| +| All seven recorded views | **0.884494** | 0.734061 | +| Current robot view only; all phone lifting disabled | **0.045817** | 0.015535 | +| Drop one phone reference at a time | 0.872603–0.891582 | See detailed report | + +This is strong evidence that historical reference lifting collectively drives the false patch. +No single reference's removal fixes it. The current-only result also reports that the cell is +unobserved; its low occupancy is **not** permission to drive through unseen space. + +All seven images remain in the transformer context in this experiment. The result does not isolate +pure geometric lifting from other head use of those reference views, identify one historical +chair/person, prove the scene's exact change since mapping, or remove every learned +appearance prior. Original intermediate transformer tokens were not archived, so feature recomputation +is near but not bit-identical: the baseline occupancy differs from the recording by 0.000596 at A, +with maximum 0.005352 across the raw occupancy grid. Repeated baseline maximum base-grid difference +is 0.001892, much smaller than the 0.838676 ablation effect at A. Numeric results and grids are under +`reports/bev_diagnosis/reference_ablation/`. + +An earlier exploratory rerun using recomputed geometry is retained there with a +`recomputed_geometry_` prefix. The primary report uses the exact recorded geometry described above. +All ablations are explicitly **offline counterfactuals**, separate from original `vggt_debug` outputs. +Runtime thresholds, model predictions and navigation policy were not changed by this investigation. + +## Run outcome and separate final stop + +The robot travelled **5.10 m in 100.91 s**, completing all six survey views in **39.06 s** with zero +head-action cancellations, 534 renewals from fresh robot feedback, and zero nonzero base requests +during the survey. This run used the installed timing fix; it is part of the recorded adapter source. + +After resuming briefly, it stopped with `no global route; navigation ended`, still localized and +**13.78 m** camera-XY distance from the goal. The adapter's measured-depth attachment veto rejected +all nearby graph connections. Rechecking final frame 747 with the retained obstacle memory saved at +frame 742 finds **ten points in the 20–23 cm rear band of the starting footprint**, outside the 20 cm +self mask but inside the 23 cm collision rectangle. That memory alone rejects all **13** nearby +permanent keyframe candidates at path fraction zero. Their physical/noise/self-observation origin +has not been established. This final stop is separate from the selected false learned-occupancy cells. + +Relay exit was verified with code 0, streaming head control was restored, and a four-second TF audit +found less than 0.015 mm base translation. This case documents a successful survey and subsequent +failure, not arrival at keyframe 1012. + +## Contents and download + +- **749** original RGB/depth pairs, image-time intrinsics, odometry, camera/base TF and head joints. +- **376** actual VGGT passes, **497** unique exact lossless input tensors, **2,633** view references. +- **377** debug frame manifests, including one processing frame without a model pass; no outputs fabricated. +- **376** original occupancy/observability/uncertainty replay sets, raw head and consumed BEV arrays. +- Native planner accumulators, routes, footprint evidence, commands, timing, robot state and shutdown audit. +- Complete reference map and final native query map, with their lossless image/descriptor stores. +- Frozen native CROSS and actual pre-run adapter source; offline analysis and ablation tools. +- Numeric diagnosis, annotated figure, CSV timeline and independently labeled counterfactual grids. + +```python +from huggingface_hub import snapshot_download + +snapshot_download( + repo_id="jizhuochen/CROSS_nav_debug", + repo_type="dataset", + allow_patterns="cases/20261026_goal1012_05/**", + local_dir="CROSS_nav_debug", +) +``` + +```bash +cd CROSS_nav_debug/cases/20261026_goal1012_05 +python tools/unpack.py --output extracted +``` + +The nine archives total **3.61 GB**. Allow approximately another 3.7 GB for extraction. +Each case has independent reference-map/source archives. `manifest.json` verifies archive and member +SHA-256 hashes; `SHA256SUMS` covers the published case files. + +## Repeat the diagnosis or inspect the run + +Use a Python environment with NumPy, OpenCV and Matplotlib for the diagnosis. Replay and input +inspection need NumPy/OpenCV. They require no robot or GPU. Recorded package versions are provenance, +not a portable environment installer. + +```bash +python tools/diagnose_bev_region.py \ + --run extracted/runs/stretch_cross_nav_live_20261026_goal1012_05 \ + --frame 747 --output repeated_region_diagnosis + +python code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py \ + --debug extracted/runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug \ + --frame 747 --output inspection_747 + +python code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py \ + --run extracted/runs/stretch_cross_nav_live_20261026_goal1012_05 --port 8088 +``` + +Open and select **Replay recording**. The saved-run viewer cannot arm motion. + +The separately recorded attachment condition can be checked without a model: + +```bash +python tools/analyze_attachment.py --extracted extracted --frame 747 --evidence-frame 742 +``` + +Repeating the GPU ablation additionally requires the native CROSS environment and the documented +pretrained backbone/navigation heads under the chosen CROSS checkout's `models/VGGT-Omega-CROSS/`: + +```bash +python tools/ablate_bev_references.py \ + --run extracted/runs/stretch_cross_nav_live_20261026_goal1012_05 \ + --cross-root /path/to/CROSS --adapter-root code/lite3_ROS \ + --frame 747 --output repeated_reference_ablation +``` + +The original numeric ablation results can be inspected without loading a model. + +## Provenance + +Native CROSS revision: `4781371e6f4db4241be0a0df7c238436680ee268`, unchanged for this investigation. +Checkpoint repository/revision/hashes are in `reports/vggt_provenance.json`; weights from +[Jamie-nus/VGGT-Omega-CROSS](https://huggingface.co/Jamie-nus/VGGT-Omega-CROSS) are not duplicated. + +RGB/depth, model arrays and native stores are byte-identical to the recording. Sharing copies of +text have credentials, private network addresses and local absolute paths removed or made portable. +Three checkpoint paths in query-map metadata were made portable; all 50 numerical arrays were +verified unchanged. Recorded source is distinguished from later offline analysis. No new recording +license is asserted; source retains its included upstream licenses. diff --git a/cases/20261026_goal1012_05/SHA256SUMS b/cases/20261026_goal1012_05/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..9c9224b562e9d7945b9472b0785eeb60031a8e3f --- /dev/null +++ b/cases/20261026_goal1012_05/SHA256SUMS @@ -0,0 +1,101 @@ +5601d10711cb431a43ccb8075170175d09a3dae4715c223aedcc2d36b1523b2d README.md +c3dd418506684ae4b05b49daeeb6456509d1542621911e0029fa6c420d75c64b archives/CROSS_source.tar.gz +4a6dec652cc53d8db40188df5d72870d974e17ff282f42ee96bd5ea205e691b4 archives/capture.tar +3876fa21325aea0a41dba3f647a8645815ed9f431c3e3e399e8a3f3d47768200 archives/reference_map.tar +71ab36b2cf266ea5054737b3dddf94b17fe4b2a16651173dc62d7ba752dc1049 archives/run_core.tar.gz +dfe5cbec1b39558d5ce92503447663b744944da8bd4994ec0d1cb7908a371c84 archives/vggt_frames_000.tar +74a02595997103e82261b734e8afa42a7b4693f8cd1caec407c3534988ce7d76 archives/vggt_frames_001.tar +94113852d76817332b7bea586fead14ee6b229c438dc8c87c31e658d786ab114 archives/vggt_frames_002.tar +7802f06f457281e0153170f2f8614c2a940dfc886bf6aa2a5b8eed614e458550 archives/vggt_metadata.tar.gz +935373a868f7cba2a3325fde2d1eb61f69325a55763873021c2253fb535d0ff1 archives/vggt_views.tar +49a6e137748b934e2f78b15cf74704fd8fdcb26107c5d210d783648287345750 code/lite3_ROS/LICENSE +7e861070432a0da598c7e4974397c162df0582df0c94da41dd6e09efc7efcf27 code/lite3_ROS/scripts/capture_stretch_cross.py +4cad1fbc6612c000da3be953ad8ef3cabf62e6eb09ebf615d17fafe5a0167768 code/lite3_ROS/scripts/diagnose_stretch_bev_blockage.py +fd63aaa56167b49042caa4fb0d432b68edd5ef8ffe91929192b86b33ff2c33a4 code/lite3_ROS/scripts/diagnose_stretch_bev_region.py +5445e49f09b7891d3ecf962aba966bf748dd50cba931df0382e1d416db1f04f3 code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py +b6efe176c7cc9b0cda4fb62d9e308338e01c24cd0ceb0b9c852ea4b0734e56ec code/lite3_ROS/scripts/live_stretch_cross_nav.py +1290eafa6369623d9d36fcbd7c240b92dbee54efbd9372b1fc64732a2fa9b90e code/lite3_ROS/scripts/monitor_stretch_transport.py +17ebc68ab1e30bc0601d1eb2f212e449dd3036d4a0dce7d48662431693ef4967 code/lite3_ROS/scripts/replay_stretch_cross_nav.py +7b9b7ac8ebdcb8884808a4cf34b4ef0fdf5ee2b042f0ffd81fca16d4e4fefbb9 code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py +23cd5d206ea6e42850dc750d6712ff305b9896d9c09d0924e3c86a1131690c90 code/lite3_ROS/tests/test_stretch_capture_format.py +7a3c08f8a2032d7fe367b49e7b97fcd6d564ad80991e608675fcc336b01017e3 code/lite3_ROS/tests/test_stretch_nav_control.py +235a2d70fa9a747de21c4478f5676d43211c1451188e83829c085432a5d11310 code/lite3_ROS/tests/test_stretch_nav_geometry.py +bee61e6ce0677ffda2efa836dc14c44ffb0a0adbf4b10b0841de43e73569f6c9 code/lite3_ROS/tests/test_stretch_nav_handoff.py +b15144072cf25d495fc432d9b0f22abfe40996cf07e0be5e8e47beef0026055b code/lite3_ROS/tests/test_stretch_nav_learned.py +9ddca6a3f18124eec96edee4558fa568ed7a583c1a6dc20dc709987e9a8d76ce code/lite3_ROS/tests/test_stretch_nav_recovery.py +b18a7a46290b231b23c611ea34f22c2d542846d4d9e1dd9185086744a81608a9 code/lite3_ROS/tests/test_stretch_nav_replay.py +f706d7715b2dec1f755997c5c98d1c7d0f93475da23ba026c91b7c080b36138b code/lite3_ROS/tests/test_stretch_nav_routing.py +0373c6ca335999d054caeaf1099c24d42a56e97f0e4b7b098a6bf9368b6a163d code/lite3_ROS/tests/test_stretch_nav_survey.py +a37f95cbb179efb7e72d0f29fe49a06a2e53c48ae7b3d6e686c4b68e59a816d7 code/lite3_ROS/tests/test_stretch_transport.py +3581f52fa7653cbfdb852f07654dcc5f0f0395133c9d3a81d789a7d3f7f57fda code/lite3_ROS/tests/test_stretch_vggt_debug.py +e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855 code/lite3_ROS/web_console/__init__.py +96cbcccde95c2b6da8d4cc9cc237ecbdff6604218e59845e92429df9e38ba43b code/lite3_ROS/web_console/cross_run.py +522597d97ddbf997e7f80246a6c6ea17e11e66435db1669a4ac9fddf8b9b2be2 code/lite3_ROS/web_console/static/cross_nav.css +7837119d23b87b5776017dfc86f8aa121327ab4611c15ee409e7866425e325e3 code/lite3_ROS/web_console/static/cross_nav_live.html +d8daea837482d5ea105e4e5e21dc483d4343401568fefbad6f6536ec015422db code/lite3_ROS/web_console/static/cross_nav_live.js +3b6e15d45dbb7fca5bd2094291e961ddc5472cd887009e6009a56dab668d721f code/lite3_ROS/web_console/static/vendor/plotly.min.js +09b48f8e6b31d2ab018f12f359ce4db23b35c9d53cd065d6fadfbac55544cb93 code/lite3_ROS/web_console/stretch_nav_control.py +670f0d2a352f836915a0dd8af22ba3f9268fad8fba0ff16c375f76dd759018c0 code/lite3_ROS/web_console/stretch_nav_footprint.py +0851f120f415788483d6ef52c4bdb8afd14d9651a1ad4acb87ae19489dd1b3ad code/lite3_ROS/web_console/stretch_nav_geometry.py +75facca8ee2cbf17055298bc44301fd9c6c6313e133e7c6a5bedc36ab667710c code/lite3_ROS/web_console/stretch_nav_learned.py +189a52c4987f9fd042253ba263b9cd6bcb24a4c79badc46aa43a0cba902d215e code/lite3_ROS/web_console/stretch_nav_recovery.py +8a8b4c95878343eae73605474aa818cb7e283b13c3155b2d2492ddf1c5832570 code/lite3_ROS/web_console/stretch_nav_replay.py +15318ba6d6e7b574c0ba50d49db1ebdbd03c44ff0c0f5e33ff3fb69462d3c4fc code/lite3_ROS/web_console/stretch_nav_report.py +6725df9d6b83a9bbaf6d7f93d30d0ff16988d5317f6fba1fa958aca720d63e9c code/lite3_ROS/web_console/stretch_nav_survey.py +8fdacb65956c47aff77d8f6a19a72960c117a7d89c7a6429f4cf7288dd2b272b code/lite3_ROS/web_console/stretch_nav_viewer.py +dde3814d364392aab6078402199a743b9653cb3b90ebfb5bd2932463930379a2 code/lite3_ROS/web_console/stretch_transport.py +c9372443e127bbce7e6b7a0a920607c4115cdfa4b3ba0eb98cd1f9a8d282e16b code/lite3_ROS/web_console/stretch_vggt_debug.py +980c4c38bfef6167490f632ac7f39438bc32b14e00d3ad95147f862066ac496a code/stretch_ai/LICENSE +741574f7529734e5492a50ccd51e190a975f67f864fe8ec92c66063d9ed77fcb code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py +3838bb9e7bab6f71b1e10bc2f24c10f614f671897fbfdf1d5545db1ba952184b code/stretch_ai/scripts/depth_nav_control.py +ea99cdb412cc962f5e1cf72ed0dd255eb177024f1a7169349af5b78746386815 code/stretch_ai/scripts/depth_nav_debug.py +c3ead5fbff583e23f5c0ef26afe123e8137c870dc1250b96ea309f453b753e46 code/stretch_ai/scripts/depth_nav_footprint.py +9ad308cb8123eb819747136140dacd1e1a7571604412c764080935d71aa4fcc5 code/stretch_ai/scripts/depth_nav_live.py +b4634c91e7113318e2322782e3070c018d59971b8cadc89f56b3933c14f3bb58 code/stretch_ai/scripts/depth_nav_memory.py +c90128690eb85ddf883dcd48ab61980e8a2799c57368521925325daec3bdf44d code/stretch_ai/scripts/depth_nav_robot_relay.py +86a32af7fe5b740fd56a146571e3ae80fd99674c101f4c8143b13ff3e701d3ae code/stretch_ai/scripts/depth_nav_trajectories.py +03f7f193be8bbae5b03508a1d05f11d58ee2344bbf4ac3d59a945b8f2edaf19b code/stretch_ai/scripts/depth_only_path_planner.py +221d420a595a2ab6d6561b25d60d342867d02a0dcf0f16927fd898bc5c5578af code/stretch_ai/scripts/lingbot_depth_eval.py +a80afef0149ff5e7f3ceeece04c71db212aaee1403e531aaf695ee616120feb9 code/stretch_ai/scripts/lingbot_depth_geometry.py +55787d89d8da689b57e10a47477b93e2ae75d29a5c0feee03816845af5e9cb99 code/stretch_ai/scripts/lingbot_depth_model.py +7e362f18cbe8b27f6bd8a2cc6c6a858ef9adab9328ff29a12a7de8efb125eaf6 code/stretch_ai/scripts/lingbot_depth_sequence.py +690816adfed07da9aafb39f55a71c49b5e89998e9905a33904884cb2b3e8b91c code/stretch_ai/scripts/lingbot_voxel_map.py +032592ce282329eb7537a355fe096ccc3ab8eb6108ea932f62cffc252f38ddd1 environment/gpu.txt +6a6229b3e2ca8ea0b17a5d0d3346baa3fba732cf56322b1bf14527a87705cea9 environment/map_metadata_sanitization.json +9f6cf1a536b4287a65458ae087b1a4531d2fec1a73eda5b27908189ec596fb59 environment/package_validation.json +a1a25eb20977a72f4ac346c77a936fa5d46e5701b53968db49b73185f3675b29 environment/pip_freeze.txt +372e5c3211d1d89eb2b2a8cb859318de6f15220cf698d3b66cfbcd51827a028f environment/provenance.json +6b88f85ba6878da27c2344e063fff4fda22d98ba3482a5680a540320be993c8d environment/source_provenance.json +bf08abe65e2a3dd0ab87d648daca029b6fccbe5921f319f6811ffafbf9d19447 manifest.json +2ef9102f39e71e009e5e2d520714be27838b4f02392a13527e6a5a1072fd4fab previews/00000747/bev_stages.png +6b471e1c4e4d0b061f6feae099fed888b19c9d9bd124a5efbe7ab3d10b7e0064 previews/00000747/input_views.jpg +2d3bb50b275181d8101909e4782acd113d985cb16dd3e7691ad7e44500f9174b previews/00000747/manifest.json +d3261dd3e93363573304889605cbd81c3f8ad0df69522e072be1da16fd423991 previews/00000747/predicted_depth.jpg +3f2a22d9a811a371467f067ad42dea9306d6ca33675113059376f44fe61044b6 previews/rgb_00000574.jpg +5021b57d94747c3ec68a92c890c500d8dbafa8f84302f64764692d10a42ff2d8 previews/rgb_00000627.jpg +41a119b9f73e899178e9df291ee0f3e1274722b4d963f890bbca7de62bcf5b04 previews/rgb_00000708.jpg +a5b189f15f22cff8c02a535dfb511e50a8eed7855fe3e14fc828838854514fc6 previews/rgb_00000730.jpg +68ac018c1520de6c0fe59c3bad2ffadf0217bb5fc9d26021113ee5cbcf3c2c44 previews/rgb_00000747.jpg +6dbd717673bc85f4e84074189ef6d846408cc22a18e5697b79bd94f820ba486b reports/attachment_recheck_747.json +3e0c997ce1afd2c23dbb8a3b6ebed2ca2e4b6cb51a2cf15104c8c50fc4a2bf3e reports/bev_diagnosis/bev_overview.jpg +3f3584df7eb8358abb2d9f1feb74d29c105c8346f445f94052f030bcbe5e88b4 reports/bev_diagnosis/diagnosis_stdout.log +f51bcd30505943678f2eef7bb4d92c2acfa9aefae2fde248da86faa984751709 reports/bev_diagnosis/occupancy_timeline.csv +de1bfa68797606388c854795452d2b004c4f970e260354b56810ceb8c1eaabd8 reports/bev_diagnosis/reference_ablation/head_mask_outputs.npz +d27c74eb80db253e3f082a45058b5d182e7c7cfb30e8b2a314e7e1b443bb12b7 reports/bev_diagnosis/reference_ablation/recomputed_geometry_head_mask_outputs.npz +c6abf6652889ea316411366df32c95e91d0ea68772703e1df3cdef78d1f7a0fa reports/bev_diagnosis/reference_ablation/recomputed_geometry_report.json +23e18837a11c22d98dfe529438a0bb9bea8eb5052cb801dc57fb340b8c767b5b reports/bev_diagnosis/reference_ablation/report.json +7dba4803fb68eaf6c2cc21231de967e33e4ed8505647b2b0fda30c8b6e2c53f5 reports/bev_diagnosis/region_analysis.png +e5426064c3618af3de6f3d8cddd174d4d526a6ebf3e54b40e6be953376d70075 reports/bev_diagnosis/region_report.json +8bd3efb512db0cb0af79ebf9e8583b35ba204b949a123ea32d26e39fbb5da2a0 reports/events.jsonl +4f94c9d7f5056a057f7135cddc487cbd1dd6dbfe4b9872aa270c39aef2b3b31e reports/observations.jsonl +9c0aa8c80abcd19fecd7e1c7ebd5625589ca31a3485c579e561d70715b43f782 reports/recording_validation.json +7cda24b9b0b0ea413c7b12ad463be3422893613465c2503eb35ec9f7669fcdda reports/resolved_bev_config.json +c12cf47ad229e57334cfc09b40364a87ef611c404c512b4274c9c37e70dce691 reports/robot_relay_close.json +57839abd8587ec641810a9f1d0469bc1554c93ae11cdd4ddfa709a5d0b432390 reports/stop_audit.json +9afea9b7e214f61f538af275594537d96f5e854642c09d0ed976666e3a030555 reports/summary.json +f5348a69f87ff8631d510307e93b44473bba5cccd81b967454606a337630268f reports/vggt_index.jsonl +e699148a36a85eb93762475186cc20486fbca3f519469d86c31a3753ea3b9235 reports/vggt_provenance.json +78fe2343a74e73794e9123bf016549a96c87ac4545e08c328ebdb0cdf699c9b4 tools/ablate_bev_references.py +bc28cc2c49952142cb68ed5daf6b94e52c75c3dafaecdf3728016823f6bbce1f tools/analyze_attachment.py +fd63aaa56167b49042caa4fb0d432b68edd5ef8ffe91929192b86b33ff2c33a4 tools/diagnose_bev_region.py +a6ce163de4ef4f52ded94f91f2aa5b64385ceebacd2bb5fb16dba950017f3b8d tools/unpack.py diff --git a/cases/20261026_goal1012_05/archives/CROSS_source.tar.gz b/cases/20261026_goal1012_05/archives/CROSS_source.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..7841243232c633a73589b77f2a4388ca5534cfc1 --- /dev/null +++ b/cases/20261026_goal1012_05/archives/CROSS_source.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3dd418506684ae4b05b49daeeb6456509d1542621911e0029fa6c420d75c64b +size 28251800 diff --git a/cases/20261026_goal1012_05/archives/capture.tar b/cases/20261026_goal1012_05/archives/capture.tar new file mode 100644 index 0000000000000000000000000000000000000000..5d1ef52439f8bbbb5462d0bd4a6fa36d64a51446 --- /dev/null +++ b/cases/20261026_goal1012_05/archives/capture.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a6dec652cc53d8db40188df5d72870d974e17ff282f42ee96bd5ea205e691b4 +size 124999680 diff --git a/cases/20261026_goal1012_05/archives/reference_map.tar b/cases/20261026_goal1012_05/archives/reference_map.tar new file mode 100644 index 0000000000000000000000000000000000000000..9046bac097591004bde78ab56c251f66ba8c42ea --- /dev/null +++ b/cases/20261026_goal1012_05/archives/reference_map.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3876fa21325aea0a41dba3f647a8645815ed9f431c3e3e399e8a3f3d47768200 +size 208558080 diff --git a/cases/20261026_goal1012_05/archives/run_core.tar.gz b/cases/20261026_goal1012_05/archives/run_core.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..d6a7432f1ef6cf886e291d7c36725fc99ff9578e --- /dev/null +++ b/cases/20261026_goal1012_05/archives/run_core.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71ab36b2cf266ea5054737b3dddf94b17fe4b2a16651173dc62d7ba752dc1049 +size 367815430 diff --git a/cases/20261026_goal1012_05/archives/vggt_frames_000.tar b/cases/20261026_goal1012_05/archives/vggt_frames_000.tar new file mode 100644 index 0000000000000000000000000000000000000000..e3417d3ba0cf0ff29072acb16f4952134340eaff --- /dev/null +++ b/cases/20261026_goal1012_05/archives/vggt_frames_000.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfe5cbec1b39558d5ce92503447663b744944da8bd4994ec0d1cb7908a371c84 +size 733143040 diff --git a/cases/20261026_goal1012_05/archives/vggt_frames_001.tar b/cases/20261026_goal1012_05/archives/vggt_frames_001.tar new file mode 100644 index 0000000000000000000000000000000000000000..a330ce9bb6459eeca86518a96d8b0cb319426172 --- /dev/null +++ b/cases/20261026_goal1012_05/archives/vggt_frames_001.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74a02595997103e82261b734e8afa42a7b4693f8cd1caec407c3534988ce7d76 +size 729374720 diff --git a/cases/20261026_goal1012_05/archives/vggt_frames_002.tar b/cases/20261026_goal1012_05/archives/vggt_frames_002.tar new file mode 100644 index 0000000000000000000000000000000000000000..793cb8ba13e2bc504113c5340a9a266f61a8f45c --- /dev/null +++ b/cases/20261026_goal1012_05/archives/vggt_frames_002.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94113852d76817332b7bea586fead14ee6b229c438dc8c87c31e658d786ab114 +size 597340160 diff --git a/cases/20261026_goal1012_05/archives/vggt_metadata.tar.gz b/cases/20261026_goal1012_05/archives/vggt_metadata.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..1e4d20d17cf0d4d7fc8b59feea70190729291b70 --- /dev/null +++ b/cases/20261026_goal1012_05/archives/vggt_metadata.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7802f06f457281e0153170f2f8614c2a940dfc886bf6aa2a5b8eed614e458550 +size 9396 diff --git a/cases/20261026_goal1012_05/archives/vggt_views.tar b/cases/20261026_goal1012_05/archives/vggt_views.tar new file mode 100644 index 0000000000000000000000000000000000000000..504a22059301d444987cc7d7d8bf67545d046146 --- /dev/null +++ b/cases/20261026_goal1012_05/archives/vggt_views.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:935373a868f7cba2a3325fde2d1eb61f69325a55763873021c2253fb535d0ff1 +size 819107840 diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/LICENSE b/cases/20261026_goal1012_05/code/lite3_ROS/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..f3bf2e7c012800aa667e564f800b27ee45ca40ee --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 DeepRoboticsLab + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/capture_stretch_cross.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/capture_stretch_cross.py new file mode 100644 index 0000000000000000000000000000000000000000..ebf27014a8d24f7db7af9ff24141f47f0b9f5a9f --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/capture_stretch_cross.py @@ -0,0 +1,131 @@ +#!/usr/bin/env python3 +"""Record timestamped Stretch observations through an unarmed temporary relay. + +Only SUB sockets are opened on the PC. No arm, mode, joint or velocity requests are sent. +Place a STOP file in the output directory or use Ctrl+C to finish and close our relay. +""" +import argparse +import json +from pathlib import Path +import signal +import sys +import time +from types import SimpleNamespace + +import numpy as np + + +def json_value(value): + if isinstance(value, np.ndarray): + return value.tolist() + if isinstance(value, np.generic): + return value.item() + raise TypeError(f'Cannot serialize {type(value).__name__}') + + +def atomic_json(path, data): + temporary = path.with_suffix('.json.tmp') + temporary.write_text(json.dumps(data, indent=2, allow_nan=False, default=json_value) + '\n') + temporary.replace(path) + + +def main(): + import zmq + + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--robot-ip', default='192.0.2.2') + parser.add_argument('--stretch-root', type=Path, default=Path('/workspace/stretch_ai')) + parser.add_argument('--output', type=Path, required=True) + parser.add_argument('--fps', type=float, default=4.) + args = parser.parse_args() + output = args.output.resolve() + output.mkdir(parents=True, exist_ok=False) + for name in ('rgb', 'depth'): + (output / name).mkdir() + sys.path.insert(0, str(args.stretch_root / 'scripts')) + from depth_nav_live import RobotRelayProcess + + options = SimpleNamespace(robot_ip=args.robot_ip, ssh_user='hello-robot', container=None, + world_frame='odom', plan_hz=args.fps, + relay_max_frame_age=.8, command_ttl=.3) + relay = RobotRelayProcess(options, output) + context = zmq.Context() + observations = context.socket(zmq.SUB) + observations.setsockopt(zmq.SUBSCRIBE, b'') + observations.setsockopt(zmq.CONFLATE, 1) + observations.setsockopt(zmq.LINGER, 0) + observations.connect(f'tcp://{args.robot_ip}:4511') + states = context.socket(zmq.SUB) + states.setsockopt(zmq.SUBSCRIBE, b'') + states.setsockopt(zmq.CONFLATE, 1) + states.setsockopt(zmq.LINGER, 0) + states.connect(f'tcp://{args.robot_ip}:4513') + stopped = False + + def stop(*_): + nonlocal stopped + stopped = True + + signal.signal(signal.SIGTERM, stop) + signal.signal(signal.SIGINT, stop) + state = {'status': 'starting', 'frames': 0, 'world_frame': 'odom', + 'robot_ip': args.robot_ip, 'robot_commands_sent': 0, 'armed': False} + started, last_frame, first_stamp = time.monotonic(), -1, None + error = None + atomic_json(output / 'capture.json', state) + try: + relay.start() + state.update(status='recording', relay_directory=relay.directory, container=relay.container) + with (output / 'observations.jsonl').open('w', buffering=1) as log: + while not stopped and not (output / 'STOP').exists(): + if relay.process is not None and relay.process.poll() is not None: + raise RuntimeError('Our temporary observation relay exited; inspect robot_relay.log') + if states.poll(0): + robot = states.recv_pyobj() + if robot.get('armed'): + raise RuntimeError('Relay unexpectedly armed; passive capture aborted') + state['robot_status'] = {key: robot.get(key) for key in + ('healthy', 'armed', 'reason', 'capture_error', 'base_pose', 'sensor_age')} + if not observations.poll(250): + state['elapsed_s'] = time.monotonic() - started + atomic_json(output / 'capture.json', state) + continue + packet = observations.recv_pyobj() + if packet['frame_id'] <= last_frame: + continue + if packet['world_frame'] != 'odom': + raise ValueError('Capture requires continuous odom TF') + last_frame = packet['frame_id'] + index = state['frames'] + stem = f'{index:08d}' + (output / 'rgb' / f'{stem}.jpg').write_bytes(np.asarray(packet['rgb_jpg'], np.uint8).tobytes()) + (output / 'depth' / f'{stem}.png').write_bytes(np.asarray(packet['depth_png'], np.uint8).tobytes()) + row = {key: value.tolist() if isinstance(value, np.ndarray) else value + for key, value in packet.items() if key not in ('rgb_jpg', 'depth_png')} + first_stamp = row['sensor_stamp'] if first_stamp is None else first_stamp + row.update(frame_idx=index, relative_time_s=row['sensor_stamp'] - first_stamp, + received_monotonic=time.monotonic(), received_unix_s=time.time()) + log.write(json.dumps(row, allow_nan=False, default=json_value) + '\n') + atomic_json(output / 'latest.json', row) + state.update(frames=index + 1, latest_frame=index, duration_s=row['relative_time_s'], + elapsed_s=time.monotonic() - started) + atomic_json(output / 'capture.json', state) + if index % 20 == 0: + print(f"Recorded {index + 1} RGB-D/TF observations; {row['relative_time_s']:.1f}s; passive", flush=True) + except BaseException as exc: + error = str(exc) + state.update(status='failed', error=error) + raise + finally: + relay.close() + observations.close() + states.close() + context.term() + if error is None: + state['status'] = 'completed' + state['elapsed_s'] = time.monotonic() - started + atomic_json(output / 'capture.json', state) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/diagnose_stretch_bev_blockage.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/diagnose_stretch_bev_blockage.py new file mode 100644 index 0000000000000000000000000000000000000000..7425a115cdd7cca829586a69bcb3ee95877eac53 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/diagnose_stretch_bev_blockage.py @@ -0,0 +1,420 @@ +#!/usr/bin/env python3 +"""Trace a recorded BEV footprint rejection and compare it with depth and map memory. + +Read-only offline analysis: no robot connection, model inference or policy changes. +""" + +import argparse +import csv +import json +import math +import sys +from pathlib import Path + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT if (ROOT / "web_console").is_dir() else ROOT / "code/lite3_ROS")) +from web_console.stretch_nav_control import depth_obstacles, wrap # noqa: E402 +from web_console.stretch_nav_geometry import body_to_world, world_to_body # noqa: E402 +from web_console.stretch_nav_learned import reproject_bev # noqa: E402 +from web_console.stretch_nav_recovery import rectangle_path_clear # noqa: E402 +from web_console.stretch_nav_report import clean_json # noqa: E402 +from web_console.stretch_vggt_debug import load_debug_frame # noqa: E402 + + +def rectangle_samples(path, half=0.23, horizon=1.2): + """Same rotation/translation samples as the recorded rectangular guard.""" + path = np.vstack([[0.0, 0.0], np.asarray(path, float).reshape(-1, 2)]) + offsets = np.array(np.meshgrid(np.linspace(-half, half, 11), np.linspace(-half, half, 11))).reshape(2, -1).T + travelled, heading = 0.0, 0.0 + for index, (a, b) in enumerate(zip(path[:-1], path[1:])): + distance = float(np.linalg.norm(b - a)) + if distance < 1e-5: + continue + yaw = math.atan2(*(b - a)[::-1]) + samples = [("rotate", a, angle) for angle in np.linspace(heading, heading + wrap(yaw - heading), 8)] + samples += [ + ("translate", a + t * (b - a), yaw) + for t in np.linspace( + 0.0, min(1.0, max(0.0, horizon - travelled) / distance), max(2, int(distance / 0.04) + 1) + ) + ] + for stage, center, angle in samples: + c, s = math.cos(angle), math.sin(angle) + yield index, stage, center, angle, offsets @ np.array([[c, s], [-s, c]]) + center + travelled, heading = travelled + distance, yaw + if travelled >= horizon: + break + + +def trace_rectangle(path, grid): + probability = np.asarray(grid["prob"]).copy() + n, res = len(probability), float(grid["res"]) + axis = (n / 2 - np.arange(n) - 0.5) * res + probability[(abs(axis[:, None]) <= 0.23) & (abs(axis[None, :]) <= 0.23)] = 0.0 + first, all_cells = None, set() + for segment, stage, center, angle, points in rectangle_samples(path): + rc = np.floor(n / 2 - points / res).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + if not inside.all(): + if first is None: + first = { + "reason": "outside grid", + "segment": segment, + "stage": stage, + "center_body_xy": center, + "yaw_rad": angle, + "cells": [], + } + continue + blocked = (probability[rc[:, 0], rc[:, 1]] > 0.6) & (grid["obs"][rc[:, 0], rc[:, 1]] > 0.5) + cells = np.unique(rc[blocked], axis=0) + all_cells.update(map(tuple, cells)) + if len(cells) and first is None: + first = { + "reason": "learned occupancy", + "segment": segment, + "stage": stage, + "center_body_xy": center, + "yaw_rad": angle, + "cells": cells.tolist(), + } + result = {"clear": first is None, "first_contact": first, "all_blocking_cells": sorted(all_cells)} + assert result["clear"] == rectangle_path_clear(path, grid), ( + "Diagnostic disagrees with recorded guard implementation" + ) + return result + + +def project_ground(point_xy, source): + camera, K = np.asarray(source["camera_pose"]), np.asarray(source["camera_K"]) + ground = np.r_[point_xy, np.asarray(source["base_pose_matrix"])[2, 3]] + camera_point = (ground - camera[:3, 3]) @ camera[:3, :3] + pixel = (K @ camera_point)[:2] / camera_point[2] + return pixel, camera_point + + +def depth_at_ground(run, source, point_xy): + pixel, camera_point = project_ground(point_xy, source) + depth = cv2.imread(str(run / "capture/depth" / f"{source['frame_idx']:08d}.png"), cv2.IMREAD_UNCHANGED) + if depth is None: + raise FileNotFoundError("Recorded depth missing") + result = { + "frame": source["frame_idx"], + "time_s": source["relative_time_s"], + "pixel_uv": pixel, + "expected_ground_depth_m": camera_point[2], + "inside_image": False, + } + u, v = np.rint(pixel).astype(int) + if camera_point[2] <= 0 or not (3 <= u < depth.shape[1] - 3 and 3 <= v < depth.shape[0] - 3): + return result + result["inside_image"] = True + patch = depth[v - 3 : v + 4, u - 3 : u + 4].astype(float) / 1000.0 + vv, uu = np.mgrid[v - 3 : v + 4, u - 3 : u + 4] + valid = (patch > 0.1) & (patch < 3.0) + if not valid.any(): + return result + K, camera = np.asarray(source["camera_K"]), np.asarray(source["camera_pose"]) + z = patch[valid] + pc = np.column_stack([(uu[valid] - K[0, 2]) * z / K[0, 0], (vv[valid] - K[1, 2]) * z / K[1, 1], z]) + points = pc @ camera[:3, :3].T + camera[:3, 3] + nearby = np.linalg.norm(points[:, :2] - point_xy, axis=1) <= 0.10 + result.update(valid_depth_pixels=int(valid.sum()), nearby_returns=int(nearby.sum())) + if nearby.any(): + height = points[nearby, 2] - np.asarray(source["base_pose_matrix"])[2, 3] + result.update( + median_height_m=float(np.median(height)), + min_height_m=float(height.min()), + max_height_m=float(height.max()), + floor_returns=int((abs(height) <= 0.08).sum()), + elevated_returns=int((height > 0.12).sum()), + median_depth_m=float(np.median(z[nearby])), + ) + return result + + +def column_free_space(run, rows, point_xy): + """Positive ray evidence at sampled heights; exclude missing/long-range depth.""" + heights = np.arange(0.12, 1.801, 0.12) + result = [{"height_m": float(z), "free_frames": [], "surface_frames": []} for z in heights] + for source in rows: + camera, K = np.asarray(source["camera_pose"]), np.asarray(source["camera_K"]) + depth = cv2.imread(str(run / "capture/depth" / f"{source['frame_idx']:08d}.png"), -1).astype(float) / 1000.0 + points = np.column_stack([np.repeat(np.asarray(point_xy)[None], len(heights), axis=0), heights]) + pc = (points - camera[:3, 3]) @ camera[:3, :3] + uv = (pc @ K.T)[:, :2] / pc[:, 2:3] + for index, (u, v) in enumerate(np.rint(uv).astype(int)): + if pc[index, 2] <= 0 or not (0 <= u < depth.shape[1] and 0 <= v < depth.shape[0]): + continue + measured = depth[v, u] + if not 0.1 < measured < 10.0: + continue + residual = measured - pc[index, 2] + if residual > 0.08: + result[index]["free_frames"].append(source["frame_idx"]) + elif abs(residual) <= 0.08: + result[index]["surface_frames"].append(source["frame_idx"]) + return { + "method": "Measured depth exceeds expected optical depth by >8 cm at projected column samples; " + "only finite recorded depth between 0.1 and 10 m is used.", + "samples": result, + "note": "Discrete historical ray evidence, not a continuous collision certificate.", + } + + +def map_probability(state, point_xy): + world = state["world"] + row, col = np.floor((point_xy - world["o"]) / world["c"]["res"]).astype(int)[::-1] + den = float(world["den"][row, col]) + return { + "row": int(row), + "column": int(col), + "weight": den, + "observability_sum": float(world["seen"][row, col]), + "occupancy": float(world["num"][row, col] / max(den, 1e-6)), + "block_threshold": world["c"]["block_p"], + "bump_count": len(state.get("bumps", [])), + } + + +def sampled(array, uv): + xy = np.asarray([[uv]], np.float32) + return float(cv2.remap(np.asarray(array, np.float32), xy[:, :, 0], xy[:, :, 1], cv2.INTER_LINEAR)[0, 0]) + + +def draw_report(run, raw, frame, debug, cell, timeline, depth_history, output): + import matplotlib + + matplotlib.use("Agg") + import matplotlib.pyplot as plt + from matplotlib.patches import Polygon, Rectangle + + grid = debug["outputs"]["body_grid"] + observation = debug["outputs"]["observation"] + base = np.asarray(raw[frame]["base_pose_matrix"]) + point = np.asarray(cell["world_xy"]) + floor_rows = [x for x in depth_history if x.get("floor_returns", 0) >= 3] + earlier = max([x for x in floor_rows if 20 <= x["pixel_uv"][1] <= 600] or floor_rows, key=lambda x: x["frame"]) + fig, axes = plt.subplots(2, 3, figsize=(17, 10), constrained_layout=True) + for axis, index, label in [ + (axes[0, 0], frame, "Trigger frame"), + (axes[0, 1], earlier["frame"], "Same world location seen earlier"), + ]: + rgb = cv2.cvtColor(cv2.imread(str(run / "capture/rgb" / f"{index:08d}.jpg")), cv2.COLOR_BGR2RGB) + axis.imshow(rgb) + pixel, _ = project_ground(point, raw[index]) + if 0 <= pixel[0] < rgb.shape[1] and 0 <= pixel[1] < rgb.shape[0]: + axis.scatter(*pixel, s=180, marker="o", facecolors="none", edgecolors="lime", linewidths=2) + else: + axis.annotate( + "Flagged ground cell is below this image", + xy=(np.clip(pixel[0], 0, rgb.shape[1] - 1), rgb.shape[0] - 8), + xytext=(12, rgb.shape[0] - 90), + color="white", + fontsize=9, + bbox={"facecolor": "black", "alpha": 0.8}, + arrowprops={"arrowstyle": "->", "color": "red"}, + ) + axis.set_title(f"{label}: {index}") + axis.axis("off") + + n, res = len(grid["prob"]), 0.05 + extent = (n * res / 2, -n * res / 2, -n * res / 2, n * res / 2) + axis = axes[0, 2] + image = axis.imshow(grid["prob"], extent=extent, origin="upper", cmap="RdYlGn_r", vmin=0, vmax=1) + axis.contour(grid["obs"], levels=[0.5], extent=extent, origin="upper", colors="gray", linewidths=0.5) + axis.set_title("Current learned BEV: occupancy; gray = obs 0.5") + world = debug["outputs"]["planner_state"]["world"] + rr, cc = np.mgrid[:n, :n] + local = np.column_stack([(n / 2 - rr.ravel() - 0.5) * res, (n / 2 - cc.ravel() - 0.5) * res]) + world_xy = body_to_world(local, base) + vu = ((world_xy - world["o"]) / world["c"]["res"] - 0.5).astype(np.float32) + probability = world["num"] / np.maximum(world["den"], 1e-6) + history_grid = cv2.remap(probability, vu[:, 0].reshape(n, n), vu[:, 1].reshape(n, n), cv2.INTER_LINEAR) + axes[1, 2].imshow(history_grid, extent=extent, origin="upper", cmap="RdYlGn_r", vmin=0, vmax=1) + axes[1, 2].set_title("Native map memory: low occupancy at X") + path = np.asarray(observation["native_local_path_body"]) + for axis in [axes[0, 2], axes[1, 2]]: + axis.plot(path[:, 1], path[:, 0], color="blue", label="native path") + axis.scatter(cell["body_xy"][1], cell["body_xy"][0], c="black", marker="x", s=85, label="first blocking cell") + axis.add_patch(Rectangle((-0.23, -0.23), 0.46, 0.46, fill=False, color="black", linewidth=1.5)) + contact = cell["contact"] + c, s = np.cos(contact["yaw_rad"]), np.sin(contact["yaw_rad"]) + corners = np.array([[-0.23, -0.23], [-0.23, 0.23], [0.23, 0.23], [0.23, -0.23]]) + corners = corners @ np.array([[c, s], [-s, c]]) + contact["center_body_xy"] + axis.add_patch(Polygon(corners[:, ::-1], fill=False, edgecolor="purple", label="first rejected footprint")) + axis.set(xlim=(1.3, -1.3), ylim=(-0.4, 2.1), xlabel="Left [m]", ylabel="Forward [m]") + axis.set_aspect("equal") + axis.legend(fontsize=7, loc="upper left") + fig.colorbar(image, ax=[axes[0, 2], axes[1, 2]], label="Occupancy prediction", shrink=0.6) + + axis = axes[1, 0] + axis.plot([x["time_s"] for x in timeline], [x["current_occupancy"] for x in timeline], "o-", label="current BEV") + axis.plot( + [x["time_s"] for x in timeline], [x["fused_occupancy"] for x in timeline], ".-", label="native map memory" + ) + axis.axhline(0.6, color="red", linestyle="--", label="occupancy threshold") + axis.set( + xlabel="Capture-relative time [s]", + ylabel="Occupancy at same world point", + ylim=(0, 1), + title="Transient rise in the current BEV", + ) + axis.legend(fontsize=8) + axis.grid(alpha=0.2) + axis = axes[1, 1] + depth_rows = [x for x in depth_history if x.get("nearby_returns", 0)] + axis.plot( + [x["time_s"] for x in depth_rows], [x["median_height_m"] for x in depth_rows], ".", label="measured height" + ) + axis.axhline(0.12, color="red", linestyle="--", label="depth guard obstacle height") + axis.axhspan(-0.08, 0.08, color="green", alpha=0.15, label="floor comparison band") + axis.set( + xlabel="Capture-relative time [s]", + ylabel="Height over base origin [m]", + ylim=(-0.12, 0.3), + title="Depth returns at that location agree with floor", + ) + axis.legend(fontsize=8) + axis.grid(alpha=0.2) + fig.suptitle(f"Frame {frame}: false-occupancy evidence and the local adapter survey trigger", fontsize=15) + fig.savefig(output / "blockage_analysis.png", dpi=150) + plt.close(fig) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--run", type=Path, required=True) + parser.add_argument("--frame", type=int, default=494) + parser.add_argument("--output", type=Path, required=True) + args = parser.parse_args() + run, output, frame = args.run.resolve(), args.output.resolve(), args.frame + output.mkdir(parents=True, exist_ok=True) + raw = {x["frame_idx"]: x for x in map(json.loads, (run / "capture/observations.jsonl").read_text().splitlines())} + debug = load_debug_frame(run / "vggt_debug", frame) + result = debug["outputs"] + observation, grid = result["observation"], {**result["body_grid"], "res": result["consumed_bev"]["res"]} + trace = trace_rectangle(observation["native_local_path_body"], grid) + if trace["clear"] or not trace["first_contact"]["cells"]: + raise ValueError("Selected frame has no learned occupancy rejection") + rc = np.array(trace["first_contact"]["cells"][0]) + body = (len(grid["prob"]) / 2 - rc - 0.5) * grid["res"] + world_point = body_to_world([body], np.asarray(raw[frame]["base_pose_matrix"]))[0] + cell = { + "row": int(rc[0]), + "column": int(rc[1]), + "body_xy": body, + "world_xy": world_point, + "probability": grid["prob"][tuple(rc)], + "observability": grid["obs"][tuple(rc)], + "error_score": grid["err"][tuple(rc)], + "contact": trace["first_contact"], + } + counterfactual = {**grid, "prob": grid["prob"].copy()} + counterfactual["prob"][tuple(rc)] = 0.0 + history = [ + depth_at_ground(run, row, world_point) + for index, row in sorted(raw.items()) + if index <= frame and raw[frame]["relative_time_s"] - row["relative_time_s"] <= 20.0 + ] + timeline = [] + for path in sorted((run / "vggt_debug/frames").glob("*/frame.json")): + index = int(path.parent.name) + if ( + index > frame + 2 + or index not in raw + or raw[frame]["relative_time_s"] - raw[index]["relative_time_s"] > 20.0 + ): + continue + data = load_debug_frame(run / "vggt_debug", index) + out = data.get("outputs", {}) + if not out.get("body_grid") or not out.get("planner_state", {}).get("world"): + continue + base = np.asarray(raw[index]["base_pose_matrix"]) + local = world_to_body(world_point, base) + pixel = (len(grid["prob"]) / 2 - local / grid["res"] - 0.5)[::-1] + g = out["body_grid"] + timeline.append( + { + "frame": index, + "time_s": raw[index]["relative_time_s"], + "current_occupancy": sampled(g["prob"], pixel), + "current_observability": sampled(g["obs"], pixel), + "fused_occupancy": map_probability(out["planner_state"], world_point)["occupancy"], + } + ) + bev = result["consumed_bev"] + recomputed = reproject_bev( + bev["prob"], + bev["observability"], + bev["uncertainty"], + bev["R_bev_from_cam"], + np.asarray(raw[frame]["camera_pose"]), + np.asarray(raw[frame]["base_pose_matrix"]), + grid["res"], + ) + source_uv = grid["base_pixel_to_camera_pixel"] @ np.r_[rc[::-1], 1.0] + raw_head = debug["passes"][0]["head_calls"][0]["outputs"] + with np.load(run / "footprint_evidence" / f"{frame:08d}.npz", allow_pickle=False) as evidence: + memory = evidence["measured_obstacles_odom"].copy() + depth = cv2.imread(str(run / "capture/depth" / f"{frame:08d}.png"), cv2.IMREAD_UNCHANGED).astype(float) / 1000 + current_obstacles = depth_obstacles(depth, raw[frame]["camera_K"], raw[frame]["camera_pose"]) + floors = [x for x in history if x.get("floor_returns", 0) >= 3 and x.get("elevated_returns") == 0] + report = { + "run": run.name, + "capture_frame": frame, + "native_planner_status": observation["native_planner_status"], + "native_status_meaning": "6 = valid episode-map route", + "recorded_rectangle_clear": observation["rectangle_clear"], + "trace": trace, + "first_blocking_cell": cell, + "native_accumulated_map_at_cell": map_probability(result["planner_state"], world_point), + "raw_head_occupancy_at_same_cell": sampled(raw_head["prob"], source_uv), + "counterfactual_one_cell_removed": { + "rectangle_clear": rectangle_path_clear(observation["native_local_path_body"], counterfactual), + "note": "Offline attribution test only; the recorded/runtime prediction and thresholds are unchanged.", + }, + "base_reprojection_max_absolute_difference": float(abs(recomputed["prob"] - grid["prob"]).max()), + "thresholds": {"occupancy": 0.6, "observability": 0.5}, + "current_image_projection": depth_at_ground(run, raw[frame], world_point), + "floor_history_observations": len(floors), + "latest_floor_observation": max(floors, key=lambda x: x["frame"]), + "nearby_elevated_returns_current": int((np.linalg.norm(current_obstacles - world_point, axis=1) <= 0.1).sum()), + "nearby_elevated_returns_remembered": int((np.linalg.norm(memory - world_point, axis=1) <= 0.1).sum()), + "all_depth_history": history, + "occupancy_timeline": timeline, + "column_free_space": column_free_space(run, [raw[x["frame"]] for x in history], world_point), + "vggt_inputs": [ + {"role": v["role"], "reference": v.get("reference"), "asset": v["asset"]} + for v in debug["passes"][0]["views"] + ], + "finding": "A transient current-frame occupancy prediction triggers the added rectangular path guard, " + "while native map-memory planning still supplies a route. The first rejected cell is below " + "the current image and agrees with floor in recent RGB-D history. This strongly supports " + "a false obstacle at that cell; it does not certify every part of the physical route.", + } + (output / "report.json").write_text(json.dumps(clean_json(report), indent=2, allow_nan=False) + "\n") + with (output / "occupancy_timeline.csv").open("w", newline="") as f: + writer = csv.DictWriter(f, fieldnames=list(timeline[0])) + writer.writeheader() + writer.writerows(timeline) + draw_report(run, raw, frame, debug, cell, timeline, history, output) + print( + json.dumps( + clean_json( + { + k: v + for k, v in report.items() + if k not in {"all_depth_history", "occupancy_timeline", "column_free_space", "vggt_inputs"} + } + ), + indent=2, + ) + ) + + +if __name__ == "__main__": + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/diagnose_stretch_bev_region.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/diagnose_stretch_bev_region.py new file mode 100644 index 0000000000000000000000000000000000000000..8cea0fa90ab606c358cb48950eb641b9a6e3c36f --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/diagnose_stretch_bev_region.py @@ -0,0 +1,193 @@ +"""Compare arbitrary saved BEV cells with survey depth, raw heads and planner memory; no hardware.""" + +import argparse +import csv +import json +import sys +from pathlib import Path + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT if (ROOT / 'web_console').is_dir() else ROOT / 'code/lite3_ROS')) +from scripts.diagnose_stretch_bev_blockage import ( # noqa: E402 + column_free_space, + depth_at_ground, + map_probability, + project_ground, + sampled, +) +from web_console.stretch_nav_geometry import body_to_world, world_to_body # noqa: E402 +from web_console.stretch_nav_learned import reproject_bev # noqa: E402 +from web_console.stretch_nav_report import clean_json # noqa: E402 +from web_console.stretch_vggt_debug import load_debug_frame # noqa: E402 + + +def timeline(run, raw, cells, begin, end): + result = [] + for path in sorted((run / 'vggt_debug/frames').glob('*/frame.json')): + index = int(path.parent.name) + if index > end or raw[index]['relative_time_s'] < begin: + continue + data = json.loads(path.read_text()) + metadata = data.get('outputs', {}) + if not metadata.get('body_grid') or not metadata.get('planner_state'): + continue + with np.load(path.parent / 'arrays.npz', allow_pickle=False) as archive: + cache = {} + + def unpack(value): + if isinstance(value, dict): + if 'npz_key' in value: + key = value['npz_key'] + if key not in cache: + cache[key] = archive[key] + return cache[key] + return {k: unpack(v) for k, v in value.items()} + if isinstance(value, list): + return [unpack(v) for v in value] + return value + + grid = unpack(metadata['body_grid']) + state = unpack(metadata['planner_state']) + n, res = len(grid['prob']), .05 + for cell in cells: + body = world_to_body(cell['world_xy'], np.asarray(raw[index]['base_pose_matrix'])) + rc = np.floor(n / 2 - body / res).astype(int) + if not ((rc >= 0) & (rc < n)).all(): + continue + result.append({'frame': index, 'time_s': raw[index]['relative_time_s'], 'cell': cell['label'], + 'current_occupancy': float(grid['prob'][tuple(rc)]), + 'current_observability': float(grid['obs'][tuple(rc)]), + 'fused_occupancy': map_probability(state, cell['world_xy'])['occupancy']}) + return result + + +def figure(run, raw, debug, cells, curve, output): + import matplotlib + + matplotlib.use('Agg') + import matplotlib.pyplot as plt + from matplotlib.patches import Rectangle + + frame = debug['capture_frame'] + floor_views = [row for row in cells[0]['depth_history'] if row.get('floor_returns', 0) >= 40] + selected = max(floor_views, key=lambda row: min(row['pixel_uv'][0], 480 - row['pixel_uv'][0], + row['pixel_uv'][1], 640 - row['pixel_uv'][1]))['frame'] + fig, axes = plt.subplots(2, 3, figsize=(17, 10), constrained_layout=True) + for axis, index, title in ((axes[0, 0], frame, 'Current RGB'), + (axes[0, 1], selected, 'Survey RGB: same fixed world cells')): + rgb = cv2.cvtColor(cv2.imread(str(run / 'capture/rgb' / f'{index:08d}.jpg')), cv2.COLOR_BGR2RGB) + axis.imshow(rgb) + for cell in cells: + uv, _ = project_ground(cell['world_xy'], raw[index]) + if 0 <= uv[0] < rgb.shape[1] and 0 <= uv[1] < rgb.shape[0]: + axis.scatter(*uv, s=170, facecolors='none', edgecolors='lime', linewidths=2) + axis.annotate(cell['label'], uv + [8, -8], color='lime', weight='bold') + axis.set_title(f'{title}, frame {index}') + axis.axis('off') + axes[0, 0].text(.02, .98, 'A and B ground centres are outside this view', transform=axes[0, 0].transAxes, + va='top', color='white', bbox={'facecolor': 'black', 'alpha': .7}) + grid = debug['outputs']['body_grid'] + half, res = len(grid['prob']) * .05 / 2, .05 + extent = (half, -half, -half, half) + axes[0, 2].imshow(grid['prob'], extent=extent, origin='upper', cmap='RdYlGn_r', vmin=0, vmax=1) + axes[0, 2].set(xlim=(3., -3.), ylim=(-.5, 5.), title='Current BEV: forward-left red patch', + xlabel='Left [m]', ylabel='Forward [m]') + world = debug['outputs']['planner_state']['world'] + n = len(grid['prob']) + rr, cc = np.mgrid[:n, :n] + local = np.column_stack([(n / 2 - rr.ravel() - .5) * res, (n / 2 - cc.ravel() - .5) * res]) + xy = body_to_world(local, np.asarray(raw[frame]['base_pose_matrix'])) + uv = ((xy - world['o']) / world['c']['res'] - .5).astype(np.float32) + fused = cv2.remap(world['num'] / np.maximum(world['den'], 1e-6), + uv[:, 0].reshape(n, n), uv[:, 1].reshape(n, n), cv2.INTER_LINEAR) + for axis, values, title in ((axes[1, 0], grid['prob'], 'Current occupancy: detailed near field'), + (axes[1, 1], fused, 'Separate native planner memory')): + axis.imshow(values, extent=extent, origin='upper', cmap='RdYlGn_r', vmin=0, vmax=1) + axis.set(xlim=(1.5, -.3), ylim=(-.3, 1.5), title=title, xlabel='Left [m]', ylabel='Forward [m]') + for axis in (axes[0, 2], axes[1, 0], axes[1, 1]): + axis.add_patch(Rectangle((-.23, -.23), .46, .46, fill=False, color='black', linewidth=1.5)) + for cell in cells: + fwd, left = cell['body_xy'] + axis.scatter(left, fwd, marker='x', color='black', s=60) + axis.annotate(cell['label'], (left + .025, fwd + .025), weight='bold') + axis.set_aspect('equal') + for label, style in (('A', '-'), ('B', '--')): + points = [x for x in curve if x['cell'] == label] + axes[1, 2].plot([x['time_s'] for x in points], [x['current_occupancy'] for x in points], + style, label=f'{label}: current') + axes[1, 2].plot([x['time_s'] for x in points], [x['fused_occupancy'] for x in points], + style, alpha=.6, label=f'{label}: fused memory') + axes[1, 2].axhline(.6, color='red', linewidth=.8, label='blocking threshold') + axes[1, 2].set(xlabel='Capture-relative time [s]', ylabel='Occupancy', ylim=(0, 1), + title='Same fixed world cells through the survey') + axes[1, 2].legend(fontsize=8) + axes[1, 2].grid(alpha=.2) + fig.suptitle('Frame 747: false occupancy in the nearby forward-left patch', fontsize=15) + fig.savefig(output / 'region_analysis.png', dpi=150) + plt.close(fig) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--run', type=Path, required=True) + parser.add_argument('--frame', type=int, default=747) + parser.add_argument('--output', type=Path, required=True) + args = parser.parse_args() + run, output, frame = args.run.resolve(), args.output.resolve(), args.frame + output.mkdir(parents=True, exist_ok=True) + raw = {r['frame_idx']: r for r in map(json.loads, + (run / 'capture/observations.jsonl').read_text().splitlines())} + debug = load_debug_frame(run / 'vggt_debug', frame) + grid, bev = debug['outputs']['body_grid'], debug['outputs']['consumed_bev'] + history = [r for r in raw.values() if r['frame_idx'] <= frame and + r['relative_time_s'] >= raw[frame]['relative_time_s'] - 60.] + recomputed = reproject_bev(bev['prob'], bev['observability'], bev['uncertainty'], + bev['R_bev_from_cam'], raw[frame]['camera_pose'], raw[frame]['base_pose_matrix'], bev['res']) + cells = [] + for label, rc in (('A', (190, 190)), ('B', (189, 189))): + body = (len(grid['prob']) / 2 - np.asarray(rc) - .5) * bev['res'] + xy = body_to_world([body], np.asarray(raw[frame]['base_pose_matrix']))[0] + depth_history = [depth_at_ground(run, source, xy) for source in history] + floors = [row for row in depth_history if row.get('floor_returns', 0) >= 3 and + row.get('elevated_returns', 0) == 0] + if not floors: + raise ValueError('No supporting floor observation at selected cell') + uv = grid['base_pixel_to_camera_pixel'] @ [rc[1], rc[0], 1.] + raw_head = debug['passes'][0]['head_calls'][0]['outputs'] + cells.append({'label': label, 'row': rc[0], 'column': rc[1], 'body_xy': body, + 'world_xy': xy, 'current_occupancy': float(grid['prob'][rc]), + 'observability': float(grid['obs'][rc]), 'error_score': float(grid['err'][rc]), + 'raw_head_occupancy': sampled(raw_head['prob'], uv), + 'native_memory': map_probability(debug['outputs']['planner_state'], xy), + 'current_floor_projection': depth_history[-1], 'floor_observations': len(floors), + 'latest_floor_observation': floors[-1], 'depth_history': depth_history, + 'column_free_space': column_free_space(run, history, xy)}) + curve = timeline(run, raw, cells, history[0]['relative_time_s'], frame) + report = {'run': run.name, 'capture_frame': frame, + 'display_provenance': 'The viewer uses the current reprojected VGGT BEV. ' + 'Native planner WorldMap memory is separate.', + 'reprojection_max_abs_difference': float(abs(recomputed['prob'] - grid['prob']).max()), + 'cells': cells, 'occupancy_timeline': curve, + 'vggt_input_views': debug['passes'][0]['views'], + 'finding': 'The selected nearby forward-left cells have high current learned occupancy despite positive ' + 'survey floor and free-space ray evidence. This supports a false-occupancy diagnosis at these ' + 'cells, without declaring the entire left-hand furniture row absent.', + 'stop_relationship': 'The eventual fatal stop was the separate measured-depth graph-attachment veto. ' + 'These selected cells are not asserted to have caused that stop.'} + (output / 'region_report.json').write_text(json.dumps(clean_json(report), indent=2, allow_nan=False) + '\n') + with (output / 'occupancy_timeline.csv').open('w', newline='') as stream: + writer = csv.DictWriter(stream, fieldnames=list(curve[0])) + writer.writeheader() + writer.writerows(curve) + figure(run, raw, debug, cells, curve, output) + print(json.dumps(clean_json({'frame': frame, 'reprojection_difference': report['reprojection_max_abs_difference'], + 'cells': [{k: c[k] for k in ('label', 'body_xy', 'current_occupancy', 'observability', + 'raw_head_occupancy', 'native_memory', 'floor_observations', + 'latest_floor_observation')} for c in cells]}), indent=2)) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..a91f1064c6ee1114567cfc980df236703aa279b7 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/inspect_stretch_vggt_debug.py @@ -0,0 +1,98 @@ +#!/usr/bin/env python3 +"""Export one saved VGGT input group, depth views and BEV stages without a GPU.""" + +import argparse +import json +import math +import sys +from pathlib import Path + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from web_console.stretch_vggt_debug import load_debug_frame, load_debug_view, write_npz # noqa: E402 + + +def sheet(images, labels, *, width=256, height=342, columns=4): + columns = min(columns, len(images)) + rows = math.ceil(len(images) / columns) + canvas = np.full((rows * (height + 48), columns * width, 3), 24, np.uint8) + for index, (image, label) in enumerate(zip(images, labels)): + y, x = divmod(index, columns) + y, x = y * (height + 48), x * width + h, w = image.shape[:2] + scale = min(width / w, height / h) + resized = cv2.resize(image, (max(1, round(w * scale)), max(1, round(h * scale)))) + ox, oy = x + (width - resized.shape[1]) // 2, y + 42 + (height - resized.shape[0]) // 2 + canvas[oy:oy + resized.shape[0], ox:ox + resized.shape[1]] = resized + cv2.putText(canvas, label[:42], (x + 6, y + 24), cv2.FONT_HERSHEY_SIMPLEX, .43, (235, 235, 235), 1) + return canvas + + +def probability_image(array): + p = np.clip(np.nan_to_num(np.asarray(array, float), nan=.5), 0, 1) + return np.stack((np.full_like(p, 80), 200 * (1 - p) + 35, 210 * p + 25), -1).astype(np.uint8) + + +def export_frame(directory, number, output, pass_index=0): + data = load_debug_frame(directory, number) + if not data['passes']: + raise ValueError('No VGGT inference occurred on this frame; choose a frame with passes in index.jsonl') + call = data['passes'][pass_index] + views = call['views'] + inputs = [load_debug_view(directory, view['asset']) for view in views] + images = [(np.clip(image.transpose(1, 2, 0), 0, 1) * 255).round().astype(np.uint8)[..., ::-1] + for image in inputs] + labels = [f"{view['index']} {view['role']}" + + (f" kf {view['reference'].get('id', view['reference'].get('keyframe_id'))}" + if 'reference' in view else '') for view in views] + output = Path(output) + output.mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(output / 'input_views.jpg'), sheet(images, labels)) + write_npz(output / 'model_inputs.npz', {'images': np.stack(inputs)}) + prediction = call.get('prediction', {}) + depth = prediction.get('depth') + if depth is not None and len(depth): + colored = [] + for view in depth: + finite = view[np.isfinite(view) & (view > 0)] + upper = np.percentile(finite, 98) if len(finite) else 1. + scaled = np.clip(np.nan_to_num(view / max(upper, 1e-9)), 0, 1) + colored.append(cv2.applyColorMap((255 * scaled).astype(np.uint8), cv2.COLORMAP_TURBO)) + cv2.imwrite(str(output / 'predicted_depth.jpg'), sheet(colored, labels[:len(colored)])) + out = data.get('outputs', {}) + head = call.get('head_calls', []) + stages = [('raw head: camera BEV', head[0]['outputs'] if head else None), + ('consumed: camera BEV', out.get('consumed_bev')), + ('robot base BEV', out.get('body_grid'))] + tiles, names = [], [] + for stage, value in stages: + if not value: + continue + for key, alias in (('prob', 'prob'), ('observability', 'obs'), ('uncertainty', 'err')): + if value.get(key, value.get(alias)) is not None: + layer = value.get(key, value.get(alias)) + tiles.append(probability_image(1 - layer if key == 'observability' else layer)) + names.append(f'{stage}: {key}') + if tiles: + cv2.imwrite(str(output / 'bev_stages.png'), sheet(tiles, names, width=300, height=300, columns=3)) + metadata = json.loads((Path(directory) / 'frames' / f'{number:08d}' / 'frame.json').read_text()) + (output / 'manifest.json').write_text(json.dumps(metadata, indent=2) + '\n') + return {'capture_frame': number, 'pass_index': pass_index, 'views': len(views), 'output': str(output.resolve())} + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--debug', type=Path, required=True) + parser.add_argument('--frame', type=int, required=True) + parser.add_argument('--pass-index', type=int, default=0) + parser.add_argument('--output', type=Path) + args = parser.parse_args() + output = args.output or args.debug / 'inspection' / f'{args.frame:08d}' + print(json.dumps(export_frame(args.debug, args.frame, output, args.pass_index), indent=2)) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/live_stretch_cross_nav.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/live_stretch_cross_nav.py new file mode 100644 index 0000000000000000000000000000000000000000..bd1307bd7b23e4953a4ac60effb9dd029aa80753 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/live_stretch_cross_nav.py @@ -0,0 +1,992 @@ +#!/usr/bin/env python3 +"""Live native CROSS navigation with explicit browser handoff and expiring control. + +Starts in passive teleop mode. Only Start navigation may switch mode/arm the +robot. Stop/failure ends this run and closes its temporary robot relay. +""" +# Local imports follow the repository-path bootstrap for direct execution. +# ruff: noqa: E402 +import argparse +import json +import math +import os +import pickle +import secrets +import signal +import sys +import threading +import time +import uuid +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +from pathlib import Path +from types import SimpleNamespace +from urllib.parse import parse_qs, urlsplit + +import cv2 +import numpy as np +import zmq + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from web_console.cross_run import RunArtifacts, matrix +from web_console.stretch_nav_control import ( + DEFAULT_MAX_PLAN_AGE, + DEFAULT_PLAN_HOLD_SECONDS, + PlanWait, + attachment_clear, + competing_controllers, + depth_obstacles, + depth_veto, + execution_gate, + remaining_path, + stationary_head_command, + wrap, +) +from web_console.stretch_nav_footprint import command_footprint_report, depth_support +from web_console.stretch_nav_geometry import body_to_world, world_to_body +from web_console.stretch_nav_learned import learned_png, reproject_bev +from web_console.stretch_nav_recovery import ( + CornerObserver, + CorrectionRecovery, + MeasuredObstacleMemory, + camera_in_base, + clear_goal_cache, + rectangle_path_clear, + route_subgoal, +) +from web_console.stretch_nav_replay import ReplayService, save_bev_frame +from web_console.stretch_nav_report import SavedRoute, clean_json, positions, save_json +from web_console.stretch_nav_survey import HeadSurvey +from web_console.stretch_transport import camera_transport_diagnostics +from web_console.stretch_vggt_debug import VggtDebugRecorder, model_provenance, planner_snapshot + + +def warmup_native_navigation(): + """Compile native grid searches before opening any robot transport.""" + try: + import numba + except ImportError as exc: + raise RuntimeError('Live navigation requires CROSS nav dependencies: install CROSS[nav] in this environment') from exc + from cross_nav.plan import _dijkstra + from cross_nav.policy.bev_policy import _astar, astar + + search = _astar() + if not hasattr(search, 'signatures') or not hasattr(_dijkstra, 'signatures'): + raise RuntimeError('Live navigation requires CROSS nav dependencies: install CROSS[nav] in this environment') + started = time.perf_counter() + ok = np.ones((8, 8), dtype=bool) + cost = np.ones((8, 8), dtype=np.float64) + astar(ok, cost, [4, 4], [4, 6]) + _dijkstra(ok, 4, 4, cost, False, True) + return {'numba_version': numba.__version__, 'warmup_s': time.perf_counter() - started, + 'astar_signatures': [str(value) for value in search.signatures], + 'dijkstra_signatures': [str(value) for value in _dijkstra.signatures]} + + +class LiveState: + def __init__(self, args): + self.args = args + self.lock = threading.RLock() + self.done = threading.Event() + self.token = secrets.token_urlsafe(24) + self.session = uuid.uuid4().hex + self.packet = self.plan = self.robot = None + self.plan_epoch = 0 + self.observation_requested = False + self.observation_reason = '' + self.last_control = {} + self.robot_received = self.heartbeat = -math.inf + self.phase, self.reason = 'teleop', 'Loading models; teleop remains in control' + self.commanded = 0. + self.motion_commands = 0 + self.relay_ever_requested = False + self.processed = 0 + self.conflicts = [] + self.images = {} + self.last_json = {} + self.replay = ReplayService(args.output) + self.events = (args.output / 'events.jsonl').open('a', buffering=1) + + def event(self, kind, **data): + with self.lock: + self.events.write(json.dumps(clean_json({'type': kind, 'time_unix': time.time(), **data})) + '\n') + + def finish(self, reason): + with self.lock: + self.phase, self.reason = 'stopped', reason + self.done.set() + self.event('stop', reason=reason) + + def gate(self): + if self.phase == 'stopped': + return 'session ended' + if self.conflicts: + return 'Close competing base controller: ' + ', '.join(f"{c['client']} (PID {c['pid']})" for c in self.conflicts) + return execution_gate(self.plan, self.robot, now=time.monotonic(), + robot_received=self.robot_received, heartbeat=self.heartbeat, state='preparing', + max_plan_age=self.args.max_plan_age) + + def snapshot(self): + with self.lock: + return clean_json({'phase': self.phase, 'reason': self.reason, + 'ready': self.phase == 'teleop' and not self.gate(), 'gate': self.gate(), + 'goal_keyframe': self.args.goal, 'processed': self.processed, + 'robot': self.robot, 'motion_commands': self.motion_commands, + 'frame': self.last_json, 'control': self.last_control, 'token': self.token, + 'capture_frame': self.packet['frame_idx'] if self.packet is not None else None, + 'v_max': self.args.max_v, 'w_max': self.args.max_w, + 'max_plan_age_s': self.args.max_plan_age, 'competing_controllers': self.conflicts, + 'replay_available': self.phase == 'stopped' and (self.args.output / 'final_status.json').is_file()}) + + +class Handler(BaseHTTPRequestHandler): + def log_message(self, *_): + pass + + def send(self, code, body, mime='application/json'): + body = body if isinstance(body, bytes) else json.dumps(clean_json(body), allow_nan=False).encode() + self.send_response(code) + self.send_header('Content-Type', mime) + self.send_header('Content-Length', str(len(body))) + self.send_header('Cache-Control', 'no-store') + self.send_header('X-Content-Type-Options', 'nosniff') + self.send_header('Content-Security-Policy', "default-src 'self'; script-src 'self' 'unsafe-eval'; style-src 'self' 'unsafe-inline'; img-src 'self' data: blob:; connect-src 'self'; worker-src 'self' blob:; frame-ancestors 'none'") + self.end_headers() + try: + self.wfile.write(body) + except (BrokenPipeError, ConnectionResetError): + pass + + def do_GET(self): + state = self.server.state + path = self.path.split('?', 1)[0] + assets = {'/': ('cross_nav_live.html', 'text/html; charset=utf-8'), + '/cross_nav_live.js': ('cross_nav_live.js', 'text/javascript'), + '/cross_nav.css': ('cross_nav.css', 'text/css'), + '/vendor/plotly.min.js': ('vendor/plotly.min.js', 'text/javascript')} + try: + if path in assets: + file, mime = assets[path] + return self.send(200, (ROOT / 'web_console/static' / file).read_bytes(), mime) + if path == '/api/status': + return self.send(200, state.snapshot()) + if path == '/api/map': + return self.send(200, state.map_data) + if path.startswith('/api/replay/'): + if state.phase != 'stopped': + return self.send(409, {'error': 'Replay becomes available after the run ends'}) + query = parse_qs(urlsplit(self.path).query) + key = query.get('run', [None])[0] + if path == '/api/replay/runs': + return self.send(200, {'runs': state.replay.listing(), 'current_run': state.replay.current.name}) + archive = state.replay.get(key) + if path == '/api/replay/manifest': + return self.send(200, archive.manifest()) + if path == '/api/replay/map': + return self.send(200, json.loads((archive.root / 'map.json').read_text())) + if path == '/api/replay/frame': + result = archive.frame(int(query.get('index', ['0'])[0])) + result['token'] = state.token + return self.send(200, result) + if path in ('/api/replay/rgb', '/api/replay/bev'): + number = int(query['frame'][0]) + layer = query.get('layer', [None])[0] if path.endswith('/bev') else None + if path.endswith('/bev') and layer is None: + raise ValueError('BEV layer required') + return self.send(200, archive.image(number, layer), 'image/png' if layer else 'image/jpeg') + return self.send(404, {'error': 'Unknown replay action'}) + with state.lock: + if path == '/api/rgb.jpg' and state.packet is not None: + data = np.asarray(state.packet['rgb_jpg'], np.uint8).tobytes() + return self.send(200, data, 'image/jpeg') + if path.startswith('/api/bev/') and path.split('/')[-1] in state.images: + return self.send(200, state.images[path.split('/')[-1]], 'image/png') + return self.send(404, {'error': 'Data not available yet'}) + except (OSError, ValueError, KeyError, IndexError) as exc: + self.send(404, {'error': str(exc)}) + + def do_POST(self): + state = self.server.state + expected = f'http://127.0.0.1:{self.server.server_port}' + if self.headers.get('X-Session') != state.token or self.headers.get('Origin') not in (None, expected): + return self.send(403, {'error': 'Invalid viewer session or origin'}) + with state.lock: + if self.path == '/api/heartbeat': + state.heartbeat = time.monotonic() + return self.send(200, {'ok': True}) + if self.path == '/api/start': + if state.phase != 'teleop': + return self.send(409, {'error': 'A run can be started once; Stop ends the session'}) + reason = state.gate() + if reason: + return self.send(409, {'error': reason}) + state.phase, state.reason = 'preparing', 'Browser requested navigation handoff' + state.event('start_requested', goal=state.args.goal) + return self.send(202, {'phase': state.phase}) + if self.path == '/api/stop': + state.finish('Stopped by operator; temporary relay will close') + return self.send(200, {'phase': 'stopped'}) + return self.send(404, {'error': 'Unknown action'}) + + +def capture_loop(state, relay): + context = zmq.Context() + sub = context.socket(zmq.SUB) + sub.setsockopt(zmq.SUBSCRIBE, b'') + sub.setsockopt(zmq.CONFLATE, 1) + sub.setsockopt(zmq.LINGER, 0) + sub.connect(f'tcp://{state.args.robot_ip}:4511') + root = state.args.output / 'capture' + for name in ('rgb', 'depth'): + (root / name).mkdir(parents=True, exist_ok=True) + first, last, count, previous_received = None, -1, 0, None + try: + with (root / 'observations.jsonl').open('a', buffering=1) as log, \ + (root / 'transport.jsonl').open('a', buffering=1) as timing_log: + while not state.done.is_set(): + if relay.process.poll() is not None: + raise RuntimeError('Owned robot relay exited') + if not sub.poll(200): + continue + recv_started = time.monotonic() + payload = sub.recv() + recv_finished = time.monotonic() + packet = pickle.loads(payload) + received = time.monotonic() + with state.lock: + timing = camera_transport_diagnostics(packet, state.robot, state.robot_received, received) + timing.update(wire_bytes=len(payload), recv_call_s=recv_finished - recv_started, + deserialize_s=received - recv_finished, + receive_gap_s=received - previous_received if previous_received is not None else None) + previous_received = received + if packet['world_frame'] != 'odom': + raise ValueError('Continuous odom frame required') + if packet['frame_id'] <= last: + continue + last = packet['frame_id'] + first = packet['sensor_stamp'] if first is None else first + row = {k: v for k, v in packet.items() if k not in ('rgb_jpg', 'depth_png')} + row['camera_in_base'] = camera_in_base(packet['camera_pose'], packet['base_pose_matrix']) + for stamp_name in ('camera_tf_stamp', 'base_tf_stamp'): + if stamp_name in packet and abs(packet[stamp_name] - packet['sensor_stamp']) > .025: + raise ValueError('Camera/base TF is not synchronized to its image') + row.update(frame_idx=count, relative_time_s=packet['sensor_stamp'] - first, + received_monotonic=received, received_unix_s=time.time(), transport=timing) + write_started = time.monotonic() + stem = f'{count:08d}' + (root / 'rgb' / f'{stem}.jpg').write_bytes(np.asarray(packet['rgb_jpg'], np.uint8).tobytes()) + (root / 'depth' / f'{stem}.png').write_bytes(np.asarray(packet['depth_png'], np.uint8).tobytes()) + log.write(json.dumps(clean_json(row), allow_nan=False) + '\n') + save_json(root / 'latest.json', row) + with state.lock: + state.packet = {**packet, **row} + phase, commands = state.phase, state.motion_commands + count += 1 + save_json(root / 'capture.json', {'status': 'recording', 'frames': count, + 'phase': phase, 'nonzero_motion_commands': commands, 'world_frame': 'odom'}) + timing_log.write(json.dumps(clean_json({'frame_idx': count - 1, + 'frame_id': packet['frame_id'], 'received_unix_s': row['received_unix_s'], + **timing, 'record_and_publish_s': time.monotonic() - write_started, + 'capture_metrics': packet.get('capture_metrics')}), allow_nan=False) + '\n') + except BaseException as exc: + state.finish('Capture error: ' + str(exc)) + state.event('capture_error', error=str(exc)) + finally: + save_json(root / 'capture.json', {'status': 'completed', 'frames': count, + 'nonzero_motion_commands': state.motion_commands, 'world_frame': 'odom'}) + sub.close() + context.term() + + +def control_loop(state): + """Independent 20 Hz owner of the robot-local lease. Never waits for inference.""" + from cross_nav.policy.robot import pure_pursuit + + context = zmq.Context() + status = context.socket(zmq.SUB) + status.setsockopt(zmq.SUBSCRIBE, b'') + status.setsockopt(zmq.CONFLATE, 1) + status.setsockopt(zmq.LINGER, 0) + status.connect(f'tcp://{state.args.robot_ip}:4513') + commands = context.socket(zmq.PUSH) + commands.setsockopt(zmq.SNDHWM, 1) + commands.setsockopt(zmq.IMMEDIATE, 1) + commands.setsockopt(zmq.LINGER, 0) + commands.connect(f'tcp://{state.args.robot_ip}:4512') + mode = context.socket(zmq.PUB) + mode.setsockopt(zmq.LINGER, 0) + mode.connect(f'tcp://{state.args.robot_ip}:4402') + sequence, previous, last_tick, next_mode, prepare_started = 0, None, time.monotonic(), 0., None + plan_wait = PlanWait(timeout=state.args.plan_hold_seconds) + next_scan = 0. + scan_started, scan_angle, scan_previous = None, 0., None + scan_origin = None + control_epoch = 0 + veto_since, progress_origin, progress_at = None, None, None + + def send(command): + try: + commands.send_json(command, flags=zmq.NOBLOCK) + except zmq.Again: + return False + return True + + try: + with (state.args.output / 'commands.jsonl').open('a', buffering=1) as log, \ + (state.args.output / 'robot_status.jsonl').open('a', buffering=1) as robot_log: + while not state.done.is_set(): + now = time.monotonic() + if now >= next_scan: + with state.lock: + state.conflicts = competing_controllers() + next_scan = now + 1. + if status.poll(0): + robot = status.recv_pyobj() + robot_log.write(json.dumps(clean_json({'received_unix': time.time(), + 'received_monotonic': time.monotonic(), **robot})) + '\n') + with state.lock: + state.robot, state.robot_received = robot, time.monotonic() + with state.lock: + robot, robot_at, plan, phase, heartbeat = (state.robot, state.robot_received, + state.plan, state.phase, state.heartbeat) + epoch = state.plan_epoch + if epoch != control_epoch: + scan_started, scan_angle, scan_origin, scan_previous = None, 0., None, None + veto_since, progress_origin, progress_at = None, None, None + control_epoch = epoch + # Process scanning, deserialization or waiting for the GIL can + # take time. Gate this snapshot using the current clock. + now = time.monotonic() + v, w = 0., 0. + head_target = None + head_feedback = None + footprint_report = None + requested_velocity = [0., 0.] + depth_blocked = learned_blocked = False + queued = None + reason = 'Teleop owns control; no arm/mode/velocity requests' + if phase in ('preparing', 'active'): + if state.conflicts: + state.finish('Competing base controller detected; navigation ended') + break + gate = execution_gate(plan, robot, now=now, robot_received=robot_at, + heartbeat=heartbeat, state=phase, max_plan_age=state.args.max_plan_age) + if gate == 'goal reached': + state.finish('Goal keyframe reached (camera XY within 0.4 m; heading not enforced)') + break + recovering = gate == 'map correction recovery' and now < plan.get('recovery_deadline', 0.) + holding = phase == 'active' and robot is not None and (recovering or plan_wait.holds(gate, now)) + if gate and not holding: + state.finish(gate + '; navigation ended') + break + if robot.get('armed') and robot.get('session') != state.session: + raise RuntimeError('Relay is owned by another session') + if phase == 'active' and not robot.get('armed'): + raise RuntimeError('Navigation lease lost; no automatic re-arm') + if phase == 'active' and not gate: + head_feedback, _ = stationary_head_command(plan, robot, now=now, robot_received=robot_at) + if head_feedback is not None: + # The view target/anchor/deadline is fixed by the planner. + # Keep its head action alive using fresh source feedback, + # regardless of VGGT cadence, with no base movement. + sequence += 1 + head_target = head_feedback['head_target'] + if scan_started is None: + scan_started, scan_origin = now, np.asarray(robot['base_pose'], float)[:2].copy() + if now - scan_started > 260.: + raise RuntimeError('Observation recovery exhausted without forward progress') + with state.lock: + if epoch != state.plan_epoch or state.done.is_set(): + head_feedback = None + head_target = None + command = {'type': 'velocity', 'session': state.session, 'seq': sequence, + 'frame_id': robot['frame_id'], 'ttl': .3, 'v': 0., 'w': 0.} + if head_feedback is not None: + command.update(head_feedback) + queued = send(command) + reason = ('Head survey: ' + (plan.get('survey_label') or 'observing') + if plan.get('stationary_survey') else + 'Corner observation: ' + plan.get('corner_phase', 'look')) + progress_at = now + previous = np.asarray(robot['base_pose'], float).copy() + elif holding: + # Renew only zero velocity using fresh camera evidence. An old + # path never receives extra execution time during this hold. + sequence += 1 + queued = send({'type': 'velocity', 'session': state.session, 'seq': sequence, + 'frame_id': robot['frame_id'], 'ttl': .3, 'v': 0., 'w': 0.}) + reason = 'Holding at zero: ' + gate + previous = np.asarray(robot['base_pose'], float).copy() + elif phase == 'preparing': + prepare_started = prepare_started or now + if now - prepare_started > 15.: + raise RuntimeError('Navigation mode/lease preparation timed out') + if robot.get('control_mode') != 'navigation': + if now >= next_mode: + mode.send_pyobj({'control_mode': 'navigation', 'step': int(robot['bridge_step']) + 1}) + next_mode = now + 1. + reason = 'Switching base to navigation mode; joints unchanged' + elif not robot.get('healthy'): + reason = 'Waiting for healthy robot TF and camera' + elif not robot.get('armed'): + state.relay_ever_requested = True + send({'type': 'arm', 'session': state.session}) + reason = 'Arming expiring robot-local velocity lease' + else: + with state.lock: + state.phase = 'active' + reason = 'Navigation active' + else: + pose = np.asarray(robot['base_pose'], float) + if previous is not None: + dt = now - last_tick + if np.linalg.norm(pose[:2] - previous[:2]) > .2 + .2 * dt or abs(wrap(pose[2] - previous[2])) > .3 + .4 * dt: + raise RuntimeError('Odom discontinuity') + if not robot.get('armed'): + raise RuntimeError('Navigation lease lost; no automatic re-arm') + path = remaining_path(plan['path_odom'], pose) + head_target = plan.get('head_target') + if plan.get('observation_hold'): + v, w = 0., float(np.clip(plan.get('scan_w', 0.), + -min(.15, state.args.max_w), min(.15, state.args.max_w))) + reason = ('Head survey: ' + (plan.get('survey_label') or 'observing') + if plan.get('stationary_survey') else 'Corner observation: ' + plan.get('corner_phase', 'look')) + elif plan.get('planner_status') == 2: + _, w = pure_pursuit(path, v_max=state.args.max_v, w_max=min(.15, state.args.max_w)) + v, reason = 0., 'Guarded native no-route scan' + else: + v, w = pure_pursuit(path, v_max=state.args.max_v * plan.get('speed_scale', 1.), + w_max=state.args.max_w, lookahead=plan.get('lookahead', .4)) + reason = 'Following CROSS local plan' + v *= min(1., max(0., plan['goal_distance'] - .4) / .6) + if progress_origin is None or np.linalg.norm(pose[:2] - progress_origin) > .05: + progress_origin, progress_at = pose[:2].copy(), now + if plan.get('observation_hold'): + progress_at = now + # Scan budgets follow physical odometry and do not reset + # merely because the planner briefly changes status. + scanning = plan.get('observation_hold') or plan.get('planner_status') == 2 + if scan_origin is not None and np.linalg.norm(pose[:2] - scan_origin) > .2: + scan_started, scan_angle, scan_origin = None, 0., None + if scanning: + if scan_started is None: + scan_started, scan_origin = now, pose[:2].copy() + if scan_previous is not None: + scan_angle += abs(wrap(pose[2] - scan_previous)) + if now - scan_started > 260. or scan_angle > np.deg2rad(100): + raise RuntimeError('Observation recovery exhausted without forward progress') + scan_previous = pose[2] + requested_velocity = [float(v), float(w)] + depth_blocked = depth_veto(plan['depth_obstacles'], pose, v, w) + if plan.get('footprint_grid') is not None: + footprint_report = command_footprint_report( + plan['footprint_grid'], plan['planning_base'], pose, v, w) + learned_blocked = not footprint_report['clear'] + if (depth_blocked or learned_blocked) and abs(v) + abs(w) > 1e-8: + v, w = 0., 0. + reason = ('Measured-depth veto' if depth_blocked else 'Learned-footprint veto') + ': obstacle in command footprint' + veto_since = now if veto_since is None else veto_since + else: + veto_since = None + if not plan.get('observation_hold') and ( + (veto_since is not None and now - veto_since > 1.) or now - progress_at > 10. + ): + with state.lock: + state.observation_requested = True + state.observation_reason = ('measured depth' if depth_blocked else + 'learned footprint' if learned_blocked else 'no odometry progress') + sequence += 1 + with state.lock: + # A correction can arrive after this thread took its + # snapshot. Never send its now-invalid path command. + if epoch != state.plan_epoch or state.done.is_set(): + v, w, head_target = 0., 0., None + reason = 'Holding at zero: route generation changed' + command = {'type': 'velocity', 'session': state.session, 'seq': sequence, + 'frame_id': plan['frame_id'], 'ttl': .3, 'v': float(v), 'w': float(w)} + if head_target is not None: + command['head_target'] = head_target + queued = send(command) + if queued: + with state.lock: + state.motion_commands += int(abs(v) + abs(w) > 1e-8) + # Relay-published velocity, rather than a queued + # PC request, drives the native bump expectation. + state.commanded += max(0., robot.get('v', 0.)) * min(.1, now - last_tick) + previous = pose.copy() + last_tick = now + with state.lock: + if not state.done.is_set(): + state.reason = reason + control = {'phase': phase, 'reason': reason, 'v': float(v), 'w': float(w), + 'time_unix': time.time(), 'sequence': sequence, + 'plan_frame_id': plan.get('frame_id') if plan else None, + 'plan_capture_frame': plan.get('capture_frame') if plan else None, 'command_queued': queued, + 'plan_input_age_s': now - plan['input_received'] if plan else None, + 'plan_build_age_s': now - plan.get('published', now) if plan else None, + 'robot_state_age_s': now - robot_at, 'max_plan_age_s': state.args.max_plan_age, + 'holding_for_plan': phase == 'active' and reason.startswith('Holding'), + 'plan_epoch': epoch, 'relay_sequence': robot.get('accepted_sequence') if robot else None, + 'head_target': head_target, + 'head_control_source': 'fresh_robot_feedback' if head_feedback is not None else 'plan', + 'head_evidence_frame_id': head_feedback['frame_id'] if head_feedback is not None else None, + 'requested_velocity': requested_velocity, 'requested_pose': robot.get('base_pose') if robot else None, + 'depth_blocked': depth_blocked, 'learned_blocked': learned_blocked, + 'footprint': footprint_report, + 'relay_reason': robot.get('reason') if robot else None, + 'relay_velocity': [robot.get('v'), robot.get('w')] if robot else None, + 'nonzero_motion_commands': state.motion_commands} + log.write(json.dumps(clean_json(control), allow_nan=False) + '\n') + with state.lock: + state.last_control = clean_json(control) + save_json(state.args.output / 'control.json', control) + state.done.wait(.05) + except BaseException as exc: + state.finish('Control error: ' + str(exc)) + state.event('control_error', error=str(exc)) + finally: + if state.relay_ever_requested: + for _ in range(3): + send({'type': 'stop', 'session': state.session}) + time.sleep(.03) + final_control = {'phase': state.phase, 'reason': state.reason, 'v': 0., 'w': 0., + 'time_unix': time.time(), 'sequence': sequence, 'stop_requested': state.relay_ever_requested, + 'nonzero_motion_commands': state.motion_commands} + save_json(state.args.output / 'control.json', final_control) + with (state.args.output / 'commands.jsonl').open('a') as log: + log.write(json.dumps(final_control) + '\n') + for socket in (status, commands, mode): + socket.close() + context.term() + + +def run_mapping(state): + from cross.core.config import load_config + from cross.core.types import Camera + from cross.pipeline import add_session_args, finish_session_args, mode_config_files, session_factory + from cross_nav.policy.bev_policy import BEVPlannerPolicy, Episode + + args = state.args + while state.packet is None and not state.done.wait(.1): + pass + if state.done.is_set(): + return + with state.lock: + initial = state.packet + rgb = cv2.imdecode(np.asarray(initial['rgb_jpg'], np.uint8), cv2.IMREAD_COLOR) + camera_config = Camera(K=np.asarray(initial['camera_K']), frame_width=rgb.shape[1], frame_height=rgb.shape[0]) + parser = argparse.ArgumentParser() + add_session_args(parser) + options = parser.parse_args(['--mode', 'mono', '--odometry', 'external', '--mono-estimator', 'ff']) + finish_session_args(options) + heads = args.cross_root / 'models/VGGT-Omega-CROSS/nav' + occupancy, visibility = heads / 'cross_nav_occupancy.pt', heads / 'cross_nav_observability.pt' + overrides = ['pose_est.ff.checkpoint=finetuned', 'pose_est.obs_max_interval_steps=1', + f'pose_est.ff.nav_bev_head={occupancy}', f'pose_est.ff.nav_bev_visibility={visibility}', + f'pose_est.ff.nav_bev_visibility_gravity={occupancy}', 'mapping.loop_closure.async_pgo=False'] + config = load_config(*mode_config_files('mono', 'external', 'ff'), sets=overrides) + artifacts = RunArtifacts(args.output / 'mapping', {'mode': 'mono', 'odometry': 'external', + 'dataset': str(args.output / 'capture'), 'loaded_map': str(args.map_run / 'map.pkl'), + 'goal_keyframe': args.goal, 'config_overrides': overrides, 'max_v': args.max_v, 'max_w': args.max_w, + 'max_plan_age_s': args.max_plan_age, 'plan_hold_seconds': args.plan_hold_seconds, + 'checkpoint_provenance': json.loads((heads / 'provenance.json').read_text())}) + session = debug_archive = None + mapping_error = None + try: + session = artifacts.wrap_factory(session_factory(options, camera_config, config))() + session.load_map(args.map_run / 'map.pkl') + pe = session.mapper.pose_est + if args.vggt_debug: + debug_archive = VggtDebugRecorder(args.vggt_debug_dir or args.output / 'vggt_debug', { + 'origin': 'live_recorded', 'cross_root': str(args.cross_root), + 'map_run': str(args.map_run), 'config_overrides': overrides, + 'resolved_config': json.loads((args.output / 'mapping/resolved_config.json').read_text()), + 'camera_catalog': clean_json(session.mapper.cameras), 'session_camera_id': session.mapper.cam_id, + 'checkpoint_provenance': artifacts.metadata['checkpoint_provenance'], + **model_provenance(args.cross_root), + }, on_error=lambda exc: state.finish('VGGT debug archive error: ' + str(exc))) + debug_archive.attach(pe) + route_planner = SavedRoute(args.map_run / 'map.pkl') + bev_config = json.loads((args.cross_root / 'cross_nav/configs/policy/bev_planner_vfin2.json').read_text()) + bev_config.update(backbone=str(args.cross_root / 'models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt'), + occupancy=str(occupancy), visibility=str(visibility), visibility_gravity=str(occupancy)) + # Match the 46 cm execution footprint. Never shrink inflation to invent + # clearance in a narrow passage; also check the oriented rectangle. + bev_config['planner']['radius'] = .23 + bev_config['map'].update(radius=.23, retry_radii=[]) + save_json(args.output / 'resolved_bev_config.json', bev_config) + if debug_archive: + save_json(debug_archive.root / 'planner_config.json', bev_config) + policy = BEVPlannerPolicy(bev_config, predictor=pe.backend.nav) + episode = Episode() + recovery, corners = CorrectionRecovery(), CornerObserver() + survey = HeadSurvey() + obstacle_memory = MeasuredObstacleMemory() + evidence_directory = args.output / 'footprint_evidence' + evidence_directory.mkdir() + last_evidence = -math.inf + neutral_mount, previous_goal = None, None + prior, last, streak, previous_alignment = None, -1, 0, None + trajectory, previous_expected = [], 0. + with (args.output / 'observations.jsonl').open('a', buffering=1) as log: + while not state.done.is_set(): + with state.lock: + raw = state.packet + phase, cumulative = state.phase, state.commanded + if raw is None or raw['frame_idx'] <= last: + state.done.wait(.03) + continue + index, camera, base = raw['frame_idx'], np.asarray(raw['camera_pose']), np.asarray(raw['base_pose_matrix']) + mount = camera_in_base(camera, base) + if neutral_mount is None: + neutral_mount = mount.copy() + rgb = cv2.cvtColor(cv2.imdecode(np.asarray(raw['rgb_jpg'], np.uint8), cv2.IMREAD_COLOR), cv2.COLOR_BGR2RGB) + pe.set_gravity(camera[:3, :3].T @ [0., 0., 1.]) + passes = pe._n_passes + started = time.monotonic() + if debug_archive: + debug_archive.begin_frame(raw) + session.process({'rgb': rgb, 'frame_idx': index, 'timestamp': raw['sensor_stamp'], + 'delta_pose': None if prior is None else np.linalg.inv(prior) @ camera}) + prior, last = camera, index + c0, best, weights = session.belief(matrix) + localized = bool(session.localized()) + streak = streak + 1 if localized else 0 + diagnostics = session.mapper.last_step_diagnostics + audit = [{'id': int(a['keyframe_id']), 'score': float(a['retrieval_score']), + 'verified': bool(a['verified']), 'loaded': bool(a['loaded'])} + for a in diagnostics.get('retrieval_audit', [])] + fresh = pe._n_passes != passes and pe.last_bev is not None + bev = pe.last_bev if fresh else None + grid = planner_debug = None + record = {'frame_idx': index, 'time_s': raw['relative_time_s'], 'localized': localized, + 'localized_streak': streak, 'weights': weights, 'retrieval': audit, + 'camera_display': None, 'global_route': [], 'local_path_display': [], + 'goal_keyframe': args.goal, 'route_ids': [], 'goal_distance': None, + 'planner_name': 'Waiting for committed map pose', 'n_views': 0, 'trajectory': trajectory[-1500:]} + plan = None if localized else {'input_received': raw['received_monotonic'], + 'localized': False, 'localized_streak': 0, 'goal_distance': 0.} + if bev is not None: + grid = reproject_bev(bev['prob'], bev['observability'], bev['uncertainty'], + bev['R_bev_from_cam'], camera, base, bev['res']) + images = {f'{layer}.png': learned_png(grid['prob'], grid['obs'], grid['err'], layer) + for layer in ('occupancy', 'visibility', 'uncertainty')} + save_bev_frame(args.output, int(index), images) + with state.lock: + state.images = images + record.update(n_views=bev['n_views'], scale_source=bev['scale_source'], + bev_size=bev['size'], bev_res=bev['res'], gravity_head_deg=bev['gravity_head_deg']) + if localized and bev is not None: + alignment = c0 @ np.linalg.inv(camera) + with state.lock: + active = state.phase == 'active' + was_pending = recovery.pending + correction = recovery.update(previous_alignment if active else None, alignment, base, time.monotonic()) + if correction['started']: + survey.cancel() + route_planner.reset_attachment() + clear_goal_cache(episode) + corners.reset() + previous_goal = None + with state.lock: + state.plan_epoch += 1 + state.plan = {'input_received': raw['received_monotonic'], 'localized': True, + 'localized_streak': streak, 'goal_distance': 0., 'recovery_pending': True, + 'recovery_deadline': correction['deadline']} + state.event('map_correction_recovery_started', frame_idx=index, + previous_alignment=previous_alignment, alignment=alignment, + base_pose_matrix=base, weights=weights, **correction) + if was_pending and not recovery.pending: + corners.restore_neutral(base, time.monotonic()) + state.event('map_correction_recovery_complete', frame_idx=index, **correction) + record.update(map_correction_at_base_m=correction['distance_m'], + map_correction_angle_deg=correction['rotation_deg'], correction_recovery=correction, + camera_in_base=mount, neutral_camera_in_base=neutral_mount) + previous_alignment = alignment + inverse_alignment = np.linalg.inv(alignment) + depth = cv2.imdecode(np.asarray(raw['depth_png'], np.uint8), cv2.IMREAD_UNCHANGED).astype(float) / 1000 + obstacles = depth_obstacles(depth, raw['camera_K'], camera) + obstacle_memory.observing(survey.active, raw['received_monotonic']) + obstacles = obstacle_memory.update(obstacles, raw['received_monotonic'], base[:2, 3]) + reference_camera = base @ neutral_mount + def can_attach(_keyframe_id, point_map): + point_odom = positions(inverse_alignment, [point_map])[0] + target_base_xy = base[:2, 3] + point_odom[:2] - reference_camera[:2, 3] + return attachment_clear(obstacles, raw['base_pose'], target_base_xy) + # Head panning must not move the virtual camera used for + # graph attachment or change camera->base goal conversion. + route = route_planner.route(alignment @ reference_camera, args.goal, can_attach=can_attach) + ids = route['ids'] + route_map = np.asarray(route['positions']).reshape(-1, 3) + goal_map = route_planner.matrices[args.goal][:3, 3] + goal_odom = positions(inverse_alignment, [goal_map])[0] + goal_distance = float(np.linalg.norm(goal_odom[:2] - reference_camera[:2, 3])) + route_odom = positions(inverse_alignment, route_map) + offset = reference_camera[:2, 3] - base[:2, 3] + hint = route_subgoal(route_odom[:, :2] - offset, base, goal_odom[:2] - offset) + with state.lock: + joint = state.robot.get('joint_positions', []) if state.robot else [] + image_head = raw.get('head_joints') + if image_head is not None and len(joint) >= 11: + joint = np.asarray(joint, float).copy() + joint[9:11] = image_head + elif active and (hint['corner'] is not None or corners.phase != 'cruise' or survey.active): + raise ValueError('Timestamped head joint feedback missing; refusing camera scan') + + def start_survey(reason): + if image_head is None: + raise ValueError('Timestamped head joint feedback missing; refusing camera survey') + if not survey.start(base, mount, neutral_mount, joint, time.monotonic(), reason): + return False + clear_goal_cache(episode) + corners.reset() + with state.lock: + state.plan_epoch += 1 + if state.plan is not None: + state.plan = {**state.plan, 'observation_hold': True, 'stationary_survey': True, + 'scan_w': 0., 'head_target': None, 'survey_label': survey.snapshot()['label']} + state.event('head_survey_started', frame_idx=index, reason=reason, + pass_number=survey.passes, targets=survey.targets) + return True + + observation = {'phase': 'cruise', 'target': hint['target'], 'hold': False, + 'head_target': None, 'scan_w': 0., 'speed_scale': 1., 'lookahead': .4} + if active and not recovery.pending: + with state.lock: + request_observation = state.observation_requested + request_reason = state.observation_reason + state.observation_requested = False + if request_observation: + start_survey(request_reason or 'stuck') + if survey.active: + count = len(survey.views) + was_braking = survey.braking + observation = survey.update(base, mount, joint, index, time.monotonic()) + if was_braking and not survey.braking: + state.event('head_survey_base_stopped', frame_idx=index, + pass_number=survey.passes, base_pose_matrix=base) + if len(survey.views) > count: + state.event('head_survey_view', pass_number=survey.passes, **survey.views[-1]) + if observation.get('survey_complete'): + clear_goal_cache(episode) + corners.reset() + state.event('head_survey_complete', frame_idx=index, pass_number=survey.passes) + else: + observation = corners.update(hint, base, mount, neutral_mount, joint, + {**grid, 'res': bev['res']}, time.monotonic()) + target_base = observation['target'] + if previous_goal is not None and np.linalg.norm(target_base - previous_goal) > .6: + clear_goal_cache(episode) + previous_goal = np.asarray(target_base).copy() + goal_body = world_to_body(target_base, base) + cat = {'prob': grid['prob'][None], 'obs': grid['obs'][None], 'err': grid['err'][None], + 'log_scale': np.array([bev['log_scale']]), 'odometry': np.array([bev['scale_source'] == 'anchors']), + 'up_head_deg': np.array([bev['gravity_head_deg']]), 'n_views': np.array([bev['n_views']])} + paths, debug = policy.plan_maps(cat, goal_body[None], [episode], + [{'ep': state.session, 'odom': raw['base_pose'], 'expect': max(0., cumulative - previous_expected)}], [True]) + planner_debug = debug[0] + previous_expected = cumulative + path = paths[0] + code = int(debug[0]['status']) + native_path, native_code = path.copy(), code + rectangle_clear = rectangle_path_clear(path, {**grid, 'res': bev['res']}) + if not rectangle_clear and not observation['hold']: + # Request observation rather than executing a route that + # clears a centre point but clips a rectangular corner. + code = 2 + side = 1. if goal_body[1] >= 0 else -1. + path = np.tile([0., side * .3], (len(path), 1)) + if active and not recovery.pending and code == 2 and not observation['hold']: + if start_survey('native no route' if rectangle_clear else 'learned path footprint'): + observation = survey.update(base, mount, joint, index, time.monotonic()) + if observation['hold']: + path = np.zeros_like(path) + with state.lock: + control = state.last_control + control_report = control.get('footprint') + footprint_diagnostics = depth_support(control_report, obstacles) if control_report else None + if footprint_diagnostics is not None: + footprint_diagnostics['command_capture_frame'] = control.get('plan_capture_frame') + for cell in footprint_diagnostics['cells'] + footprint_diagnostics.get('self_cells', []): + cell['display_body_xy'] = world_to_body(cell['world_xy'], base).tolist() + evidence = None + if active and (survey.active or control.get('learned_blocked') or control.get('depth_blocked')) and ( + time.monotonic() - last_evidence >= 1. + ): + last_evidence = time.monotonic() + evidence = f'footprint_evidence/{index:08d}.npz' + np.savez_compressed(args.output / evidence, **grid, res=bev['res'], + base=base, camera=camera, measured_obstacles_odom=obstacles, + native_path_body=native_path, native_planner_status=native_code) + path_odom = body_to_world(path, base) + path_odom_with_origin = np.vstack([base[:2, 3], path_odom]) + plan = {'input_received': raw['received_monotonic'], 'localized': True, + 'localized_streak': streak, 'frame_id': raw['frame_id'], + 'capture_frame': index, + 'route_ids': ids, 'path_odom': path_odom_with_origin, 'planner_status': code, + 'published': time.monotonic(), + 'goal_distance': goal_distance, 'arrived': goal_distance <= .4, + 'depth_obstacles': obstacles, 'recovery_pending': recovery.pending, + 'footprint_grid': {**grid, 'res': bev['res']}, 'planning_base': base, + 'recovery_deadline': correction['deadline'], 'epoch': state.plan_epoch, + 'observation_hold': observation['hold'], 'head_target': observation['head_target'], + 'head_anchor': observation.get('head_anchor'), + 'head_deadline': observation.get('head_deadline'), + 'stationary_survey': observation['phase'].startswith('survey'), + 'survey_label': observation.get('survey_label'), + 'corner_phase': observation['phase'], 'scan_w': observation['scan_w'], + 'scan_authorized': code == 2, 'speed_scale': observation['speed_scale'], + 'lookahead': observation['lookahead']} + camera_display = positions(state.display, [c0[:3, 3]])[0] + trajectory.append(camera_display.tolist()) + names = ['goal route', 'local waypoint', 'no route / scan', 'near goal', + 'remembered route', 'relaxed route', 'episode-map route'] + record.update(camera_display=camera_display, global_route=positions(state.display, route_map), + local_path_display=positions(state.display @ alignment, np.column_stack([path_odom, np.zeros(len(path_odom))])), + local_path_body=path, goal_body=goal_body, goal_distance=goal_distance, + route_ids=ids, route_cost_m=route.get('cost_m'), route_attachment=route.get('attachment'), + corner_observation=observation, rectangle_clear=rectangle_clear, + head_survey=survey.snapshot(), footprint_diagnostics=footprint_diagnostics, + footprint_evidence=evidence, native_local_path_body=native_path, + native_planner_status=native_code, + planner_name=names[code], blind_zone=bool(debug[0]['blind_zone']), + trajectory=trajectory[-1500:], native_map_camera=c0) + record['compute_s'] = time.monotonic() - started + record['input_age_at_publish_s'] = time.monotonic() - raw['received_monotonic'] + if debug_archive: + debug_archive.finish_frame( + observation={key: value for key, value in record.items() if key != 'trajectory'}, + consumed_bev=bev, body_grid=grid, planner_debug=planner_debug, + planner_state=planner_snapshot(episode) if planner_debug is not None else None) + record['vggt_debug_frame'] = f'frames/{index:08d}/frame.json' + with state.lock: + state.plan, state.last_json = plan, clean_json(record) + state.processed += 1 + save_json(args.output / 'latest_plan.json', record) + log.write(json.dumps(clean_json(record), allow_nan=False) + '\n') + if state.processed % 20 == 1: + print(json.dumps({'processed': state.processed, 'frame': index, 'localized': localized, + 'streak': streak, 'views': record['n_views'], 'phase': phase}), flush=True) + artifacts.metadata.update(nonzero_motion_commands=state.motion_commands, stop_reason=state.reason) + session.release() + artifacts.finish() + except BaseException as exc: + mapping_error = exc + state.finish('Mapping/planning error: ' + str(exc)) + artifacts.finish(exc) + raise + finally: + if debug_archive: + debug_archive.close(mapping_error) + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument('--robot-ip', default='192.0.2.2') + p.add_argument('--cross-root', type=Path, default=Path('/workspace/CROSS')) + p.add_argument('--stretch-root', type=Path, default=Path('/workspace/stretch_ai')) + p.add_argument('--map-run', type=Path, required=True) + p.add_argument('--output', type=Path, required=True) + p.add_argument('--goal', type=int, default=1012) + p.add_argument('--port', type=int, default=8088) + p.add_argument('--max-v', type=float, default=.10) + p.add_argument('--max-w', type=float, default=.25) + p.add_argument('--max-plan-age', type=float, default=DEFAULT_MAX_PLAN_AGE, + help='Driving-plan evidence age in seconds (default: 2.0; range: 0.4–3.0)') + p.add_argument('--plan-hold-seconds', type=float, default=DEFAULT_PLAN_HOLD_SECONDS, + help='Wait at zero for a fresh plan/status in seconds (default: 8.0; range: 0–15)') + p.add_argument('--vggt-debug', action=argparse.BooleanOptionalAction, default=True, + help='Save every VGGT input group and numeric output in a separate debug archive (default: enabled)') + p.add_argument('--vggt-debug-dir', type=Path, help='Debug archive directory; default: OUTPUT/vggt_debug') + args = p.parse_args() + if not 0 < args.max_v <= .10 or not 0 < args.max_w <= .25: + raise ValueError('Initial live test is limited to 0.10 m/s and 0.25 rad/s') + if not .4 <= args.max_plan_age <= 3. or not 0. <= args.plan_hold_seconds <= 15.: + raise ValueError('Plan evidence must expire within 0.4–3.0 s; zero-velocity hold at most 15 s') + args.output, args.map_run = args.output.resolve(), args.map_run.resolve() + if args.vggt_debug_dir is not None: + args.vggt_debug_dir = args.vggt_debug_dir.resolve() + args.cross_root, args.stretch_root = args.cross_root.resolve(), args.stretch_root.resolve() + required = [args.cross_root / 'cross_nav/configs/policy/bev_planner_vfin2.json', + args.cross_root / 'models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt', + args.cross_root / 'models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt', + args.cross_root / 'models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt'] + for file in required: + if not file.is_file(): + raise FileNotFoundError(f'Required navigation file is missing: {file}') + graph = json.loads((args.map_run / 'graph.json').read_text()) + nodes = [n for n in graph['nodes'] if not n['temporary']] + if args.goal not in {n['id'] for n in nodes}: + raise ValueError('Goal must be a permanent reference map keyframe') + sys.path[:0] = [str(args.cross_root), str(args.stretch_root / 'scripts')] + planner_runtime = warmup_native_navigation() + # Detect an occupied viewer port before creating a run or touching the robot. + server = ThreadingHTTPServer(('127.0.0.1', args.port), Handler) + try: + args.output.mkdir(parents=True, exist_ok=False) + state = LiveState(args) + except BaseException: + server.server_close() + raise + source = json.loads((args.map_run / 'run.json').read_text()) + state.display = np.asarray(source['T_display_from_map']) + state.map_data = {'nodes': [{'id': n['id'], 'position': positions(state.display, [np.asarray(n['pose'])[:3, 3]])[0].tolist()} + for n in nodes], 'goal': args.goal} + save_json(args.output / 'map.json', state.map_data) + save_json(args.output / 'planner_runtime.json', planner_runtime) + server.daemon_threads = True + server.state = state + threading.Thread(target=server.serve_forever, daemon=True).start() + print(f'Live CROSS handoff: http://127.0.0.1:{args.port} — passive until Start navigation', flush=True) + shutdown = threading.Event() + def interrupt(*_): + shutdown.set() + state.finish('Process interrupted by operator') + signal.signal(signal.SIGINT, interrupt) + signal.signal(signal.SIGTERM, interrupt) + from depth_nav_live import RobotRelayProcess + relay = RobotRelayProcess(SimpleNamespace(robot_ip=args.robot_ip, ssh_user='hello-robot', container=None, + world_frame='odom', plan_hz=4., relay_max_frame_age=args.max_plan_age, command_ttl=.3, + enable_head=True), args.output) + threads = [] + try: + relay.start() + for target in (capture_loop, control_loop): + t = threading.Thread(target=target, args=(state, relay) if target is capture_loop else (state,), daemon=True) + t.start() + threads.append(t) + os.chdir(args.cross_root) + run_mapping(state) + except BaseException as exc: + state.finish('Live pipeline error: ' + str(exc)) + state.event('pipeline_error', error=str(exc)) + import traceback + traceback.print_exc() + finally: + state.done.set() + for t in threads: + t.join(timeout=2.) + relay_closed = relay.close() + if relay_closed is False: + state.reason += '; robot relay shutdown could not be verified' + # This runner retains only the review UI after stopping. Do not retain + # the pipeline's model-reuse cache and several GB of GPU memory. + if 'cross.pipeline' in sys.modules: + cache = getattr(sys.modules['cross.pipeline'], '_MODEL_CACHE', None) + if cache is not None: + cache.clear() + import gc + gc.collect() + import torch + torch.cuda.empty_cache() + save_json(args.output / 'final_status.json', state.snapshot()) + print(f'Live session ended; relay shutdown verified={relay_closed is not False}. Viewer remains available.', flush=True) + # Retain the local review page after the run ends. A new run uses a new directory. + while not shutdown.wait(1.): + pass + server.shutdown() + server.server_close() + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/monitor_stretch_transport.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/monitor_stretch_transport.py new file mode 100644 index 0000000000000000000000000000000000000000..52cfd19ae1f3563b727d64b15dca9cc20da8a5b6 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/monitor_stretch_transport.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 +"""Read-only TCP, interface and host-load samples during a Stretch run.""" + +import argparse +import inspect +import json +import shlex +import subprocess +import time +from concurrent.futures import ThreadPoolExecutor +from pathlib import Path + + +def snapshot(): + import os + import subprocess + import time + from pathlib import Path + + result = {'unix_s': time.time(), 'monotonic_s': time.monotonic(), 'load': os.getloadavg()} + for name in ('net/dev', 'pressure/cpu', 'pressure/io', 'stat'): + try: + result[name] = Path('/proc', name).read_text() + except OSError as exc: + result[name] = str(exc) + # TCP memory and congestion statistics distinguish stale bytes already in + # the kernel from application-level ZMQ queues. No robot commands are sent. + for key, command in ( + ('tcp', ['ss', '-tinm', ('( sport >= :4401 and sport <= :4513 ) or ' + '( dport >= :4401 and dport <= :4513 )')]), + ('routes', ['ip', 'route']), + ('wireless', ['cat', '/proc/net/wireless']), + ): + try: + completed = subprocess.run(command, capture_output=True, text=True, timeout=2, check=False) + result[key] = completed.stdout or completed.stderr + except (OSError, subprocess.TimeoutExpired) as exc: + result[key] = str(exc) + return result + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--robot-ip', default='192.0.2.2') + parser.add_argument('--output', type=Path, required=True) + parser.add_argument('--duration', type=float, default=900.) + parser.add_argument('--interval', type=float, default=1.) + args = parser.parse_args() + if args.duration <= 0 or args.interval < .5: + raise ValueError('Duration must be positive and interval at least 0.5 s') + remote_code = inspect.getsource(snapshot) + '\nimport json\nprint(json.dumps(snapshot()))\n' + ssh = ['ssh', '-o', 'BatchMode=yes', '-o', 'ConnectTimeout=2', + f'hello-robot@{args.robot_ip}', shlex.join(['python3', '-c', remote_code])] + + def remote(): + try: + completed = subprocess.run(ssh, capture_output=True, text=True, timeout=4, check=False) + return json.loads(completed.stdout) if completed.returncode == 0 else {'error': completed.stderr} + except (OSError, subprocess.TimeoutExpired, ValueError) as exc: + return {'error': str(exc)} + + args.output.parent.mkdir(parents=True, exist_ok=True) + started = time.monotonic() + with args.output.open('x', buffering=1) as log, ThreadPoolExecutor(max_workers=2) as pool: + while time.monotonic() - started < args.duration: + tick = time.monotonic() + local_future, remote_future = pool.submit(snapshot), pool.submit(remote) + log.write(json.dumps({'received_unix_s': time.time(), + 'pc': local_future.result(), 'robot': remote_future.result()}) + '\n') + time.sleep(max(0., args.interval - (time.monotonic() - tick))) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/replay_stretch_cross_nav.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/replay_stretch_cross_nav.py new file mode 100644 index 0000000000000000000000000000000000000000..1d4a72c84c05b98ae8af184c25631cc3c6bf1b93 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/replay_stretch_cross_nav.py @@ -0,0 +1,164 @@ +#!/usr/bin/env python3 +"""Replay saved Stretch RGB/odometry through native CROSS with its trained BEV heads. + +No robot/network/control interface is opened. The reference map is read-only. +""" +import argparse +import hashlib +import json +import os +from pathlib import Path +import sys +import time + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from web_console.cross_run import RunArtifacts, matrix +from web_console.stretch_nav_learned import learned_png, reproject_bev +from web_console.stretch_nav_replay import save_bev_frame +from web_console.stretch_nav_report import clean_json, save_json +from web_console.stretch_vggt_debug import VggtDebugRecorder, model_provenance + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + for name in ('capture', 'probe', 'map-run', 'output'): + p.add_argument('--' + name, type=Path, required=True) + p.add_argument('--cross-root', type=Path, default=Path('/workspace/CROSS')) + p.add_argument('--heads', type=Path) + p.add_argument('--archive-run', type=Path, help='Backfill missing playback BEVs in this stopped live run') + p.add_argument('--skip-numeric-bevs', action='store_true', help='Save playback images without extra numeric BEV copies') + p.add_argument('--vggt-debug', action='store_true', help='Archive recomputed VGGT input groups and numeric outputs') + p.add_argument('--vggt-debug-dir', type=Path, help='Debug directory; default: OUTPUT/vggt_debug') + args = p.parse_args() + capture, probe, map_run, output = [getattr(args, n).resolve() for n in ('capture', 'probe', 'map_run', 'output')] + debug_path = (args.vggt_debug_dir or output / 'vggt_debug').resolve() + cross_root = args.cross_root.resolve() + heads = (args.heads or cross_root / 'models/VGGT-Omega-CROSS/nav').resolve() + occupancy, visibility = heads / 'cross_nav_occupancy.pt', heads / 'cross_nav_observability.pt' + source_rows = json.loads((probe / 'observations.json').read_text()) + archive = args.archive_run.resolve() if args.archive_run else None + if archive is not None: + if capture != archive / 'capture': + raise ValueError('Playback archive must own the selected capture') + status = json.loads((archive / 'final_status.json').read_text()) + if status['phase'] != 'stopped': + raise ValueError('Playback backfill requires a stopped run') + raw = {r['frame_idx']: r for r in map(json.loads, (capture / 'observations.jsonl').read_text().splitlines())} + os.chdir(cross_root) + sys.path.insert(0, str(cross_root)) + from cross.core.config import load_config + from cross.core.types import Camera + from cross.pipeline import add_session_args, finish_session_args, mode_config_files, session_factory + first = raw[source_rows[0]['capture_frame']] + image = cv2.imread(str(capture / 'rgb' / f"{first['frame_idx']:08d}.jpg")) + h, w = image.shape[:2] + camera = Camera(K=np.asarray(first['camera_K']), frame_width=w, frame_height=h) + parser = argparse.ArgumentParser() + add_session_args(parser) + options = parser.parse_args(['--mode', 'mono', '--odometry', 'external', '--mono-estimator', 'ff']) + finish_session_args(options) + overrides = ['pose_est.ff.checkpoint=finetuned', 'pose_est.obs_max_interval_steps=1', + f'pose_est.ff.nav_bev_head={occupancy}', f'pose_est.ff.nav_bev_visibility={visibility}', + f'pose_est.ff.nav_bev_visibility_gravity={occupancy}'] + if archive is not None: + overrides = json.loads((archive / 'mapping/run.json').read_text())['config_overrides'] + config = load_config(*mode_config_files('mono', 'external', mono_estimator='ff'), sets=overrides) + artifacts = RunArtifacts(output, {'mode': 'mono', 'odometry': 'external', 'dataset': str(capture), + 'loaded_map': str(map_run / 'map.pkl'), 'source_probe': str(probe), 'robot_commands_sent': 0, + 'learned_bev_heads_available': True, 'config_overrides': overrides, + 'depth_used_for_inference': False, 'gravity_source': 'recorded odom camera TF', + 'checkpoint_provenance': json.loads((heads / 'provenance.json').read_text())}) + (output / 'bevs').mkdir() + session, prior, observed = None, None, [] + debug_archive = replay_error = None + try: + session = artifacts.wrap_factory(session_factory(options, camera, config))() + session.load_map(map_run / 'map.pkl') + estimator = session.mapper.pose_est + if args.vggt_debug: + debug_archive = VggtDebugRecorder(debug_path, { + 'origin': 'recomputed_from_capture', 'source_capture': str(capture), + 'source_probe': str(probe), 'config_overrides': overrides, + 'checkpoint_provenance': artifacts.metadata['checkpoint_provenance'], + 'resolved_config': json.loads((output / 'resolved_config.json').read_text()), + 'camera_catalog': clean_json(session.mapper.cameras), 'session_camera_id': session.mapper.cam_id, + **model_provenance(cross_root), + }) + debug_archive.attach(estimator) + for source in source_rows: + index = source['capture_frame'] + row = raw[index] + pose = np.asarray(row['camera_pose'], dtype=float) + rgb = cv2.cvtColor(cv2.imread(str(capture / 'rgb' / f'{index:08d}.jpg')), cv2.COLOR_BGR2RGB) + estimator.set_gravity(pose[:3, :3].T @ np.array([0., 0., 1.])) + passes = estimator._n_passes + started = time.perf_counter() + if debug_archive: + debug_archive.begin_frame(row) + session.process({'rgb': rgb, 'timestamp': row['sensor_stamp'], 'frame_idx': index, + 'delta_pose': None if prior is None else np.linalg.inv(prior) @ pose}) + prior = pose + c0, best, weights = session.belief(matrix) + diagnostic = session.mapper.last_step_diagnostics + audit = [{'keyframe_id': int(a['keyframe_id']), 'score': float(a['retrieval_score']), + 'verified': bool(a['verified']), 'loaded': bool(a['loaded'])} + for a in diagnostic.get('retrieval_audit', [])] + bev = estimator.last_bev if estimator._n_passes != passes else None + metadata = {k: v for k, v in (bev or {}).items() + if k not in ('prob', 'observability', 'uncertainty')} + grid = None + if bev is not None: + for key in ('prob', 'observability', 'uncertainty'): + array = np.asarray(bev[key], dtype=np.float32) + if array.shape != (400, 400) or not np.isfinite(array).all(): + raise ValueError(f'Invalid learned {key} on frame {index}') + if not args.skip_numeric_bevs: + np.savez_compressed(output / 'bevs' / f'{index:08d}.npz', + prob=bev['prob'], obs=bev['observability'], err=bev['uncertainty'], + R_bev_from_cam=bev['R_bev_from_cam'], up_cam=bev['up_cam']) + if archive is not None or debug_archive: + grid = reproject_bev(bev['prob'], bev['observability'], bev['uncertainty'], + bev['R_bev_from_cam'], pose, np.asarray(row['base_pose_matrix']), bev['res']) + if archive is not None: + images = {f'{name}.png': learned_png(grid['prob'], grid['obs'], grid['err'], name) + for name in ('occupancy', 'visibility', 'uncertainty')} + save_bev_frame(archive, int(index), images, source='reconstructed', only_missing=True) + record = {'capture_frame': index, 'timestamp': row['sensor_stamp'], + 'localized': bool(session.localized()), 'map_pose': c0, 'best_pose': best, + 'weights': weights, 'retrieval': audit, 'camera_pose_odom': pose, + 'base_pose_odom': row['base_pose'], 'bev_fresh': bev is not None, + 'bev': metadata, 'process_s': time.perf_counter() - started} + if debug_archive: + debug_archive.finish_frame(observation=record, consumed_bev=bev, body_grid=grid) + observed.append(record) + artifacts.records[-1].update(localized=record['localized'], retrieval_audit=audit) + save_json(output / 'observations.json', observed) + print(json.dumps({'processed':len(observed), 'total':len(source_rows), 'frame':index, + 'localized':record['localized'], 'fresh_bev':bev is not None, + 'scale_source':metadata.get('scale_source'), 'n_views':metadata.get('n_views'), + 'process_s':record['process_s']}), flush=True) + session.release() + artifacts.finish() + except BaseException as exc: + replay_error = exc + artifacts.finish(exc) + raise + finally: + if debug_archive: + debug_archive.close(replay_error) + summary = {'processed_frames': len(observed), 'localized_frames': sum(r['localized'] for r in observed), + 'fresh_bev_frames': sum(r['bev_fresh'] for r in observed), + 'distinct_verified_map_keyframes': sorted({a['keyframe_id'] for r in observed + for a in r['retrieval'] if a['loaded'] and a['verified']}), + 'robot_commands_sent': 0, 'ground_truth_available': False, + 'reference_map_sha256': hashlib.sha256((map_run / 'map.pkl').read_bytes()).hexdigest()} + save_json(output / 'result.json', summary) + print(json.dumps(summary), flush=True) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py new file mode 100644 index 0000000000000000000000000000000000000000..f8b23491b3c9f0dd2b6150fc19cbe259bb6dd021 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/scripts/view_stretch_cross_nav_live_run.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +"""Review a stopped live run. Opens no robot transport or model and cannot arm.""" +import argparse +from http.server import ThreadingHTTPServer +import json +from pathlib import Path +import secrets +import sys +import threading + +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT)) +from scripts.live_stretch_cross_nav import Handler +from web_console.stretch_nav_replay import ReplayService + + +class Review: + def __init__(self, directory): + self.root = Path(directory).resolve() + self.replay = ReplayService(self.root) + snapshot = self.root / 'review.json' + if not snapshot.is_file(): + snapshot = self.root / 'final_status.json' + self.data = json.loads(snapshot.read_text()) + self.data.update(phase='stopped', ready=False, gate='Saved run; motion controls disabled', review=True, + replay_available=True) + self.phase = 'stopped' + self.token = secrets.token_urlsafe(24) + self.lock = threading.RLock() + self.map_data = json.loads((self.root / 'map.json').read_text()) + archive = self.replay.get() + self.images = {} + for name in ('occupancy', 'visibility', 'uncertainty'): + path = self.root / 'review_bev' / f'{name}.png' + if path.is_file(): + self.images[f'{name}.png'] = path.read_bytes() + elif archive.bev_ids: + self.images[f'{name}.png'] = archive.image(archive.bev_ids[-1], name) + self.packet = ({'rgb_jpg': np.frombuffer(archive.image(archive.raw_ids[-1]), np.uint8)} + if archive.raw_ids else None) + + def snapshot(self): + return {**self.data, 'token': self.token} + + def finish(self, _): + pass + + +def main(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument('--run', type=Path, required=True) + p.add_argument('--port', type=int, default=8088) + args = p.parse_args() + server = ThreadingHTTPServer(('127.0.0.1', args.port), Handler) + server.daemon_threads = True + server.state = Review(args.run) + print(f'Saved live-run review: http://127.0.0.1:{args.port} (motion disabled)', flush=True) + try: + server.serve_forever() + except KeyboardInterrupt: + pass + finally: + server.server_close() + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_capture_format.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_capture_format.py new file mode 100644 index 0000000000000000000000000000000000000000..10c53d8150b18ca417eb260031aaf25785064dc6 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_capture_format.py @@ -0,0 +1,15 @@ +import json + +import numpy as np + +from scripts.capture_stretch_cross import atomic_json + + +def test_nested_robot_status_and_numpy_scalars_serialize(tmp_path): + path = tmp_path / 'capture.json' + state = {'robot_status': {'base_pose': np.array([1., 2., .3]), 'armed': np.bool_(False)}, + 'frames': np.int64(7)} + atomic_json(path, state) + assert json.loads(path.read_text()) == { + 'robot_status': {'base_pose': [1., 2., .3], 'armed': False}, 'frames': 7} + assert not path.with_suffix('.json.tmp').exists() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_control.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_control.py new file mode 100644 index 0000000000000000000000000000000000000000..f5cd7bd8568fde0089870235e60da42043896167 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_control.py @@ -0,0 +1,249 @@ +import numpy as np +import pytest + +from web_console.stretch_nav_control import ( + PlanWait, + alignment_correction, + attachment_clear, + competing_controllers, + depth_veto, + execution_gate, + remaining_path, + stationary_head_command, +) + + +def planar_transform(angle=0., x=0., y=0.): + c, s = np.cos(angle), np.sin(angle) + return np.array([[c, -s, 0., x], [s, c, 0., y], [0., 0., 1., 0.], [0., 0., 0., 1.]]) + + +def test_small_map_rotation_about_distant_robot_does_not_look_like_position_jump(): + base = planar_transform(x=20., y=10.) + angle = np.deg2rad(2.3) + corrected = base @ planar_transform(angle) @ np.linalg.inv(base) + assert np.linalg.norm(corrected[:3, 3]) > .5 # The former origin-based check stopped here. + distance, rotation = alignment_correction(np.eye(4), corrected, base) + assert distance == pytest.approx(0., abs=1e-12) + assert rotation == pytest.approx(angle) + + +def test_map_correction_is_independent_of_odom_origin(): + previous = planar_transform(.3, 1., 2.) + current = planar_transform(.32, 1.1, 2.2) + base = planar_transform(.7, 12., 8.) + expected = alignment_correction(previous, current, base) + rebase = planar_transform(-.8, 100., -200.) + actual = alignment_correction(previous @ np.linalg.inv(rebase), current @ np.linalg.inv(rebase), rebase @ base) + np.testing.assert_allclose(actual, expected, atol=1e-12) + + +@pytest.mark.parametrize('translation,angle', [(.51, 0.), (0., np.deg2rad(26))]) +def test_real_map_pose_jump_still_exceeds_stop_limits(translation, angle): + base = planar_transform(x=20., y=10.) + corrected = planar_transform(x=translation) @ base @ planar_transform(angle) @ np.linalg.inv(base) + distance, rotation = alignment_correction(np.eye(4), corrected, base) + assert distance > .5 or rotation > np.deg2rad(25) + + +@pytest.mark.parametrize('bad', [np.full((4, 4), np.nan), np.eye(3)]) +def test_invalid_alignment_is_rejected(bad): + with pytest.raises(ValueError, match='Invalid map alignment'): + alignment_correction(np.eye(4), bad, np.eye(4)) + + +def valid_inputs(): + plan = {'input_received': 9.8, 'localized': True, 'localized_streak': 3, + 'route_ids': [1, 2], 'planner_status': 0, + 'goal_distance': 2., 'path_odom': [[0., 0.], [1., 0.]]} + robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, + 'healthy': True, 'latched': False} + return plan, robot + + +def test_teleop_never_passes_execution_gate(): + p, r = valid_inputs() + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9, state='teleop') + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) == '' + + +@pytest.mark.parametrize('field,value', [('localized', False), ('localized_streak', 2), + ('input_received', 7.9), ('input_received', np.nan), + ('route_ids', []), ('planner_status', 2), ('path_odom', []), ('goal_distance', np.nan)]) +def test_bad_plan_blocks_commands(field, value): + p, r = valid_inputs() + p[field] = value + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) + + +@pytest.mark.parametrize('verified_at', [None, 7., -np.inf]) +def test_committed_localization_can_bridge_map_match_gaps(verified_at): + p, r = valid_inputs() + # Accept both new plans with no verification clock and older recorded plans. + if verified_at is not None: + p['verified_at'] = verified_at + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) == '' + # Only new sensor/plan evidence keeps execution alive during a longer gap. + p['input_received'] = 39.8 + assert execution_gate(p, r, now=40., robot_received=39.9, heartbeat=39.9) == '' + p['localized'] = False + assert execution_gate(p, r, now=40., robot_received=39.9, heartbeat=39.9) == ( + 'waiting for stable committed localization') + + +@pytest.mark.parametrize('field,value', [('is_runstopped', True), ('is_homed', False), + ('posture_ok', False), ('latched', True), ('healthy', False)]) +def test_unavailable_robot_blocks_commands(field, value): + p, r = valid_inputs() + r[field] = value + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) + + +def test_stale_browser_and_status_block_commands(): + p, r = valid_inputs() + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=4.) + assert execution_gate(p, r, now=10., robot_received=9., heartbeat=9.9) + + +def test_follow_path_drops_passed_prefix_and_rotates_into_current_base(): + result = remaining_path([[0., 0.], [0., 1.], [0., 2.]], [0., .6, np.pi / 2]) + np.testing.assert_allclose(result[:, 0], [0., .4, 1.4], atol=1e-8) + np.testing.assert_allclose(result[:, 1], 0., atol=1e-8) + + +def test_depth_guard_vetoes_swept_body_but_ignores_off_path_returns(): + obstacle = np.array([[.30, -.01], [.30, 0.], [.30, .01]]) + assert depth_veto(obstacle, [0., 0., 0.], .1, 0.) + assert not depth_veto(obstacle + [0., 1.], [0., 0., 0.], .1, 0.) + + +def test_attachment_rejects_measured_wall_between_base_and_nearby_keyframe(): + obstacle = np.array([[.35, -.01], [.35, 0.], [.35, .01]]) + assert not attachment_clear(obstacle, [0., 0., 0.], [.5, 0.]) + assert attachment_clear(obstacle, [0., 0., 0.], [-.5, 0.]) + + +def test_attachment_handles_sideways_connection_and_robot_self_mask(): + obstacle = np.array([[0., .35], [.01, .35], [-.01, .35], [0., 0.]]) + assert not attachment_clear(obstacle, [0., 0., np.pi / 2], [0., .5]) + assert attachment_clear(obstacle, [0., 0., np.pi / 2], [0., -.5]) + + +def test_relaxed_plan_limit_still_expires(): + p, r = valid_inputs() + p['input_received'] = 8.1 + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) == '' + p['input_received'] = 7.9 + assert execution_gate(p, r, now=10., robot_received=9.9, heartbeat=9.9) + + +def test_plan_wait_recovers_transient_gaps_but_ends_sustained_gap(): + wait = PlanWait(timeout=3.) + assert wait.holds('sensor/plan evidence stale', 10.) + assert wait.holds('sensor/plan evidence stale', 12.9) + assert not wait.holds('sensor/plan evidence stale', 13.1) + assert not wait.holds('', 14.) + assert wait.since is None + assert wait.holds('sensor/plan evidence stale', 20.) + + +def stationary_inputs(): + plan, robot = valid_inputs() + plan.update(input_received=5., frame_id=1, observation_hold=True, stationary_survey=True, + head_target=[.5, -1.05], head_anchor=np.eye(4), head_deadline=25., scan_w=0.) + robot.update(frame_id=100, sensor_age=.08, tf_age=.02, base_pose=[0., 0., 0.], + joint_positions=np.zeros(11), head_enabled=True) + return plan, robot + + +def test_stationary_head_uses_current_sensor_evidence_even_when_vggt_is_late(): + plan, robot = stationary_inputs() + # The driving image expired long ago; the latest source image is fresh. + command, fault = stationary_head_command(plan, robot, now=10., robot_received=9.95) + assert not fault and command == {'frame_id': 100, 'head_target': [.5, -1.05], 'v': 0., 'w': 0.} + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == '' + plan['observation_hold'] = False + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == 'sensor/plan evidence stale' + + +def test_stationary_scan_can_complete_without_a_global_attachment_but_cannot_drive(): + plan, robot = stationary_inputs() + plan['route_ids'] = [] + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == '' + plan.update(observation_hold=False, input_received=9.8) + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == 'no global route' + + +@pytest.mark.parametrize('change', ['rotation', 'deadline', 'bad_deadline', 'sensor', 'tf', 'joints', 'base', 'head']) +def test_head_only_renewal_cannot_hide_expiry_missing_feedback_or_base_motion(change): + plan, robot = stationary_inputs() + if change == 'rotation': + plan['scan_w'] = .1 + elif change == 'deadline': + plan['head_deadline'] = 9.9 + elif change == 'bad_deadline': + plan['head_deadline'] = np.inf + elif change == 'sensor': + robot['sensor_age'] = .8 + elif change == 'tf': + robot['tf_age'] = .6 + elif change == 'joints': + robot['joint_positions'] = np.zeros(9) + elif change == 'base': + robot['base_pose'] = [.06, 0., 0.] + elif change == 'head': + robot['head_enabled'] = False + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) + + +@pytest.mark.parametrize('field,value', [('is_runstopped', True), ('healthy', False), ('latched', True)]) +def test_stationary_head_does_not_override_stop_or_health_faults(field, value): + plan, robot = stationary_inputs() + robot[field] = value + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) + robot[field] = not value + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=4.) == 'viewer heartbeat expired' + + +def test_relaxed_browser_and_status_limits_allow_jitter_and_still_expire(): + plan, robot = valid_inputs() + assert execution_gate(plan, robot, now=10., robot_received=9.6, heartbeat=7.) == '' + assert execution_gate(plan, robot, now=10., robot_received=9.49, heartbeat=7.) == 'robot status stale' + assert execution_gate(plan, robot, now=10., robot_received=9.9, heartbeat=4.9) == 'viewer heartbeat expired' + + +def test_default_wait_tolerates_a_longer_compute_gap_at_zero(): + wait = PlanWait() + assert wait.holds('sensor/plan evidence stale', 10.) + assert wait.holds('sensor/plan evidence stale', 17.9) + assert not wait.holds('sensor/plan evidence stale', 18.1) + + +def test_corner_rotation_waits_for_new_geometry_while_stationary_survey_cannot_reanchor(): + plan, robot = stationary_inputs() + plan['stationary_survey'] = False + robot['base_pose'] = [0., 0., .2] + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == ( + 'head observation feedback unavailable') + # A new processed corner view accounts for the permitted base rotation. + plan['head_anchor'] = planar_transform(.2) + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == '' + plan.update(stationary_survey=True, head_anchor=np.eye(4)) + assert execution_gate(plan, robot, now=10., robot_received=9.95, heartbeat=9.9) == ( + 'base moved during head observation') + + +@pytest.mark.parametrize('reason', ['viewer heartbeat expired', + 'waiting for stable committed localization', 'robot state/camera/TF unavailable', 'robot stop latched']) +def test_plan_wait_never_treats_other_faults_as_transient(reason): + assert not PlanWait().holds(reason, 10.) + + +def test_known_teleop_process_detected_without_matching_our_live_adapter(tmp_path): + for pid, args in [(100, ['python', '/app/teleop.py', '--robot-ip', '192.0.2.1']), + (101, ['python', '/app/live_stretch_cross_nav.py']), + (102, ['bash', '-c', 'python teleop.py'])]: + directory = tmp_path / str(pid) + directory.mkdir() + (directory / 'cmdline').write_bytes(b'\0'.join(a.encode() for a in args)) + assert competing_controllers(tmp_path) == [{'pid': 100, 'client': 'teleop.py'}] diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_geometry.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..6c3a888eefcb5c4e20e3682085925e74a882d048 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_geometry.py @@ -0,0 +1,39 @@ +import numpy as np +import pytest + +from web_console.stretch_nav_geometry import body_to_world, measured_bev, world_to_body + + +def test_body_goal_transform_handles_yaw_and_offset(): + base = np.array([[0., -1, 0, 4], [1, 0, 0, 2], [0, 0, 1, 0], [0, 0, 0, 1]]) + points = np.array([[2., 1.], [0., -1.]]) + world = body_to_world(points, base) + np.testing.assert_allclose(world, [[3, 4], [5, 2]]) + np.testing.assert_allclose([world_to_body(p, base) for p in world], points, atol=1e-12) + + +def test_missing_depth_stays_unknown_instead_of_becoming_free(): + K = np.array([[40., 0, 30], [0, 40, 20], [0, 0, 1]]) + camera = np.array([[0., 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 1], [0, 0, 0, 1]]) + result = measured_bev(np.zeros((40, 60)), K, camera, np.eye(4), size=80) + assert result['observed_cells'] == 0 + assert result['occupied_cells'] == 0 + assert (result['prob'] == .5).all() + + +def test_elevated_surface_blocks_without_marking_occluded_floor_free(): + K = np.array([[40., 0, 30], [0, 40, 20], [0, 0, 1]]) + camera = np.array([[0., 0, 1, 0], [-1, 0, 0, 0], [0, -1, 0, 1], [0, 0, 0, 1]]) + result = measured_bev(np.ones((40, 60)), K, camera, np.eye(4), size=100) + assert result['occupied_cells'] > 0 + # Ground 2m ahead would project into the wall, whose measured depth is 1m. + row, col = int(50 - 2 / .05), 50 + assert result['obs'][row, col] == 0 + assert result['prob'][row, col] == pytest.approx(.5) + + +def test_geometry_rejects_nonfinite_transforms(): + camera = np.eye(4) + camera[0, 3] = np.nan + with pytest.raises(ValueError, match='Nonfinite'): + measured_bev(np.ones((20, 20)), np.eye(3), camera, np.eye(4)) diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_handoff.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_handoff.py new file mode 100644 index 0000000000000000000000000000000000000000..671f574d3ac76a77deedb617c975a04dcd8a6f2d --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_handoff.py @@ -0,0 +1,528 @@ +"""Exercise command transport with fake sockets; these tests cannot reach hardware.""" +import importlib.util +import sys +import threading +import time +from pathlib import Path +from types import SimpleNamespace + +import numpy as np +import pytest + + +def load_adapter(): + path = Path(__file__).resolve().parents[1] / 'scripts/live_stretch_cross_nav.py' + spec = importlib.util.spec_from_file_location('stretch_live_adapter', path) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + return module + + +class Socket: + def __init__(self): + self.sent = [] + + def setsockopt(self, *_): + pass + + def connect(self, *_): + pass + + def poll(self, *_): + return False + + def close(self): + pass + + def send_json(self, command, **_): + self.sent.append(command) + + def send_pyobj(self, command): + self.sent.append(command) + + +class Context: + def __init__(self): + self.sockets = [] + + def socket(self, *_): + result = Socket() + self.sockets.append(result) + return result + + def term(self): + pass + + +def setup(monkeypatch, tmp_path): + module = load_adapter() + context = Context() + monkeypatch.setattr(module.zmq, 'Context', lambda: context) + monkeypatch.setattr(module, 'competing_controllers', lambda: []) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace( + pure_pursuit=lambda *_a, **_k: (_ for _ in ()).throw(AssertionError('Must not follow a path')))) + args = SimpleNamespace(output=tmp_path, robot_ip='unreachable.invalid', goal=1012, max_v=.1, max_w=.25, max_plan_age=1.2, plan_hold_seconds=3.) + state = module.LiveState(args) + return module, state, context + + +def test_passive_loop_never_sends_arm_mode_stop_or_velocity(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + # Complete several real control ticks before ending the fake session. + timer = threading.Timer(.18, state.done.set) + timer.start() + module.control_loop(state) + timer.join() + assert len(context.sockets) == 3 + assert all(not socket.sent for socket in context.sockets) + assert state.motion_commands == 0 + + +def test_loss_of_localization_sends_stop_only(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + state.phase = 'active' + state.relay_ever_requested = True + state.heartbeat = state.robot_received = time.monotonic() + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, + 'healthy': True, 'latched': False} + state.plan = {'input_received': time.monotonic(), 'goal_distance': 2., 'localized': False} + module.control_loop(state) + assert state.phase == 'stopped' + commands = [command for socket in context.sockets for command in socket.sent] + assert len(commands) == 3 + assert all(command['type'] == 'stop' for command in commands) + assert state.motion_commands == 0 + + +def test_browser_disconnect_stops_without_motion(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + state.phase = 'active' + state.relay_ever_requested = True + state.heartbeat = time.monotonic() - 6. + module.control_loop(state) + assert state.phase == 'stopped' + assert all(c['type'] == 'stop' for socket in context.sockets for c in socket.sent) + assert 'heartbeat' in state.reason + + +def test_brief_plan_gap_sends_zero_then_resumes_only_with_fresh_plan(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + state.phase = 'active' + state.relay_ever_requested = True + now = time.monotonic() + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, 'base_pose': [0., 0., 0.]} + state.plan = {'input_received': now - 1.3, 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], + 'planner_status': 0, 'path_odom': [[0., 0.], [1., 0.]], 'frame_id': 1, + 'depth_obstacles': np.empty((0, 2))} + fresh = threading.Timer(.075, lambda: state.plan.update(input_received=time.monotonic())) + end = threading.Timer(.23, lambda: state.finish('End simulated run')) + fresh.start() + end.start() + module.control_loop(state) + fresh.join() + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands[0]['v'] == commands[0]['w'] == 0. + assert any(c['v'] > 0 for c in commands) + assert all(c['ttl'] == .3 for c in commands) + import json + assert json.loads((tmp_path / 'control.json').read_text())['v'] == 0. + + +@pytest.mark.parametrize('has_old_verification_clock', [False, True]) +def test_map_match_gap_continues_fresh_local_plan(monkeypatch, tmp_path, has_old_verification_clock): + module, state, context = setup(monkeypatch, tmp_path) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + state.phase = 'active' + state.relay_ever_requested = True + now = time.monotonic() + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, 'base_pose': [0., 0., 0.]} + state.plan = {'input_received': now, 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], + 'planner_status': 0, 'path_odom': [[0., 0.], [1., 0.]], 'frame_id': 1, + 'depth_obstacles': np.empty((0, 2))} + if has_old_verification_clock: + state.plan['verified_at'] = now - 30. + end = threading.Timer(.18, lambda: state.finish('End simulated visual gap')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent] + velocity = [c for c in commands if c['type'] == 'velocity'] + assert velocity and all(c['v'] == .08 and c['w'] == 0. for c in velocity) + assert all(c['ttl'] == .3 for c in velocity) + assert [c['type'] for c in commands[-3:]] == ['stop', 'stop', 'stop'] + assert state.reason == 'End simulated visual gap' + + +def test_sustained_plan_gap_never_executes_stale_path(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + state.args.plan_hold_seconds = .08 + state.phase = 'active' + state.relay_ever_requested = True + now = time.monotonic() + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, 'base_pose': [0., 0., 0.]} + state.plan = {'input_received': now - 1.3, 'goal_distance': 2.} + module.control_loop(state) + assert state.phase == 'stopped' + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + + +def test_competing_teleop_blocks_mode_switch_and_arm(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + monkeypatch.setattr(module, 'competing_controllers', lambda: [{'pid': 123, 'client': 'teleop.py'}]) + state.phase = 'preparing' + module.control_loop(state) + assert state.phase == 'stopped' + assert 'Competing' in state.reason + assert all(not socket.sent for socket in context.sockets) + + +def test_time_spent_scanning_controllers_counts_toward_plan_expiry(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + clock = [10.] + monkeypatch.setattr(module.time, 'monotonic', lambda: clock[0]) + def slow_scan(): + clock[0] = 13. + return [] + monkeypatch.setattr(module, 'competing_controllers', slow_scan) + state.phase = 'active' + state.relay_ever_requested = True + state.args.plan_hold_seconds = 0. + state.heartbeat = state.robot_received = 13. + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, + 'healthy': True, 'latched': False} + state.plan = {'input_received': 10., 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], 'planner_status': 0, + 'path_odom': [[0., 0.], [1., 0.]]} + module.control_loop(state) + assert state.reason == 'sensor/plan evidence stale; navigation ended' + assert state.motion_commands == 0 + assert all(c['type'] == 'stop' for socket in context.sockets for c in socket.sent) + + +def test_planner_warmup_compiles_both_searches_without_robot_transport(monkeypatch): + module = load_adapter() + calls = [] + def dijkstra(*args): + calls.append('dijkstra') + dijkstra.signatures.append('compiled') + dijkstra.signatures = [] + search = SimpleNamespace(signatures=[]) + def astar(*args): + calls.append('astar') + search.signatures.append('compiled') + monkeypatch.setitem(sys.modules, 'numba', SimpleNamespace(__version__='test')) + monkeypatch.setitem(sys.modules, 'cross_nav.plan', SimpleNamespace(_dijkstra=dijkstra)) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.bev_policy', SimpleNamespace(_astar=lambda: search, astar=astar)) + monkeypatch.setattr(module.zmq, 'Context', lambda: (_ for _ in ()).throw(AssertionError('No transport during warmup'))) + result = module.warmup_native_navigation() + assert calls == ['astar', 'dijkstra'] + assert result['astar_signatures'] == result['dijkstra_signatures'] == ['compiled'] + + +def test_unaccelerated_planner_is_rejected_before_handoff(monkeypatch): + module = load_adapter() + monkeypatch.setitem(sys.modules, 'numba', SimpleNamespace(__version__='test')) + monkeypatch.setitem(sys.modules, 'cross_nav.plan', SimpleNamespace(_dijkstra=lambda *_: None)) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.bev_policy', + SimpleNamespace(_astar=lambda: (lambda *_: None), astar=lambda *_: None)) + with pytest.raises(RuntimeError, match='requires CROSS nav dependencies'): + module.warmup_native_navigation() + + +def active_plan(state): + now = time.monotonic() + state.phase, state.relay_ever_requested = 'active', True + state.heartbeat = state.robot_received = now + state.robot = {'is_runstopped': False, 'is_homed': True, 'posture_ok': True, 'healthy': True, + 'latched': False, 'armed': True, 'session': state.session, 'frame_id': 1, + 'base_pose': [0., 0., 0.], 'head_enabled': True} + state.plan = {'input_received': now, 'goal_distance': 2., 'localized': True, + 'localized_streak': 3, 'route_ids': [1, 2], 'planner_status': 0, + 'path_odom': [[0., 0.], [1., 0.]], 'frame_id': 1, + 'depth_obstacles': np.empty((0, 2))} + + +def test_correction_recovery_keeps_lease_at_zero_then_resumes(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + state.plan.update(recovery_pending=True, recovery_deadline=time.monotonic() + 12.) + fresh = threading.Timer(.075, lambda: state.plan.update(recovery_pending=False)) + end = threading.Timer(.20, lambda: state.finish('End recovery simulation')) + fresh.start() + end.start() + module.control_loop(state) + fresh.join() + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands[0]['v'] == commands[0]['w'] == 0. + assert any(c['v'] > 0 for c in commands) + + +def test_brief_robot_status_gap_holds_zero_until_fresh_status_returns(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.robot_received = time.monotonic() - .6 + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + def refresh(): + state.robot_received = time.monotonic() + state.plan['input_received'] = time.monotonic() + fresh = threading.Timer(.075, refresh) + end = threading.Timer(.20, lambda: state.finish('End status gap simulation')) + fresh.start() + end.start() + module.control_loop(state) + fresh.join() + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands[0]['v'] == commands[0]['w'] == 0. + assert any(c['v'] > 0 for c in commands) + + +def test_sustained_robot_status_gap_stops_without_executing_a_path(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.args.plan_hold_seconds = .08 + state.robot_received = time.monotonic() - .6 + module.control_loop(state) + assert state.phase == 'stopped' and 'robot status stale' in state.reason + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + + +def test_pose_correction_racing_control_snapshot_cannot_execute_old_route(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + def corrected(*_a, **_k): + state.plan_epoch += 1 + return .1, 0. + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=corrected)) + end = threading.Timer(.12, lambda: state.finish('End correction race')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + + +def test_corner_observation_sends_head_target_with_zero_base_translation(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.plan.update(observation_hold=True, head_target=[-1.2, -.4], scan_w=0., corner_phase='look') + end = threading.Timer(.12, lambda: state.finish('End head scan simulation')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. and c['head_target'] == [-1.2, -.4] for c in commands) + + +def test_native_scan_is_rotation_only_even_if_pursuit_requests_translation(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + state.plan.update(planner_status=2, scan_authorized=True) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, .1))) + end = threading.Timer(.12, lambda: state.finish('End native scan simulation')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == 0. and c['w'] == .1 for c in commands) + + +def test_learned_veto_does_not_block_stationary_yaw_pitch_survey(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + monkeypatch.setattr(module, 'command_footprint_report', lambda *_a, **_k: { + 'clear': False, 'reason': 'learned occupancy', 'cells': [], 'blocking_cell_count': 1}) + state.plan.update(observation_hold=True, stationary_survey=True, head_target=[-.7, -1.05], + scan_w=0., corner_phase='survey', survey_label='right floor', + footprint_grid={'prob': np.ones((20, 20)), 'obs': np.ones((20, 20)), 'res': .05}, + planning_base=np.eye(4)) + end = threading.Timer(.12, lambda: state.finish('End yaw/pitch simulation')) + end.start() + module.control_loop(state) + end.join() + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. and c['head_target'] == [-.7, -1.05] for c in commands) + assert state.last_control['learned_blocked'] + assert state.last_control['reason'] == 'Head survey: right floor' + + +def test_survey_transition_with_null_label_holds_then_accepts_fresh_head_target(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + # Mapping invalidates the driving plan before publishing its first survey + # view. The old plan contains an explicit null label and no head target. + state.plan.update(observation_hold=True, stationary_survey=True, head_target=None, + scan_w=0., survey_label=None) + ticks = [0] + + def tick(_seconds): + ticks[0] += 1 + if ticks[0] == 1: + state.plan = {**state.plan, 'survey_label': 'front floor', 'head_target': [-.05, -1.05]} + if ticks[0] >= 3: + state.done.set() + return state.done.is_set() + + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert ticks[0] == 3 and state.phase == 'active' + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + assert 'head_target' not in commands[0] + assert commands[-1]['head_target'] == [-.05, -1.05] + assert state.last_control['reason'] == 'Head survey: front floor' + + +def test_persistent_learned_veto_requests_observation_without_executing_path(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + active_plan(state) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + clock = [time.monotonic()] + monkeypatch.setattr(module.time, 'monotonic', lambda: clock[0]) + state.plan.update(footprint_grid={'prob': np.ones((20, 20)), 'obs': np.ones((20, 20)), 'res': .05}, + planning_base=np.eye(4)) + ticks = [0] + def tick(_seconds): + ticks[0] += 1 + clock[0] += .1 + state.heartbeat = state.robot_received = state.plan['input_received'] = clock[0] + if ticks[0] >= 15: + state.done.set() + return state.done.is_set() + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert commands and all(c['v'] == c['w'] == 0. for c in commands) + assert state.observation_requested and state.observation_reason == 'learned footprint' + assert state.last_control['footprint']['blocking_cell_count'] > 0 + + +def fresh_head_plan(state): + active_plan(state) + now = time.monotonic() + state.robot.update(frame_id=100, sensor_age=.08, tf_age=.02, joint_positions=np.zeros(11)) + state.plan.update(input_received=now - 4., frame_id=1, observation_hold=True, stationary_survey=True, + head_target=[.5, -1.05], scan_w=0., survey_label='left floor', + head_anchor=np.eye(4), head_deadline=now + 20.) + + +def test_stationary_head_renews_with_new_source_frames_without_vggt_updates(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + fresh_head_plan(state) + ticks = [0] + + def tick(_seconds): + ticks[0] += 1 + state.robot_received = state.heartbeat = time.monotonic() + state.robot['frame_id'] += 1 + if ticks[0] == 4: + state.done.set() + return state.done.is_set() + + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert [c['frame_id'] for c in commands] == [100, 101, 102, 103] + assert all(c['v'] == c['w'] == 0. and c['head_target'] == [.5, -1.05] for c in commands) + assert state.motion_commands == 0 + assert state.last_control['head_control_source'] == 'fresh_robot_feedback' + + +def test_head_observation_deadline_never_renews_with_fresh_status(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + fresh_head_plan(state) + deadline = state.plan['head_deadline'] + clock = [time.monotonic()] + monkeypatch.setattr(module.time, 'monotonic', lambda: clock[0]) + ticks = [0] + + def tick(_seconds): + ticks[0] += 1 + clock[0] = deadline + .01 + state.robot_received = state.heartbeat = clock[0] + return False + + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + assert state.phase == 'stopped' and 'head observation deadline expired' in state.reason + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert len(commands) == 1 and commands[0]['v'] == commands[0]['w'] == 0. + assert state.plan['head_deadline'] == deadline + + +def test_head_renewal_cannot_resume_driving_until_a_fresh_plan_arrives(monkeypatch, tmp_path): + module, state, context = setup(monkeypatch, tmp_path) + fresh_head_plan(state) + monkeypatch.setitem(sys.modules, 'cross_nav.policy.robot', + SimpleNamespace(pure_pursuit=lambda *_a, **_k: (.08, 0.))) + ticks = [0] + + def tick(_seconds): + ticks[0] += 1 + state.robot_received = state.heartbeat = time.monotonic() + if ticks[0] == 1: + state.plan.update(observation_hold=False, head_target=None) + elif ticks[0] == 2: + state.plan.update(input_received=time.monotonic(), frame_id=100) + elif ticks[0] == 3: + state.done.set() + return state.done.is_set() + + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent if c['type'] == 'velocity'] + assert [c['v'] for c in commands] == [0., 0., .08] + assert commands[0]['head_target'] == [.5, -1.05] + assert 'head_target' not in commands[1] and 'head_target' not in commands[2] + + +@pytest.mark.parametrize('fault', ['stop', 'runstop', 'camera', 'status', 'base', 'correction']) +def test_head_renewal_cancels_on_stop_lost_feedback_motion_or_correction(monkeypatch, tmp_path, fault): + module, state, context = setup(monkeypatch, tmp_path) + fresh_head_plan(state) + ticks = [0] + + def tick(_seconds): + ticks[0] += 1 + if ticks[0] == 1: + if fault == 'stop': + state.finish('Stopped by operator') + elif fault == 'runstop': + state.robot['is_runstopped'] = True + elif fault == 'camera': + state.robot['sensor_age'] = 1. + elif fault == 'status': + state.robot_received = time.monotonic() - 1. + elif fault == 'base': + state.robot['base_pose'] = [.06, 0., 0.] + elif fault == 'correction': + state.plan_epoch += 1 + state.plan = {'input_received': time.monotonic(), 'goal_distance': 0., 'localized': True, + 'localized_streak': 3, 'recovery_pending': True, + 'recovery_deadline': time.monotonic() + 12.} + if ticks[0] >= 3: + state.done.set() + return state.done.is_set() + + monkeypatch.setattr(state.done, 'wait', tick) + module.control_loop(state) + commands = [c for socket in context.sockets for c in socket.sent] + velocity = [c for c in commands if c['type'] == 'velocity'] + assert velocity[0]['head_target'] == [.5, -1.05] + assert all('head_target' not in c for c in velocity[1:]) + assert all(c['v'] == c['w'] == 0. for c in velocity) + assert all(c['type'] == 'stop' for c in commands[-3:]) diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_learned.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_learned.py new file mode 100644 index 0000000000000000000000000000000000000000..d4612a59148b74c254e8df74a255a9ae899a627c --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_learned.py @@ -0,0 +1,55 @@ +import numpy as np +import pytest + +from web_console.stretch_nav_learned import reproject_bev + + +def camera_pose(yaw=0., x=0., y=0.): + c, s = np.cos(yaw), np.sin(yaw) + world_yaw = np.array([[c, -s, 0.], [s, c, 0.], [0., 0., 1.]]) + pose = np.eye(4) + # Level optical camera looks along base +X, optical right is base -Y. + pose[:3, :3] = world_yaw @ np.array([[0., 0., 1.], [-1., 0., 0.], [0., -1., 0.]]) + pose[:3, 3] = [x, y, .7] + return pose + + +R_BEV_CAMERA = np.array([[1., 0., 0.], [0., 0., 1.], [0., -1., 0.]]) + + +def test_camera_offset_moves_obstacle_into_base_grid(): + prob = np.zeros((64, 64), np.float32) + prob[30, 31] = .83 + result = reproject_bev(prob, np.ones_like(prob), prob / 2, + R_BEV_CAMERA, camera_pose(x=.2, y=.1), np.eye(4), .1) + assert result['prob'][28, 30] == pytest.approx(.83) + assert result['err'][28, 30] == pytest.approx(.415) + assert result['obs'][-1, -1] == 0. + assert result['prob'][-1, -1] == .5 + assert result['err'][-1, -1] == 1. + + +def test_camera_pan_rotates_grid_into_base_heading(): + prob = np.zeros((64, 64), np.float32) + prob[26, 31] = .72 + result = reproject_bev(prob, np.ones_like(prob), np.zeros_like(prob), + R_BEV_CAMERA, camera_pose(yaw=np.pi / 2), np.eye(4), .1) + assert result['prob'][32, 26] == pytest.approx(.72) + + +def test_base_and_camera_rotated_together_preserve_grid(): + rng = np.random.default_rng(123) + prob = rng.random((64, 64), dtype=np.float32) + base = np.eye(4) + base[:2, :2] = [[0., -1.], [1., 0.]] + result = reproject_bev(prob, np.ones_like(prob), np.zeros_like(prob), + R_BEV_CAMERA, camera_pose(yaw=np.pi / 2), base, .1) + np.testing.assert_allclose(result['prob'], prob) + + +def test_invalid_learned_transform_rejected(): + p = np.zeros((8, 8)) + bad = np.eye(4) + bad[0, 0] = np.nan + with pytest.raises(ValueError): + reproject_bev(p, p, p, R_BEV_CAMERA, bad, np.eye(4), .1) diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_recovery.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_recovery.py new file mode 100644 index 0000000000000000000000000000000000000000..8472c394a36fec083f24438f37ce8b019de3e474 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_recovery.py @@ -0,0 +1,222 @@ +"""Synthetic camera motion, map corrections and occluded corners; no hardware.""" + +from types import SimpleNamespace + +import numpy as np +import pytest + +from web_console.stretch_nav_control import alignment_correction +from web_console.stretch_nav_recovery import ( + CornerObserver, + CorrectionRecovery, + MeasuredObstacleMemory, + camera_in_base, + clear_goal_cache, + rectangle_command_clear, + rectangle_path_clear, + route_subgoal, +) + + +def transform(yaw=0.0, xy=(0.0, 0.0)): + c, s = np.cos(yaw), np.sin(yaw) + t = np.eye(4) + t[:2, :2] = [[c, -s], [s, c]] + t[:2, 3] = xy + return t + + +def mount(yaw=0.0): + # Both orientation and camera centre move about the head joint. + camera = np.eye(4) + camera[:3, :3] = [[0, 0, 1], [-1, 0, 0], [0, -1, 0]] + camera[:3, 3] = [0.1, 0.0, 0.7] + return transform(yaw) @ camera + + +def grid(): + return {"prob": np.zeros((200, 200)), "obs": np.ones((200, 200)), "res": 0.05} + + +def test_dynamic_head_extrinsic_does_not_create_a_map_correction(): + base = transform(0.4, (10.0, 7.0)) + alignment = transform(0.2, (3.0, -2.0)) + neutral = mount() + attached = [] + for pan in [0.0, -0.5, -1.3, 0.4]: + camera = base @ mount(pan) + cross_camera = alignment @ camera + recovered = cross_camera @ np.linalg.inv(camera) + np.testing.assert_allclose(camera_in_base(camera, base), mount(pan), atol=1e-12) + distance, angle = alignment_correction(alignment, recovered, base) + assert distance < 1e-10 and angle < 1e-7 + attached.append(recovered @ base @ neutral) + np.testing.assert_allclose(attached, np.tile(attached[0], (4, 1, 1)), atol=1e-12) + # A fixed extrinsic would falsely interpret the same pan as robot motion. + wrong = (alignment @ base @ mount(-1.3)) @ np.linalg.inv(base @ neutral) + assert alignment_correction(alignment, wrong, base)[1] > 1.0 + + +def test_large_correction_holds_and_automatically_recovers_after_fresh_samples(): + recovery = CorrectionRecovery() + corrected = transform(0.04, (1.05, 0.0)) + result = recovery.update(np.eye(4), corrected, np.eye(4), 10.0) + assert result["started"] and result["pending"] + for now in [10.3, 10.6]: + assert recovery.update(corrected, corrected, np.eye(4), now)["pending"] + assert not recovery.update(corrected, corrected, np.eye(4), 10.9)["pending"] + + +def test_repeated_position_flips_do_not_extend_recovery_indefinitely(): + recovery = CorrectionRecovery() + a, b = np.eye(4), transform(xy=(1.0, 0.0)) + recovery.update(a, b, a, 0.0) + for t in range(1, 13): + recovery.update(b if t % 2 else a, a if t % 2 else b, a, float(t)) + with pytest.raises(RuntimeError, match="did not settle"): + recovery.update(a, b, a, 12.1) + + +def test_goal_cache_reset_preserves_obstacle_memory_and_scale(): + world, bumps = object(), [np.array([1.0, 2.0])] + episode = SimpleNamespace( + world=world, bumps=bumps, log_scale=0.6, route=np.ones((3, 2)), route_age=3, no_route=4, side=-1.0, expect=0.1 + ) + clear_goal_cache(episode) + assert episode.route is None and episode.expect == 0 + assert episode.world is world and episode.bumps is bumps and episode.log_scale == 0.6 + + +def test_right_corner_subgoal_stays_before_the_bend(): + hint = route_subgoal([[0.25, 0.0], [0.6, 0.0], [1.0, 0.0], [1.0, -0.5], [1.0, -1.5]], np.eye(4), [1.0, -1.5]) + assert hint["corner"] is not None + assert hint["target"][0] < hint["corner"][0] + assert hint["target"][1] == pytest.approx(0.0) + assert hint["outgoing"][1] < 0 + + +def test_straight_route_uses_arc_length_not_a_distant_overlapping_node(): + hint = route_subgoal([[0.5, 0.0], [1.0, 0.0], [2.0, 0.0]], np.eye(4), [2.0, 0.0]) + assert hint["corner"] is None + np.testing.assert_allclose(hint["target"], [1.5, 0.0]) + + +def test_sideways_graph_attachment_is_not_mistaken_for_an_aisle_bend(): + # Independent synthetic trail resembling an off-centre mapping camera. + route = [[0.16, -0.48], [0.47, -0.66], [0.54, -0.78], [0.58, -0.91], [0.58, -1.04], [0.53, -1.48], [0.53, -2.0]] + hint = route_subgoal(route, np.eye(4), route[-1]) + assert hint["corner"] is not None and hint["corner"][1] < -0.7 + assert hint["outgoing"][1] < -0.9 + assert 0.0 < hint["target"][0] < 0.4 and hint["target"][1] == pytest.approx(0.0) + + +def test_depth_memory_survives_a_camera_pan_and_expires_in_odom(): + memory = MeasuredObstacleMemory(horizon=12.0) + obstacle = np.array([[0.3, 0.0], [0.3, 0.01], [0.3, -0.01]]) + memory.update(obstacle, 0.0, [0.0, 0.0]) + retained = memory.update(np.empty((0, 2)), 5.0, [0.0, 0.0]) + assert len(retained) >= 3 # Preserve enough returns for the hard veto. + assert len(memory.update(np.empty((0, 2)), 12.1, [0.0, 0.0])) == 0 + + +def test_look_and_return_require_settled_images_before_advance(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.zeros(2), "corner": np.array([0.3, 0.0]), "outgoing": np.array([0.0, -1.0])} + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 0.0) + assert result["hold"] and result["phase"] == "look" and result["head_target"][0] < -1.0 + for i, pan in enumerate([-0.5, -1.0, -np.pi / 2, -np.pi / 2, -np.pi / 2]): + joint[9] = pan + result = observer.update(hint, np.eye(4), mount(pan), mount(), joint, grid(), i + 1.0) + assert result["hold"] + assert observer.phase == "return" + assert result["coverage"] == 1.0 + for i in range(3): + joint[9] = 0.0 + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 6.0 + i) + assert observer.phase == "advance" + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 9.0) + assert not result["hold"] and result["speed_scale"] == 0.5 + + +def test_scan_waits_for_head_limit_before_requesting_base_rotation(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.zeros(2), "corner": np.array([0.3, 0.0]), "outgoing": np.array([0.0, 1.0])} + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 0.0) + assert result["head_target"][0] == 0.65 and result["scan_w"] == 0.0 + joint[9] = 0.65 + result = observer.update(hint, np.eye(4), mount(0.65), mount(), joint, grid(), 1.0) + assert result["scan_w"] == 0.15 and result["hold"] + + +def test_recovery_interrupted_pan_returns_to_neutral_before_translation(): + observer = CornerObserver() + observer.restore_neutral(np.eye(4), 10.0) + joint = np.zeros(11) + joint[9:11] = [-1.2, -0.4] + hint = {"target": np.array([1.0, 0.0]), "corner": None} + result = observer.update(hint, np.eye(4), mount(-1.2), mount(), joint, grid(), 10.5) + assert result["hold"] and result["phase"] == "return" + assert result["head_target"][0] == pytest.approx(0.0) + + +def test_blocked_approach_can_observe_before_reaching_the_waypoint(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.array([0.6, 0.0]), "corner": np.array([0.9, 0.0]), "outgoing": np.array([0.0, -1.0])} + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 0.0) + assert result["phase"] == "approach" and not result["hold"] + result = observer.update(hint, np.eye(4), mount(), mount(), joint, grid(), 2.0, force_observation=True) + assert result["phase"] == "look" and result["hold"] + + +def test_unseen_branch_never_becomes_approved_after_a_head_scan(): + observer = CornerObserver() + joint = np.zeros(11) + joint[10] = -0.4 + hint = {"target": np.zeros(2), "corner": np.array([0.1, 0.0]), "outgoing": np.array([0.0, -1.0])} + unseen = grid() + unseen["obs"][:] = 0.0 + observer.update(hint, np.eye(4), mount(), mount(), joint, unseen, 0.0) + for i in range(3): + joint[9] = -np.pi / 2 + observer.update(hint, np.eye(4), mount(-np.pi / 2), mount(), joint, unseen, i + 1.0) + for i in range(2): + joint[9] = 0.0 + observer.update(hint, np.eye(4), mount(), mount(), joint, unseen, i + 4.0) + with pytest.raises(RuntimeError, match="remains occluded"): + observer.update(hint, np.eye(4), mount(), mount(), joint, unseen, 6.0) + + +def test_rectangle_rejects_obstacle_that_a_20cm_circle_would_miss(): + g = grid() + # Centreline x=.5, return at x=.5,y=.225 clips the 46 cm body. + g["prob"][int(100 - 0.5 / 0.05), int(100 - 0.225 / 0.05)] = 1.0 + assert not rectangle_path_clear([[0.5, 0.0], [1.0, 0.0]], g) + assert rectangle_path_clear([[0.5, 0.0], [1.0, 0.0]], grid()) + + +def test_pure_rotation_checks_sweeping_corners_of_the_body(): + g = grid() + # Outside the stationary body, within its corners' swept circle. + g["prob"][int(100 - 0.30 / 0.05), 100] = 1.0 + assert rectangle_command_clear(g, np.eye(4), np.zeros(3), 0.0, 0.0) + assert not rectangle_command_clear(g, np.eye(4), np.zeros(3), 0.0, 0.7) + + +def test_command_footprint_uses_planning_frame_after_base_motion(): + g = grid() + g["prob"][int(100 - 0.5 / 0.05), 100] = 1.0 + base = transform(np.pi / 2, (4.0, 2.0)) + assert rectangle_command_clear(g, base, [4.0, 2.0, np.pi / 2], 0.1, 0.0) + assert not rectangle_command_clear(g, base, [4.0, 2.25, np.pi / 2], 0.1, 0.0) + + +@pytest.mark.parametrize("bad", [np.eye(3), np.full((4, 4), np.nan), np.diag([2.0, 1.0, 1.0, 1.0])]) +def test_invalid_dynamic_extrinsic_rejected(bad): + with pytest.raises(ValueError): + camera_in_base(bad, np.eye(4)) diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_replay.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_replay.py new file mode 100644 index 0000000000000000000000000000000000000000..0ef9a26aa12114230f56e82819400c17722800f9 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_replay.py @@ -0,0 +1,250 @@ +"""Historical frames, asset confinement and HTTP replay use synthetic recordings.""" + +import http.client +import json +import threading +from http.server import ThreadingHTTPServer + +import cv2 +import numpy as np +import pytest + +from scripts.view_stretch_cross_nav_live_run import Handler, Review +from web_console.stretch_nav_replay import LAYERS, ReplayArchive, ReplayService, read_rows, save_bev_frame + + +def jsonl(path, rows): + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text("".join(json.dumps(row) + "\n" for row in rows)) + + +@pytest.fixture +def recording(tmp_path): + root = tmp_path / "stretch_cross_nav_live_synthetic" + (root / "capture/rgb").mkdir(parents=True) + (root / "review_bev").mkdir() + status = {"phase": "stopped", "reason": "Goal reached", "goal_keyframe": 7, "frame": {"frame_idx": 30}} + for name in ("review.json", "final_status.json"): + (root / name).write_text(json.dumps(status)) + (root / "map.json").write_text(json.dumps({"nodes": [], "goal": 7})) + raw = [{"frame_idx": number, "relative_time_s": time, "received_unix_s": 100 + time, + "sensor_stamp": 900 + time, "head_joints": [time / 10, -0.4]} + for number, time in [(10, 0.0), (20, 2.0), (30, 5.0)]] + jsonl(root / "capture/observations.jsonl", raw) + (root / "capture/latest.json").write_text(json.dumps(raw[-1])) + for row in raw: + cv2.imwrite(str(root / f"capture/rgb/{row['frame_idx']:08d}.jpg"), + np.full((24, 32, 3), row["frame_idx"], np.uint8)) + plans = [{"frame_idx": number, "time_s": time, "localized": True, "bev_size": 16, "bev_res": 0.05, + "trajectory": [[1, 0, 0]] if number == 20 else [[1, 0, 0], [2, 0, 0]], + "global_route": [], "local_path_display": [], "goal_distance": 1.0} + for number, time in [(20, 2), (30, 5)]] + jsonl(root / "observations.jsonl", plans) + jsonl(root / "commands.jsonl", [ + {"time_unix": 100, "phase": "teleop", "reason": "Teleop"}, + {"time_unix": 101, "phase": "active", "reason": "Following path", "nonzero_motion_commands": 4}, + {"time_unix": 105.5, "phase": "stopped", "reason": "Goal reached"}, + ]) + jsonl(root / "robot_status.jsonl", [ + {"received_unix": 100, "head_action_state": "idle", "joint_positions": [0.0] * 11}, + {"received_unix": 104, "head_action_state": "moving", "joint_positions": [9.0] * 11}, + {"received_unix": 106, "head_action_state": "future", "joint_positions": [99.0] * 11}, + ]) + jsonl(root / "events.jsonl", [ + {"time_unix": 101, "type": "start_requested"}, + {"time_unix": 105.5, "type": "stop", "reason": "Goal reached"}, + {"time_unix": 200, "type": "stop", "reason": "Later review shutdown"}, + ]) + for frame in (20, 30): + images = {f"{layer}.png": cv2.imencode(".png", np.full((16, 16, 3), frame, np.uint8))[1].tobytes() + for layer in LAYERS} + save_bev_frame(root, frame, images, source="recorded" if frame == 30 else "reconstructed") + if frame == 30: + for name, data in images.items(): + (root / "review_bev" / name).write_bytes(data) + return root + + +def test_timeline_uses_recorded_time_and_preserves_bev_provenance(recording): + manifest = ReplayArchive(recording).manifest() + assert [row["time_s"] for row in manifest["frames"]] == [0, 2, 5] + assert manifest["recorded_bev_frames"] == manifest["reconstructed_bev_frames"] == 1 + assert manifest["start_index"] == 0 + assert len(manifest["events"]) == 2 # Later server shutdown is not part of the run. + + +def test_prefirst_frame_does_not_leak_future_map_bev_control_or_pose(recording): + frame = ReplayArchive(recording).frame(0) + assert frame["frame"]["trajectory"] == [] + assert frame["replay"]["bev_urls"] == {} and frame["replay"]["bev_frame"] is None + assert frame["recorded_phase"] == "teleop" + assert frame["robot"]["head_action_state"] == "idle" + assert frame["processed"] == 0 + + +def test_historical_map_and_image_time_head_pose_are_selected_without_future_state(recording): + archive = ReplayArchive(recording) + early, later = archive.frame(1), archive.frame(2) + assert len(early["frame"]["trajectory"]) == 1 and len(later["frame"]["trajectory"]) == 2 + assert early["replay"]["bev_frame"] == 20 and early["replay"]["bev_source"] == "reconstructed" + assert early["robot"]["joint_positions"][9:11] == [0.2, -0.4] + assert later["robot"]["head_action_state"] == "moving" + assert later["recorded_phase"] == "active" and later["phase"] == "stopped" + assert not later["ready"] and later["gate"] == "Replay; motion controls disabled" + assert early["motion_commands"] == 4 # PC receive time, not the offset sensor clock. + + +def test_sparse_legacy_bev_is_not_shown_before_its_saved_frame(recording): + import shutil + shutil.rmtree(recording / "replay") + archive = ReplayArchive(recording) + assert archive.frame(1)["replay"]["bev_frame"] is None + assert archive.frame(2)["replay"]["bev_frame"] == 30 + + +def test_rgb_and_bev_assets_remain_confined_to_their_recording(recording, tmp_path): + archive = ReplayArchive(recording) + outside = tmp_path / "private.jpg" + outside.write_bytes(b"private") + image = recording / "capture/rgb/00000020.jpg" + image.unlink() + image.symlink_to(outside) + with pytest.raises(ValueError, match="escaped"): + archive.image(20) + with pytest.raises(KeyError): + archive.image(999) + with pytest.raises(KeyError): + archive.image(20, "../../private") + with pytest.raises(KeyError): + archive.frame(-1) + + +def test_bev_symlink_escape_is_rejected_when_loading_archive(recording, tmp_path): + outside = tmp_path / "private.png" + outside.write_bytes(b"private") + image = recording / "replay/bev/00000020/occupancy.png" + image.unlink() + image.symlink_to(outside) + with pytest.raises(ValueError, match="escaped"): + ReplayArchive(recording) + + +def test_backfill_does_not_overwrite_original_recorded_images(recording): + original = (recording / "replay/bev/00000030/occupancy.png").read_bytes() + save_bev_frame(recording, 30, {f"{name}.png": b"replacement" for name in LAYERS}, + source="reconstructed", only_missing=True) + assert (recording / "replay/bev/00000030/occupancy.png").read_bytes() == original + assert ReplayArchive(recording).frame(2)["replay"]["bev_source"] == "recorded" + + +def test_partial_bev_without_commit_metadata_is_ignored(recording): + (recording / "replay/bev/00000020/meta.json").unlink() + assert ReplayArchive(recording).frame(1)["replay"]["bev_frame"] is None + + +def test_committed_backfill_invalidates_a_cached_manifest(recording): + service = ReplayService(recording) + assert service.get().manifest()["bev_frames"] == 2 + images = {f"{layer}.png": (recording / "review_bev" / f"{layer}.png").read_bytes() for layer in LAYERS} + save_bev_frame(recording, 10, images) + assert service.get().manifest()["bev_frames"] == 3 + assert service.get().frame(0)["replay"]["bev_frame"] == 10 + + +def test_failed_bev_write_never_commits_a_complete_frame(recording, monkeypatch): + from pathlib import Path + original = Path.write_bytes + def fail_on_visibility(path, data): + if path.name == "visibility.png.tmp": + raise OSError("Synthetic disk failure") + return original(path, data) + monkeypatch.setattr(Path, "write_bytes", fail_on_visibility) + with pytest.raises(OSError, match="Synthetic"): + save_bev_frame(recording, 10, {f"{layer}.png": b"image" for layer in LAYERS}) + assert not (recording / "replay/bev/00000010/meta.json").exists() + assert ReplayArchive(recording).frame(0)["replay"]["bev_frame"] is None + + +def test_incomplete_final_jsonl_row_is_tolerated_but_corruption_is_not(tmp_path): + path = tmp_path / "rows.jsonl" + path.write_text('{"frame":1}\n{"frame":') + assert read_rows(path) == [{"frame": 1}] + path.write_text('{"frame":\n{"frame":2}\n') + with pytest.raises(json.JSONDecodeError): + read_rows(path) + + +def test_run_selection_is_allowlisted_and_excludes_escaped_or_unfinished_runs(recording, tmp_path): + service = ReplayService(recording) + assert service.listing()[0]["id"] == recording.name + with pytest.raises(KeyError): + service.get("../private") + outside = tmp_path / "outside" + outside.mkdir() + (tmp_path / "stretch_cross_nav_live_escape").symlink_to(outside.parent) + assert len(service.listing()) == 1 + (recording / "final_status.json").write_text('{"phase":"active"}') + assert service.listing() == [] + with pytest.raises(ValueError, match="stopped"): + ReplayArchive(recording) + + +def test_saved_server_serves_replay_and_cannot_arm_motion(recording): + server = ThreadingHTTPServer(("127.0.0.1", 0), Handler) + server.daemon_threads = True + server.state = Review(recording) + thread = threading.Thread(target=server.serve_forever, daemon=True) + thread.start() + client = http.client.HTTPConnection("127.0.0.1", server.server_port) + try: + for url, status in [ + ("/api/replay/runs", 200), ("/api/replay/manifest", 200), + ("/api/replay/frame?index=1", 200), ("/api/replay/rgb?frame=20", 200), + ("/api/replay/bev?frame=20&layer=occupancy", 200), + ("/api/replay/bev?frame=20", 404), ("/api/replay/frame?index=-1", 404), + ("/api/replay/rgb?frame=../private", 404), ("/api/replay/map?run=../private", 404), + ]: + client.request("GET", url) + response = client.getresponse() + response.read() + assert response.status == status, url + client.request("POST", "/api/start", body="{}", headers={"X-Session": server.state.token, + "Origin": f"http://127.0.0.1:{server.server_port}"}) + response = client.getresponse() + response.read() + assert response.status == 409 and server.state.phase == "stopped" + finally: + client.close() + server.shutdown() + server.server_close() + thread.join(timeout=3) + + +def test_future_recording_reopens_without_a_manual_review_export(recording): + import shutil + (recording / "review.json").unlink() + shutil.rmtree(recording / "review_bev") + (recording / "capture/latest.json").unlink() + state = Review(recording) + assert state.snapshot()["phase"] == "stopped" + assert state.packet["rgb_jpg"].tobytes().startswith(b"\xff\xd8") + assert set(state.images) == {f"{name}.png" for name in LAYERS} + + +def test_replay_is_unavailable_during_live_navigation(recording): + server = ThreadingHTTPServer(("127.0.0.1", 0), Handler) + server.state = Review(recording) + server.state.phase = "active" + thread = threading.Thread(target=server.serve_forever, daemon=True) + thread.start() + client = http.client.HTTPConnection("127.0.0.1", server.server_port) + try: + client.request("GET", "/api/replay/manifest") + response = client.getresponse() + response.read() + assert response.status == 409 + finally: + client.close() + server.shutdown() + server.server_close() + thread.join(timeout=3) diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_routing.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_routing.py new file mode 100644 index 0000000000000000000000000000000000000000..635ade0002e845a0259fd3b91e5b76ceb15234df --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_routing.py @@ -0,0 +1,162 @@ +"""Route attachment on synthetic graphs; no CROSS checkout, map or robot needed.""" +from types import SimpleNamespace + +import numpy as np +import pytest + +from web_console.stretch_nav_report import SavedRoute + + +def pose(x=0., y=0.): + result = np.eye(4) + result[:2, 3] = [x, y] + return result + + +class NativeGraph: + def __init__(self, edges): + self.edges = edges + self.reads = 0 + + def _get_neighbors(self, key): + return [b for a, b in self.edges if a == key] + + def _get_edge_cost(self, a, b): + self.reads += 1 + return self.edges[a, b] + + +class NativePlanning: + def __init__(self, owner, edges, plans): + self.owner = owner + self.planner = NativeGraph(edges) + self.plans = plans + self.goal = None + + def set_goal(self, *, goal_kf_id): + self.goal = goal_kf_id + + def plan_to_goal(self, *, algorithm): + assert algorithm == 'astar' + ids = self.plans[self.owner.current] + assert ids[-1] == self.goal + return {'detailed_path': ids, 'detail_level': 'backbone', + 'detailed_cost': sum(self.planner.edges[a, b] for a, b in zip(ids, ids[1:]))} + + +def route_fixture(short_cost=7.42, long_cost=33.88): + route = SavedRoute.__new__(SavedRoute) + route.matrices = {1: pose(.1916), 2: pose(.1951), 3: pose(-4.), 9: pose(4., 4.)} + route.permanent = {key: SimpleNamespace(id=key) for key in route.matrices} + route.current = 1 + # Two visits overlap spatially, but following recording order gives different + # costs to the same goal. Plans are fixed independently of the selection code. + edges = {(1, 3): 10., (3, 9): long_cost - 10., (2, 9): short_cost} + route.planning = NativePlanning(route, edges, {1: [1, 3, 9], 2: [2, 9], 3: [3, 9]}) + route.attachment_radius, route.switch_margin = .75, .25 + route._goal, route._cost_to_goal, route._previous_ids = None, {}, () + return route + + +def test_remaining_distance_beats_millimetres_of_nearest_frame_advantage(): + route = route_fixture() + result = route.route(pose(), 9) + assert result['attachment']['nearest_keyframe'] == 1 + assert result['ids'] == [2, 9] + assert result['cost_m'] == pytest.approx(7.42) + assert result['attachment']['total_m'] == pytest.approx(7.6151) + + +def test_repeated_nearest_visit_switches_do_not_reset_to_long_loop(): + route = route_fixture() + # Repeated visits flip the nearest keyframe while both remain local. + for x in [0., .193, .4, .193, 0.] * 20: + result = route.route(pose(x), 9) + assert result['ids'] == [2, 9] + assert result['cost_m'] < 8. + + +def test_valid_short_route_remains_candidate_as_another_visit_gets_closer(): + route = route_fixture() + route.matrices[1] = pose(.30) + route.matrices[2] = pose(-.56) + # A nearest+0.25 m filter used to drop frame 2 here and select the long loop. + for x in [0., .005, .01, 0.]: + result = route.route(pose(x), 9) + assert result['ids'] == [2, 9] + assert result['attachment']['distance_m'] < route.attachment_radius + + +def test_continuity_keeps_route_when_total_costs_differ_by_only_centimetres(): + route = route_fixture(short_cost=7.45, long_cost=10.01) + # Use independent direct edges of nearly equal cost. + route.planning.planner.edges = {(1, 9): 7.42, (2, 9): 7.45} + route.planning.plans[1] = [1, 9] + route._set_goal(9) + route._previous_ids = (2, 9) + result = route.route(pose(), 9) + assert result['start_keyframe'] == 2 + assert result['attachment']['selected_on_previous_route'] + + +def test_continuity_never_preserves_long_route_against_substantial_saving(): + route = route_fixture() + route._set_goal(9) + route._previous_ids = (1, 3, 9) + assert route.route(pose(), 9)['start_keyframe'] == 2 + + +def test_blocked_attachment_cannot_win_on_remaining_distance(): + route = route_fixture() + result = route.route(pose(), 9, can_attach=lambda key, _point: key != 2) + assert result['start_keyframe'] == 1 + assert result['attachment']['connection_check'] == 'measured_depth' + + +def test_no_clear_local_attachment_returns_no_route(): + result = route_fixture().route(pose(), 9, can_attach=lambda *_: False) + assert result['status'] == 'no_local_graph_attachment' + assert not result['ids'] + + +def test_distant_node_with_short_route_does_not_allow_teleporting_to_goal(): + result = route_fixture().route(pose(20.), 9) + assert result['status'] == 'no_local_graph_attachment' + assert not result['ids'] + + +def test_disconnected_nearest_node_does_not_hide_connected_local_start(): + route = route_fixture() + del route.planning.planner.edges[1, 3] + assert route.route(pose(), 9)['ids'] == [2, 9] + + +def test_cost_to_go_is_cached_and_goal_change_resets_continuity(): + route = route_fixture() + route.route(pose(), 9) + reads = route.planning.planner.reads + route.route(pose(.01), 9) + assert route.planning.planner.reads == reads + result = route.route(pose(), 1) + assert result['ids'] == [1] + assert route._cost_to_goal == {1: 0.} + assert not result['attachment']['selected_on_previous_route'] + + +def test_goal_attachment_retains_singleton_route_for_final_approach(): + route = route_fixture() + result = route.route(pose(4., 4.), 9) + assert result['status'] == 'route_found' + assert result['ids'] == [9] + assert result['cost_m'] == 0. + + +def test_local_attachment_cost_decreases_while_approaching_goal(): + route = route_fixture() + totals = [route.route(pose(x, 4.), 9)['attachment']['total_m'] for x in [3.4, 3.6, 3.8, 4.]] + assert all(b < a for a, b in zip(totals, totals[1:])) + + +def test_invalid_pose_is_rejected(): + with pytest.raises(ValueError, match='Invalid committed camera pose'): + route_fixture().route(np.full((4, 4), np.nan), 9) diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_survey.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_survey.py new file mode 100644 index 0000000000000000000000000000000000000000..5b7b9a5b27a427ad2e481a893bf835c2cbece72f --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_nav_survey.py @@ -0,0 +1,290 @@ +"""Blocked starts, settled yaw/pitch observations and footprint evidence; no hardware.""" + +import numpy as np +import pytest + +from web_console.stretch_nav_control import depth_veto +from web_console.stretch_nav_footprint import command_footprint_report, depth_support +from web_console.stretch_nav_recovery import ( + CornerObserver, + MeasuredObstacleMemory, + camera_in_base, + rectangle_path_clear, +) +from web_console.stretch_nav_survey import HeadSurvey + + +def camera(pan=0.0, tilt=-0.4): + c, s = np.cos(pan), np.sin(pan) + yaw = np.array([[c, -s, 0.0], [s, c, 0.0], [0.0, 0.0, 1.0]]) + c, s = np.cos(-tilt), np.sin(-tilt) + pitch = np.array([[c, 0.0, s], [0.0, 1.0, 0.0], [-s, 0.0, c]]) + mount = np.eye(4) + mount[:3, :3] = yaw @ pitch @ np.array([[0, 0, 1], [-1, 0, 0], [0, -1, 0]]) + mount[:3, 3] = [0.04 * np.cos(pan), 0.04 * np.sin(pan), 1.3] + return mount + + +def joints(pan=0.0, tilt=-0.4): + values = np.zeros(11) + values[9:11] = [pan, tilt] + return values + + +def empty_grid(): + return {"prob": np.zeros((200, 200)), "obs": np.ones((200, 200)), "res": 0.05} + + +def complete_survey(survey, now=0.0, frame=0): + while survey.active: + target = [0.0, -0.4] if survey.braking else survey.targets[survey.index][1] + result = survey.update(np.eye(4), camera(*target), joints(*target), frame, now) + assert result["hold"] and result["scan_w"] == 0.0 + now, frame = now + 0.25, frame + 1 + return now, result + + +def stop_base(survey, base=None): + base = np.eye(4) if base is None else base + for frame, now in enumerate([0., .35, .70]): + result = survey.update(base, camera(), joints(), frame, now) + if frame < 2: + assert result['head_target'] is None and result['hold'] and result['scan_w'] == 0. + assert not survey.braking + + +def test_stuck_forward_goal_gets_distinct_yaw_and_pitch_views_before_neutral_return(): + survey = HeadSurvey() + assert survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "learned footprint") + targets = np.array([target for _, target in survey.targets]) + assert targets[:, 0].min() < -0.6 and targets[:, 0].max() > 0.5 + assert targets[:, 1].min() < -1.0 + np.testing.assert_allclose(targets[-1], [0.0, -0.4]) + _, result = complete_survey(survey) + assert result["survey_complete"] and result["hold"] + assert len(survey.views) == 6 and survey.snapshot()["settled_views"] == 6 + + +def test_duplicate_frames_or_moving_head_do_not_complete_a_view(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + target = survey.targets[0][1] + for now in [0.0, 0.5, 1.0, 1.5]: + survey.update(np.eye(4), camera(*target), joints(*target), 1, now) + assert survey.index == 0 + for frame, tilt in enumerate([-0.6, -0.8, -1.0], 2): + survey.update(np.eye(4), camera(tilt=tilt), joints(tilt=tilt), frame, 2.0 + frame / 10) + assert survey.index == 0 + + +def test_joint_reaching_without_settled_camera_tf_does_not_count(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + target = survey.targets[0][1] + for frame in range(6): + survey.update(np.eye(4), camera(0.1 * frame, target[1]), joints(*target), frame, frame * 0.5) + assert not survey.views + + +def test_settled_head_with_action_offset_counts_the_actual_image_time_extrinsic(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + stop_base(survey) + target = np.array(survey.targets[0][1]) + # A successful hardware action can settle about three degrees short. The + # resulting view is useful, and its measured extrinsic must be retained. + actual = target + [0.04, 0.054] + actual_mount = camera(*actual) + for frame, now in enumerate([1.0, 1.25, 1.75], 3): + result = survey.update(np.eye(4), actual_mount, joints(*actual), frame, now) + assert result["hold"] and result["scan_w"] == 0.0 + assert survey.index == 1 and len(survey.views) == 1 + np.testing.assert_allclose(survey.views[0]["head_joints"], actual) + np.testing.assert_allclose(survey.views[0]["camera_in_base"], actual_mount) + assert not np.allclose(actual_mount, camera(*target)) + + +def test_stationary_camera_far_from_head_target_does_not_complete_a_view(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + actual = np.array(survey.targets[0][1]) + [0.0, 0.08] + for frame in range(6): + survey.update(np.eye(4), camera(*actual), joints(*actual), frame, frame * 0.5) + assert survey.index == 0 and not survey.views + + +def test_survey_is_bounded_and_only_progress_allows_more_passes(): + survey = HeadSurvey() + for start in [0.0, 15.0]: + survey.start(np.eye(4), camera(), camera(), joints(), start, "blocked") + now, _ = complete_survey(survey, start) + assert not survey.start(np.eye(4), camera(), camera(), joints(), now, "blocked") # Cooldown. + with pytest.raises(RuntimeError, match="two passes"): + survey.start(np.eye(4), camera(), camera(), joints(), now + 4.0, "blocked") + base = np.eye(4) + base[0, 3] = 0.21 + assert survey.start(base, camera(), camera(), joints(), now + 4.0, "blocked") + assert survey.passes == 1 + + +def test_survey_times_out_without_fresh_settled_frames(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + stop_base(survey) + with pytest.raises(RuntimeError, match="timed out"): + survey.update(np.eye(4), camera(), joints(), 3, 20.8) + + +def test_slower_head_turn_has_time_to_settle_with_its_frozen_anchor_and_deadline(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0., 'blocked') + stop_base(survey) + result = survey.update(np.eye(4), camera(tilt=-.8), joints(tilt=-.8), 3, 12.8) + assert result['head_deadline'] == pytest.approx(20.7) + np.testing.assert_array_equal(result['head_anchor'], survey.base) + target = survey.targets[0][1] + for frame, now in enumerate([13., 13.4, 13.9], 4): + survey.update(np.eye(4), camera(*target), joints(*target), frame, now) + assert len(survey.views) == 1 + + +def test_external_base_motion_aborts_stationary_survey(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0.0, "blocked") + stop_base(survey) + base = np.eye(4) + base[0, 3] = 0.1 + with pytest.raises(RuntimeError, match="Base moved"): + survey.update(base, camera(), joints(), 3, 1.0) + + +def test_survey_waits_for_braking_then_anchors_to_the_stopped_pose(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0., 'blocked while driving') + # Image age plus physical deceleration creates 10.5 cm of legitimate + # movement after the triggering image, as observed in the hardware run. + for frame, (now, x) in enumerate([(0., 0.), (.25, .046), (.5, .073), + (.75, .092), (1., .105), (1.3, .107), (1.7, .107)]): + base = np.eye(4) + base[0, 3] = x + result = survey.update(base, camera(), joints(), frame, now) + assert result['hold'] and result['scan_w'] == 0. + if now < 1.7: + assert survey.braking and result['head_target'] is None + assert not survey.braking and result['head_target'] is not None + assert survey.base[0, 3] == pytest.approx(.107) + assert not survey.views # Braking frames cannot count as head observations. + base[0, 3] += .051 + with pytest.raises(RuntimeError, match='Base moved'): + survey.update(base, camera(), joints(), 7, 2.) + + +def test_duplicate_frames_cannot_establish_base_standstill(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0., 'blocked') + for now in [0., 1., 2.]: + result = survey.update(np.eye(4), camera(), joints(), 1, now) + assert survey.braking and result['head_target'] is None + + +def test_base_keeps_creeping_during_braking_never_starts_head_motion(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0., 'blocked') + for frame in range(20): + base = np.eye(4) + base[0, 3] = .008 * frame + result = survey.update(base, camera(), joints(), frame, .25 * frame) + assert result['head_target'] is None + with pytest.raises(RuntimeError, match='braking timed out'): + survey.update(base, camera(), joints(), 21, 6.01) + + +def test_excess_motion_during_braking_still_aborts(): + survey = HeadSurvey() + survey.start(np.eye(4), camera(), camera(), joints(), 0., 'blocked') + base = np.eye(4) + base[0, 3] = .201 + with pytest.raises(RuntimeError, match='braking envelope'): + survey.update(base, camera(), joints(), 1, .5) + + +def test_cancelled_downward_scan_restores_pitch_and_yaw_after_correction(): + observer = CornerObserver() + observer.restore_neutral(np.eye(4), 1.0) + result = observer.update({"target": np.array([1.0, 0.0]), "corner": None}, np.eye(4), + camera(-0.7, -1.05), camera(), joints(-0.7, -1.05), empty_grid(), 1.1) + np.testing.assert_allclose(result["head_target"], [0.0, -0.4], atol=1e-10) + for i in range(3): + observer.update({"target": np.array([1.0, 0.0]), "corner": None}, np.eye(4), + camera(0.0, -1.05), camera(), joints(0.0, -1.05), empty_grid(), 1.2 + i) + assert observer.phase == "return" # Yaw is restored but pitch is still wrong. + + +def test_camera_tf_compensation_holds_for_combined_pitch_and_yaw(): + base = np.eye(4) + base[:2, 3] = [4.0, 2.0] + alignment = np.eye(4) + alignment[:2, 3] = [-2.0, 7.0] + for pan, tilt in [(0.0, -0.4), (0.55, -1.05), (-0.7, -1.05), (-0.7, -0.4)]: + actual = base @ camera(pan, tilt) + recovered = (alignment @ actual) @ np.linalg.inv(actual) + np.testing.assert_allclose(camera_in_base(actual, base), camera(pan, tilt), atol=1e-12) + np.testing.assert_allclose(recovered @ base @ camera(), alignment @ base @ camera(), atol=1e-12) + + +def test_depth_obstacles_survive_a_long_survey_and_its_return(): + memory = MeasuredObstacleMemory() + obstacle = np.array([[0.3, 0.0], [0.3, 0.01], [0.3, -0.01]]) + memory.update(obstacle, 0.0, [0.0, 0.0]) + memory.observing(True, 1.0) + assert len(memory.update(np.empty((0, 2)), 35.0, [0.0, 0.0])) >= 3 + memory.observing(False, 36.0) + assert len(memory.update(np.empty((0, 2)), 40.0, [0.0, 0.0])) >= 3 + assert not len(memory.update(np.empty((0, 2)), 48.1, [0.0, 0.0])) + + +def test_own_body_prediction_is_logged_without_locking_the_robot_in_place(): + grid = empty_grid() + grid["prob"][100, 100] = 0.9 + report = command_footprint_report(grid, np.eye(4), np.zeros(3), 0.1, 0.0) + assert report["clear"] and report["ignored_current_body_cell_count"] == 1 + assert report["self_cells"][0]["probability"] == 0.9 + unsupported = depth_support(report, np.empty((0, 2))) + assert unsupported["depth_supported_cells"] == 0 + assert unsupported["self_cells"][0]["nearest_depth_return_m"] is None + assert rectangle_path_clear([[0.5, 0.0], [1.0, 0.0]], grid) + assert grid["prob"][100, 100] == 0.9 # Original prediction is not overwritten. + + +def test_missing_depth_never_clears_a_prediction_in_newly_swept_space(): + grid = empty_grid() + grid["prob"][94, 100] = 0.9 # 27.5 cm ahead, beyond the current body. + report = command_footprint_report(grid, np.eye(4), np.zeros(3), 0.1, 0.0) + unsupported = depth_support(report, np.empty((0, 2))) + assert not unsupported["clear"] and unsupported["depth_supported_cells"] == 0 + assert not rectangle_path_clear([[0.5, 0.0]], grid) + + +def test_measured_depth_veto_is_preserved_at_the_existing_body_edge(): + points = np.array([[0.215, 0.0], [0.215, 0.01], [0.215, -0.01]]) + assert depth_veto(points, np.zeros(3), 0.1, 0.0) + + +def test_report_depth_support_uses_world_frame_and_preserves_guard_decision(): + grid = empty_grid() + grid["prob"][93, 100] = 0.95 + base = np.eye(4) + base[:2, 3] = [4.0, 7.0] + report = command_footprint_report(grid, base, [4.0, 7.0, 0.0], 0.15, 0.0) + assert not report["clear"] and report["sweep_time_s"] > 0.0 + point = report["cells"][0]["world_xy"] + result = depth_support(report, np.tile(point, (3, 1))) + assert result["depth_supported_cells"] == 1 + assert result["cells"][0]["nearby_depth_returns"] == 3 + + +def test_unknown_predictions_do_not_become_learned_obstacles(): + grid = empty_grid() + grid["prob"][:] = 1.0 + grid["obs"][:] = 0.0 + assert command_footprint_report(grid, np.eye(4), np.zeros(3), 0.1, 0.0)["clear"] diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_transport.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_transport.py new file mode 100644 index 0000000000000000000000000000000000000000..c48d01b635538231d8d8d265a4fae4b5ad5b7b63 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_transport.py @@ -0,0 +1,80 @@ +from web_console.stretch_transport import camera_transport_diagnostics + + +def test_transport_age_uses_robot_clock_despite_large_pc_clock_offset(): + packet = {'frame_id': 40, 'sensor_stamp': 900., 'sensor_age': .06} + robot = {'frame_id': 52, 'ros_now_s': 903.} + result = camera_transport_diagnostics(packet, robot, 1200., 1200.02) + assert result['source_frame_gap'] == 12 + assert abs(result['source_age_via_status_s'] - 3.02) < 1e-9 + assert abs(result['post_publish_delay_via_status_s'] - 2.96) < 1e-9 + + +def test_old_status_does_not_produce_a_transport_age(): + result = camera_transport_diagnostics({'frame_id': 5, 'sensor_stamp': 10.}, + {'frame_id': 6, 'ros_now_s': 11.}, 100., 101.) + assert 'source_age_via_status_s' not in result + + +def test_old_relay_and_missing_status_remain_compatible(): + packet = {'frame_id': 5, 'sensor_stamp': 10., 'sensor_age': .03} + assert camera_transport_diagnostics(packet, None, 0., 1.) == {'source_age_at_send_s': .03} + result = camera_transport_diagnostics(packet, {'frame_id': 6}, 1., 1.1) + assert result['source_frame_gap'] == 1 + assert 'source_age_via_status_s' not in result + + +def test_receiver_records_timing_and_preserves_image_bytes(monkeypatch, tmp_path): + import importlib.util + import json + import pickle + from pathlib import Path + from types import SimpleNamespace + + import numpy as np + + path = Path(__file__).resolve().parents[1] / 'scripts/live_stretch_cross_nav.py' + spec = importlib.util.spec_from_file_location('camera_transport_live_test', path) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + state = module.LiveState(SimpleNamespace(output=tmp_path, robot_ip='unreachable.invalid')) + packet = {'world_frame': 'odom', 'frame_id': 7, 'sensor_stamp': 1000., 'sensor_age': .05, + 'camera_pose': np.eye(4), 'base_pose_matrix': np.eye(4), + 'camera_tf_stamp': 1000., 'base_tf_stamp': 1000., + 'rgb_jpg': np.frombuffer(b'exact-rgb', dtype=np.uint8), + 'depth_png': np.frombuffer(b'exact-depth', dtype=np.uint8)} + payload = pickle.dumps(packet) + + class Socket: + calls = 0 + + def setsockopt(self, *_): + pass + + def connect(self, *_): + pass + + def poll(self, *_): + self.calls += 1 + if self.calls > 1: + state.done.set() + return False + return True + + def recv(self): + return payload + + def close(self): + pass + + monkeypatch.setattr(module.zmq, 'Context', lambda: SimpleNamespace(socket=lambda *_: Socket(), term=lambda: None)) + module.capture_loop(state, SimpleNamespace(process=SimpleNamespace(poll=lambda: None))) + root = tmp_path / 'capture' + assert (root / 'rgb/00000000.jpg').read_bytes() == b'exact-rgb' + assert (root / 'depth/00000000.png').read_bytes() == b'exact-depth' + timing = json.loads((root / 'transport.jsonl').read_text()) + assert timing['wire_bytes'] == len(payload) + assert timing['deserialize_s'] >= 0 + assert timing['record_and_publish_s'] >= 0 + assert state.packet['sensor_stamp'] == 1000. + assert state.phase == 'teleop' diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_vggt_debug.py b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_vggt_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..a302345340af38594f229be1ed45a4cf45d12187 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/tests/test_stretch_vggt_debug.py @@ -0,0 +1,237 @@ +"""Synthetic inference, buffer reuse and disk failures; no checkpoints or robot.""" + +import hashlib +import json +import threading +from types import SimpleNamespace + +import numpy as np +import pytest +import torch + +from scripts.inspect_stretch_vggt_debug import export_frame +from web_console import stretch_vggt_debug as debug + + +class Head: + size, res = 8, .05 + + def __call__(self, tokens, pts, patch_hw, dino, depth, conf, pose_enc, hw, log_scale, + up_cam=None, views=None): + self.result = {'prob': torch.full((8, 8), .1234567), 'observability': torch.ones(8, 8), + 'uncertainty': torch.zeros(8, 8), 'up_cam': torch.tensor([0., -1., 0.]), + 'up_head': torch.tensor([0., -1., 0.]), 'log_scale': log_scale, 'res': self.res} + return self.result + + +class Backend: + def __init__(self): + self.nav = Head() + self.depth = torch.zeros(2, 4, 6) + self.counter = 0 + self.calib_focal = .91 + self.last_nav = None + + def infer(self, images, n_depth=None, focal=None): + self.counter += 1 + self.depth.fill_(self.counter) + self.last_nav = {'pose_enc': torch.ones(1, len(images), 9)} + self.result = SimpleNamespace(c2w=np.tile(np.eye(4), (len(images), 1, 1)), + K=np.tile(np.eye(3), (len(images), 1, 1)), depth=self.depth, + depth_conf=torch.ones_like(self.depth), hw=(4, 6), + covis=np.ones((len(images), len(images))), log_scale=.3) + return self.result + + +class Estimator: + def __init__(self): + self.backend = Backend() + self._R_model_to_cam = np.eye(4) + self._cameras = None + + def estimate_pose(self, ref_image, ref_depth, curr_image, curr_depth, odom_anchor=None, + ref_rel_poses=None, ref_cam_ids=None, **kwargs): + images = torch.stack([curr_image, ref_image[0]]) + pred = self.backend.infer(images, n_depth=None, focal=.8) + out = self.backend.nav({}, 5, (1, 1), None, pred.depth, pred.depth_conf, + self.backend.last_nav['pose_enc'], (4, 6), .3, + up_cam=np.array([0., -1., 0.]), views=np.array([True, False])) + self.last_bev = {'prob': out['prob'].half().numpy(), 'observability': out['observability'].numpy(), + 'uncertainty': out['uncertainty'].numpy()} + self.last_info = {'view_tags': ['curr_L', 'ref0_L'], 'c2w_metric': pred.c2w, 'valid': True} + self.last_result = (torch.zeros(1, 7), np.ones(1, bool), torch.ones(1)) + return self.last_result + + +def image(): + return torch.linspace(-.01, 1.02, 72).reshape(3, 4, 6) + + +def run_frame(recorder, estimator, number=1): + recorder.begin_frame({'frame_idx': number, 'camera_pose': np.eye(4), 'head_joints': [0., -.4]}) + value = image() + result = estimator.estimate_pose(value[None], None, value, None, + odom_anchor={'T_prev_curr': np.eye(4), 'image': value}, + ref_rel_poses=[(0, 1, np.eye(4))]) + assert result is estimator.last_result + recorder.finish_frame(observation={'retrieval': [{'id': 42, 'loaded': True, 'verified': False}]}, + consumed_bev=estimator.last_bev, + body_grid={'prob': np.ones((8, 8)), 'obs': np.ones((8, 8)), 'err': np.zeros((8, 8))}) + + +def test_hooks_preserve_predictions_and_capture_exact_inputs_and_full_precision_head(tmp_path): + reference = Estimator() + expected = reference.estimate_pose(image()[None], None, image(), None) + estimator = Estimator() + recorder = debug.VggtDebugRecorder(tmp_path / 'debug', {'origin': 'synthetic'}) + recorder.attach(estimator) + run_frame(recorder, estimator) + for actual, value in zip(estimator.last_result, expected): + np.testing.assert_array_equal(np.asarray(actual), np.asarray(value)) + assert isinstance(estimator.backend.nav, debug._RecordingHead) + recorder.close() + assert isinstance(estimator.backend.nav, Head) + assert 'infer' not in vars(estimator.backend) and 'estimate_pose' not in vars(estimator) + record = debug.load_debug_frame(recorder.root, 1) + call = record['passes'][0] + assert call['infer_args'] == {'n_depth': None, 'focal': .8} + assert call['effective_calib_focal'] == .91 + assert call['views'][1]['reference']['id'] == 42 + np.testing.assert_array_equal(debug.load_debug_view(recorder.root, call['views'][0]['asset']), image().numpy()) + assert call['head_calls'][0]['outputs']['prob'].dtype == np.float32 + assert record['outputs']['consumed_bev']['prob'].dtype == np.float16 + np.testing.assert_array_equal(call['head_calls'][0]['inputs']['views'], [True, False]) + status = json.loads((recorder.root / 'status.json').read_text()) + assert status['frames'] == status['passes'] == status['unique_views'] == 1 + + +def test_reused_output_buffers_and_shared_reference_assets_survive_later_passes(tmp_path): + estimator = Estimator() + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + recorder.attach(estimator) + run_frame(recorder, estimator, 1) + run_frame(recorder, estimator, 2) + estimator.backend.depth.fill_(99) + recorder.close() + first, second = [debug.load_debug_frame(recorder.root, number) for number in (1, 2)] + np.testing.assert_array_equal(first['passes'][0]['prediction']['depth'], 1) + np.testing.assert_array_equal(second['passes'][0]['prediction']['depth'], 2) + assert len(list((recorder.root / 'views').glob('*.npz'))) == 1 + + +def test_interrupted_inference_retains_its_inputs_and_error(tmp_path): + estimator = Estimator() + def fail(_images, n_depth=None, focal=None): + raise ValueError('synthetic inference failure') + estimator.backend.infer = fail + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + recorder.attach(estimator) + recorder.begin_frame({'frame_idx': 3}) + with pytest.raises(ValueError, match='synthetic inference failure'): + estimator.estimate_pose(image()[None], None, image(), None) + recorder.close('synthetic inference failure') + data = debug.load_debug_frame(recorder.root, 3) + assert data['interrupted'] == data['passes'][0]['inference_error'] == 'synthetic inference failure' + np.testing.assert_array_equal(debug.load_debug_view(recorder.root, data['passes'][0]['views'][0]['asset']), + image().numpy()) + + +def test_background_disk_failure_is_explicit_and_does_not_commit_partial_frame(monkeypatch, tmp_path): + errors = [] + def fail(*_args, **_kwargs): + raise OSError('synthetic disk full') + monkeypatch.setattr(debug, 'write_npz', fail) + estimator = Estimator() + recorder = debug.VggtDebugRecorder(tmp_path / 'debug', on_error=errors.append) + recorder.attach(estimator) + run_frame(recorder, estimator) + recorder.pending.join() + with pytest.raises(RuntimeError, match='synthetic disk full'): + recorder.check() + with pytest.raises(RuntimeError, match='synthetic disk full'): + recorder.close() + assert len(errors) == 1 + assert not list((recorder.root / 'frames').glob('*/frame.json')) + assert json.loads((recorder.root / 'status.json').read_text())['status'] == 'failed' + + +def test_full_queue_is_explicit_and_close_flushes_the_retained_frame(monkeypatch, tmp_path): + entered, release = threading.Event(), threading.Event() + original = debug.VggtDebugRecorder._write + def paused(self, job): + entered.set() + assert release.wait(5) + original(self, job) + monkeypatch.setattr(debug.VggtDebugRecorder, '_write', paused) + recorder = debug.VggtDebugRecorder(tmp_path / 'debug', max_pending=1) + estimator = Estimator() + recorder.attach(estimator) + try: + run_frame(recorder, estimator, 1) + assert entered.wait(2) + run_frame(recorder, estimator, 2) + with pytest.raises(RuntimeError, match='cannot keep up'): + run_frame(recorder, estimator, 3) + finally: + release.set() + recorder.close() + rows = (recorder.root / 'index.jsonl').read_text().splitlines() + assert [json.loads(line)['capture_frame'] for line in rows] == [1, 2, 3] + + +def test_inspector_exports_input_group_and_bev_stages_without_a_model(tmp_path): + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + estimator = Estimator() + recorder.attach(estimator) + run_frame(recorder, estimator) + recorder.close() + result = export_frame(recorder.root, 1, tmp_path / 'inspection') + assert result['views'] == 2 + assert all((tmp_path / 'inspection' / name).is_file() for name in + ('input_views.jpg', 'predicted_depth.jpg', 'bev_stages.png', 'model_inputs.npz', 'manifest.json')) + with np.load(tmp_path / 'inspection/model_inputs.npz', allow_pickle=False) as arrays: + np.testing.assert_array_equal(arrays['images'][0], image().numpy()) + + +def test_object_arrays_and_asset_traversal_are_rejected(tmp_path): + with pytest.raises(TypeError, match='Object arrays'): + debug.snapshot(np.array([object()], dtype=object)) + with pytest.raises(ValueError, match='asset'): + debug.load_debug_view(tmp_path, '../escape') + + +def test_planner_memory_snapshot_preserves_fusion_evidence_before_buffer_reuse(tmp_path): + world = SimpleNamespace(o=np.array([1., 2.]), num=np.ones((8, 8)), den=np.full((8, 8), 2.), + seen=np.full((8, 8), .7), c={'res': .1, 'block_p': .6}) + episode = SimpleNamespace(world=world, pose=np.zeros(3), bumps=[[1., 2.]], route=None) + recorder = debug.VggtDebugRecorder(tmp_path / 'debug') + recorder.begin_frame({'frame_idx': 4}) + recorder.finish_frame(planner_state=debug.planner_snapshot(episode)) + world.num[:] = 99 + recorder.close() + saved = debug.load_debug_frame(recorder.root, 4)['outputs']['planner_state']['world'] + np.testing.assert_array_equal(saved['num'], 1.) + np.testing.assert_array_equal(saved['den'], 2.) + np.testing.assert_array_equal(saved['seen'], .7) + assert saved['c']['block_p'] == .6 + + +def test_bfloat16_snapshot_preserves_numeric_values_exactly(): + value = torch.tensor([.12345, 2000., 1e-8], dtype=torch.bfloat16) + saved = debug.snapshot(value) + assert saved.dtype == np.float32 + np.testing.assert_array_equal(saved, value.float().numpy()) + + +def test_checkpoint_provenance_records_revision_and_hashes_of_actual_files(monkeypatch, tmp_path): + monkeypatch.setattr(debug.subprocess, 'run', lambda *_a, **_kw: SimpleNamespace(stdout='abc123\n')) + root = tmp_path / 'cross' + heads = root / 'models/VGGT-Omega-CROSS/nav' + heads.mkdir(parents=True) + names = ('vggt_omega_cross_1b_512.pt', 'nav/cross_nav_occupancy.pt', 'nav/cross_nav_observability.pt') + for name in names: + (heads.parent / name).write_bytes(name.encode()) + provenance = debug.model_provenance(root) + assert provenance['cross_git_revision'] == 'abc123' + for name in names: + assert provenance['checkpoints'][name]['sha256'] == hashlib.sha256(name.encode()).hexdigest() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/__init__.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/cross_run.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/cross_run.py new file mode 100644 index 0000000000000000000000000000000000000000..0b26d00097311cf379178455656025e9fcd4437f --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/cross_run.py @@ -0,0 +1,116 @@ +"""Retain native CROSS maps and trajectories without editing the CROSS checkout.""" + +import json +import time +from pathlib import Path + +import numpy as np + + +def matrix(pose): + return pose.matrix().detach().cpu().numpy() + + +class RunArtifacts: + def __init__(self, directory, metadata): + self.directory = Path(directory).resolve() + self.directory.mkdir(parents=True, exist_ok=False) + self.metadata = {**metadata, "status": "running", "has_ground_truth": False} + self.records = [] + self.session = None + self.original_release = None + self.started = time.perf_counter() + self.write_status() + + def write_status(self): + path = self.directory / "run.json" + temporary = path.with_suffix(".json.tmp") + temporary.write_text(json.dumps(self.metadata, indent=2, allow_nan=False) + "\n") + temporary.replace(path) + + def wrap_factory(self, factory): + def make(): + from cross.core.config import config_to_dict + + session = self.session = factory() + process, self.original_release = session.process, session.release + config = config_to_dict(session.mapper.config) + (self.directory / "resolved_config.json").write_text(json.dumps(config, indent=2) + "\n") + + def record(frame): + started = time.perf_counter() + result = process(frame) + _, best, weights = session.belief(matrix) + estimate = getattr(session, "last_estimate", None) + diagnostics = getattr(estimate, "diagnostics", {}) + row = { + "frame_idx": int(frame["frame_idx"]), "timestamp": float(frame["timestamp"]), + "pose": np.asarray(best).tolist(), "weights": np.asarray(weights).tolist(), + "process_s": time.perf_counter() - started, + "frontend_valid": bool(diagnostics.get("valid", True)), + "imu_samples_provided": len(frame.get("imu", [])), + } + self.records.append(row) + return result + + def save_release(): + try: + self.save(session) + finally: + self.release() + + session.process, session.release = record, save_release + return session + return make + + def save(self, session): + session.save_map(self.directory / "map.pkl") + manager = session.hypothesis_manager + times = np.array([r["timestamp"] for r in self.records]) + nodes = [] + for key, node in manager.nodes.items(): + stamp = getattr(node, "timestamp", None) + row = {"id": int(key), "pose": matrix(node.pose_mu[0]).tolist(), "temporary": bool(node.temporary)} + if stamp is not None and len(times) and np.isfinite(stamp): + index = int(np.argmin(np.abs(times - float(stamp)))) + row.update(timestamp=float(stamp), frame_idx=self.records[index]["frame_idx"]) + nodes.append(row) + visual = [{"hypothesis": int(hid), "source": int(a), "target": int(b), "factors": len(factors)} + for hid, hypothesis in manager.hypotheses.items() + for (a, b), factors in hypothesis.visual_edges.items()] + graph = {"nodes": nodes, "odometry_edges": [list(map(int, edge)) for edge in manager.odom_edges], + "visual_edges": visual} + (self.directory / "graph.json").write_text(json.dumps(graph, indent=2, allow_nan=False) + "\n") + self.write_trajectory("trajectory.jsonl") + frontend = getattr(session, "frontend", None) + service = getattr(frontend, "service", None) + self.metadata.update( + frames_processed=len(self.records), keyframes=len(nodes), + permanent_keyframes=sum(not node["temporary"] for node in nodes), + odometry_edges=len(graph["odometry_edges"]), visual_edge_pairs=len(visual), + map_saved=True, valid_frontend_frames=sum(r["frontend_valid"] for r in self.records), + ) + if service is not None: + self.metadata["inertial_frontend_service"] = dict(service.stats) + if frontend is not None and hasattr(frontend, "stats"): + self.metadata["inertial_frontend"] = dict(frontend.stats) + self.write_status() + + def write_trajectory(self, filename): + with (self.directory / filename).open("w") as stream: + for record in self.records: + stream.write(json.dumps(record, allow_nan=False) + "\n") + + def release(self): + if self.original_release: + release, self.original_release = self.original_release, None + release() + + def finish(self, error=None): + self.metadata.update(status="failed" if error else "completed", frames_processed=len(self.records), + wall_seconds=time.perf_counter() - self.started) + if error: + self.metadata["error"] = str(error) + self.write_trajectory("trajectory.partial.jsonl") + self.write_status() + self.release() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav.css b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav.css new file mode 100644 index 0000000000000000000000000000000000000000..0a8e4eb40d39687f4312fc06bf068cdb93d93806 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav.css @@ -0,0 +1,3 @@ +:root{color-scheme:dark;--bg:#0c1720;--panel:#13232f;--line:#2b414f;--text:#e6eff1;--muted:#98afbd;--mint:#72dec0;--amber:#f3c77c}*{box-sizing:border-box}body{margin:0;background:var(--bg);color:var(--text);font:14px/1.5 system-ui,-apple-system,sans-serif}header{padding:21px 32px;display:flex;align-items:center;justify-content:space-between;gap:20px;border-bottom:1px solid var(--line);background:#11212c}header>div{display:flex;align-items:center;gap:30px}h1,h2,h3,p{margin:0}h1{font-size:25px;font-weight:650;letter-spacing:-.5px}h2{font-size:18px;font-weight:620}h3{font-size:14px;font-weight:630}.eyebrow{font-size:10px;letter-spacing:1.8px;color:var(--muted);display:block;margin-bottom:5px}header .eyebrow{margin:0;color:#b2cccf}.badge{font-size:10px;border:1px solid var(--line);border-radius:18px;padding:5px 9px;white-space:nowrap;color:var(--muted)}.passive{color:var(--mint);border-color:#355b51}main{max-width:1800px;margin:auto;padding:25px 28px}.summary{display:flex;justify-content:space-between;gap:20px;align-items:center;margin-bottom:22px}.summary h2{font-size:24px;letter-spacing:-.3px}.summary p{color:var(--muted);margin-top:4px}.metrics{display:flex;gap:40px}.metrics>div{display:flex;flex-direction:column;text-align:right}.metrics strong{font-size:28px;line-height:1.2}.metrics span{font-size:11px;color:var(--muted);margin-top:5px}.notice{display:flex;gap:18px;align-items:center;padding:13px 17px;border:1px solid #67543a;border-radius:8px;background:#28271f;color:#e7cfaa;margin-bottom:22px;font-size:12px}.notice b{white-space:nowrap;color:var(--amber)}.workspace{display:grid;grid-template-columns:255px minmax(370px,1.35fr) minmax(280px,1fr);gap:18px;align-items:stretch}.card{background:var(--panel);border:1px solid var(--line);border-radius:10px;overflow:hidden}.card-head{display:flex;align-items:center;justify-content:space-between;gap:12px;padding:18px 18px 10px}.card-head h2{font-size:17px}.card-head .eyebrow{font-size:9px}.stages{grid-row:span 2;padding:20px 17px}.stage{display:flex;gap:12px;margin:21px 0}.step{display:grid;place-items:center;flex:0 0 28px;height:28px;border-radius:7px;color:var(--mint);background:#1b3d3c;font-size:11px}.step.amber{background:#443a2b;color:var(--amber)}.stage p{font-size:12px;color:var(--mint);margin-top:3px}.stage small{display:block;font-size:10px;color:var(--muted);margin-top:2px}.divider{border-top:1px solid var(--line);margin:22px 0 17px}.goal-row{display:flex;gap:8px;margin:10px 0}.goal-row input{min-width:0;width:100%}.help{font-size:11px;color:var(--muted);line-height:1.6}.check{display:flex;gap:7px;align-items:center;margin-top:11px;font-size:12px}input[type=checkbox],input[type=range]{accent-color:var(--mint)}button,select,input[type=number]{font:inherit;background:#1a303e;color:var(--text);border:1px solid #3c5667;border-radius:6px;padding:7px 10px}button{cursor:pointer;font-size:11px;white-space:nowrap}button:hover{border-color:var(--mint);color:var(--mint)}button:disabled{opacity:.5;cursor:wait}.primary{color:var(--mint);border-color:#4f9c8b;background:#1c423f}.buttons{display:flex;gap:6px}.buttons button{padding:6px 9px}.quiet{color:var(--muted)}#global-map{height:420px;min-width:0;width:100%}.map-caption{padding:0 18px 15px}.image-card{display:flex;flex-direction:column}#robot-rgb{display:block;max-height:360px;min-height:220px;width:100%;object-fit:contain;background:#0e1b25}.image-meta{padding:11px 17px;display:flex;align-items:center;justify-content:space-between;color:var(--muted);font-size:11px}.image-card>.help{padding:0 17px 15px}.bev-wrap{padding:0 17px;display:flex;justify-content:center}#bev{width:100%;max-width:430px;aspect-ratio:1;background:#0f1e29;border-radius:6px}.bev-card>.help{padding:8px 18px 18px}.legend{display:flex;flex-wrap:wrap;gap:7px 15px;padding:12px 18px 0;font-size:10px;color:var(--muted)}.legend i{display:inline-block;width:7px;height:7px;margin-right:5px;border-radius:2px}.free{background:#3fc09f}.obstacle{background:#ef6e69}.unknown{background:#213140}.path{background:#b1e8ff}.references{min-width:0}#reference-images{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:9px;padding:8px 16px}figure{margin:0;min-width:0}figure img{width:100%;height:140px;object-fit:contain;border-radius:5px;background:#0c1720}figcaption{font-size:10px;color:var(--muted);margin-top:5px}figcaption b{color:var(--text);font-weight:550}.references>.help{padding:8px 17px 17px}.details{grid-column:2/4}.details dl{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:17px 25px;padding:10px 20px 18px;margin:0}.details dt{font-size:10px;letter-spacing:.7px;text-transform:uppercase;color:var(--muted)}.details dd{margin:4px 0 0;font-size:13px}.details>.help{padding:0 20px 18px}.timeline{margin-top:18px;padding:14px 17px;display:flex;gap:18px;align-items:center}.timeline>div{flex:1;min-width:100px}.timeline label{font-size:11px;color:var(--muted);display:block;margin-bottom:7px}.timeline input{width:100%;margin:0}.timeline>span{font-size:11px;white-space:nowrap;color:var(--muted)}footer{color:#809baa;font-size:10px;padding:17px 2px}#build-state{font-size:11px;color:var(--amber);margin-top:10px}#error{padding:14px;border:1px solid #bd6262;background:#3a2025;margin-bottom:15px;border-radius:6px}button:focus-visible,input:focus-visible,select:focus-visible{outline:2px solid var(--mint);outline-offset:3px}@media(min-width:1450px){#global-map{height:475px}#robot-rgb{max-height:410px}figure img{height:165px}}@media(max-width:1150px){.workspace{grid-template-columns:235px minmax(0,1fr)}.stages{grid-row:span 3}.image-card{grid-column:2}#robot-rgb{max-height:320px}.bev-card,.references{grid-column:2}.details{grid-column:1/3}.metrics{gap:20px}.summary h2{font-size:21px}.metrics strong{font-size:23px}}@media(max-width:700px){header{padding:17px;align-items:flex-start}header>div{display:block}header .eyebrow{margin-bottom:6px}h1{font-size:21px}header .badge{font-size:8px;padding:5px 7px;white-space:normal;max-width:115px;text-align:center}main{padding:18px 12px}.summary{display:block}.metrics{margin-top:20px;justify-content:space-between;gap:10px}.metrics>div{text-align:left}.metrics span{font-size:9px}.notice{display:block}.notice b{display:block;margin-bottom:5px}.workspace{display:flex;flex-direction:column}.stages{order:0}.map-card{order:1}.image-card{order:2}.bev-card{order:3}.references{order:4}.details{order:5}.stage{margin:15px 0}.details dl{grid-template-columns:repeat(2,minmax(0,1fr))}#global-map{height:370px}.card-head{padding:15px 14px 10px}.card-head h2{font-size:15px}.timeline{gap:10px;flex-wrap:wrap}.timeline>div{min-width:200px;order:0;flex-basis:75%}.timeline>span{order:1}.timeline #stop-capture{margin-left:auto;order:2}figure img{height:130px}.references #reference-images{gap:7px;padding:8px 12px}} + +.notice label{display:flex;align-items:center;gap:10px;white-space:nowrap}.notice>span{flex:1}.notice select{max-width:230px}@media(max-width:900px){.notice{flex-wrap:wrap}.notice>span{flex-basis:100%}.notice label{white-space:normal}} diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav_live.html b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav_live.html new file mode 100644 index 0000000000000000000000000000000000000000..9d5266bd0abadac42298eaca35e85fb5d1869eb6 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav_live.html @@ -0,0 +1,26 @@ + +Live Stretch · CROSS navigation +
STRETCH / CROSS · LIVE

Teleop → navigation

CONNECTING
+
+
PHONE REFERENCE MAP

Goal keyframe 1012

2026-10-22 · 15:48:58 · learned BEV + graph routing

0processed observations
—camera distance to goal
0motion commands sent
+
Operator handoffTeleop until the pose is committed and Start navigation becomes available. Close the teleop client completely, then click Start navigation. Keep this page open. Stop navigation ends the run and releases the temporary relay. Goal arrival checks position within 0.4 m; final heading is not enforced.
+ +
Loading observationsTeleop remains in control
+ +
Localization pendingGraph route pendingSpeed limit: 0.10 m/s · 0.25 rad/s
+
+
GLOBAL MAP

Pose, route & local path

Drag to rotate · scroll to zoom. Camera poses and floor-projected local paths use the same map alignment.

+
LIVE ROBOT RGB

Camera observation

Current Stretch camera RGB

Waiting for camera

+
LEARNED BEV

Occupancy & local planning

BEVs appear after a VGGT pass. The local plan appears after map commitment.

+
CURRENT RUN

Localization & handoff

The local route comes from native cross_nav. Swept-footprint checks use learned occupancy and measured depth. A blocked start triggers a stationary head survey. Nearby depth returns support an obstacle prediction; missing returns do not prove free space. This is the first supervised drive test; keep the robot run-stop within reach.

To resume manual testing after Stop, wait for the relay to close and start a new run. After a brief plan gap, an active run continues only with a fresh valid plan. A stopped run never re-arms automatically.

+
+
Live RGB + odometry · trained occupancy/observability heads · phone map preserved · controls require this local page
+
diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav_live.js b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav_live.js new file mode 100644 index 0000000000000000000000000000000000000000..df24f1170ed3c1a8da0ac5933c749ee691c7c13d --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/cross_nav_live.js @@ -0,0 +1,233 @@ +'use strict'; +const el=id=>document.getElementById(id); +let state=null,liveState=null,map=null,drawn=-1,polling=false,plotReady=false; +const replay={active:false,manifest:null,index:0,playing:false,run:null,anchorTime:0,anchorWall:0,generation:0,busy:false,pending:null}; +const initial={eye:{x:1.35,y:-1.65,z:1.2},up:{x:0,y:0,z:1}}; +const colors={map:'#688a9a',route:'#e9bd7c',track:'#72dec0',local:'#b1e8ff'}; +async function api(path,body){const options=body===undefined?{}:{method:'POST',headers:{'X-Session':liveState?.token||state?.token,'Content-Type':'application/json'},body:JSON.stringify(body),keepalive:true};const response=await fetch(path,options),data=await response.json();if(!response.ok)throw Error(data.error||response.status);return data;} +function trace(points,name,layer,extra={}){const p=points||[];return {type:'scatter3d',mode:'lines',name,x:p.map(x=>x[0]),y:p.map(x=>x[1]),z:p.map(x=>x[2]),line:{color:colors[layer],width:layer==='map'?2:5},visible:document.querySelector(`[data-layer=${layer}]`).checked,meta:{layer},...extra};} +async function drawMap(){const f=state.frame;if(!map)return;const data=[trace(map.nodes.map(n=>n.position),'Phone camera keyframes','map'),trace(f.global_route,'Graph route','route'),trace(f.trajectory,'CROSS camera path','track'),trace(f.local_path_display,'Local plan on floor','local')];const goal=map.nodes.find(n=>n.id===state.goal_keyframe);if(goal)data.push(trace([goal.position],`Goal ${state.goal_keyframe}`,'route',{mode:'markers',marker:{size:7,color:'#f3c77c',symbol:'diamond'}}));if(f.camera_display)data.push(trace([f.camera_display],'Robot camera','track',{mode:'markers',marker:{size:6,color:'#72dec0'}}));const layout={paper_bgcolor:'#13232f',font:{family:'system-ui',color:'#98afbd'},showlegend:false,margin:{t:0,b:0,l:0,r:0},uirevision:'live-map',scene:{aspectmode:'data',dragmode:'orbit',camera:el('global-map')._fullLayout?.scene?._scene?.getCamera()||initial,xaxis:{title:'X (m)',gridcolor:'#2b414f'},yaxis:{title:'Y (m)',gridcolor:'#2b414f'},zaxis:{title:'Z · up (m)',gridcolor:'#2b414f'}}};await Plotly.react(el('global-map'),data,layout,{responsive:true,scrollZoom:true,displayModeBar:false});plotReady=true;} +function drawBEV() { + const f=state?.frame; + if(!f?.bev_size||(state.playback&&!state.replay.bev_urls[el('layer').value])){ + const ctx=el('bev').getContext('2d');ctx.fillStyle='#0f1e29';ctx.fillRect(0,0,600,600); + ctx.fillStyle='#a9bfcb';ctx.font='16px system-ui';ctx.textAlign='center'; + ctx.fillText('No saved BEV at this time',300,300);el('legend').replaceChildren();return; + } + const layer=el('layer').value,ctx=el('bev').getContext('2d'),img=new Image(); + img.onload=()=>{ + if(state.frame!==f)return; + const pad=36,size=528,fullHalf=f.bev_size*f.bev_res/2; + const half=Math.min(fullHalf,Number(el('bev-range').value)); + const p=x=>[pad+size*(.5-x[1]/(2*half)),pad+size*(.5-x[0]/(2*half))]; + ctx.fillStyle='#0f1e29';ctx.fillRect(0,0,600,600);ctx.imageSmoothingEnabled=false; + const sourceSize=img.width*half/fullHalf,sourceStart=(img.width-sourceSize)/2; + ctx.drawImage(img,sourceStart,sourceStart,sourceSize,sourceSize,pad,pad,size,size); + ctx.save();ctx.beginPath();ctx.rect(pad,pad,size,size);ctx.clip(); + ctx.strokeStyle='#98afbd30';const step=half<=1.5?.25:half<=3?.5:1; + for(let i=-half;i<=half;i+=step){ + ctx.beginPath();ctx.moveTo(...p([i,-half]));ctx.lineTo(...p([i,half])); + ctx.moveTo(...p([-half,i]));ctx.lineTo(...p([half,i]));ctx.stroke(); + } + if(f.local_path_body?.length){ + ctx.strokeStyle='#b1e8ff';ctx.lineWidth=3;ctx.beginPath();ctx.moveTo(...p([0,0])); + for(const x of f.local_path_body)ctx.lineTo(...p(x));ctx.stroke(); + } + const body=p([.23,.23]),bodySize=size*.46/(2*half); + ctx.strokeStyle='white';ctx.lineWidth=2;ctx.strokeRect(...body,bodySize,bodySize); + for(const cell of [...(f.footprint_diagnostics?.self_cells||[]),...(f.footprint_diagnostics?.cells||[])]){ + const xy=cell.display_body_xy||cell.grid_body_xy,point=p(xy),width=Math.max(4,size*f.bev_res/(2*half)); + ctx.fillStyle=(f.footprint_diagnostics?.self_cells||[]).includes(cell)?'#9aafbf':cell.depth_supported?'#ff6868':'#ffa63d'; + ctx.fillRect(point[0]-width/2,point[1]-width/2,width,width); + } + const origin=p([0,0]);ctx.fillStyle='white';ctx.beginPath();ctx.arc(...origin,3,0,Math.PI*2);ctx.fill(); + if(f.goal_body){ctx.fillStyle='#f3c77c';ctx.beginPath();ctx.arc(...p(f.goal_body),5,0,Math.PI*2);ctx.fill();} + ctx.restore();ctx.fillStyle='#a9bfcb';ctx.font='12px system-ui';ctx.textAlign='center'; + ctx.fillText(`FORWARD +${half} m`,300,20);ctx.fillText(`LEFT +${half} m`,90,585); + ctx.fillText(`RIGHT −${half} m`,505,585); + }; + img.src=state.playback?state.replay.bev_urls[layer]:`/api/bev/${layer}.png?t=${f.frame_idx}`; + const palette={occupancy:[['#37b794','0 free'],['#debe60','0.5'],['#e95b65','1 occupied']], + visibility:[['#192a3c','0 unseen'],['#ade2ff','1 observed']], + uncertainty:[['#192a3c','0 low error'],['#ffae4c','1 high error']]}[layer]; + el('legend').replaceChildren(); + for(const [color,label]of [...palette,['white','Robot footprint'],['#b1e8ff','Local path'], + ['#9aafbf','Own-body prediction (excluded)'],['#ffa63d','Learned blocking cell'],['#ff6868','Blocker with nearby depth returns']]){ + const span=document.createElement('span'),mark=document.createElement('i');mark.style.background=color; + span.append(mark,document.createTextNode(label));el('legend').append(span); + } +} +function details() { + const f=state.frame,survey=f.head_survey,diagnostic=f.footprint_diagnostics; + const joint=state.robot?.joint_positions; + const cells=diagnostic?.cells||[],supported=cells.filter(c=>c.depth_supported).length; + const rows=[ + ['Map pose',f.localized?`Committed · ${f.localized_streak} consecutive observations`:'Tentative · continue teleop'], + ['Map matches',(f.retrieval||[]).filter(a=>a.loaded&&a.verified).map(a=>a.id).join(', ')||'No verified map views'], + ['Local planner',f.planner_name||'Loading'], + ['Pose recovery',f.correction_recovery?.pending?`Holding · ${f.correction_recovery.stable_samples} stable views`:'Ready'], + ['Head survey',survey?.active?`Pass ${survey.pass} · view ${survey.view}/${survey.total} · ${survey.label}`: + survey?.settled_views?`${survey.settled_views} settled views completed`:'Idle'], + ['Corner observation',f.corner_observation?`${f.corner_observation.phase} · ${Math.round(100*(f.corner_observation.coverage||0))}% branch visibility`:'Cruise'], + ['Head pan / tilt',joint?.length>=11?`${(joint[9]*180/Math.PI).toFixed(1)}° / ${(joint[10]*180/Math.PI).toFixed(1)}°`:'Unavailable'], + ['Head action',state.robot?.head_action_state||'Unavailable'], + ['Footprint veto',state.control?.learned_blocked?'Learned occupancy':state.control?.depth_blocked?'Measured depth':'No veto reported'], + ['Own-body predictions',`${diagnostic?.ignored_current_body_cell_count||0} excluded from learned veto`], + ['Blocking cells',cells.length?`${diagnostic.blocking_cell_count} cells · ${supported}/${cells.length} shown cells have nearby depth returns`:'No blocking cells reported'], + ['Last relay velocity',state.robot?.v==null?'Unavailable':`${state.robot.v.toFixed(3)} m/s · ${(state.robot.w||0).toFixed(3)} rad/s`], + ['Handoff gate',state.ready?'Ready for explicit Start':state.gate], + ['Plan age limit',`${state.max_plan_age_s||.8} s · 0.3 s command expiry`], + ['Blind-zone fallback',f.blind_zone?'Assumed support used':'Not used'], + ['Inference',`${f.n_views||0} views · ${(f.compute_s||0).toFixed(2)} s`], + ['Goal arrival','Neutral camera XY within 0.4 m; heading not enforced'], + [state.playback?'Recorded phase':'Run state',state.playback?state.recorded_phase:state.phase] + ]; + el('details').replaceChildren(); + for(const [key,value]of rows){ + const div=document.createElement('div'),dt=document.createElement('dt'),dd=document.createElement('dd'); + dt.textContent=key;dd.textContent=value;div.append(dt,dd);el('details').append(div); + } +} +function showError(error){el('error').textContent=error.message||String(error);el('error').hidden=false;} +function clockText(seconds){const n=Math.max(0,Math.floor(seconds));return `${Math.floor(n/60).toString().padStart(2,'0')}:${(n%60).toString().padStart(2,'0')}`;} +async function render(next,force=false){ + state=next;const recorded=Boolean(state.playback),f=state.frame||{}; + el('phase').textContent=recorded?'REPLAY':state.phase.toUpperCase(); + el('phase').style.color=state.phase==='active'&&!recorded?'#72dec0':'#f3c77c'; + el('page-title').textContent=recorded?'Navigation replay':'Teleop → navigation'; + document.title=recorded?'Recorded Stretch navigation':state.review?'Saved Stretch navigation run':'Live Stretch navigation'; + el('handoff-note').hidden=Boolean(state.review||recorded); + el('page-footer').textContent=recorded||state.review?'Saved RGB, map and BEV · robot motion controls disabled': + 'Live RGB + odometry · trained occupancy/observability heads · phone map preserved'; + el('rgb-label').textContent=recorded||state.review?'RECORDED HEAD RGB':'LIVE ROBOT RGB'; + el('goal').textContent=state.goal_keyframe;el('start').textContent=`Start navigation to ${state.goal_keyframe}`; + el('start').disabled=recorded||!state.ready;el('stop').disabled=recorded||state.phase==='stopped'; + el('replay-open').disabled=liveState?.phase!=='stopped'||liveState?.replay_available===false; + el('replay-open').textContent=recorded?'Restart replay':'Replay recording'; + el('count').textContent=state.processed;el('commands').textContent=state.motion_commands; + el('state-title').textContent=recorded?`Replay · recorded ${state.recorded_phase}`: + ({teleop:state.ready?'Ready for navigation handoff':'Teleop / relocalizing',preparing:'Preparing navigation',active:'CROSS navigation active',stopped:'Run stopped'})[state.phase]; + el('reason').textContent=state.reason; + el('distance').textContent=f.goal_distance==null?'—':`${f.goal_distance.toFixed(2)} m`; + el('localization').textContent=f.localized?`Committed · streak ${f.localized_streak}`:'Localization pending'; + el('route').textContent=f.route_ids?.length?`${f.route_ids.length} route keyframes · ${f.route_cost_m?.toFixed(1)} m graph route`:'Graph route pending'; + if(recorded){ + el('rgb').src=state.replay.rgb_url; + el('frame-note').textContent=`RGB frame ${state.replay.frame_idx} · map frame ${state.replay.map_frame??'pending'} · ${clockText(state.replay.time_s)}`; + }else if(state.capture_frame!=null){ + el('rgb').src=`/api/rgb.jpg?t=${Date.now()}`; + el('frame-note').textContent=state.review?'Saved RGB · robot connections disabled':`Latest RGB · processed frame ${f.frame_idx??'pending'}`; + } + details();const key=`${recorded?replay.run:'current'}:${f.frame_idx}:${state.replay?.bev_frame??''}`; + if(force||drawn!==key){ + drawn=key; + const provenance=recorded?(state.replay.bev_source==='reconstructed'?' · reconstructed offline':state.replay.bev_frame!=null?' · recorded':' · no BEV saved yet'):''; + el('plan-note').textContent=f.bev_size?`${f.bev_size*f.bev_res} × ${f.bev_size*f.bev_res} m · base frame · ${f.planner_name}${provenance}`:'Waiting for learned BEV'; + drawBEV();await drawMap(); + } +} +async function poll(){ + if(polling)return;polling=true; + try{ + const next=await api('/api/status');liveState=next; + if(replay.active&&next.phase!=='stopped'){ + pauseReplay();replay.active=false;replay.pending=null;replay.generation++; + el('replay-panel').hidden=true;map=null;drawn=-1; + } + if(!map)map=await api('/api/map'); + if(!replay.active)await render(next); + if(!replay.active&&next.phase!=='stopped')await api('/api/heartbeat',{}); + el('error').hidden=true; + }catch(error){showError(error);el('start').disabled=true;} + finally{polling=false;} +} +function pauseReplay(){replay.playing=false;el('replay-play').textContent='Play';} +function playReplay(){ + if(!replay.active||!replay.manifest?.frames.length)return; + if(replay.index>=replay.manifest.frames.length-1)requestReplayFrame(0); + replay.anchorTime=replay.manifest.frames[replay.index].time_s;replay.anchorWall=performance.now(); + replay.playing=true;el('replay-play').textContent='Pause'; +} +function updateReplayControls(){ + const m=replay.manifest;if(!m)return; + el('replay-seek').value=replay.index; + el('replay-clock').textContent=`${clockText(m.frames[replay.index]?.time_s||0)} / ${clockText(m.duration_s)}`; + el('replay-prev').disabled=replay.index<=0;el('replay-next').disabled=replay.index>=m.frames.length-1; + const b=state?.replay; + const note=b?.bev_frame==null?'No occupancy has been saved by this point.': + `BEV frame ${b.bev_frame} · ${b.bev_source==='reconstructed'?'reconstructed offline from recorded input':'recorded during the run'} · age ${Math.max(0,b.time_s-b.bev_time_s).toFixed(2)} s.`; + el('replay-note').textContent=`${m.frames.length} RGB frames · ${m.bev_frames} saved BEVs · motion controls disabled. ${note}${replay.index===m.frames.length-1?' Outcome: '+m.outcome:''}`; +} +async function requestReplayFrame(index){ + if(!replay.active||!replay.manifest?.frames.length)return; + replay.index=Math.max(0,Math.min(replay.manifest.frames.length-1,index)); + replay.pending=replay.index;updateReplayControls(); + if(replay.busy)return; + replay.busy=true;const generation=replay.generation; + try{ + while(replay.active&&generation===replay.generation&&replay.pending!==null){ + const wanted=replay.pending;replay.pending=null; + const data=await api(`/api/replay/frame?run=${encodeURIComponent(replay.run)}&index=${wanted}`); + if(!replay.active||generation!==replay.generation)break; + if(replay.pending!==null&&replay.pending!==wanted)continue; + await render(data);updateReplayControls(); + } + }catch(error){pauseReplay();showError(error);} + finally{ + replay.busy=false; + if(replay.active&&replay.pending!==null)requestReplayFrame(replay.pending); + } +} +async function loadReplay(run,autoplay=true){ + pauseReplay();const generation=++replay.generation;replay.pending=null;replay.run=run; + const manifest=await api(`/api/replay/manifest?run=${encodeURIComponent(run)}`); + if(generation!==replay.generation)return;replay.manifest=manifest; + if(!replay.manifest.frames.length)throw Error('This recording has no saved RGB frames'); + const savedMap=await api(`/api/replay/map?run=${encodeURIComponent(run)}`); + if(generation!==replay.generation)return;map=savedMap;drawn=-1; + el('replay-seek').max=replay.manifest.frames.length-1; + el('replay-event').replaceChildren(new Option('Jump to event…','')); + for(const event of replay.manifest.events)el('replay-event').add(new Option(`${clockText(event.time_s)} · ${event.label}`,event.index)); + replay.active=true;el('replay-run').value=run;el('replay-panel').hidden=false; + await requestReplayFrame(replay.manifest.start_index);if(autoplay)playReplay(); +} +async function openReplay(){ + if(liveState?.phase!=='stopped')return; + try{ + const listing=await api('/api/replay/runs'); + el('replay-run').replaceChildren(); + for(const run of listing.runs)el('replay-run').add(new Option(run.id,run.id)); + const key=listing.runs.find(r=>r.id===replay.run)?.id||listing.current_run||listing.runs[0]?.id; + if(!key)throw Error('No completed recordings are available yet'); + el('replay-run').value=key;await loadReplay(key); + }catch(error){showError(error);} +} +async function closeReplay(){ + pauseReplay();replay.active=false;replay.pending=null;replay.generation++; + el('replay-panel').hidden=true;map=await api('/api/map');drawn=-1;await render(liveState,true); +} +setInterval(()=>{ + if(!replay.active||!replay.playing)return; + const m=replay.manifest,target=replay.anchorTime+(performance.now()-replay.anchorWall)/1000*Number(el('replay-speed').value); + let low=0,high=m.frames.length; + while(low>1;if(m.frames[mid].time_s<=target)low=mid+1;else high=mid;} + const index=Math.max(0,low-1);if(index!==replay.index)requestReplayFrame(index); + if(target>=m.duration_s)pauseReplay(); +},80); +el('start').onclick=async()=>{if(replay.active)return;el('start').disabled=true;try{await api('/api/start',{});await poll();}catch(e){el('error').textContent=e.message;el('error').hidden=false;}}; +el('stop').onclick=async()=>{if(replay.active)return;try{await api('/api/stop',{});await poll();}catch(e){el('error').textContent=e.message;el('error').hidden=false;}}; +el('layer').onchange=drawBEV; +el('bev-range').onchange=drawBEV; +el('top').onclick=()=>Plotly.relayout(el('global-map'),{'scene.camera':{eye:{x:0,y:0,z:2.7},up:{x:0,y:1,z:0}}});el('reset').onclick=()=>Plotly.relayout(el('global-map'),{'scene.camera':initial}); +document.querySelectorAll('[data-layer]').forEach(input=>input.onchange=()=>{if(!plotReady)return;const plot=el('global-map'),ids=plot.data.map((t,i)=>t.meta?.layer===input.dataset.layer?i:-1).filter(i=>i>=0);Plotly.relayout(plot,{'scene.camera':plot._fullLayout.scene._scene.getCamera()}).then(()=>Plotly.restyle(plot,{visible:input.checked},ids));}); +el('export').onclick=()=>{const url=URL.createObjectURL(new Blob([JSON.stringify(state,null,2)],{type:'application/json'})),a=document.createElement('a');a.href=url;a.download='stretch-cross-live.json';a.click();setTimeout(()=>URL.revokeObjectURL(url),1000);}; +el('replay-open').onclick=openReplay; +el('replay-close').onclick=()=>closeReplay().catch(showError); +el('replay-run').onchange=()=>loadReplay(el('replay-run').value).catch(showError); +el('replay-play').onclick=()=>replay.playing?pauseReplay():playReplay(); +el('replay-prev').onclick=()=>{pauseReplay();requestReplayFrame(replay.index-1);}; +el('replay-next').onclick=()=>{pauseReplay();requestReplayFrame(replay.index+1);}; +el('replay-seek').oninput=()=>{pauseReplay();requestReplayFrame(Number(el('replay-seek').value));}; +el('replay-event').onchange=()=>{if(el('replay-event').value!==''){pauseReplay();requestReplayFrame(Number(el('replay-event').value));}}; +el('replay-speed').onchange=()=>{if(replay.playing)playReplay();}; +poll();setInterval(poll,650); diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/vendor/plotly.min.js b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/vendor/plotly.min.js new file mode 100644 index 0000000000000000000000000000000000000000..12ecc2003c7bbea0918d70eb5a65cc1ad8aedc83 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/static/vendor/plotly.min.js @@ -0,0 +1,3620 @@ +/** +* plotly.js v4.1.1 +* Copyright 2012-2026, Plotly, Inc. +* All rights reserved. +* Licensed under the MIT license +*/ +( + function(root, factory) { + if (typeof module === "object" && module.exports) { + module.exports = factory(); + } else { + root.moduleName = factory(); + } +} (typeof self !== "undefined" ? self : this, () => { +"use strict";var Plotly=(()=>{var B1t=Object.create;var S6=Object.defineProperty,q1t=Object.defineProperties,O1t=Object.getOwnPropertyDescriptor,N1t=Object.getOwnPropertyDescriptors,U1t=Object.getOwnPropertyNames,tC=Object.getOwnPropertySymbols,V1t=Object.getPrototypeOf,pN=Object.prototype.hasOwnProperty,Vse=Object.prototype.propertyIsEnumerable;var dN=(e,t)=>(t=Symbol[e])?t:Symbol.for("Symbol."+e),G1t=e=>{throw TypeError(e)};var Use=(e,t,r)=>t in e?S6(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r,fn=(e,t)=>{for(var r in t||(t={}))pN.call(t,r)&&Use(e,r,t[r]);if(tC)for(var r of tC(t))Vse.call(t,r)&&Use(e,r,t[r]);return e},ma=(e,t)=>q1t(e,N1t(t));var Gse=(e,t)=>{var r={};for(var i in e)pN.call(e,i)&&t.indexOf(i)<0&&(r[i]=e[i]);if(e!=null&&tC)for(var i of tC(e))t.indexOf(i)<0&&Vse.call(e,i)&&(r[i]=e[i]);return r};var Ea=(e,t,r)=>()=>{if(r)throw r[0];try{return e&&(t=e(e=0)),t}catch(i){throw r=[i],i}};var W=(e,t)=>()=>{try{return t||e((t={exports:{}}).exports,t),t.exports}catch(r){throw t=0,r}},Fp=(e,t)=>{for(var r in t)S6(e,r,{get:t[r],enumerable:!0})},Hse=(e,t,r,i)=>{if(t&&typeof t=="object"||typeof t=="function")for(let n of U1t(t))!pN.call(e,n)&&n!==r&&S6(e,n,{get:()=>t[n],enumerable:!(i=O1t(t,n))||i.enumerable});return e};var nd=(e,t,r)=>(r=e!=null?B1t(V1t(e)):{},Hse(t||!e||!e.__esModule?S6(r,"default",{value:e,enumerable:!0}):r,e)),Go=e=>Hse(S6({},"__esModule",{value:!0}),e);var Ki=(e,t,r)=>new Promise((i,n)=>{var a=l=>{try{s(r.next(l))}catch(u){n(u)}},o=l=>{try{s(r.throw(l))}catch(u){n(u)}},s=l=>l.done?i(l.value):Promise.resolve(l.value).then(a,o);s((r=r.apply(e,t)).next())}),H1t=function(e,t){this[0]=e,this[1]=t};var jse=e=>{var t=e[dN("asyncIterator")],r=!1,i,n={};return t==null?(t=e[dN("iterator")](),i=a=>n[a]=o=>t[a](o)):(t=t.call(e),i=a=>n[a]=o=>{if(r){if(r=!1,a==="throw")throw o;return o}return r=!0,{done:!1,value:new H1t(new Promise(s=>{var l=t[a](o);l instanceof Object||G1t("Object expected"),s(l)}),1)}}),n[dN("iterator")]=()=>n,i("next"),"throw"in t?i("throw"):n.throw=a=>{throw a},"return"in t&&i("return"),n};var E6=W($se=>{"use strict";$se.version="4.1.1"});var Yse=W((Wse,rC)=>{(function(t,r,i){r[t]=r[t]||i(),typeof rC!="undefined"&&rC.exports&&(rC.exports=r[t])})("Promise",typeof window!="undefined"?window:Wse,function(){"use strict";var t,r,i,n=Object.prototype.toString,a=typeof setImmediate!="undefined"?function(w){return setImmediate(w)}:setTimeout;try{Object.defineProperty({},"x",{}),t=function(w,b,_,M){return Object.defineProperty(w,b,{value:_,writable:!0,configurable:M!==!1})}}catch(g){t=function(b,_,M){return b[_]=M,b}}i=(function(){var w,b,_;function M(x,T){this.fn=x,this.self=T,this.next=void 0}return{add:function(T,A){_=new M(T,A),b?b.next=_:w=_,b=_,_=void 0},drain:function(){var T=w;for(w=b=r=void 0;T;)T.fn.call(T.self),T=T.next}}})();function o(g,w){i.add(g,w),r||(r=a(i.drain))}function s(g){var w,b=typeof g;return g!=null&&(b=="object"||b=="function")&&(w=g.then),typeof w=="function"?w:!1}function l(){for(var g=0;g0&&o(l,b))}catch(_){f.call(new d(b),_)}}}function f(g){var w=this;w.triggered||(w.triggered=!0,w.def&&(w=w.def),w.msg=g,w.state=2,w.chain.length>0&&o(l,w))}function h(g,w,b,_){for(var M=0;M{(function(){var e={version:"3.8.2"},t=[].slice,r=function(z){return t.call(z)},i=self.document;function n(z){return z&&(z.ownerDocument||z.document||z).documentElement}function a(z){return z&&(z.ownerDocument&&z.ownerDocument.defaultView||z.document&&z||z.defaultView)}if(i)try{r(i.documentElement.childNodes)[0].nodeType}catch(z){r=function(N){for(var Z=N.length,ne=new Array(Z);Z--;)ne[Z]=N[Z];return ne}}if(Date.now||(Date.now=function(){return+new Date}),i)try{i.createElement("DIV").style.setProperty("opacity",0,"")}catch(z){var o=this.Element.prototype,s=o.setAttribute,l=o.setAttributeNS,u=this.CSSStyleDeclaration.prototype,c=u.setProperty;o.setAttribute=function(N,Z){s.call(this,N,Z+"")},o.setAttributeNS=function(N,Z,ne){l.call(this,N,Z,ne+"")},u.setProperty=function(N,Z,ne){c.call(this,N,Z+"",ne)}}e.ascending=f;function f(z,N){return zN?1:z>=N?0:NaN}e.descending=function(z,N){return Nz?1:N>=z?0:NaN},e.min=function(z,N){var Z=-1,ne=z.length,le,fe;if(arguments.length===1){for(;++Z=fe){le=fe;break}for(;++Zfe&&(le=fe)}else{for(;++Z=fe){le=fe;break}for(;++Zfe&&(le=fe)}return le},e.max=function(z,N){var Z=-1,ne=z.length,le,fe;if(arguments.length===1){for(;++Z=fe){le=fe;break}for(;++Zle&&(le=fe)}else{for(;++Z=fe){le=fe;break}for(;++Zle&&(le=fe)}return le},e.extent=function(z,N){var Z=-1,ne=z.length,le,fe,De;if(arguments.length===1){for(;++Z=fe){le=De=fe;break}for(;++Zfe&&(le=fe),De=fe){le=De=fe;break}for(;++Zfe&&(le=fe),De1)return De/(ze-1)},e.deviation=function(){var z=e.variance.apply(this,arguments);return z&&Math.sqrt(z)};function p(z){return{left:function(N,Z,ne,le){for(arguments.length<3&&(ne=0),arguments.length<4&&(le=N.length);ne>>1;z(N[fe],Z)<0?ne=fe+1:le=fe}return ne},right:function(N,Z,ne,le){for(arguments.length<3&&(ne=0),arguments.length<4&&(le=N.length);ne>>1;z(N[fe],Z)>0?le=fe:ne=fe+1}return ne}}}var v=p(f);e.bisectLeft=v.left,e.bisect=e.bisectRight=v.right,e.bisector=function(z){return p(z.length===1?function(N,Z){return f(z(N),Z)}:z)},e.shuffle=function(z,N,Z){(ne=arguments.length)<3&&(Z=z.length,ne<2&&(N=0));for(var ne=Z-N,le,fe;ne;)fe=Math.random()*ne--|0,le=z[ne+N],z[ne+N]=z[fe+N],z[fe+N]=le;return z},e.permute=function(z,N){for(var Z=N.length,ne=new Array(Z);Z--;)ne[Z]=z[N[Z]];return ne},e.pairs=function(z){for(var N=0,Z=z.length-1,ne,le=z[0],fe=new Array(Z<0?0:Z);N=0;)for(De=z[N],Z=De.length;--Z>=0;)fe[--le]=De[Z];return fe};var g=Math.abs;e.range=function(z,N,Z){if(arguments.length<3&&(Z=1,arguments.length<2&&(N=z,z=0)),(N-z)/Z===1/0)throw new Error("infinite range");var ne=[],le=w(g(Z)),fe=-1,De;if(z*=le,N*=le,Z*=le,Z<0)for(;(De=z+Z*++fe)>N;)ne.push(De/le);else for(;(De=z+Z*++fe)=N.length)return le?le.call(z,ze):ne?ze.sort(ne):ze;for(var We=-1,ft=ze.length,ht=N[He++],Ot,jt,pt,Dt=new _,zt;++We=N.length)return me;var He=[],We=Z[ze++];return me.forEach(function(ft,ht){He.push({key:ft,values:De(ht,ze)})}),We?He.sort(function(ft,ht){return We(ft.key,ht.key)}):He}return z.map=function(me,ze){return fe(ze,me,0)},z.entries=function(me){return De(fe(e.map,me,0),0)},z.key=function(me){return N.push(me),z},z.sortKeys=function(me){return Z[N.length-1]=me,z},z.sortValues=function(me){return ne=me,z},z.rollup=function(me){return le=me,z},z},e.set=function(z){var N=new D;if(z)for(var Z=0,ne=z.length;Z=0&&(ne=z.slice(Z+1),z=z.slice(0,Z)),z)return arguments.length<2?this[z].on(ne):this[z].on(ne,N);if(arguments.length===2){if(N==null)for(z in this)this.hasOwnProperty(z)&&this[z].on(ne,null);return this}};function O(z){var N=[],Z=new _;function ne(){for(var le=N,fe=-1,De=le.length,me;++fe=0&&(Z=z.slice(0,N))!=="xmlns"&&(z=z.slice(N+1)),ce.hasOwnProperty(Z)?{space:ce[Z],local:z}:z}},H.attr=function(z,N){if(arguments.length<2){if(typeof z=="string"){var Z=this.node();return z=e.ns.qualify(z),z.local?Z.getAttributeNS(z.space,z.local):Z.getAttribute(z)}for(N in z)this.each(ge(N,z[N]));return this}return this.each(ge(z,N))};function ge(z,N){z=e.ns.qualify(z);function Z(){this.removeAttribute(z)}function ne(){this.removeAttributeNS(z.space,z.local)}function le(){this.setAttribute(z,N)}function fe(){this.setAttributeNS(z.space,z.local,N)}function De(){var ze=N.apply(this,arguments);ze==null?this.removeAttribute(z):this.setAttribute(z,ze)}function me(){var ze=N.apply(this,arguments);ze==null?this.removeAttributeNS(z.space,z.local):this.setAttributeNS(z.space,z.local,ze)}return N==null?z.local?ne:Z:typeof N=="function"?z.local?me:De:z.local?fe:le}function Ce(z){return z.trim().replace(/\s+/g," ")}H.classed=function(z,N){if(arguments.length<2){if(typeof z=="string"){var Z=this.node(),ne=(z=he(z)).length,le=-1;if(N=Z.classList){for(;++le=0;)(fe=Z[ne])&&(le&&le!==fe.nextSibling&&le.parentNode.insertBefore(fe,le),le=fe);return this},H.sort=function(z){z=pe.apply(this,arguments);for(var N=-1,Z=this.length;++N=N&&(N=le+1);!(ze=De[N])&&++N0&&(z=z.slice(0,le));var De=Ie.get(z);De&&(z=De,fe=Qe);function me(){var We=this[ne];We&&(this.removeEventListener(z,We,We.$),delete this[ne])}function ze(){var We=fe(N,r(arguments));me.call(this),this.addEventListener(z,this[ne]=We,We.$=Z),We._=N}function He(){var We=new RegExp("^__on([^.]+)"+e.requote(z)+"$"),ft;for(var ht in this)if(ft=ht.match(We)){var Ot=this[ht];this.removeEventListener(ft[1],Ot,Ot.$),delete this[ht]}}return le?N?ze:me:N?I:He}var Ie=e.map({mouseenter:"mouseover",mouseleave:"mouseout"});i&&Ie.forEach(function(z){"on"+z in i&&Ie.remove(z)});function Oe(z,N){return function(Z){var ne=e.event;e.event=Z,N[0]=this.__data__;try{z.apply(this,N)}finally{e.event=ne}}}function Qe(z,N){var Z=Oe(z,N);return function(ne){var le=this,fe=ne.relatedTarget;(!fe||fe!==le&&!(fe.compareDocumentPosition(le)&8))&&Z.call(le,ne)}}var et,_t=0;function ut(z){var N=".dragsuppress-"+ ++_t,Z="click"+N,ne=e.select(a(z)).on("touchmove"+N,$).on("dragstart"+N,$).on("selectstart"+N,$);if(et==null&&(et="onselectstart"in z?!1:R(z.style,"userSelect")),et){var le=n(z).style,fe=le[et];le[et]="none"}return function(De){if(ne.on(N,null),et&&(le[et]=fe),De){var me=function(){ne.on(Z,null)};ne.on(Z,function(){$(),me()},!0),setTimeout(me,0)}}}e.mouse=function(z){return Xe(z,Y())};var vt=this.navigator&&/WebKit/.test(this.navigator.userAgent)?-1:0;function Xe(z,N){N.changedTouches&&(N=N.changedTouches[0]);var Z=z.ownerSVGElement||z;if(Z.createSVGPoint){var ne=Z.createSVGPoint();if(vt<0){var le=a(z);if(le.scrollX||le.scrollY){Z=e.select("body").append("svg").style({position:"absolute",top:0,left:0,margin:0,padding:0,border:"none"},"important");var fe=Z[0][0].getScreenCTM();vt=!(fe.f||fe.e),Z.remove()}}return vt?(ne.x=N.pageX,ne.y=N.pageY):(ne.x=N.clientX,ne.y=N.clientY),ne=ne.matrixTransform(z.getScreenCTM().inverse()),[ne.x,ne.y]}var De=z.getBoundingClientRect();return[N.clientX-De.left-z.clientLeft,N.clientY-De.top-z.clientTop]}e.touch=function(z,N,Z){if(arguments.length<3&&(Z=N,N=Y().changedTouches),N){for(var ne=0,le=N.length,fe;ne0?1:z<0?-1:0}function Xt(z,N,Z){return(N[0]-z[0])*(Z[1]-z[1])-(N[1]-z[1])*(Z[0]-z[0])}function Vt(z){return z>1?0:z<-1?Ue:Math.acos(z)}function lr(z){return z>1?Re:z<-1?-Re:Math.asin(z)}function ur(z){return((z=Math.exp(z))-1/z)/2}function Bt(z){return((z=Math.exp(z))+1/z)/2}function Zt(z){return((z=Math.exp(2*z))-1)/(z+1)}function kr(z){return(z=Math.sin(z/2))*z}var $e=Math.SQRT2,tt=2,st=4;e.interpolateZoom=function(z,N){var Z=z[0],ne=z[1],le=z[2],fe=N[0],De=N[1],me=N[2],ze=fe-Z,He=De-ne,We=ze*ze+He*He,ft,ht;if(We0&&(oi=oi.transition().duration(De)),oi.call(Yt.event)}function Li(){Dt&&Dt.domain(pt.range().map(function(oi){return(oi-z.x)/z.k}).map(pt.invert)),$t&&$t.domain(zt.range().map(function(oi){return(oi-z.y)/z.k}).map(zt.invert))}function Pi(oi){me++||oi({type:"zoomstart"})}function Rn(oi){Li(),oi({type:"zoom",scale:z.k,translate:[z.x,z.y]})}function Gi(oi){--me||(oi({type:"zoomend"}),Z=null)}function kn(){var oi=this,zn=jt.of(oi,arguments),Yn=0,qa=e.select(a(oi)).on(He,Mu).on(We,Zu),gs=Lt(e.mouse(oi)),Tl=ut(oi);Dn.call(oi),Pi(zn);function Mu(){Yn=1,ri(e.mouse(oi),gs),Rn(zn)}function Zu(){qa.on(He,null).on(We,null),Tl(Yn),Gi(zn)}}function Ua(){var oi=this,zn=jt.of(oi,arguments),Yn={},qa=0,gs,Tl=".zoom-"+e.event.changedTouches[0].identifier,Mu="touchmove"+Tl,Zu="touchend"+Tl,Wc=[],Be=e.select(oi),gt=ut(oi);or(),Pi(zn),Be.on(ze,null).on(ht,or);function Mt(){var dr=e.touches(oi);return gs=z.k,dr.forEach(function(Br){Br.identifier in Yn&&(Yn[Br.identifier]=Lt(Br))}),dr}function or(){var dr=e.event.target;e.select(dr).on(Mu,vr).on(Zu,wr),Wc.push(dr);for(var Br=e.event.changedTouches,Zr=0,Kr=Br.length;Zr1){var Oi=Jr[0],mi=Jr[1],Fr=Oi[0]-mi[0],Qt=Oi[1]-mi[1];qa=Fr*Fr+Qt*Qt}}function vr(){var dr=e.touches(oi),Br,Zr,Kr,Jr;Dn.call(oi);for(var un=0,Oi=dr.length;un1?1:N,Z=Z<0?0:Z>1?1:Z,le=Z<=.5?Z*(1+N):Z+N-Z*N,ne=2*Z-le;function fe(me){return me>360?me-=360:me<0&&(me+=360),me<60?ne+(le-ne)*me/60:me<180?le:me<240?ne+(le-ne)*(240-me)/60:ne}function De(me){return Math.round(fe(me)*255)}return new ka(De(z+120),De(z),De(z-120))}e.hcl=ei;function ei(z,N,Z){return this instanceof ei?(this.h=+z,this.c=+N,void(this.l=+Z)):arguments.length<2?z instanceof ei?new ei(z.h,z.c,z.l):z instanceof Tn?ds(z.l,z.a,z.b):ds((z=ul((z=e.rgb(z)).r,z.g,z.b)).l,z.a,z.b):new ei(z,N,Z)}var Lr=ei.prototype=new ir;Lr.brighter=function(z){return new ei(this.h,this.c,Math.min(100,this.l+hn*(arguments.length?z:1)))},Lr.darker=function(z){return new ei(this.h,this.c,Math.max(0,this.l-hn*(arguments.length?z:1)))},Lr.rgb=function(){return $i(this.h,this.c,this.l).rgb()};function $i(z,N,Z){return isNaN(z)&&(z=0),isNaN(N)&&(N=0),new Tn(Z,Math.cos(z*=Ve)*N,Math.sin(z)*N)}e.lab=Tn;function Tn(z,N,Z){return this instanceof Tn?(this.l=+z,this.a=+N,void(this.b=+Z)):arguments.length<2?z instanceof Tn?new Tn(z.l,z.a,z.b):z instanceof ei?$i(z.h,z.c,z.l):ul((z=ka(z)).r,z.g,z.b):new Tn(z,N,Z)}var hn=18,ta=.95047,ca=1,dn=1.08883,Vn=Tn.prototype=new ir;Vn.brighter=function(z){return new Tn(Math.min(100,this.l+hn*(arguments.length?z:1)),this.a,this.b)},Vn.darker=function(z){return new Tn(Math.max(0,this.l-hn*(arguments.length?z:1)),this.a,this.b)},Vn.rgb=function(){return ra(this.l,this.a,this.b)};function ra(z,N,Z){var ne=(z+16)/116,le=ne+N/500,fe=ne-Z/200;return le=mo(le)*ta,ne=mo(ne)*ca,fe=mo(fe)*dn,new ka(ho(3.2404542*le-1.5371385*ne-.4985314*fe),ho(-.969266*le+1.8760108*ne+.041556*fe),ho(.0556434*le-.2040259*ne+1.0572252*fe))}function ds(z,N,Z){return z>0?new ei(Math.atan2(Z,N)*ct,Math.sqrt(N*N+Z*Z),z):new ei(NaN,NaN,z)}function mo(z){return z>.206893034?z*z*z:(z-4/29)/7.787037}function Rs(z){return z>.008856?Math.pow(z,1/3):7.787037*z+4/29}function ho(z){return Math.round(255*(z<=.00304?12.92*z:1.055*Math.pow(z,1/2.4)-.055))}e.rgb=ka;function ka(z,N,Z){return this instanceof ka?(this.r=~~z,this.g=~~N,void(this.b=~~Z)):arguments.length<2?z instanceof ka?new ka(z.r,z.g,z.b):_l(""+z,ka,si):new ka(z,N,Z)}function ao(z){return new ka(z>>16,z>>8&255,z&255)}function zs(z){return ao(z)+""}var _a=ka.prototype=new ir;_a.brighter=function(z){z=Math.pow(.7,arguments.length?z:1);var N=this.r,Z=this.g,ne=this.b,le=30;return!N&&!Z&&!ne?new ka(le,le,le):(N&&N>4,ne=ne>>4|ne,le=ze&240,le=le>>4|le,fe=ze&15,fe=fe<<4|fe):z.length===7&&(ne=(ze&16711680)>>16,le=(ze&65280)>>8,fe=ze&255)),N(ne,le,fe))}function yu(z,N,Z){var ne=Math.min(z/=255,N/=255,Z/=255),le=Math.max(z,N,Z),fe=le-ne,De,me,ze=(le+ne)/2;return fe?(me=ze<.5?fe/(le+ne):fe/(2-le-ne),z==le?De=(N-Z)/fe+(N0&&ze<1?0:De),new hr(De,me,ze)}function ul(z,N,Z){z=Le(z),N=Le(N),Z=Le(Z);var ne=Rs((.4124564*z+.3575761*N+.1804375*Z)/ta),le=Rs((.2126729*z+.7151522*N+.072175*Z)/ca),fe=Rs((.0193339*z+.119192*N+.9503041*Z)/dn);return Tn(116*le-16,500*(ne-le),200*(le-fe))}function Le(z){return(z/=255)<=.04045?z/12.92:Math.pow((z+.055)/1.055,2.4)}function ot(z){var N=parseFloat(z);return z.charAt(z.length-1)==="%"?Math.round(N*2.55):N}var lt=e.map({aliceblue:15792383,antiquewhite:16444375,aqua:65535,aquamarine:8388564,azure:15794175,beige:16119260,bisque:16770244,black:0,blanchedalmond:16772045,blue:255,blueviolet:9055202,brown:10824234,burlywood:14596231,cadetblue:6266528,chartreuse:8388352,chocolate:13789470,coral:16744272,cornflowerblue:6591981,cornsilk:16775388,crimson:14423100,cyan:65535,darkblue:139,darkcyan:35723,darkgoldenrod:12092939,darkgray:11119017,darkgreen:25600,darkgrey:11119017,darkkhaki:12433259,darkmagenta:9109643,darkolivegreen:5597999,darkorange:16747520,darkorchid:10040012,darkred:9109504,darksalmon:15308410,darkseagreen:9419919,darkslateblue:4734347,darkslategray:3100495,darkslategrey:3100495,darkturquoise:52945,darkviolet:9699539,deeppink:16716947,deepskyblue:49151,dimgray:6908265,dimgrey:6908265,dodgerblue:2003199,firebrick:11674146,floralwhite:16775920,forestgreen:2263842,fuchsia:16711935,gainsboro:14474460,ghostwhite:16316671,gold:16766720,goldenrod:14329120,gray:8421504,green:32768,greenyellow:11403055,grey:8421504,honeydew:15794160,hotpink:16738740,indianred:13458524,indigo:4915330,ivory:16777200,khaki:15787660,lavender:15132410,lavenderblush:16773365,lawngreen:8190976,lemonchiffon:16775885,lightblue:11393254,lightcoral:15761536,lightcyan:14745599,lightgoldenrodyellow:16448210,lightgray:13882323,lightgreen:9498256,lightgrey:13882323,lightpink:16758465,lightsalmon:16752762,lightseagreen:2142890,lightskyblue:8900346,lightslategray:7833753,lightslategrey:7833753,lightsteelblue:11584734,lightyellow:16777184,lime:65280,limegreen:3329330,linen:16445670,magenta:16711935,maroon:8388608,mediumaquamarine:6737322,mediumblue:205,mediumorchid:12211667,mediumpurple:9662683,mediumseagreen:3978097,mediumslateblue:8087790,mediumspringgreen:64154,mediumturquoise:4772300,mediumvioletred:13047173,midnightblue:1644912,mintcream:16121850,mistyrose:16770273,moccasin:16770229,navajowhite:16768685,navy:128,oldlace:16643558,olive:8421376,olivedrab:7048739,orange:16753920,orangered:16729344,orchid:14315734,palegoldenrod:15657130,palegreen:10025880,paleturquoise:11529966,palevioletred:14381203,papayawhip:16773077,peachpuff:16767673,peru:13468991,pink:16761035,plum:14524637,powderblue:11591910,purple:8388736,rebeccapurple:6697881,red:16711680,rosybrown:12357519,royalblue:4286945,saddlebrown:9127187,salmon:16416882,sandybrown:16032864,seagreen:3050327,seashell:16774638,sienna:10506797,silver:12632256,skyblue:8900331,slateblue:6970061,slategray:7372944,slategrey:7372944,snow:16775930,springgreen:65407,steelblue:4620980,tan:13808780,teal:32896,thistle:14204888,tomato:16737095,turquoise:4251856,violet:15631086,wheat:16113331,white:16777215,whitesmoke:16119285,yellow:16776960,yellowgreen:10145074});lt.forEach(function(z,N){lt.set(z,ao(N))});function kt(z){return typeof z=="function"?z:function(){return z}}e.functor=kt,e.xhr=Jt(F);function Jt(z){return function(N,Z,ne){return arguments.length===2&&typeof Z=="function"&&(ne=Z,Z=null),Rt(N,Z,z,ne)}}function Rt(z,N,Z,ne){var le={},fe=e.dispatch("beforesend","progress","load","error"),De={},me=new XMLHttpRequest,ze=null;self.XDomainRequest&&!("withCredentials"in me)&&/^(http(s)?:)?\/\//.test(z)&&(me=new XDomainRequest),"onload"in me?me.onload=me.onerror=He:me.onreadystatechange=function(){me.readyState>3&&He()};function He(){var We=me.status,ft;if(!We&&Wt(me)||We>=200&&We<300||We===304){try{ft=Z.call(le,me)}catch(ht){fe.error.call(le,ht);return}fe.load.call(le,ft)}else fe.error.call(le,me)}return me.onprogress=function(We){var ft=e.event;e.event=We;try{fe.progress.call(le,me)}finally{e.event=ft}},le.header=function(We,ft){return We=(We+"").toLowerCase(),arguments.length<2?De[We]:(ft==null?delete De[We]:De[We]=ft+"",le)},le.mimeType=function(We){return arguments.length?(N=We==null?null:We+"",le):N},le.responseType=function(We){return arguments.length?(ze=We,le):ze},le.response=function(We){return Z=We,le},["get","post"].forEach(function(We){le[We]=function(){return le.send.apply(le,[We].concat(r(arguments)))}}),le.send=function(We,ft,ht){if(arguments.length===2&&typeof ft=="function"&&(ht=ft,ft=null),me.open(We,z,!0),N!=null&&!("accept"in De)&&(De.accept=N+",*/*"),me.setRequestHeader)for(var Ot in De)me.setRequestHeader(Ot,De[Ot]);return N!=null&&me.overrideMimeType&&me.overrideMimeType(N),ze!=null&&(me.responseType=ze),ht!=null&&le.on("error",ht).on("load",function(jt){ht(null,jt)}),fe.beforesend.call(le,me),me.send(ft==null?null:ft),le},le.abort=function(){return me.abort(),le},e.rebind(le,fe,"on"),ne==null?le:le.get(Tr(ne))}function Tr(z){return z.length===1?function(N,Z){z(N==null?Z:null)}:z}function Wt(z){var N=z.responseType;return N&&N!=="text"?z.response:z.responseText}e.dsv=function(z,N){var Z=new RegExp('["'+z+` +]`),ne=z.charCodeAt(0);function le(He,We,ft){arguments.length<3&&(ft=We,We=null);var ht=Rt(He,N,We==null?fe:De(We),ft);return ht.row=function(Ot){return arguments.length?ht.response((We=Ot)==null?fe:De(Ot)):We},ht}function fe(He){return le.parse(He.responseText)}function De(He){return function(We){return le.parse(We.responseText,He)}}le.parse=function(He,We){var ft;return le.parseRows(He,function(ht,Ot){if(ft)return ft(ht,Ot-1);var jt=function(pt){for(var Dt={},zt=ht.length,$t=0;$t=jt)return ht;if($t)return $t=!1,ft;var Cr=pt;if(He.charCodeAt(Cr)===34){for(var Gr=Cr;Gr++24?(isFinite(N)&&(clearTimeout(Mi),Mi=setTimeout(yn,N)),ti=0):(ti=1,an(yn))}e.timer.flush=function(){fa(),Wn()};function fa(){for(var z=Date.now(),N=br;N;)z>=N.t&&N.c(z-N.t)&&(N.c=null),N=N.n;return z}function Wn(){for(var z,N=br,Z=1/0;N;)N.c?(N.t=0;--me)pt.push(le[He[ft[me]][2]]);for(me=+Ot;me1&&Xt(z[Z[ne-2]],z[Z[ne-1]],z[le])<=0;)--ne;Z[ne++]=le}return Z.slice(0,ne)}function Io(z,N){return z[0]-N[0]||z[1]-N[1]}e.geom.polygon=function(z){return q(z,ps),z};var ps=e.geom.polygon.prototype=[];ps.area=function(){for(var z=-1,N=this.length,Z,ne=this[N-1],le=0;++zbt)me=me.L;else if(De=N-dc(me,Z),De>bt){if(!me.R){ne=me;break}me=me.R}else{fe>-bt?(ne=me.P,le=me):De>-bt?(ne=me,le=me.N):ne=le=me;break}var ze=Ol(z);if(so.insert(ne,ze),!(!ne&&!le)){if(ne===le){iu(ne),le=Ol(ne.site),so.insert(ze,le),ze.edge=le.edge=au(ne.site,ze.site),Ss(ne),Ss(le);return}if(!le){ze.edge=au(ne.site,ze.site);return}iu(ne),iu(le);var He=ne.site,We=He.x,ft=He.y,ht=z.x-We,Ot=z.y-ft,jt=le.site,pt=jt.x-We,Dt=jt.y-ft,zt=2*(ht*Dt-Ot*pt),$t=ht*ht+Ot*Ot,Yt=pt*pt+Dt*Dt,Lt={x:(Dt*$t-Ot*Yt)/zt+We,y:(ht*Yt-pt*$t)/zt+ft};Nc(le.edge,He,jt,Lt),ze.edge=au(He,z,null,Lt),le.edge=au(z,jt,null,Lt),Ss(ne),Ss(le)}}function _u(z,N){var Z=z.site,ne=Z.x,le=Z.y,fe=le-N;if(!fe)return ne;var De=z.P;if(!De)return-1/0;Z=De.site;var me=Z.x,ze=Z.y,He=ze-N;if(!He)return me;var We=me-ne,ft=1/fe-1/He,ht=We/He;return ft?(-ht+Math.sqrt(ht*ht-2*ft*(We*We/(-2*He)-ze+He/2+le-fe/2)))/ft+ne:(ne+me)/2}function dc(z,N){var Z=z.N;if(Z)return _u(Z,N);var ne=z.site;return ne.y===N?ne.x:1/0}function Nl(z){this.site=z,this.edges=[]}Nl.prototype.prepare=function(){for(var z=this.edges,N=z.length,Z;N--;)Z=z[N].edge,(!Z.b||!Z.a)&&z.splice(N,1);return z.sort(bu),z.length};function ja(z){for(var N=z[0][0],Z=z[1][0],ne=z[0][1],le=z[1][1],fe,De,me,ze,He=Uo,We=He.length,ft,ht,Ot,jt,pt,Dt;We--;)if(ft=He[We],!(!ft||!ft.prepare()))for(Ot=ft.edges,jt=Ot.length,ht=0;htbt||g(ze-De)>bt)&&(Ot.splice(ht,0,new r0(Cv(ft.site,Dt,g(me-N)bt?{x:N,y:g(fe-N)bt?{x:g(De-le)bt?{x:Z,y:g(fe-Z)bt?{x:g(De-ne)=-Ne)){var ht=ze*ze+He*He,Ot=We*We+Dt*Dt,jt=(Dt*ht-He*Ot)/ft,pt=(ze*Ot-We*ht)/ft,Dt=pt+me,zt=Zs.pop()||new Hu;zt.arc=z,zt.site=le,zt.x=jt+De,zt.y=Dt+Math.sqrt(jt*jt+pt*pt),zt.cy=Dt,z.circle=zt;for(var $t=null,Yt=vs._;Yt;)if(zt.y0)){if(pt/=Ot,Ot<0){if(pt0){if(pt>ht)return;pt>ft&&(ft=pt)}if(pt=Z-me,!(!Ot&&pt<0)){if(pt/=Ot,Ot<0){if(pt>ht)return;pt>ft&&(ft=pt)}else if(Ot>0){if(pt0)){if(pt/=jt,jt<0){if(pt0){if(pt>ht)return;pt>ft&&(ft=pt)}if(pt=ne-ze,!(!jt&&pt<0)){if(pt/=jt,jt<0){if(pt>ht)return;pt>ft&&(ft=pt)}else if(jt>0){if(pt0&&(le.a={x:me+ft*Ot,y:ze+ft*jt}),ht<1&&(le.b={x:me+ht*Ot,y:ze+ht*jt}),le}}}}}}function yo(z){for(var N=Ro,Z=ph(z[0][0],z[0][1],z[1][0],z[1][1]),ne=N.length,le;ne--;)le=N[ne],(!nu(le,z)||!Z(le)||g(le.a.x-le.b.x)=fe)return;if(We>ht){if(!ne)ne={x:jt,y:De};else if(ne.y>=me)return;Z={x:jt,y:me}}else{if(!ne)ne={x:jt,y:me};else if(ne.y1)if(We>ht){if(!ne)ne={x:(De-zt)/Dt,y:De};else if(ne.y>=me)return;Z={x:(me-zt)/Dt,y:me}}else{if(!ne)ne={x:(me-zt)/Dt,y:me};else if(ne.y=fe)return;Z={x:fe,y:Dt*fe+zt}}else{if(!ne)ne={x:fe,y:Dt*fe+zt};else if(ne.x=We&&zt.x<=ht&&zt.y>=ft&&zt.y<=Ot?[[We,Ot],[ht,Ot],[ht,ft],[We,ft]]:[];$t.point=ze[pt]}),He}function me(ze){return ze.map(function(He,We){return{x:Math.round(ne(He,We)/bt)*bt,y:Math.round(le(He,We)/bt)*bt,i:We}})}return De.links=function(ze){return gh(me(ze)).edges.filter(function(He){return He.l&&He.r}).map(function(He){return{source:ze[He.l.i],target:ze[He.r.i]}})},De.triangles=function(ze){var He=[];return gh(me(ze)).cells.forEach(function(We,ft){for(var ht=We.site,Ot=We.edges.sort(bu),jt=-1,pt=Ot.length,Dt,zt,$t=Ot[pt-1].edge,Yt=$t.l===ht?$t.r:$t.l;++jtYt&&(Yt=We.x),We.y>Lt&&(Lt=We.y),Ot.push(We.x),jt.push(We.y);else for(pt=0;ptYt&&(Yt=Cr),Gr>Lt&&(Lt=Gr),Ot.push(Cr),jt.push(Gr)}var ri=Yt-zt,pi=Lt-$t;ri>pi?Lt=$t+ri:Yt=zt+pi;function Li(Gi,kn,Ua,Qs,lo,oi,zn,Yn){if(!(isNaN(Ua)||isNaN(Qs)))if(Gi.leaf){var qa=Gi.x,gs=Gi.y;if(qa!=null)if(g(qa-Ua)+g(gs-Qs)<.01)Pi(Gi,kn,Ua,Qs,lo,oi,zn,Yn);else{var Tl=Gi.point;Gi.x=Gi.y=Gi.point=null,Pi(Gi,Tl,qa,gs,lo,oi,zn,Yn),Pi(Gi,kn,Ua,Qs,lo,oi,zn,Yn)}else Gi.x=Ua,Gi.y=Qs,Gi.point=kn}else Pi(Gi,kn,Ua,Qs,lo,oi,zn,Yn)}function Pi(Gi,kn,Ua,Qs,lo,oi,zn,Yn){var qa=(lo+zn)*.5,gs=(oi+Yn)*.5,Tl=Ua>=qa,Mu=Qs>=gs,Zu=Mu<<1|Tl;Gi.leaf=!1,Gi=Gi.nodes[Zu]||(Gi.nodes[Zu]=Lv()),Tl?lo=qa:zn=qa,Mu?oi=gs:Yn=gs,Li(Gi,kn,Ua,Qs,lo,oi,zn,Yn)}var Rn=Lv();if(Rn.add=function(Gi){Li(Rn,Gi,+ft(Gi,++pt),+ht(Gi,pt),zt,$t,Yt,Lt)},Rn.visit=function(Gi){Uc(Gi,Rn,zt,$t,Yt,Lt)},Rn.find=function(Gi){return cp(Rn,Gi[0],Gi[1],zt,$t,Yt,Lt)},pt=-1,N==null){for(;++ptfe||ht>De||Ot=Cr,pi=Z>=Gr,Li=pi<<1|ri,Pi=Li+4;LiZ&&(fe=N.slice(Z,fe),me[De]?me[De]+=fe:me[++De]=fe),(ne=ne[0])===(le=le[0])?me[De]?me[De]+=le:me[++De]=le:(me[++De]=null,ze.push({i:De,x:Es(ne,le)})),Z=W0.lastIndex;return Z=0&&!(ne=e.interpolators[Z](z,N)););return ne}e.interpolators=[function(z,N){var Z=typeof N;return(Z==="string"?lt.has(N.toLowerCase())||/^(#|rgb\(|hsl\()/i.test(N)?mh:Vo:N instanceof ir?mh:Array.isArray(N)?a0:Z==="object"&&isNaN(N)?ju:Es)(z,N)}],e.interpolateArray=a0;function a0(z,N){var Z=[],ne=[],le=z.length,fe=N.length,De=Math.min(z.length,N.length),me;for(me=0;me=0?z.slice(0,N):z,ne=N>=0?z.slice(N+1):"in";return Z=ug.get(Z)||Pv,ne=Wm.get(ne)||F,Tx(ne(Z.apply(null,t.call(arguments,1))))};function Tx(z){return function(N){return N<=0?0:N>=1?1:z(N)}}function xh(z){return function(N){return 1-z(1-N)}}function Bs(z){return function(N){return .5*(N<.5?z(2*N):2-z(2-2*N))}}function Iv(z){return z*z}function Rv(z){return z*z*z}function _h(z){if(z<=0)return 0;if(z>=1)return 1;var N=z*z,Z=N*z;return 4*(z<.5?Z:3*(z-N)+Z-.75)}function cg(z){return function(N){return Math.pow(N,z)}}function Y0(z){return 1-Math.cos(z*Re)}function fp(z){return Math.pow(2,10*(z-1))}function hf(z){return 1-Math.sqrt(1-z*z)}function zv(z,N){var Z;return arguments.length<2&&(N=.45),arguments.length?Z=N/Ge*Math.asin(1/z):(z=1,Z=N/4),function(ne){return 1+z*Math.pow(2,-10*ne)*Math.sin((ne-Z)*Ge/N)}}function hp(z){return z||(z=1.70158),function(N){return N*N*((z+1)*N-z)}}function X0(z){return z<1/2.75?7.5625*z*z:z<2/2.75?7.5625*(z-=1.5/2.75)*z+.75:z<2.5/2.75?7.5625*(z-=2.25/2.75)*z+.9375:7.5625*(z-=2.625/2.75)*z+.984375}e.interpolateHcl=fg;function fg(z,N){z=e.hcl(z),N=e.hcl(N);var Z=z.h,ne=z.c,le=z.l,fe=N.h-Z,De=N.c-ne,me=N.l-le;return isNaN(De)&&(De=0,ne=isNaN(ne)?N.c:ne),isNaN(fe)?(fe=0,Z=isNaN(Z)?N.h:Z):fe>180?fe-=360:fe<-180&&(fe+=360),function(ze){return $i(Z+fe*ze,ne+De*ze,le+me*ze)+""}}e.interpolateHsl=hg;function hg(z,N){z=e.hsl(z),N=e.hsl(N);var Z=z.h,ne=z.s,le=z.l,fe=N.h-Z,De=N.s-ne,me=N.l-le;return isNaN(De)&&(De=0,ne=isNaN(ne)?N.s:ne),isNaN(fe)?(fe=0,Z=isNaN(Z)?N.h:Z):fe>180?fe-=360:fe<-180&&(fe+=360),function(ze){return si(Z+fe*ze,ne+De*ze,le+me*ze)+""}}e.interpolateLab=Ym;function Ym(z,N){z=e.lab(z),N=e.lab(N);var Z=z.l,ne=z.a,le=z.b,fe=N.l-Z,De=N.a-ne,me=N.b-le;return function(ze){return ra(Z+fe*ze,ne+De*ze,le+me*ze)+""}}e.interpolateRound=Uf;function Uf(z,N){return N-=z,function(Z){return Math.round(z+N*Z)}}e.transform=function(z){var N=i.createElementNS(e.ns.prefix.svg,"g");return(e.transform=function(Z){if(Z!=null){N.setAttribute("transform",Z);var ne=N.transform.baseVal.consolidate()}return new Bv(ne?ne.matrix:Z0)})(z)};function Bv(z){var N=[z.a,z.b],Z=[z.c,z.d],ne=dp(N),le=Vf(N,Z),fe=dp(pc(Z,N,-le))||0;N[0]*Z[1]180?N+=360:N-z>180&&(z+=360),ne.push({i:Z.push(Gf(Z)+"rotate(",null,")")-2,x:Es(z,N)})):N&&Z.push(Gf(Z)+"rotate("+N+")")}function pg(z,N,Z,ne){z!==N?ne.push({i:Z.push(Gf(Z)+"skewX(",null,")")-2,x:Es(z,N)}):N&&Z.push(Gf(Z)+"skewX("+N+")")}function Ov(z,N,Z,ne){if(z[0]!==N[0]||z[1]!==N[1]){var le=Z.push(Gf(Z)+"scale(",null,",",null,")");ne.push({i:le-4,x:Es(z[0],N[0])},{i:le-2,x:Es(z[1],N[1])})}else(N[0]!==1||N[1]!==1)&&Z.push(Gf(Z)+"scale("+N+")")}function pp(z,N){var Z=[],ne=[];return z=e.transform(z),N=e.transform(N),dg(z.translate,N.translate,Z,ne),qv(z.rotate,N.rotate,Z,ne),pg(z.skew,N.skew,Z,ne),Ov(z.scale,N.scale,Z,ne),z=N=null,function(le){for(var fe=-1,De=ne.length,me;++fe0?fe=Lt:(Z.c=null,Z.t=NaN,Z=null,N.end({type:"end",alpha:fe=0})):Lt>0&&(N.start({type:"start",alpha:fe=Lt}),Z=Gn(z.tick)),z):fe},z.start=function(){var Lt,Cr=Ot.length,Gr=jt.length,ri=ne[0],pi=ne[1],Li,Pi;for(Lt=0;Lt=0;)fe.push(We=He[ze]),We.parent=me,We.depth=me.depth+1;Z&&(me.value=0),me.children=He}else Z&&(me.value=+Z.call(ne,me,me.depth)||0),delete me.children;return Wu(le,function(ft){var ht,Ot;z&&(ht=ft.children)&&ht.sort(z),Z&&(Ot=ft.parent)&&(Ot.value+=ft.value)}),De}return ne.sort=function(le){return arguments.length?(z=le,ne):z},ne.children=function(le){return arguments.length?(N=le,ne):N},ne.value=function(le){return arguments.length?(Z=le,ne):Z},ne.revalue=function(le){return Z&&(pf(le,function(fe){fe.children&&(fe.value=0)}),Wu(le,function(fe){var De;fe.children||(fe.value=+Z.call(ne,fe,fe.depth)||0),(De=fe.parent)&&(De.value+=fe.value)})),le},ne};function df(z,N){return e.rebind(z,N,"sort","children","value"),z.nodes=z,z.links=vc,z}function pf(z,N){for(var Z=[z];(z=Z.pop())!=null;)if(N(z),(le=z.children)&&(ne=le.length))for(var ne,le;--ne>=0;)Z.push(le[ne])}function Wu(z,N){for(var Z=[z],ne=[];(z=Z.pop())!=null;)if(ne.push(z),(De=z.children)&&(fe=De.length))for(var le=-1,fe,De;++lele&&(le=me),ne.push(me)}for(De=0;Dene&&(Z=N,ne=le);return Z}function _p(z){return z.reduce(s0,0)}function s0(z,N){return z+N[1]}e.layout.histogram=function(){var z=!0,N=Number,Z=Q0,ne=bp;function le(fe,ht){for(var me=[],ze=fe.map(N,this),He=Z.call(this,ze,ht),We=ne.call(this,He,ze,ht),ft,ht=-1,Ot=ze.length,jt=We.length-1,pt=z?1:1/Ot,Dt;++ht0)for(ht=-1;++ht=He[0]&&Dt<=He[1]&&(ft=me[e.bisect(We,Dt,1,jt)-1],ft.y+=pt,ft.push(fe[ht]));return me}return le.value=function(fe){return arguments.length?(N=fe,le):N},le.range=function(fe){return arguments.length?(Z=kt(fe),le):Z},le.bins=function(fe){return arguments.length?(ne=typeof fe=="number"?function(De){return l0(De,fe)}:kt(fe),le):ne},le.frequency=function(fe){return arguments.length?(z=!!fe,le):z},le};function bp(z,N){return l0(z,Math.ceil(Math.log(N.length)/Math.LN2+1))}function l0(z,N){for(var Z=-1,ne=+z[0],le=(z[1]-ne)/N,fe=[];++Z<=N;)fe[Z]=le*Z+ne;return fe}function Q0(z){return[e.min(z),e.max(z)]}e.layout.pack=function(){var z=e.layout.hierarchy().sort(ed),N=0,Z=[1,1],ne;function le(fe,De){var me=z.call(this,fe,De),ze=me[0],He=Z[0],We=Z[1],ft=ne==null?Math.sqrt:typeof ne=="function"?ne:function(){return ne};if(ze.x=ze.y=0,Wu(ze,function(Ot){Ot.r=+ft(Ot.value)}),Wu(ze,ty),N){var ht=N*(ne?1:Math.max(2*ze.r/He,2*ze.r/We))/2;Wu(ze,function(Ot){Ot.r+=ht}),Wu(ze,ty),Wu(ze,function(Ot){Ot.r-=ht})}return Hv(ze,He/2,We/2,ne?1:1/Math.max(2*ze.r/He,2*ze.r/We)),me}return le.size=function(fe){return arguments.length?(Z=fe,le):Z},le.radius=function(fe){return arguments.length?(ne=fe==null||typeof fe=="function"?fe:+fe,le):ne},le.padding=function(fe){return arguments.length?(N=+fe,le):N},df(le,z)};function ed(z,N){return z.value-N.value}function wp(z,N){var Z=z._pack_next;z._pack_next=N,N._pack_prev=z,N._pack_next=Z,Z._pack_prev=N}function mg(z,N){z._pack_next=N,N._pack_prev=z}function Gv(z,N){var Z=N.x-z.x,ne=N.y-z.y,le=z.r+N.r;return .999*le*le>Z*Z+ne*ne}function ty(z){if(!(N=z.children)||!(ht=N.length))return;var N,Z=1/0,ne=-1/0,le=1/0,fe=-1/0,De,me,ze,He,We,ft,ht;function Ot(Lt){Z=Math.min(Lt.x-Lt.r,Z),ne=Math.max(Lt.x+Lt.r,ne),le=Math.min(Lt.y-Lt.r,le),fe=Math.max(Lt.y+Lt.r,fe)}if(N.forEach(ry),De=N[0],De.x=-De.r,De.y=0,Ot(De),ht>1&&(me=N[1],me.x=me.r,me.y=0,Ot(me),ht>2))for(ze=N[2],cl(De,me,ze),Ot(ze),wp(De,ze),De._pack_prev=ze,wp(ze,me),me=De._pack_next,He=3;HeDt.x&&(Dt=Cr),Cr.depth>zt.depth&&(zt=Cr)});var $t=N(pt,Dt)/2-pt.x,Yt=Z[0]/(Dt.x+N(Dt,pt)/2+$t),Lt=Z[1]/(zt.depth||1);pf(Ot,function(Cr){Cr.x=(Cr.x+$t)*Yt,Cr.y=Cr.depth*Lt})}return ht}function fe(We){for(var ft={A:null,children:[We]},ht=[ft],Ot;(Ot=ht.pop())!=null;)for(var jt=Ot.children,pt,Dt=0,zt=jt.length;Dt0&&(Ap(Te(pt,We,ht),We,Cr),zt+=Cr,$t+=Cr),Yt+=pt.m,zt+=Ot.m,Lt+=Dt.m,$t+=jt.m;pt&&!xg(jt)&&(jt.t=pt,jt.m+=Yt-$t),Ot&&!Tp(Dt)&&(Dt.t=Ot,Dt.m+=zt-Lt,ht=We)}return ht}function He(We){We.x*=Z[0],We.y=We.depth*Z[1]}return le.separation=function(We){return arguments.length?(N=We,le):N},le.size=function(We){return arguments.length?(ne=(Z=We)==null?He:null,le):ne?null:Z},le.nodeSize=function(We){return arguments.length?(ne=(Z=We)==null?null:He,le):ne?Z:null},df(le,z)};function Gc(z,N){return z.parent==N.parent?1:2}function Tp(z){var N=z.children;return N.length?N[0]:z.t}function xg(z){var N=z.children,Z;return(Z=N.length)?N[Z-1]:z.t}function Ap(z,N,Z){var ne=Z/(N.i-z.i);N.c-=ne,N.s+=Z,z.c+=ne,N.z+=Z,N.m+=Z}function Mp(z){for(var N=0,Z=0,ne=z.children,le=ne.length,fe;--le>=0;)fe=ne[le],fe.z+=N,fe.m+=N,N+=fe.s+(Z+=fe.c)}function Te(z,N,Z){return z.a.parent===N.parent?z.a:Z}e.layout.cluster=function(){var z=e.layout.hierarchy().sort(null).value(null),N=Gc,Z=[1,1],ne=!1;function le(fe,De){var me=z.call(this,fe,De),ze=me[0],He,We=0;Wu(ze,function(pt){var Dt=pt.children;Dt&&Dt.length?(pt.x=rt(Dt),pt.y=qe(Dt)):(pt.x=He?We+=N(pt,He):0,pt.y=0,He=pt)});var ft=Ye(ze),ht=At(ze),Ot=ft.x-N(ft,ht)/2,jt=ht.x+N(ht,ft)/2;return Wu(ze,ne?function(pt){pt.x=(pt.x-ze.x)*Z[0],pt.y=(ze.y-pt.y)*Z[1]}:function(pt){pt.x=(pt.x-Ot)/(jt-Ot)*Z[0],pt.y=(1-(ze.y?pt.y/ze.y:1))*Z[1]}),me}return le.separation=function(fe){return arguments.length?(N=fe,le):N},le.size=function(fe){return arguments.length?(ne=(Z=fe)==null,le):ne?null:Z},le.nodeSize=function(fe){return arguments.length?(ne=(Z=fe)!=null,le):ne?Z:null},df(le,z)};function qe(z){return 1+e.max(z,function(N){return N.y})}function rt(z){return z.reduce(function(N,Z){return N+Z.x},0)/z.length}function Ye(z){var N=z.children;return N&&N.length?Ye(N[0]):z}function At(z){var N=z.children,Z;return N&&(Z=N.length)?At(N[Z-1]):z}e.layout.treemap=function(){var z=e.layout.hierarchy(),N=Math.round,Z=[1,1],ne=null,le=Gt,fe=!1,De,me="squarify",ze=.5*(1+Math.sqrt(5));function He(pt,Dt){for(var zt=-1,$t=pt.length,Yt,Lt;++zt<$t;)Lt=(Yt=pt[zt]).value*(Dt<0?0:Dt),Yt.area=isNaN(Lt)||Lt<=0?0:Lt}function We(pt){var Dt=pt.children;if(Dt&&Dt.length){var zt=le(pt),$t=[],Yt=Dt.slice(),Lt,Cr=1/0,Gr,ri=me==="slice"?zt.dx:me==="dice"?zt.dy:me==="slice-dice"?pt.depth&1?zt.dy:zt.dx:Math.min(zt.dx,zt.dy),pi;for(He(Yt,zt.dx*zt.dy/pt.value),$t.area=0;(pi=Yt.length)>0;)$t.push(Lt=Yt[pi-1]),$t.area+=Lt.area,me!=="squarify"||(Gr=ht($t,ri))<=Cr?(Yt.pop(),Cr=Gr):($t.area-=$t.pop().area,Ot($t,ri,zt,!1),ri=Math.min(zt.dx,zt.dy),$t.length=$t.area=0,Cr=1/0);$t.length&&(Ot($t,ri,zt,!0),$t.length=$t.area=0),Dt.forEach(We)}}function ft(pt){var Dt=pt.children;if(Dt&&Dt.length){var zt=le(pt),$t=Dt.slice(),Yt,Lt=[];for(He($t,zt.dx*zt.dy/pt.value),Lt.area=0;Yt=$t.pop();)Lt.push(Yt),Lt.area+=Yt.area,Yt.z!=null&&(Ot(Lt,Yt.z?zt.dx:zt.dy,zt,!$t.length),Lt.length=Lt.area=0);Dt.forEach(ft)}}function ht(pt,Dt){for(var zt=pt.area,$t,Yt=0,Lt=1/0,Cr=-1,Gr=pt.length;++CrYt&&(Yt=$t));return zt*=zt,Dt*=Dt,zt?Math.max(Dt*Yt*ze/zt,zt/(Dt*Lt*ze)):1/0}function Ot(pt,Dt,zt,$t){var Yt=-1,Lt=pt.length,Cr=zt.x,Gr=zt.y,ri=Dt?N(pt.area/Dt):0,pi;if(Dt==zt.dx){for(($t||ri>zt.dy)&&(ri=zt.dy);++Ytzt.dx)&&(ri=zt.dx);++Yt1);return z+N*ne*Math.sqrt(-2*Math.log(fe)/fe)}},logNormal:function(){var z=e.random.normal.apply(e,arguments);return function(){return Math.exp(z())}},bates:function(z){var N=e.random.irwinHall(z);return function(){return N()/z}},irwinHall:function(z){return function(){for(var N=0,Z=0;Z2?Dr:Pr,He=ne?Uv:Nv;return le=ze(z,N,He,Z),fe=ze(N,z,He,yh),me}function me(ze){return le(ze)}return me.invert=function(ze){return fe(ze)},me.domain=function(ze){return arguments.length?(z=ze.map(Number),De()):z},me.range=function(ze){return arguments.length?(N=ze,De()):N},me.rangeRound=function(ze){return me.range(ze).interpolate(Uf)},me.clamp=function(ze){return arguments.length?(ne=ze,De()):ne},me.interpolate=function(ze){return arguments.length?(Z=ze,De()):Z},me.ticks=function(ze){return Xi(z,ze)},me.tickFormat=function(ze,He){return d3_scale_linearTickFormat(z,ze,He)},me.nice=function(ze){return ki(z,ze),De()},me.copy=function(){return Hr(z,N,Z,ne)},De()}function zi(z,N){return e.rebind(z,N,"range","rangeRound","interpolate","clamp")}function ki(z,N){return rr(z,fr(Vi(z,N)[2])),rr(z,fr(Vi(z,N)[2])),z}function Vi(z,N){N==null&&(N=10);var Z=cr(z),ne=Z[1]-Z[0],le=Math.pow(10,Math.floor(Math.log(ne/N)/Math.LN10)),fe=N/ne*le;return fe<=.15?le*=10:fe<=.35?le*=5:fe<=.75&&(le*=2),Z[0]=Math.ceil(Z[0]/le)*le,Z[1]=Math.floor(Z[1]/le)*le+le*.5,Z[2]=le,Z}function Xi(z,N){return e.range.apply(e,Vi(z,N))}var Yr={s:1,g:1,p:1,r:1,e:1};function ai(z){return-Math.floor(Math.log(z)/Math.LN10+.01)}function on(z,N){var Z=ai(N[2]);return z in Yr?Math.abs(Z-ai(Math.max(g(N[0]),g(N[1]))))+ +(z!=="e"):Z-(z==="%")*2}e.scale.log=function(){return En(e.scale.linear().domain([0,1]),10,!0,[1,10])};function En(z,N,Z,ne){function le(me){return(Z?Math.log(me<0?0:me):-Math.log(me>0?0:-me))/Math.log(N)}function fe(me){return Z?Math.pow(N,me):-Math.pow(N,-me)}function De(me){return z(le(me))}return De.invert=function(me){return fe(z.invert(me))},De.domain=function(me){return arguments.length?(Z=me[0]>=0,z.domain((ne=me.map(Number)).map(le)),De):ne},De.base=function(me){return arguments.length?(N=+me,z.domain(ne.map(le)),De):N},De.nice=function(){var me=rr(ne.map(le),Z?Math:ga);return z.domain(me),ne=me.map(fe),De},De.ticks=function(){var me=cr(ne),ze=[],He=me[0],We=me[1],ft=Math.floor(le(He)),ht=Math.ceil(le(We)),Ot=N%1?2:N;if(isFinite(ht-ft)){if(Z){for(;ft0;jt--)ze.push(fe(ft)*jt);for(ft=0;ze[ft]We;ht--);ze=ze.slice(ft,ht)}return ze},De.copy=function(){return En(z.copy(),N,Z,ne)},zi(De,z)}var ga={floor:function(z){return-Math.ceil(-z)},ceil:function(z){return-Math.floor(-z)}};e.scale.pow=function(){return $a(e.scale.linear(),1,[0,1])};function $a(z,N,Z){var ne=Ca(N),le=Ca(1/N);function fe(De){return z(ne(De))}return fe.invert=function(De){return le(z.invert(De))},fe.domain=function(De){return arguments.length?(z.domain((Z=De.map(Number)).map(ne)),fe):Z},fe.ticks=function(De){return Xi(Z,De)},fe.tickFormat=function(De,me){return d3_scale_linearTickFormat(Z,De,me)},fe.nice=function(De){return fe.domain(ki(Z,De))},fe.exponent=function(De){return arguments.length?(ne=Ca(N=De),le=Ca(1/N),z.domain(Z.map(ne)),fe):N},fe.copy=function(){return $a(z.copy(),N,Z)},zi(fe,z)}function Ca(z){return function(N){return N<0?-Math.pow(-N,z):Math.pow(N,z)}}e.scale.sqrt=function(){return e.scale.pow().exponent(.5)},e.scale.ordinal=function(){return xo([],{t:"range",a:[[]]})};function xo(z,N){var Z,ne,le;function fe(me){return ne[((Z.get(me)||(N.t==="range"?Z.set(me,z.push(me)):NaN))-1)%ne.length]}function De(me,ze){return e.range(z.length).map(function(He){return me+ze*He})}return fe.domain=function(me){if(!arguments.length)return z;z=[],Z=new _;for(var ze=-1,He=me.length,We;++ze0?Z[fe-1]:z[0],feht?0:1;if(We=je)return ze(We,jt)+(He?ze(He,1-jt):"")+"Z";var pt,Dt,zt,$t,Yt=0,Lt=0,Cr,Gr,ri,pi,Li,Pi,Rn,Gi,kn=[];if(($t=(+De.apply(this,arguments)||0)/2)&&(zt=ne===vf?Math.sqrt(He*He+We*We):+ne.apply(this,arguments),jt||(Lt*=-1),We&&(Lt=lr(zt/We*Math.sin($t))),He&&(Yt=lr(zt/He*Math.sin($t)))),We){Cr=We*Math.cos(ft+Lt),Gr=We*Math.sin(ft+Lt),ri=We*Math.cos(ht-Lt),pi=We*Math.sin(ht-Lt);var Ua=Math.abs(ht-ft-2*Lt)<=Ue?0:1;if(Lt&&Sp(Cr,Gr,ri,pi)===jt^Ua){var Qs=(ft+ht)/2;Cr=We*Math.cos(Qs),Gr=We*Math.sin(Qs),ri=pi=null}}else Cr=Gr=0;if(He){Li=He*Math.cos(ht-Yt),Pi=He*Math.sin(ht-Yt),Rn=He*Math.cos(ft+Yt),Gi=He*Math.sin(ft+Yt);var lo=Math.abs(ft-ht+2*Yt)<=Ue?0:1;if(Yt&&Sp(Li,Pi,Rn,Gi)===1-jt^lo){var oi=(ft+ht)/2;Li=He*Math.cos(oi),Pi=He*Math.sin(oi),Rn=Gi=null}}else Li=Pi=0;if(Ot>bt&&(pt=Math.min(Math.abs(We-He)/2,+Z.apply(this,arguments)))>.001){Dt=He0?0:1}function _g(z,N,Z,ne,le){var fe=z[0]-N[0],De=z[1]-N[1],me=(le?ne:-ne)/Math.sqrt(fe*fe+De*De),ze=me*De,He=-me*fe,We=z[0]+ze,ft=z[1]+He,ht=N[0]+ze,Ot=N[1]+He,jt=(We+ht)/2,pt=(ft+Ot)/2,Dt=ht-We,zt=Ot-ft,$t=Dt*Dt+zt*zt,Yt=Z-ne,Lt=We*Ot-ht*ft,Cr=(zt<0?-1:1)*Math.sqrt(Math.max(0,Yt*Yt*$t-Lt*Lt)),Gr=(Lt*zt-Dt*Cr)/$t,ri=(-Lt*Dt-zt*Cr)/$t,pi=(Lt*zt+Dt*Cr)/$t,Li=(-Lt*Dt+zt*Cr)/$t,Pi=Gr-jt,Rn=ri-pt,Gi=pi-jt,kn=Li-pt;return Pi*Pi+Rn*Rn>Gi*Gi+kn*kn&&(Gr=pi,ri=Li),[[Gr-ze,ri-He],[Gr*Z/Yt,ri*Z/Yt]]}function jv(){return!0}function Mx(z){var N=Ja,Z=oo,ne=jv,le=jc,fe=le.key,De=.7;function me(ze){var He=[],We=[],ft=-1,ht=ze.length,Ot,jt=kt(N),pt=kt(Z);function Dt(){He.push("M",le(z(We),De))}for(;++ft1?z.join("L"):z+"Z"}function iy(z){return z.join("L")+"Z"}function Wv(z){for(var N=0,Z=z.length,ne=z[0],le=[ne[0],",",ne[1]];++N1&&le.push("H",ne[0]),le.join("")}function bg(z){for(var N=0,Z=z.length,ne=z[0],le=[ne[0],",",ne[1]];++N1){me=N[1],fe=z[ze],ze++,ne+="C"+(le[0]+De[0])+","+(le[1]+De[1])+","+(fe[0]-me[0])+","+(fe[1]-me[1])+","+fe[0]+","+fe[1];for(var He=2;He9&&(fe=Z*3/Math.sqrt(fe),De[me]=fe*ne,De[me+1]=fe*le));for(me=-1;++me<=ze;)fe=(z[Math.min(ze,me+1)][0]-z[Math.max(0,me-1)][0])/(6*(1+De[me]*De[me])),N.push([fe||0,De[me]*fe||0]);return N}function Ke(z){return z.length<3?jc(z):z[0]+kp(z,Pe(z))}e.svg.line.radial=function(){var z=Mx(nt);return z.radius=z.x,delete z.x,z.angle=z.y,delete z.y,z};function nt(z){for(var N,Z=-1,ne=z.length,le,fe;++ZUe)+",1 "+ft}function He(We,ft,ht,Ot){return"Q 0,0 "+Ot}return fe.radius=function(We){return arguments.length?(Z=kt(We),fe):Z},fe.source=function(We){return arguments.length?(z=kt(We),fe):z},fe.target=function(We){return arguments.length?(N=kt(We),fe):N},fe.startAngle=function(We){return arguments.length?(ne=kt(We),fe):ne},fe.endAngle=function(We){return arguments.length?(le=kt(We),fe):le},fe};function Pt(z){return z.radius}e.svg.diagonal=function(){var z=at,N=yt,Z=Ut;function ne(le,fe){var De=z.call(this,le,fe),me=N.call(this,le,fe),ze=(De.y+me.y)/2,He=[De,{x:De.x,y:ze},{x:me.x,y:ze},me];return He=He.map(Z),"M"+He[0]+"C"+He[1]+" "+He[2]+" "+He[3]}return ne.source=function(le){return arguments.length?(z=kt(le),ne):z},ne.target=function(le){return arguments.length?(N=kt(le),ne):N},ne.projection=function(le){return arguments.length?(Z=le,ne):Z},ne};function Ut(z){return[z.x,z.y]}e.svg.diagonal.radial=function(){var z=e.svg.diagonal(),N=Ut,Z=z.projection;return z.projection=function(ne){return arguments.length?Z(ar(N=ne)):N},z};function ar(z){return function(){var N=z.apply(this,arguments),Z=N[0],ne=N[1]-Re;return[Z*Math.cos(ne),Z*Math.sin(ne)]}}e.svg.symbol=function(){var z=Vr,N=Ar;function Z(ne,le){return(rn.get(z.call(this,ne,le))||_i)(N.call(this,ne,le))}return Z.type=function(ne){return arguments.length?(z=kt(ne),Z):z},Z.size=function(ne){return arguments.length?(N=kt(ne),Z):N},Z};function Ar(){return 64}function Vr(){return"circle"}function _i(z){var N=Math.sqrt(z/Ue);return"M0,"+N+"A"+N+","+N+" 0 1,1 0,"+-N+"A"+N+","+N+" 0 1,1 0,"+N+"Z"}var rn=e.map({circle:_i,cross:function(z){var N=Math.sqrt(z/5)/2;return"M"+-3*N+","+-N+"H"+-N+"V"+-3*N+"H"+N+"V"+-N+"H"+3*N+"V"+N+"H"+N+"V"+3*N+"H"+-N+"V"+N+"H"+-3*N+"Z"},diamond:function(z){var N=Math.sqrt(z/(2*xn)),Z=N*xn;return"M0,"+-N+"L"+Z+",0 0,"+N+" "+-Z+",0Z"},square:function(z){var N=Math.sqrt(z)/2;return"M"+-N+","+-N+"L"+N+","+-N+" "+N+","+N+" "+-N+","+N+"Z"},"triangle-down":function(z){var N=Math.sqrt(z/cn),Z=N*cn/2;return"M0,"+Z+"L"+N+","+-Z+" "+-N+","+-Z+"Z"},"triangle-up":function(z){var N=Math.sqrt(z/cn),Z=N*cn/2;return"M0,"+-Z+"L"+N+","+Z+" "+-N+","+Z+"Z"}});e.svg.symbolTypes=rn.keys();var cn=Math.sqrt(3),xn=Math.tan(30*Ve);H.transition=function(z){for(var N=wl||++as,Z=ou(z),ne=[],le,fe,De=Xu||{time:Date.now(),ease:_h,delay:0,duration:250},me=-1,ze=this.length;++me0;)ft[--$t].call(z,zt);if(Dt>=1)return De.event&&De.event.end.call(z,z.__data__,N),--fe.count?delete fe[ne]:delete z[Z],1}De||(me=le.time,ze=Gn(ht,0,me),De=fe[ne]={tween:new _,time:me,timer:ze,delay:le.delay,duration:le.duration,ease:le.ease,index:N},le=null,++fe.count)}e.svg.axis=function(){var z=e.scale.linear(),N=$c,Z=6,ne=6,le=3,fe=[10],De=null,me;function ze(He){He.each(function(){var We=e.select(this),ft=this.__chart__||z,ht=this.__chart__=z.copy(),Ot=De==null?ht.ticks?ht.ticks.apply(ht,fe):ht.domain():De,jt=me==null?ht.tickFormat?ht.tickFormat.apply(ht,fe):F:me,pt=We.selectAll(".tick").data(Ot,ht),Dt=pt.enter().insert("g",".domain").attr("class","tick").style("opacity",bt),zt=e.transition(pt.exit()).style("opacity",bt).remove(),$t=e.transition(pt.order()).style("opacity",1),Yt=Math.max(Z,0)+le,Lt,Cr=mr(ht),Gr=We.selectAll(".domain").data([0]),ri=(Gr.enter().append("path").attr("class","domain"),e.transition(Gr));Dt.append("line"),Dt.append("text");var pi=Dt.select("line"),Li=$t.select("line"),Pi=pt.select("text").text(jt),Rn=Dt.select("text"),Gi=$t.select("text"),kn=N==="top"||N==="left"?-1:1,Ua,Qs,lo,oi;if(N==="bottom"||N==="top"?(Lt=Wf,Ua="x",lo="y",Qs="x2",oi="y2",Pi.attr("dy",kn<0?"0em":".71em").style("text-anchor","middle"),ri.attr("d","M"+Cr[0]+","+kn*ne+"V0H"+Cr[1]+"V"+kn*ne)):(Lt=Yf,Ua="y",lo="x",Qs="y2",oi="x2",Pi.attr("dy",".32em").style("text-anchor",kn<0?"end":"start"),ri.attr("d","M"+kn*ne+","+Cr[0]+"H0V"+Cr[1]+"H"+kn*ne)),pi.attr(oi,kn*Z),Rn.attr(lo,kn*Yt),Li.attr(Qs,0).attr(oi,kn*Z),Gi.attr(Ua,0).attr(lo,kn*Yt),ht.rangeBand){var zn=ht,Yn=zn.rangeBand()/2;ft=ht=function(qa){return zn(qa)+Yn}}else ft.rangeBand?ft=ht:zt.call(Lt,ht,ft);Dt.call(Lt,ft,ht),$t.call(Lt,ht,ht)})}return ze.scale=function(He){return arguments.length?(z=He,ze):z},ze.orient=function(He){return arguments.length?(N=He in $f?He+"":$c,ze):N},ze.ticks=function(){return arguments.length?(fe=r(arguments),ze):fe},ze.tickValues=function(He){return arguments.length?(De=He,ze):De},ze.tickFormat=function(He){return arguments.length?(me=He,ze):me},ze.tickSize=function(He){var We=arguments.length;return We?(Z=+He,ne=+arguments[We-1],ze):Z},ze.innerTickSize=function(He){return arguments.length?(Z=+He,ze):Z},ze.outerTickSize=function(He){return arguments.length?(ne=+He,ze):ne},ze.tickPadding=function(He){return arguments.length?(le=+He,ze):le},ze.tickSubdivide=function(){return arguments.length&&ze},ze};var $c="bottom",$f={top:1,right:1,bottom:1,left:1};function Wf(z,N,Z){z.attr("transform",function(ne){var le=N(ne);return"translate("+(isFinite(le)?le:Z(ne))+",0)"})}function Yf(z,N,Z){z.attr("transform",function(ne){var le=N(ne);return"translate(0,"+(isFinite(le)?le:Z(ne))+")"})}e.svg.brush=function(){var z=K(We,"brushstart","brush","brushend"),N=null,Z=null,ne=[0,0],le=[0,0],fe,De,me=!0,ze=!0,He=gf[0];function We(pt){pt.each(function(){var Dt=e.select(this).style("pointer-events","all").style("-webkit-tap-highlight-color","rgba(0,0,0,0)").on("mousedown.brush",jt).on("touchstart.brush",jt),zt=Dt.selectAll(".background").data([0]);zt.enter().append("rect").attr("class","background").style("visibility","hidden").style("cursor","crosshair"),Dt.selectAll(".extent").data([0]).enter().append("rect").attr("class","extent").style("cursor","move");var $t=Dt.selectAll(".resize").data(He,F);$t.exit().remove(),$t.enter().append("g").attr("class",function(Gr){return"resize "+Gr}).style("cursor",function(Gr){return Sh[Gr]}).append("rect").attr("x",function(Gr){return/[ew]$/.test(Gr)?-3:null}).attr("y",function(Gr){return/^[ns]/.test(Gr)?-3:null}).attr("width",6).attr("height",6).style("visibility","hidden"),$t.style("display",We.empty()?"none":null);var Yt=e.transition(Dt),Lt=e.transition(zt),Cr;N&&(Cr=mr(N),Lt.attr("x",Cr[0]).attr("width",Cr[1]-Cr[0]),ht(Yt)),Z&&(Cr=mr(Z),Lt.attr("y",Cr[0]).attr("height",Cr[1]-Cr[0]),Ot(Yt)),ft(Yt)})}We.event=function(pt){pt.each(function(){var Dt=z.of(this,arguments),zt={x:ne,y:le,i:fe,j:De},$t=this.__chart__||zt;this.__chart__=zt,wl?e.select(this).transition().each("start.brush",function(){fe=$t.i,De=$t.j,ne=$t.x,le=$t.y,Dt({type:"brushstart"})}).tween("brush:brush",function(){var Yt=a0(ne,zt.x),Lt=a0(le,zt.y);return fe=De=null,function(Cr){ne=zt.x=Yt(Cr),le=zt.y=Lt(Cr),Dt({type:"brush",mode:"resize"})}}).each("end.brush",function(){fe=zt.i,De=zt.j,Dt({type:"brush",mode:"resize"}),Dt({type:"brushend"})}):(Dt({type:"brushstart"}),Dt({type:"brush",mode:"resize"}),Dt({type:"brushend"}))})};function ft(pt){pt.selectAll(".resize").attr("transform",function(Dt){return"translate("+ne[+/e$/.test(Dt)]+","+le[+/^s/.test(Dt)]+")"})}function ht(pt){pt.select(".extent").attr("x",ne[0]),pt.selectAll(".extent,.n>rect,.s>rect").attr("width",ne[1]-ne[0])}function Ot(pt){pt.select(".extent").attr("y",le[0]),pt.selectAll(".extent,.e>rect,.w>rect").attr("height",le[1]-le[0])}function jt(){var pt=this,Dt=e.select(e.event.target),zt=z.of(pt,arguments),$t=e.select(pt),Yt=Dt.datum(),Lt=!/^(n|s)$/.test(Yt)&&N,Cr=!/^(e|w)$/.test(Yt)&&Z,Gr=Dt.classed("extent"),ri=ut(pt),pi,Li=e.mouse(pt),Pi,Rn=e.select(a(pt)).on("keydown.brush",Ua).on("keyup.brush",Qs);if(e.event.changedTouches?Rn.on("touchmove.brush",lo).on("touchend.brush",zn):Rn.on("mousemove.brush",lo).on("mouseup.brush",zn),$t.interrupt().selectAll("*").interrupt(),Gr)Li[0]=ne[0]-Li[0],Li[1]=le[0]-Li[1];else if(Yt){var Gi=+/w$/.test(Yt),kn=+/^n/.test(Yt);Pi=[ne[1-Gi]-Li[0],le[1-kn]-Li[1]],Li[0]=ne[Gi],Li[1]=le[kn]}else e.event.altKey&&(pi=Li.slice());$t.style("pointer-events","none").selectAll(".resize").style("display",null),e.select("body").style("cursor",Dt.style("cursor")),zt({type:"brushstart"}),lo();function Ua(){e.event.keyCode==32&&(Gr||(pi=null,Li[0]-=ne[1],Li[1]-=le[1],Gr=2),$())}function Qs(){e.event.keyCode==32&&Gr==2&&(Li[0]+=ne[1],Li[1]+=le[1],Gr=0,$())}function lo(){var Yn=e.mouse(pt),qa=!1;Pi&&(Yn[0]+=Pi[0],Yn[1]+=Pi[1]),Gr||(e.event.altKey?(pi||(pi=[(ne[0]+ne[1])/2,(le[0]+le[1])/2]),Li[0]=ne[+(Yn[0]{(function(e,t){typeof nC=="object"&&typeof Xse!="undefined"?t(nC):(e=e||self,t(e.d3=e.d3||{}))})(nC,function(e){"use strict";var t=new Date,r=new Date;function i(re,pe,we,Fe){function Se(ke){return re(ke=arguments.length===0?new Date:new Date(+ke)),ke}return Se.floor=function(ke){return re(ke=new Date(+ke)),ke},Se.ceil=function(ke){return re(ke=new Date(ke-1)),pe(ke,1),re(ke),ke},Se.round=function(ke){var _e=Se(ke),Ie=Se.ceil(ke);return ke-_e0))return Oe;do Oe.push(Qe=new Date(+ke)),pe(ke,Ie),re(ke);while(Qe=_e)for(;re(_e),!ke(_e);)_e.setTime(_e-1)},function(_e,Ie){if(_e>=_e)if(Ie<0)for(;++Ie<=0;)for(;pe(_e,-1),!ke(_e););else for(;--Ie>=0;)for(;pe(_e,1),!ke(_e););})},we&&(Se.count=function(ke,_e){return t.setTime(+ke),r.setTime(+_e),re(t),re(r),Math.floor(we(t,r))},Se.every=function(ke){return ke=Math.floor(ke),!isFinite(ke)||!(ke>0)?null:ke>1?Se.filter(Fe?function(_e){return Fe(_e)%ke===0}:function(_e){return Se.count(0,_e)%ke===0}):Se}),Se}var n=i(function(){},function(re,pe){re.setTime(+re+pe)},function(re,pe){return pe-re});n.every=function(re){return re=Math.floor(re),!isFinite(re)||!(re>0)?null:re>1?i(function(pe){pe.setTime(Math.floor(pe/re)*re)},function(pe,we){pe.setTime(+pe+we*re)},function(pe,we){return(we-pe)/re}):n};var a=n.range,o=1e3,s=6e4,l=36e5,u=864e5,c=6048e5,f=i(function(re){re.setTime(re-re.getMilliseconds())},function(re,pe){re.setTime(+re+pe*o)},function(re,pe){return(pe-re)/o},function(re){return re.getUTCSeconds()}),h=f.range,d=i(function(re){re.setTime(re-re.getMilliseconds()-re.getSeconds()*o)},function(re,pe){re.setTime(+re+pe*s)},function(re,pe){return(pe-re)/s},function(re){return re.getMinutes()}),p=d.range,v=i(function(re){re.setTime(re-re.getMilliseconds()-re.getSeconds()*o-re.getMinutes()*s)},function(re,pe){re.setTime(+re+pe*l)},function(re,pe){return(pe-re)/l},function(re){return re.getHours()}),m=v.range,g=i(function(re){re.setHours(0,0,0,0)},function(re,pe){re.setDate(re.getDate()+pe)},function(re,pe){return(pe-re-(pe.getTimezoneOffset()-re.getTimezoneOffset())*s)/u},function(re){return re.getDate()-1}),w=g.range;function b(re){return i(function(pe){pe.setDate(pe.getDate()-(pe.getDay()+7-re)%7),pe.setHours(0,0,0,0)},function(pe,we){pe.setDate(pe.getDate()+we*7)},function(pe,we){return(we-pe-(we.getTimezoneOffset()-pe.getTimezoneOffset())*s)/c})}var _=b(0),M=b(1),x=b(2),T=b(3),A=b(4),y=b(5),E=b(6),S=_.range,C=M.range,k=x.range,D=T.range,F=A.range,P=y.range,R=E.range,L=i(function(re){re.setDate(1),re.setHours(0,0,0,0)},function(re,pe){re.setMonth(re.getMonth()+pe)},function(re,pe){return pe.getMonth()-re.getMonth()+(pe.getFullYear()-re.getFullYear())*12},function(re){return re.getMonth()}),I=L.range,B=i(function(re){re.setMonth(0,1),re.setHours(0,0,0,0)},function(re,pe){re.setFullYear(re.getFullYear()+pe)},function(re,pe){return pe.getFullYear()-re.getFullYear()},function(re){return re.getFullYear()});B.every=function(re){return!isFinite(re=Math.floor(re))||!(re>0)?null:i(function(pe){pe.setFullYear(Math.floor(pe.getFullYear()/re)*re),pe.setMonth(0,1),pe.setHours(0,0,0,0)},function(pe,we){pe.setFullYear(pe.getFullYear()+we*re)})};var O=B.range,$=i(function(re){re.setUTCSeconds(0,0)},function(re,pe){re.setTime(+re+pe*s)},function(re,pe){return(pe-re)/s},function(re){return re.getUTCMinutes()}),Y=$.range,K=i(function(re){re.setUTCMinutes(0,0,0)},function(re,pe){re.setTime(+re+pe*l)},function(re,pe){return(pe-re)/l},function(re){return re.getUTCHours()}),j=K.range,q=i(function(re){re.setUTCHours(0,0,0,0)},function(re,pe){re.setUTCDate(re.getUTCDate()+pe)},function(re,pe){return(pe-re)/u},function(re){return re.getUTCDate()-1}),J=q.range;function U(re){return i(function(pe){pe.setUTCDate(pe.getUTCDate()-(pe.getUTCDay()+7-re)%7),pe.setUTCHours(0,0,0,0)},function(pe,we){pe.setUTCDate(pe.getUTCDate()+we*7)},function(pe,we){return(we-pe)/c})}var V=U(0),X=U(1),H=U(2),G=U(3),Q=U(4),te=U(5),ce=U(6),ge=V.range,Ce=X.range,be=H.range,he=G.range,oe=Q.range,Ee=te.range,ye=ce.range,ue=i(function(re){re.setUTCDate(1),re.setUTCHours(0,0,0,0)},function(re,pe){re.setUTCMonth(re.getUTCMonth()+pe)},function(re,pe){return pe.getUTCMonth()-re.getUTCMonth()+(pe.getUTCFullYear()-re.getUTCFullYear())*12},function(re){return re.getUTCMonth()}),ee=ue.range,ae=i(function(re){re.setUTCMonth(0,1),re.setUTCHours(0,0,0,0)},function(re,pe){re.setUTCFullYear(re.getUTCFullYear()+pe)},function(re,pe){return pe.getUTCFullYear()-re.getUTCFullYear()},function(re){return re.getUTCFullYear()});ae.every=function(re){return!isFinite(re=Math.floor(re))||!(re>0)?null:i(function(pe){pe.setUTCFullYear(Math.floor(pe.getUTCFullYear()/re)*re),pe.setUTCMonth(0,1),pe.setUTCHours(0,0,0,0)},function(pe,we){pe.setUTCFullYear(pe.getUTCFullYear()+we*re)})};var xe=ae.range;e.timeDay=g,e.timeDays=w,e.timeFriday=y,e.timeFridays=P,e.timeHour=v,e.timeHours=m,e.timeInterval=i,e.timeMillisecond=n,e.timeMilliseconds=a,e.timeMinute=d,e.timeMinutes=p,e.timeMonday=M,e.timeMondays=C,e.timeMonth=L,e.timeMonths=I,e.timeSaturday=E,e.timeSaturdays=R,e.timeSecond=f,e.timeSeconds=h,e.timeSunday=_,e.timeSundays=S,e.timeThursday=A,e.timeThursdays=F,e.timeTuesday=x,e.timeTuesdays=k,e.timeWednesday=T,e.timeWednesdays=D,e.timeWeek=_,e.timeWeeks=S,e.timeYear=B,e.timeYears=O,e.utcDay=q,e.utcDays=J,e.utcFriday=te,e.utcFridays=Ee,e.utcHour=K,e.utcHours=j,e.utcMillisecond=n,e.utcMilliseconds=a,e.utcMinute=$,e.utcMinutes=Y,e.utcMonday=X,e.utcMondays=Ce,e.utcMonth=ue,e.utcMonths=ee,e.utcSaturday=ce,e.utcSaturdays=ye,e.utcSecond=f,e.utcSeconds=h,e.utcSunday=V,e.utcSundays=ge,e.utcThursday=Q,e.utcThursdays=oe,e.utcTuesday=H,e.utcTuesdays=be,e.utcWednesday=G,e.utcWednesdays=he,e.utcWeek=V,e.utcWeeks=ge,e.utcYear=ae,e.utcYears=xe,Object.defineProperty(e,"__esModule",{value:!0})})});var z3=W((aC,Zse)=>{(function(e,t){typeof aC=="object"&&typeof Zse!="undefined"?t(aC,vN()):(e=e||self,t(e.d3=e.d3||{},e.d3))})(aC,function(e,t){"use strict";function r(Re){if(0<=Re.y&&Re.y<100){var Ve=new Date(-1,Re.m,Re.d,Re.H,Re.M,Re.S,Re.L);return Ve.setFullYear(Re.y),Ve}return new Date(Re.y,Re.m,Re.d,Re.H,Re.M,Re.S,Re.L)}function i(Re){if(0<=Re.y&&Re.y<100){var Ve=new Date(Date.UTC(-1,Re.m,Re.d,Re.H,Re.M,Re.S,Re.L));return Ve.setUTCFullYear(Re.y),Ve}return new Date(Date.UTC(Re.y,Re.m,Re.d,Re.H,Re.M,Re.S,Re.L))}function n(Re,Ve,ct){return{y:Re,m:Ve,d:ct,H:0,M:0,S:0,L:0}}function a(Re){var Ve=Re.dateTime,ct=Re.date,Tt=Re.time,Xt=Re.periods,Vt=Re.days,lr=Re.shortDays,ur=Re.months,Bt=Re.shortMonths,Zt=h(Xt),kr=d(Xt),$e=h(Vt),tt=d(Vt),st=h(lr),xt=d(lr),Je=h(ur),Ct=d(ur),ir=h(Bt),hr=d(Bt),Ur={a:Rs,A:ho,b:ka,B:ao,c:null,d:L,e:L,f:Y,g:te,G:ge,H:I,I:B,j:O,L:$,m:K,M:j,p:zs,q:_a,Q:ut,s:vt,S:q,u:J,U,V:X,w:H,W:G,x:null,X:null,y:Q,Y:ce,Z:Ce,"%":_t},si={a:Xs,A:_l,b:yu,B:ul,c:null,d:be,e:be,f:ue,g:Ie,G:Qe,H:he,I:oe,j:Ee,L:ye,m:ee,M:ae,p:Le,q:ot,Q:ut,s:vt,S:xe,u:re,U:pe,V:Fe,w:Se,W:ke,x:null,X:null,y:_e,Y:Oe,Z:et,"%":_t},ei={a:ta,A:ca,b:dn,B:Vn,c:ra,d:A,e:A,f:D,g:_,G:b,H:E,I:E,j:y,L:k,m:T,M:S,p:hn,q:x,Q:P,s:R,S:C,u:v,U:m,V:g,w:p,W:w,x:ds,X:mo,y:_,Y:b,Z:M,"%":F};Ur.x=Lr(ct,Ur),Ur.X=Lr(Tt,Ur),Ur.c=Lr(Ve,Ur),si.x=Lr(ct,si),si.X=Lr(Tt,si),si.c=Lr(Ve,si);function Lr(lt,kt){return function(Jt){var Rt=[],Tr=-1,Wt=0,br=lt.length,Xr,ti,Mi;for(Jt instanceof Date||(Jt=new Date(+Jt));++Tr53)return null;"w"in Rt||(Rt.w=1),"Z"in Rt?(Wt=i(n(Rt.y,0,1)),br=Wt.getUTCDay(),Wt=br>4||br===0?t.utcMonday.ceil(Wt):t.utcMonday(Wt),Wt=t.utcDay.offset(Wt,(Rt.V-1)*7),Rt.y=Wt.getUTCFullYear(),Rt.m=Wt.getUTCMonth(),Rt.d=Wt.getUTCDate()+(Rt.w+6)%7):(Wt=r(n(Rt.y,0,1)),br=Wt.getDay(),Wt=br>4||br===0?t.timeMonday.ceil(Wt):t.timeMonday(Wt),Wt=t.timeDay.offset(Wt,(Rt.V-1)*7),Rt.y=Wt.getFullYear(),Rt.m=Wt.getMonth(),Rt.d=Wt.getDate()+(Rt.w+6)%7)}else("W"in Rt||"U"in Rt)&&("w"in Rt||(Rt.w="u"in Rt?Rt.u%7:"W"in Rt?1:0),br="Z"in Rt?i(n(Rt.y,0,1)).getUTCDay():r(n(Rt.y,0,1)).getDay(),Rt.m=0,Rt.d="W"in Rt?(Rt.w+6)%7+Rt.W*7-(br+5)%7:Rt.w+Rt.U*7-(br+6)%7);return"Z"in Rt?(Rt.H+=Rt.Z/100|0,Rt.M+=Rt.Z%100,i(Rt)):r(Rt)}}function Tn(lt,kt,Jt,Rt){for(var Tr=0,Wt=kt.length,br=Jt.length,Xr,ti;Tr=br)return-1;if(Xr=kt.charCodeAt(Tr++),Xr===37){if(Xr=kt.charAt(Tr++),ti=ei[Xr in o?kt.charAt(Tr++):Xr],!ti||(Rt=ti(lt,Jt,Rt))<0)return-1}else if(Xr!=Jt.charCodeAt(Rt++))return-1}return Rt}function hn(lt,kt,Jt){var Rt=Zt.exec(kt.slice(Jt));return Rt?(lt.p=kr[Rt[0].toLowerCase()],Jt+Rt[0].length):-1}function ta(lt,kt,Jt){var Rt=st.exec(kt.slice(Jt));return Rt?(lt.w=xt[Rt[0].toLowerCase()],Jt+Rt[0].length):-1}function ca(lt,kt,Jt){var Rt=$e.exec(kt.slice(Jt));return Rt?(lt.w=tt[Rt[0].toLowerCase()],Jt+Rt[0].length):-1}function dn(lt,kt,Jt){var Rt=ir.exec(kt.slice(Jt));return Rt?(lt.m=hr[Rt[0].toLowerCase()],Jt+Rt[0].length):-1}function Vn(lt,kt,Jt){var Rt=Je.exec(kt.slice(Jt));return Rt?(lt.m=Ct[Rt[0].toLowerCase()],Jt+Rt[0].length):-1}function ra(lt,kt,Jt){return Tn(lt,Ve,kt,Jt)}function ds(lt,kt,Jt){return Tn(lt,ct,kt,Jt)}function mo(lt,kt,Jt){return Tn(lt,Tt,kt,Jt)}function Rs(lt){return lr[lt.getDay()]}function ho(lt){return Vt[lt.getDay()]}function ka(lt){return Bt[lt.getMonth()]}function ao(lt){return ur[lt.getMonth()]}function zs(lt){return Xt[+(lt.getHours()>=12)]}function _a(lt){return 1+~~(lt.getMonth()/3)}function Xs(lt){return lr[lt.getUTCDay()]}function _l(lt){return Vt[lt.getUTCDay()]}function yu(lt){return Bt[lt.getUTCMonth()]}function ul(lt){return ur[lt.getUTCMonth()]}function Le(lt){return Xt[+(lt.getUTCHours()>=12)]}function ot(lt){return 1+~~(lt.getUTCMonth()/3)}return{format:function(lt){var kt=Lr(lt+="",Ur);return kt.toString=function(){return lt},kt},parse:function(lt){var kt=$i(lt+="",!1);return kt.toString=function(){return lt},kt},utcFormat:function(lt){var kt=Lr(lt+="",si);return kt.toString=function(){return lt},kt},utcParse:function(lt){var kt=$i(lt+="",!0);return kt.toString=function(){return lt},kt}}}var o={"-":"",_:" ",0:"0"},s=/^\s*\d+/,l=/^%/,u=/[\\^$*+?|[\]().{}]/g;function c(Re,Ve,ct){var Tt=Re<0?"-":"",Xt=(Tt?-Re:Re)+"",Vt=Xt.length;return Tt+(Vt68?1900:2e3),ct+Tt[0].length):-1}function M(Re,Ve,ct){var Tt=/^(Z)|([+-]\d\d)(?::?(\d\d))?/.exec(Ve.slice(ct,ct+6));return Tt?(Re.Z=Tt[1]?0:-(Tt[2]+(Tt[3]||"00")),ct+Tt[0].length):-1}function x(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+1));return Tt?(Re.q=Tt[0]*3-3,ct+Tt[0].length):-1}function T(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+2));return Tt?(Re.m=Tt[0]-1,ct+Tt[0].length):-1}function A(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+2));return Tt?(Re.d=+Tt[0],ct+Tt[0].length):-1}function y(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+3));return Tt?(Re.m=0,Re.d=+Tt[0],ct+Tt[0].length):-1}function E(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+2));return Tt?(Re.H=+Tt[0],ct+Tt[0].length):-1}function S(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+2));return Tt?(Re.M=+Tt[0],ct+Tt[0].length):-1}function C(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+2));return Tt?(Re.S=+Tt[0],ct+Tt[0].length):-1}function k(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+3));return Tt?(Re.L=+Tt[0],ct+Tt[0].length):-1}function D(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct,ct+6));return Tt?(Re.L=Math.floor(Tt[0]/1e3),ct+Tt[0].length):-1}function F(Re,Ve,ct){var Tt=l.exec(Ve.slice(ct,ct+1));return Tt?ct+Tt[0].length:-1}function P(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct));return Tt?(Re.Q=+Tt[0],ct+Tt[0].length):-1}function R(Re,Ve,ct){var Tt=s.exec(Ve.slice(ct));return Tt?(Re.s=+Tt[0],ct+Tt[0].length):-1}function L(Re,Ve){return c(Re.getDate(),Ve,2)}function I(Re,Ve){return c(Re.getHours(),Ve,2)}function B(Re,Ve){return c(Re.getHours()%12||12,Ve,2)}function O(Re,Ve){return c(1+t.timeDay.count(t.timeYear(Re),Re),Ve,3)}function $(Re,Ve){return c(Re.getMilliseconds(),Ve,3)}function Y(Re,Ve){return $(Re,Ve)+"000"}function K(Re,Ve){return c(Re.getMonth()+1,Ve,2)}function j(Re,Ve){return c(Re.getMinutes(),Ve,2)}function q(Re,Ve){return c(Re.getSeconds(),Ve,2)}function J(Re){var Ve=Re.getDay();return Ve===0?7:Ve}function U(Re,Ve){return c(t.timeSunday.count(t.timeYear(Re)-1,Re),Ve,2)}function V(Re){var Ve=Re.getDay();return Ve>=4||Ve===0?t.timeThursday(Re):t.timeThursday.ceil(Re)}function X(Re,Ve){return Re=V(Re),c(t.timeThursday.count(t.timeYear(Re),Re)+(t.timeYear(Re).getDay()===4),Ve,2)}function H(Re){return Re.getDay()}function G(Re,Ve){return c(t.timeMonday.count(t.timeYear(Re)-1,Re),Ve,2)}function Q(Re,Ve){return c(Re.getFullYear()%100,Ve,2)}function te(Re,Ve){return Re=V(Re),c(Re.getFullYear()%100,Ve,2)}function ce(Re,Ve){return c(Re.getFullYear()%1e4,Ve,4)}function ge(Re,Ve){var ct=Re.getDay();return Re=ct>=4||ct===0?t.timeThursday(Re):t.timeThursday.ceil(Re),c(Re.getFullYear()%1e4,Ve,4)}function Ce(Re){var Ve=Re.getTimezoneOffset();return(Ve>0?"-":(Ve*=-1,"+"))+c(Ve/60|0,"0",2)+c(Ve%60,"0",2)}function be(Re,Ve){return c(Re.getUTCDate(),Ve,2)}function he(Re,Ve){return c(Re.getUTCHours(),Ve,2)}function oe(Re,Ve){return c(Re.getUTCHours()%12||12,Ve,2)}function Ee(Re,Ve){return c(1+t.utcDay.count(t.utcYear(Re),Re),Ve,3)}function ye(Re,Ve){return c(Re.getUTCMilliseconds(),Ve,3)}function ue(Re,Ve){return ye(Re,Ve)+"000"}function ee(Re,Ve){return c(Re.getUTCMonth()+1,Ve,2)}function ae(Re,Ve){return c(Re.getUTCMinutes(),Ve,2)}function xe(Re,Ve){return c(Re.getUTCSeconds(),Ve,2)}function re(Re){var Ve=Re.getUTCDay();return Ve===0?7:Ve}function pe(Re,Ve){return c(t.utcSunday.count(t.utcYear(Re)-1,Re),Ve,2)}function we(Re){var Ve=Re.getUTCDay();return Ve>=4||Ve===0?t.utcThursday(Re):t.utcThursday.ceil(Re)}function Fe(Re,Ve){return Re=we(Re),c(t.utcThursday.count(t.utcYear(Re),Re)+(t.utcYear(Re).getUTCDay()===4),Ve,2)}function Se(Re){return Re.getUTCDay()}function ke(Re,Ve){return c(t.utcMonday.count(t.utcYear(Re)-1,Re),Ve,2)}function _e(Re,Ve){return c(Re.getUTCFullYear()%100,Ve,2)}function Ie(Re,Ve){return Re=we(Re),c(Re.getUTCFullYear()%100,Ve,2)}function Oe(Re,Ve){return c(Re.getUTCFullYear()%1e4,Ve,4)}function Qe(Re,Ve){var ct=Re.getUTCDay();return Re=ct>=4||ct===0?t.utcThursday(Re):t.utcThursday.ceil(Re),c(Re.getUTCFullYear()%1e4,Ve,4)}function et(){return"+0000"}function _t(){return"%"}function ut(Re){return+Re}function vt(Re){return Math.floor(+Re/1e3)}var Xe;mt({dateTime:"%x, %X",date:"%-m/%-d/%Y",time:"%-I:%M:%S %p",periods:["AM","PM"],days:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],shortDays:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],months:["January","February","March","April","May","June","July","August","September","October","November","December"],shortMonths:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"]});function mt(Re){return Xe=a(Re),e.timeFormat=Xe.format,e.timeParse=Xe.parse,e.utcFormat=Xe.utcFormat,e.utcParse=Xe.utcParse,Xe}var bt="%Y-%m-%dT%H:%M:%S.%LZ";function Ne(Re){return Re.toISOString()}var Ue=Date.prototype.toISOString?Ne:e.utcFormat(bt);function Ge(Re){var Ve=new Date(Re);return isNaN(Ve)?null:Ve}var je=+new Date("2000-01-01T00:00:00.000Z")?Ge:e.utcParse(bt);e.isoFormat=Ue,e.isoParse=je,e.timeFormatDefaultLocale=mt,e.timeFormatLocale=a,Object.defineProperty(e,"__esModule",{value:!0})})});var gN=W((oC,Kse)=>{(function(e,t){typeof oC=="object"&&typeof Kse!="undefined"?t(oC):(e=typeof globalThis!="undefined"?globalThis:e||self,t(e.d3=e.d3||{}))})(oC,(function(e){"use strict";function t(T){return Math.abs(T=Math.round(T))>=1e21?T.toLocaleString("en").replace(/,/g,""):T.toString(10)}function r(T,A){if((y=(T=A?T.toExponential(A-1):T.toExponential()).indexOf("e"))<0)return null;var y,E=T.slice(0,y);return[E.length>1?E[0]+E.slice(2):E,+T.slice(y+1)]}function i(T){return T=r(Math.abs(T)),T?T[1]:NaN}function n(T,A){return function(y,E){for(var S=y.length,C=[],k=0,D=T[0],F=0;S>0&&D>0&&(F+D+1>E&&(D=Math.max(1,E-F)),C.push(y.substring(S-=D,S+D)),!((F+=D+1)>E));)D=T[k=(k+1)%T.length];return C.reverse().join(A)}}function a(T){return function(A){return A.replace(/[0-9]/g,function(y){return T[+y]})}}var o=/^(?:(.)?([<>=^]))?([+\-( ])?([$#])?(0)?(\d+)?(,)?(\.\d+)?(~)?([a-z%])?$/i;function s(T){if(!(A=o.exec(T)))throw new Error("invalid format: "+T);var A;return new l({fill:A[1],align:A[2],sign:A[3],symbol:A[4],zero:A[5],width:A[6],comma:A[7],precision:A[8]&&A[8].slice(1),trim:A[9],type:A[10]})}s.prototype=l.prototype;function l(T){this.fill=T.fill===void 0?" ":T.fill+"",this.align=T.align===void 0?">":T.align+"",this.sign=T.sign===void 0?"-":T.sign+"",this.symbol=T.symbol===void 0?"":T.symbol+"",this.zero=!!T.zero,this.width=T.width===void 0?void 0:+T.width,this.comma=!!T.comma,this.precision=T.precision===void 0?void 0:+T.precision,this.trim=!!T.trim,this.type=T.type===void 0?"":T.type+""}l.prototype.toString=function(){return this.fill+this.align+this.sign+this.symbol+(this.zero?"0":"")+(this.width===void 0?"":Math.max(1,this.width|0))+(this.comma?",":"")+(this.precision===void 0?"":"."+Math.max(0,this.precision|0))+(this.trim?"~":"")+this.type};function u(T){e:for(var A=T.length,y=1,E=-1,S;y0&&(E=0);break}return E>0?T.slice(0,E)+T.slice(S+1):T}var c;function f(T,A){var y=r(T,A);if(!y)return T+"";var E=y[0],S=y[1],C=S-(c=Math.max(-8,Math.min(8,Math.floor(S/3)))*3)+1,k=E.length;return C===k?E:C>k?E+new Array(C-k+1).join("0"):C>0?E.slice(0,C)+"."+E.slice(C):"0."+new Array(1-C).join("0")+r(T,Math.max(0,A+C-1))[0]}function h(T,A){var y=r(T,A);if(!y)return T+"";var E=y[0],S=y[1];return S<0?"0."+new Array(-S).join("0")+E:E.length>S+1?E.slice(0,S+1)+"."+E.slice(S+1):E+new Array(S-E.length+2).join("0")}var d={"%":function(T,A){return(T*100).toFixed(A)},b:function(T){return Math.round(T).toString(2)},c:function(T){return T+""},d:t,e:function(T,A){return T.toExponential(A)},f:function(T,A){return T.toFixed(A)},g:function(T,A){return T.toPrecision(A)},o:function(T){return Math.round(T).toString(8)},p:function(T,A){return h(T*100,A)},r:h,s:f,X:function(T){return Math.round(T).toString(16).toUpperCase()},x:function(T){return Math.round(T).toString(16)}};function p(T){return T}var v=Array.prototype.map,m=["y","z","a","f","p","n","\xB5","m","","k","M","G","T","P","E","Z","Y"];function g(T){var A=T.grouping===void 0||T.thousands===void 0?p:n(v.call(T.grouping,Number),T.thousands+""),y=T.currency===void 0?"":T.currency[0]+"",E=T.currency===void 0?"":T.currency[1]+"",S=T.decimal===void 0?".":T.decimal+"",C=T.numerals===void 0?p:a(v.call(T.numerals,String)),k=T.percent===void 0?"%":T.percent+"",D=T.minus===void 0?"-":T.minus+"",F=T.nan===void 0?"NaN":T.nan+"";function P(L){L=s(L);var I=L.fill,B=L.align,O=L.sign,$=L.symbol,Y=L.zero,K=L.width,j=L.comma,q=L.precision,J=L.trim,U=L.type;U==="n"?(j=!0,U="g"):d[U]||(q===void 0&&(q=12),J=!0,U="g"),(Y||I==="0"&&B==="=")&&(Y=!0,I="0",B="=");var V=$==="$"?y:$==="#"&&/[boxX]/.test(U)?"0"+U.toLowerCase():"",X=$==="$"?E:/[%p]/.test(U)?k:"",H=d[U],G=/[defgprs%]/.test(U);q=q===void 0?6:/[gprs]/.test(U)?Math.max(1,Math.min(21,q)):Math.max(0,Math.min(20,q));function Q(te){var ce=V,ge=X,Ce,be,he;if(U==="c")ge=H(te)+ge,te="";else{te=+te;var oe=te<0||1/te<0;if(te=isNaN(te)?F:H(Math.abs(te),q),J&&(te=u(te)),oe&&+te==0&&O!=="+"&&(oe=!1),ce=(oe?O==="("?O:D:O==="-"||O==="("?"":O)+ce,ge=(U==="s"?m[8+c/3]:"")+ge+(oe&&O==="("?")":""),G){for(Ce=-1,be=te.length;++Cehe||he>57){ge=(he===46?S+te.slice(Ce+1):te.slice(Ce))+ge,te=te.slice(0,Ce);break}}}j&&!Y&&(te=A(te,1/0));var Ee=ce.length+te.length+ge.length,ye=Ee>1)+ce+te+ge+ye.slice(Ee);break;default:te=ye+ce+te+ge;break}return C(te)}return Q.toString=function(){return L+""},Q}function R(L,I){var B=P((L=s(L),L.type="f",L)),O=Math.max(-8,Math.min(8,Math.floor(i(I)/3)))*3,$=Math.pow(10,-O),Y=m[8+O/3];return function(K){return B($*K)+Y}}return{format:P,formatPrefix:R}}var w;b({decimal:".",thousands:",",grouping:[3],currency:["$",""],minus:"-"});function b(T){return w=g(T),e.format=w.format,e.formatPrefix=w.formatPrefix,w}function _(T){return Math.max(0,-i(Math.abs(T)))}function M(T,A){return Math.max(0,Math.max(-8,Math.min(8,Math.floor(i(A)/3)))*3-i(Math.abs(T)))}function x(T,A){return T=Math.abs(T),A=Math.abs(A)-T,Math.max(0,i(A)-i(T))+1}e.FormatSpecifier=l,e.formatDefaultLocale=b,e.formatLocale=g,e.formatSpecifier=s,e.precisionFixed=_,e.precisionPrefix=M,e.precisionRound=x,Object.defineProperty(e,"__esModule",{value:!0})}))});var Qse=W((y7r,Jse)=>{"use strict";Jse.exports=function(e){for(var t=e.length,r,i=0;i13)&&r!==32&&r!==133&&r!==160&&r!==5760&&r!==6158&&(r<8192||r>8205)&&r!==8232&&r!==8233&&r!==8239&&r!==8287&&r!==8288&&r!==12288&&r!==65279)return!1;return!0}});var sn=W((x7r,ele)=>{"use strict";var j1t=Qse();ele.exports=function(e){var t=typeof e;if(t==="string"){var r=e;if(e=+e,e===0&&j1t(r))return!1}else if(t!=="number")return!1;return e-e<1}});var Kn=W((_7r,tle)=>{"use strict";tle.exports={BADNUM:void 0,FP_SAFE:Number.MAX_VALUE*1e-4,ONEMAXYEAR:316224e5,ONEAVGYEAR:315576e5,ONEMINYEAR:31536e6,ONEMAXQUARTER:79488e5,ONEAVGQUARTER:78894e5,ONEMINQUARTER:76896e5,ONEMAXMONTH:26784e5,ONEAVGMONTH:26298e5,ONEMINMONTH:24192e5,ONEWEEK:6048e5,ONEDAY:864e5,ONEHOUR:36e5,ONEMIN:6e4,ONESEC:1e3,ONEMILLI:1,ONEMICROSEC:.001,EPOCHJD:24405875e-1,ALMOST_EQUAL:1-1e-6,LOG_CLIP:10,MINUS_SIGN:"\u2212"}});var mN=W((sC,rle)=>{(function(e,t){typeof sC=="object"&&typeof rle!="undefined"?t(sC):(e=typeof globalThis!="undefined"?globalThis:e||self,t(e["base64-arraybuffer"]={}))})(sC,(function(e){"use strict";for(var t="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",r=typeof Uint8Array=="undefined"?[]:new Uint8Array(256),i=0;i>2],c+=t[(s[l]&3)<<4|s[l+1]>>4],c+=t[(s[l+1]&15)<<2|s[l+2]>>6],c+=t[s[l+2]&63];return u%3===2?c=c.substring(0,c.length-1)+"=":u%3===1&&(c=c.substring(0,c.length-2)+"=="),c},a=function(o){var s=o.length*.75,l=o.length,u,c=0,f,h,d,p;o[o.length-1]==="="&&(s--,o[o.length-2]==="="&&s--);var v=new ArrayBuffer(s),m=new Uint8Array(v);for(u=0;u>4,m[c++]=(h&15)<<4|d>>2,m[c++]=(d&3)<<6|p&63;return v};e.decode=a,e.encode=n,Object.defineProperty(e,"__esModule",{value:!0})}))});var oy=W((b7r,ile)=>{"use strict";ile.exports=function(t){return window&&window.process&&window.process.versions?Object.prototype.toString.call(t)==="[object Object]":Object.prototype.toString.call(t)==="[object Object]"&&Object.getPrototypeOf(t).hasOwnProperty("hasOwnProperty")}});var yc=W(Lp=>{"use strict";var $1t=mN().decode,W1t=oy(),yN=Array.isArray,Y1t=ArrayBuffer,X1t=DataView;function nle(e){return Y1t.isView(e)&&!(e instanceof X1t)}Lp.isTypedArray=nle;function lC(e){return yN(e)||nle(e)}Lp.isArrayOrTypedArray=lC;function Z1t(e){return!lC(e[0])}Lp.isArray1D=Z1t;Lp.ensureArray=function(e,t){return yN(e)||(e=[]),e.length=t,e};var Qu={u1c:typeof Uint8ClampedArray=="undefined"?void 0:Uint8ClampedArray,i1:typeof Int8Array=="undefined"?void 0:Int8Array,u1:typeof Uint8Array=="undefined"?void 0:Uint8Array,i2:typeof Int16Array=="undefined"?void 0:Int16Array,u2:typeof Uint16Array=="undefined"?void 0:Uint16Array,i4:typeof Int32Array=="undefined"?void 0:Int32Array,u4:typeof Uint32Array=="undefined"?void 0:Uint32Array,f4:typeof Float32Array=="undefined"?void 0:Float32Array,f8:typeof Float64Array=="undefined"?void 0:Float64Array};Qu.uint8c=Qu.u1c;Qu.uint8=Qu.u1;Qu.int8=Qu.i1;Qu.uint16=Qu.u2;Qu.int16=Qu.i2;Qu.uint32=Qu.u4;Qu.int32=Qu.i4;Qu.float32=Qu.f4;Qu.float64=Qu.f8;function xN(e){return e.constructor===ArrayBuffer}Lp.isArrayBuffer=xN;Lp.decodeTypedArraySpec=function(e){var t=[],r=K1t(e),i=r.dtype,n=Qu[i];if(!n)throw new Error('Error in dtype: "'+i+'"');var a=n.BYTES_PER_ELEMENT,o=r.bdata;xN(o)||(o=$1t(o));var s=r.shape===void 0?[o.byteLength/a]:(""+r.shape).split(",");s.reverse();var l=s.length,u,c,f=+s[0],h=a*f,d=0;if(l===1)t=new n(o);else if(l===2)for(u=+s[1],c=0;c{"use strict";var ole=sn(),bN=yc().isArrayOrTypedArray;cle.exports=function(t,r){if(ole(r))r=String(r);else if(typeof r!="string"||r.slice(-4)==="[-1]")throw"bad property string";var i=r.split("."),n,a,o,s;for(s=0;s{"use strict";var B3=k6(),rgt=/^\w*$/,igt=0,fle=1,uC=2,hle=3,Sx=4;dle.exports=function(t,r,i,n){i=i||"name",n=n||"value";var a,o,s,l={};r&&r.length?(s=B3(t,r),o=s.get()):o=t,r=r||"";var u={};if(o)for(a=0;a2)return l[d]=l[d]|uC,f.set(h,null);if(c){for(a=d;a{"use strict";var ngt=/^(.*)(\.[^\.\[\]]+|\[\d\])$/,agt=/^[^\.\[\]]+$/;vle.exports=function(e,t){for(;t;){var r=e.match(ngt);if(r)e=r[1];else if(e.match(agt))e="";else throw new Error("bad relativeAttr call:"+[e,t]);if(t.charAt(0)==="^")t=t.slice(1);else break}return e&&t.charAt(0)!=="["?e+"."+t:e+t}});var cC=W((S7r,mle)=>{"use strict";var ogt=sn();mle.exports=function(t,r){if(t>0)return Math.log(t)/Math.LN10;var i=Math.log(Math.min(r[0],r[1]))/Math.LN10;return ogt(i)||(i=Math.log(Math.max(r[0],r[1]))/Math.LN10-6),i}});var _le=W((E7r,xle)=>{"use strict";var yle=yc().isArrayOrTypedArray,C6=oy();xle.exports=function e(t,r){for(var i in r){var n=r[i],a=t[i];if(a!==n)if(i.charAt(0)==="_"||typeof n=="function"){if(i in t)continue;t[i]=n}else if(yle(n)&&yle(a)&&C6(n[0])){if(i==="customdata"||i==="ids")continue;for(var o=Math.min(n.length,a.length),s=0;ssgt,modHalf:()=>lgt});function sgt(e,t){let r=e%t;return r<0?r+t:r}function lgt(e,t){return Math.abs(e)>t/2?e-Math.round(e/t)*t:e}var O3=Ea(()=>{"use strict"});var tn=W(L6=>{"use strict";var ble=oy(),D6=Array.isArray;function ugt(e,t){var r,i;for(r=0;r{"use strict";wle.exports=function(e){var t=e.variantValues,r=e.editType,i=e.colorEditType;i===void 0&&(i=r);var n={editType:r,valType:"integer",min:1,max:1e3,extras:["normal","bold"],dflt:"normal"};e.noNumericWeightValues&&(n.valType="enumerated",n.values=n.extras,n.extras=void 0,n.min=void 0,n.max=void 0);var a={family:{valType:"string",noBlank:!0,strict:!0,editType:r},size:{valType:"number",min:1,editType:r},color:{valType:"color",editType:i},weight:n,style:{editType:r,valType:"enumerated",values:["normal","italic"],dflt:"normal"},variant:e.noFontVariant?void 0:{editType:r,valType:"enumerated",values:t||["normal","small-caps","all-small-caps","all-petite-caps","petite-caps","unicase"],dflt:"normal"},textcase:e.noFontTextcase?void 0:{editType:r,valType:"enumerated",values:["normal","word caps","upper","lower"],dflt:"normal"},lineposition:e.noFontLineposition?void 0:{editType:r,valType:"flaglist",flags:["under","over","through"],extras:["none"],dflt:"none"},shadow:e.noFontShadow?void 0:{editType:r,valType:"string",dflt:e.autoShadowDflt?"auto":"none"},editType:r};return e.autoSize&&(a.size.dflt="auto"),e.autoColor&&(a.color.dflt="auto"),e.arrayOk&&(a.family.arrayOk=!0,a.weight.arrayOk=!0,a.style.arrayOk=!0,e.noFontVariant||(a.variant.arrayOk=!0),e.noFontTextcase||(a.textcase.arrayOk=!0),e.noFontLineposition||(a.lineposition.arrayOk=!0),e.noFontShadow||(a.shadow.arrayOk=!0),a.size.arrayOk=!0,a.color.arrayOk=!0),a}});var P6=W((D7r,Tle)=>{"use strict";Tle.exports={YANGLE:60,HOVERARROWSIZE:6,HOVERTEXTPAD:3,HOVERFONTSIZE:13,HOVERFONT:"Arial, sans-serif",HOVERMINTIME:50,HOVERID:"-hover"}});var sy=W((F7r,Sle)=>{"use strict";var Ale=P6(),Mle=Ho(),wN=Mle({editType:"none"});wN.family.dflt=Ale.HOVERFONT;wN.size.dflt=Ale.HOVERFONTSIZE;Sle.exports={clickmode:{valType:"flaglist",flags:["event","select"],dflt:"event",editType:"plot",extras:["none"]},dragmode:{valType:"enumerated",values:["zoom","pan","select","lasso","drawclosedpath","drawopenpath","drawline","drawrect","drawcircle","orbit","turntable",!1],dflt:"zoom",editType:"modebar"},hovermode:{valType:"enumerated",values:["x","y","closest",!1,"x unified","y unified"],dflt:"closest",editType:"modebar"},hoversort:{valType:"enumerated",values:["trace","value descending","value ascending"],dflt:"trace",editType:"none"},hoversubplots:{valType:"enumerated",values:["single","overlaying","axis"],dflt:"overlaying",editType:"none"},hoveranywhere:{valType:"boolean",dflt:!1,editType:"none"},clickanywhere:{valType:"boolean",dflt:!1,editType:"none"},hoverdistance:{valType:"integer",min:-1,dflt:20,editType:"none"},spikedistance:{valType:"integer",min:-1,dflt:-1,editType:"none"},hoverlabel:{bgcolor:{valType:"color",editType:"none"},bordercolor:{valType:"color",editType:"none"},font:wN,grouptitlefont:Mle({editType:"none"}),align:{valType:"enumerated",values:["left","right","auto"],dflt:"auto",editType:"none"},namelength:{valType:"integer",min:-1,dflt:15,editType:"none"},showarrow:{valType:"boolean",dflt:!0,editType:"none"},editType:"none"},selectdirection:{valType:"enumerated",values:["h","v","d","any"],dflt:"any",editType:"none"}}});var N3=W((L7r,Ele)=>{"use strict";var cgt=Ho(),I6=sy().hoverlabel,R6=tn().extendFlat;Ele.exports={hoverlabel:{bgcolor:R6({},I6.bgcolor,{arrayOk:!0}),bordercolor:R6({},I6.bordercolor,{arrayOk:!0}),font:cgt({arrayOk:!0,editType:"none"}),align:R6({},I6.align,{arrayOk:!0}),namelength:R6({},I6.namelength,{arrayOk:!0}),showarrow:R6({},I6.showarrow),editType:"none"}}});var Wa=W((P7r,kle)=>{"use strict";var fgt=Ho(),hgt=N3();kle.exports={type:{valType:"enumerated",values:[],dflt:"scatter",editType:"calc+clearAxisTypes",_noTemplating:!0},visible:{valType:"enumerated",values:[!0,!1,"legendonly"],dflt:!0,editType:"calc"},showlegend:{valType:"boolean",dflt:!0,editType:"style"},legend:{valType:"subplotid",dflt:"legend",editType:"style"},legendgroup:{valType:"string",dflt:"",editType:"style"},legendgrouptitle:{text:{valType:"string",dflt:"",editType:"style"},font:fgt({editType:"style"}),editType:"style"},legendrank:{valType:"number",dflt:1e3,editType:"style"},legendwidth:{valType:"number",min:0,editType:"style"},opacity:{valType:"number",min:0,max:1,dflt:1,editType:"style"},name:{valType:"string",editType:"style"},uid:{valType:"string",editType:"plot",anim:!0},ids:{valType:"data_array",editType:"calc",anim:!0},customdata:{valType:"data_array",editType:"calc"},meta:{valType:"any",arrayOk:!0,editType:"plot"},selectedpoints:{valType:"any",editType:"calc"},hoverinfo:{valType:"flaglist",flags:["x","y","z","text","name"],extras:["all","none","skip"],arrayOk:!0,dflt:"all",editType:"none"},hoverlabel:hgt.hoverlabel,uirevision:{valType:"any",editType:"none"}}});var _ce=W((N7r,xce)=>{var pU=Object.defineProperty,dgt=Object.getOwnPropertyDescriptor,pgt=Object.getOwnPropertyNames,vgt=Object.prototype.hasOwnProperty,ggt=(e,t)=>{for(var r in t)pU(e,r,{get:t[r],enumerable:!0})},mgt=(e,t,r,i)=>{if(t&&typeof t=="object"||typeof t=="function")for(let n of pgt(t))!vgt.call(e,n)&&n!==r&&pU(e,n,{get:()=>t[n],enumerable:!(i=dgt(t,n))||i.enumerable});return e},ygt=e=>mgt(pU({},"__esModule",{value:!0}),e),qle={};ggt(qle,{a98:()=>uxt,average:()=>pmt,averageAngle:()=>Jv,averageNumber:()=>tue,blend:()=>d2t,blerp:()=>YN,clampChroma:()=>P2t,clampGamut:()=>UU,clampRgb:()=>L2t,colorsNamed:()=>Nle,convertA98ToXyz65:()=>XN,convertCubehelixToRgb:()=>Qle,convertDlchToLab65:()=>xC,convertHsiToRgb:()=>uue,convertHslToRgb:()=>hue,convertHsvToRgb:()=>_U,convertHwbToRgb:()=>gue,convertItpToXyz65:()=>KN,convertJabToJch:()=>QN,convertJabToRgb:()=>SU,convertJabToXyz65:()=>AU,convertJchToJab:()=>eU,convertLab65ToDlch:()=>_C,convertLab65ToRgb:()=>G6,convertLab65ToXyz65:()=>mU,convertLabToLch:()=>Mg,convertLabToRgb:()=>kU,convertLabToXyz50:()=>DC,convertLchToLab:()=>Sg,convertLchuvToLuv:()=>FU,convertLrgbToOklab:()=>LU,convertLrgbToRgb:()=>Px,convertLuvToLchuv:()=>DU,convertLuvToXyz50:()=>wC,convertOkhslToOklab:()=>iU,convertOkhsvToOklab:()=>aU,convertOklabToLrgb:()=>Y3,convertOklabToOkhsl:()=>rU,convertOklabToOkhsv:()=>nU,convertOklabToRgb:()=>$6,convertP3ToXyz65:()=>oU,convertProphotoToXyz50:()=>uU,convertRec2020ToXyz65:()=>fU,convertRgbToCubehelix:()=>Jle,convertRgbToHsi:()=>cue,convertRgbToHsl:()=>due,convertRgbToHsv:()=>bU,convertRgbToHwb:()=>mue,convertRgbToJab:()=>MU,convertRgbToLab:()=>CU,convertRgbToLab65:()=>H6,convertRgbToLrgb:()=>Lx,convertRgbToOklab:()=>j6,convertRgbToXyb:()=>jue,convertRgbToXyz50:()=>W3,convertRgbToXyz65:()=>ly,convertRgbToYiq:()=>Jue,convertXybToRgb:()=>$ue,convertXyz50ToLab:()=>FC,convertXyz50ToLuv:()=>bC,convertXyz50ToProphoto:()=>lU,convertXyz50ToRgb:()=>$3,convertXyz50ToXyz65:()=>Zue,convertXyz65ToA98:()=>ZN,convertXyz65ToItp:()=>JN,convertXyz65ToJab:()=>TU,convertXyz65ToLab65:()=>yU,convertXyz65ToP3:()=>sU,convertXyz65ToRec2020:()=>cU,convertXyz65ToRgb:()=>uy,convertXyz65ToXyz50:()=>Xue,convertYiqToRgb:()=>Que,converter:()=>ys,cubehelix:()=>cxt,differenceCie76:()=>smt,differenceCie94:()=>lmt,differenceCiede2000:()=>umt,differenceCmc:()=>cmt,differenceEuclidean:()=>j3,differenceHueChroma:()=>V6,differenceHueNaive:()=>eue,differenceHueSaturation:()=>U6,differenceHyab:()=>fmt,differenceItp:()=>dmt,differenceKotsarenkoRamos:()=>hmt,displayable:()=>NU,dlab:()=>fxt,dlch:()=>hxt,easingGamma:()=>pce,easingInOutSine:()=>sxt,easingMidpoint:()=>sce,easingSmootherstep:()=>axt,easingSmoothstep:()=>rxt,easingSmoothstepInverse:()=>ixt,filterBrightness:()=>V2t,filterContrast:()=>G2t,filterDeficiencyDeuter:()=>ext,filterDeficiencyProt:()=>Q2t,filterDeficiencyTrit:()=>txt,filterGrayscale:()=>$2t,filterHueRotate:()=>Y2t,filterInvert:()=>W2t,filterSaturate:()=>j2t,filterSepia:()=>H2t,fixupAlpha:()=>Cu,fixupHueDecreasing:()=>rmt,fixupHueIncreasing:()=>tmt,fixupHueLonger:()=>emt,fixupHueShorter:()=>Kv,formatCss:()=>o2t,formatHex:()=>s2t,formatHex8:()=>l2t,formatHsl:()=>c2t,formatRgb:()=>u2t,getMode:()=>yf,hsi:()=>dxt,hsl:()=>pxt,hsv:()=>vxt,hwb:()=>gxt,inGamut:()=>IC,interpolate:()=>w2t,interpolateWith:()=>uce,interpolateWithPremultipliedAlpha:()=>T2t,interpolatorLinear:()=>Ni,interpolatorPiecewise:()=>Zle,interpolatorSplineBasis:()=>fce,interpolatorSplineBasisClosed:()=>hce,interpolatorSplineMonotone:()=>S2t,interpolatorSplineMonotone2:()=>E2t,interpolatorSplineMonotoneClosed:()=>k2t,interpolatorSplineNatural:()=>A2t,interpolatorSplineNaturalClosed:()=>M2t,itp:()=>mxt,jab:()=>yxt,jch:()=>xxt,lab:()=>_xt,lab65:()=>bxt,lch:()=>wxt,lch65:()=>Txt,lchuv:()=>Axt,lerp:()=>kx,lrgb:()=>Mxt,luv:()=>Sxt,mapAlphaDivide:()=>oce,mapAlphaMultiply:()=>ace,mapTransferGamma:()=>y2t,mapTransferLinear:()=>BU,mapper:()=>W6,modeA98:()=>Kle,modeCubehelix:()=>rue,modeDlab:()=>sue,modeDlch:()=>lue,modeHsi:()=>fue,modeHsl:()=>xU,modeHsv:()=>wU,modeHwb:()=>xue,modeItp:()=>wue,modeJab:()=>Tue,modeJch:()=>Aue,modeLab:()=>LC,modeLab65:()=>Sue,modeLch:()=>PC,modeLch65:()=>kue,modeLchuv:()=>Fue,modeLrgb:()=>Lue,modeLuv:()=>Pue,modeOkhsl:()=>Rue,modeOkhsv:()=>zue,modeOklab:()=>que,modeOklch:()=>Nue,modeP3:()=>Uue,modeProphoto:()=>Vue,modeRec2020:()=>Gue,modeRgb:()=>Fx,modeXyb:()=>Wue,modeXyz50:()=>Yue,modeXyz65:()=>Kue,modeYiq:()=>ece,nearest:()=>z2t,okhsl:()=>Ext,okhsv:()=>kxt,oklab:()=>Cxt,oklch:()=>Dxt,p3:()=>Fxt,parse:()=>Wle,parseHex:()=>Vle,parseHsl:()=>vue,parseHslLegacy:()=>pue,parseHwb:()=>yue,parseLab:()=>Mue,parseLch:()=>Eue,parseNamed:()=>Ule,parseOklab:()=>Bue,parseOklch:()=>Oue,parseRgb:()=>Yle,parseRgbLegacy:()=>Gle,parseTransparent:()=>Xle,prophoto:()=>Lxt,random:()=>m2t,rec2020:()=>Pxt,removeParser:()=>Lgt,rgb:()=>Ixt,round:()=>tce,samples:()=>F2t,serializeHex:()=>zU,serializeHex8:()=>rce,serializeHsl:()=>nce,serializeRgb:()=>ice,toGamut:()=>I2t,trilerp:()=>Ggt,unlerp:()=>Vgt,useMode:()=>jo,useParser:()=>jle,wcagContrast:()=>lxt,wcagLuminance:()=>dU,xyb:()=>Rxt,xyz50:()=>zxt,xyz65:()=>Bxt,yiq:()=>qxt});xce.exports=ygt(qle);var xgt=(e,t)=>{if(typeof e=="number"){if(t===3)return{mode:"rgb",r:(e>>8&15|e>>4&240)/255,g:(e>>4&15|e&240)/255,b:(e&15|e<<4&240)/255};if(t===4)return{mode:"rgb",r:(e>>12&15|e>>8&240)/255,g:(e>>8&15|e>>4&240)/255,b:(e>>4&15|e&240)/255,alpha:(e&15|e<<4&240)/255};if(t===6)return{mode:"rgb",r:(e>>16&255)/255,g:(e>>8&255)/255,b:(e&255)/255};if(t===8)return{mode:"rgb",r:(e>>24&255)/255,g:(e>>16&255)/255,b:(e>>8&255)/255,alpha:(e&255)/255}}},Ole=xgt,_gt={aliceblue:15792383,antiquewhite:16444375,aqua:65535,aquamarine:8388564,azure:15794175,beige:16119260,bisque:16770244,black:0,blanchedalmond:16772045,blue:255,blueviolet:9055202,brown:10824234,burlywood:14596231,cadetblue:6266528,chartreuse:8388352,chocolate:13789470,coral:16744272,cornflowerblue:6591981,cornsilk:16775388,crimson:14423100,cyan:65535,darkblue:139,darkcyan:35723,darkgoldenrod:12092939,darkgray:11119017,darkgreen:25600,darkgrey:11119017,darkkhaki:12433259,darkmagenta:9109643,darkolivegreen:5597999,darkorange:16747520,darkorchid:10040012,darkred:9109504,darksalmon:15308410,darkseagreen:9419919,darkslateblue:4734347,darkslategray:3100495,darkslategrey:3100495,darkturquoise:52945,darkviolet:9699539,deeppink:16716947,deepskyblue:49151,dimgray:6908265,dimgrey:6908265,dodgerblue:2003199,firebrick:11674146,floralwhite:16775920,forestgreen:2263842,fuchsia:16711935,gainsboro:14474460,ghostwhite:16316671,gold:16766720,goldenrod:14329120,gray:8421504,green:32768,greenyellow:11403055,grey:8421504,honeydew:15794160,hotpink:16738740,indianred:13458524,indigo:4915330,ivory:16777200,khaki:15787660,lavender:15132410,lavenderblush:16773365,lawngreen:8190976,lemonchiffon:16775885,lightblue:11393254,lightcoral:15761536,lightcyan:14745599,lightgoldenrodyellow:16448210,lightgray:13882323,lightgreen:9498256,lightgrey:13882323,lightpink:16758465,lightsalmon:16752762,lightseagreen:2142890,lightskyblue:8900346,lightslategray:7833753,lightslategrey:7833753,lightsteelblue:11584734,lightyellow:16777184,lime:65280,limegreen:3329330,linen:16445670,magenta:16711935,maroon:8388608,mediumaquamarine:6737322,mediumblue:205,mediumorchid:12211667,mediumpurple:9662683,mediumseagreen:3978097,mediumslateblue:8087790,mediumspringgreen:64154,mediumturquoise:4772300,mediumvioletred:13047173,midnightblue:1644912,mintcream:16121850,mistyrose:16770273,moccasin:16770229,navajowhite:16768685,navy:128,oldlace:16643558,olive:8421376,olivedrab:7048739,orange:16753920,orangered:16729344,orchid:14315734,palegoldenrod:15657130,palegreen:10025880,paleturquoise:11529966,palevioletred:14381203,papayawhip:16773077,peachpuff:16767673,peru:13468991,pink:16761035,plum:14524637,powderblue:11591910,purple:8388736,rebeccapurple:6697881,red:16711680,rosybrown:12357519,royalblue:4286945,saddlebrown:9127187,salmon:16416882,sandybrown:16032864,seagreen:3050327,seashell:16774638,sienna:10506797,silver:12632256,skyblue:8900331,slateblue:6970061,slategray:7372944,slategrey:7372944,snow:16775930,springgreen:65407,steelblue:4620980,tan:13808780,teal:32896,thistle:14204888,tomato:16737095,turquoise:4251856,violet:15631086,wheat:16113331,white:16777215,whitesmoke:16119285,yellow:16776960,yellowgreen:10145074},Nle=_gt,bgt=e=>Ole(Nle[e.toLowerCase()],6),Ule=bgt,wgt=/^#?([0-9a-f]{8}|[0-9a-f]{6}|[0-9a-f]{4}|[0-9a-f]{3})$/i,Tgt=e=>{let t;return(t=e.match(wgt))?Ole(parseInt(t[1],16),t[1].length):void 0},Vle=Tgt,Lh="([+-]?\\d*\\.?\\d+(?:[eE][+-]?\\d+)?)",I7r=`(?:${Lh}|none)`,q6=`${Lh}%`,R7r=`(?:${Lh}%|none)`,vU=`(?:${Lh}%|${Lh})`,Agt=`(?:${Lh}%|${Lh}|none)`,Mgt=`(?:${Lh}(deg|grad|rad|turn)|${Lh})`,z7r=`(?:${Lh}(deg|grad|rad|turn)|${Lh}|none)`,G3="\\s*,\\s*",B7r=new RegExp("^"+Agt+"$"),Sgt=new RegExp(`^rgba?\\(\\s*${Lh}${G3}${Lh}${G3}${Lh}\\s*(?:,\\s*${vU}\\s*)?\\)$`),Egt=new RegExp(`^rgba?\\(\\s*${q6}${G3}${q6}${G3}${q6}\\s*(?:,\\s*${vU}\\s*)?\\)$`),kgt=e=>{let t={mode:"rgb"},r;if(r=e.match(Sgt))r[1]!==void 0&&(t.r=r[1]/255),r[2]!==void 0&&(t.g=r[2]/255),r[3]!==void 0&&(t.b=r[3]/255);else if(r=e.match(Egt))r[1]!==void 0&&(t.r=r[1]/100),r[2]!==void 0&&(t.g=r[2]/100),r[3]!==void 0&&(t.b=r[3]/100);else return;return r[4]!==void 0?t.alpha=Math.max(0,Math.min(1,r[4]/100)):r[5]!==void 0&&(t.alpha=Math.max(0,Math.min(1,+r[5]))),t},Gle=kgt,Cgt=(e,t)=>e===void 0?void 0:typeof e!="object"?Wle(e):e.mode!==void 0?e:t?ma(fn({},e),{mode:t}):void 0,Pp=Cgt,Dgt=(e="rgb")=>t=>(t=Pp(t,e))!==void 0?t.mode===e?t:Zv[t.mode][e]?Zv[t.mode][e](t):e==="rgb"?Zv[t.mode].rgb(t):Zv.rgb[e](Zv[t.mode].rgb(t)):void 0,ys=Dgt,Zv={},Hle={},H3=[],gU={},Fgt=e=>e,jo=e=>(Zv[e.mode]=fn(fn({},Zv[e.mode]),e.toMode),Object.keys(e.fromMode||{}).forEach(t=>{Zv[t]||(Zv[t]={}),Zv[t][e.mode]=e.fromMode[t]}),e.ranges||(e.ranges={}),e.difference||(e.difference={}),e.channels.forEach(t=>{if(e.ranges[t]===void 0&&(e.ranges[t]=[0,1]),!e.interpolate[t])throw new Error(`Missing interpolator for: ${t}`);typeof e.interpolate[t]=="function"&&(e.interpolate[t]={use:e.interpolate[t]}),e.interpolate[t].fixup||(e.interpolate[t].fixup=Fgt)}),Hle[e.mode]=e,(e.parse||[]).forEach(t=>{jle(t,e.mode)}),ys(e.mode)),yf=e=>Hle[e],jle=(e,t)=>{if(typeof e=="string"){if(!t)throw new Error("'mode' required when 'parser' is a string");gU[e]=t}else typeof e=="function"&&H3.indexOf(e)<0&&H3.push(e)},Lgt=e=>{if(typeof e=="string")delete gU[e];else if(typeof e=="function"){let t=H3.indexOf(e);t>0&&H3.splice(t,1)}},$N=/[^\x00-\x7F]|[a-zA-Z_]/,Pgt=/[^\x00-\x7F]|[-\w]/,bi={Function:"function",Ident:"ident",Number:"number",Percentage:"percentage",ParenClose:")",None:"none",Hue:"hue",Alpha:"alpha"},ia=0;function fC(e){let t=e[ia],r=e[ia+1];return t==="-"||t==="+"?/\d/.test(r)||r==="."&&/\d/.test(e[ia+2]):t==="."?/\d/.test(r):/\d/.test(t)}function WN(e){if(ia>=e.length)return!1;let t=e[ia];if($N.test(t))return!0;if(t==="-"){if(e.length-ia<2)return!1;let r=e[ia+1];return!!(r==="-"||$N.test(r))}return!1}var Igt={deg:1,rad:180/Math.PI,grad:9/10,turn:360};function z6(e){let t="";if((e[ia]==="-"||e[ia]==="+")&&(t+=e[ia++]),t+=hC(e),e[ia]==="."&&/\d/.test(e[ia+1])&&(t+=e[ia++]+hC(e)),(e[ia]==="e"||e[ia]==="E")&&((e[ia+1]==="-"||e[ia+1]==="+")&&/\d/.test(e[ia+2])?t+=e[ia++]+e[ia++]+hC(e):/\d/.test(e[ia+1])&&(t+=e[ia++]+hC(e))),WN(e)){let r=vC(e);return r==="deg"||r==="rad"||r==="turn"||r==="grad"?{type:bi.Hue,value:t*Igt[r]}:void 0}return e[ia]==="%"?(ia++,{type:bi.Percentage,value:+t}):{type:bi.Number,value:+t}}function hC(e){let t="";for(;/\d/.test(e[ia]);)t+=e[ia++];return t}function vC(e){let t="";for(;ia4)){if(r.length===4){if(r[3].type!==bi.Alpha)return;r[3]=r[3].value}return r.length===3&&r.push({type:bi.None,value:void 0}),r.every(n=>n.type!==bi.Alpha)?r:void 0}}function qgt(e,t){e._i=0;let r=e[e._i++];if(!r||r.type!==bi.Function)return;let i=$le(e,t);if(i)return i.unshift(r.value),i}var Ogt=e=>{if(typeof e!="string")return;let t=zgt(e),r=t?qgt(t,!0):void 0,i,n=0,a=H3.length;for(;ne==="transparent"?{mode:"rgb",r:0,g:0,b:0,alpha:0}:void 0,Xle=Ugt,kx=(e,t,r)=>e+r*(t-e),Vgt=(e,t,r)=>(r-e)/(t-e),YN=(e,t,r,i,n,a)=>kx(kx(e,t,n),kx(r,i,n),a),Ggt=(e,t,r,i,n,a,o,s,l,u,c)=>kx(YN(e,t,r,i,l,u),YN(n,a,o,s,l,u),c),Hgt=e=>{let t=[];for(let r=0;rt=>{let r=Hgt(t);return i=>{let n=i*r.length,a=i>=1?r.length-1:Math.max(Math.floor(n),0),o=r[a];return o===void 0?void 0:e(o[0],o[1],n-a)}},Ni=Zle(kx),Cu=e=>{let t=!1,r=e.map(i=>i!==void 0?(t=!0,i):1);return t?r:e},jgt={mode:"rgb",channels:["r","g","b","alpha"],parse:[Yle,Vle,Gle,Ule,Xle,"srgb"],serialize:"srgb",interpolate:{r:Ni,g:Ni,b:Ni,alpha:{use:Ni,fixup:Cu}},gamut:!0,white:{r:1,g:1,b:1},black:{r:0,g:0,b:0}},Fx=jgt,TN=(e=0)=>Math.pow(Math.abs(e),563/256)*Math.sign(e),$gt=e=>{let t=TN(e.r),r=TN(e.g),i=TN(e.b),n={mode:"xyz65",x:.5766690429101305*t+.1855582379065463*r+.1882286462349947*i,y:.297344975250536*t+.6273635662554661*r+.0752914584939979*i,z:.0270313613864123*t+.0706888525358272*r+.9913375368376386*i};return e.alpha!==void 0&&(n.alpha=e.alpha),n},XN=$gt,AN=e=>Math.pow(Math.abs(e),256/563)*Math.sign(e),Wgt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n={mode:"a98",r:AN(e*2.0415879038107465-t*.5650069742788597-.3447313507783297*r),g:AN(e*-.9692436362808798+t*1.8759675015077206+.0415550574071756*r),b:AN(e*.0134442806320312-t*.1183623922310184+1.0151749943912058*r)};return i!==void 0&&(n.alpha=i),n},ZN=Wgt,MN=(e=0)=>{let t=Math.abs(e);return t<=.04045?e/12.92:(Math.sign(e)||1)*Math.pow((t+.055)/1.055,2.4)},Ygt=({r:e,g:t,b:r,alpha:i})=>{let n={mode:"lrgb",r:MN(e),g:MN(t),b:MN(r)};return i!==void 0&&(n.alpha=i),n},Lx=Ygt,Xgt=e=>{let{r:t,g:r,b:i,alpha:n}=Lx(e),a={mode:"xyz65",x:.4123907992659593*t+.357584339383878*r+.1804807884018343*i,y:.2126390058715102*t+.715168678767756*r+.0721923153607337*i,z:.0193308187155918*t+.119194779794626*r+.9505321522496607*i};return n!==void 0&&(a.alpha=n),a},ly=Xgt,SN=(e=0)=>{let t=Math.abs(e);return t>.0031308?(Math.sign(e)||1)*(1.055*Math.pow(t,1/2.4)-.055):e*12.92},Zgt=({r:e,g:t,b:r,alpha:i},n="rgb")=>{let a={mode:n,r:SN(e),g:SN(t),b:SN(r)};return i!==void 0&&(a.alpha=i),a},Px=Zgt,Kgt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Px({r:e*3.2409699419045226-t*1.537383177570094-.4986107602930034*r,g:e*-.9692436362808796+t*1.8759675015077204+.0415550574071756*r,b:e*.0556300796969936-t*.2039769588889765+1.0569715142428784*r});return i!==void 0&&(n.alpha=i),n},uy=Kgt,Jgt=ma(fn({},Fx),{mode:"a98",parse:["a98-rgb"],serialize:"a98-rgb",fromMode:{rgb:e=>ZN(ly(e)),xyz65:ZN},toMode:{rgb:e=>uy(XN(e)),xyz65:XN}}),Kle=Jgt,Qgt=e=>(e=e%360)<0?e+360:e,Yc=Qgt,AC=(e,t)=>e.map((r,i,n)=>{if(r===void 0)return r;let a=Yc(r);return i===0||e[i-1]===void 0?a:t(a-Yc(n[i-1]))}).reduce((r,i)=>!r.length||i===void 0||r[r.length-1]===void 0?(r.push(i),r):(r.push(i+r[r.length-1]),r),[]),Kv=e=>AC(e,t=>Math.abs(t)<=180?t:t-360*Math.sign(t)),emt=e=>AC(e,t=>Math.abs(t)>=180||t===0?t:t-360*Math.sign(t)),tmt=e=>AC(e,t=>t>=0?t:t+360),rmt=e=>AC(e,t=>t<=0?t:t-360),xc=[-.14861,1.78277,-.29227,-.90649,1.97294,0],imt=Math.PI/180,nmt=180/Math.PI,Cle=xc[3]*xc[4],Dle=xc[1]*xc[4],Fle=xc[1]*xc[2]-xc[0]*xc[3],amt=({r:e,g:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=(Fle*r+e*Cle-t*Dle)/(Fle+Cle-Dle),a=r-n,o=(xc[4]*(t-n)-xc[2]*a)/xc[3],s={mode:"cubehelix",l:n,s:n===0||n===1?void 0:Math.sqrt(a*a+o*o)/(xc[4]*n*(1-n))};return s.s&&(s.h=Math.atan2(o,a)*nmt-120),i!==void 0&&(s.alpha=i),s},Jle=amt,omt=({h:e,s:t,l:r,alpha:i})=>{let n={mode:"rgb"};e=(e===void 0?0:e+120)*imt,r===void 0&&(r=0);let a=t===void 0?0:t*r*(1-r),o=Math.cos(e),s=Math.sin(e);return n.r=r+a*(xc[0]*o+xc[1]*s),n.g=r+a*(xc[2]*o+xc[3]*s),n.b=r+a*(xc[4]*o+xc[5]*s),i!==void 0&&(n.alpha=i),n},Qle=omt,U6=(e,t)=>{if(e.h===void 0||t.h===void 0||!e.s||!t.s)return 0;let r=Yc(e.h),i=Yc(t.h),n=Math.sin((i-r+360)/2*Math.PI/180);return 2*Math.sqrt(e.s*t.s)*n},eue=(e,t)=>{if(e.h===void 0||t.h===void 0)return 0;let r=Yc(e.h),i=Yc(t.h);return Math.abs(i-r)>180?r-(i-360*Math.sign(i-r)):i-r},V6=(e,t)=>{if(e.h===void 0||t.h===void 0||!e.c||!t.c)return 0;let r=Yc(e.h),i=Yc(t.h),n=Math.sin((i-r+360)/2*Math.PI/180);return 2*Math.sqrt(e.c*t.c)*n},j3=(e="rgb",t=[1,1,1,0])=>{let r=yf(e),i=r.channels,n=r.difference,a=ys(e);return(o,s)=>{let l=a(o),u=a(s);return Math.sqrt(i.reduce((c,f,h)=>{let d=n[f]?n[f](l,u):l[f]-u[f];return c+(t[h]||0)*Math.pow(isNaN(d)?0:d,2)},0))}},smt=()=>j3("lab65"),lmt=(e=1,t=.045,r=.015)=>{let i=ys("lab65");return(n,a)=>{let o=i(n),s=i(a),l=o.l,u=o.a,c=o.b,f=Math.sqrt(u*u+c*c),h=s.l,d=s.a,p=s.b,v=Math.sqrt(d*d+p*p),m=Math.pow(l-h,2),g=Math.pow(f-v,2),w=Math.pow(u-d,2)+Math.pow(c-p,2)-g;return Math.sqrt(m/Math.pow(e,2)+g/Math.pow(1+t*f,2)+w/Math.pow(1+r*f,2))}},umt=(e=1,t=1,r=1)=>{let i=ys("lab65");return(n,a)=>{let o=i(n),s=i(a),l=o.l,u=o.a,c=o.b,f=Math.sqrt(u*u+c*c),h=s.l,d=s.a,p=s.b,v=Math.sqrt(d*d+p*p),m=(f+v)/2,g=.5*(1-Math.sqrt(Math.pow(m,7)/(Math.pow(m,7)+Math.pow(25,7)))),w=u*(1+g),b=d*(1+g),_=Math.sqrt(w*w+c*c),M=Math.sqrt(b*b+p*p),x=Math.abs(w)+Math.abs(c)===0?0:Math.atan2(c,w);x+=(x<0)*2*Math.PI;let T=Math.abs(b)+Math.abs(p)===0?0:Math.atan2(p,b);T+=(T<0)*2*Math.PI;let A=h-l,y=M-_,E=_*M===0?0:T-x;E-=(E>Math.PI)*2*Math.PI,E+=(E<-Math.PI)*2*Math.PI;let S=2*Math.sqrt(_*M)*Math.sin(E/2),C=(l+h)/2,k=(_+M)/2,D;_*M===0?D=x+T:(D=(x+T)/2,D-=(Math.abs(x-T)>Math.PI)*Math.PI,D+=(D<0)*2*Math.PI);let F=Math.pow(C-50,2),P=1-.17*Math.cos(D-Math.PI/6)+.24*Math.cos(2*D)+.32*Math.cos(3*D+Math.PI/30)-.2*Math.cos(4*D-63*Math.PI/180),R=1+.015*F/Math.sqrt(20+F),L=1+.045*k,I=1+.015*k*P,B=30*Math.PI/180*Math.exp(-1*Math.pow((180/Math.PI*D-275)/25,2)),O=2*Math.sqrt(Math.pow(k,7)/(Math.pow(k,7)+Math.pow(25,7))),$=-1*Math.sin(2*B)*O;return Math.sqrt(Math.pow(A/(e*R),2)+Math.pow(y/(t*L),2)+Math.pow(S/(r*I),2)+$*y/(t*L)*S/(r*I))}},cmt=(e=1,t=1)=>{let r=ys("lab65");return(i,n)=>{let a=r(i),o=a.l,s=a.a,l=a.b,u=Math.sqrt(s*s+l*l),c=Math.atan2(l,s);c=c+2*Math.PI*(c<0);let f=r(n),h=f.l,d=f.a,p=f.b,v=Math.sqrt(d*d+p*p),m=Math.pow(o-h,2),g=Math.pow(u-v,2),w=Math.pow(s-d,2)+Math.pow(l-p,2)-g,b=Math.sqrt(Math.pow(u,4)/(Math.pow(u,4)+1900)),_=c>=164/180*Math.PI&&c<=345/180*Math.PI?.56+Math.abs(.2*Math.cos(c+168/180*Math.PI)):.36+Math.abs(.4*Math.cos(c+35/180*Math.PI)),M=o<16?.511:.040975*o/(1+.01765*o),x=.0638*u/(1+.0131*u)+.638,T=x*(b*_+1-b);return Math.sqrt(m/Math.pow(e*M,2)+g/Math.pow(t*x,2)+w/Math.pow(T,2))}},fmt=()=>{let e=ys("lab65");return(t,r)=>{let i=e(t),n=e(r),a=i.l-n.l,o=i.a-n.a,s=i.b-n.b;return Math.abs(a)+Math.sqrt(o*o+s*s)}},hmt=()=>j3("yiq",[.5053,.299,.1957]),dmt=()=>j3("itp",[518400,129600,518400]),Jv=e=>{let t=e.reduce((i,n)=>{if(n!==void 0){let a=n*Math.PI/180;i.sin+=Math.sin(a),i.cos+=Math.cos(a)}return i},{sin:0,cos:0}),r=Math.atan2(t.sin,t.cos)*180/Math.PI;return r<0?360+r:r},tue=e=>{let t=e.filter(r=>r!==void 0);return t.length?t.reduce((r,i)=>r+i,0)/t.length:void 0},EN=e=>typeof e=="function";function pmt(e,t="rgb",r){let i=yf(t),n=e.map(ys(t));return i.channels.reduce((a,o)=>{let s=n.map(l=>l[o]).filter(l=>l!==void 0);if(s.length){let l;EN(r)?l=r:r&&EN(r[o])?l=r[o]:i.average&&EN(i.average[o])?l=i.average[o]:l=tue,a[o]=l(s,o)}return a},{mode:t})}var vmt={mode:"cubehelix",channels:["h","s","l","alpha"],parse:["--cubehelix"],serialize:"--cubehelix",ranges:{h:[0,360],s:[0,4.614],l:[0,1]},fromMode:{rgb:Jle},toMode:{rgb:Qle},interpolate:{h:{use:Ni,fixup:Kv},s:Ni,l:Ni,alpha:{use:Ni,fixup:Cu}},difference:{h:U6},average:{h:Jv}},rue=vmt,gmt=({l:e,a:t,b:r,alpha:i},n="lch")=>{t===void 0&&(t=0),r===void 0&&(r=0);let a=Math.sqrt(t*t+r*r),o={mode:n,l:e,c:a};return a&&(o.h=Yc(Math.atan2(r,t)*180/Math.PI)),i!==void 0&&(o.alpha=i),o},Mg=gmt,mmt=({l:e,c:t,h:r,alpha:i},n="lab")=>{r===void 0&&(r=0);let a={mode:n,l:e,a:t?t*Math.cos(r/180*Math.PI):0,b:t?t*Math.sin(r/180*Math.PI):0};return i!==void 0&&(a.alpha=i),a},Sg=mmt,iue=Math.pow(29,3)/Math.pow(3,3),nue=Math.pow(6,3)/Math.pow(29,3),ku={X:.3457/.3585,Y:1,Z:(1-.3457-.3585)/.3585},V3={X:.3127/.329,Y:1,Z:(1-.3127-.329)/.329},q7r=Math.pow(29,3)/Math.pow(3,3),O7r=Math.pow(6,3)/Math.pow(29,3),kN=e=>Math.pow(e,3)>nue?Math.pow(e,3):(116*e-16)/iue,ymt=({l:e,a:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=(e+16)/116,a=t/500+n,o=n-r/200,s={mode:"xyz65",x:kN(a)*V3.X,y:kN(n)*V3.Y,z:kN(o)*V3.Z};return i!==void 0&&(s.alpha=i),s},mU=ymt,xmt=e=>uy(mU(e)),G6=xmt,CN=e=>e>nue?Math.cbrt(e):(iue*e+16)/116,_mt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=CN(e/V3.X),a=CN(t/V3.Y),o=CN(r/V3.Z),s={mode:"lab65",l:116*a-16,a:500*(n-a),b:200*(a-o)};return i!==void 0&&(s.alpha=i),s},yU=_mt,bmt=e=>{let t=yU(ly(e));return e.r===e.b&&e.b===e.g&&(t.a=t.b=0),t},H6=bmt,gC=1,aue=1,N6=26/180*Math.PI,mC=Math.cos(N6),yC=Math.sin(N6),oue=100/Math.log(139/100),wmt=({l:e,c:t,h:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n={mode:"lab65",l:(Math.exp(e*gC/oue)-1)/.0039},a=(Math.exp(.0435*t*aue*gC)-1)/.075,o=a*Math.cos(r/180*Math.PI-N6),s=a*Math.sin(r/180*Math.PI-N6);return n.a=o*mC-s/.83*yC,n.b=o*yC+s/.83*mC,i!==void 0&&(n.alpha=i),n},xC=wmt,Tmt=({l:e,a:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=t*mC+r*yC,a=.83*(r*mC-t*yC),o=Math.sqrt(n*n+a*a),s={mode:"dlch",l:oue/gC*Math.log(1+.0039*e),c:Math.log(1+.075*o)/(.0435*aue*gC)};return s.c&&(s.h=Yc((Math.atan2(a,n)+N6)/Math.PI*180)),i!==void 0&&(s.alpha=i),s},_C=Tmt,Lle=e=>xC(Mg(e,"dlch")),Ple=e=>Sg(_C(e),"dlab"),Amt={mode:"dlab",parse:["--din99o-lab"],serialize:"--din99o-lab",toMode:{lab65:Lle,rgb:e=>G6(Lle(e))},fromMode:{lab65:Ple,rgb:e=>Ple(H6(e))},channels:["l","a","b","alpha"],ranges:{l:[0,100],a:[-40.09,45.501],b:[-40.469,44.344]},interpolate:{l:Ni,a:Ni,b:Ni,alpha:{use:Ni,fixup:Cu}}},sue=Amt,Mmt={mode:"dlch",parse:["--din99o-lch"],serialize:"--din99o-lch",toMode:{lab65:xC,dlab:e=>Sg(e,"dlab"),rgb:e=>G6(xC(e))},fromMode:{lab65:_C,dlab:e=>Mg(e,"dlch"),rgb:e=>_C(H6(e))},channels:["l","c","h","alpha"],ranges:{l:[0,100],c:[0,51.484],h:[0,360]},interpolate:{l:Ni,c:Ni,h:{use:Ni,fixup:Kv},alpha:{use:Ni,fixup:Cu}},difference:{h:V6},average:{h:Jv}},lue=Mmt;function uue({h:e,s:t,i:r,alpha:i}){e=Yc(e!==void 0?e:0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.abs(e/60%2-1),a;switch(Math.floor(e/60)){case 0:a={r:r*(1+t*(3/(2-n)-1)),g:r*(1+t*(3*(1-n)/(2-n)-1)),b:r*(1-t)};break;case 1:a={r:r*(1+t*(3*(1-n)/(2-n)-1)),g:r*(1+t*(3/(2-n)-1)),b:r*(1-t)};break;case 2:a={r:r*(1-t),g:r*(1+t*(3/(2-n)-1)),b:r*(1+t*(3*(1-n)/(2-n)-1))};break;case 3:a={r:r*(1-t),g:r*(1+t*(3*(1-n)/(2-n)-1)),b:r*(1+t*(3/(2-n)-1))};break;case 4:a={r:r*(1+t*(3*(1-n)/(2-n)-1)),g:r*(1-t),b:r*(1+t*(3/(2-n)-1))};break;case 5:a={r:r*(1+t*(3/(2-n)-1)),g:r*(1-t),b:r*(1+t*(3*(1-n)/(2-n)-1))};break;default:a={r:r*(1-t),g:r*(1-t),b:r*(1-t)}}return a.mode="rgb",i!==void 0&&(a.alpha=i),a}function cue({r:e,g:t,b:r,alpha:i}){e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.max(e,t,r),a=Math.min(e,t,r),o={mode:"hsi",s:e+t+r===0?0:1-3*a/(e+t+r),i:(e+t+r)/3};return n-a!==0&&(o.h=(n===e?(t-r)/(n-a)+(t{switch(t){case"deg":return+e;case"rad":return e/Math.PI*180;case"grad":return e/10*9;case"turn":return e*360}},kmt=Emt,Cmt=new RegExp(`^hsla?\\(\\s*${Mgt}${G3}${q6}${G3}${q6}\\s*(?:,\\s*${vU}\\s*)?\\)$`),Dmt=e=>{let t=e.match(Cmt);if(!t)return;let r={mode:"hsl"};return t[3]!==void 0?r.h=+t[3]:t[1]!==void 0&&t[2]!==void 0&&(r.h=kmt(t[1],t[2])),t[4]!==void 0&&(r.s=Math.min(Math.max(0,t[4]/100),1)),t[5]!==void 0&&(r.l=Math.min(Math.max(0,t[5]/100),1)),t[6]!==void 0?r.alpha=Math.max(0,Math.min(1,t[6]/100)):t[7]!==void 0&&(r.alpha=Math.max(0,Math.min(1,+t[7]))),r},pue=Dmt;function Fmt(e,t){if(!t||t[0]!=="hsl"&&t[0]!=="hsla")return;let r={mode:"hsl"},[,i,n,a,o]=t;if(i.type!==bi.None){if(i.type===bi.Percentage)return;r.h=i.value}if(n.type!==bi.None){if(n.type===bi.Hue)return;r.s=n.value/100}if(a.type!==bi.None){if(a.type===bi.Hue)return;r.l=a.value/100}return o.type!==bi.None&&(r.alpha=Math.min(1,Math.max(0,o.type===bi.Number?o.value:o.value/100))),r}var vue=Fmt,Lmt={mode:"hsl",toMode:{rgb:hue},fromMode:{rgb:due},channels:["h","s","l","alpha"],ranges:{h:[0,360]},gamut:"rgb",parse:[vue,pue],serialize:e=>`hsl(${e.h!==void 0?e.h:"none"} ${e.s!==void 0?e.s*100+"%":"none"} ${e.l!==void 0?e.l*100+"%":"none"}${e.alpha<1?` / ${e.alpha}`:""})`,interpolate:{h:{use:Ni,fixup:Kv},s:Ni,l:Ni,alpha:{use:Ni,fixup:Cu}},difference:{h:U6},average:{h:Jv}},xU=Lmt;function _U({h:e,s:t,v:r,alpha:i}){e=Yc(e!==void 0?e:0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.abs(e/60%2-1),a;switch(Math.floor(e/60)){case 0:a={r,g:r*(1-t*n),b:r*(1-t)};break;case 1:a={r:r*(1-t*n),g:r,b:r*(1-t)};break;case 2:a={r:r*(1-t),g:r,b:r*(1-t*n)};break;case 3:a={r:r*(1-t),g:r*(1-t*n),b:r};break;case 4:a={r:r*(1-t*n),g:r*(1-t),b:r};break;case 5:a={r,g:r*(1-t),b:r*(1-t*n)};break;default:a={r:r*(1-t),g:r*(1-t),b:r*(1-t)}}return a.mode="rgb",i!==void 0&&(a.alpha=i),a}function bU({r:e,g:t,b:r,alpha:i}){e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.max(e,t,r),a=Math.min(e,t,r),o={mode:"hsv",s:n===0?0:1-a/n,v:n};return n-a!==0&&(o.h=(n===e?(t-r)/(n-a)+(t1){let n=t+r;t/=n,r/=n}return _U({h:e,s:r===1?1:1-t/(1-r),v:1-r,alpha:i})}function mue(e){let t=bU(e);if(t===void 0)return;let r=t.s!==void 0?t.s:0,i=t.v!==void 0?t.v:0,n={mode:"hwb",w:(1-r)*i,b:1-i};return t.h!==void 0&&(n.h=t.h),t.alpha!==void 0&&(n.alpha=t.alpha),n}function Imt(e,t){if(!t||t[0]!=="hwb")return;let r={mode:"hwb"},[,i,n,a,o]=t;if(i.type!==bi.None){if(i.type===bi.Percentage)return;r.h=i.value}if(n.type!==bi.None){if(n.type===bi.Hue)return;r.w=n.value/100}if(a.type!==bi.None){if(a.type===bi.Hue)return;r.b=a.value/100}return o.type!==bi.None&&(r.alpha=Math.min(1,Math.max(0,o.type===bi.Number?o.value:o.value/100))),r}var yue=Imt,Rmt={mode:"hwb",toMode:{rgb:gue},fromMode:{rgb:mue},channels:["h","w","b","alpha"],ranges:{h:[0,360]},gamut:"rgb",parse:[yue],serialize:e=>`hwb(${e.h!==void 0?e.h:"none"} ${e.w!==void 0?e.w*100+"%":"none"} ${e.b!==void 0?e.b*100+"%":"none"}${e.alpha<1?` / ${e.alpha}`:""})`,interpolate:{h:{use:Ni,fixup:Kv},w:Ni,b:Ni,alpha:{use:Ni,fixup:Cu}},difference:{h:eue},average:{h:Jv}},xue=Rmt,_ue=203,MC=.1593017578125,bue=78.84375,SC=.8359375,EC=18.8515625,kC=18.6875;function DN(e){if(e<0)return 0;let t=Math.pow(e,1/bue);return 1e4*Math.pow(Math.max(0,t-SC)/(EC-kC*t),1/MC)}function FN(e){if(e<0)return 0;let t=Math.pow(e/1e4,MC);return Math.pow((SC+EC*t)/(1+kC*t),bue)}var LN=e=>Math.max(e/_ue,0),zmt=({i:e,t,p:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=DN(e+.008609037037932761*t+.11102962500302593*r),a=DN(e-.00860903703793275*t-.11102962500302599*r),o=DN(e+.5600313357106791*t-.32062717498731885*r),s={mode:"xyz65",x:LN(2.070152218389422*n-1.3263473389671556*a+.2066510476294051*o),y:LN(.3647385209748074*n+.680566024947227*a-.0453045459220346*o),z:LN(-.049747207535812*n-.0492609666966138*a+1.1880659249923042*o)};return i!==void 0&&(s.alpha=i),s},KN=zmt,PN=(e=0)=>Math.max(e*_ue,0),Bmt=({x:e,y:t,z:r,alpha:i})=>{let n=PN(e),a=PN(t),o=PN(r),s=FN(.3592832590121217*n+.6976051147779502*a-.0358915932320289*o),l=FN(-.1920808463704995*n+1.1004767970374323*a+.0753748658519118*o),u=FN(.0070797844607477*n+.0748396662186366*a+.8433265453898765*o),c=.5*s+.5*l,f=1.61376953125*s-3.323486328125*l+1.709716796875*u,h=4.378173828125*s-4.24560546875*l-.132568359375*u,d={mode:"itp",i:c,t:f,p:h};return i!==void 0&&(d.alpha=i),d},JN=Bmt,qmt={mode:"itp",channels:["i","t","p","alpha"],parse:["--ictcp"],serialize:"--ictcp",toMode:{xyz65:KN,rgb:e=>uy(KN(e))},fromMode:{xyz65:JN,rgb:e=>JN(ly(e))},ranges:{i:[0,.581],t:[-.369,.272],p:[-.164,.331]},interpolate:{i:Ni,t:Ni,p:Ni,alpha:{use:Ni,fixup:Cu}}},wue=qmt,Omt=134.03437499999998,Nmt=16295499532821565e-27,IN=e=>{if(e<0)return 0;let t=Math.pow(e/1e4,MC);return Math.pow((SC+EC*t)/(1+kC*t),Omt)},RN=(e=0)=>Math.max(e*203,0),Umt=({x:e,y:t,z:r,alpha:i})=>{e=RN(e),t=RN(t),r=RN(r);let n=1.15*e-.15*r,a=.66*t+.34*e,o=IN(.41478972*n+.579999*a+.014648*r),s=IN(-.20151*n+1.120649*a+.0531008*r),l=IN(-.0166008*n+.2648*a+.6684799*r),u=(o+s)/2,c={mode:"jab",j:.44*u/(1-.56*u)-Nmt,a:3.524*o-4.066708*s+.542708*l,b:.199076*o+1.096799*s-1.295875*l};return i!==void 0&&(c.alpha=i),c},TU=Umt,Vmt=134.03437499999998,Ile=16295499532821565e-27,zN=e=>{if(e<0)return 0;let t=Math.pow(e,1/Vmt);return 1e4*Math.pow((SC-t)/(kC*t-EC),1/MC)},BN=e=>e/203,Gmt=({j:e,a:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=(e+Ile)/(.44+.56*(e+Ile)),a=zN(n+.13860504*t+.058047316*r),o=zN(n-.13860504*t-.058047316*r),s=zN(n-.096019242*t-.8118919*r),l={mode:"xyz65",x:BN(1.661373024652174*a-.914523081304348*o+.23136208173913045*s),y:BN(-.3250758611844533*a+1.571847026732543*o-.21825383453227928*s),z:BN(-.090982811*a-.31272829*o+1.5227666*s)};return i!==void 0&&(l.alpha=i),l},AU=Gmt,Hmt=e=>{let t=TU(ly(e));return e.r===e.b&&e.b===e.g&&(t.a=t.b=0),t},MU=Hmt,jmt=e=>uy(AU(e)),SU=jmt,$mt={mode:"jab",channels:["j","a","b","alpha"],parse:["--jzazbz"],serialize:"--jzazbz",fromMode:{rgb:MU,xyz65:TU},toMode:{rgb:SU,xyz65:AU},ranges:{j:[0,.222],a:[-.109,.129],b:[-.185,.134]},interpolate:{j:Ni,a:Ni,b:Ni,alpha:{use:Ni,fixup:Cu}}},Tue=$mt,Wmt=({j:e,a:t,b:r,alpha:i})=>{t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.sqrt(t*t+r*r),a={mode:"jch",j:e,c:n};return n&&(a.h=Yc(Math.atan2(r,t)*180/Math.PI)),i!==void 0&&(a.alpha=i),a},QN=Wmt,Ymt=({j:e,c:t,h:r,alpha:i})=>{r===void 0&&(r=0);let n={mode:"jab",j:e,a:t?t*Math.cos(r/180*Math.PI):0,b:t?t*Math.sin(r/180*Math.PI):0};return i!==void 0&&(n.alpha=i),n},eU=Ymt,Xmt={mode:"jch",parse:["--jzczhz"],serialize:"--jzczhz",toMode:{jab:eU,rgb:e=>SU(eU(e))},fromMode:{rgb:e=>QN(MU(e)),jab:QN},channels:["j","c","h","alpha"],ranges:{j:[0,.221],c:[0,.19],h:[0,360]},interpolate:{h:{use:Ni,fixup:Kv},c:Ni,j:Ni,alpha:{use:Ni,fixup:Cu}},difference:{h:V6},average:{h:Jv}},Aue=Xmt,CC=Math.pow(29,3)/Math.pow(3,3),EU=Math.pow(6,3)/Math.pow(29,3),qN=e=>Math.pow(e,3)>EU?Math.pow(e,3):(116*e-16)/CC,Zmt=({l:e,a:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=(e+16)/116,a=t/500+n,o=n-r/200,s={mode:"xyz50",x:qN(a)*ku.X,y:qN(n)*ku.Y,z:qN(o)*ku.Z};return i!==void 0&&(s.alpha=i),s},DC=Zmt,Kmt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Px({r:e*3.1341359569958707-t*1.6173863321612538-.4906619460083532*r,g:e*-.978795502912089+t*1.916254567259524+.03344273116131949*r,b:e*.07195537988411677-t*.2289768264158322+1.405386058324125*r});return i!==void 0&&(n.alpha=i),n},$3=Kmt,Jmt=e=>$3(DC(e)),kU=Jmt,Qmt=e=>{let{r:t,g:r,b:i,alpha:n}=Lx(e),a={mode:"xyz50",x:.436065742824811*t+.3851514688337912*r+.14307845442264197*i,y:.22249319175623702*t+.7168870538238823*r+.06061979053616537*i,z:.013923904500943465*t+.09708128566574634*r+.7140993584005155*i};return n!==void 0&&(a.alpha=n),a},W3=Qmt,ON=e=>e>EU?Math.cbrt(e):(CC*e+16)/116,eyt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=ON(e/ku.X),a=ON(t/ku.Y),o=ON(r/ku.Z),s={mode:"lab",l:116*a-16,a:500*(n-a),b:200*(a-o)};return i!==void 0&&(s.alpha=i),s},FC=eyt,tyt=e=>{let t=FC(W3(e));return e.r===e.b&&e.b===e.g&&(t.a=t.b=0),t},CU=tyt;function ryt(e,t){if(!t||t[0]!=="lab")return;let r={mode:"lab"},[,i,n,a,o]=t;if(!(i.type===bi.Hue||n.type===bi.Hue||a.type===bi.Hue))return i.type!==bi.None&&(r.l=Math.min(Math.max(0,i.value),100)),n.type!==bi.None&&(r.a=n.type===bi.Number?n.value:n.value*125/100),a.type!==bi.None&&(r.b=a.type===bi.Number?a.value:a.value*125/100),o.type!==bi.None&&(r.alpha=Math.min(1,Math.max(0,o.type===bi.Number?o.value:o.value/100))),r}var Mue=ryt,iyt={mode:"lab",toMode:{xyz50:DC,rgb:kU},fromMode:{xyz50:FC,rgb:CU},channels:["l","a","b","alpha"],ranges:{l:[0,100],a:[-125,125],b:[-125,125]},parse:[Mue],serialize:e=>`lab(${e.l!==void 0?e.l:"none"} ${e.a!==void 0?e.a:"none"} ${e.b!==void 0?e.b:"none"}${e.alpha<1?` / ${e.alpha}`:""})`,interpolate:{l:Ni,a:Ni,b:Ni,alpha:{use:Ni,fixup:Cu}}},LC=iyt,nyt=ma(fn({},LC),{mode:"lab65",parse:["--lab-d65"],serialize:"--lab-d65",toMode:{xyz65:mU,rgb:G6},fromMode:{xyz65:yU,rgb:H6},ranges:{l:[0,100],a:[-125,125],b:[-125,125]}}),Sue=nyt;function ayt(e,t){if(!t||t[0]!=="lch")return;let r={mode:"lch"},[,i,n,a,o]=t;if(i.type!==bi.None){if(i.type===bi.Hue)return;r.l=Math.min(Math.max(0,i.value),100)}if(n.type!==bi.None&&(r.c=Math.max(0,n.type===bi.Number?n.value:n.value*150/100)),a.type!==bi.None){if(a.type===bi.Percentage)return;r.h=a.value}return o.type!==bi.None&&(r.alpha=Math.min(1,Math.max(0,o.type===bi.Number?o.value:o.value/100))),r}var Eue=ayt,oyt={mode:"lch",toMode:{lab:Sg,rgb:e=>kU(Sg(e))},fromMode:{rgb:e=>Mg(CU(e)),lab:Mg},channels:["l","c","h","alpha"],ranges:{l:[0,100],c:[0,150],h:[0,360]},parse:[Eue],serialize:e=>`lch(${e.l!==void 0?e.l:"none"} ${e.c!==void 0?e.c:"none"} ${e.h!==void 0?e.h:"none"}${e.alpha<1?` / ${e.alpha}`:""})`,interpolate:{h:{use:Ni,fixup:Kv},c:Ni,l:Ni,alpha:{use:Ni,fixup:Cu}},difference:{h:V6},average:{h:Jv}},PC=oyt,syt=ma(fn({},PC),{mode:"lch65",parse:["--lch-d65"],serialize:"--lch-d65",toMode:{lab65:e=>Sg(e,"lab65"),rgb:e=>G6(Sg(e,"lab65"))},fromMode:{rgb:e=>Mg(H6(e),"lch65"),lab65:e=>Mg(e,"lch65")},ranges:{l:[0,100],c:[0,150],h:[0,360]}}),kue=syt,lyt=({l:e,u:t,v:r,alpha:i})=>{t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.sqrt(t*t+r*r),a={mode:"lchuv",l:e,c:n};return n&&(a.h=Yc(Math.atan2(r,t)*180/Math.PI)),i!==void 0&&(a.alpha=i),a},DU=lyt,uyt=({l:e,c:t,h:r,alpha:i})=>{r===void 0&&(r=0);let n={mode:"luv",l:e,u:t?t*Math.cos(r/180*Math.PI):0,v:t?t*Math.sin(r/180*Math.PI):0};return i!==void 0&&(n.alpha=i),n},FU=uyt,Cue=(e,t,r)=>4*e/(e+15*t+3*r),Due=(e,t,r)=>9*t/(e+15*t+3*r),cyt=Cue(ku.X,ku.Y,ku.Z),fyt=Due(ku.X,ku.Y,ku.Z),hyt=e=>e<=EU?CC*e:116*Math.cbrt(e)-16,dyt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=hyt(t/ku.Y),a=Cue(e,t,r),o=Due(e,t,r);!isFinite(a)||!isFinite(o)?n=a=o=0:(a=13*n*(a-cyt),o=13*n*(o-fyt));let s={mode:"luv",l:n,u:a,v:o};return i!==void 0&&(s.alpha=i),s},bC=dyt,pyt=(e,t,r)=>4*e/(e+15*t+3*r),vyt=(e,t,r)=>9*t/(e+15*t+3*r),gyt=pyt(ku.X,ku.Y,ku.Z),myt=vyt(ku.X,ku.Y,ku.Z),yyt=({l:e,u:t,v:r,alpha:i})=>{if(e===void 0&&(e=0),e===0)return{mode:"xyz50",x:0,y:0,z:0};t===void 0&&(t=0),r===void 0&&(r=0);let n=t/(13*e)+gyt,a=r/(13*e)+myt,o=ku.Y*(e<=8?e/CC:Math.pow((e+16)/116,3)),s=o*(9*n)/(4*a),l=o*(12-3*n-20*a)/(4*a),u={mode:"xyz50",x:s,y:o,z:l};return i!==void 0&&(u.alpha=i),u},wC=yyt,xyt=e=>DU(bC(W3(e))),_yt=e=>$3(wC(FU(e))),byt={mode:"lchuv",toMode:{luv:FU,rgb:_yt},fromMode:{rgb:xyt,luv:DU},channels:["l","c","h","alpha"],parse:["--lchuv"],serialize:"--lchuv",ranges:{l:[0,100],c:[0,176.956],h:[0,360]},interpolate:{h:{use:Ni,fixup:Kv},c:Ni,l:Ni,alpha:{use:Ni,fixup:Cu}},difference:{h:V6},average:{h:Jv}},Fue=byt,wyt=ma(fn({},Fx),{mode:"lrgb",toMode:{rgb:Px},fromMode:{rgb:Lx},parse:["srgb-linear"],serialize:"srgb-linear"}),Lue=wyt,Tyt={mode:"luv",toMode:{xyz50:wC,rgb:e=>$3(wC(e))},fromMode:{xyz50:bC,rgb:e=>bC(W3(e))},channels:["l","u","v","alpha"],parse:["--luv"],serialize:"--luv",ranges:{l:[0,100],u:[-84.936,175.042],v:[-125.882,87.243]},interpolate:{l:Ni,u:Ni,v:Ni,alpha:{use:Ni,fixup:Cu}}},Pue=Tyt,Ayt=({r:e,g:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.cbrt(.412221469470763*e+.5363325372617348*t+.0514459932675022*r),a=Math.cbrt(.2119034958178252*e+.6806995506452344*t+.1073969535369406*r),o=Math.cbrt(.0883024591900564*e+.2817188391361215*t+.6299787016738222*r),s={mode:"oklab",l:.210454268309314*n+.7936177747023054*a-.0040720430116193*o,a:1.9779985324311684*n-2.42859224204858*a+.450593709617411*o,b:.0259040424655478*n+.7827717124575296*a-.8086757549230774*o};return i!==void 0&&(s.alpha=i),s},LU=Ayt,Myt=e=>{let t=LU(Lx(e));return e.r===e.b&&e.b===e.g&&(t.a=t.b=0),t},j6=Myt,Syt=({l:e,a:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Math.pow(e+.3963377773761749*t+.2158037573099136*r,3),a=Math.pow(e-.1055613458156586*t-.0638541728258133*r,3),o=Math.pow(e-.0894841775298119*t-1.2914855480194092*r,3),s={mode:"lrgb",r:4.076741636075957*n-3.3077115392580616*a+.2309699031821044*o,g:-1.2684379732850317*n+2.6097573492876887*a-.3413193760026573*o,b:-.0041960761386756*n-.7034186179359362*a+1.7076146940746117*o};return i!==void 0&&(s.alpha=i),s},Y3=Syt,Eyt=e=>Px(Y3(e)),$6=Eyt;function tU(e){let i=1.170873786407767;return .5*(i*e-.206+Math.sqrt((i*e-.206)*(i*e-.206)+4*.03*i*e))}function TC(e){return(e*e+.206*e)/(1.170873786407767*(e+.03))}function kyt(e,t){let r,i,n,a,o,s,l,u;-1.88170328*e-.80936493*t>1?(r=1.19086277,i=1.76576728,n=.59662641,a=.75515197,o=.56771245,s=4.0767416621,l=-3.3077115913,u=.2309699292):1.81444104*e-1.19445276*t>1?(r=.73956515,i=-.45954404,n=.08285427,a=.1254107,o=.14503204,s=-1.2684380046,l=2.6097574011,u=-.3413193965):(r=1.35733652,i=-.00915799,n=-1.1513021,a=-.50559606,o=.00692167,s=-.0041960863,l=-.7034186147,u=1.707614701);let c=r+i*e+n*t+a*e*e+o*e*t,f=.3963377774*e+.2158037573*t,h=-.1055613458*e-.0638541728*t,d=-.0894841775*e-1.291485548*t;{let p=1+c*f,v=1+c*h,m=1+c*d,g=p*p*p,w=v*v*v,b=m*m*m,_=3*f*p*p,M=3*h*v*v,x=3*d*m*m,T=6*f*f*p,A=6*h*h*v,y=6*d*d*m,E=s*g+l*w+u*b,S=s*_+l*M+u*x,C=s*T+l*A+u*y;c=c-E*S/(S*S-.5*E*C)}return c}function PU(e,t){let r=kyt(e,t),i=Y3({l:1,a:r*e,b:r*t}),n=Math.cbrt(1/Math.max(i.r,i.g,i.b)),a=n*r;return[n,a]}function Cyt(e,t,r,i,n,a=null){a||(a=PU(e,t));let o;if((r-n)*a[1]-(a[0]-n)*i<=0)o=a[1]*n/(i*a[0]+a[1]*(n-r));else{o=a[1]*(n-1)/(i*(a[0]-1)+a[1]*(n-r));{let s=r-n,l=i,u=.3963377774*e+.2158037573*t,c=-.1055613458*e-.0638541728*t,f=-.0894841775*e-1.291485548*t,h=s+l*u,d=s+l*c,p=s+l*f;{let v=n*(1-o)+o*r,m=o*i,g=v+m*u,w=v+m*c,b=v+m*f,_=g*g*g,M=w*w*w,x=b*b*b,T=3*h*g*g,A=3*d*w*w,y=3*p*b*b,E=6*h*h*g,S=6*d*d*w,C=6*p*p*b,k=4.0767416621*_-3.3077115913*M+.2309699292*x-1,D=4.0767416621*T-3.3077115913*A+.2309699292*y,F=4.0767416621*E-3.3077115913*S+.2309699292*C,P=D/(D*D-.5*k*F),R=-k*P,L=-1.2684380046*_+2.6097574011*M-.3413193965*x-1,I=-1.2684380046*T+2.6097574011*A-.3413193965*y,B=-1.2684380046*E+2.6097574011*S-.3413193965*C,O=I/(I*I-.5*L*B),$=-L*O,Y=-.0041960863*_-.7034186147*M+1.707614701*x-1,K=-.0041960863*T-.7034186147*A+1.707614701*y,j=-.0041960863*E-.7034186147*S+1.707614701*C,q=K/(K*K-.5*Y*j),J=-Y*q;R=P>=0?R:1e6,$=O>=0?$:1e6,J=q>=0?J:1e6,o+=Math.min(R,Math.min($,J))}}}return o}function IU(e,t,r=null){r||(r=PU(e,t));let i=r[0],n=r[1];return[n/i,n/(1-i)]}function Iue(e,t,r){let i=PU(t,r),n=Cyt(t,r,e,1,e,i),a=IU(t,r,i),o=.11516993+1/(7.4477897+4.1590124*r+t*(-2.19557347+1.75198401*r+t*(-2.13704948-10.02301043*r+t*(-4.24894561+5.38770819*r+4.69891013*t)))),s=.11239642+1/(1.6132032-.68124379*r+t*(.40370612+.90148123*r+t*(-.27087943+.6122399*r+t*(.00299215-.45399568*r-.14661872*t)))),l=n/Math.min(e*a[0],(1-e)*a[1]),u=e*o,c=(1-e)*s,f=.9*l*Math.sqrt(Math.sqrt(1/(1/(u*u*u*u)+1/(c*c*c*c))));return u=e*.4,c=(1-e)*.8,[Math.sqrt(1/(1/(u*u)+1/(c*c))),f,n]}function rU(e){let t=e.l!==void 0?e.l:0,r=e.a!==void 0?e.a:0,i=e.b!==void 0?e.b:0,n={mode:"okhsl",l:tU(t)};e.alpha!==void 0&&(n.alpha=e.alpha);let a=Math.sqrt(r*r+i*i);if(!a)return n.s=0,n;let[o,s,l]=Iue(t,r/a,i/a),u;if(arU(j6(e))},toMode:{oklab:iU,rgb:e=>$6(iU(e))}}),Rue=Dyt;function nU(e){let t=e.l!==void 0?e.l:0,r=e.a!==void 0?e.a:0,i=e.b!==void 0?e.b:0,n=Math.sqrt(r*r+i*i),a=n?r/n:1,o=n?i/n:1,[s,l]=IU(a,o),u=.5,c=1-u/s,f=l/(n+t*l),h=f*t,d=f*n,p=TC(h),v=d*p/h,m=Y3({l:p,a:a*v,b:o*v}),g=Math.cbrt(1/Math.max(m.r,m.g,m.b,0));t=t/g,n=n/g*tU(t)/t,t=tU(t);let w={mode:"okhsv",s:n?(u+l)*d/(l*u+l*c*d):0,v:t?t/h:0};return w.s&&(w.h=Yc(Math.atan2(i,r)*180/Math.PI)),e.alpha!==void 0&&(w.alpha=e.alpha),w}function aU(e){let t={mode:"oklab"};e.alpha!==void 0&&(t.alpha=e.alpha);let r=e.h!==void 0?e.h:0,i=e.s!==void 0?e.s:0,n=e.v!==void 0?e.v:0,a=Math.cos(r/180*Math.PI),o=Math.sin(r/180*Math.PI),[s,l]=IU(a,o),u=.5,c=1-u/s,f=1-i*u/(u+l-l*c*i),h=i*l*u/(u+l-l*c*i),d=TC(f),p=h*d/f,v=Y3({l:d,a:a*p,b:o*p}),m=Math.cbrt(1/Math.max(v.r,v.g,v.b,0)),g=TC(n*f),w=h*g/f;return t.l=g*m,t.a=w*a*m,t.b=w*o*m,t}var Fyt=ma(fn({},wU),{mode:"okhsv",channels:["h","s","v","alpha"],parse:["--okhsv"],serialize:"--okhsv",fromMode:{oklab:nU,rgb:e=>nU(j6(e))},toMode:{oklab:aU,rgb:e=>$6(aU(e))}}),zue=Fyt;function Lyt(e,t){if(!t||t[0]!=="oklab")return;let r={mode:"oklab"},[,i,n,a,o]=t;if(!(i.type===bi.Hue||n.type===bi.Hue||a.type===bi.Hue))return i.type!==bi.None&&(r.l=Math.min(Math.max(0,i.type===bi.Number?i.value:i.value/100),1)),n.type!==bi.None&&(r.a=n.type===bi.Number?n.value:n.value*.4/100),a.type!==bi.None&&(r.b=a.type===bi.Number?a.value:a.value*.4/100),o.type!==bi.None&&(r.alpha=Math.min(1,Math.max(0,o.type===bi.Number?o.value:o.value/100))),r}var Bue=Lyt,Pyt=ma(fn({},LC),{mode:"oklab",toMode:{lrgb:Y3,rgb:$6},fromMode:{lrgb:LU,rgb:j6},ranges:{l:[0,1],a:[-.4,.4],b:[-.4,.4]},parse:[Bue],serialize:e=>`oklab(${e.l!==void 0?e.l:"none"} ${e.a!==void 0?e.a:"none"} ${e.b!==void 0?e.b:"none"}${e.alpha<1?` / ${e.alpha}`:""})`}),que=Pyt;function Iyt(e,t){if(!t||t[0]!=="oklch")return;let r={mode:"oklch"},[,i,n,a,o]=t;if(i.type!==bi.None){if(i.type===bi.Hue)return;r.l=Math.min(Math.max(0,i.type===bi.Number?i.value:i.value/100),1)}if(n.type!==bi.None&&(r.c=Math.max(0,n.type===bi.Number?n.value:n.value*.4/100)),a.type!==bi.None){if(a.type===bi.Percentage)return;r.h=a.value}return o.type!==bi.None&&(r.alpha=Math.min(1,Math.max(0,o.type===bi.Number?o.value:o.value/100))),r}var Oue=Iyt,Ryt=ma(fn({},PC),{mode:"oklch",toMode:{oklab:e=>Sg(e,"oklab"),rgb:e=>$6(Sg(e,"oklab"))},fromMode:{rgb:e=>Mg(j6(e),"oklch"),oklab:e=>Mg(e,"oklch")},parse:[Oue],serialize:e=>`oklch(${e.l!==void 0?e.l:"none"} ${e.c!==void 0?e.c:"none"} ${e.h!==void 0?e.h:"none"}${e.alpha<1?` / ${e.alpha}`:""})`,ranges:{l:[0,1],c:[0,.4],h:[0,360]}}),Nue=Ryt,zyt=e=>{let{r:t,g:r,b:i,alpha:n}=Lx(e),a={mode:"xyz65",x:.486570948648216*t+.265667693169093*r+.1982172852343625*i,y:.2289745640697487*t+.6917385218365062*r+.079286914093745*i,z:0*t+.0451133818589026*r+1.043944368900976*i};return n!==void 0&&(a.alpha=n),a},oU=zyt,Byt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=Px({r:e*2.4934969119414263-t*.9313836179191242-.402710784450717*r,g:e*-.8294889695615749+t*1.7626640603183465+.0236246858419436*r,b:e*.0358458302437845-t*.0761723892680418+.9568845240076871*r},"p3");return i!==void 0&&(n.alpha=i),n},sU=Byt,qyt=ma(fn({},Fx),{mode:"p3",parse:["display-p3"],serialize:"display-p3",fromMode:{rgb:e=>sU(ly(e)),xyz65:sU},toMode:{rgb:e=>uy(oU(e)),xyz65:oU}}),Uue=qyt,NN=e=>{let t=Math.abs(e);return t>=1/512?Math.sign(e)*Math.pow(t,1/1.8):16*e},Oyt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n={mode:"prophoto",r:NN(e*1.3457868816471585-t*.2555720873797946-.0511018649755453*r),g:NN(e*-.5446307051249019+t*1.5082477428451466+.0205274474364214*r),b:NN(e*0+t*0+1.2119675456389452*r)};return i!==void 0&&(n.alpha=i),n},lU=Oyt,UN=(e=0)=>{let t=Math.abs(e);return t>=16/512?Math.sign(e)*Math.pow(t,1.8):e/16},Nyt=e=>{let t=UN(e.r),r=UN(e.g),i=UN(e.b),n={mode:"xyz50",x:.7977666449006423*t+.1351812974005331*r+.0313477341283922*i,y:.2880748288194013*t+.7118352342418731*r+899369387256e-16*i,z:0*t+0*r+.8251046025104602*i};return e.alpha!==void 0&&(n.alpha=e.alpha),n},uU=Nyt,Uyt=ma(fn({},Fx),{mode:"prophoto",parse:["prophoto-rgb"],serialize:"prophoto-rgb",fromMode:{xyz50:lU,rgb:e=>lU(W3(e))},toMode:{xyz50:uU,rgb:e=>$3(uU(e))}}),Vue=Uyt,Rle=1.09929682680944,Vyt=.018053968510807,VN=e=>{let t=Math.abs(e);return t>Vyt?(Math.sign(e)||1)*(Rle*Math.pow(t,.45)-(Rle-1)):4.5*e},Gyt=({x:e,y:t,z:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n={mode:"rec2020",r:VN(e*1.7166511879712683-t*.3556707837763925-.2533662813736599*r),g:VN(e*-.6666843518324893+t*1.6164812366349395+.0157685458139111*r),b:VN(e*.0176398574453108-t*.0427706132578085+.9421031212354739*r)};return i!==void 0&&(n.alpha=i),n},cU=Gyt,zle=1.09929682680944,Hyt=.018053968510807,GN=(e=0)=>{let t=Math.abs(e);return t{let t=GN(e.r),r=GN(e.g),i=GN(e.b),n={mode:"xyz65",x:.6369580483012911*t+.1446169035862083*r+.1688809751641721*i,y:.262700212011267*t+.6779980715188708*r+.059301716469862*i,z:0*t+.0280726930490874*r+1.0609850577107909*i};return e.alpha!==void 0&&(n.alpha=e.alpha),n},fU=jyt,$yt=ma(fn({},Fx),{mode:"rec2020",fromMode:{xyz65:cU,rgb:e=>cU(ly(e))},toMode:{xyz65:fU,rgb:e=>uy(fU(e))},parse:["rec2020"],serialize:"rec2020"}),Gue=$yt,Cx=.0037930732552754493,Hue=Math.cbrt(Cx),HN=e=>Math.cbrt(e)-Hue,Wyt=e=>{let{r:t,g:r,b:i,alpha:n}=Lx(e),a=HN(.3*t+.622*r+.078*i+Cx),o=HN(.23*t+.692*r+.078*i+Cx),s=HN(.2434226892454782*t+.2047674442449682*r+.5518098665095535*i+Cx),l={mode:"xyb",x:(a-o)/2,y:(a+o)/2,b:s-(a+o)/2};return n!==void 0&&(l.alpha=n),l},jue=Wyt,jN=e=>Math.pow(e+Hue,3),Yyt=({x:e,y:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n=jN(e+t)-Cx,a=jN(t-e)-Cx,o=jN(r+t)-Cx,s=Px({r:11.031566904639861*n-9.866943908131562*a-.16462299650829934*o,g:-3.2541473810744237*n+4.418770377582723*a-.16462299650829934*o,b:-3.6588512867136815*n+2.7129230459360922*a+1.9459282407775895*o});return i!==void 0&&(s.alpha=i),s},$ue=Yyt,Xyt={mode:"xyb",channels:["x","y","b","alpha"],parse:["--xyb"],serialize:"--xyb",toMode:{rgb:$ue},fromMode:{rgb:jue},ranges:{x:[-.0154,.0281],y:[0,.8453],b:[-.2778,.388]},interpolate:{x:Ni,y:Ni,b:Ni,alpha:{use:Ni,fixup:Cu}}},Wue=Xyt,Zyt={mode:"xyz50",parse:["xyz-d50"],serialize:"xyz-d50",toMode:{rgb:$3,lab:FC},fromMode:{rgb:W3,lab:DC},channels:["x","y","z","alpha"],ranges:{x:[0,.964],y:[0,.999],z:[0,.825]},interpolate:{x:Ni,y:Ni,z:Ni,alpha:{use:Ni,fixup:Cu}}},Yue=Zyt,Kyt=e=>{let{x:t,y:r,z:i,alpha:n}=e;t===void 0&&(t=0),r===void 0&&(r=0),i===void 0&&(i=0);let a={mode:"xyz50",x:1.0479298208405488*t+.0229467933410191*r-.0501922295431356*i,y:.0296278156881593*t+.990434484573249*r-.0170738250293851*i,z:-.0092430581525912*t+.0150551448965779*r+.7518742899580008*i};return n!==void 0&&(a.alpha=n),a},Xue=Kyt,Jyt=e=>{let{x:t,y:r,z:i,alpha:n}=e;t===void 0&&(t=0),r===void 0&&(r=0),i===void 0&&(i=0);let a={mode:"xyz65",x:.9554734527042182*t-.0230985368742614*r+.0632593086610217*i,y:-.0283697069632081*t+1.0099954580058226*r+.021041398966943*i,z:.0123140016883199*t-.0205076964334779*r+1.3303659366080753*i};return n!==void 0&&(a.alpha=n),a},Zue=Jyt,Qyt={mode:"xyz65",toMode:{rgb:uy,xyz50:Xue},fromMode:{rgb:ly,xyz50:Zue},ranges:{x:[0,.95],y:[0,1],z:[0,1.088]},channels:["x","y","z","alpha"],parse:["xyz","xyz-d65"],serialize:"xyz-d65",interpolate:{x:Ni,y:Ni,z:Ni,alpha:{use:Ni,fixup:Cu}}},Kue=Qyt,e2t=({r:e,g:t,b:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n={mode:"yiq",y:.29889531*e+.58662247*t+.11448223*r,i:.59597799*e-.2741761*t-.32180189*r,q:.21147017*e-.52261711*t+.31114694*r};return i!==void 0&&(n.alpha=i),n},Jue=e2t,t2t=({y:e,i:t,q:r,alpha:i})=>{e===void 0&&(e=0),t===void 0&&(t=0),r===void 0&&(r=0);let n={mode:"rgb",r:e+.95608445*t+.6208885*r,g:e-.27137664*t-.6486059*r,b:e-1.10561724*t+1.70250126*r};return i!==void 0&&(n.alpha=i),n},Que=t2t,r2t={mode:"yiq",toMode:{rgb:Que},fromMode:{rgb:Jue},channels:["y","i","q","alpha"],parse:["--yiq"],serialize:"--yiq",ranges:{i:[-.595,.595],q:[-.522,.522]},interpolate:{y:Ni,i:Ni,q:Ni,alpha:{use:Ni,fixup:Cu}}},ece=r2t,i2t=(e,t)=>Math.round(e*(t=Math.pow(10,t)))/t,n2t=(e=4)=>t=>typeof t=="number"?i2t(t,e):t,tce=n2t,B6=tce(2),O6=e=>Math.max(0,Math.min(1,e||0)),Dx=e=>Math.round(O6(e)*255),RU=ys("rgb"),a2t=ys("hsl"),zU=e=>{if(e===void 0)return;let t=Dx(e.r),r=Dx(e.g),i=Dx(e.b);return"#"+(1<<24|t<<16|r<<8|i).toString(16).slice(1)},rce=e=>{if(e===void 0)return;let t=Dx(e.alpha!==void 0?e.alpha:1);return zU(e)+(256|t).toString(16).slice(1)},ice=e=>{if(e===void 0)return;let t=Dx(e.r),r=Dx(e.g),i=Dx(e.b);return e.alpha===void 0||e.alpha===1?`rgb(${t}, ${r}, ${i})`:`rgba(${t}, ${r}, ${i}, ${B6(O6(e.alpha))})`},nce=e=>{if(e===void 0)return;let t=B6(e.h||0),r=B6(O6(e.s)*100)+"%",i=B6(O6(e.l)*100)+"%";return e.alpha===void 0||e.alpha===1?`hsl(${t}, ${r}, ${i})`:`hsla(${t}, ${r}, ${i}, ${B6(O6(e.alpha))})`},o2t=e=>{let t=Pp(e);if(!t)return;let r=yf(t.mode);if(!r.serialize||typeof r.serialize=="string"){let i=`color(${r.serialize||`--${t.mode}`} `;return r.channels.forEach((n,a)=>{n!=="alpha"&&(i+=(a?" ":"")+(t[n]!==void 0?t[n]:"none"))}),t.alpha!==void 0&&t.alpha<1&&(i+=` / ${t.alpha}`),i+")"}if(typeof r.serialize=="function")return r.serialize(t)},s2t=e=>zU(RU(e)),l2t=e=>rce(RU(e)),u2t=e=>ice(RU(e)),c2t=e=>nce(a2t(e)),f2t={normal:(e,t)=>t,multiply:(e,t)=>e*t,screen:(e,t)=>e+t-e*t,"hard-light":(e,t)=>t<.5?e*2*t:2*t*(1-e)-1,overlay:(e,t)=>e<.5?t*2*e:2*e*(1-t)-1,darken:(e,t)=>Math.min(e,t),lighten:(e,t)=>Math.max(e,t),"color-dodge":(e,t)=>e===0?0:t===1?1:Math.min(1,e/(1-t)),"color-burn":(e,t)=>e===1?1:t===0?0:1-Math.min(1,(1-e)/t),"soft-light":(e,t)=>t<.5?e-(1-2*t)*e*(1-e):e+(2*t-1)*((e<.25?((16*e-12)*e+4)*e:Math.sqrt(e))-e),difference:(e,t)=>Math.abs(e-t),exclusion:(e,t)=>e+t-2*e*t},h2t=(e,t="normal",r="rgb")=>{let i=typeof t=="function"?t:f2t[t],n=ys(r),a=yf(r).channels;return e.map(s=>{let l=n(s);return l.alpha===void 0&&(l.alpha=1),l}).reduce((s,l)=>{if(s===void 0)return l;let u=l.alpha+s.alpha*(1-l.alpha);return a.reduce((c,f)=>(f!=="alpha"&&(u===0?c[f]=0:(c[f]=l.alpha*(1-s.alpha)*l[f]+l.alpha*s.alpha*i(s[f],l[f])+(1-l.alpha)*s.alpha*s[f],c[f]=Math.max(0,Math.min(1,c[f]/u)))),c),{mode:r,alpha:u})})},d2t=h2t,p2t=([e,t])=>e+Math.random()*(t-e),v2t=e=>Object.keys(e).reduce((t,r)=>{let i=e[r];return t[r]=Array.isArray(i)?i:[i,i],t},{}),g2t=(e="rgb",t={})=>{let r=yf(e),i=v2t(t);return r.channels.reduce((n,a)=>((i.alpha||a!=="alpha")&&(n[a]=p2t(i[a]||r.ranges[a])),n),{mode:e})},m2t=g2t,W6=(e,t="rgb",r=!1)=>{let i=t?yf(t).channels:null,n=t?ys(t):Pp;return a=>{let o=n(a);if(!o)return;let s=(i||yf(o.mode).channels).reduce((u,c)=>{let f=e(o[c],c,o,t);return f!==void 0&&!isNaN(f)&&(u[c]=f),u},{mode:o.mode});if(!r)return s;let l=Pp(a);return l&&l.mode!==s.mode?ys(l.mode)(s):s}},ace=(e,t,r)=>t!=="alpha"?(e||0)*(r.alpha!==void 0?r.alpha:1):e,oce=(e,t,r)=>t!=="alpha"&&r.alpha!==0?(e||0)/(r.alpha!==void 0?r.alpha:1):e,BU=(e=1,t=0)=>(r,i)=>i!=="alpha"?r*e+t:r,y2t=(e=1,t=1,r=0)=>(i,n)=>n!=="alpha"?e*Math.pow(i,t)+r:i,x2t=e=>{e[0]===void 0&&(e[0]=0),e[e.length-1]===void 0&&(e[e.length-1]=1);let t=1,r,i,n,a;for(;tt=>e<=0?1:e>=1?0:Math.pow(t,Math.log(.5)/Math.log(e)),sce=b2t,dC=e=>typeof e=="function",Ex=e=>e&&typeof e=="object",Ble=e=>typeof e=="number",lce=(e,t="rgb",r,i)=>{let n=yf(t),a=ys(t),o=[],s=[],l={};e.forEach(h=>{Array.isArray(h)?(o.push(a(h[0])),s.push(h[1])):Ble(h)||dC(h)?l[s.length]=h:(o.push(a(h)),s.push(void 0))}),_2t(s);let u=n.channels.reduce((h,d)=>{let p;return Ex(r)&&Ex(r[d])&&r[d].fixup?p=r[d].fixup:Ex(n.interpolate[d])&&n.interpolate[d].fixup?p=n.interpolate[d].fixup:p=v=>v,h[d]=p(o.map(v=>v[d])),h},{});if(i){let h=o.map((d,p)=>n.channels.reduce((v,m)=>(v[m]=u[m][p],v),{mode:t}));u=n.channels.reduce((d,p)=>(d[p]=h.map(v=>{let m=i(v[p],p,v,t);return isNaN(m)?void 0:m}),d),{})}let c=n.channels.reduce((h,d)=>{let p;return dC(r)?p=r:Ex(r)&&dC(r[d])?p=r[d]:Ex(r)&&Ex(r[d])&&r[d].use?p=r[d].use:dC(n.interpolate[d])?p=n.interpolate[d]:Ex(n.interpolate[d])&&(p=n.interpolate[d].use),h[d]=p(u[d]),h},{}),f=o.length-1;return h=>{if(h=Math.min(Math.max(0,h),1),h<=s[0])return o[0];if(h>s[f])return o[f];let d=0;for(;s[d]{let M=c[_](w);return M!==void 0&&(b[_]=M),b},{mode:t})}},w2t=(e,t="rgb",r)=>lce(e,t,r),uce=(e,t)=>(r,i="rgb",n)=>{let a=t?W6(t,i):void 0,o=lce(r,i,n,e);return a?s=>a(o(s)):o},T2t=uce(ace,oce),pC=(e,t)=>(e+t)%t,cce=(e,t,r,i,n)=>{let a=n*n,o=a*n;return((1-3*n+3*a-o)*e+(4-6*a+3*o)*t+(1+3*n+3*a-3*o)*r+o*i)/6},fce=e=>t=>{let r=e.length-1,i=t>=1?r-1:Math.max(0,Math.floor(t*r));return cce(i>0?e[i-1]:2*e[i]-e[i+1],e[i],e[i+1],it=>{let r=e.length-1,i=Math.floor(t*r);return cce(e[pC(i-1,e.length)],e[pC(i,e.length)],e[pC(i+1,e.length)],e[pC(i+2,e.length)],(t-i/r)*r)},dce=e=>{let t,r=e.length-1,i=new Array(r),n=new Array(r),a=new Array(r);for(i[1]=1/4,n[1]=(6*e[1]-e[0])/4,t=2;t0&&(a[r-1]=n[r-1]),t=r-2;t>0;--t)a[t]=n[t]-i[t]*a[t+1];return a},A2t=e=>fce(dce(e)),M2t=e=>hce(dce(e)),U3=Math.sign,hU=Math.min,f0=Math.abs,qU=e=>{let t=e.length-1,r=[],i=[],n=[];for(let a=0;a0?.5*(e[a+1]-e[a-1])*t:void 0),n.push(a>0?(U3(r[a-1])+U3(r[a]))*hU(f0(r[a-1]),f0(r[a]),.5*f0(i[a])):void 0);return[r,i,n]},OU=(e,t,r)=>{let i=e.length-1,n=i*i;return a=>{let o;a>=1?o=i-1:o=Math.max(0,Math.floor(a*i));let s=a-o/i,l=s*s,u=l*s;return(t[o]+t[o+1]-2*r[o])*n*u+(3*r[o]-2*t[o]-t[o+1])*i*l+t[o]*s+e[o]}},S2t=e=>{if(e.length<3)return Ni(e);let t=e.length-1,[r,,i]=qU(e);return i[0]=r[0],i[t]=r[t-1],OU(e,i,r)},E2t=e=>{if(e.length<3)return Ni(e);let t=e.length-1,[r,i,n]=qU(e);return i[0]=(e[1]*2-e[0]*1.5-e[2]*.5)*t,i[t]=(e[t]*1.5-e[t-1]*2+e[t-2]*.5)*t,n[0]=i[0]*r[0]<=0?0:f0(i[0])>2*f0(r[0])?2*r[0]:i[0],n[t]=i[t]*r[t-1]<=0?0:f0(i[t])>2*f0(r[t-1])?2*r[t-1]:i[t],OU(e,n,r)},k2t=e=>{let t=e.length-1,[r,i,n]=qU(e);i[0]=.5*(e[1]-e[t])*t,i[t]=.5*(e[0]-e[t-1])*t;let a=(e[0]-e[t])*t,o=a;return n[0]=(U3(a)+U3(r[0]))*hU(f0(a),f0(r[0]),.5*f0(i[0])),n[t]=(U3(r[t-1])+U3(o))*hU(f0(r[t-1]),f0(o),.5*f0(i[t])),OU(e,n,r)},C2t=(e=1)=>e===1?t=>t:t=>Math.pow(t,e),pce=C2t,D2t=(e=2,t=1)=>{let r=pce(t);if(e<2)return e<1?[]:[r(.5)];let i=[];for(let n=0;n{let t={mode:e.mode,r:Math.max(0,Math.min(e.r!==void 0?e.r:0,1)),g:Math.max(0,Math.min(e.g!==void 0?e.g:0,1)),b:Math.max(0,Math.min(e.b!==void 0?e.b:0,1))};return e.alpha!==void 0&&(t.alpha=e.alpha),t},mce=e=>gce(vce(e)),yce=e=>e!==void 0&&(e.r===void 0||e.r>=0&&e.r<=1)&&(e.g===void 0||e.g>=0&&e.g<=1)&&(e.b===void 0||e.b>=0&&e.b<=1);function NU(e){return yce(vce(e))}function IC(e="rgb"){let{gamut:t}=yf(e);if(!t)return i=>!0;let r=ys(typeof t=="string"?t:e);return i=>yce(r(i))}function L2t(e){return e=Pp(e),e===void 0||NU(e)?e:ys(e.mode)(mce(e))}function UU(e="rgb"){let{gamut:t}=yf(e);if(!t)return a=>Pp(a);let r=typeof t=="string"?t:e,i=ys(r),n=IC(r);return a=>{let o=Pp(a);if(!o)return;let s=i(o);if(n(s))return o;let l=gce(s);return o.mode===l.mode?l:ys(o.mode)(l)}}function P2t(e,t="lch",r="rgb"){e=Pp(e);let i=r==="rgb"?NU:IC(r),n=r==="rgb"?mce:UU(r);if(e===void 0||i(e))return e;let a=ys(e.mode);e=ys(t)(e);let o=ma(fn({},e),{c:0});if(!i(o))return a(n(o));let s=0,l=e.c!==void 0?e.c:0,u=yf(t).ranges.c,c=(u[1]-u[0])/Math.pow(2,13),f=o.c;for(;l-s>c;)o.c=s+(l-s)*.5,i(o)?(f=o.c,s=o.c):l=o.c;return a(i(o)?o:ma(fn({},o),{c:f}))}function I2t(e="rgb",t="oklch",r=j3("oklch"),i=.02){let n=ys(e),a=yf(e);if(!a.gamut)return c=>n(c);let o=IC(e),s=UU(e),l=ys(t),{ranges:u}=yf(t);if(!u.l||!u.c)throw new Error("LCH-like space expected");return c=>{if(c=Pp(c),c===void 0)return;let f=fn({},l(c));if(f.l===void 0&&(f.l=0),f.c===void 0&&(f.c=0),f.l>=u.l[1]){let m=ma(fn({},a.white),{mode:e});return c.alpha!==void 0&&(m.alpha=c.alpha),m}if(f.l<=u.l[0]){let m=ma(fn({},a.black),{mode:e});return c.alpha!==void 0&&(m.alpha=c.alpha),m}if(o(f))return n(f);let h=0,d=f.c,p=(u.c[1]-u.c[0])/4e3,v=s(f);for(;d-h>p;)f.c=(h+d)*.5,v=s(f),o(f)||r&&i>0&&r(f,v)<=i?h=f.c:d=f.c;return n(o(f)?f:v)}}var R2t=(e,t=j3(),r=i=>i)=>{let i=e.map((n,a)=>({color:r(n),i:a}));return(n,a=1,o=1/0)=>(isFinite(a)&&(a=Math.max(1,Math.min(a,i.length-1))),i.forEach(s=>{s.d=t(n,s.color)}),i.sort((s,l)=>s.d-l.d).slice(0,a).filter(s=>s.de[s.i]))},z2t=R2t,VU=e=>Math.max(e,0),GU=e=>Math.max(Math.min(e,1),0),B2t=(e,t,r)=>e===void 0||t===void 0?void 0:e+r*(t-e),q2t=e=>{let t=1-GU(e);return[.393+.607*t,.769-.769*t,.189-.189*t,0,.349-.349*t,.686+.314*t,.168-.168*t,0,.272-.272*t,.534-.534*t,.131+.869*t,0,0,0,0,1]},O2t=e=>{let t=VU(e);return[.213+.787*t,.715-.715*t,.072-.072*t,0,.213-.213*t,.715+.285*t,.072-.072*t,0,.213-.213*t,.715-.715*t,.072+.928*t,0,0,0,0,1]},N2t=e=>{let t=1-GU(e);return[.2126+.7874*t,.7152-.7152*t,.0722-.0722*t,0,.2126-.2126*t,.7152+.2848*t,.0722-.0722*t,0,.2126-.2126*t,.7152-.7152*t,.0722+.9278*t,0,0,0,0,1]},U2t=e=>{let t=Math.PI*e/180,r=Math.cos(t),i=Math.sin(t);return[.213+r*.787-i*.213,.715-r*.715-i*.715,.072-r*.072+i*.928,0,.213-r*.213+i*.143,.715+r*.285+i*.14,.072-r*.072-i*.283,0,.213-r*.213-i*.787,.715-r*.715+i*.715,.072+r*.928+i*.072,0,0,0,0,1]},RC=(e,t,r=!1)=>{let i=ys(t),n=yf(t).channels;return a=>{let o=i(a);if(!o)return;let s={mode:t},l,u=n.length;for(let f=0;f{let r=VU(e);return W6(BU(r),t,!0)},G2t=(e=1,t="rgb")=>{let r=VU(e);return W6(BU(r,(1-r)/2),t,!0)},H2t=(e=1,t="rgb")=>RC(q2t(e),t,!0),j2t=(e=1,t="rgb")=>RC(O2t(e),t,!0),$2t=(e=1,t="rgb")=>RC(N2t(e),t,!0),W2t=(e=1,t="rgb")=>{let r=GU(e);return W6((i,n)=>n==="alpha"?i:B2t(r,1-r,i),t,!0)},Y2t=(e=0,t="rgb")=>RC(U2t(e),t,!0),X2t=ys("rgb"),Z2t=[[1,0,-0,0,1,0,-0,-0,1],[.856167,.182038,-.038205,.029342,.955115,.015544,-.00288,-.001563,1.004443],[.734766,.334872,-.069637,.05184,.919198,.028963,-.004928,-.004209,1.009137],[.630323,.465641,-.095964,.069181,.890046,.040773,-.006308,-.007724,1.014032],[.539009,.579343,-.118352,.082546,.866121,.051332,-.007136,-.011959,1.019095],[.458064,.679578,-.137642,.092785,.846313,.060902,-.007494,-.016807,1.024301],[.38545,.769005,-.154455,.100526,.829802,.069673,-.007442,-.02219,1.029632],[.319627,.849633,-.169261,.106241,.815969,.07779,-.007025,-.028051,1.035076],[.259411,.923008,-.18242,.110296,.80434,.085364,-.006276,-.034346,1.040622],[.203876,.990338,-.194214,.112975,.794542,.092483,-.005222,-.041043,1.046265],[.152286,1.052583,-.204868,.114503,.786281,.099216,-.003882,-.048116,1.051998]],K2t=[[1,0,-0,0,1,0,-0,-0,1],[.866435,.177704,-.044139,.049567,.939063,.01137,-.003453,.007233,.99622],[.760729,.319078,-.079807,.090568,.889315,.020117,-.006027,.013325,.992702],[.675425,.43385,-.109275,.125303,.847755,.026942,-.00795,.018572,.989378],[.605511,.52856,-.134071,.155318,.812366,.032316,-.009376,.023176,.9862],[.547494,.607765,-.155259,.181692,.781742,.036566,-.01041,.027275,.983136],[.498864,.674741,-.173604,.205199,.754872,.039929,-.011131,.030969,.980162],[.457771,.731899,-.18967,.226409,.731012,.042579,-.011595,.034333,.977261],[.422823,.781057,-.203881,.245752,.709602,.044646,-.011843,.037423,.974421],[.392952,.82361,-.216562,.263559,.69021,.046232,-.01191,.040281,.97163],[.367322,.860646,-.227968,.280085,.672501,.047413,-.01182,.04294,.968881]],J2t=[[1,0,-0,0,1,0,-0,-0,1],[.92667,.092514,-.019184,.021191,.964503,.014306,.008437,.054813,.93675],[.89572,.13333,-.02905,.029997,.9454,.024603,.013027,.104707,.882266],[.905871,.127791,-.033662,.026856,.941251,.031893,.01341,.148296,.838294],[.948035,.08949,-.037526,.014364,.946792,.038844,.010853,.193991,.795156],[1.017277,.027029,-.044306,-.006113,.958479,.047634,.006379,.248708,.744913],[1.104996,-.046633,-.058363,-.032137,.971635,.060503,.001336,.317922,.680742],[1.193214,-.109812,-.083402,-.058496,.97941,.079086,-.002346,.403492,.598854],[1.257728,-.139648,-.118081,-.078003,.975409,.102594,-.003316,.501214,.502102],[1.278864,-.125333,-.153531,-.084748,.957674,.127074,-989e-6,.601151,.399838],[1.255528,-.076749,-.178779,-.078411,.930809,.147602,.004733,.691367,.3039]],HU=(e,t)=>{let r=Math.max(0,Math.min(1,t)),i=Math.round(r/.1),n=Math.round(r%.1),a=e[i];if(n>0&&ikx(a[l],o[l],n))}return o=>{let s=Pp(o);if(s===void 0)return;let{r:l,g:u,b:c}=X2t(s),f={mode:"rgb",r:a[0]*l+a[1]*u+a[2]*c,g:a[3]*l+a[4]*u+a[5]*c,b:a[6]*l+a[7]*u+a[8]*c};return s.alpha!==void 0&&(f.alpha=s.alpha),ys(s.mode)(f)}},Q2t=(e=1)=>HU(Z2t,e),ext=(e=1)=>HU(K2t,e),txt=(e=1)=>HU(J2t,e),rxt=e=>e*e*(3-2*e),ixt=e=>.5-Math.sin(Math.asin(1-2*e)/3),nxt=e=>e*e*e*(e*(e*6-15)+10),axt=nxt,oxt=e=>(1-Math.cos(e*Math.PI))/2,sxt=oxt;function dU(e){let t=ys("lrgb")(e);return .2126*t.r+.7152*t.g+.0722*t.b}function lxt(e,t){let r=dU(e),i=dU(t);return(Math.max(r,i)+.05)/(Math.min(r,i)+.05)}var uxt=jo(Kle),cxt=jo(rue),fxt=jo(sue),hxt=jo(lue),dxt=jo(fue),pxt=jo(xU),vxt=jo(wU),gxt=jo(xue),mxt=jo(wue),yxt=jo(Tue),xxt=jo(Aue),_xt=jo(LC),bxt=jo(Sue),wxt=jo(PC),Txt=jo(kue),Axt=jo(Fue),Mxt=jo(Lue),Sxt=jo(Pue),Ext=jo(Rue),kxt=jo(zue),Cxt=jo(que),Dxt=jo(Nue),Fxt=jo(Uue),Lxt=jo(Vue),Pxt=jo(Gue),Ixt=jo(Fx),Rxt=jo(Wue),zxt=jo(Yue),Bxt=jo(Kue),qxt=jo(ece)});var cy=W((V7r,Ace)=>{"use strict";var bce={staticPlot:{valType:"boolean",dflt:!1},typesetMath:{valType:"boolean",dflt:!0},plotlyServerURL:{valType:"string",dflt:"https://cloud.plotly.com/newchart"},editable:{valType:"boolean",dflt:!1},edits:{annotationPosition:{valType:"boolean",dflt:!1},annotationTail:{valType:"boolean",dflt:!1},annotationText:{valType:"boolean",dflt:!1},axisTitleText:{valType:"boolean",dflt:!1},colorbarPosition:{valType:"boolean",dflt:!1},colorbarTitleText:{valType:"boolean",dflt:!1},legendPosition:{valType:"boolean",dflt:!1},legendText:{valType:"boolean",dflt:!1},shapePosition:{valType:"boolean",dflt:!1},titleText:{valType:"boolean",dflt:!1}},editSelection:{valType:"boolean",dflt:!0},autosizable:{valType:"boolean",dflt:!1},responsive:{valType:"boolean",dflt:!1},fillFrame:{valType:"boolean",dflt:!1},frameMargins:{valType:"number",dflt:0,min:0,max:.5},scrollZoom:{valType:"flaglist",flags:["cartesian","gl3d","geo","map"],extras:[!0,!1],dflt:"gl3d+geo+map"},doubleClick:{valType:"enumerated",values:[!1,"reset","autosize","reset+autosize"],dflt:"reset+autosize"},doubleClickDelay:{valType:"number",dflt:500,min:0},showAxisDragHandles:{valType:"boolean",dflt:!0},showAxisRangeEntryBoxes:{valType:"boolean",dflt:!0},showTips:{valType:"boolean",dflt:!0},displayNotifier:{valType:"boolean",dflt:!0},displayModeBar:{valType:"enumerated",values:["hover",!0,!1],dflt:"hover"},showSendToCloud:{valType:"boolean",dflt:!0},modeBarButtonsToRemove:{valType:"any",dflt:[]},modeBarButtonsToAdd:{valType:"any",dflt:[]},modeBarButtons:{valType:"any",dflt:!1},toImageButtonOptions:{valType:"any",dflt:{}},displaylogo:{valType:"boolean",dflt:!0},watermark:{valType:"boolean",dflt:!1},plotGlPixelRatio:{valType:"number",dflt:2,min:1,max:4},setBackground:{valType:"any",dflt:"transparent"},topojsonURL:{valType:"string",noBlank:!0,dflt:"https://cdn.plot.ly/un/"},logging:{valType:"integer",min:0,max:2,dflt:1},notifyOnLogging:{valType:"integer",min:0,max:2,dflt:0},queueLength:{valType:"integer",min:0,dflt:0},locale:{valType:"string",dflt:"en-US"},locales:{valType:"any",dflt:{}}},wce={};function Tce(e,t){for(var r in e){var i=e[r];i.valType?t[r]=i.dflt:(t[r]||(t[r]={}),Tce(i,t[r]))}}Tce(bce,wce);Ace.exports={configAttributes:bce,dfltConfig:wce}});var $U=W((G7r,Mce)=>{"use strict";var jU=vi(),Oxt=sn(),Y6=[];Mce.exports=function(e,t,r){var s;if(((s=r==null?void 0:r._context)==null?void 0:s.displayNotifier)===!1||Y6.indexOf(e)!==-1)return;Y6.push(e);var i=1e3;Oxt(t)?i=t:t==="long"&&(i=3e3);var n=jU.select("body").selectAll(".plotly-notifier").data([0]);n.enter().append("div").classed("plotly-notifier",!0);var a=n.selectAll(".notifier-note").data(Y6);function o(l){l.duration(700).style("opacity",0).each("end",function(u){var c=Y6.indexOf(u);c!==-1&&Y6.splice(c,1),jU.select(this).remove()})}a.enter().append("div").classed("notifier-note",!0).style("opacity",0).each(function(l){var u=jU.select(this);u.append("button").classed("notifier-close",!0).html("×").on("click",function(){u.transition().call(o)});for(var c=u.append("p"),f=l.split(//g),h=0;h{"use strict";var X3=cy().dfltConfig,WU=$U(),YU=Sce.exports={};YU.log=function(){var e;if(X3.logging>1){var t=["LOG:"];for(e=0;e1){var r=[];for(e=0;e"),"long")}};YU.warn=function(){var e;if(X3.logging>0){var t=["WARN:"];for(e=0;e0){var r=[];for(e=0;e"),"stick")}};YU.error=function(){var e;if(X3.logging>0){var t=["ERROR:"];for(e=0;e0){var r=[];for(e=0;e"),"stick")}}});var Vl=W(Ix=>{"use strict";Ix.defaults=["#1f77b4","#ff7f0e","#2ca02c","#d62728","#9467bd","#8c564b","#e377c2","#7f7f7f","#bcbd22","#17becf"];Ix.defaultLine="#444";Ix.lightLine="#eee";Ix.background="#fff";Ix.borderLine="#BEC8D9";Ix.lightFraction=1e3/11});var ni=W(($7r,Rce)=>{"use strict";var{converter:Ece,formatHex:Nxt,formatRgb:Uxt,wcagContrast:Vxt,wcagLuminance:Gxt}=_ce(),{isArrayOrTypedArray:kce}=yc(),{warn:Hxt}=Eg(),{background:Z6,defaultLine:KU,defaults:jxt,lightLine:$xt}=Vl(),Cce=Ece("rgb"),Wxt=Ece("hsl"),Dce=e=>{if(typeof e!="string")return;let t=e.trim().toLowerCase();if(!/^[0-9a-f]+$/.test(t))try{return Cce(t)}catch(r){return}},xf=e=>e>0?e>1?1:e:0,Yxt={mode:"rgb",r:0,g:0,b:0,alpha:1},XU=e=>Math.round(e*255e6)/255e6,Fce=e=>ma(fn({},e),{r:XU(e.r),g:XU(e.g),b:XU(e.b)}),h0=e=>Uxt(Fce(e)),Xxt=e=>Nxt(Fce(e)),Zxt=e=>{var t,r,i,n;return typeof e=="string"?`"${e}"`:kce(e)?`${(r=(t=e.constructor)==null?void 0:t.name)!=null?r:"Array"}(${e.length})`:typeof e=="object"?(n=(i=e.constructor)==null?void 0:i.name)!=null?n:"Object":`${typeof e} ${e}`},el=(e,t)=>{var i;let r=Dce(e);return r?((i=r.alpha)!=null||(r.alpha=1),r):(!t&&e!=null&&Hxt(`Invalid color specifier: ${Zxt(e)}. Defaulting to "#000"`),Yxt)},X6=e=>h0(ma(fn({},el(e)),{alpha:1})),Kxt=e=>e?el(e).alpha:0,Lce=e=>kce(e)&&e.length>2&&Number.isFinite(e[0])&&Number.isFinite(e[1])&&Number.isFinite(e[2]),Jxt=e=>{let[t,r,i,n]=e,a=Math.max(t,r,i)>1?1/255:1,o=n!=null?n:1;return{mode:"rgb",r:t*a,g:r*a,b:i*a,alpha:o>1?o/255:o}},Qxt=(e,t)=>{let r=Lce(e)?Jxt(e):el(e,!0),i=[xf(r.r),xf(r.g),xf(r.b),xf(r.alpha)];return t==="uint8"||t==="uint8_clamped"?Uint8Array.from(i,n=>Math.round(n*255)):t==="float32"?Float32Array.from(i):t==="float64"?Float64Array.from(i):i},e_t=(e,t)=>h0(ma(fn({},el(e)),{alpha:xf(t)})),Pce=(e,t)=>{let r=el(e),i=r.alpha;if(i===1)return h0(r);let n=el(t||Z6),a=n.alpha,o=(s,l)=>(a===1?l:1-a+l*a)*(1-i)+s*i;return h0({mode:"rgb",r:o(r.r,n.r),g:o(r.g,n.g),b:o(r.b,n.b)})},t_t=(e,t,r)=>{let i=el(e),n=el(t),a=(o,s)=>r*o+(1-r)*s;return h0({mode:"rgb",r:a(i.r,n.r),g:a(i.g,n.g),b:a(i.b,n.b)})},ZU=(e,t)=>{let r=el(e),i=Wxt(r)||{mode:"hsl",h:0,s:0,l:0};return h0(Cce(ma(fn({},i),{l:xf((i.l*100+t)/100),alpha:r.alpha})))},zC=(e,t)=>Vxt(el(e),el(t)),Ice=e=>zC(e,Z6)>zC(e,KU),r_t=h0(el(Z6)),i_t=h0(el(KU)),n_t=(e,t,r)=>(el(e).alpha!==1&&(e=Pce(e,Z6)),Ice(e)?t?ZU(e,t):r_t:r?ZU(e,-r):i_t),a_t=(e,t)=>{e.style({stroke:X6(t),"stroke-opacity":el(t).alpha})},o_t=(e,t)=>{e.style({fill:X6(t),"fill-opacity":el(t).alpha})},s_t=(e,t)=>!!(e&&t&&X6(e)===X6(t)),l_t=e=>Dce(e)!==void 0,u_t=(e,t)=>{t=t===0?0:t||10;let r=el(e),i=t/100;return h0(ma(fn({},r),{r:xf(r.r+i),g:xf(r.g+i),b:xf(r.b+i)}))},c_t=(e,t,r)=>{let i=el(e),n=el(t),a=r/100,o=n.alpha-i.alpha,s=2*a-1,l=((s*o===-1?s:(s+o)/(1+s*o))+1)/2,u=1-l,c=(f,h)=>u*f+l*h;return h0({mode:"rgb",r:c(i.r,n.r),g:c(i.g,n.g),b:c(i.b,n.b),alpha:i.alpha*(1-a)+n.alpha*a})},f_t=(e,t=["#000","#fff"])=>{let r,i=-1/0;for(let n of t){let a=zC(e,n);a>i&&(i=a,r=h0(el(n)))}return r},h_t=e=>h0(el(e)),d_t=e=>Xxt(el(e)).toUpperCase(),p_t=e=>{let t=el(e);return[xf(t.r)*255,xf(t.g)*255,xf(t.b)*255,xf(t.alpha)]},v_t=([e,t,r,i])=>h0({mode:"rgb",r:e/255,g:t/255,b:r/255,alpha:i}),g_t=e=>{let t=el(e);return Gxt({mode:"rgb",r:xf(t.r),g:xf(t.g),b:xf(t.b)})};Rce.exports={addOpacity:e_t,adjustLightness:ZU,background:Z6,brighten:u_t,combine:Pce,contrast:n_t,defaultLine:KU,defaults:jxt,equals:s_t,fill:o_t,hexString:d_t,interpolate:t_t,isChannelArray:Lce,isDark:Ice,isValid:l_t,lightLine:$xt,luminosity:g_t,mix:c_t,mostReadable:f_t,normalize:Qxt,opacity:Kxt,parse:el,rgb:X6,rgbaArray:p_t,rgbaArrayToString:v_t,rgbaString:h_t,stroke:a_t,wcagContrast:zC}});var Rx=W((Y7r,qce)=>{"use strict";var m_t=ni(),BC={Greys:[[0,"rgb(0,0,0)"],[1,"rgb(255,255,255)"]],YlGnBu:[[0,"rgb(8,29,88)"],[.125,"rgb(37,52,148)"],[.25,"rgb(34,94,168)"],[.375,"rgb(29,145,192)"],[.5,"rgb(65,182,196)"],[.625,"rgb(127,205,187)"],[.75,"rgb(199,233,180)"],[.875,"rgb(237,248,217)"],[1,"rgb(255,255,217)"]],Greens:[[0,"rgb(0,68,27)"],[.125,"rgb(0,109,44)"],[.25,"rgb(35,139,69)"],[.375,"rgb(65,171,93)"],[.5,"rgb(116,196,118)"],[.625,"rgb(161,217,155)"],[.75,"rgb(199,233,192)"],[.875,"rgb(229,245,224)"],[1,"rgb(247,252,245)"]],YlOrRd:[[0,"rgb(128,0,38)"],[.125,"rgb(189,0,38)"],[.25,"rgb(227,26,28)"],[.375,"rgb(252,78,42)"],[.5,"rgb(253,141,60)"],[.625,"rgb(254,178,76)"],[.75,"rgb(254,217,118)"],[.875,"rgb(255,237,160)"],[1,"rgb(255,255,204)"]],Bluered:[[0,"rgb(0,0,255)"],[1,"rgb(255,0,0)"]],RdBu:[[0,"rgb(5,10,172)"],[.35,"rgb(106,137,247)"],[.5,"rgb(190,190,190)"],[.6,"rgb(220,170,132)"],[.7,"rgb(230,145,90)"],[1,"rgb(178,10,28)"]],Reds:[[0,"rgb(220,220,220)"],[.2,"rgb(245,195,157)"],[.4,"rgb(245,160,105)"],[1,"rgb(178,10,28)"]],Blues:[[0,"rgb(5,10,172)"],[.35,"rgb(40,60,190)"],[.5,"rgb(70,100,245)"],[.6,"rgb(90,120,245)"],[.7,"rgb(106,137,247)"],[1,"rgb(220,220,220)"]],Picnic:[[0,"rgb(0,0,255)"],[.1,"rgb(51,153,255)"],[.2,"rgb(102,204,255)"],[.3,"rgb(153,204,255)"],[.4,"rgb(204,204,255)"],[.5,"rgb(255,255,255)"],[.6,"rgb(255,204,255)"],[.7,"rgb(255,153,255)"],[.8,"rgb(255,102,204)"],[.9,"rgb(255,102,102)"],[1,"rgb(255,0,0)"]],Rainbow:[[0,"rgb(150,0,90)"],[.125,"rgb(0,0,200)"],[.25,"rgb(0,25,255)"],[.375,"rgb(0,152,255)"],[.5,"rgb(44,255,150)"],[.625,"rgb(151,255,0)"],[.75,"rgb(255,234,0)"],[.875,"rgb(255,111,0)"],[1,"rgb(255,0,0)"]],Portland:[[0,"rgb(12,51,131)"],[.25,"rgb(10,136,186)"],[.5,"rgb(242,211,56)"],[.75,"rgb(242,143,56)"],[1,"rgb(217,30,30)"]],Jet:[[0,"rgb(0,0,131)"],[.125,"rgb(0,60,170)"],[.375,"rgb(5,255,255)"],[.625,"rgb(255,255,0)"],[.875,"rgb(250,0,0)"],[1,"rgb(128,0,0)"]],Hot:[[0,"rgb(0,0,0)"],[.3,"rgb(230,0,0)"],[.6,"rgb(255,210,0)"],[1,"rgb(255,255,255)"]],Blackbody:[[0,"rgb(0,0,0)"],[.2,"rgb(230,0,0)"],[.4,"rgb(230,210,0)"],[.7,"rgb(255,255,255)"],[1,"rgb(160,200,255)"]],Earth:[[0,"rgb(0,0,130)"],[.1,"rgb(0,180,180)"],[.2,"rgb(40,210,40)"],[.4,"rgb(230,230,50)"],[.6,"rgb(120,70,20)"],[1,"rgb(255,255,255)"]],Electric:[[0,"rgb(0,0,0)"],[.15,"rgb(30,0,100)"],[.4,"rgb(120,0,100)"],[.6,"rgb(160,90,0)"],[.8,"rgb(230,200,0)"],[1,"rgb(255,250,220)"]],Viridis:[[0,"#440154"],[.06274509803921569,"#48186a"],[.12549019607843137,"#472d7b"],[.18823529411764706,"#424086"],[.25098039215686274,"#3b528b"],[.3137254901960784,"#33638d"],[.3764705882352941,"#2c728e"],[.4392156862745098,"#26828e"],[.5019607843137255,"#21918c"],[.5647058823529412,"#1fa088"],[.6274509803921569,"#28ae80"],[.6901960784313725,"#3fbc73"],[.7529411764705882,"#5ec962"],[.8156862745098039,"#84d44b"],[.8784313725490196,"#addc30"],[.9411764705882353,"#d8e219"],[1,"#fde725"]],Cividis:[[0,"rgb(0,32,76)"],[.058824,"rgb(0,42,102)"],[.117647,"rgb(0,52,110)"],[.176471,"rgb(39,63,108)"],[.235294,"rgb(60,74,107)"],[.294118,"rgb(76,85,107)"],[.352941,"rgb(91,95,109)"],[.411765,"rgb(104,106,112)"],[.470588,"rgb(117,117,117)"],[.529412,"rgb(131,129,120)"],[.588235,"rgb(146,140,120)"],[.647059,"rgb(161,152,118)"],[.705882,"rgb(176,165,114)"],[.764706,"rgb(192,177,109)"],[.823529,"rgb(209,191,102)"],[.882353,"rgb(225,204,92)"],[.941176,"rgb(243,219,79)"],[1,"rgb(255,233,69)"]]},zce=BC.RdBu;function y_t(e,t){if(t||(t=zce),!e)return t;function r(){try{e=BC[e]||JSON.parse(e)}catch(i){e=t}}return typeof e=="string"&&(r(),typeof e=="string"&&r()),Bce(e)?e:t}function Bce(e){var t=0;if(!Array.isArray(e)||e.length<2||!e[0]||!e[e.length-1]||+e[0][0]!=0||+e[e.length-1][0]!=1)return!1;for(var r=0;r{"use strict";Oce.exports={SHOW_PLACEHOLDER:100,HIDE_PLACEHOLDER:1e3,DESELECTDIM:.2}});var Z3={};Fp(Z3,{counter:()=>__t});function __t(e,t="",r,i){let n=t+(r?"":"$"),a=i===!1?"":"^";return e==="xy"?new RegExp(a+"x"+JU+"y"+JU+n):new RegExp(a+e+JU+n)}var JU,K3=Ea(()=>{"use strict";JU="([2-9]|[1-9][0-9]+)?"});var Vce=W(Ph=>{"use strict";var QU=sn(),Nce=tn().extendFlat,b_t=Wa(),w_t=Rx(),eV=ni(),T_t=kg().DESELECTDIM,J3=k6(),Uce=(K3(),Go(Z3)).counter,A_t=(O3(),Go(q3)).modHalf,Ip=yc().isArrayOrTypedArray,fy=yc().isTypedArraySpec,hy=yc().decodeTypedArraySpec;Ph.valObjectMeta={data_array:{coerceFunction:function(e,t,r){t.set(Ip(e)?e:fy(e)?hy(e):r)}},enumerated:{coerceFunction:function(e,t,r,i){i.coerceNumber&&(e=+e),i.values.indexOf(e)===-1?t.set(r):t.set(e)},validateFunction:function(e,t){t.coerceNumber&&(e=+e);for(var r=t.values,i=0;ia===!0||a===!1;n(e)||i.arrayOk&&Array.isArray(e)&&e.length>0&&e.every(n)?t.set(e):t.set(r)}},number:{coerceFunction:function(e,t,r,i){fy(e)&&(e=hy(e)),!QU(e)||i.min!==void 0&&ei.max?t.set(r):t.set(+e)}},integer:{coerceFunction:function(e,t,r,i){if((i.extras||[]).indexOf(e)!==-1){t.set(e);return}fy(e)&&(e=hy(e)),e%1||!QU(e)||i.min!==void 0&&ei.max?t.set(r):t.set(+e)}},string:{coerceFunction:function(e,t,r,i){if(typeof e!="string"){var n=typeof e=="number";i.strict===!0||!n?t.set(r):t.set(String(e))}else i.noBlank&&!e?t.set(r):t.set(e)}},color:{coerceFunction:function(e,t,r){fy(e)&&(e=hy(e)),eV.isValid(e)?t.set(e):t.set(r)}},colorlist:{coerceFunction:function(e,t,r){!Array.isArray(e)||!e.length?t.set(r):e.every(i=>eV.isValid(i))?t.set(e):t.set(r)}},colorscale:{coerceFunction:function(e,t,r){t.set(w_t.get(e,r))}},angle:{coerceFunction:function(e,t,r){fy(e)&&(e=hy(e)),e==="auto"?t.set("auto"):QU(e)?t.set(A_t(+e,360)):t.set(r)}},subplotid:{coerceFunction:function(e,t,r,i){var n=i.regex||Uce(r);let a=o=>typeof o=="string"&&n.test(o);a(e)||i.arrayOk&&Ip(e)&&e.length>0&&e.every(a)?t.set(e):t.set(r)},validateFunction:function(e,t){var r=t.dflt;return e===r?!0:typeof e!="string"?!1:!!Uce(r).test(e)}},flaglist:{coerceFunction:function(e,t,r,i){if((i.extras||[]).indexOf(e)!==-1){t.set(e);return}if(typeof e!="string"){t.set(r);return}for(var n=e.split("+"),a=0;a{"use strict";Gce.exports=function(){}});var tV=W((J7r,Hce)=>{"use strict";Hce.exports=function(t,r){if(r instanceof RegExp){for(var i=r.toString(),n=0;n{jce.exports=M_t;function M_t(){var e=new Float32Array(16);return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Yce=W((eFr,Wce)=>{Wce.exports=S_t;function S_t(e){var t=new Float32Array(16);return t[0]=e[0],t[1]=e[1],t[2]=e[2],t[3]=e[3],t[4]=e[4],t[5]=e[5],t[6]=e[6],t[7]=e[7],t[8]=e[8],t[9]=e[9],t[10]=e[10],t[11]=e[11],t[12]=e[12],t[13]=e[13],t[14]=e[14],t[15]=e[15],t}});var Zce=W((tFr,Xce)=>{Xce.exports=E_t;function E_t(e,t){return e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}});var rV=W((rFr,Kce)=>{Kce.exports=k_t;function k_t(e){return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Qce=W((iFr,Jce)=>{Jce.exports=C_t;function C_t(e,t){if(e===t){var r=t[1],i=t[2],n=t[3],a=t[6],o=t[7],s=t[11];e[1]=t[4],e[2]=t[8],e[3]=t[12],e[4]=r,e[6]=t[9],e[7]=t[13],e[8]=i,e[9]=a,e[11]=t[14],e[12]=n,e[13]=o,e[14]=s}else e[0]=t[0],e[1]=t[4],e[2]=t[8],e[3]=t[12],e[4]=t[1],e[5]=t[5],e[6]=t[9],e[7]=t[13],e[8]=t[2],e[9]=t[6],e[10]=t[10],e[11]=t[14],e[12]=t[3],e[13]=t[7],e[14]=t[11],e[15]=t[15];return e}});var tfe=W((nFr,efe)=>{efe.exports=D_t;function D_t(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=t[4],s=t[5],l=t[6],u=t[7],c=t[8],f=t[9],h=t[10],d=t[11],p=t[12],v=t[13],m=t[14],g=t[15],w=r*s-i*o,b=r*l-n*o,_=r*u-a*o,M=i*l-n*s,x=i*u-a*s,T=n*u-a*l,A=c*v-f*p,y=c*m-h*p,E=c*g-d*p,S=f*m-h*v,C=f*g-d*v,k=h*g-d*m,D=w*k-b*C+_*S+M*E-x*y+T*A;return D?(D=1/D,e[0]=(s*k-l*C+u*S)*D,e[1]=(n*C-i*k-a*S)*D,e[2]=(v*T-m*x+g*M)*D,e[3]=(h*x-f*T-d*M)*D,e[4]=(l*E-o*k-u*y)*D,e[5]=(r*k-n*E+a*y)*D,e[6]=(m*_-p*T-g*b)*D,e[7]=(c*T-h*_+d*b)*D,e[8]=(o*C-s*E+u*A)*D,e[9]=(i*E-r*C-a*A)*D,e[10]=(p*x-v*_+g*w)*D,e[11]=(f*_-c*x-d*w)*D,e[12]=(s*y-o*S-l*A)*D,e[13]=(r*S-i*y+n*A)*D,e[14]=(v*b-p*M-m*w)*D,e[15]=(c*M-f*b+h*w)*D,e):null}});var ife=W((aFr,rfe)=>{rfe.exports=F_t;function F_t(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=t[4],s=t[5],l=t[6],u=t[7],c=t[8],f=t[9],h=t[10],d=t[11],p=t[12],v=t[13],m=t[14],g=t[15];return e[0]=s*(h*g-d*m)-f*(l*g-u*m)+v*(l*d-u*h),e[1]=-(i*(h*g-d*m)-f*(n*g-a*m)+v*(n*d-a*h)),e[2]=i*(l*g-u*m)-s*(n*g-a*m)+v*(n*u-a*l),e[3]=-(i*(l*d-u*h)-s*(n*d-a*h)+f*(n*u-a*l)),e[4]=-(o*(h*g-d*m)-c*(l*g-u*m)+p*(l*d-u*h)),e[5]=r*(h*g-d*m)-c*(n*g-a*m)+p*(n*d-a*h),e[6]=-(r*(l*g-u*m)-o*(n*g-a*m)+p*(n*u-a*l)),e[7]=r*(l*d-u*h)-o*(n*d-a*h)+c*(n*u-a*l),e[8]=o*(f*g-d*v)-c*(s*g-u*v)+p*(s*d-u*f),e[9]=-(r*(f*g-d*v)-c*(i*g-a*v)+p*(i*d-a*f)),e[10]=r*(s*g-u*v)-o*(i*g-a*v)+p*(i*u-a*s),e[11]=-(r*(s*d-u*f)-o*(i*d-a*f)+c*(i*u-a*s)),e[12]=-(o*(f*m-h*v)-c*(s*m-l*v)+p*(s*h-l*f)),e[13]=r*(f*m-h*v)-c*(i*m-n*v)+p*(i*h-n*f),e[14]=-(r*(s*m-l*v)-o*(i*m-n*v)+p*(i*l-n*s)),e[15]=r*(s*h-l*f)-o*(i*h-n*f)+c*(i*l-n*s),e}});var afe=W((oFr,nfe)=>{nfe.exports=L_t;function L_t(e){var t=e[0],r=e[1],i=e[2],n=e[3],a=e[4],o=e[5],s=e[6],l=e[7],u=e[8],c=e[9],f=e[10],h=e[11],d=e[12],p=e[13],v=e[14],m=e[15],g=t*o-r*a,w=t*s-i*a,b=t*l-n*a,_=r*s-i*o,M=r*l-n*o,x=i*l-n*s,T=u*p-c*d,A=u*v-f*d,y=u*m-h*d,E=c*v-f*p,S=c*m-h*p,C=f*m-h*v;return g*C-w*S+b*E+_*y-M*A+x*T}});var sfe=W((sFr,ofe)=>{ofe.exports=P_t;function P_t(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=t[4],l=t[5],u=t[6],c=t[7],f=t[8],h=t[9],d=t[10],p=t[11],v=t[12],m=t[13],g=t[14],w=t[15],b=r[0],_=r[1],M=r[2],x=r[3];return e[0]=b*i+_*s+M*f+x*v,e[1]=b*n+_*l+M*h+x*m,e[2]=b*a+_*u+M*d+x*g,e[3]=b*o+_*c+M*p+x*w,b=r[4],_=r[5],M=r[6],x=r[7],e[4]=b*i+_*s+M*f+x*v,e[5]=b*n+_*l+M*h+x*m,e[6]=b*a+_*u+M*d+x*g,e[7]=b*o+_*c+M*p+x*w,b=r[8],_=r[9],M=r[10],x=r[11],e[8]=b*i+_*s+M*f+x*v,e[9]=b*n+_*l+M*h+x*m,e[10]=b*a+_*u+M*d+x*g,e[11]=b*o+_*c+M*p+x*w,b=r[12],_=r[13],M=r[14],x=r[15],e[12]=b*i+_*s+M*f+x*v,e[13]=b*n+_*l+M*h+x*m,e[14]=b*a+_*u+M*d+x*g,e[15]=b*o+_*c+M*p+x*w,e}});var ufe=W((lFr,lfe)=>{lfe.exports=I_t;function I_t(e,t,r){var i=r[0],n=r[1],a=r[2],o,s,l,u,c,f,h,d,p,v,m,g;return t===e?(e[12]=t[0]*i+t[4]*n+t[8]*a+t[12],e[13]=t[1]*i+t[5]*n+t[9]*a+t[13],e[14]=t[2]*i+t[6]*n+t[10]*a+t[14],e[15]=t[3]*i+t[7]*n+t[11]*a+t[15]):(o=t[0],s=t[1],l=t[2],u=t[3],c=t[4],f=t[5],h=t[6],d=t[7],p=t[8],v=t[9],m=t[10],g=t[11],e[0]=o,e[1]=s,e[2]=l,e[3]=u,e[4]=c,e[5]=f,e[6]=h,e[7]=d,e[8]=p,e[9]=v,e[10]=m,e[11]=g,e[12]=o*i+c*n+p*a+t[12],e[13]=s*i+f*n+v*a+t[13],e[14]=l*i+h*n+m*a+t[14],e[15]=u*i+d*n+g*a+t[15]),e}});var ffe=W((uFr,cfe)=>{cfe.exports=R_t;function R_t(e,t,r){var i=r[0],n=r[1],a=r[2];return e[0]=t[0]*i,e[1]=t[1]*i,e[2]=t[2]*i,e[3]=t[3]*i,e[4]=t[4]*n,e[5]=t[5]*n,e[6]=t[6]*n,e[7]=t[7]*n,e[8]=t[8]*a,e[9]=t[9]*a,e[10]=t[10]*a,e[11]=t[11]*a,e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}});var dfe=W((cFr,hfe)=>{hfe.exports=z_t;function z_t(e,t,r,i){var n=i[0],a=i[1],o=i[2],s=Math.sqrt(n*n+a*a+o*o),l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C,k,D,F;return Math.abs(s)<1e-6?null:(s=1/s,n*=s,a*=s,o*=s,l=Math.sin(r),u=Math.cos(r),c=1-u,f=t[0],h=t[1],d=t[2],p=t[3],v=t[4],m=t[5],g=t[6],w=t[7],b=t[8],_=t[9],M=t[10],x=t[11],T=n*n*c+u,A=a*n*c+o*l,y=o*n*c-a*l,E=n*a*c-o*l,S=a*a*c+u,C=o*a*c+n*l,k=n*o*c+a*l,D=a*o*c-n*l,F=o*o*c+u,e[0]=f*T+v*A+b*y,e[1]=h*T+m*A+_*y,e[2]=d*T+g*A+M*y,e[3]=p*T+w*A+x*y,e[4]=f*E+v*S+b*C,e[5]=h*E+m*S+_*C,e[6]=d*E+g*S+M*C,e[7]=p*E+w*S+x*C,e[8]=f*k+v*D+b*F,e[9]=h*k+m*D+_*F,e[10]=d*k+g*D+M*F,e[11]=p*k+w*D+x*F,t!==e&&(e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e)}});var vfe=W((fFr,pfe)=>{pfe.exports=B_t;function B_t(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[4],o=t[5],s=t[6],l=t[7],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[4]=a*n+u*i,e[5]=o*n+c*i,e[6]=s*n+f*i,e[7]=l*n+h*i,e[8]=u*n-a*i,e[9]=c*n-o*i,e[10]=f*n-s*i,e[11]=h*n-l*i,e}});var mfe=W((hFr,gfe)=>{gfe.exports=q_t;function q_t(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n-u*i,e[1]=o*n-c*i,e[2]=s*n-f*i,e[3]=l*n-h*i,e[8]=a*i+u*n,e[9]=o*i+c*n,e[10]=s*i+f*n,e[11]=l*i+h*n,e}});var xfe=W((dFr,yfe)=>{yfe.exports=O_t;function O_t(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[4],c=t[5],f=t[6],h=t[7];return t!==e&&(e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n+u*i,e[1]=o*n+c*i,e[2]=s*n+f*i,e[3]=l*n+h*i,e[4]=u*n-a*i,e[5]=c*n-o*i,e[6]=f*n-s*i,e[7]=h*n-l*i,e}});var bfe=W((pFr,_fe)=>{_fe.exports=N_t;function N_t(e,t,r){var i,n,a,o=r[0],s=r[1],l=r[2],u=Math.sqrt(o*o+s*s+l*l);return Math.abs(u)<1e-6?null:(u=1/u,o*=u,s*=u,l*=u,i=Math.sin(t),n=Math.cos(t),a=1-n,e[0]=o*o*a+n,e[1]=s*o*a+l*i,e[2]=l*o*a-s*i,e[3]=0,e[4]=o*s*a-l*i,e[5]=s*s*a+n,e[6]=l*s*a+o*i,e[7]=0,e[8]=o*l*a+s*i,e[9]=s*l*a-o*i,e[10]=l*l*a+n,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e)}});var Tfe=W((vFr,wfe)=>{wfe.exports=U_t;function U_t(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=i+i,l=n+n,u=a+a,c=i*s,f=i*l,h=i*u,d=n*l,p=n*u,v=a*u,m=o*s,g=o*l,w=o*u;return e[0]=1-(d+v),e[1]=f+w,e[2]=h-g,e[3]=0,e[4]=f-w,e[5]=1-(c+v),e[6]=p+m,e[7]=0,e[8]=h+g,e[9]=p-m,e[10]=1-(c+d),e[11]=0,e[12]=r[0],e[13]=r[1],e[14]=r[2],e[15]=1,e}});var Mfe=W((gFr,Afe)=>{Afe.exports=V_t;function V_t(e,t){return e[0]=t[0],e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=t[1],e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=t[2],e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Efe=W((mFr,Sfe)=>{Sfe.exports=G_t;function G_t(e,t){return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=t[0],e[13]=t[1],e[14]=t[2],e[15]=1,e}});var Cfe=W((yFr,kfe)=>{kfe.exports=H_t;function H_t(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=i,e[6]=r,e[7]=0,e[8]=0,e[9]=-r,e[10]=i,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Ffe=W((xFr,Dfe)=>{Dfe.exports=j_t;function j_t(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=i,e[1]=0,e[2]=-r,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=r,e[9]=0,e[10]=i,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Pfe=W((_Fr,Lfe)=>{Lfe.exports=$_t;function $_t(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=i,e[1]=r,e[2]=0,e[3]=0,e[4]=-r,e[5]=i,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Rfe=W((bFr,Ife)=>{Ife.exports=W_t;function W_t(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=r+r,s=i+i,l=n+n,u=r*o,c=i*o,f=i*s,h=n*o,d=n*s,p=n*l,v=a*o,m=a*s,g=a*l;return e[0]=1-f-p,e[1]=c+g,e[2]=h-m,e[3]=0,e[4]=c-g,e[5]=1-u-p,e[6]=d+v,e[7]=0,e[8]=h+m,e[9]=d-v,e[10]=1-u-f,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}});var Bfe=W((wFr,zfe)=>{zfe.exports=Y_t;function Y_t(e,t,r,i,n,a,o){var s=1/(r-t),l=1/(n-i),u=1/(a-o);return e[0]=a*2*s,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=a*2*l,e[6]=0,e[7]=0,e[8]=(r+t)*s,e[9]=(n+i)*l,e[10]=(o+a)*u,e[11]=-1,e[12]=0,e[13]=0,e[14]=o*a*2*u,e[15]=0,e}});var Ofe=W((TFr,qfe)=>{qfe.exports=X_t;function X_t(e,t,r,i,n){var a=1/Math.tan(t/2),o=1/(i-n);return e[0]=a/r,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=a,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=(n+i)*o,e[11]=-1,e[12]=0,e[13]=0,e[14]=2*n*i*o,e[15]=0,e}});var Ufe=W((AFr,Nfe)=>{Nfe.exports=Z_t;function Z_t(e,t,r,i){var n=Math.tan(t.upDegrees*Math.PI/180),a=Math.tan(t.downDegrees*Math.PI/180),o=Math.tan(t.leftDegrees*Math.PI/180),s=Math.tan(t.rightDegrees*Math.PI/180),l=2/(o+s),u=2/(n+a);return e[0]=l,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=u,e[6]=0,e[7]=0,e[8]=-((o-s)*l*.5),e[9]=(n-a)*u*.5,e[10]=i/(r-i),e[11]=-1,e[12]=0,e[13]=0,e[14]=i*r/(r-i),e[15]=0,e}});var Gfe=W((MFr,Vfe)=>{Vfe.exports=K_t;function K_t(e,t,r,i,n,a,o){var s=1/(t-r),l=1/(i-n),u=1/(a-o);return e[0]=-2*s,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=-2*l,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=2*u,e[11]=0,e[12]=(t+r)*s,e[13]=(n+i)*l,e[14]=(o+a)*u,e[15]=1,e}});var jfe=W((SFr,Hfe)=>{var J_t=rV();Hfe.exports=Q_t;function Q_t(e,t,r,i){var n,a,o,s,l,u,c,f,h,d,p=t[0],v=t[1],m=t[2],g=i[0],w=i[1],b=i[2],_=r[0],M=r[1],x=r[2];return Math.abs(p-_)<1e-6&&Math.abs(v-M)<1e-6&&Math.abs(m-x)<1e-6?J_t(e):(c=p-_,f=v-M,h=m-x,d=1/Math.sqrt(c*c+f*f+h*h),c*=d,f*=d,h*=d,n=w*h-b*f,a=b*c-g*h,o=g*f-w*c,d=Math.sqrt(n*n+a*a+o*o),d?(d=1/d,n*=d,a*=d,o*=d):(n=0,a=0,o=0),s=f*o-h*a,l=h*n-c*o,u=c*a-f*n,d=Math.sqrt(s*s+l*l+u*u),d?(d=1/d,s*=d,l*=d,u*=d):(s=0,l=0,u=0),e[0]=n,e[1]=s,e[2]=c,e[3]=0,e[4]=a,e[5]=l,e[6]=f,e[7]=0,e[8]=o,e[9]=u,e[10]=h,e[11]=0,e[12]=-(n*p+a*v+o*m),e[13]=-(s*p+l*v+u*m),e[14]=-(c*p+f*v+h*m),e[15]=1,e)}});var Wfe=W((EFr,$fe)=>{$fe.exports=ebt;function ebt(e){return"mat4("+e[0]+", "+e[1]+", "+e[2]+", "+e[3]+", "+e[4]+", "+e[5]+", "+e[6]+", "+e[7]+", "+e[8]+", "+e[9]+", "+e[10]+", "+e[11]+", "+e[12]+", "+e[13]+", "+e[14]+", "+e[15]+")"}});var iV=W((kFr,Yfe)=>{Yfe.exports={create:$ce(),clone:Yce(),copy:Zce(),identity:rV(),transpose:Qce(),invert:tfe(),adjoint:ife(),determinant:afe(),multiply:sfe(),translate:ufe(),scale:ffe(),rotate:dfe(),rotateX:vfe(),rotateY:mfe(),rotateZ:xfe(),fromRotation:bfe(),fromRotationTranslation:Tfe(),fromScaling:Mfe(),fromTranslation:Efe(),fromXRotation:Cfe(),fromYRotation:Ffe(),fromZRotation:Pfe(),fromQuat:Rfe(),frustum:Bfe(),perspective:Ofe(),perspectiveFromFieldOfView:Ufe(),ortho:Gfe(),lookAt:jfe(),str:Wfe()}});var NC=W(Ml=>{"use strict";var tbt=iV();Ml.init2dArray=function(e,t){for(var r=new Array(e),i=0;i{"use strict";var rbt=vi(),Xfe=Eg(),ibt=NC(),nbt=iV();function abt(e){var t;if(typeof e=="string"){if(t=document.getElementById(e),t===null)throw new Error("No DOM element with id '"+e+"' exists on the page.");return t}else if(e==null)throw new Error("DOM element provided is null or undefined");return e}function obt(e){var t=rbt.select(e);return t.node()instanceof HTMLElement&&t.size()&&t.classed("js-plotly-plot")}function Zfe(e){var t=e&&e.parentNode;t&&t.removeChild(e)}function sbt(e,t){Kfe("global",e,t)}function Kfe(e,t,r){var i="plotly.js-style-"+e,n=document.getElementById(i);if(!(n&&n.matches(".no-inline-styles"))){n||(n=document.createElement("style"),n.setAttribute("id",i),n.appendChild(document.createTextNode("")),document.head.appendChild(n));var a=n.sheet;a?a.insertRule?a.insertRule(t+"{"+r+"}",0):a.addRule?a.addRule(t,r,0):Xfe.warn("addStyleRule failed"):Xfe.warn("Cannot addRelatedStyleRule, probably due to strict CSP...")}}function lbt(e){var t="plotly.js-style-"+e,r=document.getElementById(t);r&&Zfe(r)}function ubt(e,t,r,i,n,a){var o=i.split(":"),s=n.split(":"),l="data-btn-style-event-added";a||(a=document),a.querySelectorAll(e).forEach(function(u){u.getAttribute(l)||(u.addEventListener("mouseenter",function(){var c=this.querySelector(r);c&&(c.style[o[0]]=o[1])}),u.addEventListener("mouseleave",function(){var c=this.querySelector(r);c&&(t&&this.matches(t)?c.style[o[0]]=o[1]:c.style[s[0]]=s[1])}),u.setAttribute(l,!0))})}function cbt(e){var t=Qfe(e),r=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];return t.forEach(function(i){var n=Jfe(i);if(n){var a=ibt.convertCssMatrix(n);r=nbt.multiply(r,r,a)}}),r}function Jfe(e){var t=window.getComputedStyle(e,null),r=t.getPropertyValue("-webkit-transform")||t.getPropertyValue("-moz-transform")||t.getPropertyValue("-ms-transform")||t.getPropertyValue("-o-transform")||t.getPropertyValue("transform");return r==="none"?null:r.replace("matrix","").replace("3d","").slice(1,-1).split(",").map(function(i){return+i})}function Qfe(e){for(var t=[];fbt(e);)t.push(e),e=e.parentNode,typeof ShadowRoot=="function"&&e instanceof ShadowRoot&&(e=e.host);return t}function fbt(e){return e&&(e instanceof Element||e instanceof HTMLElement)}function hbt(e,t){return e&&t&&e.top===t.top&&e.left===t.left&&e.right===t.right&&e.bottom===t.bottom}ehe.exports={getGraphDiv:abt,isPlotDiv:obt,removeElement:Zfe,addStyleRule:sbt,addRelatedStyleRule:Kfe,deleteRelatedStyleRule:lbt,setStyleOnHover:ubt,getFullTransformMatrix:cbt,getElementTransformMatrix:Jfe,getElementAndAncestors:Qfe,equalDomRects:hbt}});var J6=W((FFr,the)=>{"use strict";the.exports={mode:{valType:"enumerated",dflt:"afterall",values:["immediate","next","afterall"]},direction:{valType:"enumerated",values:["forward","reverse"],dflt:"forward"},fromcurrent:{valType:"boolean",dflt:!1},frame:{duration:{valType:"number",min:0,dflt:500},redraw:{valType:"boolean",dflt:!0}},transition:{duration:{valType:"number",min:0,dflt:500,editType:"none"},easing:{valType:"enumerated",dflt:"cubic-in-out",values:["linear","quad","cubic","sin","exp","circle","elastic","back","bounce","linear-in","quad-in","cubic-in","sin-in","exp-in","circle-in","elastic-in","back-in","bounce-in","linear-out","quad-out","cubic-out","sin-out","exp-out","circle-out","elastic-out","back-out","bounce-out","linear-in-out","quad-in-out","cubic-in-out","sin-in-out","exp-in-out","circle-in-out","elastic-in-out","back-in-out","bounce-in-out"],editType:"none"},ordering:{valType:"enumerated",values:["layout first","traces first"],dflt:"layout first",editType:"none"}}}});var ls=W((LFr,lhe)=>{"use strict";var ihe=tn().extendFlat,dbt=oy(),nhe={valType:"flaglist",extras:["none"],flags:["calc","clearAxisTypes","plot","style","markerSize","colorbars"]},ahe={valType:"flaglist",extras:["none"],flags:["calc","plot","legend","ticks","axrange","layoutstyle","modebar","camera","arraydraw","colorbars"]},pbt=nhe.flags.slice().concat(["fullReplot"]),vbt=ahe.flags.slice().concat("layoutReplot");lhe.exports={traces:nhe,layout:ahe,traceFlags:function(){return rhe(pbt)},layoutFlags:function(){return rhe(vbt)},update:function(e,t){var r=t.editType;if(r&&r!=="none")for(var i=r.split("+"),n=0;n{"use strict";nV.dash={valType:"string",values:["solid","dot","dash","longdash","dashdot","longdashdot"],dflt:"solid",editType:"style"};nV.pattern={shape:{valType:"enumerated",values:["","/","\\","x","-","|","+","."],dflt:"",arrayOk:!0,editType:"style"},path:{valType:"string",arrayOk:!0,editType:"style"},fillmode:{valType:"enumerated",values:["replace","overlay"],dflt:"replace",editType:"style"},bgcolor:{valType:"color",arrayOk:!0,editType:"style"},fgcolor:{valType:"color",arrayOk:!0,editType:"style"},fgopacity:{valType:"number",editType:"style",min:0,max:1},size:{valType:"number",min:0,dflt:8,arrayOk:!0,editType:"style"},solidity:{valType:"number",min:0,max:1,dflt:.3,arrayOk:!0,editType:"style"},editType:"style"}});var aV=W((IFr,uhe)=>{"use strict";uhe.exports={FORMAT_LINK:"https://github.com/d3/d3-format/tree/v1.4.5#d3-format",DATE_FORMAT_LINK:"https://github.com/d3/d3-time-format/tree/v2.2.3#locale_format"}});var Ga=W(Q3=>{"use strict";var{DATE_FORMAT_LINK:gbt,FORMAT_LINK:mbt}=aV(),ybt=["Variables that can't be found will be replaced with the specifier.",'For example, a template of "data: %{x}, %{y}" will result in a value of "data: 1, %{y}" if x is 1 and y is missing.',"Variables with an undefined value will be replaced with the fallback value."].join(" ");function xbt({supportOther:e}={}){return["Variables are inserted using %{variable},",'for example "y: %{y}"'+(e?" as well as %{xother}, {%_xother}, {%_xother_}, {%xother_}. When showing info for several points, *xother* will be added to those with different x positions from the first point. An underscore before or after *(x|y)other* will add a space on that side, only when this field is shown.":"."),`Numbers are formatted using d3-format's syntax %{variable:d3-format}, for example "Price: %{y:$.2f}".`,mbt,"for details on the formatting syntax.",`Dates are formatted using d3-time-format's syntax %{variable|d3-time-format}, for example "Day: %{2019-01-01|%A}".`,gbt,"for details on the date formatting syntax.",ybt].join(" ")}Q3.templateFormatStringDescription=xbt;Q3.hovertemplateAttrs=({editType:e="none",arrayOk:t}={},r={})=>fn({valType:"string",dflt:"",editType:e},t!==!1?{arrayOk:!0}:{});Q3.texttemplateAttrs=({editType:e="calc",arrayOk:t}={},r={})=>fn({valType:"string",dflt:"",editType:e},t!==!1?{arrayOk:!0}:{});Q3.shapeTexttemplateAttrs=({editType:e="arraydraw",newshape:t}={},r={})=>({valType:"string",dflt:"",editType:e});Q3.templatefallbackAttrs=({editType:e="none"}={})=>({valType:"any",dflt:"-",editType:e})});var GC=W((BFr,vhe)=>{"use strict";function dy(e,t){return t?t.d2l(e):e}function che(e,t){return t?t.l2d(e):e}function _bt(e){return e.x0}function bbt(e){return e.x1}function wbt(e){return e.y0}function Tbt(e){return e.y1}function fhe(e){return e.x0shift||0}function hhe(e){return e.x1shift||0}function dhe(e){return e.y0shift||0}function phe(e){return e.y1shift||0}function UC(e,t){return dy(e.x1,t)+hhe(e)-dy(e.x0,t)-fhe(e)}function VC(e,t,r){return dy(e.y1,r)+phe(e)-dy(e.y0,r)-dhe(e)}function Abt(e,t){return Math.abs(UC(e,t))}function Mbt(e,t,r){return Math.abs(VC(e,t,r))}function Sbt(e,t,r){return e.type!=="line"?void 0:Math.sqrt(Math.pow(UC(e,t),2)+Math.pow(VC(e,t,r),2))}function Ebt(e,t){return che((dy(e.x1,t)+hhe(e)+dy(e.x0,t)+fhe(e))/2,t)}function kbt(e,t,r){return che((dy(e.y1,r)+phe(e)+dy(e.y0,r)+dhe(e))/2,r)}function Cbt(e,t,r){return e.type!=="line"?void 0:VC(e,t,r)/UC(e,t)}var Dbt=["x0","x1","y0","y1","dy","height","ycenter"],Fbt=["x0","x1","y0","y1","dx","width","xcenter"];vhe.exports={x0:_bt,x1:bbt,y0:wbt,y1:Tbt,slope:Cbt,dx:UC,dy:VC,width:Abt,height:Mbt,length:Sbt,xcenter:Ebt,ycenter:kbt,simpleXVariables:Dbt,simpleYVariables:Fbt}});var yhe=W((qFr,mhe)=>{"use strict";var Lbt=ls().overrideAll,zx=Wa(),ghe=Ho(),Pbt=Du().dash,py=tn().extendFlat,{shapeTexttemplateAttrs:Ibt,templatefallbackAttrs:Rbt}=Ga(),zbt=GC();mhe.exports=Lbt({newshape:{visible:py({},zx.visible,{}),showlegend:{valType:"boolean",dflt:!1},legend:py({},zx.legend,{}),legendgroup:py({},zx.legendgroup,{}),legendgrouptitle:{text:py({},zx.legendgrouptitle.text,{}),font:ghe({})},legendrank:py({},zx.legendrank,{}),legendwidth:py({},zx.legendwidth,{}),line:{color:{valType:"color"},width:{valType:"number",min:0,dflt:4},dash:py({},Pbt,{dflt:"solid"})},fillcolor:{valType:"color",dflt:"rgba(0,0,0,0)"},fillrule:{valType:"enumerated",values:["evenodd","nonzero"],dflt:"evenodd"},opacity:{valType:"number",min:0,max:1,dflt:1},layer:{valType:"enumerated",values:["below","above","between"],dflt:"above"},drawdirection:{valType:"enumerated",values:["ortho","horizontal","vertical","diagonal"],dflt:"diagonal"},name:py({},zx.name,{}),label:{text:{valType:"string",dflt:""},texttemplate:Ibt({newshape:!0},{keys:Object.keys(zbt)}),texttemplatefallback:Rbt({editType:"arraydraw"}),font:ghe({}),textposition:{valType:"enumerated",values:["top left","top center","top right","middle left","middle center","middle right","bottom left","bottom center","bottom right","start","middle","end"]},textangle:{valType:"angle",dflt:"auto"},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"auto"},yanchor:{valType:"enumerated",values:["top","middle","bottom"]},padding:{valType:"number",dflt:3,min:0}}},activeshape:{fillcolor:{valType:"color",dflt:"rgb(255,0,255)",description:"Sets the color filling the active shape' interior."},opacity:{valType:"number",min:0,max:1,dflt:.5}}},"none","from-root")});var _he=W((OFr,xhe)=>{"use strict";var Bbt=Du().dash,qbt=tn().extendFlat;xhe.exports={newselection:{mode:{valType:"enumerated",values:["immediate","gradual"],dflt:"immediate",editType:"none"},line:{color:{valType:"color",editType:"none"},width:{valType:"number",min:1,dflt:1,editType:"none"},dash:qbt({},Bbt,{dflt:"dot",editType:"none"}),editType:"none"},editType:"none"},activeselection:{fillcolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"none"},opacity:{valType:"number",min:0,max:1,dflt:.5,editType:"none"},editType:"none"}}});var HC=W((NFr,bhe)=>{"use strict";bhe.exports=function(e){var t=e.editType;return{t:{valType:"number",dflt:0,editType:t},r:{valType:"number",dflt:0,editType:t},b:{valType:"number",dflt:0,editType:t},l:{valType:"number",dflt:0,editType:t},editType:t}}});var ew=W((UFr,Mhe)=>{"use strict";var oV=Ho(),Obt=J6(),jC=Vl(),whe=yhe(),The=_he(),Nbt=HC(),Ahe=tn().extendFlat,$C=oV({editType:"calc"});$C.family.dflt='"Open Sans", verdana, arial, sans-serif';$C.size.dflt=12;$C.color.dflt=jC.defaultLine;Mhe.exports={font:$C,title:{text:{valType:"string",editType:"layoutstyle"},font:oV({editType:"layoutstyle"}),subtitle:{text:{valType:"string",editType:"layoutstyle"},font:oV({editType:"layoutstyle"}),editType:"layoutstyle"},xref:{valType:"enumerated",dflt:"container",values:["container","paper"],editType:"layoutstyle"},yref:{valType:"enumerated",dflt:"container",values:["container","paper"],editType:"layoutstyle"},x:{valType:"number",min:0,max:1,dflt:.5,editType:"layoutstyle"},y:{valType:"number",min:0,max:1,dflt:"auto",editType:"layoutstyle"},xanchor:{valType:"enumerated",dflt:"auto",values:["auto","left","center","right"],editType:"layoutstyle"},yanchor:{valType:"enumerated",dflt:"auto",values:["auto","top","middle","bottom"],editType:"layoutstyle"},pad:Ahe(Nbt({editType:"layoutstyle"}),{}),automargin:{valType:"boolean",dflt:!1,editType:"plot"},editType:"layoutstyle"},uniformtext:{mode:{valType:"enumerated",values:[!1,"hide","show"],dflt:!1,editType:"plot"},minsize:{valType:"number",min:0,dflt:0,editType:"plot"},editType:"plot"},autosize:{valType:"boolean",dflt:!1,editType:"none"},width:{valType:"number",min:10,dflt:700,editType:"plot"},height:{valType:"number",min:10,dflt:450,editType:"plot"},minreducedwidth:{valType:"number",min:2,dflt:64,editType:"plot"},minreducedheight:{valType:"number",min:2,dflt:64,editType:"plot"},margin:{l:{valType:"number",min:0,dflt:80,editType:"plot"},r:{valType:"number",min:0,dflt:80,editType:"plot"},t:{valType:"number",min:0,dflt:100,editType:"plot"},b:{valType:"number",min:0,dflt:80,editType:"plot"},pad:{valType:"number",min:0,dflt:0,editType:"plot"},autoexpand:{valType:"boolean",dflt:!0,editType:"plot"},editType:"plot"},computed:{valType:"any",editType:"none"},paper_bgcolor:{valType:"color",dflt:jC.background,editType:"plot"},plot_bgcolor:{valType:"color",dflt:jC.background,editType:"layoutstyle"},autotypenumbers:{valType:"enumerated",values:["convert types","strict"],dflt:"convert types",editType:"calc"},separators:{valType:"string",editType:"plot"},showlegend:{valType:"boolean",editType:"legend"},colorway:{valType:"colorlist",dflt:jC.defaults,editType:"calc"},datarevision:{valType:"any",editType:"calc"},uirevision:{valType:"any",editType:"none"},editrevision:{valType:"any",editType:"none"},selectionrevision:{valType:"any",editType:"none"},template:{valType:"any",editType:"calc"},newshape:whe.newshape,activeshape:whe.activeshape,newselection:The.newselection,activeselection:The.activeselection,meta:{valType:"any",arrayOk:!0,editType:"plot"},transition:Ahe({},Obt.transition,{editType:"none"})}});var She=W(()=>{(function(){if(!document.getElementById("9f215cf04c5486422605d13261cb87401f4e7763b6296af81e98efbc0130da53")){var e=document.createElement("style");e.id="9f215cf04c5486422605d13261cb87401f4e7763b6296af81e98efbc0130da53",e.textContent='.maplibregl-map{font:12px/20px Helvetica Neue,Arial,Helvetica,sans-serif;overflow:hidden;position:relative;-webkit-tap-highlight-color:rgb(0 0 0/0)}.maplibregl-canvas{position:absolute;left:0;top:0}.maplibregl-map:fullscreen{width:100%;height:100%}.maplibregl-ctrl-group button.maplibregl-ctrl-compass{touch-action:none}.maplibregl-canvas-container.maplibregl-interactive,.maplibregl-ctrl-group button.maplibregl-ctrl-compass{cursor:grab;-webkit-user-select:none;-moz-user-select:none;user-select:none}.maplibregl-canvas-container.maplibregl-interactive.maplibregl-track-pointer{cursor:pointer}.maplibregl-canvas-container.maplibregl-interactive:active,.maplibregl-ctrl-group button.maplibregl-ctrl-compass:active{cursor:grabbing}.maplibregl-canvas-container.maplibregl-touch-zoom-rotate,.maplibregl-canvas-container.maplibregl-touch-zoom-rotate .maplibregl-canvas{touch-action:pan-x pan-y}.maplibregl-canvas-container.maplibregl-touch-drag-pan,.maplibregl-canvas-container.maplibregl-touch-drag-pan .maplibregl-canvas{touch-action:pinch-zoom}.maplibregl-canvas-container.maplibregl-touch-zoom-rotate.maplibregl-touch-drag-pan,.maplibregl-canvas-container.maplibregl-touch-zoom-rotate.maplibregl-touch-drag-pan .maplibregl-canvas{touch-action:none}.maplibregl-canvas-container.maplibregl-touch-drag-pan.maplibregl-cooperative-gestures,.maplibregl-canvas-container.maplibregl-touch-drag-pan.maplibregl-cooperative-gestures .maplibregl-canvas{touch-action:pan-x pan-y}.maplibregl-ctrl-bottom-left,.maplibregl-ctrl-bottom-right,.maplibregl-ctrl-top-left,.maplibregl-ctrl-top-right{position:absolute;pointer-events:none;z-index:2}.maplibregl-ctrl-top-left{top:0;left:0}.maplibregl-ctrl-top-right{top:0;right:0}.maplibregl-ctrl-bottom-left{bottom:0;left:0}.maplibregl-ctrl-bottom-right{right:0;bottom:0}.maplibregl-ctrl{clear:both;pointer-events:auto;transform:translate(0)}.maplibregl-ctrl-top-left .maplibregl-ctrl{margin:10px 0 0 10px;float:left}.maplibregl-ctrl-top-right .maplibregl-ctrl{margin:10px 10px 0 0;float:right}.maplibregl-ctrl-bottom-left .maplibregl-ctrl{margin:0 0 10px 10px;float:left}.maplibregl-ctrl-bottom-right .maplibregl-ctrl{margin:0 10px 10px 0;float:right}.maplibregl-ctrl-group{border-radius:4px;background:#fff}.maplibregl-ctrl-group:not(:empty){box-shadow:0 0 0 2px rgba(0,0,0,.1)}@media (forced-colors:active){.maplibregl-ctrl-group:not(:empty){box-shadow:0 0 0 2px ButtonText}}.maplibregl-ctrl-group button{width:29px;height:29px;display:block;padding:0;outline:none;border:0;box-sizing:border-box;background-color:transparent;cursor:pointer}.maplibregl-ctrl-group button+button{border-top:1px solid #ddd}.maplibregl-ctrl button .maplibregl-ctrl-icon{display:block;width:100%;height:100%;background-repeat:no-repeat;background-position:50%}@media (forced-colors:active){.maplibregl-ctrl-icon{background-color:transparent}.maplibregl-ctrl-group button+button{border-top:1px solid ButtonText}}.maplibregl-ctrl button::-moz-focus-inner{border:0;padding:0}.maplibregl-ctrl-attrib-button:focus,.maplibregl-ctrl-group button:focus{box-shadow:0 0 2px 2px #0096ff}.maplibregl-ctrl button:disabled{cursor:not-allowed}.maplibregl-ctrl button:disabled .maplibregl-ctrl-icon{opacity:.25}@media (hover:hover){.maplibregl-ctrl button:not(:disabled):hover{background-color:rgba(0,0,0,.05)}}.maplibregl-ctrl button:not(:disabled):active{background-color:rgba(0,0,0,.05)}.maplibregl-ctrl-group button:focus:focus-visible{box-shadow:0 0 2px 2px #0096ff}.maplibregl-ctrl-group button:focus:not(:focus-visible){box-shadow:none}.maplibregl-ctrl-group button:focus:first-child{border-radius:4px 4px 0 0}.maplibregl-ctrl-group button:focus:last-child{border-radius:0 0 4px 4px}.maplibregl-ctrl-group button:focus:only-child{border-radius:inherit}.maplibregl-ctrl button.maplibregl-ctrl-zoom-out .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M10%2013c-.75%200-1.5.75-1.5%201.5S9.25%2016%2010%2016h9c.75%200%201.5-.75%201.5-1.5S19.75%2013%2019%2013z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-zoom-in .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M14.5%208.5c-.75%200-1.5.75-1.5%201.5v3h-3c-.75%200-1.5.75-1.5%201.5S9.25%2016%2010%2016h3v3c0%20.75.75%201.5%201.5%201.5S16%2019.75%2016%2019v-3h3c.75%200%201.5-.75%201.5-1.5S19.75%2013%2019%2013h-3v-3c0-.75-.75-1.5-1.5-1.5%22%2F%3E%3C%2Fsvg%3E")}@media (forced-colors:active){.maplibregl-ctrl button.maplibregl-ctrl-zoom-out .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M10%2013c-.75%200-1.5.75-1.5%201.5S9.25%2016%2010%2016h9c.75%200%201.5-.75%201.5-1.5S19.75%2013%2019%2013z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-zoom-in .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M14.5%208.5c-.75%200-1.5.75-1.5%201.5v3h-3c-.75%200-1.5.75-1.5%201.5S9.25%2016%2010%2016h3v3c0%20.75.75%201.5%201.5%201.5S16%2019.75%2016%2019v-3h3c.75%200%201.5-.75%201.5-1.5S19.75%2013%2019%2013h-3v-3c0-.75-.75-1.5-1.5-1.5%22%2F%3E%3C%2Fsvg%3E")}}@media (forced-colors:active) and (prefers-color-scheme:light){.maplibregl-ctrl button.maplibregl-ctrl-zoom-out .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M10%2013c-.75%200-1.5.75-1.5%201.5S9.25%2016%2010%2016h9c.75%200%201.5-.75%201.5-1.5S19.75%2013%2019%2013z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-zoom-in .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M14.5%208.5c-.75%200-1.5.75-1.5%201.5v3h-3c-.75%200-1.5.75-1.5%201.5S9.25%2016%2010%2016h3v3c0%20.75.75%201.5%201.5%201.5S16%2019.75%2016%2019v-3h3c.75%200%201.5-.75%201.5-1.5S19.75%2013%2019%2013h-3v-3c0-.75-.75-1.5-1.5-1.5%22%2F%3E%3C%2Fsvg%3E")}}.maplibregl-ctrl button.maplibregl-ctrl-fullscreen .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M24%2016v5.5c0%201.75-.75%202.5-2.5%202.5H16v-1l3-1.5-4-5.5%201-1%205.5%204%201.5-3zM6%2016l1.5%203%205.5-4%201%201-4%205.5%203%201.5v1H7.5C5.75%2024%205%2023.25%205%2021.5V16zm7-11v1l-3%201.5%204%205.5-1%201-5.5-4L6%2013H5V7.5C5%205.75%205.75%205%207.5%205zm11%202.5c0-1.75-.75-2.5-2.5-2.5H16v1l3%201.5-4%205.5%201%201%205.5-4%201.5%203h1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-shrink .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M18.5%2016c-1.75%200-2.5.75-2.5%202.5V24h1l1.5-3%205.5%204%201-1-4-5.5%203-1.5v-1zM13%2018.5c0-1.75-.75-2.5-2.5-2.5H5v1l3%201.5L4%2024l1%201%205.5-4%201.5%203h1zm3-8c0%201.75.75%202.5%202.5%202.5H24v-1l-3-1.5L25%205l-1-1-5.5%204L17%205h-1zM10.5%2013c1.75%200%202.5-.75%202.5-2.5V5h-1l-1.5%203L5%204%204%205l4%205.5L5%2012v1z%22%2F%3E%3C%2Fsvg%3E")}@media (forced-colors:active){.maplibregl-ctrl button.maplibregl-ctrl-fullscreen .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M24%2016v5.5c0%201.75-.75%202.5-2.5%202.5H16v-1l3-1.5-4-5.5%201-1%205.5%204%201.5-3zM6%2016l1.5%203%205.5-4%201%201-4%205.5%203%201.5v1H7.5C5.75%2024%205%2023.25%205%2021.5V16zm7-11v1l-3%201.5%204%205.5-1%201-5.5-4L6%2013H5V7.5C5%205.75%205.75%205%207.5%205zm11%202.5c0-1.75-.75-2.5-2.5-2.5H16v1l3%201.5-4%205.5%201%201%205.5-4%201.5%203h1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-shrink .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M18.5%2016c-1.75%200-2.5.75-2.5%202.5V24h1l1.5-3%205.5%204%201-1-4-5.5%203-1.5v-1zM13%2018.5c0-1.75-.75-2.5-2.5-2.5H5v1l3%201.5L4%2024l1%201%205.5-4%201.5%203h1zm3-8c0%201.75.75%202.5%202.5%202.5H24v-1l-3-1.5L25%205l-1-1-5.5%204L17%205h-1zM10.5%2013c1.75%200%202.5-.75%202.5-2.5V5h-1l-1.5%203L5%204%204%205l4%205.5L5%2012v1z%22%2F%3E%3C%2Fsvg%3E")}}@media (forced-colors:active) and (prefers-color-scheme:light){.maplibregl-ctrl button.maplibregl-ctrl-fullscreen .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M24%2016v5.5c0%201.75-.75%202.5-2.5%202.5H16v-1l3-1.5-4-5.5%201-1%205.5%204%201.5-3zM6%2016l1.5%203%205.5-4%201%201-4%205.5%203%201.5v1H7.5C5.75%2024%205%2023.25%205%2021.5V16zm7-11v1l-3%201.5%204%205.5-1%201-5.5-4L6%2013H5V7.5C5%205.75%205.75%205%207.5%205zm11%202.5c0-1.75-.75-2.5-2.5-2.5H16v1l3%201.5-4%205.5%201%201%205.5-4%201.5%203h1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-shrink .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22M18.5%2016c-1.75%200-2.5.75-2.5%202.5V24h1l1.5-3%205.5%204%201-1-4-5.5%203-1.5v-1zM13%2018.5c0-1.75-.75-2.5-2.5-2.5H5v1l3%201.5L4%2024l1%201%205.5-4%201.5%203h1zm3-8c0%201.75.75%202.5%202.5%202.5H24v-1l-3-1.5L25%205l-1-1-5.5%204L17%205h-1zM10.5%2013c1.75%200%202.5-.75%202.5-2.5V5h-1l-1.5%203L5%204%204%205l4%205.5L5%2012v1z%22%2F%3E%3C%2Fsvg%3E")}}.maplibregl-ctrl button.maplibregl-ctrl-compass .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22m10.5%2014%204-8%204%208z%22%2F%3E%3Cpath%20fill%3D%22%23ccc%22%20d%3D%22m10.5%2016%204%208%204-8z%22%2F%3E%3C%2Fsvg%3E")}@media (forced-colors:active){.maplibregl-ctrl button.maplibregl-ctrl-compass .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22m10.5%2014%204-8%204%208z%22%2F%3E%3Cpath%20fill%3D%22%23ccc%22%20d%3D%22m10.5%2016%204%208%204-8z%22%2F%3E%3C%2Fsvg%3E")}}@media (forced-colors:active) and (prefers-color-scheme:light){.maplibregl-ctrl button.maplibregl-ctrl-compass .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2029%2029%22%3E%3Cpath%20d%3D%22m10.5%2014%204-8%204%208z%22%2F%3E%3Cpath%20fill%3D%22%23ccc%22%20d%3D%22m10.5%2016%204%208%204-8z%22%2F%3E%3C%2Fsvg%3E")}}.maplibregl-ctrl button.maplibregl-ctrl-globe .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2222%22%20height%3D%2222%22%20fill%3D%22none%22%20stroke%3D%22%23333%22%20viewBox%3D%220%200%2022%2022%22%3E%3Ccircle%20cx%3D%2211%22%20cy%3D%2211%22%20r%3D%228.5%22%2F%3E%3Cpath%20d%3D%22M17.5%2011c0%204.819-3.02%208.5-6.5%208.5S4.5%2015.819%204.5%2011%207.52%202.5%2011%202.5s6.5%203.681%206.5%208.5Z%22%2F%3E%3Cpath%20d%3D%22M13.5%2011c0%202.447-.331%204.64-.853%206.206-.262.785-.562%201.384-.872%201.777-.314.399-.58.517-.775.517s-.461-.118-.775-.517c-.31-.393-.61-.992-.872-1.777C8.831%2015.64%208.5%2013.446%208.5%2011s.331-4.64.853-6.206c.262-.785.562-1.384.872-1.777.314-.399.58-.517.775-.517s.461.118.775.517c.31.393.61.992.872%201.777.522%201.565.853%203.76.853%206.206Z%22%2F%3E%3Cpath%20d%3D%22M11%207.5c-1.909%200-3.622-.166-4.845-.428-.616-.132-1.08-.283-1.379-.434a1.3%201.3%200%200%201-.224-.138q.07-.058.224-.138c.299-.151.763-.302%201.379-.434C7.378%205.666%209.091%205.5%2011%205.5s3.622.166%204.845.428c.616.132%201.08.283%201.379.434.105.053.177.1.224.138q-.07.058-.224.138c-.299.151-.763.302-1.379.434-1.223.262-2.936.428-4.845.428Zm0%209c-1.909%200-3.622-.166-4.845-.428-.616-.132-1.08-.283-1.379-.434a1.3%201.3%200%200%201-.224-.138%201.3%201.3%200%200%201%20.224-.138c.299-.151.763-.302%201.379-.434C7.378%2014.666%209.091%2014.5%2011%2014.5s3.622.166%204.845.428c.616.132%201.08.283%201.379.434.105.053.177.1.224.138a1.3%201.3%200%200%201-.224.138c-.299.151-.763.302-1.379.434-1.223.262-2.936.428-4.845.428Zm0-4c-2.46%200-4.672-.222-6.255-.574-.796-.177-1.406-.38-1.805-.59a1.5%201.5%200%200%201-.39-.272.3.3%200%200%201-.047-.064.3.3%200%200%201%20.048-.064c.066-.073.189-.167.389-.272.399-.21%201.009-.413%201.805-.59C6.328%209.722%208.54%209.5%2011%209.5s4.672.222%206.256.574c.795.177%201.405.38%201.804.59.2.105.323.2.39.272a.3.3%200%200%201%20.047.064.3.3%200%200%201-.048.064%201.4%201.4%200%200%201-.389.272c-.399.21-1.009.413-1.804.59-1.584.352-3.796.574-6.256.574Zm-8.501-1.51v.002zm0%20.018v.002zm17.002.002v-.002zm0-.018v-.002z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-globe-enabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2222%22%20height%3D%2222%22%20fill%3D%22none%22%20stroke%3D%22%2333b5e5%22%20viewBox%3D%220%200%2022%2022%22%3E%3Ccircle%20cx%3D%2211%22%20cy%3D%2211%22%20r%3D%228.5%22%2F%3E%3Cpath%20d%3D%22M17.5%2011c0%204.819-3.02%208.5-6.5%208.5S4.5%2015.819%204.5%2011%207.52%202.5%2011%202.5s6.5%203.681%206.5%208.5Z%22%2F%3E%3Cpath%20d%3D%22M13.5%2011c0%202.447-.331%204.64-.853%206.206-.262.785-.562%201.384-.872%201.777-.314.399-.58.517-.775.517s-.461-.118-.775-.517c-.31-.393-.61-.992-.872-1.777C8.831%2015.64%208.5%2013.446%208.5%2011s.331-4.64.853-6.206c.262-.785.562-1.384.872-1.777.314-.399.58-.517.775-.517s.461.118.775.517c.31.393.61.992.872%201.777.522%201.565.853%203.76.853%206.206Z%22%2F%3E%3Cpath%20d%3D%22M11%207.5c-1.909%200-3.622-.166-4.845-.428-.616-.132-1.08-.283-1.379-.434a1.3%201.3%200%200%201-.224-.138q.07-.058.224-.138c.299-.151.763-.302%201.379-.434C7.378%205.666%209.091%205.5%2011%205.5s3.622.166%204.845.428c.616.132%201.08.283%201.379.434.105.053.177.1.224.138q-.07.058-.224.138c-.299.151-.763.302-1.379.434-1.223.262-2.936.428-4.845.428Zm0%209c-1.909%200-3.622-.166-4.845-.428-.616-.132-1.08-.283-1.379-.434a1.3%201.3%200%200%201-.224-.138%201.3%201.3%200%200%201%20.224-.138c.299-.151.763-.302%201.379-.434C7.378%2014.666%209.091%2014.5%2011%2014.5s3.622.166%204.845.428c.616.132%201.08.283%201.379.434.105.053.177.1.224.138a1.3%201.3%200%200%201-.224.138c-.299.151-.763.302-1.379.434-1.223.262-2.936.428-4.845.428Zm0-4c-2.46%200-4.672-.222-6.255-.574-.796-.177-1.406-.38-1.805-.59a1.5%201.5%200%200%201-.39-.272.3.3%200%200%201-.047-.064.3.3%200%200%201%20.048-.064c.066-.073.189-.167.389-.272.399-.21%201.009-.413%201.805-.59C6.328%209.722%208.54%209.5%2011%209.5s4.672.222%206.256.574c.795.177%201.405.38%201.804.59.2.105.323.2.39.272a.3.3%200%200%201%20.047.064.3.3%200%200%201-.048.064%201.4%201.4%200%200%201-.389.272c-.399.21-1.009.413-1.804.59-1.584.352-3.796.574-6.256.574Zm-8.501-1.51v.002zm0%20.018v.002zm17.002.002v-.002zm0-.018v-.002z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-terrain .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2222%22%20height%3D%2222%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2022%2022%22%3E%3Cpath%20d%3D%22m1.754%2013.406%204.453-4.851%203.09%203.09%203.281%203.277.969-.969-3.309-3.312%203.844-4.121%206.148%206.886h1.082v-.855l-7.207-8.07-4.84%205.187L6.169%206.57l-5.48%205.965v.871ZM.688%2016.844h20.625v1.375H.688Zm0%200%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-terrain-enabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2222%22%20height%3D%2222%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2022%2022%22%3E%3Cpath%20d%3D%22m1.754%2013.406%204.453-4.851%203.09%203.09%203.281%203.277.969-.969-3.309-3.312%203.844-4.121%206.148%206.886h1.082v-.855l-7.207-8.07-4.84%205.187L6.169%206.57l-5.48%205.965v.871ZM.688%2016.844h20.625v1.375H.688Zm0%200%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23333%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate:disabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23aaa%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3Cpath%20fill%3D%22red%22%20d%3D%22m14%205%201%201-9%209-1-1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e58978%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e54e33%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-waiting .maplibregl-ctrl-icon{animation:maplibregl-spin 2s linear infinite}@media (forced-colors:active){.maplibregl-ctrl button.maplibregl-ctrl-geolocate .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23fff%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate:disabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23999%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3Cpath%20fill%3D%22red%22%20d%3D%22m14%205%201%201-9%209-1-1z%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-active-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e58978%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%2333b5e5%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate.maplibregl-ctrl-geolocate-background-error .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23e54e33%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3C%2Fsvg%3E")}}@media (forced-colors:active) and (prefers-color-scheme:light){.maplibregl-ctrl button.maplibregl-ctrl-geolocate .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3C%2Fsvg%3E")}.maplibregl-ctrl button.maplibregl-ctrl-geolocate:disabled .maplibregl-ctrl-icon{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2229%22%20height%3D%2229%22%20fill%3D%22%23666%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M10%204C9%204%209%205%209%205v.1A5%205%200%200%200%205.1%209H5s-1%200-1%201%201%201%201%201h.1A5%205%200%200%200%209%2014.9v.1s0%201%201%201%201-1%201-1v-.1a5%205%200%200%200%203.9-3.9h.1s1%200%201-1-1-1-1-1h-.1A5%205%200%200%200%2011%205.1V5s0-1-1-1m0%202.5a3.5%203.5%200%201%201%200%207%203.5%203.5%200%201%201%200-7%22%2F%3E%3Ccircle%20cx%3D%2210%22%20cy%3D%2210%22%20r%3D%222%22%2F%3E%3Cpath%20fill%3D%22red%22%20d%3D%22m14%205%201%201-9%209-1-1z%22%2F%3E%3C%2Fsvg%3E")}}@keyframes maplibregl-spin{0%{transform:rotate(0deg)}to{transform:rotate(1turn)}}a.maplibregl-ctrl-logo{width:88px;height:23px;margin:0 0 -4px -4px;display:block;background-repeat:no-repeat;cursor:pointer;overflow:hidden;background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2288%22%20height%3D%2223%22%20fill%3D%22none%22%3E%3Cpath%20fill%3D%22%23000%22%20fill-opacity%3D%22.4%22%20fill-rule%3D%22evenodd%22%20d%3D%22M17.408%2016.796h-1.827l2.501-12.095h.198l3.324%206.533.988%202.19.988-2.19%203.258-6.533h.181l2.6%2012.095h-1.81l-1.218-5.644-.362-1.71-.658%201.71-2.929%205.644h-.098l-2.914-5.644-.757-1.71-.345%201.71zm1.958-3.42-.726%203.663a1.255%201.255%200%200%201-1.232%201.011h-1.827a1.255%201.255%200%200%201-1.229-1.509l2.501-12.095a1.255%201.255%200%200%201%201.23-1.001h.197a1.25%201.25%200%200%201%201.12.685l3.19%206.273%203.125-6.263a1.25%201.25%200%200%201%201.123-.695h.181a1.255%201.255%200%200%201%201.227.991l1.443%206.71a5%205%200%200%201%20.314-.787l.009-.016a4.6%204.6%200%200%201%201.777-1.887c.782-.46%201.668-.667%202.611-.667a4.6%204.6%200%200%201%201.7.32l.306.134c.21-.16.474-.256.759-.256h1.694a1.255%201.255%200%200%201%201.212.925%201.255%201.255%200%200%201%201.212-.925h1.711c.284%200%20.545.094.755.252.613-.3%201.312-.45%202.075-.45%201.356%200%202.557.445%203.482%201.4q.47.48.763%201.064V4.701a1.255%201.255%200%200%201%201.255-1.255h1.86A1.255%201.255%200%200%201%2054.44%204.7v9.194h2.217c.19%200%20.37.043.532.118v-4.77c0-.356.147-.678.385-.906a2.42%202.42%200%200%201-.682-1.71c0-.665.267-1.253.735-1.7a2.45%202.45%200%200%201%201.722-.674%202.43%202.43%200%200%201%201.705.675q.318.302.504.683V4.7a1.255%201.255%200%200%201%201.255-1.255h1.744A1.255%201.255%200%200%201%2065.812%204.7v3.335a4.8%204.8%200%200%201%201.526-.246c.938%200%201.817.214%202.59.69a4.47%204.47%200%200%201%201.67%201.743v-.98a1.255%201.255%200%200%201%201.256-1.256h1.777c.233%200%20.451.064.639.174a3.4%203.4%200%200%201%201.567-.372c.346%200%20.861.02%201.285.232a1.25%201.25%200%200%201%20.689%201.004%204.7%204.7%200%200%201%20.853-.588c.795-.44%201.675-.647%202.61-.647%201.385%200%202.65.39%203.525%201.396.836.938%201.168%202.173%201.168%203.528q-.001.515-.056%201.051a1.255%201.255%200%200%201-.947%201.09l.408.952a1.255%201.255%200%200%201-.477%201.552c-.418.268-.92.463-1.458.612-.613.171-1.304.244-2.049.244-1.06%200-2.043-.207-2.886-.698l-.015-.008c-.798-.48-1.419-1.135-1.818-1.963l-.004-.008a5.8%205.8%200%200%201-.548-2.512q0-.429.053-.843a1.3%201.3%200%200%201-.333-.086l-.166-.004c-.223%200-.426.062-.643.228-.03.024-.142.139-.142.59v3.883a1.255%201.255%200%200%201-1.256%201.256h-1.777a1.255%201.255%200%200%201-1.256-1.256V15.69l-.032.057a4.8%204.8%200%200%201-1.86%201.833%205.04%205.04%200%200%201-2.484.634%204.5%204.5%200%200%201-1.935-.424%201.25%201.25%200%200%201-.764.258h-1.71a1.255%201.255%200%200%201-1.256-1.255V7.687a2.4%202.4%200%200%201-.428.625c.253.23.412.561.412.93v7.553a1.255%201.255%200%200%201-1.256%201.255h-1.843a1.25%201.25%200%200%201-.894-.373c-.228.23-.544.373-.894.373H51.32a1.255%201.255%200%200%201-1.256-1.255v-1.251l-.061.117a4.7%204.7%200%200%201-1.782%201.884%204.77%204.77%200%200%201-2.485.67%205.6%205.6%200%200%201-1.485-.188l.009%202.764a1.255%201.255%200%200%201-1.255%201.259h-1.729a1.255%201.255%200%200%201-1.255-1.255v-3.537a1.255%201.255%200%200%201-1.167.793h-1.679a1.25%201.25%200%200%201-.77-.263%204.5%204.5%200%200%201-1.945.429c-.885%200-1.724-.21-2.495-.632l-.017-.01a5%205%200%200%201-1.081-.836%201.255%201.255%200%200%201-1.254%201.312h-1.81a1.255%201.255%200%200%201-1.228-.99l-.782-3.625-2.044%203.939a1.25%201.25%200%200%201-1.115.676h-.098a1.25%201.25%200%200%201-1.116-.68l-2.061-3.994zM35.92%2016.63l.207-.114.223-.15q.493-.356.735-.785l.061-.118.033%201.332h1.678V9.242h-1.694l-.033%201.267q-.133-.329-.526-.658l-.032-.028a3.2%203.2%200%200%200-.668-.428l-.27-.12a3.3%203.3%200%200%200-1.235-.23q-1.136-.001-1.974.493a3.36%203.36%200%200%200-1.3%201.382q-.445.89-.444%202.074%200%201.2.51%202.107a3.8%203.8%200%200%200%201.382%201.381%203.9%203.9%200%200%200%201.893.477q.795%200%201.455-.33zm-2.789-5.38q-.576.675-.575%201.762%200%201.102.559%201.794.576.675%201.645.675a2.25%202.25%200%200%200%20.934-.19%202.2%202.2%200%200%200%20.468-.29l.178-.161a2.2%202.2%200%200%200%20.397-.561q.244-.5.244-1.15v-.115q0-.708-.296-1.267l-.043-.077a2.2%202.2%200%200%200-.633-.709l-.13-.086-.047-.028a2.1%202.1%200%200%200-1.073-.285q-1.052%200-1.629.692zm2.316%202.706c.163-.17.28-.407.28-.83v-.114c0-.292-.06-.508-.15-.68a.96.96%200%200%200-.353-.389.85.85%200%200%200-.464-.127c-.4%200-.56.114-.664.239l-.01.012c-.148.174-.275.45-.275.945%200%20.506.122.801.27.99.097.11.266.224.68.224.303%200%20.504-.09.687-.269zm7.545%201.705a2.6%202.6%200%200%200%20.331.423q.319.33.755.548l.173.074q.65.255%201.49.255%201.02%200%201.844-.493a3.45%203.45%200%200%200%201.316-1.4q.493-.904.493-2.089%200-1.909-.988-2.913-.988-1.02-2.584-1.02-.898%200-1.575.347a3%203%200%200%200-.415.262l-.199.166a3.4%203.4%200%200%200-.64.82V9.242h-1.712v11.553h1.729l-.017-5.134zm.53-1.138q.206.29.48.5l.155.11.053.034q.51.296%201.119.297%201.07%200%201.645-.675.577-.69.576-1.762%200-1.119-.576-1.777-.558-.675-1.645-.675-.435%200-.835.16a2%202%200%200%200-.284.136%202%202%200%200%200-.363.254%202.2%202.2%200%200%200-.46.569l-.082.162a2.6%202.6%200%200%200-.213%201.072v.115q0%20.707.296%201.267l.135.211zm.964-.818a1.1%201.1%200%200%200%20.367.385.94.94%200%200%200%20.476.118c.423%200%20.59-.117.687-.23.159-.194.28-.478.28-.95%200-.53-.133-.8-.266-.952l-.021-.025c-.078-.094-.231-.221-.68-.221a1%201%200%200%200-.503.135l-.012.007a.86.86%200%200%200-.335.343c-.073.133-.132.324-.132.614v.115a1.4%201.4%200%200%200%20.14.66zm15.7-6.222q.347-.346.346-.856a1.05%201.05%200%200%200-.345-.79%201.18%201.18%200%200%200-.84-.329q-.51%200-.855.33a1.05%201.05%200%200%200-.346.79q0%20.51.346.855.345.346.856.346.51%200%20.839-.346zm4.337%209.314.033-1.332q.191.403.59.747l.098.081a4%204%200%200%200%20.316.224l.223.122a3.2%203.2%200%200%200%201.44.322%203.8%203.8%200%200%200%201.875-.477%203.5%203.5%200%200%200%201.382-1.366q.527-.89.526-2.09%200-1.184-.444-2.073a3.24%203.24%200%200%200-1.283-1.399q-.823-.51-1.942-.51a3.5%203.5%200%200%200-1.527.344l-.086.043-.165.09a3%203%200%200%200-.33.214q-.432.315-.656.707a2%202%200%200%200-.099.198l.082-1.283V4.701h-1.744v12.095zm.473-2.509a2.5%202.5%200%200%200%20.566.7q.117.098.245.18l.144.08a2.1%202.1%200%200%200%20.975.232q1.07%200%201.645-.675.576-.69.576-1.778%200-1.102-.576-1.777-.56-.691-1.645-.692a2.2%202.2%200%200%200-1.015.235q-.22.113-.415.282l-.15.142a2.1%202.1%200%200%200-.42.594q-.223.479-.223%201.1v.115q0%20.705.293%201.26zm2.616-.293c.157-.191.28-.479.28-.967%200-.51-.13-.79-.276-.961l-.021-.026c-.082-.1-.232-.225-.67-.225a.87.87%200%200%200-.681.279l-.012.011c-.154.155-.274.38-.274.807v.115c0%20.285.057.499.144.669a1.1%201.1%200%200%200%20.367.405c.137.082.28.123.455.123.423%200%20.59-.118.686-.23zm8.266-3.013q.345-.13.724-.14l.069-.002q.493%200%20.642.099l.247-1.794q-.196-.099-.717-.099a2.3%202.3%200%200%200-.545.063%202%202%200%200%200-.411.148%202.2%202.2%200%200%200-.4.249%202.5%202.5%200%200%200-.485.499%202.7%202.7%200%200%200-.32.581l-.05.137v-1.48h-1.778v7.553h1.777v-3.884q0-.546.159-.943a1.5%201.5%200%200%201%20.466-.636%202.5%202.5%200%200%201%20.399-.253%202%202%200%200%201%20.224-.099zm9.784%202.656.05-.922q0-1.743-.856-2.698-.838-.97-2.584-.97-1.119-.001-2.007.493a3.46%203.46%200%200%200-1.4%201.382q-.493.906-.493%202.106%200%201.07.428%201.975.428.89%201.332%201.432.906.526%202.255.526.973%200%201.668-.185l.044-.012.135-.04q.613-.184.984-.421l-.542-1.267q-.3.162-.642.274l-.297.087q-.51.131-1.3.131-.954%200-1.497-.444a1.6%201.6%200%200%201-.192-.193q-.366-.44-.512-1.234l-.004-.021zm-5.427-1.256-.003.022h3.752v-.138q-.011-.727-.288-1.118a1%201%200%200%200-.156-.176q-.46-.428-1.316-.428-.986%200-1.494.604-.379.45-.494%201.234zm-27.053%202.77V4.7h-1.86v12.095h5.333V15.15zm7.103-5.908v7.553h-1.843V9.242h1.843z%22%2F%3E%3Cpath%20fill%3D%22%23fff%22%20d%3D%22m19.63%2011.151-.757-1.71-.345%201.71-1.12%205.644h-1.827L18.083%204.7h.197l3.325%206.533.988%202.19.988-2.19L26.839%204.7h.181l2.6%2012.095h-1.81l-1.218-5.644-.362-1.71-.658%201.71-2.93%205.644h-.098l-2.913-5.644zm14.836%205.81q-1.02%200-1.893-.478a3.8%203.8%200%200%201-1.381-1.382q-.51-.906-.51-2.106%200-1.185.444-2.074a3.36%203.36%200%200%201%201.3-1.382q.839-.494%201.974-.494a3.3%203.3%200%200%201%201.234.231%203.3%203.3%200%200%201%20.97.575q.396.33.527.659l.033-1.267h1.694v7.553H37.18l-.033-1.332q-.279.593-1.02%201.053a3.17%203.17%200%200%201-1.662.444zm.296-1.482q.938%200%201.58-.642.642-.66.642-1.711v-.115q0-.708-.296-1.267a2.2%202.2%200%200%200-.807-.872%202.1%202.1%200%200%200-1.119-.313q-1.053%200-1.629.692-.575.675-.575%201.76%200%201.103.559%201.795.577.675%201.645.675zm6.521-6.237h1.711v1.4q.906-1.597%202.83-1.597%201.596%200%202.584%201.02.988%201.005.988%202.914%200%201.185-.493%202.09a3.46%203.46%200%200%201-1.316%201.399%203.5%203.5%200%200%201-1.844.493q-.954%200-1.662-.329a2.67%202.67%200%200%201-1.086-.97l.017%205.134h-1.728zm4.048%206.22q1.07%200%201.645-.674.577-.69.576-1.762%200-1.119-.576-1.777-.558-.675-1.645-.675-.592%200-1.12.296-.51.28-.822.823-.296.527-.296%201.234v.115q0%20.708.296%201.267.313.543.823.855.51.296%201.119.297z%22%2F%3E%3Cpath%20fill%3D%22%23e1e3e9%22%20d%3D%22M51.325%204.7h1.86v10.45h3.473v1.646h-5.333zm7.12%204.542h1.843v7.553h-1.843zm.905-1.415a1.16%201.16%200%200%201-.856-.346%201.17%201.17%200%200%201-.346-.856%201.05%201.05%200%200%201%20.346-.79q.346-.329.856-.329.494%200%20.839.33a1.05%201.05%200%200%201%20.345.79%201.16%201.16%200%200%201-.345.855q-.33.346-.84.346zm7.875%209.133a3.17%203.17%200%200%201-1.662-.444q-.723-.46-1.004-1.053l-.033%201.332h-1.71V4.701h1.743v4.657l-.082%201.283q.279-.658%201.086-1.119a3.5%203.5%200%200%201%201.778-.477q1.119%200%201.942.51a3.24%203.24%200%200%201%201.283%201.4q.445.888.444%202.072%200%201.201-.526%202.09a3.5%203.5%200%200%201-1.382%201.366%203.8%203.8%200%200%201-1.876.477zm-.296-1.481q1.069%200%201.645-.675.577-.69.577-1.778%200-1.102-.577-1.776-.56-.691-1.645-.692a2.12%202.12%200%200%200-1.58.659q-.642.641-.642%201.694v.115q0%20.71.296%201.267a2.4%202.4%200%200%200%20.807.872%202.1%202.1%200%200%200%201.119.313zm5.927-6.237h1.777v1.481q.263-.757.856-1.217a2.14%202.14%200%200%201%201.349-.46q.527%200%20.724.098l-.247%201.794q-.149-.099-.642-.099-.774%200-1.416.494-.626.493-.626%201.58v3.883h-1.777V9.242zm9.534%207.718q-1.35%200-2.255-.526-.904-.543-1.332-1.432a4.6%204.6%200%200%201-.428-1.975q0-1.2.493-2.106a3.46%203.46%200%200%201%201.4-1.382q.889-.495%202.007-.494%201.744%200%202.584.97.855.956.856%202.7%200%20.444-.05.92h-5.43q.18%201.005.708%201.45.542.443%201.497.443.79%200%201.3-.131a4%204%200%200%200%20.938-.362l.542%201.267q-.411.263-1.119.46-.708.198-1.711.197zm1.596-4.558q.016-1.02-.444-1.432-.46-.428-1.316-.428-1.728%200-1.991%201.86z%22%2F%3E%3Cpath%20d%3D%22M5.074%2015.948a.484.657%200%200%200-.486.659v1.84a.484.657%200%200%200%20.486.659h4.101a.484.657%200%200%200%20.486-.659v-1.84a.484.657%200%200%200-.486-.659zm3.56%201.16H5.617v.838h3.017z%22%20style%3D%22fill%3A%23fff%3Bfill-rule%3Aevenodd%3Bstroke-width%3A1.03600001%22%2F%3E%3Cg%20style%3D%22stroke-width%3A1.12603545%22%3E%3Cpath%20d%3D%22M-9.408-1.416c-3.833-.025-7.056%202.912-7.08%206.615-.02%203.08%201.653%204.832%203.107%206.268.903.892%201.721%201.74%202.32%202.902l-.525-.004c-.543-.003-.992.304-1.24.639a1.87%201.87%200%200%200-.362%201.121l-.011%201.877c-.003.402.104.787.347%201.125.244.338.688.653%201.23.656l4.142.028c.542.003.99-.306%201.238-.641a1.87%201.87%200%200%200%20.363-1.121l.012-1.875a1.87%201.87%200%200%200-.348-1.127c-.243-.338-.688-.653-1.23-.656l-.518-.004c.597-1.145%201.425-1.983%202.348-2.87%201.473-1.414%203.18-3.149%203.2-6.226-.016-3.59-2.923-6.684-6.993-6.707m-.006%201.1v.002c3.274.02%205.92%202.532%205.9%205.6-.017%202.706-1.39%204.026-2.863%205.44-1.034.994-2.118%202.033-2.814%203.633-.018.041-.052.055-.075.065q-.013.004-.02.01a.34.34%200%200%201-.226.084.34.34%200%200%201-.224-.086l-.092-.077c-.699-1.615-1.768-2.669-2.781-3.67-1.454-1.435-2.797-2.762-2.78-5.478.02-3.067%202.7-5.545%205.975-5.523m-.02%202.826c-1.62-.01-2.944%201.315-2.955%202.96-.01%201.646%201.295%202.988%202.916%202.999h.002c1.621.01%202.943-1.316%202.953-2.961.011-1.646-1.294-2.988-2.916-2.998m-.005%201.1c1.017.006%201.829.83%201.822%201.89s-.83%201.874-1.848%201.867c-1.018-.006-1.829-.83-1.822-1.89s.83-1.874%201.848-1.868m-2.155%2011.857%204.14.025c.271.002.49.305.487.676l-.013%201.875c-.003.37-.224.67-.495.668l-4.14-.025c-.27-.002-.487-.306-.485-.676l.012-1.875c.003-.37.224-.67.494-.668%22%20style%3D%22color%3A%23000%3Bfont-style%3Anormal%3Bfont-variant%3Anormal%3Bfont-weight%3A400%3Bfont-stretch%3Anormal%3Bfont-size%3Amedium%3Bline-height%3Anormal%3Bfont-family%3Asans-serif%3Bfont-variant-ligatures%3Anormal%3Bfont-variant-position%3Anormal%3Bfont-variant-caps%3Anormal%3Bfont-variant-numeric%3Anormal%3Bfont-variant-alternates%3Anormal%3Bfont-feature-settings%3Anormal%3Btext-indent%3A0%3Btext-align%3Astart%3Btext-decoration%3Anone%3Btext-decoration-line%3Anone%3Btext-decoration-style%3Asolid%3Btext-decoration-color%3A%23000%3Bletter-spacing%3Anormal%3Bword-spacing%3Anormal%3Btext-transform%3Anone%3Bwriting-mode%3Alr-tb%3Bdirection%3Altr%3Btext-orientation%3Amixed%3Bdominant-baseline%3Aauto%3Bbaseline-shift%3Abaseline%3Btext-anchor%3Astart%3Bwhite-space%3Anormal%3Bshape-padding%3A0%3Bclip-rule%3Aevenodd%3Bdisplay%3Ainline%3Boverflow%3Avisible%3Bvisibility%3Avisible%3Bopacity%3A1%3Bisolation%3Aauto%3Bmix-blend-mode%3Anormal%3Bcolor-interpolation%3AsRGB%3Bcolor-interpolation-filters%3AlinearRGB%3Bsolid-color%3A%23000%3Bsolid-opacity%3A1%3Bvector-effect%3Anone%3Bfill%3A%23000%3Bfill-opacity%3A.4%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-linecap%3Abutt%3Bstroke-linejoin%3Amiter%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-dashoffset%3A0%3Bstroke-opacity%3A1%3Bcolor-rendering%3Aauto%3Bimage-rendering%3Aauto%3Bshape-rendering%3Aauto%3Btext-rendering%3Aauto%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3Cpath%20d%3D%22M-9.415-.316C-12.69-.338-15.37%202.14-15.39%205.207c-.017%202.716%201.326%204.041%202.78%205.477%201.013%201%202.081%202.055%202.78%203.67l.092.076a.34.34%200%200%200%20.225.086.34.34%200%200%200%20.227-.083l.019-.01c.022-.009.057-.024.074-.064.697-1.6%201.78-2.64%202.814-3.634%201.473-1.414%202.847-2.733%202.864-5.44.02-3.067-2.627-5.58-5.901-5.601m-.057%208.784c1.621.011%202.944-1.315%202.955-2.96.01-1.646-1.295-2.988-2.916-2.999-1.622-.01-2.945%201.315-2.955%202.96s1.295%202.989%202.916%203%22%20style%3D%22clip-rule%3Aevenodd%3Bfill%3A%23e1e3e9%3Bfill-opacity%3A1%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-opacity%3A.4%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3Cpath%20d%3D%22M-11.594%2015.465c-.27-.002-.492.297-.494.668l-.012%201.876c-.003.371.214.673.485.675l4.14.027c.271.002.492-.298.495-.668l.012-1.877c.003-.37-.215-.672-.485-.674z%22%20style%3D%22clip-rule%3Aevenodd%3Bfill%3A%23fff%3Bfill-opacity%3A1%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-opacity%3A.4%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3C%2Fg%3E%3C%2Fsvg%3E")}a.maplibregl-ctrl-logo.maplibregl-compact{width:14px}@media (forced-colors:active){a.maplibregl-ctrl-logo{background-color:transparent;background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2288%22%20height%3D%2223%22%20fill%3D%22none%22%3E%3Cpath%20fill%3D%22%23000%22%20fill-opacity%3D%22.4%22%20fill-rule%3D%22evenodd%22%20d%3D%22M17.408%2016.796h-1.827l2.501-12.095h.198l3.324%206.533.988%202.19.988-2.19%203.258-6.533h.181l2.6%2012.095h-1.81l-1.218-5.644-.362-1.71-.658%201.71-2.929%205.644h-.098l-2.914-5.644-.757-1.71-.345%201.71zm1.958-3.42-.726%203.663a1.255%201.255%200%200%201-1.232%201.011h-1.827a1.255%201.255%200%200%201-1.229-1.509l2.501-12.095a1.255%201.255%200%200%201%201.23-1.001h.197a1.25%201.25%200%200%201%201.12.685l3.19%206.273%203.125-6.263a1.25%201.25%200%200%201%201.123-.695h.181a1.255%201.255%200%200%201%201.227.991l1.443%206.71a5%205%200%200%201%20.314-.787l.009-.016a4.6%204.6%200%200%201%201.777-1.887c.782-.46%201.668-.667%202.611-.667a4.6%204.6%200%200%201%201.7.32l.306.134c.21-.16.474-.256.759-.256h1.694a1.255%201.255%200%200%201%201.212.925%201.255%201.255%200%200%201%201.212-.925h1.711c.284%200%20.545.094.755.252.613-.3%201.312-.45%202.075-.45%201.356%200%202.557.445%203.482%201.4q.47.48.763%201.064V4.701a1.255%201.255%200%200%201%201.255-1.255h1.86A1.255%201.255%200%200%201%2054.44%204.7v9.194h2.217c.19%200%20.37.043.532.118v-4.77c0-.356.147-.678.385-.906a2.42%202.42%200%200%201-.682-1.71c0-.665.267-1.253.735-1.7a2.45%202.45%200%200%201%201.722-.674%202.43%202.43%200%200%201%201.705.675q.318.302.504.683V4.7a1.255%201.255%200%200%201%201.255-1.255h1.744A1.255%201.255%200%200%201%2065.812%204.7v3.335a4.8%204.8%200%200%201%201.526-.246c.938%200%201.817.214%202.59.69a4.47%204.47%200%200%201%201.67%201.743v-.98a1.255%201.255%200%200%201%201.256-1.256h1.777c.233%200%20.451.064.639.174a3.4%203.4%200%200%201%201.567-.372c.346%200%20.861.02%201.285.232a1.25%201.25%200%200%201%20.689%201.004%204.7%204.7%200%200%201%20.853-.588c.795-.44%201.675-.647%202.61-.647%201.385%200%202.65.39%203.525%201.396.836.938%201.168%202.173%201.168%203.528q-.001.515-.056%201.051a1.255%201.255%200%200%201-.947%201.09l.408.952a1.255%201.255%200%200%201-.477%201.552c-.418.268-.92.463-1.458.612-.613.171-1.304.244-2.049.244-1.06%200-2.043-.207-2.886-.698l-.015-.008c-.798-.48-1.419-1.135-1.818-1.963l-.004-.008a5.8%205.8%200%200%201-.548-2.512q0-.429.053-.843a1.3%201.3%200%200%201-.333-.086l-.166-.004c-.223%200-.426.062-.643.228-.03.024-.142.139-.142.59v3.883a1.255%201.255%200%200%201-1.256%201.256h-1.777a1.255%201.255%200%200%201-1.256-1.256V15.69l-.032.057a4.8%204.8%200%200%201-1.86%201.833%205.04%205.04%200%200%201-2.484.634%204.5%204.5%200%200%201-1.935-.424%201.25%201.25%200%200%201-.764.258h-1.71a1.255%201.255%200%200%201-1.256-1.255V7.687a2.4%202.4%200%200%201-.428.625c.253.23.412.561.412.93v7.553a1.255%201.255%200%200%201-1.256%201.255h-1.843a1.25%201.25%200%200%201-.894-.373c-.228.23-.544.373-.894.373H51.32a1.255%201.255%200%200%201-1.256-1.255v-1.251l-.061.117a4.7%204.7%200%200%201-1.782%201.884%204.77%204.77%200%200%201-2.485.67%205.6%205.6%200%200%201-1.485-.188l.009%202.764a1.255%201.255%200%200%201-1.255%201.259h-1.729a1.255%201.255%200%200%201-1.255-1.255v-3.537a1.255%201.255%200%200%201-1.167.793h-1.679a1.25%201.25%200%200%201-.77-.263%204.5%204.5%200%200%201-1.945.429c-.885%200-1.724-.21-2.495-.632l-.017-.01a5%205%200%200%201-1.081-.836%201.255%201.255%200%200%201-1.254%201.312h-1.81a1.255%201.255%200%200%201-1.228-.99l-.782-3.625-2.044%203.939a1.25%201.25%200%200%201-1.115.676h-.098a1.25%201.25%200%200%201-1.116-.68l-2.061-3.994zM35.92%2016.63l.207-.114.223-.15q.493-.356.735-.785l.061-.118.033%201.332h1.678V9.242h-1.694l-.033%201.267q-.133-.329-.526-.658l-.032-.028a3.2%203.2%200%200%200-.668-.428l-.27-.12a3.3%203.3%200%200%200-1.235-.23q-1.136-.001-1.974.493a3.36%203.36%200%200%200-1.3%201.382q-.445.89-.444%202.074%200%201.2.51%202.107a3.8%203.8%200%200%200%201.382%201.381%203.9%203.9%200%200%200%201.893.477q.795%200%201.455-.33zm-2.789-5.38q-.576.675-.575%201.762%200%201.102.559%201.794.576.675%201.645.675a2.25%202.25%200%200%200%20.934-.19%202.2%202.2%200%200%200%20.468-.29l.178-.161a2.2%202.2%200%200%200%20.397-.561q.244-.5.244-1.15v-.115q0-.708-.296-1.267l-.043-.077a2.2%202.2%200%200%200-.633-.709l-.13-.086-.047-.028a2.1%202.1%200%200%200-1.073-.285q-1.052%200-1.629.692zm2.316%202.706c.163-.17.28-.407.28-.83v-.114c0-.292-.06-.508-.15-.68a.96.96%200%200%200-.353-.389.85.85%200%200%200-.464-.127c-.4%200-.56.114-.664.239l-.01.012c-.148.174-.275.45-.275.945%200%20.506.122.801.27.99.097.11.266.224.68.224.303%200%20.504-.09.687-.269zm7.545%201.705a2.6%202.6%200%200%200%20.331.423q.319.33.755.548l.173.074q.65.255%201.49.255%201.02%200%201.844-.493a3.45%203.45%200%200%200%201.316-1.4q.493-.904.493-2.089%200-1.909-.988-2.913-.988-1.02-2.584-1.02-.898%200-1.575.347a3%203%200%200%200-.415.262l-.199.166a3.4%203.4%200%200%200-.64.82V9.242h-1.712v11.553h1.729l-.017-5.134zm.53-1.138q.206.29.48.5l.155.11.053.034q.51.296%201.119.297%201.07%200%201.645-.675.577-.69.576-1.762%200-1.119-.576-1.777-.558-.675-1.645-.675-.435%200-.835.16a2%202%200%200%200-.284.136%202%202%200%200%200-.363.254%202.2%202.2%200%200%200-.46.569l-.082.162a2.6%202.6%200%200%200-.213%201.072v.115q0%20.707.296%201.267l.135.211zm.964-.818a1.1%201.1%200%200%200%20.367.385.94.94%200%200%200%20.476.118c.423%200%20.59-.117.687-.23.159-.194.28-.478.28-.95%200-.53-.133-.8-.266-.952l-.021-.025c-.078-.094-.231-.221-.68-.221a1%201%200%200%200-.503.135l-.012.007a.86.86%200%200%200-.335.343c-.073.133-.132.324-.132.614v.115a1.4%201.4%200%200%200%20.14.66zm15.7-6.222q.347-.346.346-.856a1.05%201.05%200%200%200-.345-.79%201.18%201.18%200%200%200-.84-.329q-.51%200-.855.33a1.05%201.05%200%200%200-.346.79q0%20.51.346.855.345.346.856.346.51%200%20.839-.346zm4.337%209.314.033-1.332q.191.403.59.747l.098.081a4%204%200%200%200%20.316.224l.223.122a3.2%203.2%200%200%200%201.44.322%203.8%203.8%200%200%200%201.875-.477%203.5%203.5%200%200%200%201.382-1.366q.527-.89.526-2.09%200-1.184-.444-2.073a3.24%203.24%200%200%200-1.283-1.399q-.823-.51-1.942-.51a3.5%203.5%200%200%200-1.527.344l-.086.043-.165.09a3%203%200%200%200-.33.214q-.432.315-.656.707a2%202%200%200%200-.099.198l.082-1.283V4.701h-1.744v12.095zm.473-2.509a2.5%202.5%200%200%200%20.566.7q.117.098.245.18l.144.08a2.1%202.1%200%200%200%20.975.232q1.07%200%201.645-.675.576-.69.576-1.778%200-1.102-.576-1.777-.56-.691-1.645-.692a2.2%202.2%200%200%200-1.015.235q-.22.113-.415.282l-.15.142a2.1%202.1%200%200%200-.42.594q-.223.479-.223%201.1v.115q0%20.705.293%201.26zm2.616-.293c.157-.191.28-.479.28-.967%200-.51-.13-.79-.276-.961l-.021-.026c-.082-.1-.232-.225-.67-.225a.87.87%200%200%200-.681.279l-.012.011c-.154.155-.274.38-.274.807v.115c0%20.285.057.499.144.669a1.1%201.1%200%200%200%20.367.405c.137.082.28.123.455.123.423%200%20.59-.118.686-.23zm8.266-3.013q.345-.13.724-.14l.069-.002q.493%200%20.642.099l.247-1.794q-.196-.099-.717-.099a2.3%202.3%200%200%200-.545.063%202%202%200%200%200-.411.148%202.2%202.2%200%200%200-.4.249%202.5%202.5%200%200%200-.485.499%202.7%202.7%200%200%200-.32.581l-.05.137v-1.48h-1.778v7.553h1.777v-3.884q0-.546.159-.943a1.5%201.5%200%200%201%20.466-.636%202.5%202.5%200%200%201%20.399-.253%202%202%200%200%201%20.224-.099zm9.784%202.656.05-.922q0-1.743-.856-2.698-.838-.97-2.584-.97-1.119-.001-2.007.493a3.46%203.46%200%200%200-1.4%201.382q-.493.906-.493%202.106%200%201.07.428%201.975.428.89%201.332%201.432.906.526%202.255.526.973%200%201.668-.185l.044-.012.135-.04q.613-.184.984-.421l-.542-1.267q-.3.162-.642.274l-.297.087q-.51.131-1.3.131-.954%200-1.497-.444a1.6%201.6%200%200%201-.192-.193q-.366-.44-.512-1.234l-.004-.021zm-5.427-1.256-.003.022h3.752v-.138q-.011-.727-.288-1.118a1%201%200%200%200-.156-.176q-.46-.428-1.316-.428-.986%200-1.494.604-.379.45-.494%201.234zm-27.053%202.77V4.7h-1.86v12.095h5.333V15.15zm7.103-5.908v7.553h-1.843V9.242h1.843z%22%2F%3E%3Cpath%20fill%3D%22%23fff%22%20d%3D%22m19.63%2011.151-.757-1.71-.345%201.71-1.12%205.644h-1.827L18.083%204.7h.197l3.325%206.533.988%202.19.988-2.19L26.839%204.7h.181l2.6%2012.095h-1.81l-1.218-5.644-.362-1.71-.658%201.71-2.93%205.644h-.098l-2.913-5.644zm14.836%205.81q-1.02%200-1.893-.478a3.8%203.8%200%200%201-1.381-1.382q-.51-.906-.51-2.106%200-1.185.444-2.074a3.36%203.36%200%200%201%201.3-1.382q.839-.494%201.974-.494a3.3%203.3%200%200%201%201.234.231%203.3%203.3%200%200%201%20.97.575q.396.33.527.659l.033-1.267h1.694v7.553H37.18l-.033-1.332q-.279.593-1.02%201.053a3.17%203.17%200%200%201-1.662.444zm.296-1.482q.938%200%201.58-.642.642-.66.642-1.711v-.115q0-.708-.296-1.267a2.2%202.2%200%200%200-.807-.872%202.1%202.1%200%200%200-1.119-.313q-1.053%200-1.629.692-.575.675-.575%201.76%200%201.103.559%201.795.577.675%201.645.675zm6.521-6.237h1.711v1.4q.906-1.597%202.83-1.597%201.596%200%202.584%201.02.988%201.005.988%202.914%200%201.185-.493%202.09a3.46%203.46%200%200%201-1.316%201.399%203.5%203.5%200%200%201-1.844.493q-.954%200-1.662-.329a2.67%202.67%200%200%201-1.086-.97l.017%205.134h-1.728zm4.048%206.22q1.07%200%201.645-.674.577-.69.576-1.762%200-1.119-.576-1.777-.558-.675-1.645-.675-.592%200-1.12.296-.51.28-.822.823-.296.527-.296%201.234v.115q0%20.708.296%201.267.313.543.823.855.51.296%201.119.297z%22%2F%3E%3Cpath%20fill%3D%22%23e1e3e9%22%20d%3D%22M51.325%204.7h1.86v10.45h3.473v1.646h-5.333zm7.12%204.542h1.843v7.553h-1.843zm.905-1.415a1.16%201.16%200%200%201-.856-.346%201.17%201.17%200%200%201-.346-.856%201.05%201.05%200%200%201%20.346-.79q.346-.329.856-.329.494%200%20.839.33a1.05%201.05%200%200%201%20.345.79%201.16%201.16%200%200%201-.345.855q-.33.346-.84.346zm7.875%209.133a3.17%203.17%200%200%201-1.662-.444q-.723-.46-1.004-1.053l-.033%201.332h-1.71V4.701h1.743v4.657l-.082%201.283q.279-.658%201.086-1.119a3.5%203.5%200%200%201%201.778-.477q1.119%200%201.942.51a3.24%203.24%200%200%201%201.283%201.4q.445.888.444%202.072%200%201.201-.526%202.09a3.5%203.5%200%200%201-1.382%201.366%203.8%203.8%200%200%201-1.876.477zm-.296-1.481q1.069%200%201.645-.675.577-.69.577-1.778%200-1.102-.577-1.776-.56-.691-1.645-.692a2.12%202.12%200%200%200-1.58.659q-.642.641-.642%201.694v.115q0%20.71.296%201.267a2.4%202.4%200%200%200%20.807.872%202.1%202.1%200%200%200%201.119.313zm5.927-6.237h1.777v1.481q.263-.757.856-1.217a2.14%202.14%200%200%201%201.349-.46q.527%200%20.724.098l-.247%201.794q-.149-.099-.642-.099-.774%200-1.416.494-.626.493-.626%201.58v3.883h-1.777V9.242zm9.534%207.718q-1.35%200-2.255-.526-.904-.543-1.332-1.432a4.6%204.6%200%200%201-.428-1.975q0-1.2.493-2.106a3.46%203.46%200%200%201%201.4-1.382q.889-.495%202.007-.494%201.744%200%202.584.97.855.956.856%202.7%200%20.444-.05.92h-5.43q.18%201.005.708%201.45.542.443%201.497.443.79%200%201.3-.131a4%204%200%200%200%20.938-.362l.542%201.267q-.411.263-1.119.46-.708.198-1.711.197zm1.596-4.558q.016-1.02-.444-1.432-.46-.428-1.316-.428-1.728%200-1.991%201.86z%22%2F%3E%3Cpath%20d%3D%22M5.074%2015.948a.484.657%200%200%200-.486.659v1.84a.484.657%200%200%200%20.486.659h4.101a.484.657%200%200%200%20.486-.659v-1.84a.484.657%200%200%200-.486-.659zm3.56%201.16H5.617v.838h3.017z%22%20style%3D%22fill%3A%23fff%3Bfill-rule%3Aevenodd%3Bstroke-width%3A1.03600001%22%2F%3E%3Cg%20style%3D%22stroke-width%3A1.12603545%22%3E%3Cpath%20d%3D%22M-9.408-1.416c-3.833-.025-7.056%202.912-7.08%206.615-.02%203.08%201.653%204.832%203.107%206.268.903.892%201.721%201.74%202.32%202.902l-.525-.004c-.543-.003-.992.304-1.24.639a1.87%201.87%200%200%200-.362%201.121l-.011%201.877c-.003.402.104.787.347%201.125.244.338.688.653%201.23.656l4.142.028c.542.003.99-.306%201.238-.641a1.87%201.87%200%200%200%20.363-1.121l.012-1.875a1.87%201.87%200%200%200-.348-1.127c-.243-.338-.688-.653-1.23-.656l-.518-.004c.597-1.145%201.425-1.983%202.348-2.87%201.473-1.414%203.18-3.149%203.2-6.226-.016-3.59-2.923-6.684-6.993-6.707m-.006%201.1v.002c3.274.02%205.92%202.532%205.9%205.6-.017%202.706-1.39%204.026-2.863%205.44-1.034.994-2.118%202.033-2.814%203.633-.018.041-.052.055-.075.065q-.013.004-.02.01a.34.34%200%200%201-.226.084.34.34%200%200%201-.224-.086l-.092-.077c-.699-1.615-1.768-2.669-2.781-3.67-1.454-1.435-2.797-2.762-2.78-5.478.02-3.067%202.7-5.545%205.975-5.523m-.02%202.826c-1.62-.01-2.944%201.315-2.955%202.96-.01%201.646%201.295%202.988%202.916%202.999h.002c1.621.01%202.943-1.316%202.953-2.961.011-1.646-1.294-2.988-2.916-2.998m-.005%201.1c1.017.006%201.829.83%201.822%201.89s-.83%201.874-1.848%201.867c-1.018-.006-1.829-.83-1.822-1.89s.83-1.874%201.848-1.868m-2.155%2011.857%204.14.025c.271.002.49.305.487.676l-.013%201.875c-.003.37-.224.67-.495.668l-4.14-.025c-.27-.002-.487-.306-.485-.676l.012-1.875c.003-.37.224-.67.494-.668%22%20style%3D%22color%3A%23000%3Bfont-style%3Anormal%3Bfont-variant%3Anormal%3Bfont-weight%3A400%3Bfont-stretch%3Anormal%3Bfont-size%3Amedium%3Bline-height%3Anormal%3Bfont-family%3Asans-serif%3Bfont-variant-ligatures%3Anormal%3Bfont-variant-position%3Anormal%3Bfont-variant-caps%3Anormal%3Bfont-variant-numeric%3Anormal%3Bfont-variant-alternates%3Anormal%3Bfont-feature-settings%3Anormal%3Btext-indent%3A0%3Btext-align%3Astart%3Btext-decoration%3Anone%3Btext-decoration-line%3Anone%3Btext-decoration-style%3Asolid%3Btext-decoration-color%3A%23000%3Bletter-spacing%3Anormal%3Bword-spacing%3Anormal%3Btext-transform%3Anone%3Bwriting-mode%3Alr-tb%3Bdirection%3Altr%3Btext-orientation%3Amixed%3Bdominant-baseline%3Aauto%3Bbaseline-shift%3Abaseline%3Btext-anchor%3Astart%3Bwhite-space%3Anormal%3Bshape-padding%3A0%3Bclip-rule%3Aevenodd%3Bdisplay%3Ainline%3Boverflow%3Avisible%3Bvisibility%3Avisible%3Bopacity%3A1%3Bisolation%3Aauto%3Bmix-blend-mode%3Anormal%3Bcolor-interpolation%3AsRGB%3Bcolor-interpolation-filters%3AlinearRGB%3Bsolid-color%3A%23000%3Bsolid-opacity%3A1%3Bvector-effect%3Anone%3Bfill%3A%23000%3Bfill-opacity%3A.4%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-linecap%3Abutt%3Bstroke-linejoin%3Amiter%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-dashoffset%3A0%3Bstroke-opacity%3A1%3Bcolor-rendering%3Aauto%3Bimage-rendering%3Aauto%3Bshape-rendering%3Aauto%3Btext-rendering%3Aauto%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3Cpath%20d%3D%22M-9.415-.316C-12.69-.338-15.37%202.14-15.39%205.207c-.017%202.716%201.326%204.041%202.78%205.477%201.013%201%202.081%202.055%202.78%203.67l.092.076a.34.34%200%200%200%20.225.086.34.34%200%200%200%20.227-.083l.019-.01c.022-.009.057-.024.074-.064.697-1.6%201.78-2.64%202.814-3.634%201.473-1.414%202.847-2.733%202.864-5.44.02-3.067-2.627-5.58-5.901-5.601m-.057%208.784c1.621.011%202.944-1.315%202.955-2.96.01-1.646-1.295-2.988-2.916-2.999-1.622-.01-2.945%201.315-2.955%202.96s1.295%202.989%202.916%203%22%20style%3D%22clip-rule%3Aevenodd%3Bfill%3A%23e1e3e9%3Bfill-opacity%3A1%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-opacity%3A.4%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3Cpath%20d%3D%22M-11.594%2015.465c-.27-.002-.492.297-.494.668l-.012%201.876c-.003.371.214.673.485.675l4.14.027c.271.002.492-.298.495-.668l.012-1.877c.003-.37-.215-.672-.485-.674z%22%20style%3D%22clip-rule%3Aevenodd%3Bfill%3A%23fff%3Bfill-opacity%3A1%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-opacity%3A.4%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3C%2Fg%3E%3C%2Fsvg%3E")}}@media (forced-colors:active) and (prefers-color-scheme:light){a.maplibregl-ctrl-logo{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2288%22%20height%3D%2223%22%20fill%3D%22none%22%3E%3Cpath%20fill%3D%22%23000%22%20fill-opacity%3D%22.4%22%20fill-rule%3D%22evenodd%22%20d%3D%22M17.408%2016.796h-1.827l2.501-12.095h.198l3.324%206.533.988%202.19.988-2.19%203.258-6.533h.181l2.6%2012.095h-1.81l-1.218-5.644-.362-1.71-.658%201.71-2.929%205.644h-.098l-2.914-5.644-.757-1.71-.345%201.71zm1.958-3.42-.726%203.663a1.255%201.255%200%200%201-1.232%201.011h-1.827a1.255%201.255%200%200%201-1.229-1.509l2.501-12.095a1.255%201.255%200%200%201%201.23-1.001h.197a1.25%201.25%200%200%201%201.12.685l3.19%206.273%203.125-6.263a1.25%201.25%200%200%201%201.123-.695h.181a1.255%201.255%200%200%201%201.227.991l1.443%206.71a5%205%200%200%201%20.314-.787l.009-.016a4.6%204.6%200%200%201%201.777-1.887c.782-.46%201.668-.667%202.611-.667a4.6%204.6%200%200%201%201.7.32l.306.134c.21-.16.474-.256.759-.256h1.694a1.255%201.255%200%200%201%201.212.925%201.255%201.255%200%200%201%201.212-.925h1.711c.284%200%20.545.094.755.252.613-.3%201.312-.45%202.075-.45%201.356%200%202.557.445%203.482%201.4q.47.48.763%201.064V4.701a1.255%201.255%200%200%201%201.255-1.255h1.86A1.255%201.255%200%200%201%2054.44%204.7v9.194h2.217c.19%200%20.37.043.532.118v-4.77c0-.356.147-.678.385-.906a2.42%202.42%200%200%201-.682-1.71c0-.665.267-1.253.735-1.7a2.45%202.45%200%200%201%201.722-.674%202.43%202.43%200%200%201%201.705.675q.318.302.504.683V4.7a1.255%201.255%200%200%201%201.255-1.255h1.744A1.255%201.255%200%200%201%2065.812%204.7v3.335a4.8%204.8%200%200%201%201.526-.246c.938%200%201.817.214%202.59.69a4.47%204.47%200%200%201%201.67%201.743v-.98a1.255%201.255%200%200%201%201.256-1.256h1.777c.233%200%20.451.064.639.174a3.4%203.4%200%200%201%201.567-.372c.346%200%20.861.02%201.285.232a1.25%201.25%200%200%201%20.689%201.004%204.7%204.7%200%200%201%20.853-.588c.795-.44%201.675-.647%202.61-.647%201.385%200%202.65.39%203.525%201.396.836.938%201.168%202.173%201.168%203.528q-.001.515-.056%201.051a1.255%201.255%200%200%201-.947%201.09l.408.952a1.255%201.255%200%200%201-.477%201.552c-.418.268-.92.463-1.458.612-.613.171-1.304.244-2.049.244-1.06%200-2.043-.207-2.886-.698l-.015-.008c-.798-.48-1.419-1.135-1.818-1.963l-.004-.008a5.8%205.8%200%200%201-.548-2.512q0-.429.053-.843a1.3%201.3%200%200%201-.333-.086l-.166-.004c-.223%200-.426.062-.643.228-.03.024-.142.139-.142.59v3.883a1.255%201.255%200%200%201-1.256%201.256h-1.777a1.255%201.255%200%200%201-1.256-1.256V15.69l-.032.057a4.8%204.8%200%200%201-1.86%201.833%205.04%205.04%200%200%201-2.484.634%204.5%204.5%200%200%201-1.935-.424%201.25%201.25%200%200%201-.764.258h-1.71a1.255%201.255%200%200%201-1.256-1.255V7.687a2.4%202.4%200%200%201-.428.625c.253.23.412.561.412.93v7.553a1.255%201.255%200%200%201-1.256%201.255h-1.843a1.25%201.25%200%200%201-.894-.373c-.228.23-.544.373-.894.373H51.32a1.255%201.255%200%200%201-1.256-1.255v-1.251l-.061.117a4.7%204.7%200%200%201-1.782%201.884%204.77%204.77%200%200%201-2.485.67%205.6%205.6%200%200%201-1.485-.188l.009%202.764a1.255%201.255%200%200%201-1.255%201.259h-1.729a1.255%201.255%200%200%201-1.255-1.255v-3.537a1.255%201.255%200%200%201-1.167.793h-1.679a1.25%201.25%200%200%201-.77-.263%204.5%204.5%200%200%201-1.945.429c-.885%200-1.724-.21-2.495-.632l-.017-.01a5%205%200%200%201-1.081-.836%201.255%201.255%200%200%201-1.254%201.312h-1.81a1.255%201.255%200%200%201-1.228-.99l-.782-3.625-2.044%203.939a1.25%201.25%200%200%201-1.115.676h-.098a1.25%201.25%200%200%201-1.116-.68l-2.061-3.994zM35.92%2016.63l.207-.114.223-.15q.493-.356.735-.785l.061-.118.033%201.332h1.678V9.242h-1.694l-.033%201.267q-.133-.329-.526-.658l-.032-.028a3.2%203.2%200%200%200-.668-.428l-.27-.12a3.3%203.3%200%200%200-1.235-.23q-1.136-.001-1.974.493a3.36%203.36%200%200%200-1.3%201.382q-.445.89-.444%202.074%200%201.2.51%202.107a3.8%203.8%200%200%200%201.382%201.381%203.9%203.9%200%200%200%201.893.477q.795%200%201.455-.33zm-2.789-5.38q-.576.675-.575%201.762%200%201.102.559%201.794.576.675%201.645.675a2.25%202.25%200%200%200%20.934-.19%202.2%202.2%200%200%200%20.468-.29l.178-.161a2.2%202.2%200%200%200%20.397-.561q.244-.5.244-1.15v-.115q0-.708-.296-1.267l-.043-.077a2.2%202.2%200%200%200-.633-.709l-.13-.086-.047-.028a2.1%202.1%200%200%200-1.073-.285q-1.052%200-1.629.692zm2.316%202.706c.163-.17.28-.407.28-.83v-.114c0-.292-.06-.508-.15-.68a.96.96%200%200%200-.353-.389.85.85%200%200%200-.464-.127c-.4%200-.56.114-.664.239l-.01.012c-.148.174-.275.45-.275.945%200%20.506.122.801.27.99.097.11.266.224.68.224.303%200%20.504-.09.687-.269zm7.545%201.705a2.6%202.6%200%200%200%20.331.423q.319.33.755.548l.173.074q.65.255%201.49.255%201.02%200%201.844-.493a3.45%203.45%200%200%200%201.316-1.4q.493-.904.493-2.089%200-1.909-.988-2.913-.988-1.02-2.584-1.02-.898%200-1.575.347a3%203%200%200%200-.415.262l-.199.166a3.4%203.4%200%200%200-.64.82V9.242h-1.712v11.553h1.729l-.017-5.134zm.53-1.138q.206.29.48.5l.155.11.053.034q.51.296%201.119.297%201.07%200%201.645-.675.577-.69.576-1.762%200-1.119-.576-1.777-.558-.675-1.645-.675-.435%200-.835.16a2%202%200%200%200-.284.136%202%202%200%200%200-.363.254%202.2%202.2%200%200%200-.46.569l-.082.162a2.6%202.6%200%200%200-.213%201.072v.115q0%20.707.296%201.267l.135.211zm.964-.818a1.1%201.1%200%200%200%20.367.385.94.94%200%200%200%20.476.118c.423%200%20.59-.117.687-.23.159-.194.28-.478.28-.95%200-.53-.133-.8-.266-.952l-.021-.025c-.078-.094-.231-.221-.68-.221a1%201%200%200%200-.503.135l-.012.007a.86.86%200%200%200-.335.343c-.073.133-.132.324-.132.614v.115a1.4%201.4%200%200%200%20.14.66zm15.7-6.222q.347-.346.346-.856a1.05%201.05%200%200%200-.345-.79%201.18%201.18%200%200%200-.84-.329q-.51%200-.855.33a1.05%201.05%200%200%200-.346.79q0%20.51.346.855.345.346.856.346.51%200%20.839-.346zm4.337%209.314.033-1.332q.191.403.59.747l.098.081a4%204%200%200%200%20.316.224l.223.122a3.2%203.2%200%200%200%201.44.322%203.8%203.8%200%200%200%201.875-.477%203.5%203.5%200%200%200%201.382-1.366q.527-.89.526-2.09%200-1.184-.444-2.073a3.24%203.24%200%200%200-1.283-1.399q-.823-.51-1.942-.51a3.5%203.5%200%200%200-1.527.344l-.086.043-.165.09a3%203%200%200%200-.33.214q-.432.315-.656.707a2%202%200%200%200-.099.198l.082-1.283V4.701h-1.744v12.095zm.473-2.509a2.5%202.5%200%200%200%20.566.7q.117.098.245.18l.144.08a2.1%202.1%200%200%200%20.975.232q1.07%200%201.645-.675.576-.69.576-1.778%200-1.102-.576-1.777-.56-.691-1.645-.692a2.2%202.2%200%200%200-1.015.235q-.22.113-.415.282l-.15.142a2.1%202.1%200%200%200-.42.594q-.223.479-.223%201.1v.115q0%20.705.293%201.26zm2.616-.293c.157-.191.28-.479.28-.967%200-.51-.13-.79-.276-.961l-.021-.026c-.082-.1-.232-.225-.67-.225a.87.87%200%200%200-.681.279l-.012.011c-.154.155-.274.38-.274.807v.115c0%20.285.057.499.144.669a1.1%201.1%200%200%200%20.367.405c.137.082.28.123.455.123.423%200%20.59-.118.686-.23zm8.266-3.013q.345-.13.724-.14l.069-.002q.493%200%20.642.099l.247-1.794q-.196-.099-.717-.099a2.3%202.3%200%200%200-.545.063%202%202%200%200%200-.411.148%202.2%202.2%200%200%200-.4.249%202.5%202.5%200%200%200-.485.499%202.7%202.7%200%200%200-.32.581l-.05.137v-1.48h-1.778v7.553h1.777v-3.884q0-.546.159-.943a1.5%201.5%200%200%201%20.466-.636%202.5%202.5%200%200%201%20.399-.253%202%202%200%200%201%20.224-.099zm9.784%202.656.05-.922q0-1.743-.856-2.698-.838-.97-2.584-.97-1.119-.001-2.007.493a3.46%203.46%200%200%200-1.4%201.382q-.493.906-.493%202.106%200%201.07.428%201.975.428.89%201.332%201.432.906.526%202.255.526.973%200%201.668-.185l.044-.012.135-.04q.613-.184.984-.421l-.542-1.267q-.3.162-.642.274l-.297.087q-.51.131-1.3.131-.954%200-1.497-.444a1.6%201.6%200%200%201-.192-.193q-.366-.44-.512-1.234l-.004-.021zm-5.427-1.256-.003.022h3.752v-.138q-.011-.727-.288-1.118a1%201%200%200%200-.156-.176q-.46-.428-1.316-.428-.986%200-1.494.604-.379.45-.494%201.234zm-27.053%202.77V4.7h-1.86v12.095h5.333V15.15zm7.103-5.908v7.553h-1.843V9.242h1.843z%22%2F%3E%3Cpath%20fill%3D%22%23fff%22%20d%3D%22m19.63%2011.151-.757-1.71-.345%201.71-1.12%205.644h-1.827L18.083%204.7h.197l3.325%206.533.988%202.19.988-2.19L26.839%204.7h.181l2.6%2012.095h-1.81l-1.218-5.644-.362-1.71-.658%201.71-2.93%205.644h-.098l-2.913-5.644zm14.836%205.81q-1.02%200-1.893-.478a3.8%203.8%200%200%201-1.381-1.382q-.51-.906-.51-2.106%200-1.185.444-2.074a3.36%203.36%200%200%201%201.3-1.382q.839-.494%201.974-.494a3.3%203.3%200%200%201%201.234.231%203.3%203.3%200%200%201%20.97.575q.396.33.527.659l.033-1.267h1.694v7.553H37.18l-.033-1.332q-.279.593-1.02%201.053a3.17%203.17%200%200%201-1.662.444zm.296-1.482q.938%200%201.58-.642.642-.66.642-1.711v-.115q0-.708-.296-1.267a2.2%202.2%200%200%200-.807-.872%202.1%202.1%200%200%200-1.119-.313q-1.053%200-1.629.692-.575.675-.575%201.76%200%201.103.559%201.795.577.675%201.645.675zm6.521-6.237h1.711v1.4q.906-1.597%202.83-1.597%201.596%200%202.584%201.02.988%201.005.988%202.914%200%201.185-.493%202.09a3.46%203.46%200%200%201-1.316%201.399%203.5%203.5%200%200%201-1.844.493q-.954%200-1.662-.329a2.67%202.67%200%200%201-1.086-.97l.017%205.134h-1.728zm4.048%206.22q1.07%200%201.645-.674.577-.69.576-1.762%200-1.119-.576-1.777-.558-.675-1.645-.675-.592%200-1.12.296-.51.28-.822.823-.296.527-.296%201.234v.115q0%20.708.296%201.267.313.543.823.855.51.296%201.119.297z%22%2F%3E%3Cpath%20fill%3D%22%23e1e3e9%22%20d%3D%22M51.325%204.7h1.86v10.45h3.473v1.646h-5.333zm7.12%204.542h1.843v7.553h-1.843zm.905-1.415a1.16%201.16%200%200%201-.856-.346%201.17%201.17%200%200%201-.346-.856%201.05%201.05%200%200%201%20.346-.79q.346-.329.856-.329.494%200%20.839.33a1.05%201.05%200%200%201%20.345.79%201.16%201.16%200%200%201-.345.855q-.33.346-.84.346zm7.875%209.133a3.17%203.17%200%200%201-1.662-.444q-.723-.46-1.004-1.053l-.033%201.332h-1.71V4.701h1.743v4.657l-.082%201.283q.279-.658%201.086-1.119a3.5%203.5%200%200%201%201.778-.477q1.119%200%201.942.51a3.24%203.24%200%200%201%201.283%201.4q.445.888.444%202.072%200%201.201-.526%202.09a3.5%203.5%200%200%201-1.382%201.366%203.8%203.8%200%200%201-1.876.477zm-.296-1.481q1.069%200%201.645-.675.577-.69.577-1.778%200-1.102-.577-1.776-.56-.691-1.645-.692a2.12%202.12%200%200%200-1.58.659q-.642.641-.642%201.694v.115q0%20.71.296%201.267a2.4%202.4%200%200%200%20.807.872%202.1%202.1%200%200%200%201.119.313zm5.927-6.237h1.777v1.481q.263-.757.856-1.217a2.14%202.14%200%200%201%201.349-.46q.527%200%20.724.098l-.247%201.794q-.149-.099-.642-.099-.774%200-1.416.494-.626.493-.626%201.58v3.883h-1.777V9.242zm9.534%207.718q-1.35%200-2.255-.526-.904-.543-1.332-1.432a4.6%204.6%200%200%201-.428-1.975q0-1.2.493-2.106a3.46%203.46%200%200%201%201.4-1.382q.889-.495%202.007-.494%201.744%200%202.584.97.855.956.856%202.7%200%20.444-.05.92h-5.43q.18%201.005.708%201.45.542.443%201.497.443.79%200%201.3-.131a4%204%200%200%200%20.938-.362l.542%201.267q-.411.263-1.119.46-.708.198-1.711.197zm1.596-4.558q.016-1.02-.444-1.432-.46-.428-1.316-.428-1.728%200-1.991%201.86z%22%2F%3E%3Cpath%20d%3D%22M5.074%2015.948a.484.657%200%200%200-.486.659v1.84a.484.657%200%200%200%20.486.659h4.101a.484.657%200%200%200%20.486-.659v-1.84a.484.657%200%200%200-.486-.659zm3.56%201.16H5.617v.838h3.017z%22%20style%3D%22fill%3A%23fff%3Bfill-rule%3Aevenodd%3Bstroke-width%3A1.03600001%22%2F%3E%3Cg%20style%3D%22stroke-width%3A1.12603545%22%3E%3Cpath%20d%3D%22M-9.408-1.416c-3.833-.025-7.056%202.912-7.08%206.615-.02%203.08%201.653%204.832%203.107%206.268.903.892%201.721%201.74%202.32%202.902l-.525-.004c-.543-.003-.992.304-1.24.639a1.87%201.87%200%200%200-.362%201.121l-.011%201.877c-.003.402.104.787.347%201.125.244.338.688.653%201.23.656l4.142.028c.542.003.99-.306%201.238-.641a1.87%201.87%200%200%200%20.363-1.121l.012-1.875a1.87%201.87%200%200%200-.348-1.127c-.243-.338-.688-.653-1.23-.656l-.518-.004c.597-1.145%201.425-1.983%202.348-2.87%201.473-1.414%203.18-3.149%203.2-6.226-.016-3.59-2.923-6.684-6.993-6.707m-.006%201.1v.002c3.274.02%205.92%202.532%205.9%205.6-.017%202.706-1.39%204.026-2.863%205.44-1.034.994-2.118%202.033-2.814%203.633-.018.041-.052.055-.075.065q-.013.004-.02.01a.34.34%200%200%201-.226.084.34.34%200%200%201-.224-.086l-.092-.077c-.699-1.615-1.768-2.669-2.781-3.67-1.454-1.435-2.797-2.762-2.78-5.478.02-3.067%202.7-5.545%205.975-5.523m-.02%202.826c-1.62-.01-2.944%201.315-2.955%202.96-.01%201.646%201.295%202.988%202.916%202.999h.002c1.621.01%202.943-1.316%202.953-2.961.011-1.646-1.294-2.988-2.916-2.998m-.005%201.1c1.017.006%201.829.83%201.822%201.89s-.83%201.874-1.848%201.867c-1.018-.006-1.829-.83-1.822-1.89s.83-1.874%201.848-1.868m-2.155%2011.857%204.14.025c.271.002.49.305.487.676l-.013%201.875c-.003.37-.224.67-.495.668l-4.14-.025c-.27-.002-.487-.306-.485-.676l.012-1.875c.003-.37.224-.67.494-.668%22%20style%3D%22color%3A%23000%3Bfont-style%3Anormal%3Bfont-variant%3Anormal%3Bfont-weight%3A400%3Bfont-stretch%3Anormal%3Bfont-size%3Amedium%3Bline-height%3Anormal%3Bfont-family%3Asans-serif%3Bfont-variant-ligatures%3Anormal%3Bfont-variant-position%3Anormal%3Bfont-variant-caps%3Anormal%3Bfont-variant-numeric%3Anormal%3Bfont-variant-alternates%3Anormal%3Bfont-feature-settings%3Anormal%3Btext-indent%3A0%3Btext-align%3Astart%3Btext-decoration%3Anone%3Btext-decoration-line%3Anone%3Btext-decoration-style%3Asolid%3Btext-decoration-color%3A%23000%3Bletter-spacing%3Anormal%3Bword-spacing%3Anormal%3Btext-transform%3Anone%3Bwriting-mode%3Alr-tb%3Bdirection%3Altr%3Btext-orientation%3Amixed%3Bdominant-baseline%3Aauto%3Bbaseline-shift%3Abaseline%3Btext-anchor%3Astart%3Bwhite-space%3Anormal%3Bshape-padding%3A0%3Bclip-rule%3Aevenodd%3Bdisplay%3Ainline%3Boverflow%3Avisible%3Bvisibility%3Avisible%3Bopacity%3A1%3Bisolation%3Aauto%3Bmix-blend-mode%3Anormal%3Bcolor-interpolation%3AsRGB%3Bcolor-interpolation-filters%3AlinearRGB%3Bsolid-color%3A%23000%3Bsolid-opacity%3A1%3Bvector-effect%3Anone%3Bfill%3A%23000%3Bfill-opacity%3A.4%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-linecap%3Abutt%3Bstroke-linejoin%3Amiter%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-dashoffset%3A0%3Bstroke-opacity%3A1%3Bcolor-rendering%3Aauto%3Bimage-rendering%3Aauto%3Bshape-rendering%3Aauto%3Btext-rendering%3Aauto%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3Cpath%20d%3D%22M-9.415-.316C-12.69-.338-15.37%202.14-15.39%205.207c-.017%202.716%201.326%204.041%202.78%205.477%201.013%201%202.081%202.055%202.78%203.67l.092.076a.34.34%200%200%200%20.225.086.34.34%200%200%200%20.227-.083l.019-.01c.022-.009.057-.024.074-.064.697-1.6%201.78-2.64%202.814-3.634%201.473-1.414%202.847-2.733%202.864-5.44.02-3.067-2.627-5.58-5.901-5.601m-.057%208.784c1.621.011%202.944-1.315%202.955-2.96.01-1.646-1.295-2.988-2.916-2.999-1.622-.01-2.945%201.315-2.955%202.96s1.295%202.989%202.916%203%22%20style%3D%22clip-rule%3Aevenodd%3Bfill%3A%23e1e3e9%3Bfill-opacity%3A1%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-opacity%3A.4%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3Cpath%20d%3D%22M-11.594%2015.465c-.27-.002-.492.297-.494.668l-.012%201.876c-.003.371.214.673.485.675l4.14.027c.271.002.492-.298.495-.668l.012-1.877c.003-.37-.215-.672-.485-.674z%22%20style%3D%22clip-rule%3Aevenodd%3Bfill%3A%23fff%3Bfill-opacity%3A1%3Bfill-rule%3Aevenodd%3Bstroke%3Anone%3Bstroke-width%3A2.47727823%3Bstroke-miterlimit%3A4%3Bstroke-dasharray%3Anone%3Bstroke-opacity%3A.4%22%20transform%3D%22translate(15.553%202.85)scale(.88807)%22%2F%3E%3C%2Fg%3E%3C%2Fsvg%3E")}}.maplibregl-ctrl.maplibregl-ctrl-attrib{padding:0 5px;background-color:hsla(0,0%,100%,.5);margin:0}@media screen{.maplibregl-ctrl-attrib.maplibregl-compact{min-height:20px;padding:2px 24px 2px 0;margin:10px;position:relative;background-color:#fff;color:#000;border-radius:12px;box-sizing:content-box}.maplibregl-ctrl-attrib.maplibregl-compact-show{padding:2px 28px 2px 8px;visibility:visible}.maplibregl-ctrl-bottom-left>.maplibregl-ctrl-attrib.maplibregl-compact-show,.maplibregl-ctrl-top-left>.maplibregl-ctrl-attrib.maplibregl-compact-show{padding:2px 8px 2px 28px;border-radius:12px}.maplibregl-ctrl-attrib.maplibregl-compact .maplibregl-ctrl-attrib-inner{display:none}.maplibregl-ctrl-attrib-button{display:none;cursor:pointer;position:absolute;background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2224%22%20height%3D%2224%22%20fill-rule%3D%22evenodd%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M4%2010a6%206%200%201%200%2012%200%206%206%200%201%200-12%200m5-3a1%201%200%201%200%202%200%201%201%200%201%200-2%200m0%203a1%201%200%201%201%202%200v3a1%201%200%201%201-2%200%22%2F%3E%3C%2Fsvg%3E");background-color:hsla(0,0%,100%,.5);width:24px;height:24px;box-sizing:border-box;border-radius:12px;outline:none;top:0;right:0;border:0}.maplibregl-ctrl-attrib summary.maplibregl-ctrl-attrib-button{-webkit-appearance:none;-moz-appearance:none;appearance:none;list-style:none}.maplibregl-ctrl-attrib summary.maplibregl-ctrl-attrib-button::-webkit-details-marker{display:none}.maplibregl-ctrl-bottom-left .maplibregl-ctrl-attrib-button,.maplibregl-ctrl-top-left .maplibregl-ctrl-attrib-button{left:0}.maplibregl-ctrl-attrib.maplibregl-compact .maplibregl-ctrl-attrib-button,.maplibregl-ctrl-attrib.maplibregl-compact-show .maplibregl-ctrl-attrib-inner{display:block}.maplibregl-ctrl-attrib.maplibregl-compact-show .maplibregl-ctrl-attrib-button{background-color:rgba(0,0,0,.05)}.maplibregl-ctrl-bottom-right>.maplibregl-ctrl-attrib.maplibregl-compact:after{bottom:0;right:0}.maplibregl-ctrl-top-right>.maplibregl-ctrl-attrib.maplibregl-compact:after{top:0;right:0}.maplibregl-ctrl-top-left>.maplibregl-ctrl-attrib.maplibregl-compact:after{top:0;left:0}.maplibregl-ctrl-bottom-left>.maplibregl-ctrl-attrib.maplibregl-compact:after{bottom:0;left:0}}@media screen and (forced-colors:active){.maplibregl-ctrl-attrib.maplibregl-compact:after{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2224%22%20height%3D%2224%22%20fill%3D%22%23fff%22%20fill-rule%3D%22evenodd%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M4%2010a6%206%200%201%200%2012%200%206%206%200%201%200-12%200m5-3a1%201%200%201%200%202%200%201%201%200%201%200-2%200m0%203a1%201%200%201%201%202%200v3a1%201%200%201%201-2%200%22%2F%3E%3C%2Fsvg%3E")}}@media screen and (forced-colors:active) and (prefers-color-scheme:light){.maplibregl-ctrl-attrib.maplibregl-compact:after{background-image:url("data:image/svg+xml;charset=utf-8,%3Csvg%20xmlns%3D%22http%3A%2F%2Fwww.w3.org%2F2000%2Fsvg%22%20width%3D%2224%22%20height%3D%2224%22%20fill-rule%3D%22evenodd%22%20viewBox%3D%220%200%2020%2020%22%3E%3Cpath%20d%3D%22M4%2010a6%206%200%201%200%2012%200%206%206%200%201%200-12%200m5-3a1%201%200%201%200%202%200%201%201%200%201%200-2%200m0%203a1%201%200%201%201%202%200v3a1%201%200%201%201-2%200%22%2F%3E%3C%2Fsvg%3E")}}.maplibregl-ctrl-attrib a{color:rgba(0,0,0,.75);text-decoration:none}.maplibregl-ctrl-attrib a:hover{color:inherit;text-decoration:underline}.maplibregl-attrib-empty{display:none}.maplibregl-ctrl-scale{background-color:hsla(0,0%,100%,.75);font-size:10px;white-space:nowrap;border-color:#333;border-style:none solid solid;border-width:medium 2px 2px;padding:0 5px;color:#333;box-sizing:border-box}.maplibregl-popup{position:absolute;top:0;left:0;display:flex;will-change:transform;pointer-events:none}.maplibregl-popup-anchor-top,.maplibregl-popup-anchor-top-left,.maplibregl-popup-anchor-top-right{flex-direction:column}.maplibregl-popup-anchor-bottom,.maplibregl-popup-anchor-bottom-left,.maplibregl-popup-anchor-bottom-right{flex-direction:column-reverse}.maplibregl-popup-anchor-left{flex-direction:row}.maplibregl-popup-anchor-right{flex-direction:row-reverse}.maplibregl-popup-tip{width:0;height:0;border:10px solid transparent;z-index:1}.maplibregl-popup-anchor-top .maplibregl-popup-tip{align-self:center;border-top:none;border-bottom-color:#fff}.maplibregl-popup-anchor-top-left .maplibregl-popup-tip{align-self:flex-start;border-top:none;border-left:none;border-bottom-color:#fff}.maplibregl-popup-anchor-top-right .maplibregl-popup-tip{align-self:flex-end;border-top:none;border-right:none;border-bottom-color:#fff}.maplibregl-popup-anchor-bottom .maplibregl-popup-tip{align-self:center;border-bottom:none;border-top-color:#fff}.maplibregl-popup-anchor-bottom-left .maplibregl-popup-tip{align-self:flex-start;border-bottom:none;border-left:none;border-top-color:#fff}.maplibregl-popup-anchor-bottom-right .maplibregl-popup-tip{align-self:flex-end;border-bottom:none;border-right:none;border-top-color:#fff}.maplibregl-popup-anchor-left .maplibregl-popup-tip{align-self:center;border-left:none;border-right-color:#fff}.maplibregl-popup-anchor-right .maplibregl-popup-tip{align-self:center;border-right:none;border-left-color:#fff}[dir=rtl] .maplibregl-popup-anchor-left{flex-direction:row-reverse}[dir=rtl] .maplibregl-popup-anchor-right{flex-direction:row}[dir=rtl] .maplibregl-popup-anchor-top-left .maplibregl-popup-tip{align-self:flex-end}[dir=rtl] .maplibregl-popup-anchor-top-right .maplibregl-popup-tip{align-self:flex-start}[dir=rtl] .maplibregl-popup-anchor-bottom-left .maplibregl-popup-tip{align-self:flex-end}[dir=rtl] .maplibregl-popup-anchor-bottom-right .maplibregl-popup-tip{align-self:flex-start}.maplibregl-popup-close-button{position:absolute;right:0;top:0;border:0;border-radius:0 3px 0 0;cursor:pointer;background-color:transparent}.maplibregl-popup-close-button:hover{background-color:rgba(0,0,0,.05)}.maplibregl-popup-content{position:relative;background:#fff;border-radius:3px;box-shadow:0 1px 2px rgba(0,0,0,.1);padding:15px 10px;pointer-events:auto}.maplibregl-popup-anchor-top-left .maplibregl-popup-content{border-top-left-radius:0}.maplibregl-popup-anchor-top-right .maplibregl-popup-content{border-top-right-radius:0}.maplibregl-popup-anchor-bottom-left .maplibregl-popup-content{border-bottom-left-radius:0}.maplibregl-popup-anchor-bottom-right .maplibregl-popup-content{border-bottom-right-radius:0}.maplibregl-popup-track-pointer{display:none}.maplibregl-popup-track-pointer *{pointer-events:none;-webkit-user-select:none;-moz-user-select:none;user-select:none}.maplibregl-map:hover .maplibregl-popup-track-pointer{display:flex}.maplibregl-map:active .maplibregl-popup-track-pointer{display:none}.maplibregl-marker{position:absolute;top:0;left:0;will-change:transform;transition:opacity .2s}.maplibregl-marker-draggable{cursor:grab}.maplibregl-user-location-dot,.maplibregl-user-location-dot:before{background-color:#1da1f2;width:15px;height:15px;border-radius:50%}.maplibregl-user-location-dot:before{content:"";position:absolute;animation:maplibregl-user-location-dot-pulse 2s infinite}.maplibregl-user-location-dot:after{border-radius:50%;border:2px solid #fff;content:"";height:19px;left:-2px;position:absolute;top:-2px;width:19px;box-sizing:border-box;box-shadow:0 0 3px rgba(0,0,0,.35)}@media (prefers-reduced-motion:reduce){.maplibregl-user-location-dot:before{animation:none}}@keyframes maplibregl-user-location-dot-pulse{0%{transform:scale(1);opacity:1}70%{transform:scale(3);opacity:0}to{transform:scale(1);opacity:0}}.maplibregl-user-location-dot-stale{background-color:#aaa}.maplibregl-user-location-dot-stale:after{display:none}.maplibregl-user-location-accuracy-circle{background-color:#1da1f233;width:1px;height:1px;border-radius:100%}.maplibregl-crosshair,.maplibregl-crosshair .maplibregl-interactive,.maplibregl-crosshair .maplibregl-interactive:active{cursor:crosshair}.maplibregl-boxzoom{position:absolute;top:0;left:0;width:0;height:0;background:#fff;border:2px dotted #202020;opacity:.5}.maplibregl-cooperative-gesture-screen{background:rgba(0,0,0,.4);position:absolute;inset:0;display:flex;justify-content:center;align-items:center;color:#fff;padding:1rem;font-size:1.4em;line-height:1.2;opacity:0;pointer-events:none;transition:opacity 1s ease 1s;z-index:99999}.maplibregl-cooperative-gesture-screen.maplibregl-show{opacity:1;transition:opacity .05s}.maplibregl-cooperative-gesture-screen .maplibregl-mobile-message{display:none}@media (hover:none),(pointer:coarse){.maplibregl-cooperative-gesture-screen .maplibregl-desktop-message{display:none}.maplibregl-cooperative-gesture-screen .maplibregl-mobile-message{display:block}}.maplibregl-pseudo-fullscreen{position:fixed!important;width:100%!important;height:100%!important;top:0!important;left:0!important;z-index:99999}',document.head.appendChild(e)}})()});var yi=W(ya=>{"use strict";var sV=Eg(),Ehe=OC(),khe=tV(),HFr=K6().addStyleRule,Che=tn(),Ubt=Wa(),Vbt=ew(),Gbt=Che.extendFlat,lV=Che.extendDeepAll;ya.modules={};ya.allCategories={};ya.allTypes=[];ya.subplotsRegistry={};ya.componentsRegistry={};ya.layoutArrayContainers=[];ya.layoutArrayRegexes=[];ya.traceLayoutAttributes={};ya.localeRegistry={};ya.apiMethodRegistry={};ya.collectableSubplotTypes=null;ya.register=function(t){if(ya.collectableSubplotTypes=null,t)t&&!Array.isArray(t)&&(t=[t]);else throw new Error("No argument passed to Plotly.register.");for(var r=0;r{"use strict";var Ybt=z3().timeFormat,Nhe=sn(),uV=Eg(),gy=(O3(),Go(q3)).mod,iw=Kn(),ad=iw.BADNUM,Ih=iw.ONEDAY,Q6=iw.ONEHOUR,vy=iw.ONEMIN,rw=iw.ONESEC,eA=iw.EPOCHJD,Cg=yi(),Ihe=z3().utcFormat,Xbt=/^\s*(-?\d\d\d\d|\d\d)(-(\d?\d)(-(\d?\d)([ Tt]([01]?\d|2[0-3])(:([0-5]\d)(:([0-5]\d(\.\d+)?))?(Z|z|[+\-]\d\d(:?\d\d)?)?)?)?)?)?\s*$/m,Zbt=/^\s*(-?\d\d\d\d|\d\d)(-(\d?\di?)(-(\d?\d)([ Tt]([01]?\d|2[0-3])(:([0-5]\d)(:([0-5]\d(\.\d+)?))?(Z|z|[+\-]\d\d(:?\d\d)?)?)?)?)?)?\s*$/m,Rhe=new Date().getFullYear()-70;function Dg(e){return e&&Cg.componentsRegistry.calendars&&typeof e=="string"&&e!=="gregorian"}Sl.dateTick0=function(e,t){var r=Kbt(e,!!t);if(t<2)return r;var i=Sl.dateTime2ms(r,e);return i+=Ih*(t-1),Sl.ms2DateTime(i,0,e)};function Kbt(e,t){return Dg(e)?t?Cg.getComponentMethod("calendars","CANONICAL_SUNDAY")[e]:Cg.getComponentMethod("calendars","CANONICAL_TICK")[e]:t?"2000-01-02":"2000-01-01"}Sl.dfltRange=function(e){return Dg(e)?Cg.getComponentMethod("calendars","DFLTRANGE")[e]:["2000-01-01","2001-01-01"]};Sl.isJSDate=function(e){return typeof e=="object"&&e!==null&&typeof e.getTime=="function"};var YC,XC;Sl.dateTime2ms=function(e,t){if(Sl.isJSDate(e)){var r=e.getTimezoneOffset()*vy,i=(e.getUTCMinutes()-e.getMinutes())*vy+(e.getUTCSeconds()-e.getSeconds())*rw+(e.getUTCMilliseconds()-e.getMilliseconds());if(i){var n=3*vy;r=r-n/2+gy(i-r+n/2,n)}return e=Number(e)-r,e>=YC&&e<=XC?e:ad}if(typeof e!="string"&&typeof e!="number")return ad;e=String(e);var a=Dg(t),o=e.charAt(0);a&&(o==="G"||o==="g")&&(e=e.slice(1),t="");var s=a&&t.slice(0,7)==="chinese",l=e.match(s?Zbt:Xbt);if(!l)return ad;var u=l[1],c=l[3]||"1",f=Number(l[5]||1),h=Number(l[7]||0),d=Number(l[9]||0),p=Number(l[11]||0);if(a){if(u.length===2)return ad;u=Number(u);var v;try{var m=Cg.getComponentMethod("calendars","getCal")(t);if(s){var g=c.charAt(c.length-1)==="i";c=parseInt(c,10),v=m.newDate(u,m.toMonthIndex(u,c,g),f)}else v=m.newDate(u,Number(c),f)}catch(b){return ad}return v?(v.toJD()-eA)*Ih+h*Q6+d*vy+p*rw:ad}u.length===2?u=(Number(u)+2e3-Rhe)%100+Rhe:u=Number(u),c-=1;var w=new Date(Date.UTC(2e3,c,f,h,d));return w.setUTCFullYear(u),w.getUTCMonth()!==c||w.getUTCDate()!==f?ad:w.getTime()+p*rw};YC=Sl.MIN_MS=Sl.dateTime2ms("-9999");XC=Sl.MAX_MS=Sl.dateTime2ms("9999-12-31 23:59:59.9999");Sl.isDateTime=function(e,t){return Sl.dateTime2ms(e,t)!==ad};function tw(e,t){return String(e+Math.pow(10,t)).slice(1)}var WC=90*Ih,zhe=3*Q6,Bhe=5*vy;Sl.ms2DateTime=function(e,t,r){if(typeof e!="number"||!(e>=YC&&e<=XC))return ad;t||(t=0);var i=Math.floor(gy(e+.05,1)*10),n=Math.round(e-i/10),a,o,s,l,u,c;if(Dg(r)){var f=Math.floor(n/Ih)+eA,h=Math.floor(gy(e,Ih));try{a=Cg.getComponentMethod("calendars","getCal")(r).fromJD(f).formatDate("yyyy-mm-dd")}catch(d){a=Ihe("G%Y-%m-%d")(new Date(n))}if(a.charAt(0)==="-")for(;a.length<11;)a="-0"+a.slice(1);else for(;a.length<10;)a="0"+a;o=t=YC+Ih&&e<=XC-Ih))return ad;var t=Math.floor(gy(e+.05,1)*10),r=new Date(Math.round(e-t/10)),i=Ybt("%Y-%m-%d")(r),n=r.getHours(),a=r.getMinutes(),o=r.getSeconds(),s=r.getUTCMilliseconds()*10+t;return Uhe(i,n,a,o,s)};function Uhe(e,t,r,i,n){if((t||r||i||n)&&(e+=" "+tw(t,2)+":"+tw(r,2),(i||n)&&(e+=":"+tw(i,2),n))){for(var a=4;n%10===0;)a-=1,n/=10;e+="."+tw(n,a)}return e}Sl.cleanDate=function(e,t,r){if(e===ad)return t;if(Sl.isJSDate(e)||typeof e=="number"&&isFinite(e)){if(Dg(r))return uV.error("JS Dates and milliseconds are incompatible with world calendars",e),t;if(e=Sl.ms2DateTimeLocal(+e),!e&&t!==void 0)return t}else if(!Sl.isDateTime(e,r))return uV.error("unrecognized date",e),t;return e};var Jbt=/%\d?f/g,Qbt=/%h/g,e3t={1:"1",2:"1",3:"2",4:"2"};function qhe(e,t,r,i){e=e.replace(Jbt,function(a){var o=Math.min(+a.charAt(1)||6,6),s=(t/1e3%1+2).toFixed(o).slice(2).replace(/0+$/,"")||"0";return s});var n=new Date(Math.floor(t+.05));if(e=e.replace(Qbt,function(){return e3t[r("%q")(n)]}),Dg(i))try{e=Cg.getComponentMethod("calendars","worldCalFmt")(e,t,i)}catch(a){return"Invalid"}return r(e)(n)}var t3t=[59,59.9,59.99,59.999,59.9999];function r3t(e,t){var r=gy(e+.05,Ih),i=tw(Math.floor(r/Q6),2)+":"+tw(gy(Math.floor(r/vy),60),2);if(t!=="M"){Nhe(t)||(t=0);var n=Math.min(gy(e/rw,60),t3t[t]),a=(100+n).toFixed(t).slice(1);t>0&&(a=a.replace(/0+$/,"").replace(/[\.]$/,"")),i+=":"+a}return i}Sl.formatDate=function(e,t,r,i,n,a){if(n=Dg(n)&&n,!t)if(r==="y")t=a.year;else if(r==="m")t=a.month;else if(r==="d")t=a.dayMonth+` +`+a.year;else return r3t(e,r)+` +`+qhe(a.dayMonthYear,e,i,n);return qhe(t,e,i,n)};var Ohe=3*Ih;Sl.incrementMonth=function(e,t,r){r=Dg(r)&&r;var i=gy(e,Ih);if(e=Math.round(e-i),r)try{var n=Math.round(e/Ih)+eA,a=Cg.getComponentMethod("calendars","getCal")(r),o=a.fromJD(n);return t%12?a.add(o,t,"m"):a.add(o,t/12,"y"),(o.toJD()-eA)*Ih+i}catch(l){uV.error("invalid ms "+e+" in calendar "+r)}var s=new Date(e+Ohe);return s.setUTCMonth(s.getUTCMonth()+t)+i-Ohe};Sl.findExactDates=function(e,t){for(var r=0,i=0,n=0,a=0,o,s,l=Dg(t)&&Cg.getComponentMethod("calendars","getCal")(t),u=0;u{"use strict";Ghe.exports=function(t){return t}});var ZC=W(Fg=>{"use strict";var i3t=sn(),n3t=Eg(),a3t=tA(),o3t=Kn().BADNUM,cV=1e-9;Fg.findBin=function(e,t,r){if(i3t(t.start))return r?Math.ceil((e-t.start)/t.size-cV)-1:Math.floor((e-t.start)/t.size+cV);var i=0,n=t.length,a=0,o=n>1?(t[n-1]-t[0])/(n-1):1,s,l;for(o>=0?l=r?s3t:l3t:l=r?c3t:u3t,e+=o*cV*(r?-1:1)*(o>=0?1:-1);i90&&n3t.log("Long binary search..."),i-1};function s3t(e,t){return et}function c3t(e,t){return e>=t}Fg.sorterAsc=function(e,t){return e-t};Fg.sorterDes=function(e,t){return t-e};Fg.distinctVals=function(e){var t=e.slice();t.sort(Fg.sorterAsc);var r;for(r=t.length-1;r>-1&&t[r]===o3t;r--);for(var i=t[r]-t[0]||1,n=i/(r||1)/1e4,a=[],o,s=0;s<=r;s++){var l=t[s],u=l-o;o===void 0?(a.push(l),o=l):u>n&&(i=Math.min(i,u),a.push(l),o=l)}return{vals:a,minDiff:i}};Fg.roundUp=function(e,t,r){for(var i=0,n=t.length-1,a,o=0,s=r?0:1,l=r?1:0,u=r?Math.ceil:Math.floor;i0&&(i=1),r&&i)return e.sort(t)}return i?e:e.reverse()};Fg.findIndexOfMin=function(e,t){t=t||a3t;for(var r=1/0,i,n=0;nh3t});function f3t(e){return Object.keys(e).sort()}var h3t,qx=Ea(()=>{"use strict";h3t=f3t});var Hhe=W(El=>{"use strict";var rA=sn(),d3t=yc().isArrayOrTypedArray;El.aggNums=function(e,t,r,i){var n,a;if((!i||i>r.length)&&(i=r.length),rA(t)||(t=!1),d3t(r[0])){for(a=new Array(i),n=0;ne.length-1)return e[e.length-1];var r=t%1;return r*e[Math.ceil(t)]+(1-r)*e[Math.floor(t)]}});var Xhe=W((ZFr,Yhe)=>{"use strict";var jhe=(O3(),Go(q3)),fV=jhe.mod,p3t=jhe.modHalf,iA=Math.PI,my=2*iA;function v3t(e){return e/180*iA}function g3t(e){return e/iA*180}function hV(e){return Math.abs(e[1]-e[0])>my-1e-14}function $he(e,t){return p3t(t-e,my)}function m3t(e,t){return Math.abs($he(e,t))}function Whe(e,t){if(hV(t))return!0;var r,i;t[0]i&&(i+=my);var n=fV(e,my),a=n+my;return n>=r&&n<=i||a>=r&&a<=i}function y3t(e,t,r,i){if(!Whe(t,i))return!1;var n,a;return r[0]=n&&e<=a}function dV(e,t,r,i,n,a,o){n=n||0,a=a||0;var s=hV([r,i]),l,u,c,f,h;s?(l=0,u=iA,c=my):r{"use strict";Ox.isLeftAnchor=function(t){return t.xanchor==="left"||t.xanchor==="auto"&&t.x<=1/3};Ox.isCenterAnchor=function(t){return t.xanchor==="center"||t.xanchor==="auto"&&t.x>1/3&&t.x<2/3};Ox.isRightAnchor=function(t){return t.xanchor==="right"||t.xanchor==="auto"&&t.x>=2/3};Ox.isTopAnchor=function(t){return t.yanchor==="top"||t.yanchor==="auto"&&t.y>=2/3};Ox.isMiddleAnchor=function(t){return t.yanchor==="middle"||t.yanchor==="auto"&&t.y>1/3&&t.y<2/3};Ox.isBottomAnchor=function(t){return t.yanchor==="bottom"||t.yanchor==="auto"&&t.y<=1/3}});var Qhe=W(Nx=>{"use strict";var pV=(O3(),Go(q3)).mod;Nx.segmentsIntersect=Jhe;function Jhe(e,t,r,i,n,a,o,s){var l=r-e,u=n-e,c=o-n,f=i-t,h=a-t,d=s-a,p=l*d-c*f;if(p===0)return null;var v=(u*d-c*h)/p,m=(u*f-l*h)/p;return m<0||m>1||v<0||v>1?null:{x:e+l*v,y:t+f*v}}Nx.segmentDistance=function(t,r,i,n,a,o,s,l){if(Jhe(t,r,i,n,a,o,s,l))return 0;var u=i-t,c=n-r,f=s-a,h=l-o,d=u*u+c*c,p=f*f+h*h,v=Math.min(KC(u,c,d,a-t,o-r),KC(u,c,d,s-t,l-r),KC(f,h,p,t-a,r-o),KC(f,h,p,i-a,n-o));return Math.sqrt(v)};function KC(e,t,r,i,n){var a=i*e+n*t;if(a<0)return i*i+n*n;if(a>r){var o=i-e,s=n-t;return o*o+s*s}else{var l=i*t-n*e;return l*l/r}}var JC,vV,Khe;Nx.getTextLocation=function(t,r,i,n){if((t!==vV||n!==Khe)&&(JC={},vV=t,Khe=n),JC[i])return JC[i];var a=t.getPointAtLength(pV(i-n/2,r)),o=t.getPointAtLength(pV(i+n/2,r)),s=Math.atan((o.y-a.y)/(o.x-a.x)),l=t.getPointAtLength(pV(i,r)),u=(l.x*4+a.x+o.x)/6,c=(l.y*4+a.y+o.y)/6,f={x:u,y:c,theta:s};return JC[i]=f,f};Nx.clearLocationCache=function(){vV=null};Nx.getVisibleSegment=function(t,r,i){var n=r.left,a=r.right,o=r.top,s=r.bottom,l=0,u=t.getTotalLength(),c=u,f,h;function d(v){var m=t.getPointAtLength(v);v===0?f=m:v===u&&(h=m);var g=m.xa?m.x-a:0,w=m.ys?m.y-s:0;return Math.sqrt(g*g+w*w)}for(var p=d(l);p;){if(l+=p+i,l>c)return;p=d(l)}for(p=d(c);p;){if(c-=p+i,l>c)return;p=d(c)}return{min:l,max:c,len:c-l,total:u,isClosed:l===0&&c===u&&Math.abs(f.x-h.x)<.1&&Math.abs(f.y-h.y)<.1}};Nx.findPointOnPath=function(t,r,i,n){n=n||{};for(var a=n.pathLength||t.getTotalLength(),o=n.tolerance||.001,s=n.iterationLimit||30,l=t.getPointAtLength(0)[i]>t.getPointAtLength(a)[i]?-1:1,u=0,c=0,f=a,h,d,p;u0?f=h:c=h,u++}return d}});var QC=W(nA=>{"use strict";var Lg={};nA.throttle=function(t,r,i){var n=Lg[t],a=Date.now();if(!n){for(var o in Lg)Lg[o].tsn.ts+r){s();return}n.timer=setTimeout(function(){s(),n.timer=null},r)};nA.done=function(e){var t=Lg[e];return!t||!t.timer?Promise.resolve():new Promise(function(r){var i=t.onDone;t.onDone=function(){i&&i(),r(),t.onDone=null}})};nA.clear=function(e){if(e)e0e(Lg[e]),delete Lg[e];else for(var t in Lg)nA.clear(t)};function e0e(e){e&&e.timer!==null&&(clearTimeout(e.timer),e.timer=null)}});var r0e=W((eLr,t0e)=>{"use strict";t0e.exports=function(t){t._responsiveChartHandler&&(window.removeEventListener("resize",t._responsiveChartHandler),delete t._responsiveChartHandler)}});var i0e=W((tLr,eD)=>{"use strict";eD.exports=gV;eD.exports.isMobile=gV;eD.exports.default=gV;var w3t=/(android|bb\d+|meego).+mobile|armv7l|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|redmi|series[46]0|samsungbrowser.*mobile|symbian|treo|up\.(browser|link)|vodafone|wap|windows (ce|phone)|xda|xiino/i,T3t=/CrOS/,A3t=/android|ipad|playbook|silk/i;function gV(e){e||(e={});let t=e.ua;if(!t&&typeof navigator!="undefined"&&(t=navigator.userAgent),t&&t.headers&&typeof t.headers["user-agent"]=="string"&&(t=t.headers["user-agent"]),typeof t!="string")return!1;let r=w3t.test(t)&&!T3t.test(t)||!!e.tablet&&A3t.test(t);return!r&&e.tablet&&e.featureDetect&&navigator&&navigator.maxTouchPoints>1&&t.indexOf("Macintosh")!==-1&&t.indexOf("Safari")!==-1&&(r=!0),r}});var a0e=W((rLr,n0e)=>{"use strict";var M3t=sn(),S3t=i0e();n0e.exports=function(t){var r;if(t&&t.hasOwnProperty("userAgent")?r=t.userAgent:r=E3t(),typeof r!="string")return!0;var i=S3t({ua:{headers:{"user-agent":r}},tablet:!0,featureDetect:!1});if(!i)for(var n=r.split(" "),a=1;a-1;s--){var l=n[s];if(l.slice(0,8)==="Version/"){var u=l.slice(8).split(".")[0];if(M3t(u)&&(u=+u),u>=13)return!0}}}return i};function E3t(){var e;return typeof navigator!="undefined"&&(e=navigator.userAgent),e&&e.headers&&typeof e.headers["user-agent"]=="string"&&(e=e.headers["user-agent"]),e}});var s0e=W((iLr,o0e)=>{"use strict";var k3t=vi();o0e.exports=function(t,r,i){var n=t.selectAll("g."+i.replace(/\s/g,".")).data(r,function(o){return o[0].trace.uid});n.exit().remove(),n.enter().append("g").attr("class",i),n.order();var a=t.classed("rangeplot")?"nodeRangePlot3":"node3";return n.each(function(o){o[0][a]=k3t.select(this)}),n}});var u0e=W((nLr,l0e)=>{"use strict";var C3t=yi();l0e.exports=function(t,r){for(var i=t._context.locale,n=0;n<2;n++){for(var a=t._context.locales,o=0;o<2;o++){var s=(a[i]||{}).dictionary;if(s){var l=s[r];if(l)return l}a=C3t.localeRegistry}var u=i.split("-")[0];if(u===i)break;i=u}return r}});var mV=W((aLr,c0e)=>{"use strict";c0e.exports=function(t){for(var r={},i=[],n=0,a=0;a{"use strict";f0e.exports=function(t){for(var r=L3t(t)?F3t:D3t,i=[],n=0;n{"use strict";d0e.exports=function(t,r){if(!r)return t;var i=1/Math.abs(r),n=i>1?(i*t+i*r)/i:t+r,a=String(n).length;if(a>16){var o=String(r).length,s=String(t).length;if(a>=s+o){var l=parseFloat(n).toPrecision(12);l.indexOf("e+")===-1&&(n=+l)}}return n}});var m0e={};Fp(m0e,{default:()=>R3t});function I3t(e){return typeof e=="string"&&(e=e.replace(P3t,"")),(0,v0e.default)(e)?Number(e):g0e.BADNUM}var v0e,g0e,P3t,R3t,y0e=Ea(()=>{"use strict";v0e=nd(sn()),g0e=nd(Kn()),P3t=/^['"%,$#\s']+|[, ]|['"%,$#\s']+$/g;R3t=I3t});var b0e=W((lLr,_0e)=>{"use strict";var z3t=/<[^>]*>/g,B3t=/[\p{S}\p{P}]/gu,q3t=/[\p{Cc}\p{Cf}\uFE00-\uFE0F\u20E3]/gu,O3t=/�/g,N3t=/\s+/g,tD="-",x0e=tD.replace(/[.*+?^${}()|[\]\\]/g,"\\$&"),U3t=new RegExp(x0e+"{3,}","g"),V3t=new RegExp(x0e+"$","g"),G3t=60;function H3t(e){return typeof e.toWellFormed=="function"?e.toWellFormed():new TextDecoder().decode(new TextEncoder().encode(e))}_0e.exports=function(t,r=G3t){var i=H3t(t!=null?t:"").replace(O3t,"").replace(z3t," ").replace(B3t,n=>n===tD?n:"").toLowerCase().trim().replace(N3t,tD).replace(q3t,"").replace(U3t,tD);return i.length<=r?i:Array.from(i).slice(0,r).join("").replace(V3t,"")}});var it=W((uLr,P0e)=>{"use strict";var aA=vi(),j3t=z3().utcFormat,$3t=gN().format,E0e=sn(),k0e=Kn(),C0e=k0e.FP_SAFE,W3t=-C0e,w0e=k0e.BADNUM,qt=P0e.exports={};qt.adjustFormat=function(t){if(!t||/^\d[.]\df/.test(t)||/[.]\d%/.test(t))return t;if(t==="0.f")return"~f";if(/^\d%/.test(t))return"~%";if(/^\ds/.test(t))return"~s";var r=(t.match(/^[+\-( ]?/)||[""])[0],i=t.slice(r.length);return!/^[~,.0$#]/.test(i)&&/[&fps]/.test(i)?r+"~"+i:t};var T0e={};qt.warnBadFormat=function(e){var t=String(e);T0e[t]||(T0e[t]=1,qt.warn('encountered bad format: "'+t+'"'))};qt.noFormat=function(e){return String(e)};qt.numberFormat=function(e){var t;try{t=$3t(qt.adjustFormat(e))}catch(r){return qt.warnBadFormat(e),qt.noFormat}return t};qt.nestedProperty=k6();qt.keyedContainer=ple();qt.relativeAttr=gle();qt.isPlainObject=oy();qt.toLogRange=cC();qt.relinkPrivateKeys=_le();var yy=yc();qt.isArrayBuffer=yy.isArrayBuffer;qt.isTypedArray=yy.isTypedArray;qt.isArrayOrTypedArray=yy.isArrayOrTypedArray;qt.isArray1D=yy.isArray1D;qt.ensureArray=yy.ensureArray;qt.concat=yy.concat;qt.maxRowLength=yy.maxRowLength;qt.minRowLength=yy.minRowLength;var D0e=(O3(),Go(q3));qt.mod=D0e.mod;qt.modHalf=D0e.modHalf;var xy=Vce();qt.valObjectMeta=xy.valObjectMeta;qt.coerce=xy.coerce;qt.coerce2=xy.coerce2;qt.coerceFont=xy.coerceFont;qt.coercePattern=xy.coercePattern;qt.coerceHoverinfo=xy.coerceHoverinfo;qt.coerceSelectionMarkerOpacity=xy.coerceSelectionMarkerOpacity;qt.validate=xy.validate;var d0=Vhe();qt.dateTime2ms=d0.dateTime2ms;qt.isDateTime=d0.isDateTime;qt.ms2DateTime=d0.ms2DateTime;qt.ms2DateTimeLocal=d0.ms2DateTimeLocal;qt.cleanDate=d0.cleanDate;qt.isJSDate=d0.isJSDate;qt.formatDate=d0.formatDate;qt.incrementMonth=d0.incrementMonth;qt.dateTick0=d0.dateTick0;qt.dfltRange=d0.dfltRange;qt.findExactDates=d0.findExactDates;qt.MIN_MS=d0.MIN_MS;qt.MAX_MS=d0.MAX_MS;var Ux=ZC();qt.findBin=Ux.findBin;qt.sorterAsc=Ux.sorterAsc;qt.sorterDes=Ux.sorterDes;qt.distinctVals=Ux.distinctVals;qt.roundUp=Ux.roundUp;qt.sort=Ux.sort;qt.findIndexOfMin=Ux.findIndexOfMin;qt.sortObjectKeys=(qx(),Go(Bx)).default;var Pg=Hhe();qt.aggNums=Pg.aggNums;qt.len=Pg.len;qt.mean=Pg.mean;qt.geometricMean=Pg.geometricMean;qt.median=Pg.median;qt.midRange=Pg.midRange;qt.variance=Pg.variance;qt.stdev=Pg.stdev;qt.interp=Pg.interp;var Rp=NC();qt.init2dArray=Rp.init2dArray;qt.transposeRagged=Rp.transposeRagged;qt.dot=Rp.dot;qt.translationMatrix=Rp.translationMatrix;qt.rotationMatrix=Rp.rotationMatrix;qt.rotationXYMatrix=Rp.rotationXYMatrix;qt.apply3DTransform=Rp.apply3DTransform;qt.apply2DTransform=Rp.apply2DTransform;qt.apply2DTransform2=Rp.apply2DTransform2;qt.convertCssMatrix=Rp.convertCssMatrix;qt.inverseTransformMatrix=Rp.inverseTransformMatrix;var Qv=Xhe();qt.deg2rad=Qv.deg2rad;qt.rad2deg=Qv.rad2deg;qt.angleDelta=Qv.angleDelta;qt.angleDist=Qv.angleDist;qt.isFullCircle=Qv.isFullCircle;qt.isAngleInsideSector=Qv.isAngleInsideSector;qt.isPtInsideSector=Qv.isPtInsideSector;qt.pathArc=Qv.pathArc;qt.pathSector=Qv.pathSector;qt.pathAnnulus=Qv.pathAnnulus;var aw=Zhe();qt.isLeftAnchor=aw.isLeftAnchor;qt.isCenterAnchor=aw.isCenterAnchor;qt.isRightAnchor=aw.isRightAnchor;qt.isTopAnchor=aw.isTopAnchor;qt.isMiddleAnchor=aw.isMiddleAnchor;qt.isBottomAnchor=aw.isBottomAnchor;var ow=Qhe();qt.segmentsIntersect=ow.segmentsIntersect;qt.segmentDistance=ow.segmentDistance;qt.getTextLocation=ow.getTextLocation;qt.clearLocationCache=ow.clearLocationCache;qt.getVisibleSegment=ow.getVisibleSegment;qt.findPointOnPath=ow.findPointOnPath;var nD=tn();qt.extendFlat=nD.extendFlat;qt.extendDeep=nD.extendDeep;qt.extendDeepAll=nD.extendDeepAll;qt.extendDeepNoArrays=nD.extendDeepNoArrays;var yV=Eg();qt.log=yV.log;qt.warn=yV.warn;qt.error=yV.error;var Y3t=(K3(),Go(Z3));qt.counterRegex=Y3t.counter;var xV=QC();qt.throttle=xV.throttle;qt.throttleDone=xV.done;qt.clearThrottle=xV.clear;var zp=K6();qt.getGraphDiv=zp.getGraphDiv;qt.isPlotDiv=zp.isPlotDiv;qt.removeElement=zp.removeElement;qt.addStyleRule=zp.addStyleRule;qt.addRelatedStyleRule=zp.addRelatedStyleRule;qt.deleteRelatedStyleRule=zp.deleteRelatedStyleRule;qt.setStyleOnHover=zp.setStyleOnHover;qt.getFullTransformMatrix=zp.getFullTransformMatrix;qt.getElementTransformMatrix=zp.getElementTransformMatrix;qt.getElementAndAncestors=zp.getElementAndAncestors;qt.equalDomRects=zp.equalDomRects;qt.clearResponsive=r0e();qt.preserveDrawingBuffer=a0e();qt.makeTraceGroups=s0e();qt._=u0e();qt.notifier=$U();qt.filterUnique=mV();qt.filterVisible=h0e();qt.pushUnique=tV();qt.increment=p0e();qt.cleanNumber=(y0e(),Go(m0e)).default;qt.slugify=b0e();qt.ensureNumber=function(t){return E0e(t)?(t=Number(t),t>C0e||t=t?!1:E0e(e)&&e>=0&&e%1===0};qt.noop=OC();qt.identity=tA();qt.repeat=function(e,t){for(var r=new Array(t),i=0;ir?Math.max(r,Math.min(t,e)):Math.max(t,Math.min(r,e))};qt.bBoxIntersect=function(e,t,r){return r=r||0,e.left<=t.right+r&&t.left<=e.right+r&&e.top<=t.bottom+r&&t.top<=e.bottom+r};qt.simpleMap=function(e,t,r,i,n){for(var a=e.length,o=new Array(a),s=0;s=Math.pow(2,r)?n>10?(qt.warn("randstr failed uniqueness"),o):e(t,r,i,(n||0)+1):o};qt.OptionControl=function(e,t){e||(e={}),t||(t="opt");var r={};return r.optionList=[],r._newoption=function(i){i[t]=e,r[i.name]=i,r.optionList.push(i)},r["_"+t]=e,r};qt.smooth=function(e,t){if(t=Math.round(t)||0,t<2)return e;var r=e.length,i=2*r,n=2*t-1,a=new Array(n),o=new Array(r),s,l,u,c;for(s=0;s=i&&(u-=i*Math.floor(u/i)),u<0?u=-1-u:u>=r&&(u=i-1-u),c+=e[u]*a[l];o[s]=c}return o};qt.syncOrAsync=function(e,t,r){var i,n;function a(){return qt.syncOrAsync(e,t,r)}for(;e.length;)if(n=e.splice(0,1)[0],i=n(t),i&&i.then)return i.then(a);return r&&r(t)};qt.stripTrailingSlash=function(e){return e.slice(-1)==="/"?e.slice(0,-1):e};qt.noneOrAll=function(e,t,r){if(e){var i=!1,n=!0,a,o;for(a=0;a0?n:0})};qt.fillArray=function(e,t,r,i){if(i=i||qt.identity,qt.isArrayOrTypedArray(e))for(var n=0;nK3t.test(window.navigator.userAgent);var J3t=/Firefox\/(\d+)\.\d+/;qt.getFirefoxVersion=function(){var e=J3t.exec(window.navigator.userAgent);if(e&&e.length===2){var t=parseInt(e[1]);if(!isNaN(t))return t}return null};qt.isD3Selection=function(e){return e instanceof aA.selection};qt.ensureSingle=function(e,t,r,i){var n=e.select(t+(r?"."+r:""));if(n.size())return n;var a=e.append(t);return r&&a.classed(r,!0),i&&a.call(i),a};qt.ensureSingleById=function(e,t,r,i){var n=e.select(t+"#"+r);if(n.size())return n;var a=e.append(t).attr("id",r);return i&&a.call(i),a};qt.objectFromPath=function(e,t){for(var r=e.split("."),i,n=i={},a=0;a1?n+o[1]:"";if(a&&(o.length>1||s.length>4||r))for(;i.test(s);)s=s.replace(i,"$1"+a+"$2");return s+l};qt.TEMPLATE_STRING_REGEX=/%{([^\s%{}:]*)([:|\|][^}]*)?}/g;var L0e=/^\w*$/;qt.templateString=function(e,t){var r={};return e.replace(qt.TEMPLATE_STRING_REGEX,function(i,n){var a;return L0e.test(n)?a=t[n]:(r[n]=r[n]||qt.nestedProperty(t,n).get,a=r[n](!0)),a!==void 0?a:""})};var twt={max:10,count:0,name:"hovertemplate"};qt.hovertemplateString=e=>_V(ma(fn({},e),{opts:twt}));var rwt={max:10,count:0,name:"texttemplate"};qt.texttemplateString=e=>_V(ma(fn({},e),{opts:rwt}));var iwt=/^(\S+)([\*\/])(-?\d+(\.\d+)?)$/;function nwt(e){var t=e.match(iwt);return t?{key:t[1],op:t[2],number:Number(t[3])}:{key:e,op:null,number:null}}var awt={max:10,count:0,name:"texttemplate",parseMultDiv:!0};qt.texttemplateStringForShapes=e=>_V(ma(fn({},e),{opts:awt}));var A0e=/^[:|\|]/;function _V({data:e=[],locale:t,fallback:r,labels:i={},opts:n,template:a}){return a.replace(qt.TEMPLATE_STRING_REGEX,(o,s,l)=>{let u=["xother","yother"].includes(s),c=["_xother","_yother"].includes(s),f=["_xother_","_yother_"].includes(s),h=["xother_","yother_"].includes(s),d=u||c||h||f;(c||f)&&(s=s.substring(1)),(h||f)&&(s=s.substring(0,s.length-1));let p=null,v=null;if(n.parseMultDiv){var m=nwt(s);s=m.key,p=m.op,v=m.number}let g;if(d){if(i[s]===void 0)return"";g=i[s]}else for(let M of e)if(M){if(M.hasOwnProperty(s)){g=M[s];break}if(L0e.test(s)||(g=qt.nestedProperty(M,s).get(!0)),g!==void 0)break}if(g===void 0){let{count:M,max:x,name:T}=n,A=r===!1?o:r;return M=iD&&o<=M0e,u=s>=iD&&s<=M0e;if(l&&(i=10*i+o-iD),u&&(n=10*n+s-iD),!l||!u){if(i!==n)return i-n;if(o!==s)return o-s}}return n-i};var nw=2e9;qt.seedPseudoRandom=function(){nw=2e9};qt.pseudoRandom=function(){var e=nw;return nw=(69069*nw+1)%4294967296,Math.abs(nw-e)<429496729?qt.pseudoRandom():nw/4294967296};qt.fillText=function(e,t,r){var i=Array.isArray(r)?function(o){r.push(o)}:function(o){r.text=o},n=qt.extractOption(e,t,"htx","hovertext");if(qt.isValidTextValue(n))return i(n);var a=qt.extractOption(e,t,"tx","text");if(qt.isValidTextValue(a))return i(a)};qt.isValidTextValue=function(e){return e||e===0};qt.formatPercent=function(e,t){t=t||0;for(var r=(Math.round(100*e*Math.pow(10,t))*Math.pow(.1,t)).toFixed(t)+"%",i=0;i1&&(u=1):u=0,qt.strTranslate(n-u*(r+o),a-u*(i+s))+qt.strScale(u)+(l?"rotate("+l+(t?"":" "+r+" "+i)+")":"")};qt.setTransormAndDisplay=function(e,t){e.attr("transform",qt.getTextTransform(t)),e.style("display",t.scale?null:"none")};qt.ensureUniformFontSize=function(e,t){var r=qt.extendFlat({},t);return r.size=Math.max(t.size,e._fullLayout.uniformtext.minsize||0),r};qt.join2=function(e,t,r){var i=e.length;return i>1?e.slice(0,-1).join(t)+r+e[i-1]:e.join(t)};qt.bigFont=function(e){return Math.round(1.2*e)};var S0e=qt.getFirefoxVersion(),owt=S0e!==null&&S0e<86;qt.getPositionFromD3Event=function(){return owt?[aA.event.layerX,aA.event.layerY]:[aA.event.offsetX,aA.event.offsetY]}});var z0e=W(()=>{"use strict";var swt=it(),I0e={"X,X div":'direction:ltr;font-family:"Open Sans",verdana,arial,sans-serif;margin:0;padding:0;border:0;',"X input,X button":'font-family:"Open Sans",verdana,arial,sans-serif;',"X input:focus,X button:focus":"outline:none;","X a":"text-decoration:none;","X a:hover":"text-decoration:none;","X .crisp":"shape-rendering:crispEdges;","X .user-select-none":"-webkit-user-select:none;-moz-user-select:none;-ms-user-select:none;-o-user-select:none;user-select:none;","X svg a":"fill:#447adb;","X svg a:hover":"fill:#3c6dc5;","X .main-svg":"position:absolute;top:0;left:0;pointer-events:none;","X .main-svg .draglayer":"pointer-events:all;","X .cursor-default":"cursor:default;","X .cursor-pointer":"cursor:pointer;","X .cursor-crosshair":"cursor:crosshair;","X .cursor-move":"cursor:move;","X .cursor-col-resize":"cursor:col-resize;","X .cursor-row-resize":"cursor:row-resize;","X .cursor-ns-resize":"cursor:ns-resize;","X .cursor-ew-resize":"cursor:ew-resize;","X .cursor-sw-resize":"cursor:sw-resize;","X .cursor-s-resize":"cursor:s-resize;","X .cursor-se-resize":"cursor:se-resize;","X .cursor-w-resize":"cursor:w-resize;","X .cursor-e-resize":"cursor:e-resize;","X .cursor-nw-resize":"cursor:nw-resize;","X .cursor-n-resize":"cursor:n-resize;","X .cursor-ne-resize":"cursor:ne-resize;","X .cursor-grab":"cursor:-webkit-grab;cursor:grab;","X .modebar":"position:absolute;top:2px;right:2px;","X .ease-bg":"-webkit-transition:background-color .3s ease 0s;-moz-transition:background-color .3s ease 0s;-ms-transition:background-color .3s ease 0s;-o-transition:background-color .3s ease 0s;transition:background-color .3s ease 0s;","X .modebar--hover>:not(.watermark)":"opacity:0;-webkit-transition:opacity .3s ease 0s;-moz-transition:opacity .3s ease 0s;-ms-transition:opacity .3s ease 0s;-o-transition:opacity .3s ease 0s;transition:opacity .3s ease 0s;","X:hover .modebar--hover .modebar-group":"opacity:1;","X:focus-within .modebar--hover .modebar-group":"opacity:1;","X .modebar-group":"float:left;display:inline-block;box-sizing:border-box;padding-left:8px;position:relative;vertical-align:middle;white-space:nowrap;","X .modebar-group a":"display:grid;place-content:center;","X .modebar-btn":"position:relative;font-size:16px;padding:3px 4px;height:22px;cursor:pointer;line-height:normal;box-sizing:border-box;border:none;background:rgba(0,0,0,0);","X .modebar-btn svg":"position:relative;","X .modebar-btn:focus-visible":"outline:1px solid #000;outline-offset:1px;border-radius:3px;","X .modebar.vertical":"display:flex;flex-direction:column;flex-wrap:wrap;align-content:flex-end;max-height:100%;","X .modebar.vertical svg":"top:-1px;","X .modebar.vertical .modebar-group":"display:block;float:none;padding-left:0px;padding-bottom:8px;","X .modebar.vertical .modebar-group .modebar-btn":"display:block;text-align:center;","X [data-title]:before,X [data-title]:after":"position:absolute;-webkit-transform:translate3d(0, 0, 0);-moz-transform:translate3d(0, 0, 0);-ms-transform:translate3d(0, 0, 0);-o-transform:translate3d(0, 0, 0);transform:translate3d(0, 0, 0);display:none;opacity:0;z-index:1001;pointer-events:none;top:110%;right:50%;","X [data-title]:hover:before,X [data-title]:hover:after":"display:block;opacity:1;","X [data-title]:before":'content:"";position:absolute;background:rgba(0,0,0,0);border:6px solid rgba(0,0,0,0);z-index:1002;margin-top:-12px;border-bottom-color:#69738a;margin-right:-6px;',"X [data-title]:after":"content:attr(data-title);background:#69738a;color:#fff;padding:8px 10px;font-size:12px;line-height:12px;white-space:nowrap;margin-right:-18px;border-radius:2px;","X .vertical [data-title]:before,X .vertical [data-title]:after":"top:0%;right:200%;","X .vertical [data-title]:before":"border:6px solid rgba(0,0,0,0);border-left-color:#69738a;margin-top:8px;margin-right:-30px;","X .plotly-cloud-dialog":'font-family:"Open Sans",verdana,arial,sans-serif;position:absolute;top:0;left:0;width:100%;height:100%;z-index:1001;display:flex;align-items:center;justify-content:center;background-color:rgba(0,0,0,.4);',"X .plotly-cloud-dialog .plotly-cloud-dialog-box":"box-sizing:border-box;min-width:300px;max-width:420px;padding:20px 24px;background-color:#fff;border:1px solid #e0e2e5;border-radius:4px;box-shadow:0 4px 16px rgba(0,0,0,.25);font-size:13px;color:#2a3f5f;","X .plotly-cloud-dialog .plotly-cloud-dialog-title":"font-size:16px;font-weight:bold;margin-bottom:12px;","X .plotly-cloud-dialog .plotly-cloud-dialog-message":"line-height:1.5;overflow-wrap:break-word;word-wrap:break-word;","X .plotly-cloud-dialog .plotly-cloud-dialog-message--hostname":"font-weight:bold;text-decoration:underline;","X .plotly-cloud-dialog .plotly-cloud-dialog-message--account":"margin-top:16px;padding:8px;border-radius:3px;font-size:.9em;background-color:#edf1f8;","X .plotly-cloud-dialog .plotly-cloud-dialog-buttons":"display:flex;justify-content:flex-end;margin-top:20px;","X .plotly-cloud-dialog .plotly-cloud-dialog-btn":"font-family:inherit;font-size:13px;padding:7px 16px;margin-left:8px;border-radius:3px;border:1px solid rgba(0,0,0,0);cursor:pointer;","X .plotly-cloud-dialog .plotly-cloud-dialog-btn:focus-visible":"outline:2px solid #447adb;outline-offset:1px;","X .plotly-cloud-dialog .plotly-cloud-dialog-btn--cancel":"background-color:#f3f3f3;margin-left:auto;color:#777;","X .plotly-cloud-dialog .plotly-cloud-dialog-btn--cancel:hover":"background-color:#e0e2e5;","X .plotly-cloud-dialog .plotly-cloud-dialog-btn--confirm":"background-color:#447adb;color:#fff;","X .plotly-cloud-dialog .plotly-cloud-dialog-btn--confirm:hover":"background-color:#1d3b84;",Y:'font-family:"Open Sans",verdana,arial,sans-serif;position:fixed;top:50px;right:20px;z-index:10000;font-size:10pt;max-width:180px;',"Y p":"margin:0;","Y .notifier-note":"min-width:180px;max-width:250px;border:1px solid #fff;z-index:3000;margin:0;background-color:#8c97af;background-color:rgba(140,151,175,.9);color:#fff;padding:10px;overflow-wrap:break-word;word-wrap:break-word;-ms-hyphens:auto;-webkit-hyphens:auto;hyphens:auto;","Y .notifier-close":"color:#fff;opacity:.8;float:right;padding:0 5px;background:none;border:none;font-size:20px;font-weight:bold;line-height:20px;","Y .notifier-close:hover":"color:#444;text-decoration:none;cursor:pointer;"};for(bV in I0e)R0e=bV.replace(/^,/," ,").replace(/X/g,".js-plotly-plot .plotly").replace(/Y/g,".plotly-notifier"),swt.addStyleRule(R0e,I0e[bV]);var R0e,bV});var wV=W((dLr,B0e)=>{B0e.exports=!0});var AV=W((pLr,q0e)=>{"use strict";var lwt=wV(),TV;typeof window.matchMedia=="function"?TV=!window.matchMedia("(hover: none)").matches:TV=lwt;q0e.exports=TV});var Vx=W((vLr,MV)=>{"use strict";var sw=typeof Reflect=="object"?Reflect:null,O0e=sw&&typeof sw.apply=="function"?sw.apply:function(t,r,i){return Function.prototype.apply.call(t,r,i)},aD;sw&&typeof sw.ownKeys=="function"?aD=sw.ownKeys:Object.getOwnPropertySymbols?aD=function(t){return Object.getOwnPropertyNames(t).concat(Object.getOwnPropertySymbols(t))}:aD=function(t){return Object.getOwnPropertyNames(t)};function uwt(e){console&&console.warn&&console.warn(e)}var U0e=Number.isNaN||function(t){return t!==t};function xs(){xs.init.call(this)}MV.exports=xs;MV.exports.once=dwt;xs.EventEmitter=xs;xs.prototype._events=void 0;xs.prototype._eventsCount=0;xs.prototype._maxListeners=void 0;var N0e=10;function oD(e){if(typeof e!="function")throw new TypeError('The "listener" argument must be of type Function. Received type '+typeof e)}Object.defineProperty(xs,"defaultMaxListeners",{enumerable:!0,get:function(){return N0e},set:function(e){if(typeof e!="number"||e<0||U0e(e))throw new RangeError('The value of "defaultMaxListeners" is out of range. It must be a non-negative number. Received '+e+".");N0e=e}});xs.init=function(){(this._events===void 0||this._events===Object.getPrototypeOf(this)._events)&&(this._events=Object.create(null),this._eventsCount=0),this._maxListeners=this._maxListeners||void 0};xs.prototype.setMaxListeners=function(t){if(typeof t!="number"||t<0||U0e(t))throw new RangeError('The value of "n" is out of range. It must be a non-negative number. Received '+t+".");return this._maxListeners=t,this};function V0e(e){return e._maxListeners===void 0?xs.defaultMaxListeners:e._maxListeners}xs.prototype.getMaxListeners=function(){return V0e(this)};xs.prototype.emit=function(t){for(var r=[],i=1;i0&&(o=r[0]),o instanceof Error)throw o;var s=new Error("Unhandled error."+(o?" ("+o.message+")":""));throw s.context=o,s}var l=a[t];if(l===void 0)return!1;if(typeof l=="function")O0e(l,this,r);else for(var u=l.length,c=W0e(l,u),i=0;i0&&o.length>n&&!o.warned){o.warned=!0;var s=new Error("Possible EventEmitter memory leak detected. "+o.length+" "+String(t)+" listeners added. Use emitter.setMaxListeners() to increase limit");s.name="MaxListenersExceededWarning",s.emitter=e,s.type=t,s.count=o.length,uwt(s)}return e}xs.prototype.addListener=function(t,r){return G0e(this,t,r,!1)};xs.prototype.on=xs.prototype.addListener;xs.prototype.prependListener=function(t,r){return G0e(this,t,r,!0)};function cwt(){if(!this.fired)return this.target.removeListener(this.type,this.wrapFn),this.fired=!0,arguments.length===0?this.listener.call(this.target):this.listener.apply(this.target,arguments)}function H0e(e,t,r){var i={fired:!1,wrapFn:void 0,target:e,type:t,listener:r},n=cwt.bind(i);return n.listener=r,i.wrapFn=n,n}xs.prototype.once=function(t,r){return oD(r),this.on(t,H0e(this,t,r)),this};xs.prototype.prependOnceListener=function(t,r){return oD(r),this.prependListener(t,H0e(this,t,r)),this};xs.prototype.removeListener=function(t,r){var i,n,a,o,s;if(oD(r),n=this._events,n===void 0)return this;if(i=n[t],i===void 0)return this;if(i===r||i.listener===r)--this._eventsCount===0?this._events=Object.create(null):(delete n[t],n.removeListener&&this.emit("removeListener",t,i.listener||r));else if(typeof i!="function"){for(a=-1,o=i.length-1;o>=0;o--)if(i[o]===r||i[o].listener===r){s=i[o].listener,a=o;break}if(a<0)return this;a===0?i.shift():fwt(i,a),i.length===1&&(n[t]=i[0]),n.removeListener!==void 0&&this.emit("removeListener",t,s||r)}return this};xs.prototype.off=xs.prototype.removeListener;xs.prototype.removeAllListeners=function(t){var r,i,n;if(i=this._events,i===void 0)return this;if(i.removeListener===void 0)return arguments.length===0?(this._events=Object.create(null),this._eventsCount=0):i[t]!==void 0&&(--this._eventsCount===0?this._events=Object.create(null):delete i[t]),this;if(arguments.length===0){var a=Object.keys(i),o;for(n=0;n=0;n--)this.removeListener(t,r[n]);return this};function j0e(e,t,r){var i=e._events;if(i===void 0)return[];var n=i[t];return n===void 0?[]:typeof n=="function"?r?[n.listener||n]:[n]:r?hwt(n):W0e(n,n.length)}xs.prototype.listeners=function(t){return j0e(this,t,!0)};xs.prototype.rawListeners=function(t){return j0e(this,t,!1)};xs.listenerCount=function(e,t){return typeof e.listenerCount=="function"?e.listenerCount(t):$0e.call(e,t)};xs.prototype.listenerCount=$0e;function $0e(e){var t=this._events;if(t!==void 0){var r=t[e];if(typeof r=="function")return 1;if(r!==void 0)return r.length}return 0}xs.prototype.eventNames=function(){return this._eventsCount>0?aD(this._events):[]};function W0e(e,t){for(var r=new Array(t),i=0;i{"use strict";var SV=Vx().EventEmitter,vwt={init:function(e){if(e._ev instanceof SV)return e;var t=new SV,r=new SV;return e._ev=t,e._internalEv=r,e.on=t.on.bind(t),e.once=t.once.bind(t),e.removeListener=t.removeListener.bind(t),e.removeAllListeners=t.removeAllListeners.bind(t),e._internalOn=r.on.bind(r),e._internalOnce=r.once.bind(r),e._removeInternalListener=r.removeListener.bind(r),e._removeAllInternalListeners=r.removeAllListeners.bind(r),e.emit=function(i,n){t.emit(i,n),r.emit(i,n)},typeof e.addEventListener=="function"&&e.addEventListener("wheel",()=>{},{passive:!0}),e},triggerHandler:function(e,t,r){var i,n=e._ev;if(!n)return;var a=n._events[t];if(!a)return;function o(l){if(l.listener){if(n.removeListener(t,l.listener),!l.fired)return l.fired=!0,l.listener.apply(n,[r])}else return l.apply(n,[r])}a=Array.isArray(a)?a:[a];var s;for(s=0;s{"use strict";var Z0e=it(),gwt=cy().dfltConfig;function mwt(e,t){for(var r=[],i,n=0;ngwt.queueLength&&(e.undoQueue.queue.shift(),e.undoQueue.index--)};Ig.startSequence=function(e){e.undoQueue=e.undoQueue||{index:0,queue:[],sequence:!1},e.undoQueue.sequence=!0,e.undoQueue.beginSequence=!0};Ig.stopSequence=function(e){e.undoQueue=e.undoQueue||{index:0,queue:[],sequence:!1},e.undoQueue.sequence=!1,e.undoQueue.beginSequence=!1};Ig.undo=function(t){var r,i;if(!(t.undoQueue===void 0||isNaN(t.undoQueue.index)||t.undoQueue.index<=0)){for(t.undoQueue.index--,r=t.undoQueue.queue[t.undoQueue.index],t.undoQueue.inSequence=!0,i=0;i=t.undoQueue.queue.length)){for(r=t.undoQueue.queue[t.undoQueue.index],t.undoQueue.inSequence=!0,i=0;i{"use strict";Q0e.exports={_isLinkedToArray:"frames_entry",group:{valType:"string"},name:{valType:"string"},traces:{valType:"any"},baseframe:{valType:"string"},data:{valType:"any"},layout:{valType:"any"}}});var fw=W(su=>{"use strict";var od=yi(),oA=it(),lD=Wa(),kV=ew(),ywt=EV(),xwt=J6(),_wt=cy().configAttributes,ede=ls(),Bp=oA.extendDeepAll,uw=oA.isPlainObject,bwt=oA.isArrayOrTypedArray,uD=oA.nestedProperty,wwt=oA.valObjectMeta,CV="_isSubplotObj",cD="_isLinkedToArray",Twt="_arrayAttrRegexps",rde="_deprecated",DV=[CV,cD,Twt,rde];su.IS_SUBPLOT_OBJ=CV;su.IS_LINKED_TO_ARRAY=cD;su.DEPRECATED=rde;su.UNDERSCORE_ATTRS=DV;su.get=function(){var e={};return od.allTypes.forEach(function(t){e[t]=Mwt(t)}),{defs:{valObjects:wwt,metaKeys:DV.concat(["description","role","editType","impliedEdits"]),editType:{traces:ede.traces,layout:ede.layout},impliedEdits:{}},traces:e,layout:Swt(),frames:Ewt(),animation:cw(xwt),config:cw(_wt)}};su.crawl=function(e,t,r,i){var n=r||0;i=i||"",Object.keys(e).forEach(function(a){var o=e[a];if(DV.indexOf(a)===-1){var s=(i?i+".":"")+a;t(o,a,e,n,s),!su.isValObject(o)&&uw(o)&&a!=="impliedEdits"&&su.crawl(o,t,n+1,s)}})};su.isValObject=function(e){return e&&e.valType!==void 0};su.findArrayAttributes=function(e){var t=[],r=[],i=[],n,a;function o(l,u,c,f){r=r.slice(0,f).concat([u]),i=i.slice(0,f).concat([l&&l._isLinkedToArray]);var h=l&&(l.valType==="data_array"||l.arrayOk===!0)&&!(r[f-1]==="colorbar"&&(u==="ticktext"||u==="tickvals"));h&&s(n,0,"")}function s(l,u,c){var f=l[r[u]],h=c+r[u];if(u===r.length-1)bwt(f)&&t.push(a+h);else if(i[u]){if(Array.isArray(f))for(var d=0;d=a.length)return!1;if(e.dimensions===2){if(r++,t.length===r)return e;var o=t[r];if(!sD(o))return!1;e=a[n][o]}else e=a[n]}else e=a}}return e}function sD(e){return e===Math.round(e)&&e>=0}function Mwt(e){var t,r;t=od.modules[e]._module,r=t.basePlotModule;var i={};i.type=null;var n=Bp({},lD),a=Bp({},t.attributes);su.crawl(a,function(l,u,c,f,h){uD(n,h).set(void 0),l===void 0&&uD(a,h).set(void 0)}),Bp(i,n),od.traceIs(e,"noOpacity")&&delete i.opacity,od.traceIs(e,"showLegend")||(delete i.showlegend,delete i.legendgroup),od.traceIs(e,"noHover")&&(delete i.hoverinfo,delete i.hoverlabel),t.selectPoints||delete i.selectedpoints,Bp(i,a),r.attributes&&Bp(i,r.attributes),i.type=e;var o={meta:t.meta||{},categories:t.categories||{},animatable:!!t.animatable,type:e,attributes:cw(i)};if(t.layoutAttributes){var s={};Bp(s,t.layoutAttributes),o.layoutAttributes=cw(s)}return t.animatable||su.crawl(o,function(l){su.isValObject(l)&&"anim"in l&&delete l.anim}),o}function Swt(){var e={},t,r;Bp(e,kV);for(t in od.subplotsRegistry)if(r=od.subplotsRegistry[t],!!r.layoutAttributes)if(Array.isArray(r.attr))for(var i=0;i{"use strict";var hw=it(),Lwt=Wa(),_y="templateitemname",FV={name:{valType:"string",editType:"none"}};FV[_y]={valType:"string",editType:"calc"};Gx.templatedArray=function(e,t){return t._isLinkedToArray=e,t.name=FV.name,t[_y]=FV[_y],t};Gx.traceTemplater=function(e){var t={},r,i;for(r in e)i=e[r],Array.isArray(i)&&i.length&&(t[r]=0);function n(a){r=hw.coerce(a,{},Lwt,"type");var o={type:r,_template:null};if(r in t){i=e[r];var s=t[r]%i.length;t[r]++,o._template=i[s]}return o}return{newTrace:n}};Gx.newContainer=function(e,t,r){var i=e._template,n=i&&(i[t]||r&&i[r]);hw.isPlainObject(n)||(n=null);var a=e[t]={_template:n};return a};Gx.arrayTemplater=function(e,t,r){var i=e._template,n=i&&i[ade(t)],a=i&&i[t];(!Array.isArray(a)||!a.length)&&(a=[]);var o={};function s(u){var c={name:u.name,_input:u},f=c[_y]=u[_y];if(!nde(f))return c._template=n,c;for(var h=0;h=i&&(r._input||{})._templateitemname;a&&(n=i);var o=t+"["+n+"]",s;function l(){s={},a&&(s[o]={},s[o][_y]=a)}l();function u(d,p){s[d]=p}function c(d,p){a?hw.nestedProperty(s[o],d).set(p):s[o+"."+d]=p}function f(){var d=s;return l(),d}function h(d,p){d&&c(d,p);var v=f();for(var m in v)hw.nestedProperty(e,m).set(v[m])}return{modifyBase:u,modifyItem:c,getUpdateObj:f,applyUpdate:h}}});var Gl=W((bLr,ode)=>{"use strict";var sA=(K3(),Go(Z3)).counter;ode.exports={idRegex:{x:sA("x","( domain)?"),y:sA("y","( domain)?")},attrRegex:sA("[xy]axis"),xAxisMatch:sA("xaxis"),yAxisMatch:sA("yaxis"),AX_ID_PATTERN:/^[xyz][0-9]*( domain)?$/,AX_NAME_PATTERN:/^[xyz]axis[0-9]*$/,SUBPLOT_PATTERN:/^x([0-9]*)y([0-9]*)$/,HOUR_PATTERN:"hour",WEEKDAY_PATTERN:"day of week",MINDRAG:8,MINZOOM:20,DRAGGERSIZE:20,REDRAWDELAY:50,DFLTRANGEX:[-1,6],DFLTRANGEY:[-1,4],traceLayerClasses:["imagelayer","heatmaplayer","contourcarpetlayer","contourlayer","funnellayer","waterfalllayer","barlayer","carpetlayer","violinlayer","boxlayer","ohlclayer","scattercarpetlayer","scatterlayer"],clipOnAxisFalseQuery:[".scatterlayer",".barlayer",".funnellayer",".waterfalllayer"],layerValue2layerClass:{"above traces":"above","below traces":"below"},zindexSeparator:"z"}});var Cs=W(Rh=>{"use strict";var Pwt=yi(),LV=Gl();Rh.id2name=function(t){if(!(typeof t!="string"||!t.match(LV.AX_ID_PATTERN))){var r=t.split(" ")[0].slice(1);return r==="1"&&(r=""),t.charAt(0)+"axis"+r}};Rh.name2id=function(t){if(t.match(LV.AX_NAME_PATTERN)){var r=t.slice(5);return r==="1"&&(r=""),t.charAt(0)+r}};Rh.cleanId=function(t,r,i){var n=/( domain)$/.test(t);if(!(typeof t!="string"||!t.match(LV.AX_ID_PATTERN))&&!(r&&t.charAt(0)!==r)&&!(n&&!i)){var a=t.split(" ")[0].slice(1).replace(/^0+/,"");return a==="1"&&(a=""),t.charAt(0)+a+(n&&i?" domain":"")}};Rh.list=function(e,t,r){var i=e._fullLayout;if(!i)return[];var n=Rh.listIds(e,t),a=new Array(n.length),o;for(o=0;oi?1:-1:+(e.slice(1)||1)-+(t.slice(1)||1)};Rh.ref2id=function(e){return/^[xyz]/.test(e)?e.split(" ")[0]:!1};function sde(e,t){if(t&&t.length){for(var r=0;r{"use strict";function Iwt(e){var t=e._fullLayout._zoomlayer;t&&t.selectAll(".outline-controllers").remove()}function Rwt(e){var t=e._fullLayout._zoomlayer;t&&t.selectAll(".select-outline").remove(),e._fullLayout._outlining=!1}lde.exports={clearOutlineControllers:Iwt,clearOutline:Rwt}});var fD=W((ALr,ude)=>{"use strict";ude.exports={scattermode:{valType:"enumerated",values:["group","overlay"],dflt:"overlay",editType:"calc"},scattergap:{valType:"number",min:0,max:1,editType:"calc"}}});var _c=W(dD=>{"use strict";var hD=yi(),MLr=Gl().SUBPLOT_PATTERN;dD.getSubplotCalcData=function(e,t,r){var i=hD.subplotsRegistry[t];if(!i)return[];for(var n=i.attr,a=[],o=0;o{"use strict";var zwt=yi(),dw=it();Hx.manageCommandObserver=function(e,t,r,i){var n={},a=!0;t&&t._commandObserver&&(n=t._commandObserver),n.cache||(n.cache={}),n.lookupTable={};var o=Hx.hasSimpleAPICommandBindings(e,r,n.lookupTable);if(t&&t._commandObserver){if(o)return n;if(t._commandObserver.remove)return t._commandObserver.remove(),t._commandObserver=null,n}if(o){cde(e,o,n.cache),n.check=function(){if(a){var c=cde(e,o,n.cache);return c.changed&&i&&n.lookupTable[c.value]!==void 0&&(n.disable(),Promise.resolve(i({value:c.value,type:o.type,prop:o.prop,traces:o.traces,index:n.lookupTable[c.value]})).then(n.enable,n.enable)),c.changed}};for(var s=["plotly_relayout","plotly_redraw","plotly_restyle","plotly_update","plotly_animatingframe","plotly_afterplot"],l=0;l0?".":"")+n;dw.isPlainObject(a)?PV(a,t,o,i+1):t(o,n,a)}})}});var Ko=W((CLr,Tde)=>{"use strict";var kLr=vi(),qwt=z3().timeFormatLocale,Owt=gN().formatLocale,lA=sn(),Nwt=mN(),Uwt=E6().version,Ha=yi(),Vwt=fw(),Gwt=Da(),Si=it(),Hwt=ni(),pde=Kn().BADNUM,zh=Cs(),jwt=by().clearOutline,$wt=fD(),IV=J6(),Wwt=EV(),Ywt=_c().getModuleCalcData,vde=Si.relinkPrivateKeys,jx=Si._,ui=Tde.exports={};Si.extendFlat(ui,Ha);ui.attributes=Wa();ui.attributes.type.values=ui.allTypes;ui.fontAttrs=Ho();ui.layoutAttributes=ew();var vD=dde();ui.executeAPICommand=vD.executeAPICommand;ui.computeAPICommandBindings=vD.computeAPICommandBindings;ui.manageCommandObserver=vD.manageCommandObserver;ui.hasSimpleAPICommandBindings=vD.hasSimpleAPICommandBindings;ui.redrawText=function(e){return e=Si.getGraphDiv(e),new Promise(function(t){setTimeout(function(){e._fullLayout&&(Ha.getComponentMethod("annotations","draw")(e),Ha.getComponentMethod("legend","draw")(e),Ha.getComponentMethod("colorbar","draw")(e),t(ui.previousPromises(e)))},300)})};ui.resize=function(e){e=Si.getGraphDiv(e);var t,r=new Promise(function(i,n){(!e||Si.isHidden(e))&&n(new Error("Resize must be passed a displayed plot div element.")),e._redrawTimer&&clearTimeout(e._redrawTimer),e._resolveResize&&(t=e._resolveResize),e._resolveResize=i,e._redrawTimer=setTimeout(function(){if(!e.layout||e.layout.width&&e.layout.height||Si.isHidden(e)){i(e);return}delete e.layout.width,delete e.layout.height;var a=e.changed;e.autoplay=!0,Ha.call("relayout",e,{autosize:!0}).then(function(){e.changed=a,e._resolveResize===i&&(delete e._resolveResize,i(e))})},100)});return t&&t(r),r};ui.previousPromises=function(e){if((e._promises||[]).length)return Promise.all(e._promises).then(function(){e._promises=[]})};ui.sendDataToCloud=function(e,t){e.emit("plotly_beforeexport");let r=new URL(t).origin;var i=ui.graphJson(e,!1,"object");i.version=Uwt;var n=new URL(t);n.searchParams.set("origin",window.location.origin);var a=window.open(n.href,"_blank");if(!a){console.error("Unable to open Plotly Cloud (the popup may have been blocked)"),e.emit("plotly_exportfail");return}var o=function(s){s.origin===r&&s.data&&s.data.type==="CHART_AUTH_SUCCESS"&&(a.postMessage({type:"chart",chart:i},r),window.removeEventListener("message",o),e.emit("plotly_afterexport"))};return window.addEventListener("message",o),!1};var Xwt=["days","shortDays","months","shortMonths","periods","dateTime","date","time","decimal","thousands","grouping","currency"],Zwt=["year","month","dayMonth","dayMonthYear"];ui.supplyDefaults=function(e,t){var r=t&&t.skipUpdateCalc,i=e._fullLayout||{};if(i._skipDefaults){delete i._skipDefaults;return}var n=e._fullLayout={},a=e.layout||{},o=e._fullData||[],s=e._fullData=[],l=e.data||[],u=e.calcdata||[],c=e._context||{},f;e._transitionData||ui.createTransitionData(e),n._dfltTitle={plot:jx(e,"Click to enter Plot title"),subtitle:jx(e,"Click to enter Plot subtitle"),x:jx(e,"Click to enter X axis title"),y:jx(e,"Click to enter Y axis title"),colorbar:jx(e,"Click to enter Colorscale title"),annotation:jx(e,"new text")},n._traceWord=jx(e,"trace");var h=gde(e,Xwt);if(i._initialAutoSizeIsDone){var d=i.width,p=i.height;ui.supplyLayoutGlobalDefaults(a,n,h),a.width||(n.width=d),a.height||(n.height=p),ui.sanitizeMargins(n)}else{ui.supplyLayoutGlobalDefaults(a,n,h);var v=!a.width||!a.height,m=n.autosize,g=c.autosizable,w=v&&(m||g);w?ui.plotAutoSize(e,a,n):v&&ui.sanitizeMargins(n),!m&&v&&(a.width=n.width,a.height=n.height)}n._d3locale=Qwt(h,n.separators),n._extraFormat=gde(e,Zwt),n._initialAutoSizeIsDone=!0,n._dataLength=l.length,n._modules=[],n._visibleModules=[],n._basePlotModules=[];var b=n._subplots=Jwt(),_=n._splomAxes={x:{},y:{}},M=n._splomSubplots={};n._splomGridDflt={},n._scatterStackOpts={},n._firstScatter={},n._alignmentOpts={},n._colorAxes={},n._requestRangeslider={},n._traceUids=Kwt(o,l),ui.supplyDataDefaults(l,s,a,n);var x=Object.keys(_.x),T=Object.keys(_.y);if(x.length>1&&T.length>1){for(Ha.getComponentMethod("grid","sizeDefaults")(a,n),f=0;f15&&T.length>15&&n.shapes.length===0&&n.images.length===0,ui.linkSubplots(s,n,o,i),ui.cleanPlot(s,n,o,i);var C=!!(i._has&&i._has("cartesian")),k=!!(n._has&&n._has("cartesian")),D=C,F=k;D&&!F?i._bgLayer.remove():F&&!D&&(n._shouldCreateBgLayer=!0),i._zoomlayer&&!e._dragging&&jwt({_fullLayout:i}),e5t(s,n),vde(n,i),Ha.getComponentMethod("colorscale","crossTraceDefaults")(s,n),n._preGUI||(n._preGUI={}),n._tracePreGUI||(n._tracePreGUI={});var P=n._tracePreGUI,R={},L;for(L in P)R[L]="old";for(f=0;f0){var c=1-2*a;o=Math.round(c*o),s=Math.round(c*s)}}var f=ui.layoutAttributes.width.min,h=ui.layoutAttributes.height.min;o1,p=!r.height&&Math.abs(i.height-s)>1;(p||d)&&(d&&(i.width=o),p&&(i.height=s)),t._initialAutoSize||(t._initialAutoSize={width:o,height:s}),ui.sanitizeMargins(i)};ui.supplyLayoutModuleDefaults=function(e,t,r,i){var n=Ha.componentsRegistry,a=t._basePlotModules,o,s,l,u=Ha.subplotsRegistry.cartesian;for(o in n)l=n[o],l.includeBasePlot&&l.includeBasePlot(e,t);a.length||a.push(u),t._has("cartesian")&&(Ha.getComponentMethod("grid","contentDefaults")(e,t),u.finalizeSubplots(e,t));for(var c in t._subplots)t._subplots[c].sort(Si.subplotSort);for(s=0;s1&&(r.l/=m,r.r/=m)}if(h){var g=(r.t+r.b)/h;g>1&&(r.t/=g,r.b/=g)}var w=r.xl!==void 0?r.xl:r.x,b=r.xr!==void 0?r.xr:r.x,_=r.yt!==void 0?r.yt:r.y,M=r.yb!==void 0?r.yb:r.y;d[t]={l:{val:w,size:r.l+v},r:{val:b,size:r.r+v},b:{val:M,size:r.b+v},t:{val:_,size:r.t+v}},p[t]=1}if(!i._replotting)return ui.doAutoMargin(e)}};function r5t(e){if("_redrawFromAutoMarginCount"in e._fullLayout)return!1;var t=zh.list(e,"",!0);for(var r in t)if(t[r].autoshift||t[r].shift)return!0;return!1}ui.doAutoMargin=function(e){var t=e._fullLayout,r=t.width,i=t.height;t._size||(t._size={}),xde(t);var n=t._size,a=t.margin,o={t:0,b:0,l:0,r:0},s=Si.extendFlat({},n),l=a.l,u=a.r,c=a.t,f=a.b,h=t._pushmargin,d=t._pushmarginIds,p=t.minreducedwidth,v=t.minreducedheight;if(a.autoexpand!==!1){for(var m in h)d[m]||delete h[m];var g=e._fullLayout._reservedMargin;for(var w in g)for(var b in g[w]){var _=g[w][b];o[b]=Math.max(o[b],_)}h.base={l:{val:0,size:l},r:{val:1,size:u},t:{val:1,size:c},b:{val:0,size:f}};for(var M in o){var x=0;for(var T in h)T!=="base"&&lA(h[T][M].size)&&(x=h[T][M].size>x?h[T][M].size:x);var A=Math.max(0,a[M]-x);o[M]=Math.max(0,o[M]-A)}for(var y in h){var E=h[y].l||{},S=h[y].b||{},C=E.val,k=E.size,D=S.val,F=S.size,P=r-o.r-o.l,R=i-o.t-o.b;for(var L in h){if(lA(k)&&h[L].r){var I=h[L].r.val,B=h[L].r.size;if(I>C){var O=(k*I+(B-P)*C)/(I-C),$=(B*(1-C)+(k-P)*(1-I))/(I-C);O+$>l+u&&(l=O,u=$)}}if(lA(F)&&h[L].t){var Y=h[L].t.val,K=h[L].t.size;if(Y>D){var j=(F*Y+(K-R)*D)/(Y-D),q=(K*(1-D)+(F-R)*(1-Y))/(Y-D);j+q>f+c&&(f=j,c=q)}}}}}var J=Si.constrain(r-a.l-a.r,_de,p),U=Si.constrain(i-a.t-a.b,bde,v),V=Math.max(0,r-J),X=Math.max(0,i-U);if(V){var H=(l+u)/V;H>1&&(l/=H,u/=H)}if(X){var G=(f+c)/X;G>1&&(f/=G,c/=G)}if(n.l=Math.round(l)+o.l,n.r=Math.round(u)+o.r,n.t=Math.round(c)+o.t,n.b=Math.round(f)+o.b,n.p=Math.round(a.pad),n.w=Math.round(r)-n.l-n.r,n.h=Math.round(i)-n.t-n.b,!t._replotting&&(ui.didMarginChange(s,n)||r5t(e))){"_redrawFromAutoMarginCount"in t?t._redrawFromAutoMarginCount++:t._redrawFromAutoMarginCount=1;var Q=3*(1+Object.keys(d).length);if(t._redrawFromAutoMarginCount1)return!0}return!1};ui.graphJson=function(e,t=!1,r="json",i=!1,n=!1){(i&&t&&!e._fullData||i&&!t&&!e._fullLayout)&&ui.supplyDefaults(e);var a=i?e._fullData:e.data,o=i?e._fullLayout:e.layout,s=(e._transitionData||{})._frames;function l(f,h){if(typeof f=="function")return h?"_function_":null;if(Si.isPlainObject(f)){var d={};return Object.keys(f).sort().forEach(function(g){if(["_","["].indexOf(g.charAt(0))===-1){if(typeof f[g]=="function"){h&&(d[g]="_function");return}d[g]=l(f[g],h)}}),d}var p=Array.isArray(f),v=Si.isTypedArray(f);if((p||v)&&f.dtype&&f.shape){var m=f.bdata;return l({dtype:f.dtype,shape:f.shape,bdata:Si.isArrayBuffer(m)?Nwt.encode(m):m},h)}return p?f.map(function(g){return l(g,h)}):v?Si.simpleMap(f,Si.identity):Si.isJSDate(f)?Si.ms2DateTimeLocal(+f):f}var u={data:(a||[]).map(function(f){var h=l(f);return t&&delete h.fit,h})};if(!t&&(u.layout=l(o),i)){var c=o._size;u.layout.computed={margin:{b:c.b,l:c.l,r:c.r,t:c.t}}}return s&&(u.frames=l(s)),n&&(u.config=l(e._context,!0)),r==="object"?u:JSON.stringify(u)};ui.modifyFrames=function(e,t){var r,i,n,a=e._transitionData._frames,o=e._transitionData._frameHash;for(r=0;r0&&(e._transitioningWithDuration=!0),e._transitionData._interruptCallbacks.push(function(){i=!0}),r.redraw&&e._transitionData._interruptCallbacks.push(function(){return Ha.call("redraw",e)}),e._transitionData._interruptCallbacks.push(function(){e.emit("plotly_transitioninterrupted",[])});var h=0,d=0;function p(){return h++,function(){d++,!i&&d===h&&s(f)}}r.runFn(p),setTimeout(p())})}function s(f){if(e._transitionData)return a(e._transitionData._interruptCallbacks),Promise.resolve().then(function(){if(r.redraw)return Ha.call("redraw",e)}).then(function(){e._transitioning=!1,e._transitioningWithDuration=!1,e.emit("plotly_transitioned",[])}).then(f)}function l(){if(e._transitionData)return e._transitioning=!1,n(e._transitionData._interruptCallbacks)}var u=[ui.previousPromises,l,r.prepareFn,ui.rehover,ui.reselect,o],c=Si.syncOrAsync(u,e);return(!c||!c.then)&&(c=Promise.resolve()),c.then(function(){return e})}ui.doCalcdata=function(e,t){var r=zh.list(e),i=e._fullData,n=e._fullLayout,a,o,s,l=new Array(i.length),u=(e.calcdata||[]).slice();for(e.calcdata=l,n._numBoxes=0,n._numViolins=0,n._violinScaleGroupStats={},e._hmpixcount=0,e._hmlumcount=0,n._piecolormap={},n._sunburstcolormap={},n._treemapcolormap={},n._iciclecolormap={},n._funnelareacolormap={},s=0;s{"use strict";$x.xmlns="http://www.w3.org/2000/xmlns/";$x.svg="http://www.w3.org/2000/svg";$x.xlink="http://www.w3.org/1999/xlink";$x.svgAttrs={xmlns:$x.svg,"xmlns:xlink":$x.xlink}});var Hl=W((FLr,Ade)=>{"use strict";Ade.exports={FROM_BL:{left:0,center:.5,right:1,bottom:0,middle:.5,top:1},FROM_TL:{left:0,center:.5,right:1,bottom:1,middle:.5,top:0},FROM_BR:{left:1,center:.5,right:0,bottom:0,middle:.5,top:1},LINE_SPACING:1.3,CAP_SHIFT:.7,MID_SHIFT:.35,OPPOSITE_SIDE:{left:"right",right:"left",top:"bottom",bottom:"top"}}});var uo=W(p0=>{"use strict";var lu=vi(),ld=it(),s5t=ld.strTranslate,RV=sd(),l5t=Hl().LINE_SPACING,u5t=/([^$]*)([$]+[^$]*[$]+)([^$]*)/,Dde=e=>e?e.match(u5t):null;p0.matchTex=Dde;p0.convertToTspans=function(e,t,r){var i=e.text(),n=!e.attr("data-notex")&&t&&t._context.typesetMath&&Dde(i);n&&!d5t()&&(n=null);var a=lu.select(e.node().parentNode);if(a.empty())return;var o=e.attr("class")?e.attr("class").split(" ")[0]:"text";o+="-math",a.selectAll("svg."+o).remove(),a.selectAll("g."+o+"-group").remove(),e.style("display",null).attr({"data-unformatted":i,"data-math":"N"});function s(){a.empty()||(o=e.attr("class")+"-math",a.select("svg."+o).remove()),e.text("").style("white-space","pre");var l=T5t(e.node(),i);l&&e.style("pointer-events","all"),p0.positionText(e),r&&r.call(e)}return n?(t&&t._promises||[]).push(new Promise(function(l){e.style("display","none");var u=parseInt(e.node().style.fontSize,10),c={fontSize:u},f=e.attr("text-anchor");p5t(n[2],c,function(h,d,p){a.selectAll("svg."+o).remove(),a.selectAll("g."+o+"-group").remove();var v=h&&h.select("svg");if(!v||!v.node()){s(),l();return}e.style("display","none");var m=a.append("g").classed(o+"-group",!0).attr({"pointer-events":"none","data-unformatted":i,"data-math":"Y"});m.node().appendChild(v.node()),d&&d.node()&&v.node().insertBefore(d.node().cloneNode(!0),v.node().firstChild);var g=p.width,w=p.height;v.attr({class:o,height:w,preserveAspectRatio:"xMinYMin meet"}).style({overflow:"visible","pointer-events":"none","font-size":c.fontSize+"px"});var b=e.node().style.fill||"black",_=v.select("g");_.attr({fill:b,stroke:b});var M=_.node().getBoundingClientRect(),x=M.width,T=M.height;(x>g||T>w)&&(v.style("overflow","hidden"),M=v.node().getBoundingClientRect(),x=M.width,T=M.height);var A=+e.attr("x"),y=+e.attr("y"),E=u||e.node().getBoundingClientRect().height,S=-E/4;o[0]==="y"?m.attr({transform:"rotate("+[-90,A,y]+")"+s5t(-x/2,S-T/2)}):o[0]==="l"?y=S-T/2:o[0]==="a"&&o.indexOf("atitle")!==0?(A=0,y=S):(A=A-x*(f==="middle"?.5:f==="end"?1:0),y=y+S-T/2),v.attr({x:A,y}),r&&r.call(e,m),l(m)})})):s(),e};var c5t=/(<|<|<)/g,f5t=/(>|>|>)/g;function h5t(e){return e.replace(c5t,"\\lt ").replace(f5t,"\\gt ")}var zV=null,Fde=()=>typeof MathJax!="undefined"&&MathJax.version?parseInt(MathJax.version.split(".")[0]):null,Mde=!1,Sde=!1;function d5t(){let e=Fde();return e===3||e===4?!0:(e===null?Mde||(Mde=!0,ld.warn("MathJax is not loaded. Math equations will not be rendered.")):Sde||(Sde=!0,ld.warn("Unsupported MathJax version:",MathJax.version)),!1)}function p5t(e,t,r){let i=Fde();var n;let a=function(){if(!zV){let u=MathJax._.output.svg_ts.SVG,c=ld.extendFlat({},MathJax.config.svg,{fontCache:"local"});i===4&&(c.linebreaks=ld.extendFlat({},c.linebreaks,{inline:!1})),zV=MathJax._.mathjax.mathjax.document(document,ld.extendFlat({},MathJax.config.options,{InputJax:MathJax.startup.input,OutputJax:new u(c)}))}let s="math-output-"+ld.randstr({},64);n=lu.select("body").append("div").attr({id:s}).style({visibility:"hidden",position:"absolute","font-size":t.fontSize+"px"});let l=h5t(e).replace(/^\$+|\$+$/g,"");return MathJax._.mathjax.mathjax.handleRetriesFor(function(){return zV.convert(l,{display:!1})}).then(function(u){n.node().appendChild(u)})},o=function(){let s=n.select(".MathJax"),l=!s.empty()&&n.select("svg").node();if(!l)ld.log("There was an error in the tex syntax.",e),r();else{let u=l.getBoundingClientRect(),c=s.select("defs");r(s,c,u)}n.remove()};Promise.resolve().then(a).then(o).catch(s=>{ld.log("MathJax typesetting failed.",e,s),n&&n.remove(),r()})}var Lde={sup:"font-size:70%",sub:"font-size:70%",s:"text-decoration:line-through",u:"text-decoration:underline",b:"font-weight:bold",i:"font-style:italic",a:"cursor:pointer",span:"",em:"font-style:italic;font-weight:bold"},v5t={sub:"0.3em",sup:"-0.6em"},g5t={sub:"-0.21em",sup:"0.42em"},Ede="\u200B",kde=["http:","https:","mailto:","",void 0,":"],Pde=p0.NEWLINES=/(\r\n?|\n)/g,qV=/(<[^<>]*>)/,OV=/<(\/?)([^ >]*)(\s+(.*))?>/i,m5t=//i;p0.BR_TAG_ALL=//gi;var Ide=/(^|[\s"'])style\s*=\s*("([^"]*);?"|'([^']*);?')/i,Rde=/(^|[\s"'])href\s*=\s*("([^"]*)"|'([^']*)')/i,zde=/(^|[\s"'])target\s*=\s*("([^"\s]*)"|'([^'\s]*)')/i,y5t=/(^|[\s"'])popup\s*=\s*("([\w=,]*)"|'([\w=,]*)')/i;function Wx(e,t){if(!e)return null;var r=e.match(t),i=r&&(r[3]||r[4]);return i&&gD(i)}var x5t=/(^|;)\s*color:/;p0.plainText=function(e,t){t=t||{};for(var r=t.len!==void 0&&t.len!==-1?t.len:1/0,i=t.allowedTags!==void 0?t.allowedTags:["br"],n="...",a=n.length,o=e.split(qV),s=[],l="",u=0,c=0;ca?s.push(f.slice(0,Math.max(0,v-a))+n):s.push(f.slice(0,v));break}l=""}}return s.join("")};var _5t={mu:"\u03BC",amp:"&",lt:"<",gt:">",nbsp:"\xA0",times:"\xD7",plusmn:"\xB1",deg:"\xB0"},b5t=/&(#\d+|#x[\da-fA-F]+|[a-z]+);/g;function gD(e){return e.replace(b5t,function(t,r){var i;return r.charAt(0)==="#"?i=w5t(r.charAt(1)==="x"?parseInt(r.slice(2),16):parseInt(r.slice(1),10)):i=_5t[r],i||t})}p0.convertEntities=gD;function w5t(e){if(!(e>1114111)){var t=String.fromCodePoint;if(t)return t(e);var r=String.fromCharCode;return e<=65535?r(e):r((e>>10)+55232,e%1024+56320)}}function T5t(e,t){t=t.replace(Pde," ");var r=!1,i=[],n,a=-1;function o(){a++;var x=document.createElementNS(RV.svg,"tspan");lu.select(x).attr({class:"line",dy:a*l5t+"em"}),e.appendChild(x),n=x;var T=i;if(i=[{node:x}],T.length>1)for(var A=1;A.",t);return}var T=i.pop();x!==T.type&&ld.log("Start tag <"+T.type+"> doesnt match end tag <"+x+">. Pretending it did match.",t),n=i[i.length-1].node}var c=m5t.test(t);c?o():(n=e,i=[{node:e}]);for(var f=t.split(qV),h=0;h{"use strict";var A5t=vi(),cA=sn(),mD=it(),Yx=ni(),M5t=Rx().isValid;function S5t(e,t,r){var i=t?mD.nestedProperty(e,t).get()||{}:e,n=i[r||"color"];n&&n._inputArray&&(n=n._inputArray);var a=!1;if(mD.isArrayOrTypedArray(n)){for(var o=0;o=0;i--,n++){var a=e[i];r[n]=[1-a[0],a[1]]}return r}function Vde(e,t){t=t||{};for(var r=e.domain,i=e.range,n=i.length,a=new Array(n),o=0;o{"use strict";var Hde=aV(),k5t=Hde.FORMAT_LINK,C5t=Hde.DATE_FORMAT_LINK;function D5t(e,t){return{valType:"string",dflt:"",editType:"none",description:(t?NV:jde)("hover text",e)+["By default the values are formatted using "+(t?"generic number format":"`"+e+"axis.hoverformat`")+"."].join(" ")}}function NV(e,t){return["Sets the "+e+" formatting rule"+(t?" for `"+t+"`":""),"using d3 formatting mini-languages","which are very similar to those in Python. For numbers, see: "+k5t+"."].join(" ")}function jde(e,t){return NV(e,t)+[" And for dates see: "+C5t+".","We add two items to d3's date formatter:","*%h* for half of the year as a decimal number as well as","*%{n}f* for fractional seconds","with n digits. For example, *2016-10-13 09:15:23.456* with tickformat","*%H~%M~%S.%2f* would display *09~15~23.46*"].join(" ")}$de.exports={axisHoverFormat:D5t,descriptionOnlyNumbers:NV,descriptionWithDates:jde}});var ec=W((zLr,upe)=>{"use strict";var Wde=Ho(),pw=Vl(),lpe=Du().dash,VV=tn().extendFlat,Yde=Da().templatedArray,RLr=Ga().templateFormatStringDescription,Xde=_s().descriptionWithDates,F5t=Kn().ONEDAY,e1=Gl(),L5t=e1.HOUR_PATTERN,P5t=e1.WEEKDAY_PATTERN,UV={valType:"enumerated",values:["auto","linear","array"],editType:"ticks",impliedEdits:{tick0:void 0,dtick:void 0}},I5t=VV({},UV,{values:UV.values.slice().concat(["sync"])});function Zde(e){return{valType:"integer",min:0,dflt:e?5:0,editType:"ticks"}}var Kde={valType:"any",editType:"ticks",impliedEdits:{tickmode:"linear"}},Jde={valType:"any",editType:"ticks",impliedEdits:{tickmode:"linear"}},Qde={valType:"data_array",editType:"ticks"},epe={valType:"enumerated",values:["outside","inside",""],editType:"ticks"};function tpe(e){var t={valType:"number",min:0,editType:"ticks"};return e||(t.dflt=5),t}function rpe(e){var t={valType:"number",min:0,editType:"ticks"};return e||(t.dflt=1),t}var ipe={valType:"color",dflt:pw.defaultLine,editType:"ticks"},npe={valType:"color",dflt:pw.lightLine,editType:"ticks"};function ape(e){var t={valType:"number",min:0,editType:"ticks"};return e||(t.dflt=1),t}var ope=VV({},lpe,{editType:"ticks"}),spe={valType:"boolean",editType:"ticks"};upe.exports={visible:{valType:"boolean",editType:"plot"},color:{valType:"color",dflt:pw.defaultLine,editType:"ticks"},title:{text:{valType:"string",editType:"ticks"},font:Wde({editType:"ticks",description:"Sets this axis' title font."}),standoff:{valType:"number",min:0,editType:"ticks"},editType:"ticks"},type:{valType:"enumerated",values:["-","linear","log","date","category","multicategory"],dflt:"-",editType:"calc",_noTemplating:!0},autotypenumbers:{valType:"enumerated",values:["convert types","strict"],dflt:"convert types",editType:"calc"},autorange:{valType:"enumerated",values:[!0,!1,"reversed","min reversed","max reversed","min","max"],dflt:!0,editType:"axrange",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},autorangeoptions:{minallowed:{valType:"any",editType:"plot",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},maxallowed:{valType:"any",editType:"plot",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},clipmin:{valType:"any",editType:"plot",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},clipmax:{valType:"any",editType:"plot",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},include:{valType:"any",arrayOk:!0,editType:"plot",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},editType:"plot"},rangemode:{valType:"enumerated",values:["normal","tozero","nonnegative"],dflt:"normal",editType:"plot"},range:{valType:"info_array",items:[{valType:"any",editType:"axrange",impliedEdits:{"^autorange":!1},anim:!0},{valType:"any",editType:"axrange",impliedEdits:{"^autorange":!1},anim:!0}],editType:"axrange",impliedEdits:{autorange:!1},anim:!0},minallowed:{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}},maxallowed:{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}},fixedrange:{valType:"boolean",dflt:!1,editType:"calc"},modebardisable:{valType:"flaglist",flags:["autoscale","zoominout"],extras:["none"],dflt:"none",editType:"modebar"},insiderange:{valType:"info_array",items:[{valType:"any",editType:"plot"},{valType:"any",editType:"plot"}],editType:"plot"},scaleanchor:{valType:"enumerated",values:[e1.idRegex.x.toString(),e1.idRegex.y.toString(),!1],editType:"plot"},scaleratio:{valType:"number",min:0,dflt:1,editType:"plot"},constrain:{valType:"enumerated",values:["range","domain"],editType:"plot"},constraintoward:{valType:"enumerated",values:["left","center","right","top","middle","bottom"],editType:"plot"},matches:{valType:"enumerated",values:[e1.idRegex.x.toString(),e1.idRegex.y.toString()],editType:"calc"},rangebreaks:Yde("rangebreak",{enabled:{valType:"boolean",dflt:!0,editType:"calc"},bounds:{valType:"info_array",items:[{valType:"any",editType:"calc"},{valType:"any",editType:"calc"}],editType:"calc"},pattern:{valType:"enumerated",values:[P5t,L5t,""],editType:"calc"},values:{valType:"info_array",freeLength:!0,editType:"calc",items:{valType:"any",editType:"calc"}},dvalue:{valType:"number",editType:"calc",min:0,dflt:F5t},editType:"calc"}),tickmode:I5t,nticks:Zde(),tick0:Kde,dtick:Jde,ticklabelstep:{valType:"integer",min:1,dflt:1,editType:"ticks"},tickvals:Qde,ticktext:{valType:"data_array",editType:"ticks"},ticks:epe,tickson:{valType:"enumerated",values:["labels","boundaries"],dflt:"labels",editType:"ticks"},ticklabelmode:{valType:"enumerated",values:["instant","period"],dflt:"instant",editType:"ticks"},ticklabelposition:{valType:"enumerated",values:["outside","inside","outside top","inside top","outside left","inside left","outside right","inside right","outside bottom","inside bottom"],dflt:"outside",editType:"calc"},ticklabeloverflow:{valType:"enumerated",values:["allow","hide past div","hide past domain"],editType:"calc"},ticklabelshift:{valType:"integer",dflt:0,editType:"ticks"},ticklabelstandoff:{valType:"integer",dflt:0,editType:"ticks"},ticklabelindex:{valType:"integer",arrayOk:!0,editType:"calc"},mirror:{valType:"enumerated",values:[!0,"ticks",!1,"all","allticks"],dflt:!1,editType:"ticks+layoutstyle"},ticklen:tpe(),tickwidth:rpe(),tickcolor:ipe,showticklabels:{valType:"boolean",dflt:!0,editType:"ticks"},labelalias:{valType:"any",dflt:!1,editType:"ticks"},automargin:{valType:"flaglist",flags:["height","width","left","right","top","bottom"],extras:[!0,!1],dflt:!1,editType:"ticks"},showspikes:{valType:"boolean",dflt:!1,editType:"modebar"},spikecolor:{valType:"color",dflt:null,editType:"none"},spikethickness:{valType:"number",dflt:3,editType:"none"},spikedash:VV({},lpe,{dflt:"dash",editType:"none"}),spikemode:{valType:"flaglist",flags:["toaxis","across","marker"],dflt:"toaxis",editType:"none"},spikesnap:{valType:"enumerated",values:["data","cursor","hovered data"],dflt:"hovered data",editType:"none"},tickfont:Wde({editType:"ticks"}),tickangle:{valType:"angle",dflt:"auto",editType:"ticks"},autotickangles:{valType:"info_array",freeLength:!0,items:{valType:"angle"},dflt:[0,30,90],editType:"ticks"},tickprefix:{valType:"string",dflt:"",editType:"ticks"},showtickprefix:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"ticks"},ticksuffix:{valType:"string",dflt:"",editType:"ticks"},showticksuffix:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"ticks"},showexponent:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"ticks"},exponentformat:{valType:"enumerated",values:["none","e","E","power","SI","B","SI extended"],dflt:"B",editType:"ticks"},minexponent:{valType:"number",dflt:3,min:0,editType:"ticks"},separatethousands:{valType:"boolean",dflt:!1,editType:"ticks"},tickformat:{valType:"string",dflt:"",editType:"ticks",description:Xde("tick label")},tickformatstops:Yde("tickformatstop",{enabled:{valType:"boolean",dflt:!0,editType:"ticks"},dtickrange:{valType:"info_array",items:[{valType:"any",editType:"ticks"},{valType:"any",editType:"ticks"}],editType:"ticks"},value:{valType:"string",dflt:"",editType:"ticks"},editType:"ticks"}),hoverformat:{valType:"string",dflt:"",editType:"none",description:Xde("hover text")},unifiedhovertitle:{text:{valType:"string",dflt:"",editType:"none"},editType:"none"},showline:{valType:"boolean",dflt:!1,editType:"ticks+layoutstyle"},linecolor:{valType:"color",dflt:pw.defaultLine,editType:"layoutstyle"},linewidth:{valType:"number",min:0,dflt:1,editType:"ticks+layoutstyle"},showgrid:spe,gridcolor:npe,gridwidth:ape(),griddash:ope,zeroline:{valType:"boolean",editType:"ticks"},zerolinecolor:{valType:"color",dflt:pw.defaultLine,editType:"ticks"},zerolinelayer:{valType:"enumerated",values:["above traces","below traces"],dflt:"below traces",editType:"plot"},zerolinewidth:{valType:"number",dflt:1,editType:"ticks"},showdividers:{valType:"boolean",dflt:!0,editType:"ticks"},dividercolor:{valType:"color",dflt:pw.defaultLine,editType:"ticks"},dividerwidth:{valType:"number",dflt:1,editType:"ticks"},anchor:{valType:"enumerated",values:["free",e1.idRegex.x.toString(),e1.idRegex.y.toString()],editType:"plot"},side:{valType:"enumerated",values:["top","bottom","left","right"],editType:"plot"},overlaying:{valType:"enumerated",values:["free",e1.idRegex.x.toString(),e1.idRegex.y.toString()],editType:"plot"},minor:{tickmode:UV,nticks:Zde("minor"),tick0:Kde,dtick:Jde,tickvals:Qde,ticks:epe,ticklen:tpe("minor"),tickwidth:rpe("minor"),tickcolor:ipe,gridcolor:npe,gridwidth:ape("minor"),griddash:ope,showgrid:spe,editType:"ticks"},minorloglabels:{valType:"enumerated",values:["small digits","complete","none"],dflt:"small digits",editType:"calc"},layer:{valType:"enumerated",values:["above traces","below traces"],dflt:"above traces",editType:"plot"},domain:{valType:"info_array",items:[{valType:"number",min:0,max:1,editType:"plot"},{valType:"number",min:0,max:1,editType:"plot"}],dflt:[0,1],editType:"plot"},position:{valType:"number",min:0,max:1,dflt:0,editType:"plot"},autoshift:{valType:"boolean",dflt:!1,editType:"plot"},shift:{valType:"number",editType:"plot"},categoryorder:{valType:"enumerated",values:["trace","category ascending","category descending","array","total ascending","total descending","min ascending","min descending","max ascending","max descending","sum ascending","sum descending","mean ascending","mean descending","geometric mean ascending","geometric mean descending","median ascending","median descending"],dflt:"trace",editType:"calc"},categoryarray:{valType:"data_array",editType:"calc"},uirevision:{valType:"any",editType:"none"},editType:"calc"}});var yD=W((BLr,hpe)=>{"use strict";var bs=ec(),cpe=Ho(),fpe=tn().extendFlat,R5t=ls().overrideAll;hpe.exports=R5t({orientation:{valType:"enumerated",values:["h","v"],dflt:"v"},thicknessmode:{valType:"enumerated",values:["fraction","pixels"],dflt:"pixels"},thickness:{valType:"number",min:0,dflt:30},lenmode:{valType:"enumerated",values:["fraction","pixels"],dflt:"fraction"},len:{valType:"number",min:0,dflt:1},x:{valType:"number"},xref:{valType:"enumerated",dflt:"paper",values:["container","paper"],editType:"layoutstyle"},xanchor:{valType:"enumerated",values:["left","center","right"]},xpad:{valType:"number",min:0,dflt:10},y:{valType:"number"},yref:{valType:"enumerated",dflt:"paper",values:["container","paper"],editType:"layoutstyle"},yanchor:{valType:"enumerated",values:["top","middle","bottom"]},ypad:{valType:"number",min:0,dflt:10},outlinecolor:bs.linecolor,outlinewidth:bs.linewidth,bordercolor:bs.linecolor,borderwidth:{valType:"number",min:0,dflt:0},bgcolor:{valType:"color",dflt:"rgba(0,0,0,0)"},tickmode:bs.minor.tickmode,nticks:bs.nticks,tick0:bs.tick0,dtick:bs.dtick,tickvals:bs.tickvals,ticktext:bs.ticktext,ticks:fpe({},bs.ticks,{dflt:""}),ticklabeloverflow:fpe({},bs.ticklabeloverflow,{}),ticklabelposition:{valType:"enumerated",values:["outside","inside","outside top","inside top","outside left","inside left","outside right","inside right","outside bottom","inside bottom"],dflt:"outside"},ticklen:bs.ticklen,tickwidth:bs.tickwidth,tickcolor:bs.tickcolor,ticklabelstep:bs.ticklabelstep,showticklabels:bs.showticklabels,labelalias:bs.labelalias,tickfont:cpe({description:"Sets the color bar's tick label font"}),tickangle:bs.tickangle,tickformat:bs.tickformat,tickformatstops:bs.tickformatstops,tickprefix:bs.tickprefix,showtickprefix:bs.showtickprefix,ticksuffix:bs.ticksuffix,showticksuffix:bs.showticksuffix,separatethousands:bs.separatethousands,exponentformat:bs.exponentformat,minexponent:bs.minexponent,showexponent:bs.showexponent,title:{text:{valType:"string"},font:cpe({description:"Sets this color bar's title font."}),side:{valType:"enumerated",values:["right","top","bottom"]}}},"colorbars","from-root")});var Eo=W((OLr,ppe)=>{"use strict";var z5t=yD(),B5t=(K3(),Go(Z3)).counter,q5t=(qx(),Go(Bx)).default,dpe=Rx().scales,qLr=q5t(dpe);function xD(e){return"`"+e+"`"}ppe.exports=function(t,r){t=t||"",r=r||{};var i=r.cLetter||"c",n="onlyIfNumerical"in r?r.onlyIfNumerical:!!t,a="noScale"in r?r.noScale:t==="marker.line",o="showScaleDflt"in r?r.showScaleDflt:i==="z",s=typeof r.colorscaleDflt=="string"?dpe[r.colorscaleDflt]:null,l=r.editTypeOverride||"",u=t?t+".":"",c,f;"colorAttr"in r?(c=r.colorAttr,f=r.colorAttr):(c={z:"z",c:"color"}[i],f="in "+xD(u+c));var h=n?" Has an effect only if "+f+" is set to a numerical array.":"",d=i+"auto",p=i+"min",v=i+"max",m=i+"mid",g=xD(u+d),w=xD(u+p),b=xD(u+v),_=w+" and "+b,M={};M[p]=M[v]=void 0;var x={};x[d]=!1;var T={};return c==="color"&&(T.color={valType:"color",arrayOk:!0,editType:l||"style"},r.anim&&(T.color.anim=!0)),T[d]={valType:"boolean",dflt:!0,editType:"calc",impliedEdits:M},T[p]={valType:"number",dflt:null,editType:l||"plot",impliedEdits:x},T[v]={valType:"number",dflt:null,editType:l||"plot",impliedEdits:x},T[m]={valType:"number",dflt:null,editType:"calc",impliedEdits:M},T.colorscale={valType:"colorscale",editType:"calc",dflt:s,impliedEdits:{autocolorscale:!1}},T.autocolorscale={valType:"boolean",dflt:r.autoColorDflt!==!1,editType:"calc",impliedEdits:{colorscale:void 0}},T.reversescale={valType:"boolean",dflt:!1,editType:"plot"},a||(T.showscale={valType:"boolean",dflt:o,editType:"calc"},T.colorbar=z5t),r.noColorAxis||(T.coloraxis={valType:"subplotid",regex:B5t("coloraxis"),dflt:null,editType:"calc"}),T}});var HV=W((NLr,vpe)=>{"use strict";var O5t=tn().extendFlat,N5t=Eo(),GV=Rx().scales;vpe.exports={editType:"calc",colorscale:{editType:"calc",sequential:{valType:"colorscale",dflt:GV.Reds,editType:"calc"},sequentialminus:{valType:"colorscale",dflt:GV.Blues,editType:"calc"},diverging:{valType:"colorscale",dflt:GV.RdBu,editType:"calc"}},coloraxis:O5t({_isSubplotObj:!0,editType:"calc"},N5t("",{colorAttr:"corresponding trace color array(s)",noColorAxis:!0,showScaleDflt:!0}))}});var jV=W((ULr,gpe)=>{"use strict";var U5t=it();gpe.exports=function(t){return U5t.isPlainObject(t.colorbar)}});var YV=W(WV=>{"use strict";var $V=sn(),mpe=it(),ype=Kn(),V5t=ype.ONEDAY,G5t=ype.ONEWEEK;WV.dtick=function(e,t){var r=t==="log",i=t==="date",n=t==="category",a=i?V5t:1;if(!e)return a;if($V(e))return e=Number(e),e<=0?a:n?Math.max(1,Math.round(e)):i?Math.max(.1,e):e;if(typeof e!="string"||!(i||r))return a;var o=e.charAt(0),s=e.slice(1);return s=$V(s)?Number(s):0,s<=0||!(i&&o==="M"&&s===Math.round(s)||r&&o==="L"||r&&o==="D"&&(s===1||s===2))?a:e};WV.tick0=function(e,t,r,i){if(t==="date")return mpe.cleanDate(e,mpe.dateTick0(r,i%G5t===0?1:0));if(!(i==="D1"||i==="D2"))return $V(e)?Number(e):0}});var Xx=W((GLr,_pe)=>{"use strict";var xpe=YV(),H5t=it().isArrayOrTypedArray,j5t=yc().isTypedArraySpec,$5t=yc().decodeTypedArraySpec;_pe.exports=function(t,r,i,n,a={}){var o=a.isMinor,s=o?t.minor||{}:t,l=o?r.minor:r,u=o?"minor.":"";function c(_){var M=s[_];return j5t(M)&&(M=$5t(M)),M!==void 0?M:(l._template||{})[_]}var f=c("tick0"),h=c("dtick"),d=c("tickvals"),p=c("overlaying"),v=n==="category"||n==="multicategory",m;H5t(d)?m="array":h?m="linear":p&&!v?m="sync":m="auto";var g=i(u+"tickmode",m);if(g==="auto"||g==="sync")i(u+"nticks");else if(g==="linear"){var w=l.dtick=xpe.dtick(h,n);l.tick0=xpe.tick0(f,n,r.calendar,w)}else if(n!=="multicategory"){var b=i(u+"tickvals");b===void 0?l.tickmode="auto":o||i("ticktext")}}});var vw=W((HLr,wpe)=>{"use strict";var XV=it(),bpe=ec();wpe.exports=function(t,r,i,n){var a=n.isMinor,o=a?t.minor||{}:t,s=a?r.minor:r,l=a?bpe.minor:bpe,u=a?"minor.":"",c=XV.coerce2(o,s,l,"ticklen",a?(r.ticklen||5)*.6:void 0),f=XV.coerce2(o,s,l,"tickwidth",a?r.tickwidth||1:void 0),h=XV.coerce2(o,s,l,"tickcolor",(a?r.tickcolor:void 0)||s.color),d=i(u+"ticks",!a&&n.outerTicks||c||f||h?"outside":"");d||(delete s.ticklen,delete s.tickwidth,delete s.tickcolor)}});var ZV=W((jLr,Tpe)=>{"use strict";Tpe.exports=function(t){var r=["showexponent","showtickprefix","showticksuffix"],i=r.filter(function(a){return t[a]!==void 0}),n=function(a){return t[a]===t[i[0]]};if(i.every(n)||i.length===1)return t[i[0]]}});var Xc=W(($Lr,Ape)=>{"use strict";var _D=it(),W5t=Da();Ape.exports=function(t,r,i){var n=i.name,a=i.inclusionAttr||"visible",o=r[n],s=_D.isArrayOrTypedArray(t[n])?t[n]:[],l=r[n]=[],u=W5t.arrayTemplater(r,n,a),c,f;for(c=0;c{"use strict";var KV=it(),Y5t=ni().contrast,Mpe=ec(),X5t=ZV(),Z5t=Xc();Spe.exports=function(t,r,i,n,a){a||(a={});var o=i("labelalias");KV.isPlainObject(o)||delete r.labelalias;var s=X5t(t),l=i("showticklabels");if(l){a.noTicklabelshift||i("ticklabelshift"),a.noTicklabelstandoff||i("ticklabelstandoff");var u=a.font||{},c=r.color,f=r.ticklabelposition||"",h=f.indexOf("inside")!==-1?Y5t(a.bgColor):c&&c!==Mpe.color.dflt?c:u.color;if(KV.coerceFont(i,"tickfont",u,{overrideDflt:{color:h}}),!a.noTicklabelstep&&n!=="multicategory"&&n!=="log"&&i("ticklabelstep"),!a.noAng){var d=i("tickangle");!a.noAutotickangles&&d==="auto"&&i("autotickangles")}if(n!=="category"){var p=i("tickformat");Z5t(t,r,{name:"tickformatstops",inclusionAttr:"enabled",handleItemDefaults:K5t}),r.tickformatstops.length||delete r.tickformatstops,!a.noExp&&!p&&n!=="date"&&(i("showexponent",s),i("exponentformat"),i("minexponent"),i("separatethousands"))}!a.noMinorloglabels&&n==="log"&&i("minorloglabels")}};function K5t(e,t){function r(n,a){return KV.coerce(e,t,Mpe.tickformatstops,n,a)}var i=r("enabled");i&&(r("dtickrange"),r("value"))}});var Ty=W((YLr,Epe)=>{"use strict";var J5t=ZV();Epe.exports=function(t,r,i,n,a){a||(a={});var o=a.tickSuffixDflt,s=J5t(t),l=i("tickprefix");l&&i("showtickprefix",s);var u=i("ticksuffix",o);u&&i("showticksuffix",s)}});var JV=W((XLr,kpe)=>{"use strict";var Ay=it(),Q5t=Da(),e4t=Xx(),t4t=vw(),r4t=wy(),i4t=Ty(),n4t=yD();kpe.exports=function(t,r,i){var n=Q5t.newContainer(r,"colorbar"),a=t.colorbar||{};function o(S,C){return Ay.coerce(a,n,n4t,S,C)}var s=i.margin||{t:0,b:0,l:0,r:0},l=i.width-s.l-s.r,u=i.height-s.t-s.b,c=o("orientation"),f=c==="v",h=o("thicknessmode");o("thickness",h==="fraction"?30/(f?l:u):30);var d=o("lenmode");o("len",d==="fraction"?1:f?u:l);var p=o("yref"),v=o("xref"),m=p==="paper",g=v==="paper",w,b,_,M="left";f?(_="middle",M=g?"left":"right",w=g?1.02:1,b=.5):(_=m?"bottom":"top",M="center",w=.5,b=m?1.02:1),Ay.coerce(a,n,{x:{valType:"number",min:g?-2:0,max:g?3:1,dflt:w}},"x"),Ay.coerce(a,n,{y:{valType:"number",min:m?-2:0,max:m?3:1,dflt:b}},"y"),o("xanchor",M),o("xpad"),o("yanchor",_),o("ypad"),Ay.noneOrAll(a,n,["x","y"]),o("outlinecolor"),o("outlinewidth"),o("bordercolor"),o("borderwidth"),o("bgcolor");var x=Ay.coerce(a,n,{ticklabelposition:{valType:"enumerated",dflt:"outside",values:f?["outside","inside","outside top","inside top","outside bottom","inside bottom"]:["outside","inside","outside left","inside left","outside right","inside right"]}},"ticklabelposition");o("ticklabeloverflow",x.indexOf("inside")!==-1?"hide past domain":"hide past div"),e4t(a,n,o,"linear");var T=i.font,A={noAutotickangles:!0,noTicklabelshift:!0,noTicklabelstandoff:!0,outerTicks:!1,font:T};x.indexOf("inside")!==-1&&(A.bgColor="black"),i4t(a,n,o,"linear",A),r4t(a,n,o,"linear",A),t4t(a,n,o,"linear",A),o("title.text",i._dfltTitle.colorbar);var y=n.showticklabels?n.tickfont:T,E=Ay.extendFlat({},T,{family:y.family,size:Ay.bigFont(y.size)});Ay.coerceFont(o,"title.font",E),o("title.side",f?"top":"right")}});var Fu=W((ZLr,Fpe)=>{"use strict";var Cpe=sn(),eG=it(),a4t=jV(),o4t=JV(),Dpe=Rx().isValid,s4t=yi().traceIs;function QV(e,t){var r=t.slice(0,t.length-1);return t?eG.nestedProperty(e,r).get()||{}:e}Fpe.exports=function e(t,r,i,n,a){var o=a.prefix,s=a.cLetter,l="_module"in r,u=QV(t,o),c=QV(r,o),f=QV(r._template||{},o)||{},h=function(){return delete t.coloraxis,delete r.coloraxis,e(t,r,i,n,a)};if(l){var d=i._colorAxes||{},p=n(o+"coloraxis");if(p){var v=s4t(r,"contour")&&eG.nestedProperty(r,"contours.coloring").get()||"heatmap",m=d[p];m?(m[2].push(h),m[0]!==v&&(m[0]=!1,eG.warn(["Ignoring coloraxis:",p,"setting","as it is linked to incompatible colorscales."].join(" ")))):d[p]=[v,r,[h]];return}}var g=u[s+"min"],w=u[s+"max"],b=Cpe(g)&&Cpe(w)&&g{"use strict";var Lpe=it(),l4t=Da(),Ppe=HV(),u4t=Fu();Ipe.exports=function(t,r){function i(f,h){return Lpe.coerce(t,r,Ppe,f,h)}i("colorscale.sequential"),i("colorscale.sequentialminus"),i("colorscale.diverging");var n=r._colorAxes,a,o;function s(f,h){return Lpe.coerce(a,o,Ppe.coloraxis,f,h)}for(var l in n){var u=n[l];if(u[0])a=t[l]||{},o=l4t.newContainer(r,l,"coloraxis"),o._name=l,u4t(a,o,r,s,{prefix:"",cLetter:"c"});else{for(var c=0;c{"use strict";var c4t=it(),f4t=bc().hasColorscale,h4t=bc().extractOpts;zpe.exports=function(t,r){function i(c,f){var h=c["_"+f];h!==void 0&&(c[f]=h)}function n(c,f){var h=f.container?c4t.nestedProperty(c,f.container).get():c;if(h)if(h.coloraxis)h._colorAx=r[h.coloraxis];else{var d=h4t(h),p=d.auto;(p||d.min===void 0)&&i(h,f.min),(p||d.max===void 0)&&i(h,f.max),d.autocolorscale&&i(h,"colorscale")}}for(var a=0;a{"use strict";var qpe=sn(),tG=it(),d4t=bc().extractOpts;Ope.exports=function(t,r,i){var n=t._fullLayout,a=i.vals,o=i.containerStr,s=o?tG.nestedProperty(r,o).get():r,l=d4t(s),u=l.auto!==!1,c=l.min,f=l.max,h=l.mid,d=function(){return tG.aggNums(Math.min,null,a)},p=function(){return tG.aggNums(Math.max,null,a)};if(c===void 0?c=d():u&&(s._colorAx&&qpe(c)?c=Math.min(c,d()):c=d()),f===void 0?f=p():u&&(s._colorAx&&qpe(f)?f=Math.max(f,p()):f=p()),u&&h!==void 0&&(f-h>h-c?c=h-(f-h):f-h=0?v=n.colorscale.sequential:v=n.colorscale.sequentialminus,l._sync("colorscale",v)}}});var Jo=W((e9r,Npe)=>{"use strict";var bD=Rx(),gw=bc();Npe.exports={moduleType:"component",name:"colorscale",attributes:Eo(),layoutAttributes:HV(),supplyLayoutDefaults:Rpe(),handleDefaults:Fu(),crossTraceDefaults:Bpe(),calc:Zc(),scales:bD.scales,defaultScale:bD.defaultScale,getScale:bD.get,isValidScale:bD.isValid,hasColorscale:gw.hasColorscale,extractOpts:gw.extractOpts,extractScale:gw.extractScale,flipScale:gw.flipScale,makeColorScaleFunc:gw.makeColorScaleFunc,makeColorScaleFuncFromTrace:gw.makeColorScaleFuncFromTrace}});var $o=W((t9r,Vpe)=>{"use strict";var Upe=it(),p4t=yc().isTypedArraySpec;Vpe.exports={hasLines:function(e){return e.visible&&e.mode&&e.mode.indexOf("lines")!==-1},hasMarkers:function(e){return e.visible&&(e.mode&&e.mode.indexOf("markers")!==-1||e.type==="splom")},hasText:function(e){return e.visible&&e.mode&&e.mode.indexOf("text")!==-1},isBubble:function(e){var t=e.marker;return Upe.isPlainObject(t)&&(Upe.isArrayOrTypedArray(t.size)||p4t(t.size))}}});var fA=W((r9r,Gpe)=>{"use strict";var v4t=sn();Gpe.exports=function(t,r){r||(r=2);var i=t.marker,n=i.sizeref||1,a=i.sizemin||0,o=i.sizemode==="area"?function(s){return Math.sqrt(s/n)}:function(s){return s/n};return function(s){var l=o(s/r);return v4t(l)&&l>0?Math.max(l,a):0}}});var Kf=W(wc=>{"use strict";var hA=it();wc.getSubplot=function(e){return e.subplot||e.xaxis+e.yaxis||e.geo};wc.isTraceInSubplots=function(e,t){if(e.type==="splom"){for(var r=e.xaxes||[],i=e.yaxes||[],n=0;n=0&&r.index{var rG={a:7,c:6,h:1,l:2,m:2,q:4,s:4,t:2,v:1,z:0},x4t=/([astvzqmhlc])([^astvzqmhlc]*)/gi,_4t=/-?[0-9]*\.?[0-9]+(?:e[-+]?\d+)?/gi;function b4t(e){let t=[];return e.replace(x4t,(r,i,n)=>{let a=i.toLowerCase(),o=i,s=w4t(n);for(a==="m"&&s.length>2&&(t.push([o,...s.splice(0,2)]),a="l",o=o==="m"?"l":"L");;){if(s.length===rG[a])return t.push([o,...s]),"";if(s.length{"use strict";var T4t=iG(),$r=function(e,t){return t?Math.round(e*(t=Math.pow(10,t)))/t:Math.round(e)},On="M0,0Z",Wpe=Math.sqrt(2),My=Math.sqrt(3),nG=Math.PI,aG=Math.cos,oG=Math.sin;Jpe.exports={circle:{n:0,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n="M"+i+",0A"+i+","+i+" 0 1,1 0,-"+i+"A"+i+","+i+" 0 0,1 "+i+",0Z";return r?Un(t,r,n):n}},square:{n:1,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+","+i+"H-"+i+"V-"+i+"H"+i+"Z")}},diamond:{n:2,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.3,2);return Un(t,r,"M"+i+",0L0,"+i+"L-"+i+",0L0,-"+i+"Z")}},cross:{n:3,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.4,2),n=$r(e*1.2,2);return Un(t,r,"M"+n+","+i+"H"+i+"V"+n+"H-"+i+"V"+i+"H-"+n+"V-"+i+"H-"+i+"V-"+n+"H"+i+"V-"+i+"H"+n+"Z")}},x:{n:4,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.8/Wpe,2),n="l"+i+","+i,a="l"+i+",-"+i,o="l-"+i+",-"+i,s="l-"+i+","+i;return Un(t,r,"M0,"+i+n+a+o+a+o+s+o+s+n+s+n+"Z")}},"triangle-up":{n:5,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2/My,2),n=$r(e/2,2),a=$r(e,2);return Un(t,r,"M-"+i+","+n+"H"+i+"L0,-"+a+"Z")}},"triangle-down":{n:6,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2/My,2),n=$r(e/2,2),a=$r(e,2);return Un(t,r,"M-"+i+",-"+n+"H"+i+"L0,"+a+"Z")}},"triangle-left":{n:7,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2/My,2),n=$r(e/2,2),a=$r(e,2);return Un(t,r,"M"+n+",-"+i+"V"+i+"L-"+a+",0Z")}},"triangle-right":{n:8,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2/My,2),n=$r(e/2,2),a=$r(e,2);return Un(t,r,"M-"+n+",-"+i+"V"+i+"L"+a+",0Z")}},"triangle-ne":{n:9,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.6,2),n=$r(e*1.2,2);return Un(t,r,"M-"+n+",-"+i+"H"+i+"V"+n+"Z")}},"triangle-se":{n:10,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.6,2),n=$r(e*1.2,2);return Un(t,r,"M"+i+",-"+n+"V"+i+"H-"+n+"Z")}},"triangle-sw":{n:11,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.6,2),n=$r(e*1.2,2);return Un(t,r,"M"+n+","+i+"H-"+i+"V-"+n+"Z")}},"triangle-nw":{n:12,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.6,2),n=$r(e*1.2,2);return Un(t,r,"M-"+i+","+n+"V-"+i+"H"+n+"Z")}},pentagon:{n:13,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.951,2),n=$r(e*.588,2),a=$r(-e,2),o=$r(e*-.309,2),s=$r(e*.809,2);return Un(t,r,"M"+i+","+o+"L"+n+","+s+"H-"+n+"L-"+i+","+o+"L0,"+a+"Z")}},hexagon:{n:14,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e/2,2),a=$r(e*My/2,2);return Un(t,r,"M"+a+",-"+n+"V"+n+"L0,"+i+"L-"+a+","+n+"V-"+n+"L0,-"+i+"Z")}},hexagon2:{n:15,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e/2,2),a=$r(e*My/2,2);return Un(t,r,"M-"+n+","+a+"H"+n+"L"+i+",0L"+n+",-"+a+"H-"+n+"L-"+i+",0Z")}},octagon:{n:16,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.924,2),n=$r(e*.383,2);return Un(t,r,"M-"+n+",-"+i+"H"+n+"L"+i+",-"+n+"V"+n+"L"+n+","+i+"H-"+n+"L-"+i+","+n+"V-"+n+"Z")}},star:{n:17,f:function(e,t,r){if(Nn(t))return On;var i=e*1.4,n=$r(i*.225,2),a=$r(i*.951,2),o=$r(i*.363,2),s=$r(i*.588,2),l=$r(-i,2),u=$r(i*-.309,2),c=$r(i*.118,2),f=$r(i*.809,2),h=$r(i*.382,2);return Un(t,r,"M"+n+","+u+"H"+a+"L"+o+","+c+"L"+s+","+f+"L0,"+h+"L-"+s+","+f+"L-"+o+","+c+"L-"+a+","+u+"H-"+n+"L0,"+l+"Z")}},hexagram:{n:18,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.66,2),n=$r(e*.38,2),a=$r(e*.76,2);return Un(t,r,"M-"+a+",0l-"+n+",-"+i+"h"+a+"l"+n+",-"+i+"l"+n+","+i+"h"+a+"l-"+n+","+i+"l"+n+","+i+"h-"+a+"l-"+n+","+i+"l-"+n+",-"+i+"h-"+a+"Z")}},"star-triangle-up":{n:19,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*My*.8,2),n=$r(e*.8,2),a=$r(e*1.6,2),o=$r(e*4,2),s="A "+o+","+o+" 0 0 1 ";return Un(t,r,"M-"+i+","+n+s+i+","+n+s+"0,-"+a+s+"-"+i+","+n+"Z")}},"star-triangle-down":{n:20,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*My*.8,2),n=$r(e*.8,2),a=$r(e*1.6,2),o=$r(e*4,2),s="A "+o+","+o+" 0 0 1 ";return Un(t,r,"M"+i+",-"+n+s+"-"+i+",-"+n+s+"0,"+a+s+i+",-"+n+"Z")}},"star-square":{n:21,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.1,2),n=$r(e*2,2),a="A "+n+","+n+" 0 0 1 ";return Un(t,r,"M-"+i+",-"+i+a+"-"+i+","+i+a+i+","+i+a+i+",-"+i+a+"-"+i+",-"+i+"Z")}},"star-diamond":{n:22,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.4,2),n=$r(e*1.9,2),a="A "+n+","+n+" 0 0 1 ";return Un(t,r,"M-"+i+",0"+a+"0,"+i+a+i+",0"+a+"0,-"+i+a+"-"+i+",0Z")}},"diamond-tall":{n:23,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*.7,2),n=$r(e*1.4,2);return Un(t,r,"M0,"+n+"L"+i+",0L0,-"+n+"L-"+i+",0Z")}},"diamond-wide":{n:24,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.4,2),n=$r(e*.7,2);return Un(t,r,"M0,"+n+"L"+i+",0L0,-"+n+"L-"+i+",0Z")}},hourglass:{n:25,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+","+i+"H-"+i+"L"+i+",-"+i+"H-"+i+"Z")},noDot:!0},bowtie:{n:26,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+","+i+"V-"+i+"L-"+i+","+i+"V-"+i+"Z")},noDot:!0},"circle-cross":{n:27,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M0,"+i+"V-"+i+"M"+i+",0H-"+i+"M"+i+",0A"+i+","+i+" 0 1,1 0,-"+i+"A"+i+","+i+" 0 0,1 "+i+",0Z")},needLine:!0,noDot:!0},"circle-x":{n:28,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e/Wpe,2);return Un(t,r,"M"+n+","+n+"L-"+n+",-"+n+"M"+n+",-"+n+"L-"+n+","+n+"M"+i+",0A"+i+","+i+" 0 1,1 0,-"+i+"A"+i+","+i+" 0 0,1 "+i+",0Z")},needLine:!0,noDot:!0},"square-cross":{n:29,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M0,"+i+"V-"+i+"M"+i+",0H-"+i+"M"+i+","+i+"H-"+i+"V-"+i+"H"+i+"Z")},needLine:!0,noDot:!0},"square-x":{n:30,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+","+i+"L-"+i+",-"+i+"M"+i+",-"+i+"L-"+i+","+i+"M"+i+","+i+"H-"+i+"V-"+i+"H"+i+"Z")},needLine:!0,noDot:!0},"diamond-cross":{n:31,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.3,2);return Un(t,r,"M"+i+",0L0,"+i+"L-"+i+",0L0,-"+i+"ZM0,-"+i+"V"+i+"M-"+i+",0H"+i)},needLine:!0,noDot:!0},"diamond-x":{n:32,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.3,2),n=$r(e*.65,2);return Un(t,r,"M"+i+",0L0,"+i+"L-"+i+",0L0,-"+i+"ZM-"+n+",-"+n+"L"+n+","+n+"M-"+n+","+n+"L"+n+",-"+n)},needLine:!0,noDot:!0},"cross-thin":{n:33,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.4,2);return Un(t,r,"M0,"+i+"V-"+i+"M"+i+",0H-"+i)},needLine:!0,noDot:!0,noFill:!0},"x-thin":{n:34,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+","+i+"L-"+i+",-"+i+"M"+i+",-"+i+"L-"+i+","+i)},needLine:!0,noDot:!0,noFill:!0},asterisk:{n:35,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.2,2),n=$r(e*.85,2);return Un(t,r,"M0,"+i+"V-"+i+"M"+i+",0H-"+i+"M"+n+","+n+"L-"+n+",-"+n+"M"+n+",-"+n+"L-"+n+","+n)},needLine:!0,noDot:!0,noFill:!0},hash:{n:36,f:function(e,t,r){if(Nn(t))return On;var i=$r(e/2,2),n=$r(e,2);return Un(t,r,"M"+i+","+n+"V-"+n+"M"+(i-n)+",-"+n+"V"+n+"M"+n+","+i+"H-"+n+"M-"+n+","+(i-n)+"H"+n)},needLine:!0,noFill:!0},"y-up":{n:37,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.2,2),n=$r(e*1.6,2),a=$r(e*.8,2);return Un(t,r,"M-"+i+","+a+"L0,0M"+i+","+a+"L0,0M0,-"+n+"L0,0")},needLine:!0,noDot:!0,noFill:!0},"y-down":{n:38,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.2,2),n=$r(e*1.6,2),a=$r(e*.8,2);return Un(t,r,"M-"+i+",-"+a+"L0,0M"+i+",-"+a+"L0,0M0,"+n+"L0,0")},needLine:!0,noDot:!0,noFill:!0},"y-left":{n:39,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.2,2),n=$r(e*1.6,2),a=$r(e*.8,2);return Un(t,r,"M"+a+","+i+"L0,0M"+a+",-"+i+"L0,0M-"+n+",0L0,0")},needLine:!0,noDot:!0,noFill:!0},"y-right":{n:40,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.2,2),n=$r(e*1.6,2),a=$r(e*.8,2);return Un(t,r,"M-"+a+","+i+"L0,0M-"+a+",-"+i+"L0,0M"+n+",0L0,0")},needLine:!0,noDot:!0,noFill:!0},"line-ew":{n:41,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.4,2);return Un(t,r,"M"+i+",0H-"+i)},needLine:!0,noDot:!0,noFill:!0},"line-ns":{n:42,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*1.4,2);return Un(t,r,"M0,"+i+"V-"+i)},needLine:!0,noDot:!0,noFill:!0},"line-ne":{n:43,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+",-"+i+"L-"+i+","+i)},needLine:!0,noDot:!0,noFill:!0},"line-nw":{n:44,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2);return Un(t,r,"M"+i+","+i+"L-"+i+",-"+i)},needLine:!0,noDot:!0,noFill:!0},"arrow-up":{n:45,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e*2,2);return Un(t,r,"M0,0L-"+i+","+n+"H"+i+"Z")},backoff:1,noDot:!0},"arrow-down":{n:46,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e*2,2);return Un(t,r,"M0,0L-"+i+",-"+n+"H"+i+"Z")},noDot:!0},"arrow-left":{n:47,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2,2),n=$r(e,2);return Un(t,r,"M0,0L"+i+",-"+n+"V"+n+"Z")},noDot:!0},"arrow-right":{n:48,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2,2),n=$r(e,2);return Un(t,r,"M0,0L-"+i+",-"+n+"V"+n+"Z")},noDot:!0},"arrow-bar-up":{n:49,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e*2,2);return Un(t,r,"M-"+i+",0H"+i+"M0,0L-"+i+","+n+"H"+i+"Z")},backoff:1,needLine:!0,noDot:!0},"arrow-bar-down":{n:50,f:function(e,t,r){if(Nn(t))return On;var i=$r(e,2),n=$r(e*2,2);return Un(t,r,"M-"+i+",0H"+i+"M0,0L-"+i+",-"+n+"H"+i+"Z")},needLine:!0,noDot:!0},"arrow-bar-left":{n:51,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2,2),n=$r(e,2);return Un(t,r,"M0,-"+n+"V"+n+"M0,0L"+i+",-"+n+"V"+n+"Z")},needLine:!0,noDot:!0},"arrow-bar-right":{n:52,f:function(e,t,r){if(Nn(t))return On;var i=$r(e*2,2),n=$r(e,2);return Un(t,r,"M0,-"+n+"V"+n+"M0,0L-"+i+",-"+n+"V"+n+"Z")},needLine:!0,noDot:!0},arrow:{n:53,f:function(e,t,r){if(Nn(t))return On;var i=nG/2.5,n=2*e*aG(i),a=2*e*oG(i);return Un(t,r,"M0,0L"+-n+","+a+"L"+n+","+a+"Z")},backoff:.9,noDot:!0},"arrow-wide":{n:54,f:function(e,t,r){if(Nn(t))return On;var i=nG/4,n=2*e*aG(i),a=2*e*oG(i);return Un(t,r,"M0,0L"+-n+","+a+"A "+2*e+","+2*e+" 0 0 1 "+n+","+a+"Z")},backoff:.4,noDot:!0}};function Nn(e){return e===null}var Ype,Xpe,Zpe,Kpe;function Un(e,t,r){if((!e||e%360===0)&&!t)return r;if(Zpe===e&&Kpe===t&&Ype===r)return Xpe;Zpe=e,Kpe=t,Ype=r;function i(m,g){var w=aG(m),b=oG(m),_=g[0],M=g[1]+(t||0);return[_*w-M*b,_*b+M*w]}for(var n=e/180*nG,a=0,o=0,s=T4t(r),l="",u=0;u{"use strict";var Lu=vi(),_o=it(),A4t=_o.numberFormat,Sy=sn(),TD=yi(),uu=ni(),M4t=Jo(),pA=_o.strTranslate,AD=uo(),S4t=sd(),E4t=Hl(),k4t=E4t.LINE_SPACING,uve=kg().DESELECTDIM,C4t=$o(),D4t=fA(),F4t=Kf().appendArrayPointValue,ci=xve.exports={};ci.font=function(e,t){var r=t.variant,i=t.style,n=t.weight,a=t.color,o=t.size,s=t.family,l=t.shadow,u=t.lineposition,c=t.textcase;s&&e.style("font-family",s),o+1&&e.style("font-size",o+"px"),a&&e.call(uu.fill,a),n&&e.style("font-weight",n),i&&e.style("font-style",i),r&&e.style("font-variant",r),c&&e.style("text-transform",sG(P4t(c))),l&&e.style("text-shadow",l==="auto"?AD.makeTextShadow(uu.contrast(a)):sG(l)),u&&e.style("text-decoration-line",sG(I4t(u)))};function sG(e){return e==="none"?void 0:e}var L4t={normal:"none",lower:"lowercase",upper:"uppercase","word caps":"capitalize"};function P4t(e){return L4t[e]}function I4t(e){return e.replace("under","underline").replace("over","overline").replace("through","line-through").split("+").join(" ")}ci.setPosition=function(e,t,r){e.attr("x",t).attr("y",r)};ci.setSize=function(e,t,r){e.attr("width",t).attr("height",r)};ci.setRect=function(e,t,r,i,n){e.call(ci.setPosition,t,r).call(ci.setSize,i,n)};ci.translatePoint=function(e,t,r,i){var n=r.c2p(e.x),a=i.c2p(e.y);if(Sy(n)&&Sy(a)&&t.node())t.node().nodeName==="text"?t.attr("x",n).attr("y",a):t.attr("transform",pA(n,a));else return!1;return!0};ci.translatePoints=function(e,t,r){e.each(function(i){var n=Lu.select(this);ci.translatePoint(i,n,t,r)})};ci.hideOutsideRangePoint=function(e,t,r,i,n,a){t.attr("display",r.isPtWithinRange(e,n)&&i.isPtWithinRange(e,a)?null:"none")};ci.hideOutsideRangePoints=function(e,t){if(t._hasClipOnAxisFalse){var r=t.xaxis,i=t.yaxis;e.each(function(n){var a=n[0].trace,o=a.xcalendar,s=a.ycalendar,l=TD.traceIs(a,"bar-like")?".bartext":".point,.textpoint";e.selectAll(l).each(function(u){ci.hideOutsideRangePoint(u,Lu.select(this),r,i,o,s)})})}};ci.crispRound=function(e,t,r){return!t||!Sy(t)?r||0:e._context.staticPlot?t:t<1?1:Math.round(t)};ci.singleLineStyle=function(e,t,r,i,n){t.style("fill","none");var a=(((e||[])[0]||{}).trace||{}).line||{},o=r||a.width||0,s=n||a.dash||"";uu.stroke(t,i||a.color),ci.dashLine(t,s,o)};ci.lineGroupStyle=function(e,t,r,i){e.style("fill","none").each(function(n){var a=(((n||[])[0]||{}).trace||{}).line||{},o=t||a.width||0,s=i||a.dash||"";Lu.select(this).call(uu.stroke,r||a.color).call(ci.dashLine,s,o)})};ci.dashLine=function(e,t,r){r=+r||0,t=ci.dashStyle(t,r),e.style({"stroke-dasharray":t,"stroke-width":r+"px"})};ci.dashStyle=function(e,t){t=+t||1;var r=Math.max(t,3);return e==="solid"?e="":e==="dot"?e=r+"px,"+r+"px":e==="dash"?e=3*r+"px,"+3*r+"px":e==="longdash"?e=5*r+"px,"+5*r+"px":e==="dashdot"?e=3*r+"px,"+r+"px,"+r+"px,"+r+"px":e==="longdashdot"&&(e=5*r+"px,"+2*r+"px,"+r+"px,"+2*r+"px"),e};function cve(e,t,r,i){var n=t.fillpattern,a=t.fillgradient,o=ci.getPatternAttr,s=n&&(o(n.shape,0,"")||o(n.path,0,""));if(s){var l=o(n.bgcolor,0,null),u=o(n.fgcolor,0,null),c=n.fgopacity,f=o(n.size,0,8),h=o(n.solidity,0,.3),d=t.uid;ci.pattern(e,"point",r,d,s,f,h,void 0,n.fillmode,l,u,c)}else if(a&&a.type!=="none"){var p=a.type,v="scatterfill-"+t.uid;if(i&&(v="legendfill-"+t.uid),!i&&(a.start!==void 0||a.stop!==void 0)){var m,g;p==="horizontal"?(m={x:a.start,y:0},g={x:a.stop,y:0}):p==="vertical"&&(m={x:0,y:a.start},g={x:0,y:a.stop}),m.x=t._xA.c2p(m.x===void 0?t._extremes.x.min[0].val:m.x,!0),m.y=t._yA.c2p(m.y===void 0?t._extremes.y.min[0].val:m.y,!0),g.x=t._xA.c2p(g.x===void 0?t._extremes.x.max[0].val:g.x,!0),g.y=t._yA.c2p(g.y===void 0?t._extremes.y.max[0].val:g.y,!0),e.call(dve,r,v,"linear",a.colorscale,"fill",m,g,!0,!1)}else p==="horizontal"&&(p=p+"reversed"),e.call(ci.gradient,r,v,p,a.colorscale,"fill")}else t.fillcolor&&e.call(uu.fill,t.fillcolor)}ci.singleFillStyle=function(e,t){var r=Lu.select(e.node()),i=r.data(),n=((i[0]||[])[0]||{}).trace||{};cve(e,n,t,!1)};ci.fillGroupStyle=function(e,t,r){e.style("stroke-width",0).each(function(i){var n=Lu.select(this);i[0].trace&&cve(n,i[0].trace,t,r)})};var eve=Qpe();ci.symbolNames=[];ci.symbolFuncs=[];ci.symbolBackOffs=[];ci.symbolNeedLines={};ci.symbolNoDot={};ci.symbolNoFill={};ci.symbolList=[];Object.keys(eve).forEach(function(e){var t=eve[e],r=t.n;ci.symbolList.push(r,String(r),e,r+100,String(r+100),e+"-open"),ci.symbolNames[r]=e,ci.symbolFuncs[r]=t.f,ci.symbolBackOffs[r]=t.backoff||0,t.needLine&&(ci.symbolNeedLines[r]=!0),t.noDot?ci.symbolNoDot[r]=!0:ci.symbolList.push(r+200,String(r+200),e+"-dot",r+300,String(r+300),e+"-open-dot"),t.noFill&&(ci.symbolNoFill[r]=!0)});var R4t=ci.symbolNames.length,z4t="M0,0.5L0.5,0L0,-0.5L-0.5,0Z";ci.symbolNumber=function(e){if(Sy(e))e=+e;else if(typeof e=="string"){var t=0;e.indexOf("-open")>0&&(t=100,e=e.replace("-open","")),e.indexOf("-dot")>0&&(t+=200,e=e.replace("-dot","")),e=ci.symbolNames.indexOf(e),e>=0&&(e+=t)}return e%100>=R4t||e>=400?0:Math.floor(Math.max(e,0))};function fve(e,t,r,i){var n=e%100;return ci.symbolFuncs[n](t,r,i)+(e>=200?z4t:"")}var tve=A4t("~f"),hve={radial:{type:"radial"},radialreversed:{type:"radial",reversed:!0},horizontal:{type:"linear",start:{x:1,y:0},stop:{x:0,y:0}},horizontalreversed:{type:"linear",start:{x:1,y:0},stop:{x:0,y:0},reversed:!0},vertical:{type:"linear",start:{x:0,y:1},stop:{x:0,y:0}},verticalreversed:{type:"linear",start:{x:0,y:1},stop:{x:0,y:0},reversed:!0}};ci.gradient=function(e,t,r,i,n,a){var o=hve[i];return dve(e,t,r,o.type,n,a,o.start,o.stop,!1,o.reversed)};function dve(e,t,r,i,n,a,o,s,l,u){var c=n.length,f;i==="linear"?f={node:"linearGradient",attrs:{x1:o.x,y1:o.y,x2:s.x,y2:s.y,gradientUnits:l?"userSpaceOnUse":"objectBoundingBox"},reversed:u}:i==="radial"&&(f={node:"radialGradient",reversed:u});for(var h=new Array(c),d=0;d=0&&e.i===void 0&&(e.i=a.i),t.style("opacity",i.selectedOpacityFn?i.selectedOpacityFn(e):e.mo===void 0?o.opacity:e.mo),i.ms2mrc){var l;e.ms==="various"||o.size==="various"?l=3:l=i.ms2mrc(e.ms),e.mrc=l,i.selectedSizeFn&&(l=e.mrc=i.selectedSizeFn(e));var u=ci.symbolNumber(e.mx||o.symbol)||0;e.om=u%200>=100;var c=pG(e,r),f=dG(e,r);t.attr("d",fve(u,l,c,f))}var h=!1,d,p,v;if(e.so)v=s.outlierwidth,p=s.outliercolor,d=o.outliercolor;else{var m=(s||{}).width;v=(e.mlw+1||m+1||(e.trace?(e.trace.marker.line||{}).width:0)+1)-1||0,"mlc"in e?p=e.mlcc=i.lineScale(e.mlc):_o.isArrayOrTypedArray(s.color)?p=uu.defaultLine:p=s.color,_o.isArrayOrTypedArray(o.color)&&(d=uu.defaultLine,h=!0),"mc"in e?d=e.mcc=i.markerScale(e.mc):d=o.color||o.colors||"rgba(0,0,0,0)",i.selectedColorFn&&(d=i.selectedColorFn(e))}let g=e.mld||(s||{}).dash;if(g&&ci.dashLine(t,g,v),e.om)t.call(uu.stroke,d).style({"stroke-width":(v||1)+"px",fill:"none"});else{t.style("stroke-width",(e.isBlank?0:v)+"px");var w=o.gradient,b=e.mgt;b?h=!0:b=w&&w.type,_o.isArrayOrTypedArray(b)&&(b=b[0],hve[b]||(b=0));var _=o.pattern,M=ci.getPatternAttr,x=_&&(M(_.shape,e.i,"")||M(_.path,e.i,""));if(b&&b!=="none"){var T=e.mgc;T?h=!0:T=w.color;var A=r.uid;h&&(A+="-"+e.i),ci.gradient(t,n,A,b,[[0,T],[1,d]],"fill")}else if(x){var y=!1,E=_.fgcolor;!E&&a&&a.color&&(E=a.color,y=!0);var S=M(E,e.i,a&&a.color||null),C=M(_.bgcolor,e.i,null),k=_.fgopacity,D=M(_.size,e.i,8),F=M(_.solidity,e.i,.3);y=y||e.mcc||_o.isArrayOrTypedArray(_.shape)||_o.isArrayOrTypedArray(_.path)||_o.isArrayOrTypedArray(_.bgcolor)||_o.isArrayOrTypedArray(_.fgcolor)||_o.isArrayOrTypedArray(_.size)||_o.isArrayOrTypedArray(_.solidity);var P=r.uid;y&&(P+="-"+e.i),ci.pattern(t,"point",n,P,x,D,F,e.mcc,_.fillmode,C,S,k)}else _o.isArrayOrTypedArray(d)?uu.fill(t,d[e.i]):uu.fill(t,d);v&&uu.stroke(t,p)}};ci.makePointStyleFns=function(e){var t={},r=e.marker;return t.markerScale=ci.tryColorscale(r,""),t.lineScale=ci.tryColorscale(r,"line"),TD.traceIs(e,"symbols")&&(t.ms2mrc=C4t.isBubble(e)?D4t(e):function(){return(r.size||6)/2}),e.selectedpoints&&_o.extendFlat(t,ci.makeSelectedPointStyleFns(e)),t};ci.makeSelectedPointStyleFns=function(e){var t={},r=e.selected||{},i=e.unselected||{},n=e.marker||{},a=r.marker||{},o=i.marker||{},s=n.opacity,l=a.opacity,u=o.opacity,c=l!==void 0,f=u!==void 0;(_o.isArrayOrTypedArray(s)||c||f)&&(t.selectedOpacityFn=function(_){var M=_.mo===void 0?n.opacity:_.mo;return _.selected?c?l:M:f?u:uve*M});var h=n.color,d=a.color,p=o.color;(d||p)&&(t.selectedColorFn=function(_){var M=_.mcc||h;return _.selected?d||M:p||M});var v=n.size,m=a.size,g=o.size,w=m!==void 0,b=g!==void 0;return TD.traceIs(e,"symbols")&&(w||b)&&(t.selectedSizeFn=function(_){var M=_.mrc||v/2;return _.selected?w?m/2:M:b?g/2:M}),t};ci.makeSelectedTextStyleFns=function(e){var t={},r=e.selected||{},i=e.unselected||{},n=e.textfont||{},a=r.textfont||{},o=i.textfont||{},s=n.color,l=a.color,u=o.color;return t.selectedTextColorFn=function(c){var f=c.tc||s;return c.selected?l||f:u||(l?f:uu.addOpacity(f,uve))},t};ci.selectedPointStyle=function(e,t){if(!(!e.size()||!t.selectedpoints)){var r=ci.makeSelectedPointStyleFns(t),i=t.marker||{},n=[];r.selectedOpacityFn&&n.push(function(a,o){a.style("opacity",r.selectedOpacityFn(o))}),r.selectedColorFn&&n.push(function(a,o){uu.fill(a,r.selectedColorFn(o))}),r.selectedSizeFn&&n.push(function(a,o){var s=o.mx||i.symbol||0,l=r.selectedSizeFn(o);a.attr("d",fve(ci.symbolNumber(s),l,pG(o,t),dG(o,t))),o.mrc2=l}),n.length&&e.each(function(a){for(var o=Lu.select(this),s=0;s0?r:0}ci.textPointStyle=function(e,t,r){if(e.size()){var i;if(t.selectedpoints){var n=ci.makeSelectedTextStyleFns(t);i=n.selectedTextColorFn}var a=t.texttemplate,o=r._fullLayout;e.each(function(s){var l=Lu.select(this),u=a?_o.extractOption(s,t,"txt","texttemplate"):_o.extractOption(s,t,"tx","text");if(!u&&u!==0){l.remove();return}if(a){var c=t._module.formatLabels,f=c?c(s,t,o):{},h={};F4t(h,t,s.i),u=_o.texttemplateString({data:[h,s,t._meta],fallback:t.texttemplatefallback,labels:f,locale:o._d3locale,template:u})}var d=s.tp||t.textposition,p=vve(s,t),v=i?i(s):s.tc||t.textfont.color;l.call(ci.font,{family:s.tf||t.textfont.family,weight:s.tw||t.textfont.weight,style:s.ty||t.textfont.style,variant:s.tv||t.textfont.variant,textcase:s.tC||t.textfont.textcase,lineposition:s.tE||t.textfont.lineposition,shadow:s.tS||t.textfont.shadow,size:p,color:v}).text(u).call(AD.convertToTspans,r).call(pve,d,p,s.mrc)})}};ci.selectedTextStyle=function(e,t){if(!(!e.size()||!t.selectedpoints)){var r=ci.makeSelectedTextStyleFns(t);e.each(function(i){var n=Lu.select(this),a=r.selectedTextColorFn(i),o=i.tp||t.textposition,s=vve(i,t);uu.fill(n,a);var l=TD.traceIs(t,"bar-like");pve(n,o,s,i.mrc2||i.mrc,l)})}};var rve=.5;ci.smoothopen=function(e,t){if(e.length<3)return"M"+e.join("L");var r="M"+e[0],i=[],n;for(n=1;n=l||_>=c&&_<=l)&&(M<=f&&M>=u||M>=f&&M<=u)&&(e=[_,M])}return e}ci.applyBackoff=yve;ci.makeTester=function(){var e=_o.ensureSingleById(Lu.select("body"),"svg","js-plotly-tester",function(r){r.attr(S4t.svgAttrs).style({position:"absolute",left:"-10000px",top:"-10000px",width:"9000px",height:"9000px","z-index":"1"})}),t=_o.ensureSingle(e,"path","js-reference-point",function(r){r.attr("d","M0,0H1V1H0Z").style({"stroke-width":0,fill:"black"})});ci.tester=e,ci.testref=t};ci.savedBBoxes={};var uG=0,O4t=1e4;ci.bBox=function(e,t,r){r||(r=ive(e));var i;if(r){if(i=ci.savedBBoxes[r],i)return _o.extendFlat({},i)}else if(e.childNodes.length===1){var n=e.childNodes[0];if(r=ive(n),r){var a=+n.getAttribute("x")||0,o=+n.getAttribute("y")||0,s=n.getAttribute("transform");if(!s){var l=ci.bBox(n,!1,r);return a&&(l.left+=a,l.right+=a),o&&(l.top+=o,l.bottom+=o),l}if(r+="~"+a+"~"+o+"~"+s,i=ci.savedBBoxes[r],i)return _o.extendFlat({},i)}}var u,c;t?u=e:(c=ci.tester.node(),u=e.cloneNode(!0),c.appendChild(u)),Lu.select(u).attr("transform",null).call(AD.positionText,0,0);var f=u.getBoundingClientRect(),h=ci.testref.node().getBoundingClientRect();t||c.removeChild(u);var d={height:f.height,width:f.width,left:f.left-h.left,top:f.top-h.top,right:f.right-h.left,bottom:f.bottom-h.top};return uG>=O4t&&(ci.savedBBoxes={},uG=0),r&&(ci.savedBBoxes[r]=d),uG++,_o.extendFlat({},d)};function ive(e){var t=e.getAttribute("data-unformatted");if(t!==null)return t+e.getAttribute("data-math")+e.getAttribute("text-anchor")+e.getAttribute("style")}ci.setClipUrl=function(e,t,r){e.attr("clip-path",hG(t,r))};function hG(e,t){if(!e)return null;var r=t._context,i=r._exportedPlot?"":r._baseUrl||"";return i?"url('"+i+"#"+e+"')":"url(#"+e+")"}ci.getTranslate=function(e){var t=/.*\btranslate\((-?\d*\.?\d*)[^-\d]*(-?\d*\.?\d*)[^\d].*/,r=e.attr?"attr":"getAttribute",i=e[r]("transform")||"",n=i.replace(t,function(a,o,s){return[o,s].join(" ")}).split(" ");return{x:+n[0]||0,y:+n[1]||0}};ci.setTranslate=function(e,t,r){var i=/(\btranslate\(.*?\);?)/,n=e.attr?"attr":"getAttribute",a=e.attr?"attr":"setAttribute",o=e[n]("transform")||"";return t=t||0,r=r||0,o=o.replace(i,"").trim(),o+=pA(t,r),o=o.trim(),e[a]("transform",o),o};ci.getScale=function(e){var t=/.*\bscale\((\d*\.?\d*)[^\d]*(\d*\.?\d*)[^\d].*/,r=e.attr?"attr":"getAttribute",i=e[r]("transform")||"",n=i.replace(t,function(a,o,s){return[o,s].join(" ")}).split(" ");return{x:+n[0]||1,y:+n[1]||1}};ci.setScale=function(e,t,r){var i=/(\bscale\(.*?\);?)/,n=e.attr?"attr":"getAttribute",a=e.attr?"attr":"setAttribute",o=e[n]("transform")||"";return t=t||1,r=r||1,o=o.replace(i,"").trim(),o+="scale("+t+","+r+")",o=o.trim(),e[a]("transform",o),o};var N4t=/\s*sc.*/;ci.setPointGroupScale=function(e,t,r){if(t=t||1,r=r||1,!!e){var i=t===1&&r===1?"":"scale("+t+","+r+")";e.each(function(){var n=(this.getAttribute("transform")||"").replace(N4t,"");n+=i,n=n.trim(),this.setAttribute("transform",n)})}};var U4t=/translate\([^)]*\)\s*$/;ci.setTextPointsScale=function(e,t,r){e&&e.each(function(){var i,n=Lu.select(this),a=n.select("text");if(a.node()){var o=parseFloat(a.attr("x")||0),s=parseFloat(a.attr("y")||0),l=(n.attr("transform")||"").match(U4t);t===1&&r===1?i=[]:i=[pA(o,s),"scale("+t+","+r+")",pA(-o,-s)],l&&i.push(l),n.attr("transform",i.join(""))}})};function dG(e,t){var r;return e&&(r=e.mf),r===void 0&&(r=t.marker&&t.marker.standoff||0),!t._geo&&!t._xA?-r:r}ci.getMarkerStandoff=dG;var dA=Math.atan2,Zx=Math.cos,yw=Math.sin;function nve(e,t){var r=t[0],i=t[1];return[r*Zx(e)-i*yw(e),r*yw(e)+i*Zx(e)]}var ave,ove,sve,lve,cG,fG;function pG(e,t){var r=e.ma;r===void 0&&(r=t.marker.angle,(!Sy(r)||_o.isArrayOrTypedArray(r))&&(r=0));var i,n,a=t.marker.angleref;if(a==="previous"||a==="north"){if(t._geo){var o=t._geo.project(e.lonlat);i=o[0],n=o[1]}else{var s=t._xA,l=t._yA;if(s&&l)i=s.c2p(e.x),n=l.c2p(e.y);else return 90}if(t._geo){var u=e.lonlat[0],c=e.lonlat[1],f=t._geo.project([u,c+1e-5]),h=t._geo.project([u+1e-5,c]),d=dA(h[1]-n,h[0]-i),p=dA(f[1]-n,f[0]-i),v;if(a==="north")v=r/180*Math.PI;else if(a==="previous"){var m=u/180*Math.PI,g=c/180*Math.PI,w=ave/180*Math.PI,b=ove/180*Math.PI,_=w-m,M=Zx(b)*yw(_),x=yw(b)*Zx(g)-Zx(b)*yw(g)*Zx(_);v=-dA(M,x)-Math.PI,ave=u,ove=c}var T=nve(d,[Zx(v),0]),A=nve(p,[yw(v),0]);r=dA(T[1]+A[1],T[0]+A[0])/Math.PI*180,a==="previous"&&!(fG===t.uid&&e.i===cG+1)&&(r=null)}if(a==="previous"&&!t._geo)if(fG===t.uid&&e.i===cG+1&&Sy(i)&&Sy(n)){var y=i-sve,E=n-lve,S=t.line&&t.line.shape||"",C=S.slice(S.length-1);C==="h"&&(E=0),C==="v"&&(y=0),r+=dA(E,y)/Math.PI*180+90}else r=null}return sve=i,lve=n,cG=e.i,fG=t.uid,r}ci.getMarkerAngle=pG});var e_=W((s9r,Tve)=>{"use strict";var xw=vi(),V4t=sn(),G4t=Ko(),vG=yi(),Qx=it(),_ve=Qx.strTranslate,MD=Ji(),SD=ni(),_w=uo(),bve=kg(),H4t=Hl().OPPOSITE_SIDE,wve=/ [XY][0-9]* /,gG=1.6,mG=1.6;function j4t(e,t,r){var i=e._fullLayout,n=r.propContainer,a=r.propName,o=r.placeholder,s=r.traceIndex,l=r.avoid||{},u=r.attributes,c=r.transform,f=r.containerGroup,h=1,d=n.title,p=(d&&d.text?d.text:"").trim(),v=!1,m=d&&d.font?d.font:{},g=m.family,w=m.size,b=m.color,_=m.weight,M=m.style,x=m.variant,T=m.textcase,A=m.lineposition,y=m.shadow,E=r.subtitlePropName,S=!!E,C=r.subtitlePlaceholder,k=(n.title||{}).subtitle||{text:"",font:{}},D=(k.text||"").trim(),F=!1,P=1,R=k.font,L=R.family,I=R.size,B=R.color,O=R.weight,$=R.style,Y=R.variant,K=R.textcase,j=R.lineposition,q=R.shadow,J;a==="title.text"?J="titleText":a.indexOf("axis")!==-1?J="axisTitleText":a.indexOf("colorbar")!==-1&&(J="colorbarTitleText");var U=e._context.edits[J];function V(ye,ue){return ye===void 0||ue===void 0?!1:ye.replace(wve," % ")===ue.replace(wve," % ")}p===""?h=0:V(p,o)&&(U||(p=""),h=.2,v=!0),S&&(D===""?P=0:V(D,C)&&(U||(D=""),P=.2,F=!0)),r._meta?p=Qx.templateString(p,r._meta):i._meta&&(p=Qx.templateString(p,i._meta));var X=p||D||U,H;f||(f=Qx.ensureSingle(i._infolayer,"g","g-"+t),H=i._hColorbarMoveTitle);var G=f.selectAll("text."+t).data(X?[0]:[]);G.enter().append("text"),G.text(p).attr("class",t),G.exit().remove();var Q=null,te=t+"-subtitle",ce=D||U;if(S&&(Q=f.selectAll("text."+te).data(ce?[0]:[]),Q.enter().append("text"),Q.text(D).attr("class",te),Q.exit().remove()),!X)return f;function ge(ye,ue){Qx.syncOrAsync([Ce,be],{title:ye,subtitle:ue})}function Ce(ye){var ue=ye.title,ee=ye.subtitle,ae;!c&&H&&(c={}),c?(ae="",c.rotate&&(ae+="rotate("+[c.rotate,u.x,u.y]+")"),(c.offset||H)&&(ae+=_ve(0,(c.offset||0)-(H||0)))):ae=null,ue.attr("transform",ae);function xe(ke){if(ke){var _e=xw.select(ke.node().parentNode).select("."+te);if(!_e.empty()){var Ie=ke.node().getBBox();if(Ie.height){var Oe=Ie.y+Ie.height+gG*I;_e.attr("y",Oe)}}}}if(ue.style("opacity",h*SD.opacity(b)).call(MD.font,{color:SD.rgb(b),size:xw.round(w,2),family:g,weight:_,style:M,variant:x,textcase:T,shadow:y,lineposition:A}).attr(u).call(_w.convertToTspans,e,xe),ee&&!ee.empty()){var re=f.select("."+t+"-math-group"),pe=ue.node().getBBox(),we=re.node()?re.node().getBBox():void 0,Fe=we?we.y+we.height+gG*I:pe.y+pe.height+mG*I,Se=Qx.extendFlat({},u,{y:Fe});ee.attr("transform",ae),ee.style("opacity",P*SD.opacity(B)).call(MD.font,{color:SD.rgb(B),size:xw.round(I,2),family:L,weight:O,style:$,variant:Y,textcase:K,shadow:q,lineposition:j}).attr(Se).call(_w.convertToTspans,e)}return G4t.previousPromises(e)}function be(ye){var ue=ye.title,ee=xw.select(ue.node().parentNode);if(l&&l.selection&&l.side&&p){ee.attr("transform",null);var ae=H4t[l.side],xe=l.side==="left"||l.side==="top"?-1:1,re=V4t(l.pad)?l.pad:2,pe=MD.bBox(ee.node()),we={t:0,b:0,l:0,r:0},Fe=e._fullLayout._reservedMargin;for(var Se in Fe)for(var ke in Fe[Se]){var _e=Fe[Se][ke];we[ke]=Math.max(we[ke],_e)}var Ie={left:we.l,top:we.t,right:i.width-we.r,bottom:i.height-we.b},Oe=l.maxShift||xe*(Ie[l.side]-pe[l.side]),Qe=0;if(Oe<0)Qe=Oe;else{var et=l.offsetLeft||0,_t=l.offsetTop||0;pe.left-=et,pe.right-=et,pe.top-=_t,pe.bottom-=_t,l.selection.each(function(){var vt=MD.bBox(this);Qx.bBoxIntersect(pe,vt,re)&&(Qe=Math.max(Qe,xe*(vt[l.side]-pe[ae])+re))}),Qe=Math.min(Oe,Qe),n._titleScoot=Math.abs(Qe)}if(Qe>0||Oe<0){var ut={left:[-Qe,0],right:[Qe,0],top:[0,-Qe],bottom:[0,Qe]}[l.side];ee.attr("transform",_ve(ut[0],ut[1]))}}}G.call(ge,Q);function he(ye,ue){ye.text(ue).on("mouseover.opacity",function(){xw.select(this).transition().duration(bve.SHOW_PLACEHOLDER).style("opacity",1)}).on("mouseout.opacity",function(){xw.select(this).transition().duration(bve.HIDE_PLACEHOLDER).style("opacity",0)})}if(U&&(p?G.on(".opacity",null):(he(G,o),v=!0),G.call(_w.makeEditable,{gd:e}).on("edit",function(ye){s!==void 0?vG.call("_guiRestyle",e,a,ye,s):vG.call("_guiRelayout",e,a,ye)}).on("cancel",function(){this.text(this.attr("data-unformatted")).call(ge)}).on("input",function(ye){this.text(ye||" ").call(_w.positionText,u.x,u.y)}),S)){if(S&&!p){var oe=G.node().getBBox(),Ee=oe.y+oe.height+mG*I;Q.attr("y",Ee)}D?Q.on(".opacity",null):(he(Q,C),F=!0),Q.call(_w.makeEditable,{gd:e}).on("edit",function(ye){vG.call("_guiRelayout",e,"title.subtitle.text",ye)}).on("cancel",function(){this.text(this.attr("data-unformatted")).call(ge)}).on("input",function(ye){this.text(ye||" ").call(_w.positionText,Q.attr("x"),Q.attr("y"))})}return G.classed("js-placeholder",v),Q&&!Q.empty()&&Q.classed("js-placeholder",F),f}Tve.exports={draw:j4t,SUBTITLE_PADDING_EM:mG,SUBTITLE_PADDING_MATHJAX_EM:gG}});var i1=W((l9r,kve)=>{"use strict";var $4t=vi(),W4t=z3().utcFormat,Wo=it(),Y4t=Wo.numberFormat,t1=sn(),Ey=Wo.cleanNumber,X4t=Wo.ms2DateTime,Ave=Wo.dateTime2ms,r1=Wo.ensureNumber,Mve=Wo.isArrayOrTypedArray,ky=Kn(),ED=ky.FP_SAFE,qp=ky.BADNUM,Z4t=ky.LOG_CLIP,K4t=ky.ONEWEEK,kD=ky.ONEDAY,CD=ky.ONEHOUR,Sve=ky.ONEMIN,Eve=ky.ONESEC,DD=Cs(),PD=Gl(),FD=PD.HOUR_PATTERN,LD=PD.WEEKDAY_PATTERN;function vA(e){return Math.pow(10,e)}function yG(e){return e!=null}kve.exports=function(t,r){r=r||{};var i=t._id||"x",n=i.charAt(0);function a(_,M){if(_>0)return Math.log(_)/Math.LN10;if(_<=0&&M&&t.range&&t.range.length===2){var x=t.range[0],T=t.range[1];return .5*(x+T-2*Z4t*Math.abs(x-T))}else return qp}function o(_,M,x,T){if((T||{}).msUTC&&t1(_))return+_;var A=Ave(_,x||t.calendar);if(A===qp)if(t1(_)){_=+_;var y=Math.floor(Wo.mod(_+.05,1)*10),E=Math.round(_-y/10);A=Ave(new Date(E))+y/10}else return qp;return A}function s(_,M,x){return X4t(_,M,x||t.calendar)}function l(_){return t._categories[Math.round(_)]}function u(_){if(yG(_)){if(t._categoriesMap===void 0&&(t._categoriesMap={}),t._categoriesMap[_]!==void 0)return t._categoriesMap[_];t._categories.push(typeof _=="number"?String(_):_);var M=t._categories.length-1;return t._categoriesMap[_]=M,M}return qp}function c(_,M){for(var x=new Array(M),T=0;Tt.range[1]&&(x=!x);for(var T=x?-1:1,A=T*_,y=0,E=0;EC)y=E+1;else{y=A<(S+C)/2?E:E+1;break}}var k=t._B[y]||0;return isFinite(k)?p(_,t._m2,k):0},g=function(_){var M=t._rangebreaks.length;if(!M)return v(_,t._m,t._b);for(var x=0,T=0;Tt._rangebreaks[T].pmax&&(x=T+1);return v(_,t._m2,t._B[x])}}t.c2l=t.type==="log"?a:r1,t.l2c=t.type==="log"?vA:r1,t.l2p=m,t.p2l=g,t.c2p=t.type==="log"?function(_,M){return m(a(_,M))}:m,t.p2c=t.type==="log"?function(_){return vA(g(_))}:g,["linear","-"].indexOf(t.type)!==-1?(t.d2r=t.r2d=t.d2c=t.r2c=t.d2l=t.r2l=Ey,t.c2d=t.c2r=t.l2d=t.l2r=r1,t.d2p=t.r2p=function(_){return t.l2p(Ey(_))},t.p2d=t.p2r=g,t.cleanPos=r1):t.type==="log"?(t.d2r=t.d2l=function(_,M){return a(Ey(_),M)},t.r2d=t.r2c=function(_){return vA(Ey(_))},t.d2c=t.r2l=Ey,t.c2d=t.l2r=r1,t.c2r=a,t.l2d=vA,t.d2p=function(_,M){return t.l2p(t.d2r(_,M))},t.p2d=function(_){return vA(g(_))},t.r2p=function(_){return t.l2p(Ey(_))},t.p2r=g,t.cleanPos=r1):t.type==="date"?(t.d2r=t.r2d=Wo.identity,t.d2c=t.r2c=t.d2l=t.r2l=o,t.c2d=t.c2r=t.l2d=t.l2r=s,t.d2p=t.r2p=function(_,M,x){return t.l2p(o(_,0,x))},t.p2d=t.p2r=function(_,M,x){return s(g(_),M,x)},t.cleanPos=function(_){return Wo.cleanDate(_,qp,t.calendar)}):t.type==="category"?(t.d2c=t.d2l=u,t.r2d=t.c2d=t.l2d=l,t.d2r=t.d2l_noadd=h,t.r2c=function(_){var M=d(_);return M!==void 0?M:t.fraction2r(.5)},t.l2r=t.c2r=r1,t.r2l=d,t.d2p=function(_){return t.l2p(t.r2c(_))},t.p2d=function(_){return l(g(_))},t.r2p=t.d2p,t.p2r=g,t.cleanPos=function(_){return typeof _=="string"&&_!==""?_:r1(_)}):t.type==="multicategory"&&(t.r2d=t.c2d=t.l2d=l,t.d2r=t.d2l_noadd=h,t.r2c=function(_){var M=h(_);return M!==void 0?M:t.fraction2r(.5)},t.r2c_just_indices=f,t.l2r=t.c2r=r1,t.r2l=h,t.d2p=function(_){return t.l2p(t.r2c(_))},t.p2d=function(_){return l(g(_))},t.r2p=t.d2p,t.p2r=g,t.cleanPos=function(_){return Array.isArray(_)||typeof _=="string"&&_!==""?_:r1(_)},t.setupMultiCategory=function(_){var M=t._traceIndices,x,T,A=t._matchGroup;if(A&&t._categories.length===0){for(var y in A)if(y!==i){var E=r[DD.id2name(y)];M=M.concat(E._traceIndices)}}var S=[[0,{}],[0,{}]],C=[];for(x=0;xE[1]&&(T[y?0:1]=x,A[1]=E[1]),A[0]>=A[1])if(M!==void 0){var S=E[0]+1;x!==void 0&&(S=Math.min(S,E[1])),T[y?0:1]=t.l2r(S)}else x!==void 0&&(T[y?1:0]=t.l2r(E[1]-1))}},t.cleanRange=function(_,M){t._cleanRange(_,M),t.limitRange(_)},t._cleanRange=function(_,M){M||(M={}),_||(_="range");var x=Wo.nestedProperty(t,_).get(),T,A;if(t.type==="date"?A=Wo.dfltRange(t.calendar):n==="y"?A=PD.DFLTRANGEY:t._name==="realaxis"?A=[0,1]:A=M.dfltRange||PD.DFLTRANGEX,A=A.slice(),(t.rangemode==="tozero"||t.rangemode==="nonnegative")&&(A[0]=0),!x||x.length!==2){Wo.nestedProperty(t,_).set(A);return}var y=x[0]===null,E=x[1]===null;for(t.type==="date"&&!t.autorange&&(x[0]=Wo.cleanDate(x[0],qp,t.calendar),x[1]=Wo.cleanDate(x[1],qp,t.calendar)),T=0;T<2;T++)if(t.type==="date"){if(!Wo.isDateTime(x[T],t.calendar)){t[_]=A;break}if(t.r2l(x[0])===t.r2l(x[1])){var S=Wo.constrain(t.r2l(x[0]),Wo.MIN_MS+1e3,Wo.MAX_MS-1e3);x[0]=t.l2r(S-1e3),x[1]=t.l2r(S+1e3);break}}else{if(!t1(x[T]))if(!(y||E)&&t1(x[1-T]))x[T]=x[1-T]*(T?10:.1);else{t[_]=A;break}if(x[T]<-ED?x[T]=-ED:x[T]>ED&&(x[T]=ED),x[0]===x[1]){var C=Math.max(1,Math.abs(x[0]*1e-6));x[0]-=C,x[1]+=C}}},t.setScale=function(_){var M=r._size;if(t.overlaying){var x=DD.getFromId({_fullLayout:r},t.overlaying);t.domain=x.domain}var T=_&&t._r?"_r":"range",A=t.calendar;t.cleanRange(T);var y=t.r2l(t[T][0],A),E=t.r2l(t[T][1],A),S=n==="y";if(S?(t._offset=M.t+(1-t.domain[1])*M.h,t._length=M.h*(t.domain[1]-t.domain[0]),t._m=t._length/(y-E),t._b=-t._m*E):(t._offset=M.l+t.domain[0]*M.w,t._length=M.w*(t.domain[1]-t.domain[0]),t._m=t._length/(E-y),t._b=-t._m*y),t._rangebreaks=[],t._lBreaks=0,t._m2=0,t._B=[],t.rangebreaks){var C,k;if(t._rangebreaks=t.locateBreaks(Math.min(y,E),Math.max(y,E)),t._rangebreaks.length){for(C=0;CE&&(D=!D),D&&t._rangebreaks.reverse();var F=D?-1:1;for(t._m2=F*t._length/(Math.abs(E-y)-t._lBreaks),t._B.push(-t._m2*(S?E:y)),C=0;CA&&(A+=7,yA&&(A+=24,y=T&&y=T&&_=q.min&&($q.max&&(q.max=Y),K=!1)}K&&E.push({min:$,max:Y})}};for(x=0;x{"use strict";var Cve=sn(),xG=it(),J4t=Kn().BADNUM,ID=xG.isArrayOrTypedArray,Q4t=xG.isDateTime,eTt=xG.cleanNumber,Dve=Math.round;Lve.exports=function(t,r,i){var n=t,a=i.noMultiCategory;if(ID(n)&&!n.length)return"-";if(!a&&aTt(n))return"multicategory";if(a&&Array.isArray(n[0])){for(var o=[],s=0;sa*2}function Fve(e){return Math.max(1,(e-1)/1e3)}function nTt(e,t){for(var r=e.length,i=Fve(r),n=0,a=0,o={},s=0;sn*2}function aTt(e){return ID(e[0])&&ID(e[1])}});var Op=W((c9r,Nve)=>{"use strict";var oTt=vi(),zve=sn(),Cy=it(),RD=Kn().FP_SAFE,sTt=yi(),lTt=Ji(),Bve=Cs(),uTt=Bve.getFromId,cTt=Bve.isLinked;Nve.exports={applyAutorangeOptions:Ove,getAutoRange:_G,makePadFn:bG,doAutoRange:hTt,findExtremes:dTt,concatExtremes:AG};function _G(e,t){var r,i,n=[],a=e._fullLayout,o=bG(a,t,0),s=bG(a,t,1),l=AG(e,t),u=l.min,c=l.max;if(u.length===0||c.length===0)return Cy.simpleMap(t.range,t.r2l);var f=u[0].val,h=c[0].val;for(r=1;r0&&(E=b-o(x)-s(T),E>_?S/E>M&&(A=x,y=T,M=S/E):S/b>M&&(A={val:x.val,nopad:1},y={val:T.val,nopad:1},M=S/b));function C(R,L){return Math.max(R,s(L))}if(f===h){var k=f-1,D=f+1;if(g)if(f===0)n=[0,1];else{var F=(f>0?c:u).reduce(C,0),P=f/(1-Math.min(.5,F/b));n=f>0?[0,P]:[P,0]}else w?n=[Math.max(0,k),Math.max(1,D)]:n=[k,D]}else g?(A.val>=0&&(A={val:0,nopad:1}),y.val<=0&&(y={val:0,nopad:1})):w&&(A.val-M*o(A)<0&&(A={val:0,nopad:1}),y.val<=0&&(y={val:1,nopad:1})),M=(y.val-A.val-Pve(t,x.val,T.val))/(b-o(A)-s(y)),n=[A.val-M*o(A),y.val+M*s(y)];return n=Ove(n,t),t.limitRange&&t.limitRange(),p&&n.reverse(),Cy.simpleMap(n,t.l2r||Number)}function Pve(e,t,r){var i=0;if(e.rangebreaks)for(var n=e.locateBreaks(t,r),a=0;a0?r.ppadplus:r.ppadminus)||r.ppad||0),x=_((e._m>0?r.ppadminus:r.ppadplus)||r.ppad||0),T=_(r.vpadplus||r.vpad),A=_(r.vpadminus||r.vpad);if(!u){if(w=1/0,b=-1/0,l)for(f=0;f0&&(w=h),h>b&&h-RD&&(w=h),h>b&&h=S;f--)E(f);return{min:i,max:n,opts:r}}function wG(e,t,r,i){qve(e,t,r,i,pTt)}function TG(e,t,r,i){qve(e,t,r,i,vTt)}function qve(e,t,r,i,n){for(var a=i.tozero,o=i.extrapad,s=!0,l=0;l=r&&(u.extrapad||!o)){s=!1;break}else n(t,u.val)&&u.pad<=r&&(o||!u.extrapad)&&(e.splice(l,1),l--)}if(s){var c=a&&t===0;e.push({val:t,pad:c?0:r,extrapad:c?!1:o})}}function Rve(e){return zve(e)&&Math.abs(e)=t}function gTt(e,t){var r=t.autorangeoptions;return r&&r.minallowed!==void 0&&zD(t,r.minallowed,r.maxallowed)?r.minallowed:r&&r.clipmin!==void 0&&zD(t,r.clipmin,r.clipmax)?Math.max(e,t.d2l(r.clipmin)):e}function mTt(e,t){var r=t.autorangeoptions;return r&&r.maxallowed!==void 0&&zD(t,r.minallowed,r.maxallowed)?r.maxallowed:r&&r.clipmax!==void 0&&zD(t,r.clipmin,r.clipmax)?Math.min(e,t.d2l(r.clipmax)):e}function zD(e,t,r){return t!==void 0&&r!==void 0?(t=e.d2l(t),r=e.d2l(r),t=l&&(a=l,r=l),o<=l&&(o=l,i=l)}}return r=gTt(r,t),i=mTt(i,t),[r,i]}});var ji=W((h9r,u1e)=>{"use strict";var ud=vi(),kl=sn(),ww=Ko(),mA=yi(),bn=it(),Tw=bn.strTranslate,t_=uo(),yTt=e_(),yA=ni(),v0=Ji(),xTt=ec(),Uve=YV(),f9r=Gl(),Tc=Kn(),_Tt=Tc.ONEMAXYEAR,OD=Tc.ONEAVGYEAR,ND=Tc.ONEMINYEAR,bTt=Tc.ONEMAXQUARTER,kG=Tc.ONEAVGQUARTER,UD=Tc.ONEMINQUARTER,wTt=Tc.ONEMAXMONTH,Aw=Tc.ONEAVGMONTH,VD=Tc.ONEMINMONTH,g0=Tc.ONEWEEK,_f=Tc.ONEDAY,Dy=_f/2,a1=Tc.ONEHOUR,xA=Tc.ONEMIN,GD=Tc.ONESEC,TTt=Tc.ONEMILLI,ATt=Tc.ONEMICROSEC,r_=Tc.MINUS_SIGN,jD=Tc.BADNUM,CG={K:"zeroline"},DG={K:"gridline",L:"path"},FG={K:"minor-gridline",L:"path"},Jve={K:"tick",L:"path"},Vve={K:"tick",L:"text"},Gve={width:["x","r","l","xl","xr"],height:["y","t","b","yt","yb"],right:["r","xr"],left:["l","xl"],top:["t","yt"],bottom:["b","yb"]},$D=Hl(),gA=$D.MID_SHIFT,i_=$D.CAP_SHIFT,_A=$D.LINE_SPACING,MTt=$D.OPPOSITE_SIDE,HD=3,Rr=u1e.exports={};Rr.setConvert=i1();var STt=bw(),o1=Cs(),ETt=o1.idSort,kTt=o1.isLinked;Rr.id2name=o1.id2name;Rr.name2id=o1.name2id;Rr.cleanId=o1.cleanId;Rr.list=o1.list;Rr.listIds=o1.listIds;Rr.getFromId=o1.getFromId;Rr.getFromTrace=o1.getFromTrace;var Qve=Op();Rr.getAutoRange=Qve.getAutoRange;Rr.findExtremes=Qve.findExtremes;var CTt=1e-4;function RG(e){var t=(e[1]-e[0])*CTt;return[e[0]-t,e[1]+t]}function DTt(e,t,r){if(![r,e,t].every(kl)||r===0)return e;let i=Math.round((e-t)/r),n=t+i*r;return e!==n&&Math.abs(e-n)h+" domain")),l=l.concat(a||[]),c.length>o?(bn.warn("Array attribute "+u+" has more entries than expected, truncating to "+o),c=c.slice(0,o)):c.length2e-6||((r-e._forceTick0)/e._minDtick%1+1.000001)%1>2e-6)&&(e._minDtick=0))};Rr.saveRangeInitial=function(e,t){for(var r=Rr.list(e,"",!0),i=!1,n=0;nf*.3||u(i)||u(n))){var h=r.dtick/2;e+=e+ho){var s=Number(r.slice(1));a.exactYears>o&&s%12===0?e=Rr.tickIncrement(e,"M6","reverse")+_f*1.5:a.exactMonths>o?e=Rr.tickIncrement(e,"M1","reverse")+_f*15.5:e-=Dy;var l=Rr.tickIncrement(e,r);if(l<=i)return l}return e}Rr.prepMinorTicks=function(e,t,r){var f,h;if(!((f=t.minor)!=null&&f.dtick)){delete e.dtick;var i=t.dtick&&kl(t._tmin),n;if(i){var a=Rr.tickIncrement(t._tmin,t.dtick,!0);n=[t._tmin,a*.99+t._tmin*.01]}else{var o=bn.simpleMap(t.range,t.r2l);n=[o[0],.8*o[0]+.2*o[1]]}if(e.range=bn.simpleMap(n,t.l2r),e._isMinor=!0,Rr.prepTicks(e,r),i){var s=kl(t.dtick),l=kl(e.dtick),u=s?t.dtick:+t.dtick.substring(1),c=l?e.dtick:+e.dtick.substring(1);s&&l?MG(u,c)?u===2*g0&&c===2*_f&&(e.dtick=g0):u===2*g0&&c===3*_f?e.dtick=g0:u===g0&&!(t._input.minor||{}).nticks?e.dtick=_f:$ve(u/c,2.5)?e.dtick=u/2:e.dtick=u:String(t.dtick).charAt(0)==="M"?l?e.dtick="M1":MG(u,c)?u>=12&&c===2&&(e.dtick="M3"):e.dtick=t.dtick:String(e.dtick).charAt(0)==="L"?String(t.dtick).charAt(0)==="L"?MG(u,c)||(e.dtick=$ve(u/c,2.5)?t.dtick/2:t.dtick):e.dtick="D1":e.dtick==="D2"&&+t.dtick>1&&(e.dtick=1)}e.range=t.range}((h=t.minor)==null?void 0:h._tick0Init)===void 0&&(e.tick0=t.tick0)};function MG(e,t){return Math.abs((e/t+.5)%1-.5)<.001}function $ve(e,t){return Math.abs(e/t-1)<.001}Rr.prepTicks=function(e,t){var r=bn.simpleMap(e.range,e.r2l,void 0,void 0,t);if(e.tickmode==="auto"||!e.dtick){var i=e.nticks,n;i||(e.type==="category"||e.type==="multicategory"?(n=e.tickfont?bn.bigFont(e.tickfont.size||12):15,i=e._length/n):(n=e._id.charAt(0)==="y"?40:80,i=bn.constrain(e._length/n,4,9)+1),e._name==="radialaxis"&&(i*=2)),e.minor&&e.minor.tickmode!=="array"||e.tickmode==="array"&&(i*=100),e._roughDTick=Math.abs(r[1]-r[0])/i,Rr.autoTicks(e,e._roughDTick),e._minDtick>0&&e.dtick0?(a=i-1,o=i):(a=i,o=i);var s=e[a].value,l=e[o].value,u=Math.abs(l-s),c=r||u,f=0;c>=ND?u>=ND&&u<=_Tt?f=u:f=OD:r===kG&&c>=UD?u>=UD&&u<=bTt?f=u:f=kG:c>=VD?u>=VD&&u<=wTt?f=u:f=Aw:r===g0&&c>=g0?f=g0:c>=_f?f=_f:r===Dy&&c>=Dy?f=Dy:r===a1&&c>=a1&&(f=a1);var h;f>=u&&(f=u,h=!0);var d=n+f;if(t.rangebreaks&&f>0){for(var p=84,v=0,m=0;mg0&&(f=u)}(f>0||i===0)&&(e[i].periodX=n+f/2)}}Rr.calcTicks=function(t,r){for(var i=t.type,n=t.calendar,a=t.ticklabelstep,o=t.ticklabelmode==="period",s=t.range[0]>t.range[1],l=!t.ticklabelindex||bn.isArrayOrTypedArray(t.ticklabelindex)?t.ticklabelindex:[t.ticklabelindex],u=bn.simpleMap(t.range,t.r2l,void 0,void 0,r),c=u[1]=(_?0:1);M--){var x=!M;M?(t._dtickInit=t.dtick,t._tick0Init=t.tick0):_&&(t.minor._dtickInit=t.minor.dtick,t.minor._tick0Init=t.minor.tick0);var T=M?t:bn.extendFlat({},t,_?t.minor:{minor:{}});if(x?Rr.prepMinorTicks(T,t,r):Rr.prepTicks(T,r),T.tickmode==="array"){M?(m=[],p=Wve(t,!x)):(g=[],v=Wve(t,!x));continue}if(T.tickmode==="sync"){m=[],p=zTt(t);continue}var A=RG(u),y=A[0],E=A[1],S=kl(T.dtick),C=i==="log"&&!(S||T.dtick.charAt(0)==="L"),k=Rr.tickFirst(T,r);if(M){if(t._tmin=k,k=E:F<=E;F=Rr.tickIncrement(F,L,c,n)){if(M&&P++,T.rangebreaks&&!c){if(F=h)break}if(m.length>d||F===D)break;D=F;var B={value:DTt(F,I,L)};M?(F===k&&(B.first=!0),C&&F!==(F|0)&&(B.simpleLabel=!0),a>1&&P%a&&(B.skipLabel=!0),m.push(B)):(B.minor=!0,g.push(B))}}if(!g||g.length<3)l=!1;else{var O=(g[2].value-g[1].value)*(s?-1:1);s6t(O,t.tickformat)||(l=!1,g=g.slice(1))}if(!l)w=m;else{var $=m.concat(g);o&&m.length&&($=$.slice(1)),$=$.sort(function(ue,ee){return ue.value-ee.value}).filter(function(ue,ee,ae){return ee===0||ue.value!==ae[ee-1].value});var Y=$.map(function(ue,ee){return ue.minor===void 0&&!ue.skipLabel?ee:null}).filter(function(ue){return ue!==null});Y.forEach(function(ue){l.map(function(ee){var ae=ue+ee;ae>=0&&ae<$.length&&bn.pushUnique(w,$[ae])})}),m.forEach(function(ue){ue.skipLabel=w.indexOf(ue)===-1})}if(b){var K=t.minor.ticks==="inside"&&t.ticks==="outside"||t.minor.ticks==="outside"&&t.ticks==="inside";if(!K){for(var j=m.map(function(ue){return ue.value}),q=[],J=0;J-1;G--){if(m[G].drop){m.splice(G,1);continue}m[G].value=EG(m[G].value,t);var ge=t.c2p(m[G].value);(Q?ce>ge-te:ceh||xeh&&(ae.periodX=h),xen&&pn&&mOD)t/=OD,i=n(10),e.dtick="M"+12*n1(t,i,BD);else if(a>Aw)t/=Aw,e.dtick="M"+n1(t,1,Yve);else if(a>_f){if(e.dtick=n1(t,_f,e._hasDayOfWeekBreaks?[1,2,7,14]:BTt),!r){var o=Rr.getTickFormat(e),s=e.ticklabelmode==="period";s&&(e._rawTick0=e.tick0),/%[uVW]/.test(o)?e.tick0=bn.dateTick0(e.calendar,2):e.tick0=bn.dateTick0(e.calendar,1),s&&(e._dowTick0=e.tick0)}}else a>a1?e.dtick=n1(t,a1,Yve):a>xA?e.dtick=n1(t,xA,Xve):a>GD?e.dtick=n1(t,GD,Xve):(i=n(10),e.dtick=n1(t,i,BD))}else if(e.type==="log"){e.tick0=0;var l=bn.simpleMap(e.range,e.r2l);if(e._isMinor&&(t*=1.5),t>.7)e.dtick=Math.ceil(t);else if(Math.abs(l[1]-l[0])<1){var u=1.5*Math.abs((l[1]-l[0])/t);t=Math.abs(Math.pow(10,l[1])-Math.pow(10,l[0]))/u,i=n(10),e.dtick="L"+n1(t,i,BD)}else e.dtick=t>.3?"D2":"D1"}else e.type==="category"||e.type==="multicategory"?(e.tick0=0,e.dtick=Math.ceil(Math.max(t,1))):OG(e)?(e.tick0=0,i=1,e.dtick=n1(t,i,qTt)):(e.tick0=0,i=n(10),e.dtick=n1(t,i,BD));if(e.dtick===0&&(e.dtick=1),!kl(e.dtick)&&typeof e.dtick!="string"){var c=e.dtick;throw e.dtick=1,"ax.dtick error: "+String(c)}};function i1e(e){var t=e.dtick;if(e._tickexponent=0,!kl(t)&&typeof t!="string"&&(t=1),(e.type==="category"||e.type==="multicategory")&&(e._tickround=null),e.type==="date"){var r=e.r2l(e.tick0),i=e.l2r(r).replace(/(^-|i)/g,""),n=i.length;if(String(t).charAt(0)==="M")n>10||i.slice(5)!=="01-01"?e._tickround="d":e._tickround=+t.slice(1)%12===0?"y":"m";else if(t>=_f&&n<=10||t>=_f*15)e._tickround="d";else if(t>=xA&&n<=16||t>=a1)e._tickround="M";else if(t>=GD&&n<=19||t>=xA)e._tickround="S";else{var a=e.l2r(r+t).replace(/^-/,"").length;e._tickround=Math.max(n,a)-20,e._tickround<0&&(e._tickround=4)}}else if(kl(t)||t.charAt(0)==="L"){var o=e.range.map(e.r2d||Number);kl(t)||(t=Number(t.slice(1))),e._tickround=2-Math.floor(Math.log(t)/Math.LN10+.01);var s=Math.max(Math.abs(o[0]),Math.abs(o[1])),l=Math.floor(Math.log(s)/Math.LN10+.01),u=e.minexponent===void 0?3:e.minexponent;Math.abs(l)>u&&(Mw(e.exponentformat)&&e.exponentformat!=="SI extended"&&!zG(l)||Mw(e.exponentformat)&&e.exponentformat==="SI extended"&&!BG(l)?e._tickexponent=3*Math.round((l-1)/3):e._tickexponent=l)}else e._tickround=null}Rr.tickIncrement=function(e,t,r,i){var n=r?-1:1;if(kl(t))return bn.increment(e,n*t);var a=t.charAt(0),o=n*Number(t.slice(1));if(a==="M")return bn.incrementMonth(e,o,i);if(a==="L")return Math.log(Math.pow(10,e)+o)/Math.LN10;if(a==="D"){var s=t==="D2"?r1e:t1e,l=e+n*.01,u=bn.roundUp(bn.mod(l,1),s,r);return Math.floor(l)+Math.log(ud.round(Math.pow(10,u),1))/Math.LN10}throw"unrecognized dtick "+String(t)};Rr.tickFirst=function(e,t){var r=e.r2l||Number,i=bn.simpleMap(e.range,r,void 0,void 0,t),n=i[1]=0&&_<=e._length?b:null};if(l&&bn.isArrayOrTypedArray(e.ticktext)){var p=bn.simpleMap(e.range,e.r2l),v=(Math.abs(p[1]-p[0])-(e._lBreaks||0))/1e4;for(h=0;h"+s;else{var u=wA(e),c=e._trueSide||e.side;(!u&&c==="top"||u&&c==="bottom")&&(o+="
")}t.text=o}function NTt(e,t,r,i,n){var a=e.dtick,o=t.x,s=e.tickformat,l=typeof a=="string"&&a.charAt(0);if(n==="never"&&(n=""),i&&l!=="L"&&(a="L3",l="L"),s||l==="L")t.text=bA(Math.pow(10,o),e,n,i);else if(kl(a)||l==="D"&&(e.minorloglabels==="complete"||bn.mod(o+.01,1)<.1)){var u;e.minorloglabels==="complete"&&!(bn.mod(o+.01,1)<.1)&&(u=!0,t.fontSize*=.75);var c=Math.pow(10,o).toExponential(0),f=c.split("e"),h=+f[1],d=Math.abs(h),p=e.exponentformat;p==="power"||Mw(p)&&p!=="SI extended"&&zG(h)||Mw(p)&&p==="SI extended"&&BG(h)?(t.text=f[0],d>0&&(t.text+="x10"),t.text==="1x10"&&(t.text="10"),h!==0&&h!==1&&(t.text+=""+(h>0?"":r_)+d+""),t.fontSize*=1.25):(p==="e"||p==="E")&&d>2?t.text=f[0]+p+(h>0?"+":r_)+d:(t.text=bA(Math.pow(10,o),e,"","fakehover"),a==="D1"&&e._id.charAt(0)==="y"&&(t.dy-=t.fontSize/6))}else if(l==="D")t.text=e.minorloglabels==="none"?"":String(Math.round(Math.pow(10,bn.mod(o,1)))),t.fontSize*=.75;else throw"unrecognized dtick "+String(a);if(e.dtick==="D1"){var v=String(t.text).charAt(0);(v==="0"||v==="1")&&(e._id.charAt(0)==="y"?t.dx-=t.fontSize/4:(t.dy+=t.fontSize/2,t.dx+=(e.range[1]>e.range[0]?1:-1)*t.fontSize*(o<0?.5:.25)))}}function UTt(e,t){var r=e._categories[Math.round(t.x)];r===void 0&&(r=""),t.text=String(r)}function VTt(e,t,r){var i=Math.round(t.x),n=e._categories[i]||[],a=n[1]===void 0?"":String(n[1]),o=n[0]===void 0?"":String(n[0]);r?t.text=o+" - "+a:(t.text=a,t.text2=o)}function GTt(e,t,r,i,n){n==="never"?n="":e.showexponent==="all"&&Math.abs(t.x/e.dtick)<1e-6&&(n="hide"),t.text=bA(t.x,e,n,i)}function HTt(e,t,r,i,n){if(e.thetaunit==="radians"&&!r){var a=t.x/180;if(a===0)t.text="0";else{var o=jTt(a);if(o[1]>=100)t.text=bA(bn.deg2rad(t.x),e,n,i);else{var s=t.x<0;o[1]===1?o[0]===1?t.text="\u03C0":t.text=o[0]+"\u03C0":t.text=["",o[0],"","\u2044","",o[1],"","\u03C0"].join(""),s&&(t.text=r_+t.text)}}}else t.text=bA(t.x,e,n,i)}function jTt(e){function t(s,l){return Math.abs(s-l)<=1e-6}function r(s,l){return t(l,0)?s:r(l,s%l)}function i(s){for(var l=1;!t(Math.round(s*l)/l,s);)l*=10;return l}var n=i(e),a=e*n,o=Math.abs(r(a,n));return[Math.round(a/o),Math.round(n/o)]}var a1e=["f","p","n","\u03BC","m","","k","M","G","T"],$Tt=["q","r","y","z","a",...a1e,"P","E","Z","Y","R","Q"],Mw=e=>["SI","SI extended","B"].includes(e);function zG(e){return e>14||e<-15}function BG(e){return e>32||e<-30}function WTt(e,t){return Mw(t)?!!(t==="SI extended"&&BG(e)||t!=="SI extended"&&zG(e)):!1}function bA(e,t,r,i){var n=e<0,a=t._tickround,o=r||t.exponentformat||"B",s=t._tickexponent,l=Rr.getTickFormat(t),u=t.separatethousands;if(i){var c={exponentformat:o,minexponent:t.minexponent,dtick:t.showexponent==="none"?t.dtick:kl(e)&&Math.abs(e)||1,range:t.showexponent==="none"?t.range.map(t.r2d):[0,e||1]};i1e(c),a=(Number(c._tickround)||0)+4,s=c._tickexponent,t.hoverformat&&(l=t.hoverformat)}if(l)return t._numFormat(l)(e).replace(/-/g,r_);o==="none"&&(s=0),e=Math.abs(e);let f=Math.pow(10,-a)/2;if(e"+h+"":o==="B"&&s===9?e+="B":Mw(o)&&(e+=o==="SI extended"?$Tt[s/3+10]:a1e[s/3+5])}return n?r_+e:e}Rr.getTickFormat=function(e){var t;function r(l){return typeof l!="string"?l:Number(l.replace("M",""))*Aw}function i(l,u){var c=["L","D"];if(typeof l==typeof u){if(typeof l=="number")return l-u;var f=c.indexOf(l.charAt(0)),h=c.indexOf(u.charAt(0));return f===h?Number(l.replace(/(L|D)/g,""))-Number(u.replace(/(L|D)/g,"")):f-h}else return typeof l=="number"?1:-1}function n(l,u,c){var f=c||function(p){return p},h=u[0],d=u[1];return(!h&&typeof h!="number"||f(h)<=f(l))&&(!d&&typeof d!="number"||f(d)>=f(l))}function a(l,u){var c=u[0]===null,f=u[1]===null,h=i(l,u[0])>=0,d=i(l,u[1])<=0;return(c||h)&&(f||d)}var o,s;if(e.tickformatstops&&e.tickformatstops.length>0)switch(e.type){case"date":case"linear":{for(t=0;t=0&&n.unshift(n.splice(c,1).shift())}});var s={false:{left:0,right:0}};return bn.syncOrAsync(n.map(function(l){return function(){if(l){var u=Rr.getFromId(e,l);r||(r={}),r.axShifts=s,r.overlayingShiftedAx=o;var c=Rr.drawOne(e,u,r);return u._shiftPusher&&IG(u,u._fullDepth||0,s,!0),u._r=u.range.slice(),u._rl=bn.simpleMap(u._r,u.r2l),c}}}))};Rr.drawOne=function(e,t,r){r=r||{};var i=r.axShifts||{},n=r.overlayingShiftedAx||[],a,o,s;t.setScale();var l=e._fullLayout,u=t._id,c=u.charAt(0),f=Rr.counterLetter(u),h=l._plots[t._mainSubplot],d=t.zerolinelayer==="above traces";if(!h)return;if(t._shiftPusher=t.autoshift||n.indexOf(t._id)!==-1||n.indexOf(t.overlaying)!==-1,t._shiftPusher&t.anchor==="free"){var p=t.linewidth/2||0;t.ticks==="inside"&&(p+=t.ticklen),IG(t,p,i,!0),IG(t,t.shift||0,i,!1)}(r.skipTitle!==!0||t._shift===void 0)&&(t._shift=o6t(t,i));var v=h[c+"axislayer"],m=t._mainLinePosition,g=m+=t._shift,w=t._mainMirrorPosition,b=t._vals=Rr.calcTicks(t),_=[t.mirror,g,w].join("_");for(a=0;a0?ee.bottom-ye:0,ue))));var pe=0,we=0;if(t._shiftPusher&&(pe=Math.max(ue,ee.height>0?oe==="l"?ye-ee.left:ee.right-ye:0),t.title.text!==l._dfltTitle[c]&&(we=(t._titleStandoff||0)+(t._titleScoot||0),oe==="l"&&(we+=Kve(t))),t._fullDepth=Math.max(pe,we)),t.automargin){ae={x:0,y:0,r:0,l:0,t:0,b:0};var Fe=[0,1],Se=typeof t._shift=="number"?t._shift:0;if(c==="x"){if(oe==="b"?ae[oe]=t._depth:(ae[oe]=t._depth=Math.max(ee.width>0?ye-ee.top:0,ue),Fe.reverse()),ee.width>0){var ke=ee.right-(t._offset+t._length);ke>0&&(ae.xr=1,ae.r=ke);var _e=t._offset-ee.left;_e>0&&(ae.xl=0,ae.l=_e)}}else if(oe==="l"?(t._depth=Math.max(ee.height>0?ye-ee.left:0,ue),ae[oe]=t._depth-Se):(t._depth=Math.max(ee.height>0?ee.right-ye:0,ue),ae[oe]=t._depth+Se,Fe.reverse()),ee.height>0){var Ie=ee.bottom-(t._offset+t._length);Ie>0&&(ae.yb=0,ae.b=Ie);var Oe=t._offset-ee.top;Oe>0&&(ae.yt=1,ae.t=Oe)}ae[f]=t.anchor==="free"?t.position:t._anchorAxis.domain[Fe[0]],t.title.text!==l._dfltTitle[c]&&(ae[oe]+=Kve(t)+(t.title.standoff||0)),t.mirror&&t.anchor!=="free"&&(xe={x:0,y:0,r:0,l:0,t:0,b:0},xe[Ee]=t.linewidth,t.mirror&&t.mirror!==!0&&(xe[Ee]+=ue),t.mirror===!0||t.mirror==="ticks"?xe[f]=t._anchorAxis.domain[Fe[1]]:(t.mirror==="all"||t.mirror==="allticks")&&(xe[f]=[t._counterDomainMin,t._counterDomainMax][Fe[1]]))}he&&(re=mA.getComponentMethod("rangeslider","autoMarginOpts")(e,t)),typeof t.automargin=="string"&&(Zve(ae,t.automargin),Zve(xe,t.automargin)),ww.autoMargin(e,qG(t),ae),ww.autoMargin(e,s1e(t),xe),ww.autoMargin(e,l1e(t),re)}),bn.syncOrAsync(Ce)}};function Zve(e,t){if(e){var r=Object.keys(Gve).reduce(function(i,n){return t.indexOf(n)!==-1&&Gve[n].forEach(function(a){i[a]=1}),i},{});Object.keys(e).forEach(function(i){r[i]||(i.length===1?e[i]=0:delete e[i])})}}function YTt(e,t){var r=[],i,n=function(a,o){var s=a.xbnd[o];s!==null&&r.push(bn.extendFlat({},a,{x:s}))};if(t.length){for(i=0;ie.range[1],s=e.ticklabelposition&&e.ticklabelposition.indexOf("inside")!==-1,l=!s;if(r){var u=o?-1:1;r=r*u}if(i){var c=e.side,f=s&&(c==="top"||c==="left")||l&&(c==="bottom"||c==="right")?1:-1;i=i*f}return e._id.charAt(0)==="x"?function(h){return Tw(n+e._offset+e.l2p(LG(h))+r,a+i)}:function(h){return Tw(a+i,n+e._offset+e.l2p(LG(h))+r)}};function LG(e){return e.periodX!==void 0?e.periodX:e.x}function JTt(e){var t=e.ticklabelposition||"",r=e.tickson||"",i=function(p){return t.indexOf(p)!==-1},n=i("top"),a=i("left"),o=i("right"),s=i("bottom"),l=i("inside"),u=r!=="boundaries"&&(s||a||n||o);if(!u&&!l)return[0,0];var c=e.side,f=u?(e.tickwidth||0)/2:0,h=HD,d=e.tickfont?e.tickfont.size:12;return(s||n)&&(f+=d*i_,h+=(e.linewidth||0)/2),(a||o)&&(f+=(e.linewidth||0)/2,h+=HD),l&&c==="top"&&(h-=d*(1-i_)),(a||n)&&(f=-f),(c==="bottom"||c==="right")&&(h=-h),[u?f:0,l?h:0]}Rr.makeTickPath=function(e,t,r,i){i||(i={});var n=i.minor;if(n&&!e.minor)return"";var a=i.len!==void 0?i.len:n?e.minor.ticklen:e.ticklen,o=e._id.charAt(0),s=(e.linewidth||1)/2;return o==="x"?"M0,"+(t+s*r)+"v"+a*r:"M"+(t+s*r)+",0h"+a*r};Rr.makeLabelFns=function(e,t,r){var i=e.ticklabelposition||"",n=e.tickson||"",a=function(k){return i.indexOf(k)!==-1},o=a("top"),s=a("left"),l=a("right"),u=a("bottom"),c=n!=="boundaries"&&(u||s||o||l),f=a("inside"),h=i==="inside"&&e.ticks==="inside"||!f&&e.ticks==="outside"&&n!=="boundaries",d=0,p=0,v=h?e.ticklen:0;if(f?v*=-1:c&&(v=0),h&&(d+=v,r)){var m=bn.deg2rad(r);d=v*Math.cos(m)+1,p=v*Math.sin(m)}e.showticklabels&&(h||e.showline)&&(d+=.2*e.tickfont.size),d+=(e.linewidth||1)/2*(f?-1:1);var g={labelStandoff:d,labelShift:p},w,b,_,M,x=0,T=e.side,A=e._id.charAt(0),y=e.tickangle,E;if(A==="x")E=!f&&T==="bottom"||f&&T==="top",M=E?1:-1,f&&(M*=-1),w=p*M,b=t+d*M,_=E?1:-.2,Math.abs(y)===90&&(f?_+=gA:y===-90&&T==="bottom"?_=i_:y===90&&T==="top"?_=gA:_=.5,x=gA/2*(y/90)),g.xFn=function(k){return k.dx+w+x*k.fontSize},g.yFn=function(k){return k.dy+b+k.fontSize*_},g.anchorFn=function(k,D){if(c){if(s)return"end";if(l)return"start"}return!kl(D)||D===0||D===180?"middle":D*M<0!==f?"end":"start"},g.heightFn=function(k,D,F){return D<-60||D>60?-.5*F:e.side==="top"!==f?-F:0};else if(A==="y"){if(E=!f&&T==="left"||f&&T==="right",M=E?1:-1,f&&(M*=-1),w=d,b=p*M,_=0,!f&&Math.abs(y)===90&&(y===-90&&T==="left"||y===90&&T==="right"?_=i_:_=.5),f){var S=kl(y)?+y:0;if(S!==0){var C=bn.deg2rad(S);x=Math.abs(Math.sin(C))*i_*M,_=0}}g.xFn=function(k){return k.dx+t-(w+k.fontSize*_)*M+x*k.fontSize},g.yFn=function(k){return k.dy+b+k.fontSize*gA},g.anchorFn=function(k,D){return kl(D)&&Math.abs(D)===90?"middle":E?"end":"start"},g.heightFn=function(k,D,F){return e.side==="right"&&(D*=-1),D<-30?-F:D<30?-.5*F:0}}return g};function WD(e){return[e.text,e.x,e.axInfo,e.font,e.fontSize,e.fontColor].join("_")}Rr.drawTicks=function(e,t,r){r=r||{};var i=t._id+"tick",n=[].concat(t.minor&&t.minor.ticks?r.vals.filter(function(o){return o.minor&&!o.noTick}):[]).concat(t.ticks?r.vals.filter(function(o){return!o.minor&&!o.noTick}):[]),a=r.layer.selectAll("path."+i).data(n,WD);a.exit().remove(),a.enter().append("path").classed(i,1).classed("ticks",1).classed("crisp",r.crisp!==!1).each(function(o){return yA.stroke(ud.select(this),o.minor?t.minor.tickcolor:t.tickcolor)}).style("stroke-width",function(o){return v0.crispRound(e,o.minor?t.minor.tickwidth:t.tickwidth,1)+"px"}).attr("d",r.path).style("display",null),YD(t,[Jve]),a.attr("transform",r.transFn)};Rr.drawGrid=function(e,t,r){if(r=r||{},t.tickmode!=="sync"){var i=t._id+"grid",n=t.minor&&t.minor.showgrid,a=n?r.vals.filter(function(g){return g.minor}):[],o=t.showgrid?r.vals.filter(function(g){return!g.minor}):[],s=r.counterAxis;if(s&&Rr.shouldShowZeroLine(e,t,s))for(var l=t.tickmode==="array",u=0;u=0;p--){var v=p?h:d;if(v){var m=v.selectAll("path."+i).data(p?o:a,WD);m.exit().remove(),m.enter().append("path").classed(i,1).classed("crisp",r.crisp!==!1),m.attr("transform",r.transFn).attr("d",r.path).each(function(g){return yA.stroke(ud.select(this),g.minor?t.minor.gridcolor:t.gridcolor||"#ddd")}).style("stroke-dasharray",function(g){return v0.dashStyle(g.minor?t.minor.griddash:t.griddash,g.minor?t.minor.gridwidth:t.gridwidth)}).style("stroke-width",function(g){return(g.minor?f:t._gw)+"px"}).style("display",null),typeof r.path=="function"&&m.attr("d",r.path)}}YD(t,[DG,FG])}};Rr.drawZeroLine=function(e,t,r){r=r||r;var i=t._id+"zl",n=Rr.shouldShowZeroLine(e,t,r.counterAxis),a=r.layer.selectAll("path."+i).data(n?[{x:0,id:t._id}]:[]);a.exit().remove(),a.enter().append("path").classed(i,1).classed("zl",1).classed("crisp",r.crisp!==!1).each(function(){r.layer.selectAll("path").sort(function(o,s){return ETt(o.id,s.id)})}),a.attr("transform",r.transFn).attr("d",r.path).call(yA.stroke,t.zerolinecolor||yA.defaultLine).style("stroke-width",v0.crispRound(e,t.zerolinewidth,t._gw||1)+"px").style("display",null),YD(t,[CG])};Rr.drawLabels=function(e,t,r){r=r||{};var i=e._fullLayout,n=t._id,a=t.zerolinelayer==="above traces",o=r.cls||n+"tick",s=r.vals.filter(function(I){return I.text}),l=r.labelFns,u=r.secondary?0:t.tickangle,c=(t._prevTickAngles||{})[o],f=r.layer.selectAll("g."+o).data(t.showticklabels?s:[],WD),h=[];f.enter().append("g").classed(o,1).append("text").attr("text-anchor","middle").each(function(I){var B=ud.select(this),O=e._promises.length;B.call(t_.positionText,l.xFn(I),l.yFn(I)).call(v0.font,{family:I.font,size:I.fontSize,color:I.fontColor,weight:I.fontWeight,style:I.fontStyle,variant:I.fontVariant,textcase:I.fontTextcase,lineposition:I.fontLineposition,shadow:I.fontShadow}).text(I.text).call(t_.convertToTspans,e),e._promises[O]?h.push(e._promises.pop().then(function(){d(B,u)})):d(B,u)}),YD(t,[Vve]),f.exit().remove(),r.repositionOnUpdate&&f.each(function(I){ud.select(this).select("text").call(t_.positionText,l.xFn(I),l.yFn(I))});function d(I,B){I.each(function(O){var $=ud.select(this),Y=$.select(".text-math-group"),K=l.anchorFn(O,B),j=r.transFn.call($.node(),O)+(kl(B)&&+B!=0?" rotate("+B+","+l.xFn(O)+","+(l.yFn(O)-O.fontSize/2)+")":""),q=t_.lineCount($),J=_A*O.fontSize,U=l.heightFn(O,kl(B)?+B:0,(q-1)*J);if(U&&(j+=Tw(0,U)),Y.empty()){var V=$.select("text");V.attr({transform:j,"text-anchor":K}),V.style("display",null),t._adjustTickLabelsOverflow&&t._adjustTickLabelsOverflow()}else{var X=v0.bBox(Y.node()).width,H=X*{end:-.5,start:.5}[K];Y.attr("transform",j+Tw(H,0))}})}t._adjustTickLabelsOverflow=function(){var I=t.ticklabeloverflow;if(!(!I||I==="allow")){var B=I.indexOf("hide")!==-1,O=t._id.charAt(0)==="x",$=0,Y=O?e._fullLayout.width:e._fullLayout.height;if(I.indexOf("domain")!==-1){var K=bn.simpleMap(t.range,t.r2l);$=t.l2p(K[0])+t._offset,Y=t.l2p(K[1])+t._offset}var j=Math.min($,Y),q=Math.max($,Y),J=t.side,U=1/0,V=-1/0;f.each(function(Q){var te=ud.select(this),ce=te.select(".text-math-group");if(ce.empty()){var ge=v0.bBox(te.node()),Ce=0;O?(ge.right>q||ge.leftq||ge.top+(t.tickangle?0:Q.fontSize/4)t["_visibleLabelMin_"+K._id]?te.style("display","none"):q.K==="tick"&&!j&&te.node().style.display!=="none"&&te.style("display",null)})})})})},d(f,c+1?c:u);function p(){return h.length&&Promise.all(h)}var v=null;function m(){if(d(f,u),s.length&&t.autotickangles&&(t.type!=="log"||String(t.dtick).charAt(0)!=="D")){v=t.autotickangles[0];var I=0,B=[],O,$=1;f.each(function(ae){I=Math.max(I,ae.fontSize);var xe=t.l2p(ae.x),re=PG(this),pe=v0.bBox(re.node());$=Math.max($,t_.lineCount(re)),B.push({top:0,bottom:10,height:10,left:xe-pe.width/2,right:xe+pe.width/2+2,width:pe.width+2})});var Y=(t.tickson==="boundaries"||t.showdividers)&&!r.secondary,K=s.length,j=Math.abs((s[K-1].x-s[0].x)*t._m)/(K-1),q=Y?j/2:j,J=Y?t.ticklen:I*1.25*$,U=Math.sqrt(Math.pow(q,2)+Math.pow(J,2)),V=q/U,X=t.autotickangles.map(function(ae){return ae*Math.PI/180}),H=X.find(function(ae){return Math.abs(Math.cos(ae))<=V});H===void 0&&(H=X.reduce(function(ae,xe){return Math.abs(Math.cos(ae))P*F&&(C=F,y[A]=E[A]=k[A])}var R=Math.abs(C-S);R-M>0?(R-=M,M*=1+M/R):M=0,t._id.charAt(0)!=="y"&&(M=-M),y[T]=b.p2r(b.r2p(E[T])+x*M),b.autorange==="min"||b.autorange==="max reversed"?(y[0]=null,b._rangeInitial0=void 0,b._rangeInitial1=void 0):(b.autorange==="max"||b.autorange==="min reversed")&&(y[1]=null,b._rangeInitial0=void 0,b._rangeInitial1=void 0),i._insideTickLabelsUpdaterange[b._name+".range"]=y}var L=bn.syncOrAsync(g);return L&&L.then&&e._promises.push(L),L};function QTt(e,t,r){var i=t._id+"divider",n=r.vals,a=r.layer.selectAll("path."+i).data(n,WD);a.exit().remove(),a.enter().insert("path",":first-child").classed(i,1).classed("crisp",1).call(yA.stroke,t.dividercolor).style("stroke-width",v0.crispRound(e,t.dividerwidth,1)+"px"),a.attr("transform",r.transFn).attr("d",r.path)}Rr.getPxPosition=function(e,t){var r=e._fullLayout._size,i=t._id.charAt(0),n=t.side,a;if(t.anchor!=="free"?a=t._anchorAxis:i==="x"?a={_offset:r.t+(1-(t.position||0))*r.h,_length:0}:i==="y"&&(a={_offset:r.l+(t.position||0)*r.w+t._shift,_length:0}),n==="top"||n==="left")return a._offset;if(n==="bottom"||n==="right")return a._offset+a._length};function Kve(e){var t=e.title.font.size,r=(e.title.text.match(t_.BR_TAG_ALL)||[]).length;return e.title.hasOwnProperty("standoff")?t*(i_+r*_A):r?t*(r+1)*_A:t}function e6t(e,t){var r=e._fullLayout,i=t._id,n=i.charAt(0),a=t.title.font.size,o,s=(t.title.text.match(t_.BR_TAG_ALL)||[]).length;if(t.title.hasOwnProperty("standoff"))t.side==="bottom"||t.side==="right"?o=t._depth+t.title.standoff+a*i_:(t.side==="top"||t.side==="left")&&(o=t._depth+t.title.standoff+a*(gA+s*_A));else{var l=wA(t);if(t.type==="multicategory")o=t._depth;else{var u=1.5*a;l&&(u=.5*a,t.ticks==="outside"&&(u+=t.ticklen)),o=10+u+(t.linewidth?t.linewidth-1:0)}l||(n==="x"?o+=t.side==="top"?a*(t.showticklabels?1:0):a*(t.showticklabels?1.5:.5):o+=t.side==="right"?a*(t.showticklabels?1:.5):a*(t.showticklabels?.5:0))}var c=Rr.getPxPosition(e,t),f,h,d;n==="x"?(h=t._offset+t._length/2,d=t.side==="top"?c-o:c+o):(d=t._offset+t._length/2,h=t.side==="right"?c+o:c-o,f={rotate:"-90",offset:0});var p;if(t.type!=="multicategory"){var v=t._selections[t._id+"tick"];if(p={selection:v,side:t.side},v&&v.node()&&v.node().parentNode){var m=v0.getTranslate(v.node().parentNode);p.offsetLeft=m.x,p.offsetTop=m.y}t.title.hasOwnProperty("standoff")&&(p.pad=0)}return t._titleStandoff=o,yTt.draw(e,i+"title",{propContainer:t,propName:t._name+".title.text",placeholder:r._dfltTitle[n],avoid:p,transform:f,attributes:{x:h,y:d,"text-anchor":"middle"}})}Rr.shouldShowZeroLine=function(e,t,r){var i=bn.simpleMap(t.range,t.r2l);return i[0]*i[1]<=0&&t.zeroline&&(t.type==="linear"||t.type==="-")&&!(t.rangebreaks&&t.maskBreaks(0)===jD)&&(o1e(t,0)||!t6t(e,t,r,i)||r6t(e,t))};Rr.clipEnds=function(e,t){return t.filter(function(r){return o1e(e,r.x)})};function o1e(e,t){var r=e.l2p(t);return r>1&&r1)for(n=1;n=n.min&&e=ATt:/%L/.test(t)?e>=TTt:/%[SX]/.test(t)?e>=GD:/%M/.test(t)?e>=xA:/%[HI]/.test(t)?e>=a1:/%p/.test(t)?e>=Dy:/%[Aadejuwx]/.test(t)?e>=_f:/%[UVW]/.test(t)?e>=g0:/%[Bbm]/.test(t)?e>=VD:/%[q]/.test(t)?e>=UD:/%[Yy]/.test(t)?e>=ND:!0}});var NG=W((d9r,c1e)=>{"use strict";c1e.exports=function(t,r,i){var n,a;if(i){var o=r==="reversed"||r==="min reversed"||r==="max reversed";n=i[o?1:0],a=i[o?0:1]}var s=t("autorangeoptions.minallowed",a===null?n:void 0),l=t("autorangeoptions.maxallowed",n===null?a:void 0);s===void 0&&t("autorangeoptions.clipmin"),l===void 0&&t("autorangeoptions.clipmax"),t("autorangeoptions.include")}});var UG=W((p9r,f1e)=>{"use strict";var l6t=NG();f1e.exports=function(t,r,i,n){var a=r._template||{},o=r.type||a.type||"-";i("minallowed"),i("maxallowed");var s=i("range");if(!s){var l;!n.noInsiderange&&o!=="log"&&(l=i("insiderange"),l&&(l[0]===null||l[1]===null)&&(r.insiderange=!1,l=void 0),l&&(s=i("range",l)))}var u=r.getAutorangeDflt(s,n),c=i("autorange",u),f;s&&(s[0]===null&&s[1]===null||(s[0]===null||s[1]===null)&&(c==="reversed"||c===!0)||s[0]!==null&&(c==="min"||c==="max reversed")||s[1]!==null&&(c==="max"||c==="min reversed"))&&(s=void 0,delete r.range,r.autorange=!0,f=!0),f||(u=r.getAutorangeDflt(s,n),c=i("autorange",u)),c&&(l6t(i,c,s),(o==="linear"||o==="-")&&i("rangemode")),r.cleanRange()}});var d1e=W((v9r,h1e)=>{var u6t={left:0,top:0};h1e.exports=c6t;function c6t(e,t,r){t=t||e.currentTarget||e.srcElement,Array.isArray(r)||(r=[0,0]);var i=e.clientX||0,n=e.clientY||0,a=f6t(t);return r[0]=i-a.left,r[1]=n-a.top,r}function f6t(e){return e===window||e===document||e===document.body?u6t:e.getBoundingClientRect()}});var XD=W((g9r,p1e)=>{"use strict";var h6t=wV();function d6t(){var e=!1;try{var t=Object.defineProperty({},"passive",{get:function(){e=!0}});window.addEventListener("test",null,t),window.removeEventListener("test",null,t)}catch(r){e=!1}return e}p1e.exports=h6t&&d6t()});var g1e=W((m9r,v1e)=>{"use strict";v1e.exports=function(t,r,i,n,a){var o=(t-i)/(n-i),s=o+r/(n-i),l=(o+s)/2;return a==="left"||a==="bottom"?o:a==="center"||a==="middle"?l:a==="right"||a==="top"?s:o<2/3-l?o:s>4/3-l?s:l}});var x1e=W((y9r,y1e)=>{"use strict";var m1e=it(),p6t=[["sw-resize","s-resize","se-resize"],["w-resize","move","e-resize"],["nw-resize","n-resize","ne-resize"]];y1e.exports=function(t,r,i,n){return i==="left"?t=0:i==="center"?t=1:i==="right"?t=2:t=m1e.constrain(Math.floor(t*3),0,2),n==="bottom"?r=0:n==="middle"?r=1:n==="top"?r=2:r=m1e.constrain(Math.floor(r*3),0,2),p6t[r][t]}});var b1e=W((x9r,_1e)=>{"use strict";var v6t=lw(),g6t=QC(),m6t=K6().getGraphDiv,y6t=P6(),VG=_1e.exports={};VG.wrapped=function(e,t,r){var a;e=m6t(e),e._fullLayout&&g6t.clear(e._fullLayout._uid+y6t.HOVERID);let i=e._hoverdata;VG.raw(e,t,r)&&e._hoverAnywhereActive&&(e._hoverAnywhereActive=!1,(a=e._fullLayout)!=null&&a.hoveranywhere&&(t!=null&&t.target)&&!i&&e.emit("plotly_unhover",{event:t,points:[]}))};VG.raw=function(t,r){var i=t._fullLayout,n=t._hoverdata;return r||(r={}),r.target&&!t._dragged&&v6t.triggerHandler(t,"plotly_beforehover",r)===!1?!1:(i._hoverlayer.selectAll("g").remove(),i._hoverlayer.selectAll("line").remove(),i._hoverlayer.selectAll("circle").remove(),t._hoverdata=void 0,r.target&&n&&t.emit("plotly_unhover",{event:r,points:n}),!0)}});var bf=W((_9r,M1e)=>{"use strict";var x6t=d1e(),GG=AV(),_6t=XD(),b6t=it().removeElement,w6t=Gl(),n_=M1e.exports={};n_.align=g1e();n_.getCursor=x1e();var T1e=b1e();n_.unhover=T1e.wrapped;n_.unhoverRaw=T1e.raw;n_.init=function(t){var r=t.gd,i=1,n=r._context.doubleClickDelay,a=t.element,o,s,l,u,c,f,h,d;r._mouseDownTime||(r._mouseDownTime=0),a.style.pointerEvents="all",a.onmousedown=m,_6t?(a._ontouchstart&&a.removeEventListener("touchstart",a._ontouchstart),a._ontouchstart=m,a.addEventListener("touchstart",m,{passive:!1})):a.ontouchstart=m;function p(b,_,M){return Math.abs(b)n&&(i=Math.max(i-1,1)),r._dragged)t.doneFn&&t.doneFn();else{var _;f.target===h?_=f:(_={target:h,srcElement:h,toElement:h},Object.keys(f).concat(Object.keys(f.__proto__)).forEach(M=>{var x=f[M];!_[M]&&typeof x!="function"&&(_[M]=x)})),t.clickFn&&t.clickFn(i,_),d||h.dispatchEvent(new MouseEvent("click",b))}r._dragging=!1,r._dragged=!1}};function A1e(){var e=document.createElement("div");e.className="dragcover";var t=e.style;return t.position="fixed",t.left=0,t.right=0,t.top=0,t.bottom=0,t.zIndex=999999999,t.background="none",document.body.appendChild(e),e}n_.coverSlip=A1e;function w1e(e){return x6t(e.changedTouches?e.changedTouches[0]:e,document.body)}});var Np=W((b9r,S1e)=>{"use strict";S1e.exports=function(t,r){(t.attr("class")||"").split(" ").forEach(function(i){i.indexOf("cursor-")===0&&t.classed(i,!1)}),r&&t.classed("cursor-"+r,!0)}});var C1e=W((w9r,k1e)=>{"use strict";var HG=Np(),TA="data-savedcursor",E1e="!!";k1e.exports=function(t,r){var i=t.attr(TA);if(r){if(!i){for(var n=(t.attr("class")||"").split(" "),a=0;a{"use strict";var jG=Ho(),T6t=Vl();D1e.exports={_isSubplotObj:!0,visible:{valType:"boolean",dflt:!0,editType:"legend"},bgcolor:{valType:"color",editType:"legend"},bordercolor:{valType:"color",dflt:T6t.defaultLine,editType:"legend"},maxheight:{valType:"number",min:0,editType:"legend"},borderwidth:{valType:"number",min:0,dflt:0,editType:"legend"},font:jG({editType:"legend"}),grouptitlefont:jG({editType:"legend"}),orientation:{valType:"enumerated",values:["v","h"],dflt:"v",editType:"legend"},traceorder:{valType:"flaglist",flags:["reversed","grouped"],extras:["normal"],editType:"legend"},tracegroupgap:{valType:"number",min:0,dflt:10,editType:"legend"},entrywidth:{valType:"number",min:0,editType:"legend"},entrywidthmode:{valType:"enumerated",values:["fraction","pixels"],dflt:"pixels",editType:"legend"},indentation:{valType:"number",min:-15,dflt:0,editType:"legend"},itemsizing:{valType:"enumerated",values:["trace","constant"],dflt:"trace",editType:"legend"},itemwidth:{valType:"number",min:30,dflt:30,editType:"legend"},itemclick:{valType:"enumerated",values:["toggle","toggleothers",!1],dflt:"toggle",editType:"legend"},itemdoubleclick:{valType:"enumerated",values:["toggle","toggleothers",!1],dflt:"toggleothers",editType:"legend"},groupclick:{valType:"enumerated",values:["toggleitem","togglegroup"],dflt:"togglegroup",editType:"legend"},groupdoubleclick:{valType:"enumerated",values:["toggleitem","togglegroup"],editType:"legend"},titleclick:{valType:"enumerated",values:["toggle","toggleothers",!1],editType:"legend"},titledoubleclick:{valType:"enumerated",values:["toggle","toggleothers",!1],editType:"legend"},x:{valType:"number",editType:"legend"},xref:{valType:"enumerated",dflt:"paper",values:["container","paper"],editType:"layoutstyle"},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"left",editType:"legend"},y:{valType:"number",editType:"legend"},yref:{valType:"enumerated",dflt:"paper",values:["container","paper"],editType:"layoutstyle"},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],editType:"legend"},uirevision:{valType:"any",editType:"none"},valign:{valType:"enumerated",values:["top","middle","bottom"],dflt:"middle",editType:"legend"},title:{text:{valType:"string",dflt:"",editType:"legend"},font:jG({editType:"legend"}),side:{valType:"enumerated",values:["top","left","top left","top center","top right"],editType:"legend"},editType:"legend"},editType:"legend"}});var MA=W(AA=>{"use strict";AA.isGrouped=function(t){return(t.traceorder||"").indexOf("grouped")!==-1};AA.isVertical=function(t){return t.orientation!=="h"};AA.isReversed=function(t){return(t.traceorder||"").indexOf("reversed")!==-1};AA.getId=function(t){return t._id||"legend"}});var YG=W((M9r,F1e)=>{"use strict";var ZD=yi(),m0=it(),A6t=Da(),M6t=Wa(),S6t=$G(),E6t=ew(),WG=MA();function k6t(e,t,r,i,n){var a=t[e]||{},o=A6t.newContainer(r,e);function s(B,O){return m0.coerce(a,o,S6t,B,O)}var l=m0.coerceFont(s,"font",r.font);s("bgcolor",r.paper_bgcolor),s("bordercolor");var u=s("visible");if(!u)return;var c,f=function(B,O){var $=c._input,Y=c;return m0.coerce($,Y,M6t,B,O)},h=r.font||{},d=m0.coerceFont(s,"grouptitlefont",h,{overrideDflt:{size:Math.round(h.size*1.1)}}),p=0,v=!1,m="normal",g=(r.shapes||[]).filter(function(B){return B.showlegend});function w(B){return ZD.traceIs(B,"pie-like")&&B._length!=null&&(Array.isArray(B.legend)||Array.isArray(B.showlegend))}i.filter(w).forEach(function(B){B.visible&&p++;for(var O=0;OB.legend.length)for(var Y=B.legend.length;Y(e==="legend"?1:0));if(x===!1&&(r[e]=void 0),x===!1&&!a.uirevision||(s("uirevision",r.uirevision),x===!1))return;s("borderwidth");var T=s("orientation"),A=s("yref"),y=s("xref"),E=T==="h",S=A==="paper",C=y==="paper",k,D,F,P="left";E?(k=0,ZD.getComponentMethod("rangeslider","isVisible")(t.xaxis)?S?(D=1.1,F="bottom"):(D=1,F="top"):S?(D=-.1,F="top"):(D=0,F="bottom")):(D=1,F="auto",C?k=1.02:(k=1,P="right")),m0.coerce(a,o,{x:{valType:"number",editType:"legend",min:C?-2:0,max:C?3:1,dflt:k}},"x"),m0.coerce(a,o,{y:{valType:"number",editType:"legend",min:S?-2:0,max:S?3:1,dflt:D}},"y"),s("traceorder",m),WG.isGrouped(r[e])&&s("tracegroupgap"),s("entrywidth"),s("entrywidthmode"),s("indentation"),s("itemsizing"),s("itemwidth"),s("itemclick"),s("itemdoubleclick");let R=s("groupclick");s("groupdoubleclick",R),s("xanchor",P),s("yanchor",F),s("maxheight"),s("valign"),m0.noneOrAll(a,o,["x","y"]);var L=s("title.text");if(L){s("title.side",E?"left":"top");var I=m0.extendFlat({},l,{size:m0.bigFont(l.size)});m0.coerceFont(s,"title.font",I);let B=n>1;s("titleclick",B?"toggle":!1),s("titledoubleclick",B?"toggleothers":!1)}}F1e.exports=function(t,r,i){var n,a=i.slice(),o=r.shapes;if(o)for(n=0;n{"use strict";var Fy=yi(),XG=it(),C6t=XG.pushUnique,D6t=MA(),L1e=!0;ZG.handleItemClick=function(t,r,i,n,a){var o=r._fullLayout;if(r._dragged||r._editing)return;var s=t.data()[0][0];if(s.groupTitle&&s.noClick)return;let l=a===2?i.groupdoubleclick:i.groupclick;n==="toggle"&&i.itemdoubleclick==="toggleothers"&&L1e&&r.data&&r._context.showTips&&(XG.notifier(XG._(r,"Double-click on legend to isolate one trace"),"long",r),L1e=!1);var u=l==="togglegroup",c=o.hiddenlabels?o.hiddenlabels.slice():[],f=r._fullData;let h=(o.shapes||[]).filter(be=>be.showlegend||be.legendgroup);var d=f.concat(h),p=s.trace;p._isShape&&(p=o.shapes[p.index]);var v=p.legendgroup,m,g,w,b,_,M,x={},T=[],A=[],y=[];function E(be,he){var oe=T.indexOf(be),Ee=x.visible;return Ee||(Ee=x.visible=[]),T.indexOf(be)===-1&&(T.push(be),oe=T.length-1),Ee[oe]=he,oe}var S=(o.shapes||[]).map(function(be){return be._input}),C=!1;function k(be,he){S[be].visible=he,C=!0}function D(be,he){if(!(s.groupTitle&&!u)){var oe=be._isShape,Ee=be.index;Ee===void 0&&(Ee=be._index);var ye=be.visible===!1?!1:he;oe?k(Ee,ye):E(Ee,ye)}}var F=p.legend;if(!p._isShape&&Fy.traceIs(p,"pie-like")){var P=s.label,R=c.indexOf(P);if(n==="toggle")R===-1?c.push(P):c.splice(R,1);else if(n==="toggleothers"){var L=R!==-1,I=[];for(m=0;mg.showlegend||g.legendgroup),l=a.concat(s);function u(g){return(g.legend||"legend")===o}var c,f;if(i==="toggle")c=!l.some(function(w){return u(w)&&w.visible===!0}),f=!1;else{let g=l.some(function(w){return!u(w)&&w.visible===!0&&w.showlegend!==!1});c=!0,f=!g}let h={visible:[]},d=[],p=(n.shapes||[]).map(function(g){return g._input});for(var v=!1,m=0;m{"use strict";P1e.exports={scrollBarWidth:6,scrollBarMinHeight:20,scrollBarColor:"#808BA4",scrollBarMargin:4,scrollBarEnterAttrs:{rx:20,ry:3,width:0,height:0},titlePad:2,itemGap:5}});var z1e=W((k9r,R1e)=>{"use strict";var{isArrayOrTypedArray:QG}=yc(),I1e=yi(),eH=MA();R1e.exports=function(t,r,i){var n=r._inHover,a=eH.isGrouped(r),o=eH.isReversed(r),s={},l=[],u=!1,c={},f=0,h=0,d,p;function v(B,O,$){if(r.visible!==!1&&!(i&&B!==r._id))if(O===""||!eH.isGrouped(r)){var Y="~~i"+f;l.push(Y),s[Y]=[$],f++}else l.indexOf(O)===-1?(l.push(O),u=!0,s[O]=[$]):s[O].push($)}for(d=0;dk&&(S=k)}y[d][0]._groupMinRank=S,y[d][0]._preGroupSort=d}var D=function(B,O){return B[0]._groupMinRank-O[0]._groupMinRank||B[0]._preGroupSort-O[0]._preGroupSort},F=function(B,O){var $=QG(B.trace.legendrank)?B.trace.legendrank[B.i]:B.trace.legendrank,Y=QG(O.trace.legendrank)?O.trace.legendrank[O.i]:O.trace.legendrank;return $-Y||B._preSort-O._preSort};for(y.forEach(function(B,O){B[0]._preGroupSort=O}),y.sort(D),d=0;d{"use strict";var KD=it();function B1e(e){return e.indexOf("e")!==-1?e.replace(/[.]?0+e/,"e"):e.indexOf(".")!==-1?e.replace(/[.]?0+$/,""):e}a_.formatPiePercent=function(t,r){var i=B1e((t*100).toPrecision(3));return KD.numSeparate(i,r)+"%"};a_.formatPieValue=function(t,r){var i=B1e(t.toPrecision(10));return KD.numSeparate(i,r)};a_.getFirstFilled=function(t,r){if(KD.isArrayOrTypedArray(t))for(var i=0;i{"use strict";var F6t=Ji(),L6t=ni();q1e.exports=function(t,r,i,n){var a=i.marker.pattern;a&&a.shape?F6t.pointStyle(t,i,n,r):L6t.fill(t,r.color)}});var Sw=W((F9r,V1e)=>{"use strict";var N1e=ni(),U1e=Ly().castOption,P6t=O1e();V1e.exports=function(t,r,i,n){var a=i.marker.line,o=U1e(a.color,r.pts)||N1e.defaultLine,s=U1e(a.width,r.pts)||0;t.call(P6t,r,i,n).style("stroke-width",s).call(N1e.stroke,o)}});var nH=W((L9r,Y1e)=>{"use strict";var wf=vi(),tH=yi(),Kc=it(),G1e=Kc.strTranslate,y0=Ji(),cd=ni(),rH=bc().extractOpts,JD=$o(),I6t=Sw(),R6t=Ly().castOption,z6t=JG(),H1e=12,j1e=5,o_=2,B6t=10,Ew=5;Y1e.exports=function(t,r,i){var n=r._fullLayout;i||(i=n.legend);var a=i.itemsizing==="constant",o=i.itemwidth,s=(o+z6t.itemGap*2)/2,l=G1e(s,0),u=function(T,A,y,E){var S;if(T+1)S=T;else if(A&&A.width>0)S=A.width;else return 0;return a?E:Math.min(S,y)};t.each(function(T){var A=wf.select(this),y=Kc.ensureSingle(A,"g","layers");y.style("opacity",T[0].trace.opacity);var E=i.indentation,S=i.valign,C=T[0].lineHeight,k=T[0].height;if(S==="middle"&&E===0||!C||!k)y.attr("transform",null);else{var D={top:1,bottom:-1}[S],F=D*(.5*(C-k+3))||0,P=i.indentation;y.attr("transform",G1e(P,F))}var R=y.selectAll("g.legendfill").data([T]);R.enter().append("g").classed("legendfill",!0);var L=y.selectAll("g.legendlines").data([T]);L.enter().append("g").classed("legendlines",!0);var I=y.selectAll("g.legendsymbols").data([T]);I.enter().append("g").classed("legendsymbols",!0),I.selectAll("g.legendpoints").data([T]).enter().append("g").classed("legendpoints",!0)}).each(x).each(h).each(p).each(d).each(m).each(_).each(b).each(c).each(f).each(g).each(w);function c(T){var A=$1e(T),y=A.showFill,E=A.showLine,S=A.showGradientLine,C=A.showGradientFill,k=A.anyFill,D=A.anyLine,F=T[0],P=F.trace,R,L,I=rH(P),B=I.colorscale,O=I.reversescale,$=function(V){if(V.size())if(y)y0.fillGroupStyle(V,r,!0);else{var X="legendfill-"+P.uid;y0.gradient(V,r,X,iH(O),B,"fill")}},Y=function(V){if(V.size()){var X="legendline-"+P.uid;y0.lineGroupStyle(V),y0.gradient(V,r,X,iH(O),B,"stroke")}},K=JD.hasMarkers(P)||!k?"M5,0":D?"M5,-2":"M5,-3",j=wf.select(this),q=j.select(".legendfill").selectAll("path").data(y||C?[T]:[]);if(q.enter().append("path").classed("js-fill",!0),q.exit().remove(),q.attr("d",K+"h"+o+"v6h-"+o+"z").call($),E||S){var J=u(void 0,P.line,B6t,j1e);L=Kc.minExtend(P,{line:{width:J}}),R=[Kc.minExtend(F,{trace:L})]}var U=j.select(".legendlines").selectAll("path").data(E||S?[R]:[]);U.enter().append("path").classed("js-line",!0),U.exit().remove(),U.attr("d",K+(S?"l"+o+",0.0001":"h"+o)).call(E?y0.lineGroupStyle:Y)}function f(T){var A=$1e(T),y=A.anyFill,E=A.anyLine,S=A.showLine,C=A.showMarker,k=T[0],D=k.trace,F=!C&&!E&&!y&&JD.hasText(D),P,R;function L(J,U,V,X){var H=Kc.nestedProperty(D,J).get(),G=Kc.isArrayOrTypedArray(H)&&U?U(H):H;if(a&&G&&X!==void 0&&(G=X),V){if(GV[1])return V[1]}return G}function I(J){return k._distinct&&k.index&&J[k.index]?J[k.index]:J[0]}if(C||F||S){var B={},O={};if(C){B.mc=L("marker.color",I);var $=D.type==="scattermap";B.mx=$?"circle":L("marker.symbol",I),B.mo=L("marker.opacity",Kc.mean,[.2,1]),B.mlc=L("marker.line.color",I),B.mlw=L("marker.line.width",Kc.mean,[0,5],o_),B.mld=L("marker.line.dash",I),O.marker={sizeref:1,sizemin:1,sizemode:"diameter"};var Y=L("marker.size",Kc.mean,[2,16],H1e);B.ms=Y,O.marker.size=Y}S&&(O.line={width:L("line.width",I,[0,10],j1e)}),F&&(B.tx="Aa",B.tp=L("textposition",I),B.ts=10,B.tc=L("textfont.color",I),B.tf=L("textfont.family",I),B.tw=L("textfont.weight",I),B.ty=L("textfont.style",I),B.tv=L("textfont.variant",I),B.tC=L("textfont.textcase",I),B.tE=L("textfont.lineposition",I),B.tS=L("textfont.shadow",I)),P=[Kc.minExtend(k,B)],R=Kc.minExtend(D,O),R.selectedpoints=null,R.texttemplate=null}var K=wf.select(this).select("g.legendpoints"),j=K.selectAll("path.scatterpts").data(C?P:[]);j.enter().insert("path",":first-child").classed("scatterpts",!0).attr("transform",l),j.exit().remove(),j.call(y0.pointStyle,R,r),C&&(P[0].mrc=3);var q=K.selectAll("g.pointtext").data(F?P:[]);q.enter().append("g").classed("pointtext",!0).append("text").attr("transform",l),q.exit().remove(),q.selectAll("text").call(y0.textPointStyle,R,r)}function h(T){var A=T[0].trace,y=A.type==="waterfall";if(T[0]._distinct&&y){var E=T[0].trace[T[0].dir].marker;return T[0].mc=E.color,T[0].mlw=E.line.width,T[0].mlc=E.line.color,v(T,this,"waterfall")}var S=[];A.visible&&y&&(S=T[0].hasTotals?[["increasing","M-6,-6V6H0Z"],["totals","M6,6H0L-6,-6H-0Z"],["decreasing","M6,6V-6H0Z"]]:[["increasing","M-6,-6V6H6Z"],["decreasing","M6,6V-6H-6Z"]]);var C=wf.select(this).select("g.legendpoints").selectAll("path.legendwaterfall").data(S);C.enter().append("path").classed("legendwaterfall",!0).attr("transform",l).style("stroke-miterlimit",1),C.exit().remove(),C.each(function(k){var D=wf.select(this),F=A[k[0]].marker,P=u(void 0,F.line,Ew,o_);D.attr("d",k[1]).style("stroke-width",P+"px").call(cd.fill,F.color),P&&D.call(cd.stroke,F.line.color)})}function d(T){v(T,this)}function p(T){v(T,this,"funnel")}function v(T,A,y){var E=T[0].trace,S=E.marker||{},C=S.line||{},k=S.cornerradius?"M6,3a3,3,0,0,1-3,3H-3a3,3,0,0,1-3-3V-3a3,3,0,0,1,3-3H3a3,3,0,0,1,3,3Z":"M6,6H-6V-6H6Z",D=y?E.visible&&E.type===y:tH.traceIs(E,"bar"),F=wf.select(A).select("g.legendpoints").selectAll("path.legend"+y).data(D?[T]:[]);F.enter().append("path").classed("legend"+y,!0).attr("d",k).attr("transform",l),F.exit().remove(),F.each(function(P){var R=wf.select(this),L=P[0],I=u(L.mlw,S.line,Ew,o_);R.style("stroke-width",I+"px");var B=L.mcc;if(!i._inHover&&"mc"in L){var O=rH(S),$=O.mid;$===void 0&&($=(O.max+O.min)/2),B=y0.tryColorscale(S,"")($)}var Y=B||L.mc||S.color,K=S.pattern,j=y0.getPatternAttr,q=K&&(j(K.shape,0,"")||j(K.path,0,""));if(q){var J=j(K.bgcolor,0,null),U=j(K.fgcolor,0,null),V=K.fgopacity,X=W1e(K.size,8,10),H=W1e(K.solidity,.5,1),G="legend-"+E.uid;R.call(y0.pattern,"legend",r,G,q,X,H,B,K.fillmode,J,U,V)}else R.call(cd.fill,Y);I&&cd.stroke(R,L.mlc||C.color)})}function m(T){var A=T[0].trace,y=wf.select(this).select("g.legendpoints").selectAll("path.legendbox").data(A.visible&&tH.traceIs(A,"box-violin")?[T]:[]);y.enter().append("path").classed("legendbox",!0).attr("d","M6,6H-6V-6H6Z").attr("transform",l),y.exit().remove(),y.each(function(){var E=wf.select(this);if((A.boxpoints==="all"||A.points==="all")&&cd.opacity(A.fillcolor)===0&&cd.opacity((A.line||{}).color)===0){var S=Kc.minExtend(A,{marker:{size:a?H1e:Kc.constrain(A.marker.size,2,16),sizeref:1,sizemin:1,sizemode:"diameter"}});y.call(y0.pointStyle,S,r)}else{var C=u(void 0,A.line,Ew,o_);E.style("stroke-width",C+"px").call(cd.fill,A.fillcolor),C&&cd.stroke(E,A.line.color)}})}function g(T){var A=T[0].trace,y=wf.select(this).select("g.legendpoints").selectAll("path.legendcandle").data(A.visible&&A.type==="candlestick"?[T,T]:[]);y.enter().append("path").classed("legendcandle",!0).attr("d",function(E,S){return S?"M-15,0H-8M-8,6V-6H8Z":"M15,0H8M8,-6V6H-8Z"}).attr("transform",l).style("stroke-miterlimit",1),y.exit().remove(),y.each(function(E,S){var C=wf.select(this),k=A[S?"increasing":"decreasing"],D=u(void 0,k.line,Ew,o_);C.style("stroke-width",D+"px").call(cd.fill,k.fillcolor),D&&cd.stroke(C,k.line.color)})}function w(T){var A=T[0].trace,y=wf.select(this).select("g.legendpoints").selectAll("path.legendohlc").data(A.visible&&A.type==="ohlc"?[T,T]:[]);y.enter().append("path").classed("legendohlc",!0).attr("d",function(E,S){return S?"M-15,0H0M-8,-6V0":"M15,0H0M8,6V0"}).attr("transform",l).style("stroke-miterlimit",1),y.exit().remove(),y.each(function(E,S){var C=wf.select(this),k=A[S?"increasing":"decreasing"],D=u(void 0,k.line,Ew,o_);C.style("fill","none").call(y0.dashLine,k.line.dash,D),D&&cd.stroke(C,k.line.color)})}function b(T){M(T,this,"pie")}function _(T){M(T,this,"funnelarea")}function M(T,A,y){var E=T[0],S=E.trace,C=y?S.visible&&S.type===y:tH.traceIs(S,y),k=wf.select(A).select("g.legendpoints").selectAll("path.legend"+y).data(C?[T]:[]);if(k.enter().append("path").classed("legend"+y,!0).attr("d","M6,6H-6V-6H6Z").attr("transform",l),k.exit().remove(),k.size()){var D=S.marker||{},F=u(R6t(D.line.width,E.pts),D.line,Ew,o_),P="pieLike",R=Kc.minExtend(S,{marker:{line:{width:F}}},P),L=Kc.minExtend(E,{trace:R},P);I6t(k,L,R,r)}}function x(T){var A=T[0].trace,y,E=[];if(A.visible)switch(A.type){case"histogram2d":case"heatmap":E=[["M-15,-2V4H15V-2Z"]],y=!0;break;case"choropleth":case"choroplethmap":E=[["M-6,-6V6H6V-6Z"]],y=!0;break;case"densitymap":E=[["M-6,0 a6,6 0 1,0 12,0 a 6,6 0 1,0 -12,0"]],y="radial";break;case"cone":E=[["M-6,2 A2,2 0 0,0 -6,6 V6L6,4Z"],["M-6,-6 A2,2 0 0,0 -6,-2 L6,-4Z"],["M-6,-2 A2,2 0 0,0 -6,2 L6,0Z"]],y=!1;break;case"streamtube":E=[["M-6,2 A2,2 0 0,0 -6,6 H6 A2,2 0 0,1 6,2 Z"],["M-6,-6 A2,2 0 0,0 -6,-2 H6 A2,2 0 0,1 6,-6 Z"],["M-6,-2 A2,2 0 0,0 -6,2 H6 A2,2 0 0,1 6,-2 Z"]],y=!1;break;case"surface":E=[["M-6,-6 A2,3 0 0,0 -6,0 H6 A2,3 0 0,1 6,-6 Z"],["M-6,1 A2,3 0 0,1 -6,6 H6 A2,3 0 0,0 6,0 Z"]],y=!0;break;case"mesh3d":E=[["M-6,6H0L-6,-6Z"],["M6,6H0L6,-6Z"],["M-6,-6H6L0,6Z"]],y=!1;break;case"volume":E=[["M-6,6H0L-6,-6Z"],["M6,6H0L6,-6Z"],["M-6,-6H6L0,6Z"]],y=!0;break;case"isosurface":E=[["M-6,6H0L-6,-6Z"],["M6,6H0L6,-6Z"],["M-6,-6 A12,24 0 0,0 6,-6 L0,6Z"]],y=!1;break}var S=wf.select(this).select("g.legendpoints").selectAll("path.legend3dandfriends").data(E);S.enter().append("path").classed("legend3dandfriends",!0).attr("transform",l).style("stroke-miterlimit",1),S.exit().remove(),S.each(function(C,k){var D=wf.select(this),F=rH(A),P=F.colorscale,R=F.reversescale,L=function($){if($.size()){var Y="legendfill-"+A.uid;y0.gradient($,r,Y,iH(R,y==="radial"),P,"fill")}},I;if(P){if(!y){var O=P.length;I=k===0?P[R?O-1:0][1]:k===1?P[R?0:O-1][1]:P[Math.floor((O-1)/2)][1]}}else{var B=A.vertexcolor||A.facecolor||A.color;I=Kc.isArrayOrTypedArray(B)?B[k]||B[0]:B}D.attr("d",C[0]),I?D.call(cd.fill,I):D.call(L)})}};function iH(e,t){var r=t?"radial":"horizontal";return r+(e?"":"reversed")}function $1e(e){var t=e[0].trace,r=t.contours,i=JD.hasLines(t)||t.visible&&t.type==="quiver",n=JD.hasMarkers(t),a=t.visible&&t.fill&&t.fill!=="none",o=!1,s=!1;if(r){var l=r.coloring;l==="lines"?o=!0:i=l==="none"||l==="heatmap"||r.showlines,r.type==="constraint"?a=r._operation!=="=":(l==="fill"||l==="heatmap")&&(s=!0)}return{showMarker:n,showLine:i,showFill:a,showGradientLine:o,showGradientFill:s,anyLine:i||o,anyFill:a||s}}function W1e(e,t,r){return e&&Kc.isArrayOrTypedArray(e)?t:e>r?r:e}});var lH=W((P9r,ige)=>{"use strict";var Jf=vi(),Cl=it(),oH=Ko(),s_=yi(),t7=lw(),aH=bf(),Dl=Ji(),SA=ni(),l_=uo(),X1e=KG().handleItemClick,Z1e=KG().handleTitleClick,jl=JG(),sH=Hl(),tge=sH.LINE_SPACING,Cw=sH.FROM_TL,K1e=sH.FROM_BR,J1e=z1e(),q6t=nH(),Dw=MA(),kw=1,O6t=/^legend[0-9]*$/;ige.exports=function(t,r){if(r)Q1e(t,r);else{var i=t._fullLayout,n=i._legends,a=i._infolayer.selectAll('[class^="legend"]');a.each(function(){var u=Jf.select(this),c=u.attr("class"),f=c.split(" ")[0];f.match(O6t)&&n.indexOf(f)===-1&&u.remove()});for(var o=0;o1)}var p=i.hiddenlabels||[];if(!s&&(!i.showlegend||!l.length))return o.selectAll("."+n).remove(),i._topdefs.select("#"+a).remove(),oH.autoMargin(e,n);var v=Cl.ensureSingle(o,"g",n,function(A){s||A.attr("pointer-events","all")}),m=Cl.ensureSingleById(i._topdefs,"clipPath",a,function(A){A.append("rect")}),g=Cl.ensureSingle(v,"rect","bg",function(A){A.attr("shape-rendering","crispEdges")});g.call(SA.stroke,r.bordercolor).call(SA.fill,r.bgcolor).style("stroke-width",r.borderwidth+"px");var w=Cl.ensureSingle(v,"g","scrollbox"),b=r.title;r._titleWidth=0,r._titleHeight=0;var _;b.text?(_=Cl.ensureSingle(w,"text",n+"titletext"),_.attr("text-anchor","start").call(Dl.font,b.font).text(b.text),e7(_,w,e,r,kw),!s&&(r.titleclick||r.titledoubleclick)&&G6t(w,e,r,n)):(w.selectAll("."+n+"titletext").remove(),w.selectAll("."+n+"titletoggle").remove());var M=Cl.ensureSingle(v,"rect","scrollbar",function(A){A.attr(jl.scrollBarEnterAttrs).call(SA.fill,jl.scrollBarColor)}),x=w.selectAll("g.groups").data(l);x.enter().append("g").attr("class","groups"),x.exit().remove();var T=x.selectAll("g.traces").data(Cl.identity);T.enter().append("g").attr("class","traces"),T.exit().remove(),T.style("opacity",function(A){let y=A[0],E=y.trace;if(y.groupTitle){let S=E.legendgroup,C=(i.shapes||[]).filter(function(D){return D.showlegend});return e._fullData.concat(C).some(function(D){return D.legendgroup===S&&(D.legend||"legend")===n&&D.visible===!0})?1:.5}return s_.traceIs(E,"pie-like")?p.indexOf(A[0].label)!==-1?.5:1:E.visible==="legendonly"?.5:1}).each(function(){Jf.select(this).call(U6t,e,r)}).call(q6t,e,r).each(function(A){s||A[0].groupTitle&&r.groupclick==="toggleitem"||Jf.select(this).call(V6t,e,n)}),Cl.syncOrAsync([oH.previousPromises,function(){return $6t(e,x,T,r,w)},function(){var A=i._size,y=r.borderwidth,E=r.xref==="paper",S=r.yref==="paper";if(b.text){let ce=(i.shapes||[]).filter(function(Ce){return Ce.showlegend}),ge=e._fullData.concat(ce).some(function(Ce){let be=Ce.legend||"legend";var he=Array.isArray(be)?be.includes(n):be===n;return he&&Ce.visible===!0});_.style("opacity",ge?1:.5)}if(!s){var C,k;E?C=A.l+A.w*r.x-Cw[r7(r)]*r._width:C=i.width*r.x-Cw[r7(r)]*r._width,S?k=A.t+A.h*(1-r.y)-Cw[i7(r)]*r._effHeight:k=i.height*(1-r.y)-Cw[i7(r)]*r._effHeight;var D=W6t(e,n,C,k);if(D)return;if(i.margin.autoexpand){var F=C,P=k;C=E?Cl.constrain(C,0,i.width-r._width):F,k=S?Cl.constrain(k,0,i.height-r._effHeight):P,C!==F&&Cl.log("Constrain "+n+".x to make legend fit inside graph"),k!==P&&Cl.log("Constrain "+n+".y to make legend fit inside graph")}Dl.setTranslate(v,C,k)}if(M.on(".drag",null),v.on("wheel",null),s||r._height<=r._maxHeight||e._context.staticPlot){var R=r._effHeight;s&&(R=r._height),g.attr({width:r._width-y,height:R-y,x:y/2,y:y/2}),Dl.setTranslate(w,0,0),m.select("rect").attr({width:r._width-2*y,height:R-2*y,x:y,y}),Dl.setClipUrl(w,a,e),Dl.setRect(M,0,0,0,0),delete r._scrollY}else{var L=Math.max(jl.scrollBarMinHeight,r._effHeight*r._effHeight/r._height),I=r._effHeight-L-2*jl.scrollBarMargin,B=r._height-r._effHeight,O=I/B,$=Math.min(r._scrollY||0,B);g.attr({width:r._width-2*y+jl.scrollBarWidth+jl.scrollBarMargin,height:r._effHeight-y,x:y/2,y:y/2}),m.select("rect").attr({width:r._width-2*y+jl.scrollBarWidth+jl.scrollBarMargin,height:r._effHeight-2*y,x:y,y:y+$}),Dl.setClipUrl(w,a,e),X($,L,O),v.on("wheel",function(){$=Cl.constrain(r._scrollY+Jf.event.deltaY/B*I,0,B),X($,L,O),$!==0&&$!==B&&Jf.event.preventDefault()});var Y,K,j,q=function(ce,ge,Ce){var be=(Ce-ge)/O+ce;return Cl.constrain(be,0,B)},J=function(ce,ge,Ce){var be=(ge-Ce)/O+ce;return Cl.constrain(be,0,B)},U=Jf.behavior.drag().on("dragstart",function(){var ce=Jf.event.sourceEvent;ce.type==="touchstart"?Y=ce.changedTouches[0].clientY:Y=ce.clientY,j=$}).on("drag",function(){var ce=Jf.event.sourceEvent;ce.buttons===2||ce.ctrlKey||(ce.type==="touchmove"?K=ce.changedTouches[0].clientY:K=ce.clientY,$=q(j,Y,K),X($,L,O))});M.call(U);var V=Jf.behavior.drag().on("dragstart",function(){var ce=Jf.event.sourceEvent;ce.type==="touchstart"&&(Y=ce.changedTouches[0].clientY,j=$)}).on("drag",function(){var ce=Jf.event.sourceEvent;ce.type==="touchmove"&&(K=ce.changedTouches[0].clientY,$=J(j,Y,K),X($,L,O))});w.call(V)}function X(ce,ge,Ce){r._scrollY=e._fullLayout[n]._scrollY=ce,Dl.setTranslate(w,0,-ce),Dl.setRect(M,r._width,jl.scrollBarMargin+ce*Ce,jl.scrollBarWidth,ge),m.select("rect").attr("y",y+ce)}if(e._context.edits.legendPosition){var H,G,Q,te;v.classed("cursor-move",!0),aH.init({element:v.node(),gd:e,prepFn:function(ce){if(ce.target!==M.node()){var ge=Dl.getTranslate(v);Q=ge.x,te=ge.y}},moveFn:function(ce,ge){if(Q!==void 0&&te!==void 0){var Ce=Q+ce,be=te+ge;Dl.setTranslate(v,Ce,be),H=aH.align(Ce,r._width,A.l,A.l+A.w,r.xanchor),G=aH.align(be+r._height,-r._height,A.t+A.h,A.t,r.yanchor)}},doneFn:function(){if(H!==void 0&&G!==void 0){var ce={};ce[n+".x"]=H,ce[n+".y"]=G,s_.call("_guiRelayout",e,ce)}},clickFn:function(ce,ge){var Ce=o.selectAll("g.traces").filter(function(){var be=this.getBoundingClientRect();return ge.clientX>=be.left&&ge.clientX<=be.right&&ge.clientY>=be.top&&ge.clientY<=be.bottom});Ce.size()>0&&rge(e,r,Ce,ce,ge)}})}}],e)}}function QD(e,t,r){var i=e[0],n=i.width,a=t.entrywidthmode,o=i.trace.legendwidth||t.entrywidth;return a==="fraction"?t._maxWidth*o:r+(o||n)}function rge(e,t,r,i,n){var a=e._fullLayout,o=r.data()[0][0].trace,s=t.itemclick,l=t.itemdoubleclick,u={event:n,node:r.node(),curveNumber:o.index,expandedIndex:o.index,data:e.data,layout:e.layout,frames:e._transitionData._frames,config:e._context,fullData:e._fullData,fullLayout:a};o._group&&(u.group=o._group),s_.traceIs(o,"pie-like")&&(u.label=r.datum()[0].label);var c=t7.triggerHandler(e,"plotly_legendclick",u);if(i===1){if(c===!1)return;t._clickTimeout=setTimeout(function(){e._fullLayout&&s&&X1e(r,e,t,s,i)},e._context.doubleClickDelay)}else if(i===2){t._clickTimeout&&clearTimeout(t._clickTimeout),e._legendMouseDownTime=0;var f=t7.triggerHandler(e,"plotly_legenddoubleclick",u);f!==!1&&c!==!1&&l&&X1e(r,e,t,l,i)}}function U6t(e,t,r){var i=Dw.getId(r),n=e.data()[0][0],a=n.trace,o=s_.traceIs(a,"pie-like"),s=!r._inHover&&t._context.edits.legendText&&!o,l=r._maxNameLength,u,c;n.groupTitle?(u=n.groupTitle.text,c=n.groupTitle.font):(c=r.font,r.entries?u=n.text:(u=o?n.label:a.name,a._meta&&(u=Cl.templateString(u,a._meta))));var f=Cl.ensureSingle(e,"text",i+"text");f.attr("text-anchor","start").call(Dl.font,c).text(s?ege(u,l):u);var h=r.indentation+r.itemwidth+jl.itemGap*2;l_.positionText(f,h,0),s?f.call(l_.makeEditable,{gd:t,text:u}).call(e7,e,t,r).on("edit",function(d){this.text(ege(d,l)).call(e7,e,t,r);var p={};return p.name=d,n.trace._isShape?s_.call("_guiRelayout",t,"shapes["+a.index+"].name",p.name):s_.call("_guiRestyle",t,p,a.index)}):e7(f,e,t,r)}function ege(e,t){var r=Math.max(4,t);if(e&&e.trim().length>=r/2)return e;e=e||"";for(var i=r-e.length;i>0;i--)e+=" ";return e}function V6t(e,t,r){var i=t._context.doubleClickDelay,n,a=1,o=Cl.ensureSingle(e,"rect",r+"toggle",function(s){t._context.staticPlot||s.style("cursor","pointer").attr("pointer-events","all"),s.call(SA.fill,"rgba(0,0,0,0)")});t._context.staticPlot||(o.on("mousedown",function(){n=new Date().getTime(),n-t._legendMouseDownTimei&&(a=Math.max(a-1,1)),rge(t,s,e,a,Jf.event)}}))}function G6t(e,t,r,i){if(t._fullData.some(function(u){let c=u.legend||"legend";return(Array.isArray(c)?c.includes(i):c===i)&&s_.traceIs(u,"pie-like")}))return;let a=t._context.doubleClickDelay;var o,s=1;let l=Cl.ensureSingle(e,"rect",i+"titletoggle",function(u){t._context.staticPlot||u.style("cursor","pointer").attr("pointer-events","all"),u.call(SA.fill,"rgba(0,0,0,0)")});t._context.staticPlot||(l.on("mousedown",function(){o=new Date().getTime(),o-t._legendMouseDownTimea&&(s=Math.max(s-1,1));let u={event:Jf.event,legendId:i,data:t.data,layout:t.layout,fullData:t._fullData,fullLayout:t._fullLayout};if(s===1&&r.titleclick){if(t7.triggerHandler(t,"plotly_legendtitleclick",u)===!1)return;r._titleClickTimeout=setTimeout(function(){t._fullLayout&&Z1e(t,r,r.titleclick)},a)}else s===2&&(r._titleClickTimeout&&clearTimeout(r._titleClickTimeout),t._legendMouseDownTime=0,t7.triggerHandler(t,"plotly_legendtitledoubleclick",u)!==!1&&r.titledoubleclick&&Z1e(t,r,r.titledoubleclick))}))}function e7(e,t,r,i,n){i._inHover&&e.attr("data-notex",!0),l_.convertToTspans(e,r,function(){H6t(t,r,i,n)})}function H6t(e,t,r,i){var n=e.data()[0][0],a=n&&n.trace.showlegend;if(Array.isArray(a)&&(a=a[n.i]!==!1),!r._inHover&&n&&!a){e.remove();return}var o=e.select("g[class*=math-group]"),s=o.node(),l=Dw.getId(r);r||(r=t._fullLayout[l]);var u=r.borderwidth,c;i===kw?c=r.title.font:n.groupTitle?c=n.groupTitle.font:c=r.font;var f=c.size*tge,h,d;if(s){var p=Dl.bBox(s);h=p.height,d=p.width,i===kw?Dl.setTranslate(o,u,u+h*.75):Dl.setTranslate(o,0,h*.25)}else{var v="."+l+(i===kw?"title":"")+"text",m=e.select(v),g=l_.lineCount(m),w=m.node();if(h=f*g,d=w?Dl.bBox(w).width:0,i===kw)r.title.side==="left"&&(d+=jl.itemGap*2),l_.positionText(m,u+jl.titlePad,u+f);else{var b=jl.itemGap*2+r.indentation+r.itemwidth;n.groupTitle&&(b=jl.itemGap,d-=r.indentation+r.itemwidth),l_.positionText(m,b,-f*((g-1)/2-.3))}}i===kw?(r._titleWidth=d,r._titleHeight=h):(n.lineHeight=f,n.height=Math.max(h,16)+3,n.width=d)}function j6t(e){var t=0,r=0,i=e.title.side;return i&&(i.indexOf("left")!==-1&&(t=e._titleWidth),i.indexOf("top")!==-1&&(r=e._titleHeight)),[t,r]}function $6t(e,t,r,i,n){var a=e._fullLayout,o=Dw.getId(i);i||(i=a[o]);var s=a._size,l=Dw.isVertical(i),u=Dw.isGrouped(i),c=i.entrywidthmode==="fraction",f=i.borderwidth,h=2*f,d=jl.itemGap,p=i.indentation+i.itemwidth+d*2,v=2*(f+d),m=i7(i),g=i.y<0||i.y===0&&m==="top",w=i.y>1||i.y===1&&m==="bottom",b=i.tracegroupgap,_={};let{orientation:M,yref:x}=i,{maxheight:T}=i,A=g||w||M!=="v"||x!=="paper";T||(T=A?.5:1);let y=A?a.height:s.h;i._maxHeight=Math.max(T>1?T:T*y,30);var E=0;i._width=0,i._height=0;var S=j6t(i);if(l)r.each(function(ce){var ge=ce[0].height;Dl.setTranslate(this,f+S[0],f+S[1]+i._height+ge/2+d),i._height+=ge,i._width=Math.max(i._width,ce[0].width)}),E=p+i._width,i._width+=d+p+h,i._height+=v,u&&(t.each(function(ce,ge){Dl.setTranslate(this,0,ge*i.tracegroupgap)}),i._height+=(i._lgroupsLength-1)*i.tracegroupgap);else{var C=r7(i),k=i.x<0||i.x===0&&C==="right",D=i.x>1||i.x===1&&C==="left",F=w||g,P=a.width/2;i._maxWidth=Math.max(k?F&&C==="left"?s.l+s.w:P:D?F&&C==="right"?s.r+s.w:P:s.w,2*p);var R=0,L=0;r.each(function(ce){var ge=QD(ce,i,p);R=Math.max(R,ge),L+=ge}),E=null;var I=0;if(u){var B=0,O=0,$=0;t.each(function(){var ce=0,ge=0;Jf.select(this).selectAll("g.traces").each(function(be){var he=QD(be,i,p),oe=be[0].height;Dl.setTranslate(this,S[0],S[1]+f+d+oe/2+ge),ge+=oe,ce=Math.max(ce,he),_[be[0].trace.legendgroup]=ce});var Ce=ce+d;O>0&&Ce+f+O>i._maxWidth?(I=Math.max(I,O),O=0,$+=B+b,B=ge):B=Math.max(B,ge),Dl.setTranslate(this,O,$),O+=Ce}),i._width=Math.max(I,O)+f,i._height=$+B+v}else{var Y=r.size(),K=L+h+(Y-1)*d=i._maxWidth&&(I=Math.max(I,U),q=0,J+=j,i._height+=j,j=0),Dl.setTranslate(this,S[0]+f+q,S[1]+f+J+ge/2+d),U=q+Ce+d,q+=be,j=Math.max(j,ge)}),K?(i._width=q+h,i._height=j+v):(i._width=Math.max(I,U)+h,i._height+=j+v)}}i._width=Math.ceil(Math.max(i._width+S[0],i._titleWidth+2*(f+jl.titlePad))),i._height=Math.ceil(Math.max(i._height+S[1],i._titleHeight+2*(f+jl.itemGap))),i._effHeight=Math.min(i._height,i._maxHeight);var V=e._context.edits,X=V.legendText||V.legendPosition;r.each(function(ce){var ge=Jf.select(this).select("."+o+"toggle"),Ce=ce[0].height,be=ce[0].trace.legendgroup,he=QD(ce,i,p);u&&be!==""&&(he=_[be]);var oe=X?p:E||he;!l&&!c&&(oe+=d/2),Dl.setRect(ge,0,-Ce/2,oe,Ce)});var H=n.select("."+o+"titletext");H.node()&&N6t(H,i,f);var G=n.select("."+o+"titletoggle");if(G.size()&&H.node()){var Q=H.attr("x")||0,te=jl.titlePad;Dl.setRect(G,Q-te,f,i._titleWidth+2*te,i._titleHeight+2*te)}}function W6t(e,t,r,i){var n=e._fullLayout,a=n[t],o=r7(a),s=i7(a),l=a.xref==="paper",u=a.yref==="paper";e._fullLayout._reservedMargin[t]={};var c=a.y<.5?"b":"t",f=a.x<.5?"l":"r",h={r:n.width-r,l:r+a._width,b:n.height-i,t:i+a._effHeight};if(l&&u)return oH.autoMargin(e,t,{x:a.x,y:a.y,l:a._width*Cw[o],r:a._width*K1e[o],b:a._effHeight*K1e[s],t:a._effHeight*Cw[s]});l?e._fullLayout._reservedMargin[t][c]=h[c]:u||a.orientation==="v"?e._fullLayout._reservedMargin[t][f]=h[f]:e._fullLayout._reservedMargin[t][c]=h[c]}function r7(e){return Cl.isRightAnchor(e)?"right":Cl.isCenterAnchor(e)?"center":"left"}function i7(e){return Cl.isBottomAnchor(e)?"bottom":Cl.isMiddleAnchor(e)?"middle":"top"}});var hH=W(fH=>{"use strict";var u_=vi(),Rg=sn(),tl=it(),Y6t=tl.pushUnique,uH=tl.strTranslate,X6t=tl.strRotate,Z6t=lw(),fd=uo(),K6t=C1e(),s1=Ji(),$l=ni(),n7=bf(),l1=ji(),J6t=Gl().zindexSeparator,Lw=yi(),x0=Kf(),c_=P6(),Q6t=YG(),eAt=lH(),fge=c_.YANGLE,cH=Math.PI*fge/180,tAt=1/Math.sin(cH),rAt=Math.cos(cH),iAt=Math.sin(cH),ws=c_.HOVERARROWSIZE,wa=c_.HOVERTEXTPAD,nge={box:!0,ohlc:!0,violin:!0,candlestick:!0},nAt={scatter:!0,scattergl:!0,splom:!0};function age(e,t){return e.distance-t.distance}fH.hover=function(t,r,i,n){t=tl.getGraphDiv(t);var a=r.target;tl.throttle(t._fullLayout._uid+c_.HOVERID,c_.HOVERMINTIME,function(){aAt(t,r,i,n,a)})};fH.loneHover=function(t,r){var i=!0;Array.isArray(t)||(i=!1,t=[t]);var n=r.gd,a=gge(n),o=mge(n),s=t.map(function(m){var g=m._x0||m.x0||m.x||0,w=m._x1||m.x1||m.x||0,b=m._y0||m.y0||m.y||0,_=m._y1||m.y1||m.y||0,M=m.eventData;if(M){var x=Math.min(g,w),T=Math.max(g,w),A=Math.min(b,_),y=Math.max(b,_),E=m.trace;if(Lw.traceIs(E,"gl3d")){var S=n._fullLayout[E.scene]._scene.container,C=S.offsetLeft,k=S.offsetTop;x+=C,T+=C,A+=k,y+=k}M.bbox={x0:x+o,x1:T+o,y0:A+a,y1:y+a},M.xPixel=(g+w)/2,M.yPixel=(b+_)/2,r.inOut_bbox&&r.inOut_bbox.push(M.bbox)}else M=!1;return{color:m.color||$l.defaultLine,x0:m.x0||m.x||0,x1:m.x1||m.x||0,y0:m.y0||m.y||0,y1:m.y1||m.y||0,xLabel:m.xLabel,yLabel:m.yLabel,zLabel:m.zLabel,text:m.text,name:m.name,idealAlign:m.idealAlign,borderColor:m.borderColor,fontFamily:m.fontFamily,fontSize:m.fontSize,fontColor:m.fontColor,fontWeight:m.fontWeight,fontStyle:m.fontStyle,fontVariant:m.fontVariant,nameLength:m.nameLength,textAlign:m.textAlign,trace:m.trace||{index:0,hoverinfo:""},xa:{_offset:0},ya:{_offset:0},index:0,hovertemplate:m.hovertemplate||!1,hovertemplateLabels:m.hovertemplateLabels||!1,eventData:M}}),l=!1,u=dge(s,{gd:n,hovermode:"closest",rotateLabels:l,bgColor:r.bgColor||$l.background,container:u_.select(r.container),outerContainer:r.outerContainer||r.container}),c=u.hoverLabels,f=5,h=0,d=0;c.sort(function(m,g){return m.y0-g.y0}).each(function(m,g){var w=m.y0-m.by/2;w-fT[0]._length||te<0||te>A[0]._length)return n7.unhoverRaw(e,t)}if(t.pointerX=Q+T[0]._offset,t.pointerY=te+A[0]._offset,"xval"in t?P=x0.flat(a,t.xval):P=x0.p2c(T,Q),"yval"in t?R=x0.flat(a,t.yval):R=x0.p2c(A,te),e._hoverPointerX=t.pointerX,e._hoverPointerY=t.pointerY,!Rg(P[0])||!Rg(R[0]))return tl.warn("Fx.hover failed",t,e),n7.unhoverRaw(e,t)}s.clickanywhere&&(e._hoverXVals=P,e._hoverYVals=R,e._hoverXAxes=T,e._hoverYAxes=A);var Ce=1/0;function be(Je,Ct){for(I=0;IU&&(D.splice(0,U),Ce=D[0].distance),f&&k!==0&&D.length===0){J.distance=k,J.index=!1;var ei=O._module.hoverPoints(J,j,q,"closest",{hoverLayer:s._hoverlayer});if(ei&&(ei=ei.filter(function(ca){return ca.spikeDistance<=k})),ei&&ei.length){var Lr,$i=ei.filter(function(ca){return ca.xa.showspikes&&ca.xa.spikesnap!=="hovered data"});if($i.length){var Tn=$i[0];Rg(Tn.x0)&&Rg(Tn.y0)&&(Lr=oe(Tn),(!V.vLinePoint||V.vLinePoint.spikeDistance>Lr.spikeDistance)&&(V.vLinePoint=Lr))}var hn=ei.filter(function(ca){return ca.ya.showspikes&&ca.ya.spikesnap!=="hovered data"});if(hn.length){var ta=hn[0];Rg(ta.x0)&&Rg(ta.y0)&&(Lr=oe(ta),(!V.hLinePoint||V.hLinePoint.spikeDistance>Lr.spikeDistance)&&(V.hLinePoint=Lr))}}}}}be();function he(Je,Ct,ir){for(var hr=null,Ur=1/0,si,ei=0;eiJe.trace.index===_e.trace.index):D=[_e];var Ie=D.length,Oe=cge("x",_e,s),Qe=cge("y",_e,s);be(Oe,Qe);var et=[],_t={},ut=0,vt=function(Je){var Ct=nge[Je.trace.type]?hge(Je):Je.trace.index;if(!_t[Ct])ut++,_t[Ct]=ut,et.push(Je);else{var ir=_t[Ct]-1,hr=et[ir];ir>0&&Math.abs(Je.distance)Ie-1;Xe--)vt(D[Xe]);D=et,ee()}var mt=e._hoverdata,bt=[],Ne=gge(e),Ue=mge(e);for(let Je of D){var Ge=x0.makeEventData(Je,Je.trace,Je.cd);if(Je.hovertemplate!==!1){var je=!1;Je.cd[Je.index]&&Je.cd[Je.index].ht&&(je=Je.cd[Je.index].ht),Je.hovertemplate=je||Je.trace.hovertemplate||!1}if(Je.xa&&Je.ya){var Re=Je.x0+Je.xa._offset,Ve=Je.x1+Je.xa._offset,ct=Je.y0+Je.ya._offset,Tt=Je.y1+Je.ya._offset,Xt=Math.min(Re,Ve),Vt=Math.max(Re,Ve),lr=Math.min(ct,Tt),ur=Math.max(ct,Tt);Ge.bbox={x0:Xt+Ue,x1:Vt+Ue,y0:lr+Ne,y1:ur+Ne},Ge.xPixel=(Re+Ve)/2,Ge.yPixel=(ct+Tt)/2}Je.eventData=[Ge],bt.push(Ge)}e._hoverdata=bt;var Bt=h==="y"&&(F.length>1||D.length>1)||h==="closest"&&X&&D.length>1,Zt=$l.combine(s.plot_bgcolor||$l.background,s.paper_bgcolor),kr=dge(D,{gd:e,hovermode:h,rotateLabels:Bt,bgColor:Zt,container:s._hoverlayer,outerContainer:s._paper.node(),commonLabelOpts:s.hoverlabel,hoverdistance:s.hoverdistance}),$e=kr.hoverLabels;if(x0.isUnifiedHover(h)||(sAt($e,Bt,s,kr.commonLabelBoundingBox),vge($e,Bt,s._invScaleX,s._invScaleY)),n&&n.tagName){var tt=Lw.getComponentMethod("annotations","hasClickToShow")(e,bt);K6t(u_.select(n),tt?"pointer":"")}var st=cAt(e,t,mt);if(!n||i||!st&&!s.hoveranywhere)return;mt&&st&&e.emit("plotly_unhover",{event:t,points:mt}),xt(e._hoverdata);function xt(Je){e.emit("plotly_hover",{event:t,points:Je,xaxes:T,yaxes:A,xvals:x0.c2dApply(T,P),yvals:x0.c2dApply(A,R),xPixel:t.pointerX,yPixel:t.pointerY})}}function hge(e){return[e.trace.index,e.index,e.x0,e.y0,e.name,e.attr,e.xa?e.xa._id:"",e.ya?e.ya._id:""].join(",")}var oAt=/([\s\S]*)<\/extra>/;function dge(e,t){var r=t.gd,i=r._fullLayout,n=t.hovermode,a=t.rotateLabels,o=t.bgColor,s=t.container,l=t.outerContainer,u=t.commonLabelOpts||{};if(e.length===0)return[[]];var c=t.fontFamily||c_.HOVERFONT,f=t.fontSize||c_.HOVERFONTSIZE,h=t.fontWeight||i.font.weight,d=t.fontStyle||i.font.style,p=t.fontVariant||i.font.variant,v=t.fontTextcase||i.font.textcase,m=t.fontLineposition||i.font.lineposition,g=t.fontShadow||i.font.shadow,w=e[0],b=w.xa,_=w.ya,M=n.charAt(0),x=M+"Label",T=w[x];if(T===void 0&&b.type==="multicategory")for(var A=0;Ai.width-bt&&(Ne=i.width-bt),ke.attr("d","M"+(vt-Ne)+",0L"+(vt-Ne+ws)+","+mt+ws+"H"+bt+"v"+mt+(wa*2+ut.height)+"H"+-bt+"V"+mt+ws+"H"+(vt-Ne-ws)+"Z"),vt=Ne,I.minX=vt-bt,I.maxX=vt+bt,b.side==="top"?(I.minY=Xe-(wa*2+ut.height),I.maxY=Xe-wa):(I.minY=Xe+wa,I.maxY=Xe+(wa*2+ut.height))}else{var Ue,Ge,je;_.side==="right"?(Ue="start",Ge=1,je="",vt=b._offset+b._length):(Ue="end",Ge=-1,je="-",vt=b._offset),Xe=_._offset+(w.y0+w.y1)/2,_e.attr("text-anchor",Ue),ke.attr("d","M0,0L"+je+ws+","+ws+"V"+(wa+ut.height/2)+"h"+je+(wa*2+ut.width)+"V-"+(wa+ut.height/2)+"H"+je+ws+"V-"+ws+"Z"),I.minY=Xe-(wa+ut.height/2),I.maxY=Xe+(wa+ut.height/2),_.side==="right"?(I.minX=vt+ws,I.maxX=vt+ws+(wa*2+ut.width)):(I.minX=vt-ws-(wa*2+ut.width),I.maxX=vt-ws);var Re=ut.height/2,Ve=E-ut.top-Re,ct="clip"+i._uid+"commonlabel"+_._id,Tt;if(vtke.hoverinfo!=="none");if(Se.length===0)return[];var B=i.hoverlabel,O=B.font,$=Se[0],Y=((n==="x unified"?$.xa:$.ya).unifiedhovertitle||{}).text,K=Y?tl.hovertemplateString({data:n==="x unified"?[{xa:$.xa,x:$.xVal}]:[{ya:$.ya,y:$.yVal}],fallback:$.trace.hovertemplatefallback,locale:i._d3locale,template:Y}):T,j={showlegend:!0,legend:{title:{text:K,font:O},font:O,bgcolor:B.bgcolor,bordercolor:B.bordercolor,borderwidth:1,tracegroupgap:7,traceorder:i.legend?i.legend.traceorder:void 0,orientation:"v"}},q={font:O};Q6t(j,q,r._fullData);var J=q.legend;J.entries=[];for(var U=0;U=0?pe=ee:ae+ge=0?pe=ae:xe+ge=0?we=ye:ue+Ce=0?we=ue:re+Ce=0,(Se.idealAlign==="top"||!lr)&&ur?(je-=Ve/2,Se.anchor="end"):lr?(je+=Ve/2,Se.anchor="start"):Se.anchor="middle",Se.crossPos=je;else{if(Se.pos=je,lr=Ge+Re/2+Vt<=S,ur=Ge-Re/2-Vt>=0,(Se.idealAlign==="left"||!lr)&&ur)Ge-=Re/2,Se.anchor="end";else if(lr)Ge+=Re/2,Se.anchor="start";else{Se.anchor="middle";var Bt=Vt/2,Zt=Ge+Bt-S,kr=Ge-Bt;Zt>0&&(Ge-=Zt),kr<0&&(Ge+=-kr)}Se.crossPos=Ge}Xe.attr("text-anchor",Se.anchor),bt&&mt.attr("text-anchor",Se.anchor),ke.attr("transform",uH(Ge,je)+(a?X6t(fge):""))}),{hoverLabels:Fe,commonLabelBoundingBox:I}}function oge(e,t,r,i,n,a){var f,h;var o="",s="";e.nameOverride!==void 0&&(e.name=e.nameOverride),e.name&&(e.trace._meta&&(e.name=tl.templateString(e.name,e.trace._meta)),o=uge(e.name,e.nameLength));var l=r.charAt(0),u=l==="x"?"y":"x";e.zLabel!==void 0?(e.xLabel!==void 0&&(s+="x: "+e.xLabel+"
"),e.yLabel!==void 0&&(s+="y: "+e.yLabel+"
"),e.trace.type!=="choropleth"&&e.trace.type!=="choroplethmap"&&(s+=(s?"z: ":"")+e.zLabel)):t&&e[l+"Label"]===n?s=e[u+"Label"]||"":e.xLabel===void 0?e.yLabel!==void 0&&e.trace.type!=="scattercarpet"&&(s=e.yLabel):e.yLabel===void 0?s=e.xLabel:s="("+e.xLabel+", "+e.yLabel+")",(e.text||e.text===0)&&!Array.isArray(e.text)&&(s+=(s?"
":"")+e.text),e.extraText!==void 0&&(s+=(s?"
":"")+e.extraText),a&&s===""&&!e.hovertemplate&&(o===""&&a.remove(),s=o),(h=(f=e.trace)==null?void 0:f.hoverlabel)!=null&&h.split&&(e.hovertemplate="");let{hovertemplate:c=!1}=e;if(c){let d=e.hovertemplateLabels||e;e[l+"Label"]!==n&&(d[l+"other"]=d[l+"Val"],d[l+"otherLabel"]=d[l+"Label"]),s=tl.hovertemplateString({data:[e.eventData[0]||{},e.trace._meta],fallback:e.trace.hovertemplatefallback,labels:d,locale:i._d3locale,template:c}),s=s.replace(oAt,(p,v)=>(o=uge(v,e.nameLength),""))}return[s,o]}function sAt(e,t,r,i){var n=t?"xa":"ya",a=t?"ya":"xa",o=0,s=1,l=e.size(),u=new Array(l),c=0,f=i.minX,h=i.maxX,d=i.minY,p=i.maxY,v=function(P){return P*r._invScaleX},m=function(P){return P*r._invScaleY};e.each(function(P){var R=P[n],L=P[a],I=R._id.charAt(0)==="x",B=R.range;c===0&&B&&B[0]>B[1]!==I&&(s=-1);var O=0,$=I?r.width:r.height;if(r.hovermode==="x"||r.hovermode==="y"){var Y=pge(P,t),K=P.anchor,j=K==="end"?-1:1,q,J;if(K==="middle")q=P.crossPos+(I?m(Y.y-P.by/2):v(P.bx/2+P.tx2width/2)),J=q+(I?m(P.by):v(P.bx));else if(I)q=P.crossPos+m(ws+Y.y)-m(P.by/2-ws),J=q+m(P.by);else{var U=v(j*ws+Y.x),V=U+v(j*P.bx);q=P.crossPos+Math.min(U,V),J=P.crossPos+Math.max(U,V)}I?d!==void 0&&p!==void 0&&Math.min(J,p)-Math.max(q,d)>1&&(L.side==="left"?(O=L._mainLinePosition,$=r.width):$=L._mainLinePosition):f!==void 0&&h!==void 0&&Math.min(J,h)-Math.max(q,f)>1&&(L.side==="top"?(O=L._mainLinePosition,$=r.height):$=L._mainLinePosition)}u[c++]=[{datum:P,traceIndex:P.trace.index,dp:0,pos:P.pos,posref:P.posref,size:P.by*(I?tAt:1)/2,pmin:O,pmax:$}]}),u.sort(function(P,R){return P[0].posref-R[0].posref||s*(R[0].traceIndex-P[0].traceIndex)});var g,w,b,_,M,x,T;function A(P){var R=P[0],L=P[P.length-1];if(w=R.pmin-R.pos-R.dp+R.size,b=L.pos+L.dp+L.size-R.pmax,w>.01){for(M=P.length-1;M>=0;M--)P[M].dp+=w;g=!1}if(!(b<.01)){if(w<-.01){for(M=P.length-1;M>=0;M--)P[M].dp-=b;g=!1}if(g){var I=0;for(_=0;_R.pmax&&I++;for(_=P.length-1;_>=0&&!(I<=0);_--)x=P[_],x.pos>R.pmax-1&&(x.del=!0,I--);for(_=0;_=0;M--)P[M].dp-=b;for(_=P.length-1;_>=0&&!(I<=0);_--)x=P[_],x.pos+x.dp+x.size>R.pmax&&(x.del=!0,I--)}}}for(;!g&&o<=l;){for(o++,g=!0,_=0;_.01){for(M=E.length-1;M>=0;M--)E[M].dp+=w;for(y.push.apply(y,E),u.splice(_+1,1),T=0,M=y.length-1;M>=0;M--)T+=y[M].dp;for(b=T/y.length,M=y.length-1;M>=0;M--)y[M].dp-=b;g=!1}else _++}u.forEach(A)}for(_=u.length-1;_>=0;_--){var k=u[_];for(M=k.length-1;M>=0;M--){var D=k[M],F=D.datum;F.offset=D.dp,F.del=D.del}}}function pge(e,t){var r=0,i=e.offset;return t&&(i*=-iAt,r=e.offset*rAt),{x:r,y:i}}function lAt(e){var t={start:1,end:-1,middle:0}[e.anchor],r=t*(ws+wa),i=r+t*(e.txwidth+wa),n=e.anchor==="middle";return n&&(r-=e.tx2width/2,i+=e.txwidth/2+wa),{alignShift:t,textShiftX:r,text2ShiftX:i}}function vge(e,t,r,i){var n=function(o){return o*r},a=function(o){return o*i};e.each(function(o){var s=u_.select(this);if(o.del)return s.remove();var l=s.select("text.nums"),u=o.anchor,c=u==="end"?-1:1,f=lAt(o),h=pge(o,t),d=h.x,p=h.y,v=u==="middle",m="hoverlabel"in o.trace?o.trace.hoverlabel.showarrow:!0,g;v?g="M-"+n(o.bx/2+o.tx2width/2)+","+a(p-o.by/2)+"h"+n(o.bx)+"v"+a(o.by)+"h-"+n(o.bx)+"Z":m?g="M0,0L"+n(c*ws+d)+","+a(ws+p)+"v"+a(o.by/2-ws)+"h"+n(c*o.bx)+"v-"+a(o.by)+"H"+n(c*ws+d)+"V"+a(p-ws)+"Z":g="M"+n(c*ws+d)+","+a(p-o.by/2)+"h"+n(c*o.bx)+"v"+a(o.by)+"h"+n(-c*o.bx)+"Z",s.select("path").attr("d",g);var w=d+f.textShiftX,b=p+o.ty0-o.by/2+wa,_=o.textAlign||"auto";_!=="auto"&&(_==="left"&&u!=="start"?(l.attr("text-anchor","start"),w=v?-o.bx/2-o.tx2width/2+wa:-o.bx-wa):_==="right"&&u!=="end"&&(l.attr("text-anchor","end"),w=v?o.bx/2-o.tx2width/2-wa:o.bx+wa)),l.call(fd.positionText,n(w),a(b)),o.tx2width&&(s.select("text.name").call(fd.positionText,n(f.text2ShiftX+f.alignShift*wa+d),a(p+o.ty0-o.by/2+wa)),s.select("rect").call(s1.setRect,n(f.text2ShiftX+(f.alignShift-1)*o.tx2width/2+d),a(p-o.by/2-1),n(o.tx2width),a(o.by+2)))})}function uAt(e,t){var r=e.index,i=e.trace||{},n=e.cd[0],a=e.cd[r]||{};function o(h){return h||Rg(h)&&h===0}var s=Array.isArray(r)?function(h,d){var p=tl.castOption(n,r,h);return o(p)?p:tl.extractOption({},i,"",d)}:function(h,d){return tl.extractOption(a,i,h,d)};function l(h,d,p){var v=s(d,p);o(v)&&(e[h]=v)}if(l("hoverinfo","hi","hoverinfo"),l("bgcolor","hbg","hoverlabel.bgcolor"),l("borderColor","hbc","hoverlabel.bordercolor"),l("fontFamily","htf","hoverlabel.font.family"),l("fontSize","hts","hoverlabel.font.size"),l("fontColor","htc","hoverlabel.font.color"),l("fontWeight","htw","hoverlabel.font.weight"),l("fontStyle","hty","hoverlabel.font.style"),l("fontVariant","htv","hoverlabel.font.variant"),l("nameLength","hnl","hoverlabel.namelength"),l("textAlign","hta","hoverlabel.align"),e.posref=t==="y"||t==="closest"&&i.orientation==="h"?e.xa._offset+(e.x0+e.x1)/2:e.ya._offset+(e.y0+e.y1)/2,e.x0=tl.constrain(e.x0,0,e.xa._length),e.x1=tl.constrain(e.x1,0,e.xa._length),e.y0=tl.constrain(e.y0,0,e.ya._length),e.y1=tl.constrain(e.y1,0,e.ya._length),e.xLabelVal!==void 0&&(e.xLabel="xLabel"in e?e.xLabel:l1.hoverLabelText(e.xa,e.xLabelVal,i.xhoverformat),e.xVal=e.xa.c2d(e.xLabelVal)),e.yLabelVal!==void 0&&(e.yLabel="yLabel"in e?e.yLabel:l1.hoverLabelText(e.ya,e.yLabelVal,i.yhoverformat),e.yVal=e.ya.c2d(e.yLabelVal)),e.zLabelVal!==void 0&&e.zLabel===void 0&&(e.zLabel=String(e.zLabelVal)),!isNaN(e.xerr)&&!(e.xa.type==="log"&&e.xerr<=0)){var u=l1.tickText(e.xa,e.xa.c2l(e.xerr),"hover").text;e.xerrneg!==void 0?e.xLabel+=" +"+u+" / -"+l1.tickText(e.xa,e.xa.c2l(e.xerrneg),"hover").text:e.xLabel+=" \xB1 "+u,t==="x"&&(e.distance+=1)}if(!isNaN(e.yerr)&&!(e.ya.type==="log"&&e.yerr<=0)){var c=l1.tickText(e.ya,e.ya.c2l(e.yerr),"hover").text;e.yerrneg!==void 0?e.yLabel+=" +"+c+" / -"+l1.tickText(e.ya,e.ya.c2l(e.yerrneg),"hover").text:e.yLabel+=" \xB1 "+c,t==="y"&&(e.distance+=1)}var f=e.hoverinfo||e.trace.hoverinfo;return f&&f!=="all"&&(f=Array.isArray(f)?f:f.split("+"),f.indexOf("x")===-1&&(e.xLabel=void 0),f.indexOf("y")===-1&&(e.yLabel=void 0),f.indexOf("z")===-1&&(e.zLabel=void 0),f.indexOf("text")===-1&&(e.text=void 0),f.indexOf("name")===-1&&(e.name=void 0)),e}function sge(e,t,r){var i=r.container,n=r.fullLayout,a=n._size,o=r.event,s=!!t.hLinePoint,l=!!t.vLinePoint,u,c;if(i.selectAll(".spikeline").remove(),!!(l||s)){var f=$l.combine(n.plot_bgcolor,n.paper_bgcolor);if(s){var h=t.hLinePoint,d,p;u=h&&h.xa,c=h&&h.ya;var v=c.spikesnap;v==="cursor"?(d=o.pointerX,p=o.pointerY):(d=u._offset+h.x,p=c._offset+h.y);var m=$l.wcagContrast(h.color,f)<1.5?$l.contrast(f):h.color,g=c.spikemode,w=c.spikethickness,b=c.spikecolor||m,_=l1.getPxPosition(e,c),M,x;if(g.indexOf("toaxis")!==-1||g.indexOf("across")!==-1){if(g.indexOf("toaxis")!==-1&&(M=_,x=d),g.indexOf("across")!==-1){var T=c._counterDomainMin,A=c._counterDomainMax;c.anchor==="free"&&(T=Math.min(T,c.position),A=Math.max(A,c.position)),M=a.l+T*a.w,x=a.l+A*a.w}i.insert("line",":first-child").attr({x1:M,x2:x,y1:p,y2:p,"stroke-width":w,stroke:b,"stroke-dasharray":s1.dashStyle(c.spikedash,w)}).classed("spikeline",!0).classed("crisp",!0),i.insert("line",":first-child").attr({x1:M,x2:x,y1:p,y2:p,"stroke-width":w+2,stroke:f}).classed("spikeline",!0).classed("crisp",!0)}g.indexOf("marker")!==-1&&i.insert("circle",":first-child").attr({cx:_+(c.side!=="right"?w:-w),cy:p,r:w,fill:b}).classed("spikeline",!0)}if(l){var y=t.vLinePoint,E,S;u=y&&y.xa,c=y&&y.ya;var C=u.spikesnap;C==="cursor"?(E=o.pointerX,S=o.pointerY):(E=u._offset+y.x,S=c._offset+y.y);var k=$l.wcagContrast(y.color,f)<1.5?$l.contrast(f):y.color,D=u.spikemode,F=u.spikethickness,P=u.spikecolor||k,R=l1.getPxPosition(e,u),L,I;if(D.indexOf("toaxis")!==-1||D.indexOf("across")!==-1){if(D.indexOf("toaxis")!==-1&&(L=R,I=S),D.indexOf("across")!==-1){var B=u._counterDomainMin,O=u._counterDomainMax;u.anchor==="free"&&(B=Math.min(B,u.position),O=Math.max(O,u.position)),L=a.t+(1-O)*a.h,I=a.t+(1-B)*a.h}i.insert("line",":first-child").attr({x1:E,x2:E,y1:L,y2:I,"stroke-width":F,stroke:P,"stroke-dasharray":s1.dashStyle(u.spikedash,F)}).classed("spikeline",!0).classed("crisp",!0),i.insert("line",":first-child").attr({x1:E,x2:E,y1:L,y2:I,"stroke-width":F+2,stroke:f}).classed("spikeline",!0).classed("crisp",!0)}D.indexOf("marker")!==-1&&i.insert("circle",":first-child").attr({cx:E,cy:R-(u.side!=="top"?F:-F),r:F,fill:P}).classed("spikeline",!0)}}}function cAt(e,t,r){if(!r||r.length!==e._hoverdata.length)return!0;for(var i=r.length-1;i>=0;i--){var n=r[i],a=e._hoverdata[i];if(n.curveNumber!==a.curveNumber||String(n.pointNumber)!==String(a.pointNumber)||String(n.pointNumbers)!==String(a.pointNumbers)||n.binNumber!==a.binNumber)return!0}return!1}function lge(e,t){return!t||t.vLinePoint!==e._spikepoints.vLinePoint||t.hLinePoint!==e._spikepoints.hLinePoint}function uge(e,t){return fd.plainText(e||"",{len:t,allowedTags:["br","sub","sup","b","i","em","s","u"]})}function fAt(e,t){for(var r=t.charAt(0),i=[],n=[],a=[],o=0;oe.offsetTop+e.clientTop,mge=e=>e.offsetLeft+e.clientLeft;function Fw(e,t){var r=e._fullLayout,i=t.getBoundingClientRect(),n=i.left,a=i.top,o=n+i.width,s=a+i.height,l=tl.apply3DTransform(r._invTransform)(n,a),u=tl.apply3DTransform(r._invTransform)(o,s),c=l[0],f=l[1],h=u[0],d=u[1];return{x:c,y:f,width:h-c,height:d-f,top:Math.min(f,d),left:Math.min(c,h),right:Math.max(c,h),bottom:Math.max(f,d)}}});var EA=W((R9r,yge)=>{"use strict";var hAt=it(),dAt=ni(),pAt=Kf().isUnifiedHover;yge.exports=function(t,r,i,n){n=n||{};var a=r.legend;function o(s){n.font[s]||(n.font[s]=a?r.legend.font[s]:r.font[s])}r&&pAt(r.hovermode)&&(n.font||(n.font={}),o("size"),o("family"),o("color"),o("weight"),o("style"),o("variant"),a?(n.bgcolor||(n.bgcolor=dAt.combine(r.legend.bgcolor,r.paper_bgcolor)),n.bordercolor||(n.bordercolor=r.legend.bordercolor)):n.bgcolor||(n.bgcolor=r.paper_bgcolor)),i("hoverlabel.bgcolor",n.bgcolor),i("hoverlabel.bordercolor",n.bordercolor),i("hoverlabel.namelength",n.namelength),i("hoverlabel.showarrow",n.showarrow),hAt.coerceFont(i,"hoverlabel.font",n.font),i("hoverlabel.align",n.align)}});var _ge=W((z9r,xge)=>{"use strict";var vAt=it(),gAt=EA(),mAt=sy();xge.exports=function(t,r){function i(n,a){return vAt.coerce(t,r,mAt,n,a)}gAt(t,r,i)}});var Tge=W((B9r,wge)=>{"use strict";var bge=it(),yAt=N3(),xAt=EA();wge.exports=function(t,r,i,n){function a(s,l){return bge.coerce(t,r,yAt,s,l)}var o=bge.extendFlat({},n.hoverlabel);r.hovertemplate&&(o.namelength=-1),xAt(t,r,a,o)}});var dH=W((q9r,Age)=>{"use strict";var _At=it(),bAt=sy();Age.exports=function(t,r){function i(n,a){return r[n]!==void 0?r[n]:_At.coerce(t,r,bAt,n,a)}return i("clickmode"),i("hoversubplots"),i("hoveranywhere"),i("clickanywhere"),i("hovermode")}});var Ege=W((O9r,Sge)=>{"use strict";var Mge=it(),wAt=sy(),TAt=dH(),AAt=EA();Sge.exports=function(t,r){function i(u,c){return Mge.coerce(t,r,wAt,u,c)}var n=TAt(t,r);n&&(i("hoverdistance"),i("spikedistance"),n.indexOf("unified")!==-1&&i("hoversort"));var a=i("dragmode");a==="select"&&i("selectdirection");var o=r._has("map"),s=r._has("geo"),l=r._basePlotModules.length;r.dragmode==="zoom"&&((o||s)&&l===1||o&&s&&l===2)&&(r.dragmode="pan"),AAt(t,r,i),Mge.coerceFont(i,"hoverlabel.grouptitlefont",r.hoverlabel.font)}});var Dge=W((N9r,Cge)=>{"use strict";var pH=it(),kge=yi();Cge.exports=function(t){var r=t.calcdata,i=t._fullLayout;function n(u){return function(c){return pH.coerceHoverinfo({hoverinfo:c},{_module:u._module},i)}}for(var a=0;a{"use strict";var SAt=yi(),Fge=Kf(),EAt=hH().hover;Lge.exports=function(t,r,i){var n=SAt.getComponentMethod("annotations","onClick")(t,t._hoverdata),a=t._fullLayout;i!==void 0&&EAt(t,r,i,!0);function o(){var l,u,c,f,h,d;var s={points:t._hoverdata,event:r};(l=s.xaxes)!=null||(s.xaxes=t._hoverXAxes),(u=s.yaxes)!=null||(s.yaxes=t._hoverYAxes),(c=s.xvals)!=null||(s.xvals=t._hoverXVals&&Fge.c2dApply(t._hoverXAxes,t._hoverXVals)),(f=s.yvals)!=null||(s.yvals=t._hoverYVals&&Fge.c2dApply(t._hoverYAxes,t._hoverYVals)),(h=s.xPixel)!=null||(s.xPixel=t._hoverPointerX),(d=s.yPixel)!=null||(s.yPixel=t._hoverPointerY),t.emit("plotly_click",s)}(t._hoverdata||a.clickanywhere)&&r&&r.target&&(t._hoverdata||(t._hoverdata=[]),n&&n.then?n.then(o):o(),r.stopImmediatePropagation&&r.stopImmediatePropagation())}});var Ds=W((V9r,zge)=>{"use strict";var kAt=vi(),a7=it(),CAt=bf(),kA=Kf(),Ige=sy(),Rge=hH();zge.exports={moduleType:"component",name:"fx",constants:P6(),schema:{layout:Ige},attributes:N3(),layoutAttributes:Ige,supplyLayoutGlobalDefaults:_ge(),supplyDefaults:Tge(),supplyLayoutDefaults:Ege(),calc:Dge(),getDistanceFunction:kA.getDistanceFunction,getClosest:kA.getClosest,inbox:kA.inbox,quadrature:kA.quadrature,appendArrayPointValue:kA.appendArrayPointValue,castHoverOption:FAt,castHoverinfo:LAt,hover:Rge.hover,unhover:CAt.unhover,loneHover:Rge.loneHover,loneUnhover:DAt,click:Pge()};function DAt(e){var t=a7.isD3Selection(e)?e:kAt.select(e);t.selectAll("g.hovertext").remove(),t.selectAll(".spikeline").remove()}function FAt(e,t,r){return a7.castOption(e,t,"hoverlabel."+r)}function LAt(e,t,r){function i(n){return a7.coerceHoverinfo({hoverinfo:n},{_module:e._module},t)}return a7.castOption(e,r,"hoverinfo",i)}});var u1=W(zg=>{"use strict";zg.selectMode=function(e){return e==="lasso"||e==="select"};zg.drawMode=function(e){return e==="drawclosedpath"||e==="drawopenpath"||e==="drawline"||e==="drawrect"||e==="drawcircle"};zg.openMode=function(e){return e==="drawline"||e==="drawopenpath"};zg.rectMode=function(e){return e==="select"||e==="drawline"||e==="drawrect"||e==="drawcircle"};zg.freeMode=function(e){return e==="lasso"||e==="drawclosedpath"||e==="drawopenpath"};zg.selectingOrDrawing=function(e){return zg.freeMode(e)||zg.rectMode(e)}});var CA=W((H9r,Bge)=>{"use strict";Bge.exports=function(t){var r=t._fullLayout;r._glcanvas&&r._glcanvas.size()&&r._glcanvas.each(function(i){i.regl&&i.regl.clear({color:!0,depth:!0})})}});var o7=W((j9r,qge)=>{"use strict";qge.exports={undo:{width:857.1,height:1e3,path:"m857 350q0-87-34-166t-91-137-137-92-166-34q-96 0-183 41t-147 114q-4 6-4 13t5 11l76 77q6 5 14 5 9-1 13-7 41-53 100-82t126-29q58 0 110 23t92 61 61 91 22 111-22 111-61 91-92 61-110 23q-55 0-105-20t-90-57l77-77q17-16 8-38-10-23-33-23h-250q-15 0-25 11t-11 25v250q0 24 22 33 22 10 39-8l72-72q60 57 137 88t159 31q87 0 166-34t137-92 91-137 34-166z",transform:"matrix(1 0 0 -1 0 850)"},home:{width:928.6,height:1e3,path:"m786 296v-267q0-15-11-26t-25-10h-214v214h-143v-214h-214q-15 0-25 10t-11 26v267q0 1 0 2t0 2l321 264 321-264q1-1 1-4z m124 39l-34-41q-5-5-12-6h-2q-7 0-12 3l-386 322-386-322q-7-4-13-4-7 2-12 7l-35 41q-4 5-3 13t6 12l401 334q18 15 42 15t43-15l136-114v109q0 8 5 13t13 5h107q8 0 13-5t5-13v-227l122-102q5-5 6-12t-4-13z",transform:"matrix(1 0 0 -1 0 850)"},"camera-retro":{width:1e3,height:1e3,path:"m518 386q0 8-5 13t-13 5q-37 0-63-27t-26-63q0-8 5-13t13-5 12 5 5 13q0 23 16 38t38 16q8 0 13 5t5 13z m125-73q0-59-42-101t-101-42-101 42-42 101 42 101 101 42 101-42 42-101z m-572-320h858v71h-858v-71z m643 320q0 89-62 152t-152 62-151-62-63-152 63-151 151-63 152 63 62 151z m-571 358h214v72h-214v-72z m-72-107h858v143h-462l-36-71h-360v-72z m929 143v-714q0-30-21-51t-50-21h-858q-29 0-50 21t-21 51v714q0 30 21 51t50 21h858q29 0 50-21t21-51z",transform:"matrix(1 0 0 -1 0 850)"},curlybraces:{width:18,height:16,path:"M 9,4 C 7.354992,4 6,5.354992 6,7 V 9 C 6,9.2999997 5.8778068,9.8883542 5.5878906,10.291016 5.2979744,10.693677 4.9222213,11 4,11 a 1.0001,1.0001 0 0 0 0,2 c 0.2999997,0 0.8883542,0.122193 1.2910156,0.412109 C 5.693677,13.702026 6,14.077779 6,15 v 2 c 0,1.645008 1.354992,3 3,3 h 0.5 a 1,1 0 0 0 1,-1 1,1 0 0 0 -1,-1 H 9 C 8.4358712,18 8,17.564129 8,17 V 15 C 8,13.625876 7.3766799,12.602305 6.6113281,11.96875 6.8086352,11.794047 7.0679793,11.657537 7.2109375,11.458984 7.8210204,10.611647 8,9.6999993 8,9 V 7 C 8,6.4358712 8.4358712,6 9,6 h 0.5 a 1,1 0 0 0 1,-1 1,1 0 0 0 -1,-1 z m 5.5,0 a 1,1 0 0 0 -1,1 1,1 0 0 0 1,1 H 15 c 0.564129,0 1,0.4358712 1,1 v 2 c 0,0.6999993 0.17898,1.611647 0.789062,2.458984 0.142959,0.198553 0.402303,0.335063 0.59961,0.509766 C 16.62332,12.602305 16,13.625876 16,15 v 2 c 0,0.564129 -0.435871,1 -1,1 h -0.5 a 1,1 0 0 0 -1,1 1,1 0 0 0 1,1 H 15 c 1.645008,0 3,-1.354992 3,-3 v -2 c 0,-0.922221 0.306323,-1.297974 0.708984,-1.587891 C 19.111646,13.122193 19.7,13 20,13 a 1.0001,1.0001 0 0 0 0,-2 C 19.077779,11 18.702026,10.693677 18.412109,10.291016 18.122193,9.8883542 18,9.2999997 18,9 V 7 C 18,5.354992 16.645008,4 15,4 Z",transform:"translate(-3 -4)"},zoombox:{width:1e3,height:1e3,path:"m1000-25l-250 251c40 63 63 138 63 218 0 224-182 406-407 406-224 0-406-182-406-406s183-406 407-406c80 0 155 22 218 62l250-250 125 125z m-812 250l0 438 437 0 0-438-437 0z m62 375l313 0 0-312-313 0 0 312z",transform:"matrix(1 0 0 -1 0 850)"},pan:{width:1e3,height:1e3,path:"m1000 350l-187 188 0-125-250 0 0 250 125 0-188 187-187-187 125 0 0-250-250 0 0 125-188-188 186-187 0 125 252 0 0-250-125 0 187-188 188 188-125 0 0 250 250 0 0-126 187 188z",transform:"matrix(1 0 0 -1 0 850)"},zoom_plus:{width:875,height:1e3,path:"m1 787l0-875 875 0 0 875-875 0z m687-500l-187 0 0-187-125 0 0 187-188 0 0 125 188 0 0 187 125 0 0-187 187 0 0-125z",transform:"matrix(1 0 0 -1 0 850)"},zoom_minus:{width:875,height:1e3,path:"m0 788l0-876 875 0 0 876-875 0z m688-500l-500 0 0 125 500 0 0-125z",transform:"matrix(1 0 0 -1 0 850)"},autoscale:{width:1e3,height:1e3,path:"m250 850l-187 0-63 0 0-62 0-188 63 0 0 188 187 0 0 62z m688 0l-188 0 0-62 188 0 0-188 62 0 0 188 0 62-62 0z m-875-938l0 188-63 0 0-188 0-62 63 0 187 0 0 62-187 0z m875 188l0-188-188 0 0-62 188 0 62 0 0 62 0 188-62 0z m-125 188l-1 0-93-94-156 156 156 156 92-93 2 0 0 250-250 0 0-2 93-92-156-156-156 156 94 92 0 2-250 0 0-250 0 0 93 93 157-156-157-156-93 94 0 0 0-250 250 0 0 0-94 93 156 157 156-157-93-93 0 0 250 0 0 250z",transform:"matrix(1 0 0 -1 0 850)"},tooltip_basic:{width:1500,height:1e3,path:"m375 725l0 0-375-375 375-374 0-1 1125 0 0 750-1125 0z",transform:"matrix(1 0 0 -1 0 850)"},tooltip_compare:{width:1125,height:1e3,path:"m187 786l0 2-187-188 188-187 0 0 937 0 0 373-938 0z m0-499l0 1-187-188 188-188 0 0 937 0 0 376-938-1z",transform:"matrix(1 0 0 -1 0 850)"},plotlylogo:{width:1542,height:1e3,path:"m0-10h182v-140h-182v140z m228 146h183v-286h-183v286z m225 714h182v-1000h-182v1000z m225-285h182v-715h-182v715z m225 142h183v-857h-183v857z m231-428h182v-429h-182v429z m225-291h183v-138h-183v138z",transform:"matrix(1 0 0 -1 0 850)"},"z-axis":{width:1e3,height:1e3,path:"m833 5l-17 108v41l-130-65 130-66c0 0 0 38 0 39 0-1 36-14 39-25 4-15-6-22-16-30-15-12-39-16-56-20-90-22-187-23-279-23-261 0-341 34-353 59 3 60 228 110 228 110-140-8-351-35-351-116 0-120 293-142 474-142 155 0 477 22 477 142 0 50-74 79-163 96z m-374 94c-58-5-99-21-99-40 0-24 65-43 144-43 79 0 143 19 143 43 0 19-42 34-98 40v216h87l-132 135-133-135h88v-216z m167 515h-136v1c16 16 31 34 46 52l84 109v54h-230v-71h124v-1c-16-17-28-32-44-51l-89-114v-51h245v72z",transform:"matrix(1 0 0 -1 0 850)"},"3d_rotate":{width:1e3,height:1e3,path:"m922 660c-5 4-9 7-14 11-359 263-580-31-580-31l-102 28 58-400c0 1 1 1 2 2 118 108 351 249 351 249s-62 27-100 42c88 83 222 183 347 122 16-8 30-17 44-27-2 1-4 2-6 4z m36-329c0 0 64 229-88 296-62 27-124 14-175-11 157-78 225-208 249-266 8-19 11-31 11-31 2 5 6 15 11 32-5-13-8-20-8-20z m-775-239c70-31 117-50 198-32-121 80-199 346-199 346l-96-15-58-12c0 0 55-226 155-287z m603 133l-317-139c0 0 4-4 19-14 7-5 24-15 24-15s-177-147-389 4c235-287 536-112 536-112l31-22 100 299-4-1z m-298-153c6-4 14-9 24-15 0 0-17 10-24 15z",transform:"matrix(1 0 0 -1 0 850)"},camera:{width:1e3,height:1e3,path:"m500 450c-83 0-150-67-150-150 0-83 67-150 150-150 83 0 150 67 150 150 0 83-67 150-150 150z m400 150h-120c-16 0-34 13-39 29l-31 93c-6 15-23 28-40 28h-340c-16 0-34-13-39-28l-31-94c-6-15-23-28-40-28h-120c-55 0-100-45-100-100v-450c0-55 45-100 100-100h800c55 0 100 45 100 100v450c0 55-45 100-100 100z m-400-550c-138 0-250 112-250 250 0 138 112 250 250 250 138 0 250-112 250-250 0-138-112-250-250-250z m365 380c-19 0-35 16-35 35 0 19 16 35 35 35 19 0 35-16 35-35 0-19-16-35-35-35z",transform:"matrix(1 0 0 -1 0 850)"},movie:{width:1e3,height:1e3,path:"m938 413l-188-125c0 37-17 71-44 94 64 38 107 107 107 187 0 121-98 219-219 219-121 0-219-98-219-219 0-61 25-117 66-156h-115c30 33 49 76 49 125 0 103-84 187-187 187s-188-84-188-187c0-57 26-107 65-141-38-22-65-62-65-109v-250c0-70 56-126 125-126h500c69 0 125 56 125 126l188-126c34 0 62 28 62 63v375c0 35-28 63-62 63z m-750 0c-69 0-125 56-125 125s56 125 125 125 125-56 125-125-56-125-125-125z m406-1c-87 0-157 70-157 157 0 86 70 156 157 156s156-70 156-156-70-157-156-157z",transform:"matrix(1 0 0 -1 0 850)"},question:{width:857.1,height:1e3,path:"m500 82v107q0 8-5 13t-13 5h-107q-8 0-13-5t-5-13v-107q0-8 5-13t13-5h107q8 0 13 5t5 13z m143 375q0 49-31 91t-77 65-95 23q-136 0-207-119-9-14 4-24l74-55q4-4 10-4 9 0 14 7 30 38 48 51 19 14 48 14 27 0 48-15t21-33q0-21-11-34t-38-25q-35-16-65-48t-29-70v-20q0-8 5-13t13-5h107q8 0 13 5t5 13q0 10 12 27t30 28q18 10 28 16t25 19 25 27 16 34 7 45z m214-107q0-117-57-215t-156-156-215-58-216 58-155 156-58 215 58 215 155 156 216 58 215-58 156-156 57-215z",transform:"matrix(1 0 0 -1 0 850)"},disk:{width:857.1,height:1e3,path:"m214-7h429v214h-429v-214z m500 0h72v500q0 8-6 21t-11 20l-157 156q-5 6-19 12t-22 5v-232q0-22-15-38t-38-16h-322q-22 0-37 16t-16 38v232h-72v-714h72v232q0 22 16 38t37 16h465q22 0 38-16t15-38v-232z m-214 518v178q0 8-5 13t-13 5h-107q-7 0-13-5t-5-13v-178q0-8 5-13t13-5h107q7 0 13 5t5 13z m357-18v-518q0-22-15-38t-38-16h-750q-23 0-38 16t-16 38v750q0 22 16 38t38 16h517q23 0 50-12t42-26l156-157q16-15 27-42t11-49z",transform:"matrix(1 0 0 -1 0 850)"},cloudupload:{width:640,height:640,path:"M451.5 160C434.9 160 418.8 164.5 404.7 172.7C388.9 156.7 370.5 143.3 350.2 133.2C378.4 109.2 414.3 96 451.5 96C537.9 96 608 166 608 252.5C608 294 591.5 333.8 562.2 363.1L491.1 434.2C461.8 463.5 422 480 380.5 480C294.1 480 224 410 224 323.5C224 322 224 320.5 224.1 319C224.6 301.3 239.3 287.4 257 287.9C274.7 288.4 288.6 303.1 288.1 320.8C288.1 321.7 288.1 322.6 288.1 323.4C288.1 374.5 329.5 415.9 380.6 415.9C405.1 415.9 428.6 406.2 446 388.8L517.1 317.7C534.4 300.4 544.2 276.8 544.2 252.3C544.2 201.2 502.8 159.8 451.7 159.8zM307.2 237.3C305.3 236.5 303.4 235.4 301.7 234.2C289.1 227.7 274.7 224 259.6 224C235.1 224 211.6 233.7 194.2 251.1L123.1 322.2C105.8 339.5 96 363.1 96 387.6C96 438.7 137.4 480.1 188.5 480.1C205 480.1 221.1 475.7 235.2 467.5C251 483.5 269.4 496.9 289.8 507C261.6 530.9 225.8 544.2 188.5 544.2C102.1 544.2 32 474.2 32 387.7C32 346.2 48.5 306.4 77.8 277.1L148.9 206C178.2 176.7 218 160.2 259.5 160.2C346.1 160.2 416 230.8 416 317.1C416 318.4 416 319.7 416 321C415.6 338.7 400.9 352.6 383.2 352.2C365.5 351.8 351.6 337.1 352 319.4C352 318.6 352 317.9 352 317.1C352 283.4 334 253.8 307.2 237.5z",transform:"matrix(1 0 0 1 -15 -15)"},drawopenpath:{width:70,height:70,path:"M33.21,85.65a7.31,7.31,0,0,1-2.59-.48c-8.16-3.11-9.27-19.8-9.88-41.3-.1-3.58-.19-6.68-.35-9-.15-2.1-.67-3.48-1.43-3.79-2.13-.88-7.91,2.32-12,5.86L3,32.38c1.87-1.64,11.55-9.66,18.27-6.9,2.13.87,4.75,3.14,5.17,9,.17,2.43.26,5.59.36,9.25a224.17,224.17,0,0,0,1.5,23.4c1.54,10.76,4,12.22,4.48,12.4.84.32,2.79-.46,5.76-3.59L43,80.07C41.53,81.57,37.68,85.64,33.21,85.65ZM74.81,69a11.34,11.34,0,0,0,6.09-6.72L87.26,44.5,74.72,32,56.9,38.35c-2.37.86-5.57,3.42-6.61,6L38.65,72.14l8.42,8.43ZM55,46.27a7.91,7.91,0,0,1,3.64-3.17l14.8-5.3,8,8L76.11,60.6l-.06.19a6.37,6.37,0,0,1-3,3.43L48.25,74.59,44.62,71Zm16.57,7.82A6.9,6.9,0,1,0,64.64,61,6.91,6.91,0,0,0,71.54,54.09Zm-4.05,0a2.85,2.85,0,1,1-2.85-2.85A2.86,2.86,0,0,1,67.49,54.09Zm-4.13,5.22L60.5,56.45,44.26,72.7l2.86,2.86ZM97.83,35.67,84.14,22l-8.57,8.57L89.26,44.24Zm-13.69-8,8,8-2.85,2.85-8-8Z",transform:"matrix(1 0 0 1 -15 -15)"},drawclosedpath:{width:90,height:90,path:"M88.41,21.12a26.56,26.56,0,0,0-36.18,0l-2.07,2-2.07-2a26.57,26.57,0,0,0-36.18,0,23.74,23.74,0,0,0,0,34.8L48,90.12a3.22,3.22,0,0,0,4.42,0l36-34.21a23.73,23.73,0,0,0,0-34.79ZM84,51.24,50.16,83.35,16.35,51.25a17.28,17.28,0,0,1,0-25.47,20,20,0,0,1,27.3,0l4.29,4.07a3.23,3.23,0,0,0,4.44,0l4.29-4.07a20,20,0,0,1,27.3,0,17.27,17.27,0,0,1,0,25.46ZM66.76,47.68h-33v6.91h33ZM53.35,35H46.44V68h6.91Z",transform:"matrix(1 0 0 1 -5 -5)"},lasso:{width:1031,height:1e3,path:"m1018 538c-36 207-290 336-568 286-277-48-473-256-436-463 10-57 36-108 76-151-13-66 11-137 68-183 34-28 75-41 114-42l-55-70 0 0c-2-1-3-2-4-3-10-14-8-34 5-45 14-11 34-8 45 4 1 1 2 3 2 5l0 0 113 140c16 11 31 24 45 40 4 3 6 7 8 11 48-3 100 0 151 9 278 48 473 255 436 462z m-624-379c-80 14-149 48-197 96 42 42 109 47 156 9 33-26 47-66 41-105z m-187-74c-19 16-33 37-39 60 50-32 109-55 174-68-42-25-95-24-135 8z m360 75c-34-7-69-9-102-8 8 62-16 128-68 170-73 59-175 54-244-5-9 20-16 40-20 61-28 159 121 317 333 354s407-60 434-217c28-159-121-318-333-355z",transform:"matrix(1 0 0 -1 0 850)"},selectbox:{width:1e3,height:1e3,path:"m0 850l0-143 143 0 0 143-143 0z m286 0l0-143 143 0 0 143-143 0z m285 0l0-143 143 0 0 143-143 0z m286 0l0-143 143 0 0 143-143 0z m-857-286l0-143 143 0 0 143-143 0z m857 0l0-143 143 0 0 143-143 0z m-857-285l0-143 143 0 0 143-143 0z m857 0l0-143 143 0 0 143-143 0z m-857-286l0-143 143 0 0 143-143 0z m286 0l0-143 143 0 0 143-143 0z m285 0l0-143 143 0 0 143-143 0z m286 0l0-143 143 0 0 143-143 0z",transform:"matrix(1 0 0 -1 0 850)"},drawline:{width:70,height:70,path:"M60.64,62.3a11.29,11.29,0,0,0,6.09-6.72l6.35-17.72L60.54,25.31l-17.82,6.4c-2.36.86-5.57,3.41-6.6,6L24.48,65.5l8.42,8.42ZM40.79,39.63a7.89,7.89,0,0,1,3.65-3.17l14.79-5.31,8,8L61.94,54l-.06.19a6.44,6.44,0,0,1-3,3.43L34.07,68l-3.62-3.63Zm16.57,7.81a6.9,6.9,0,1,0-6.89,6.9A6.9,6.9,0,0,0,57.36,47.44Zm-4,0a2.86,2.86,0,1,1-2.85-2.85A2.86,2.86,0,0,1,53.32,47.44Zm-4.13,5.22L46.33,49.8,30.08,66.05l2.86,2.86ZM83.65,29,70,15.34,61.4,23.9,75.09,37.59ZM70,21.06l8,8-2.84,2.85-8-8ZM87,80.49H10.67V87H87Z",transform:"matrix(1 0 0 1 -15 -15)"},drawrect:{width:80,height:80,path:"M78,22V79H21V22H78m9-9H12V88H87V13ZM68,46.22H31V54H68ZM53,32H45.22V69H53Z",transform:"matrix(1 0 0 1 -10 -10)"},drawcircle:{width:80,height:80,path:"M50,84.72C26.84,84.72,8,69.28,8,50.3S26.84,15.87,50,15.87,92,31.31,92,50.3,73.16,84.72,50,84.72Zm0-60.59c-18.6,0-33.74,11.74-33.74,26.17S31.4,76.46,50,76.46,83.74,64.72,83.74,50.3,68.6,24.13,50,24.13Zm17.15,22h-34v7.11h34Zm-13.8-13H46.24v34h7.11Z",transform:"matrix(1 0 0 1 -10 -10)"},eraseshape:{width:80,height:80,path:"M82.77,78H31.85L6,49.57,31.85,21.14H82.77a8.72,8.72,0,0,1,8.65,8.77V69.24A8.72,8.72,0,0,1,82.77,78ZM35.46,69.84H82.77a.57.57,0,0,0,.49-.6V29.91a.57.57,0,0,0-.49-.61H35.46L17,49.57Zm32.68-34.7-24,24,5,5,24-24Zm-19,.53-5,5,24,24,5-5Z",transform:"matrix(1 0 0 1 -10 -10)"},spikeline:{width:1e3,height:1e3,path:"M512 409c0-57-46-104-103-104-57 0-104 47-104 104 0 57 47 103 104 103 57 0 103-46 103-103z m-327-39l92 0 0 92-92 0z m-185 0l92 0 0 92-92 0z m370-186l92 0 0 93-92 0z m0-184l92 0 0 92-92 0z",transform:"matrix(1.5 0 0 -1.5 0 850)"},pencil:{width:1792,height:1792,path:"M491 1536l91-91-235-235-91 91v107h128v128h107zm523-928q0-22-22-22-10 0-17 7l-542 542q-7 7-7 17 0 22 22 22 10 0 17-7l542-542q7-7 7-17zm-54-192l416 416-832 832h-416v-416zm683 96q0 53-37 90l-166 166-416-416 166-165q36-38 90-38 53 0 91 38l235 234q37 39 37 91z",transform:"matrix(1 0 0 1 0 1)"},newplotlylogo:{name:"newplotlylogo",svg:[""," plotly-logomark"," "," "," "," "," "," "," "," "," "," "," "," "," ",""].join("")}}});var l7=W(($9r,Oge)=>{"use strict";var s7=32;Oge.exports={CIRCLE_SIDES:s7,i000:0,i090:s7/4,i180:s7/2,i270:s7/4*3,cos45:Math.cos(Math.PI/4),sin45:Math.sin(Math.PI/4),SQRT2:Math.sqrt(2)}});var u7=W((W9r,Uge)=>{"use strict";var PAt=it().strTranslate;function Nge(e,t){switch(e.type){case"log":return e.p2d(t);case"date":return e.p2r(t,0,e.calendar);default:return e.p2r(t)}}function IAt(e,t){switch(e.type){case"log":return e.d2p(t);case"date":return e.r2p(t,0,e.calendar);default:return e.r2p(t)}}function RAt(e){var t=e._id.charAt(0)==="y"?1:0;return function(r){return Nge(e,r[t])}}function zAt(e){return PAt(e.xaxis._offset,e.yaxis._offset)}Uge.exports={p2r:Nge,r2p:IAt,axValue:RAt,getTransform:zAt}});var Py=W(Bg=>{"use strict";var BAt=iG(),Hge=l7(),Pw=Hge.CIRCLE_SIDES,vH=Hge.SQRT2,jge=u7(),Vge=jge.p2r,Gge=jge.r2p,qAt=[0,3,4,5,6,1,2],OAt=[0,3,4,1,2];Bg.writePaths=function(e){var t=e.length;if(!t)return"M0,0Z";for(var r="",i=0;i0&&l{"use strict";var $ge=Cs(),Kge=u1(),NAt=Kge.drawMode,UAt=Kge.openMode,Iw=l7(),Wge=Iw.i000,Yge=Iw.i090,Xge=Iw.i180,Zge=Iw.i270,VAt=Iw.cos45,GAt=Iw.sin45,Jge=u7(),f7=Jge.p2r,Iy=Jge.r2p,HAt=by(),jAt=HAt.clearOutline,h7=Py(),$At=h7.readPaths,WAt=h7.writePaths,YAt=h7.ellipseOver,XAt=h7.fixDatesForPaths;function ZAt(e,t){if(e.length){var r=e[0][0];if(r){var i=t.gd,n=t.isActiveShape,a=t.dragmode,o=(i.layout||{}).shapes||[];if(!NAt(a)&&n!==void 0){var s=i._fullLayout._activeShapeIndex;if(s{"use strict";var KAt=u1(),JAt=KAt.selectMode,QAt=by(),eMt=QAt.clearOutline,gH=Py(),tMt=gH.readPaths,rMt=gH.writePaths,iMt=gH.fixDatesForPaths;tme.exports=function(t,r){if(t.length){var i=t[0][0];if(i){var n=i.getAttribute("d"),a=r.gd,o=a._fullLayout.newselection,s=r.plotinfo,l=s.xaxis,u=s.yaxis,c=r.isActiveSelection,f=r.dragmode,h=(a.layout||{}).selections||[];if(!JAt(f)&&c!==void 0){var d=a._fullLayout._activeSelectionIndex;if(d{"use strict";rme.exports={segmentRE:/[MLHVQCTSZ][^MLHVQCTSZ]*/g,paramRE:/[^\s,]+/g,paramIsX:{M:{0:!0,drawn:0},L:{0:!0,drawn:0},H:{0:!0,drawn:0},V:{},Q:{0:!0,2:!0,drawn:2},C:{0:!0,2:!0,4:!0,drawn:4},T:{0:!0,drawn:0},S:{0:!0,2:!0,drawn:2},Z:{}},paramIsY:{M:{1:!0,drawn:1},L:{1:!0,drawn:1},H:{},V:{0:!0,drawn:0},Q:{1:!0,3:!0,drawn:3},C:{1:!0,3:!0,5:!0,drawn:5},T:{1:!0,drawn:1},S:{1:!0,3:!0,drawn:3},Z:{}},numParams:{M:2,L:2,H:1,V:1,Q:4,C:6,T:2,S:4,Z:0}}});var zy=W(tc=>{"use strict";var f1=FA(),ime=it(),Ry=ji();tc.rangeToShapePosition=function(e){return e.type==="log"?e.r2d:function(t){return t}};tc.shapePositionToRange=function(e){return e.type==="log"?e.d2r:function(t){return t}};tc.decodeDate=function(e){return function(t){return t.replace&&(t=t.replace("_"," ")),e(t)}};tc.encodeDate=function(e){return function(t){return e(t).replace(" ","_")}};tc.extractPathCoords=function(e,t,r){var i=[],n=e.match(f1.segmentRE);return n.forEach(function(a){var o=t[a.charAt(0)].drawn;if(o!==void 0){var s=a.slice(1).match(f1.paramRE);if(!(!s||s.length{let s=o.charAt(0),l=n[s].drawn!==void 0;return a+(l?1:0)},0)};tc.getDataToPixel=function(e,t,r,i,n){var a=e._fullLayout._size,o;if(t)if(n==="domain")o=function(l){return t._length*(i?1-l:l)+t._offset};else{var s=tc.shapePositionToRange(t);o=function(l){var u=c1(t,r);return t._offset+t.r2p(s(l,!0))+u},t.type==="date"&&(o=tc.decodeDate(o))}else i?o=function(l){return a.t+a.h*(1-l)}:o=function(l){return a.l+a.w*l};return o};tc.getPixelToData=function(e,t,r,i){var n=e._fullLayout._size,a;if(t)if(i==="domain")a=function(s){var l=(s-t._offset)/t._length;return r?1-l:l};else{var o=tc.rangeToShapePosition(t);a=function(s){return o(t.p2r(s-t._offset))}}else r?a=function(s){return 1-(s-n.t)/n.h}:a=function(s){return(s-n.l)/n.w};return a};tc.roundPositionForSharpStrokeRendering=function(e,t){var r=Math.round(t%2)===1,i=Math.round(e);return r?i+.5:i};tc.makeShapesOptionsAndPlotinfo=function(e,t){var r=e._fullLayout.shapes[t]||{},i=e._fullLayout._plots[r.xref+r.yref],n=!!i;return n?i._hadPlotinfo=!0:(i={},r.xref&&r.xref!=="paper"&&(i.xaxis=e._fullLayout[r.xref+"axis"]),r.yref&&r.yref!=="paper"&&(i.yaxis=e._fullLayout[r.yref+"axis"])),i.xsizemode=r.xsizemode,i.ysizemode=r.ysizemode,i.xanchor=r.xanchor,i.yanchor=r.yanchor,{options:r,plotinfo:i}};tc.makeSelectionsOptionsAndPlotinfo=function(e,t){var r=e._fullLayout.selections[t]||{},i=e._fullLayout._plots[r.xref+r.yref],n=!!i;return n?i._hadPlotinfo=!0:(i={},r.xref&&(i.xaxis=e._fullLayout[r.xref+"axis"]),r.yref&&(i.yaxis=e._fullLayout[r.yref+"axis"])),{options:r,plotinfo:i}};tc.getPathString=function(e,t){let r=t.type,i=Ry.getRefType(t.xref),n=Ry.getRefType(t.yref),a=e._fullLayout._size;var o,s,l,u,c,f,h,d,p,v,m,g;function w(E,S,C,k){var D;if(E)if(S==="domain")k?D=function(F){return E._offset+E._length*(1-F)}:D=function(F){return E._offset+E._length*F};else{let F=tc.shapePositionToRange(E);D=function(P){return E._offset+E.r2p(F(P,!0))},C==="path"&&E.type==="date"&&(D=tc.decodeDate(D))}else k?D=function(F){return a.t+a.h*(1-F)}:D=function(F){return a.l+a.w*F};return D}if(i==="array"?(h=[],o=t.xref.map(function(E){return Ry.getFromId(e,E)}),h=t.xref.map(function(E,S){return w(o[S],Ry.getRefType(E),r,!1)})):(o=Ry.getFromId(e,t.xref),h=w(o,i,r,!1)),n==="array"?(d=[],s=t.yref.map(function(E){return Ry.getFromId(e,E)}),d=t.yref.map(function(E,S){return w(s[S],Ry.getRefType(E),r,!0)})):(s=Ry.getFromId(e,t.yref),d=w(s,n,r,!0)),r==="path")return nMt(t,h,d);if(i==="array")l=c1(o[0],t.x0shift),u=c1(o[1],t.x1shift),p=h[0](t.x0)+l,v=h[1](t.x1)+u;else if(l=c1(o,t.x0shift),u=c1(o,t.x1shift),t.xsizemode==="pixel"){let E=h(t.xanchor);p=E+t.x0+l,v=E+t.x1+u}else p=h(t.x0)+l,v=h(t.x1)+u;if(n==="array")c=c1(s[0],t.y0shift),f=c1(s[1],t.y1shift),m=d[0](t.y0)+c,g=d[1](t.y1)+f;else if(c=c1(s,t.y0shift),f=c1(s,t.y1shift),t.ysizemode==="pixel"){let E=d(t.yanchor);m=E-t.y0+c,g=E-t.y1+f}else m=d(t.y0)+c,g=d(t.y1)+f;if(r==="line")return"M"+p+","+m+"L"+v+","+g;if(r==="rect")return"M"+p+","+m+"H"+v+"V"+g+"H"+p+"Z";var b=(p+v)/2,_=(m+g)/2,M=Math.abs(b-p),x=Math.abs(_-m),T="A"+M+","+x,A=b+M+","+_,y=b+","+(_-x);return"M"+A+T+" 0 1,1 "+y+T+" 0 0,1 "+A+"Z"};function nMt(e,t,r){let i=e.path,n=e.xsizemode,a=e.ysizemode,o=e.xanchor,s=e.yanchor,l=Array.isArray(e.xref),u=Array.isArray(e.yref);var c=0,f=0;return i.replace(f1.segmentRE,function(h){var d=0,p=h.charAt(0),v=f1.paramIsX[p],m=f1.paramIsY[p],g=f1.numParams[p];let w=v.drawn!==void 0,b=m.drawn!==void 0,_=l?t[c]:t,M=u?r[f]:r;var x=h.slice(1).replace(f1.paramRE,function(T){return v[d]?n==="pixel"?T=_(o)+Number(T):T=_(T):m[d]&&(a==="pixel"?T=M(s)-Number(T):T=M(T)),d++,d>g&&(T="X"),T});return d>g&&(x=x.replace(/[\s,]*X.*/,""),ime.log("Ignoring extra params in segment "+h)),w&&c++,b&&f++,p+x})}tc.getPixelShift=c1;function c1(e,t){t=t||0;var r=0;return t&&e&&(e.type==="category"||e.type==="multicategory")&&(r=(e.r2p(1)-e.r2p(0))*t),r}});var yH=W((Q9r,ome)=>{"use strict";var aMt=it(),h1=ji(),nme=uo(),ame=Ji(),oMt=Py().readPaths,f_=zy(),sMt=f_.getPathString,LA=GC(),lMt=Hl().FROM_TL;ome.exports=function(t,r,i,n){if(n.selectAll(".shape-label").remove(),!!(i.label.text||i.label.texttemplate)){var a;if(i.label.texttemplate){var o={};if(i.type!=="path"){var s=h1.getFromId(t,i.xref),l=h1.getFromId(t,i.yref);let O=Array.isArray(i.xref),$=Array.isArray(i.yref);for(var u in LA){var c=typeof LA[u]=="function",f=!O||LA.simpleXVariables.includes(u),h=!$||LA.simpleYVariables.includes(u);if(c&&f&&h){var d=LA[u](i,s,l);d!==void 0&&(o[u]=d)}}}a=aMt.texttemplateStringForShapes({data:[o],fallback:i.label.texttemplatefallback,locale:t._fullLayout._d3locale,template:i.label.texttemplate})}else a=i.label.text;var p={"data-index":r},v=i.label.font,m={"data-notex":1},g=n.append("g").attr(p).classed("shape-label",!0),w=g.append("text").attr(m).classed("shape-label-text",!0).text(a),b,_,M,x;if(i.path){var T=sMt(t,i),A=oMt(T,t);b=1/0,M=1/0,_=-1/0,x=-1/0;for(var y=0;yf_.getDataToPixel(t,ce,te,!1,ge)(Q),G=(Q,te,ce,ge)=>f_.getDataToPixel(t,ce,te,!0,ge)(Q);if(i.xsizemode==="pixel"){let Q=H(i.xanchor,void 0,Y,J),te=f_.getPixelShift(Y,i.x0shift),ce=f_.getPixelShift(Y,i.x1shift);b=Q+i.x0+te,_=Q+i.x1+ce}else b=H(i.x0,i.x0shift,Y,J),_=H(i.x1,i.x1shift,K,U);if(i.ysizemode==="pixel"){let Q=G(i.yanchor,void 0,j,V),te=f_.getPixelShift(j,i.y0shift),ce=f_.getPixelShift(j,i.y1shift);M=Q-i.y0+te,x=Q-i.y1+ce}else M=G(i.y0,i.y0shift,j,V),x=G(i.y1,i.y1shift,q,X)}var F=i.label.textangle;F==="auto"&&(i.type==="line"?F=uMt(b,M,_,x):F=0),w.call(function(O){return O.call(ame.font,v).attr({}),nme.convertToTspans(O,t),O});var P=ame.bBox(w.node()),R=cMt(b,M,_,x,i,F,P),L=R.textx,I=R.texty,B=R.xanchor;w.attr({"text-anchor":{left:"start",center:"middle",right:"end"}[B],y:I,x:L,transform:"rotate("+F+","+L+","+I+")"}).call(nme.positionText,L,I)}};function uMt(e,t,r,i){var n,a;return a=Math.abs(r-e),r>=e?n=t-i:n=i-t,-180/Math.PI*Math.atan2(n,a)}function cMt(e,t,r,i,n,a,o){var s=n.label.textposition,l=n.label.textangle,u=n.label.padding,c=n.type,f=Math.PI/180*a,h=Math.sin(f),d=Math.cos(f),p=n.label.xanchor,v=n.label.yanchor,m,g,w,b;if(c==="line"){s==="start"?(m=e,g=t):s==="end"?(m=r,g=i):(m=(e+r)/2,g=(t+i)/2),p==="auto"&&(s==="start"?l==="auto"?r>e?p="left":re?p="right":re?p="right":re?p="left":r{"use strict";var fMt=it(),hMt=fMt.strTranslate,sme=bf(),cme=u1(),dMt=cme.drawMode,fme=cme.selectMode,hme=yi(),lme=ni(),v7=l7(),pMt=v7.i000,vMt=v7.i090,gMt=v7.i180,mMt=v7.i270,yMt=by(),dme=yMt.clearOutlineControllers,_H=Py(),p7=_H.pointsOnRectangle,xH=_H.pointsOnEllipse,xMt=_H.writePaths,_Mt=d7().newShapes,bMt=d7().createShapeObj,wMt=mH(),TMt=yH();pme.exports=function e(t,r,i,n){n||(n=0);var a=i.gd;function o(){e(t,r,i,n++),(xH(t[0])||i.hasText)&&s({redrawing:!0})}function s(R){var L={};i.isActiveShape!==void 0&&(i.isActiveShape=!1,L=_Mt(r,i)),i.isActiveSelection!==void 0&&(i.isActiveSelection=!1,L=wMt(r,i),a._fullLayout._reselect=!0),Object.keys(L).length&&hme.call((R||{}).redrawing?"relayout":"_guiRelayout",a,L)}var l=a._fullLayout,u=l._zoomlayer,c=i.dragmode,f=dMt(c),h=fme(c);(f||h)&&(a._fullLayout._outlining=!0),dme(a),r.attr("d",xMt(t));var d,p,v,m,g;if(!n&&(i.isActiveShape||i.isActiveSelection)){g=AMt([],t);var w=u.append("g").attr("class","outline-controllers");E(w),P()}if(f&&i.hasText){var b=u.select(".label-temp"),_=bMt(r,i,i.dragmode);TMt(a,"label-temp",_,b)}function M(R){v=+R.srcElement.getAttribute("data-i"),m=+R.srcElement.getAttribute("data-j"),d[v][m].moveFn=x}function x(R,L){if(t.length){var I=g[v][m][1],B=g[v][m][2],O=t[v],$=O.length;if(p7(O)){var Y=R,K=L;if(i.isActiveSelection){var j=ume(O,m);j[1]===O[m][1]?K=0:Y=0}for(var q=0;q<$;q++)if(q!==m){var J=O[q];J[1]===O[m][1]&&(J[1]=I+Y),J[2]===O[m][2]&&(J[2]=B+K)}if(O[m][1]=I+Y,O[m][2]=B+K,!p7(O))for(var U=0;U<$;U++)for(var V=0;V1&&!(R.length===2&&R[1][0]==="Z")&&(m===0&&(R[0][0]="M"),t[v]=R,o(),s())}}function y(R,L){if(R===2){v=+L.srcElement.getAttribute("data-i"),m=+L.srcElement.getAttribute("data-j");var I=t[v];!p7(I)&&!xH(I)&&A()}}function E(R){d=[];for(var L=0;L{"use strict";var SMt=vi(),_me=yi(),wH=it(),h_=ji(),EMt=Py().readPaths,kMt=g7(),y7=yH(),bme=by().clearOutlineControllers,bH=ni(),x7=Ji(),CMt=Da().arrayEditor,vme=bf(),gme=Ds(),mme=Np(),d_=FA(),Bh=zy(),TH=Bh.getPathString;Ame.exports={draw:AH,drawOne:wme,eraseActiveShape:IMt,drawLabel:y7};function AH(e){var t=e._fullLayout;t._shapeUpperLayer.selectAll("path").remove(),t._shapeLowerLayer.selectAll("path").remove(),t._shapeUpperLayer.selectAll("text").remove(),t._shapeLowerLayer.selectAll("text").remove();for(var r in t._plots){var i=t._plots[r].shapelayer;i&&(i.selectAll("path").remove(),i.selectAll("text").remove())}for(var n=0;n{if(!e._dragging&&e._fullLayout.hoveranywhere){let o=n(a);o&&gme.hover(e,o,r.id)}}),i.addEventListener("click",a=>{if(!e._dragged&&e._fullLayout.clickanywhere){let o=n(a);o&&gme.click(e,o,r.id)}})}function Tme(e,t,r){let i=r.xref,n=r.yref;if(Array.isArray(i)||Array.isArray(n)){let a="clip"+t._fullLayout._uid+"shape"+r._index,o=FMt(t,i,n);wH.ensureSingleById(t._fullLayout._clips,"clipPath",a,function(s){s.append("rect")}).select("rect").attr(o),x7.setClipUrl(e,a,t)}else{let a=(i+n).replace(/paper/g,"").replace(/[xyz][0-9]* *domain/g,"");x7.setClipUrl(e,a?"clip"+t._fullLayout._uid+a:null,t)}}function FMt(e,t,r){let i=e._fullLayout._size;function n(s,l){let u=(Array.isArray(s)?s:[s]).map(h=>h_.getFromId(e,h)).filter(Boolean);if(!u.length)return l?[i.t,i.t+i.h]:[i.l,i.l+i.w];let c=u.map(function(h){return h._offset}),f=u.map(function(h){return h._offset+h._length});return[Math.min(...c),Math.max(...f)]}let a=n(t,!1),o=n(r,!0);return{x:a[0],y:o[0],width:a[1]-a[0],height:o[1]-o[0]}}function LMt(e,t,r,i,n,a){var o=10,s=10,l=r.xsizemode==="pixel",u=r.ysizemode==="pixel",c=r.type==="line",f=r.type==="path",h=a.modifyItem,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C=SMt.select(t.node().parentNode),k=h_.getFromId(e,r.xref),D=h_.getRefType(r.xref),F=h_.getFromId(e,r.yref),P=h_.getRefType(r.yref),R=r.x0shift,L=r.x1shift,I=r.y0shift,B=r.y1shift,O=function(he,oe){var Ee=Bh.getDataToPixel(e,k,oe,!1,D);return Ee(he)},$=function(he,oe){var Ee=Bh.getDataToPixel(e,F,oe,!0,P);return Ee(he)},Y=Bh.getPixelToData(e,k,!1,D),K=Bh.getPixelToData(e,F,!0,P),j=U(),q={element:j.node(),gd:e,prepFn:H,doneFn:G,clickFn:Q},J;vme.init(q),j.node().onmousemove=X;function U(){return c?V():t}function V(){var he=10,oe=Math.max(r.line.width,he),Ee=n.append("g").attr("data-index",i).attr("drag-helper",!0);Ee.append("path").attr("d",t.attr("d")).style({cursor:"move","stroke-width":oe,"stroke-opacity":"0"});var ye={"fill-opacity":"0"},ue=Math.max(oe/2,he);return Ee.append("circle").attr({"data-line-point":"start-point",cx:l?O(r.xanchor)+r.x0:O(r.x0,R),cy:u?$(r.yanchor)-r.y0:$(r.y0,I),r:ue}).style(ye).classed("cursor-grab",!0),Ee.append("circle").attr({"data-line-point":"end-point",cx:l?O(r.xanchor)+r.x1:O(r.x1,L),cy:u?$(r.yanchor)-r.y1:$(r.y1,B),r:ue}).style(ye).classed("cursor-grab",!0),Ee}function X(he){if(m7(e)){J=null;return}if(c)he.target.tagName==="path"?J="move":J=he.target.attributes["data-line-point"].value==="start-point"?"resize-over-start-point":"resize-over-end-point";else{var oe=q.element.getBoundingClientRect(),Ee=oe.right-oe.left,ye=oe.bottom-oe.top,ue=he.clientX-oe.left,ee=he.clientY-oe.top,ae=!f&&Ee>o&&ye>s&&!he.shiftKey?vme.getCursor(ue/Ee,1-ee/ye):"move";mme(t,ae),J=ae.split("-")[0]}}function H(he){m7(e)||(l&&(g=O(r.xanchor)),u&&(w=$(r.yanchor)),r.type==="path"?S=r.path:(d=l?r.x0:O(r.x0),p=u?r.y0:$(r.y0),v=l?r.x1:O(r.x1),m=u?r.y1:$(r.y1)),dm?(b=p,T="y0",_=m,A="y1"):(b=m,T="y1",_=p,A="y0"),X(he),ge(n,r),be(t,r,e),q.moveFn=J==="move"?te:ce,q.altKey=he.altKey)}function G(){m7(e)||(mme(t),Ce(n),Tme(t,e,r),_me.call("_guiRelayout",e,a.getUpdateObj()))}function Q(){m7(e)||Ce(n)}function te(he,oe){if(r.type==="path"){var Ee=function(ee){return ee},ye=Ee,ue=Ee;l?h("xanchor",r.xanchor=Y(g+he)):(ye=function(ae){return Y(O(ae)+he)},k&&k.type==="date"&&(ye=Bh.encodeDate(ye))),u?h("yanchor",r.yanchor=K(w+oe)):(ue=function(ae){return K($(ae)+oe)},F&&F.type==="date"&&(ue=Bh.encodeDate(ue))),h("path",r.path=yme(S,ye,ue))}else l?h("xanchor",r.xanchor=Y(g+he)):(h("x0",r.x0=Y(d+he)),h("x1",r.x1=Y(v+he))),u?h("yanchor",r.yanchor=K(w+oe)):(h("y0",r.y0=K(p+oe)),h("y1",r.y1=K(m+oe)));t.attr("d",TH(e,r)),ge(n,r),y7(e,i,r,C)}function ce(he,oe){if(f){var Ee=function(et){return et},ye=Ee,ue=Ee;l?h("xanchor",r.xanchor=Y(g+he)):(ye=function(_t){return Y(O(_t)+he)},k&&k.type==="date"&&(ye=Bh.encodeDate(ye))),u?h("yanchor",r.yanchor=K(w+oe)):(ue=function(_t){return K($(_t)+oe)},F&&F.type==="date"&&(ue=Bh.encodeDate(ue))),h("path",r.path=yme(S,ye,ue))}else if(c){if(J==="resize-over-start-point"){var ee=d+he,ae=u?p-oe:p+oe;h("x0",r.x0=l?ee:Y(ee)),h("y0",r.y0=u?ae:K(ae))}else if(J==="resize-over-end-point"){var xe=v+he,re=u?m-oe:m+oe;h("x1",r.x1=l?xe:Y(xe)),h("y1",r.y1=u?re:K(re))}}else{var pe=function(et){return J.indexOf(et)!==-1},we=pe("n"),Fe=pe("s"),Se=pe("w"),ke=pe("e"),_e=we?b+oe:b,Ie=Fe?_+oe:_,Oe=Se?M+he:M,Qe=ke?x+he:x;u&&(we&&(_e=b-oe),Fe&&(Ie=_-oe)),(!u&&Ie-_e>s||u&&_e-Ie>s)&&(h(T,r[T]=u?_e:K(_e)),h(A,r[A]=u?Ie:K(Ie))),Qe-Oe>o&&(h(y,r[y]=l?Oe:Y(Oe)),h(E,r[E]=l?Qe:Y(Qe)))}t.attr("d",TH(e,r)),ge(n,r),y7(e,i,r,C)}function ge(he,oe){(l||u)&&Ee();function Ee(){var ye=oe.type!=="path",ue=he.selectAll(".visual-cue").data([0]),ee=1;ue.enter().append("path").attr({fill:"#fff","fill-rule":"evenodd",stroke:"#000","stroke-width":ee}).classed("visual-cue",!0);var ae=O(l?oe.xanchor:wH.midRange(ye?[oe.x0,oe.x1]:Bh.extractPathCoords(oe.path,d_.paramIsX))),xe=$(u?oe.yanchor:wH.midRange(ye?[oe.y0,oe.y1]:Bh.extractPathCoords(oe.path,d_.paramIsY)));if(ae=Bh.roundPositionForSharpStrokeRendering(ae,ee),xe=Bh.roundPositionForSharpStrokeRendering(xe,ee),l&&u){var re="M"+(ae-1-ee)+","+(xe-1-ee)+"h-8v2h8 v8h2v-8 h8v-2h-8 v-8h-2 Z";ue.attr("d",re)}else if(l){var pe="M"+(ae-1-ee)+","+(xe-9-ee)+"v18 h2 v-18 Z";ue.attr("d",pe)}else{var we="M"+(ae-9-ee)+","+(xe-1-ee)+"h18 v2 h-18 Z";ue.attr("d",we)}}}function Ce(he){he.selectAll(".visual-cue").remove()}function be(he,oe,Ee){var ye=oe.xref,ue=oe.yref,ee=h_.getFromId(Ee,ye),ae=h_.getFromId(Ee,ue),xe="";ye!=="paper"&&!ee.autorange&&(xe+=ye),ue!=="paper"&&!ae.autorange&&(xe+=ue),x7.setClipUrl(he,xe?"clip"+Ee._fullLayout._uid+xe:null,Ee)}}function yme(e,t,r){return e.replace(d_.segmentRE,function(i){var n=0,a=i.charAt(0),o=d_.paramIsX[a],s=d_.paramIsY[a],l=d_.numParams[a],u=i.slice(1).replace(d_.paramRE,function(c){return n>=l||(o[n]?c=t(c):s[n]&&(c=r(c)),n++),c});return a+u})}function PMt(e,t){if(_7(e)){var r=t.node(),i=+r.getAttribute("data-index");if(i>=0){if(i===e._fullLayout._activeShapeIndex){xme(e);return}e._fullLayout._activeShapeIndex=i,e._fullLayout._deactivateShape=xme,AH(e)}}}function xme(e){if(_7(e)){var t=e._fullLayout._activeShapeIndex;t>=0&&(bme(e),delete e._fullLayout._activeShapeIndex,AH(e))}}function IMt(e){if(_7(e)){bme(e);var t=e._fullLayout._activeShapeIndex,r=(e.layout||{}).shapes||[];if(t{"use strict";var Rw=it()._,RMt=function(e){return{DIALOG_TITLE:Rw(e,"Share chart"),DIALOG_MESSAGE_CLOUD:Rw(e,"This chart will be uploaded to {Plotly Cloud} to create a sharing link. Only you can see it until you change its visibility."),DIALOG_MESSAGE_CLOUD_ACCOUNT:Rw(e,"If you don't have a Plotly Cloud account yet, you'll have a chance to create one."),DIALOG_MESSAGE_OTHER:Rw(e,"This chart will be sent to {serverUrl}."),DIALOG_CANCEL:Rw(e,"Cancel"),DIALOG_CONFIRM:Rw(e,"Share")}};Mme.exports=RMt});var Cme=W((iPr,kme)=>{"use strict";var Eme=vi(),{dfltConfig:zMt}=cy(),BMt=Sme(),qMt=(e,t,r,i,n)=>{let a=BMt(e),o=t.append("div").classed("plotly-cloud-dialog-box",!0);if(o.append("div").classed("plotly-cloud-dialog-title",!0).text(a.DIALOG_TITLE),r===zMt.plotlyServerURL){let l=o.append("div").classed("plotly-cloud-dialog-message",!0),u=new URL(r).origin,c=a.DIALOG_MESSAGE_CLOUD.split(/(\{|\})/),f=c[0],h=c[2],d=c[4];l.append("span").text(f),l.append("a").classed("plotly-cloud-dialog-message--hostname",!0).attr("href",u).attr("target","_blank").text(h),l.append("span").text(d),l.append("div").classed("plotly-cloud-dialog-message--account",!0).text(a.DIALOG_MESSAGE_CLOUD_ACCOUNT)}else{let l=new URL(r),u=l.hostname,c=l.origin,f=a.DIALOG_MESSAGE_OTHER.split(/(\{|\})/),h=f[0],d=f[4],p=o.append("div").classed("plotly-cloud-dialog-message",!0);p.append("span").text(h),p.append("a").classed("plotly-cloud-dialog-message--hostname",!0).attr("href",c).attr("target","_blank").text(u),p.append("span").text(d)}let s=o.append("div").classed("plotly-cloud-dialog-buttons",!0);s.append("button").classed("plotly-cloud-dialog-btn",!0).classed("plotly-cloud-dialog-btn--cancel",!0).text(a.DIALOG_CANCEL).on("click",n),s.append("button").classed("plotly-cloud-dialog-btn",!0).classed("plotly-cloud-dialog-btn--confirm",!0).text(a.DIALOG_CONFIRM).on("click",i)},OMt=(e,t,r)=>{let i=Eme.select(e._fullLayout._paperdiv.node());i.selectAll(".plotly-cloud-dialog").remove();let n=i.append("div").classed("plotly-cloud-dialog",!0),a=()=>{n.remove(),document.removeEventListener("keydown",o)},o=s=>{(s.key==="Escape"||s.keyCode===27)&&a()};document.addEventListener("keydown",o),n.on("click",()=>{Eme.event.target===n.node()&&a()}),qMt(e,n,t,()=>{a(),r()},a)};kme.exports=OMt});var EH=W((nPr,zme)=>{"use strict";var _0=yi(),NMt=Ko(),Fme=Cs(),Ya=o7(),UMt=b7().eraseActiveShape,VMt=Cme(),zw=it(),Ta=zw._,Xa=zme.exports={};Xa.toImage={name:"toImage",title:function(e){var t=e._context.toImageButtonOptions||{},r=t.format||"png";return r==="png"?Ta(e,"Download plot as a PNG"):Ta(e,"Download plot")},icon:Ya.camera,click:function(e){var t=e._context.toImageButtonOptions,r={format:t.format||"png"};zw.notifier(Ta(e,"Preparing image - this may take a few seconds"),"long",e),["filename","width","height","scale"].forEach(function(i){i in t&&(r[i]=t[i])}),_0.call("downloadImage",e,r).then(function(i){zw.notifier(Ta(e,"Image download succeeded")+" - "+i,"long",e)}).catch(function(){zw.notifier(Ta(e,"Sorry, there was a problem downloading your image!"),"long",e)})}};Xa.downloadJson={name:"downloadJson",title:function(e){return Ta(e,"Download plot as JSON")},icon:Ya.curlybraces,click:function(e){_0.call("downloadImage",e,{format:"full-json"}).then(function(t){zw.notifier(Ta(e,"JSON download succeeded")+" - "+t,"long",e)}).catch(function(){zw.notifier(Ta(e,"Sorry, there was a problem downloading your JSON file!"),"long",e)})}};Xa.sendChartToCloud={name:"sendChartToCloud",title:function(e){return Ta(e,"Share chart...")},icon:Ya.cloudupload,click:function(e){var t=(window.PLOTLYENV||{}).BASE_URL||e._context.plotlyServerURL;if(!t){console.error("No destination URL provided (plotlyServerURL is empty)");return}var r;try{r=new URL(t)}catch(n){console.error("Invalid plotlyServerURL: "+t);return}let i=["http:","https:"];if(!i.includes(r.protocol)){console.error(`Invalid protocol '${r.protocol}' in plotlyServerURL '${t}'. Must be one of: ${i.join(", ")}`);return}VMt(e,t,function(){NMt.sendDataToCloud(e,t)})}};Xa.zoom2d={name:"zoom2d",_cat:"zoom",title:function(e){return Ta(e,"Zoom")},attr:"dragmode",val:"zoom",icon:Ya.zoombox,click:Tf};Xa.pan2d={name:"pan2d",_cat:"pan",title:function(e){return Ta(e,"Pan")},attr:"dragmode",val:"pan",icon:Ya.pan,click:Tf};Xa.select2d={name:"select2d",_cat:"select",title:function(e){return Ta(e,"Box Select")},attr:"dragmode",val:"select",icon:Ya.selectbox,click:Tf};Xa.lasso2d={name:"lasso2d",_cat:"lasso",title:function(e){return Ta(e,"Lasso Select")},attr:"dragmode",val:"lasso",icon:Ya.lasso,click:Tf};Xa.drawclosedpath={name:"drawclosedpath",title:function(e){return Ta(e,"Draw closed freeform")},attr:"dragmode",val:"drawclosedpath",icon:Ya.drawclosedpath,click:Tf};Xa.drawopenpath={name:"drawopenpath",title:function(e){return Ta(e,"Draw open freeform")},attr:"dragmode",val:"drawopenpath",icon:Ya.drawopenpath,click:Tf};Xa.drawline={name:"drawline",title:function(e){return Ta(e,"Draw line")},attr:"dragmode",val:"drawline",icon:Ya.drawline,click:Tf};Xa.drawrect={name:"drawrect",title:function(e){return Ta(e,"Draw rectangle")},attr:"dragmode",val:"drawrect",icon:Ya.drawrect,click:Tf};Xa.drawcircle={name:"drawcircle",title:function(e){return Ta(e,"Draw circle")},attr:"dragmode",val:"drawcircle",icon:Ya.drawcircle,click:Tf};Xa.eraseshape={name:"eraseshape",title:function(e){return Ta(e,"Erase active shape")},icon:Ya.eraseshape,click:UMt};Xa.zoomIn2d={name:"zoomIn2d",_cat:"zoomin",title:function(e){return Ta(e,"Zoom in")},attr:"zoom",val:"in",icon:Ya.zoom_plus,click:Tf};Xa.zoomOut2d={name:"zoomOut2d",_cat:"zoomout",title:function(e){return Ta(e,"Zoom out")},attr:"zoom",val:"out",icon:Ya.zoom_minus,click:Tf};Xa.autoScale2d={name:"autoScale2d",_cat:"autoscale",title:function(e){return Ta(e,"Autoscale")},attr:"zoom",val:"auto",icon:Ya.autoscale,click:Tf};Xa.resetScale2d={name:"resetScale2d",_cat:"resetscale",title:function(e){return Ta(e,"Reset axes")},attr:"zoom",val:"reset",icon:Ya.home,click:Tf};Xa.hoverClosestCartesian={name:"hoverClosestCartesian",_cat:"hoverclosest",title:function(e){return Ta(e,"Show closest data on hover")},attr:"hovermode",val:"closest",icon:Ya.tooltip_basic,gravity:"ne",click:Tf};Xa.hoverCompareCartesian={name:"hoverCompareCartesian",_cat:"hoverCompare",title:function(e){return Ta(e,"Compare data on hover")},attr:"hovermode",val:function(e){return e._fullLayout._isHoriz?"y":"x"},icon:Ya.tooltip_compare,gravity:"ne",click:Tf};function Tf(e,t){var r=t.currentTarget,i=r.getAttribute("data-attr"),n=r.getAttribute("data-val")||!0,a=e._fullLayout,o={},s=Fme.list(e,null,!0),l=a._cartesianSpikesEnabled,u,c;if(i==="zoom"){var f=n==="in"?.5:2,h=(1+f)/2,d=(1-f)/2,p,v;for(c=0;c-x),[v,m]=f.invert(c.midPt),{minscale:g}=u.projection,w=(s=u.projection.maxscale)!=null?s:1/0,b=Math.min(g,w),_=Math.max(g,w),M=n==="in"?Dme*h:1/Dme*h;M>_?M=_:M{"use strict";var Bme=EH(),$Mt=Object.keys(Bme),qme=["drawline","drawopenpath","drawclosedpath","drawcircle","drawrect","eraseshape"],Ome=["v1hovermode","hoverclosest","hovercompare","togglehover","togglespikelines"].concat(qme,["downloadJson"]),Bw=[],WMt=function(e){if(Ome.indexOf(e._cat||e.name)===-1){var t=e.name,r=(e._cat||e.name).toLowerCase();Bw.indexOf(t)===-1&&Bw.push(t),Bw.indexOf(r)===-1&&Bw.push(r)}};$Mt.forEach(function(e){WMt(Bme[e])});Bw.sort();Nme.exports={DRAW_MODES:qme,backButtons:Ome,foreButtons:Bw}});var DH={};Fp(DH,{default:()=>XMt});var CH,YMt,XMt,FH=Ea(()=>{"use strict";CH=nd(kH()),YMt={editType:"modebar",orientation:{valType:"enumerated",values:["v","h"],dflt:"h",editType:"modebar",description:"Sets the orientation of the modebar."},bgcolor:{valType:"color",editType:"modebar",description:"Sets the background color of the modebar."},color:{valType:"color",editType:"modebar",description:"Sets the color of the icons in the modebar."},activecolor:{valType:"color",editType:"modebar",description:"Sets the color of the active or hovered on icons in the modebar."},uirevision:{valType:"any",editType:"none",description:["Controls persistence of user-driven changes related to the modebar,","including `hovermode`, `dragmode`, and `showspikes` at both the","root level and inside subplots. Defaults to `layout.uirevision`."].join(" ")},add:{valType:"string",arrayOk:!0,dflt:"",editType:"modebar",description:["Determines which predefined modebar buttons to add.","Please note that these buttons will only be shown if they are","compatible with all trace types used in a graph.","Similar to `config.modeBarButtonsToAdd` option.",`This may include *${CH.default.backButtons.join("*, *")}*.`].join(" ")},remove:{valType:"string",arrayOk:!0,dflt:"",editType:"modebar",description:["Determines which predefined modebar buttons to remove.","Similar to `config.modeBarButtonsToRemove` option.",`This may include *${CH.default.foreButtons.join("*, *")}*.`].join(" ")}},XMt=YMt});var Vme=W((oPr,Ume)=>{"use strict";var ZMt=it(),PA=ni(),KMt=Da(),JMt=(FH(),Go(DH)).default;Ume.exports=function(t,r){var i=t.modebar||{},n=KMt.newContainer(r,"modebar");function a(s,l){return ZMt.coerce(i,n,JMt,s,l)}a("orientation"),a("bgcolor",PA.addOpacity(r.paper_bgcolor,.5));var o=PA.contrast(PA.rgb(r.modebar.bgcolor));a("color",PA.addOpacity(o,.3)),a("activecolor",PA.addOpacity(o,.7)),a("uirevision",r.uirevision),a("add"),a("remove")}});var $me=W((sPr,jme)=>{"use strict";var LH=vi(),QMt=sn(),A7=it(),Gme=o7(),eSt=E6().version,tSt=new DOMParser;function Hme(e){this.container=e.container,this.element=document.createElement("div"),this.update(e.graphInfo,e.buttons),this.container.appendChild(this.element)}var d1=Hme.prototype;d1.update=function(e,t){this.graphInfo=e;var r=this.graphInfo._context,i=this.graphInfo._fullLayout,n="modebar-"+i._uid;this.element.setAttribute("id",n),this.element.setAttribute("role","toolbar"),this._uid=n,this.element.className="modebar modebar--custom",r.displayModeBar==="hover"&&(this.element.className+=" modebar--hover ease-bg"),i.modebar.orientation==="v"&&(this.element.className+=" vertical",t=t.reverse());var a=i.modebar,o="#"+n+" .modebar-group";document.querySelectorAll(o).forEach(function(f){f.style.backgroundColor=a.bgcolor});var s=!this.hasButtons(t),l=this.hasLogo!==r.displaylogo,u=this.locale!==r.locale;if(this.locale=r.locale,(s||l||u)&&(this.removeAllButtons(),this.updateButtons(t),r.watermark||r.displaylogo)){var c=this.getLogo();r.watermark&&(c.className=c.className+" watermark"),i.modebar.orientation==="v"?this.element.insertBefore(c,this.element.childNodes[0]):this.element.appendChild(c),this.hasLogo=!0}this.updateActiveButton(),A7.setStyleOnHover("#"+n+" .modebar-btn",".active",".icon path","fill: "+a.activecolor,"fill: "+a.color,this.element)};d1.updateButtons=function(e){var t=this;this.buttons=e,this.buttonElements=[],this.buttonsNames=[],this.buttons.forEach(function(r){var i=t.createGroup();r.forEach(function(n){var a=n.name;if(!a)throw new Error("must provide button 'name' in button config");if(t.buttonsNames.indexOf(a)!==-1)throw new Error("button name '"+a+"' is taken");t.buttonsNames.push(a);var o=t.createButton(n);t.buttonElements.push(o),i.appendChild(o)}),t.element.appendChild(i)})};d1.createGroup=function(){var e=document.createElement("div");e.className="modebar-group";var t=this.graphInfo._fullLayout.modebar;return e.style.backgroundColor=t.bgcolor,e};d1.createButton=function(e){var t=this,r=document.createElement("button");r.setAttribute("type","button"),r.setAttribute("rel","tooltip"),r.className="modebar-btn";var i=e.title;i===void 0?i=e.name:typeof i=="function"&&(i=i(this.graphInfo)),(i||i===0)&&(r.setAttribute("data-title",i),r.setAttribute("aria-label",i)),e.attr!==void 0&&r.setAttribute("data-attr",e.attr);var n=e.val;n!==void 0&&(typeof n=="function"&&(n=n(this.graphInfo)),r.setAttribute("data-val",n));var a=e.click;if(typeof a!="function")throw new Error("must provide button 'click' function in button config");r.addEventListener("click",function(s){e.click(t.graphInfo,s),t.updateActiveButton(s.currentTarget)}),r.setAttribute("data-toggle",e.toggle||!1),e.toggle&&LH.select(r).classed("active",!0);var o=e.icon;return typeof o=="function"?r.appendChild(o()):r.appendChild(this.createIcon(o||Gme.question)),r.setAttribute("data-gravity",e.gravity||"n"),r};d1.createIcon=function(e){var t=QMt(e.height)?Number(e.height):e.ascent-e.descent,r="http://www.w3.org/2000/svg",i;if(e.path){i=document.createElementNS(r,"svg"),i.setAttribute("viewBox",[0,0,e.width,t].join(" ")),i.setAttribute("class","icon");var n=document.createElementNS(r,"path");n.setAttribute("d",e.path),e.transform?n.setAttribute("transform",e.transform):e.ascent!==void 0&&n.setAttribute("transform","matrix(1 0 0 -1 0 "+e.ascent+")"),i.appendChild(n)}if(e.svg){var a=tSt.parseFromString(e.svg,"application/xml");i=a.childNodes[0]}return i.setAttribute("height","1em"),i.setAttribute("width","1em"),i};d1.updateActiveButton=function(e){var t=this.graphInfo._fullLayout,r=e!==void 0?e.getAttribute("data-attr"):null;this.buttonElements.forEach(function(i){var n=i.getAttribute("data-val")||!0,a=i.getAttribute("data-attr"),o=i.getAttribute("data-toggle")==="true",s=LH.select(i),l=function(f,h){var d=t.modebar,p=f.querySelector(".icon path");p&&(h||f.matches(":hover")?p.style.fill=d.activecolor:p.style.fill=d.color)};if(o){if(a===r){var u=!s.classed("active");s.classed("active",u),l(i,u)}}else{var c=a===null?a:A7.nestedProperty(t,a).get();s.classed("active",c===n),l(i,c===n)}})};d1.hasButtons=function(e){var t=this.buttons;if(!t||e.length!==t.length)return!1;for(var r=0;r{"use strict";var nSt=Cs(),Wme=$o(),PH=yi(),aSt=Kf().isUnifiedHover,oSt=$me(),M7=EH(),sSt=kH().DRAW_MODES,lSt=it().extendDeep;Yme.exports=function(t){var r=t._fullLayout,i=t._context,n=r._modeBar;if(!i.displayModeBar&&!i.watermark){n&&(n.destroy(),delete r._modeBar);return}if(!Array.isArray(i.modeBarButtonsToRemove))throw new Error(["*modeBarButtonsToRemove* configuration options","must be an array."].join(" "));if(!Array.isArray(i.modeBarButtonsToAdd))throw new Error(["*modeBarButtonsToAdd* configuration options","must be an array."].join(" "));var a=i.modeBarButtons,o;Array.isArray(a)&&a.length?o=pSt(a):!i.displayModeBar&&i.watermark?o=[]:o=uSt(t),n?n.update(t,o):r._modeBar=oSt(t,o)};function uSt(e){var t=e._fullLayout,r=e._fullData,i=e._context;function n(L,I){if(typeof I=="string"){if(I.toLowerCase()===L.toLowerCase())return!0}else{var B=I.name,O=I._cat||I.name;if(B===L||O===L.toLowerCase())return!0}return!1}var a=t.modebar.add;typeof a=="string"&&(a=[a]);var o=t.modebar.remove;typeof o=="string"&&(o=[o]);var s=i.modeBarButtonsToAdd.concat(a.filter(function(L){for(var I=0;I1?(y=["toggleHover"],E=["resetViews"]):f?(A=["zoomInGeo","zoomOutGeo"],y=["hoverClosestGeo"],E=["resetGeo"]):c?(y=["hoverClosest3d"],E=["resetCameraDefault3d","resetCameraLastSave3d"]):v?(A=["zoomInMap","zoomOutMap"],y=["toggleHover"],E=["resetViewMap"]):h?y=["hoverClosestPie"]:w?(y=["hoverClosestCartesian","hoverCompareCartesian"],E=["resetViewSankey"]):y=["toggleHover"],u&&y.push("toggleSpikelines","hoverClosestCartesian","hoverCompareCartesian"),(hSt(r)||_)&&(y=[]),u&&!b&&(A=["zoomIn2d","zoomOut2d","autoScale2d"],E[0]!=="resetViews"&&(E=["resetScale2d"])),c?S=["zoom3d","pan3d","orbitRotation","tableRotation"]:u&&!b||p?S=["zoom2d","pan2d"]:v||f?S=["pan2d"]:m&&(S=["zoom2d"]),fSt(r)&&S.push("select2d","lasso2d");var C=[],k=function(L){C.indexOf(L)===-1&&y.indexOf(L)!==-1&&C.push(L)};if(Array.isArray(s)){for(var D=[],F=0;F{"use strict";Zme.exports={moduleType:"component",name:"modebar",layoutAttributes:(FH(),Go(DH)).default,supplyLayoutDefaults:Vme(),manage:Xme()}});var RH=W((cPr,Kme)=>{"use strict";var vSt=Hl().FROM_BL;Kme.exports=function(t,r,i){i===void 0&&(i=vSt[t.constraintoward||"center"]);var n=[t.r2l(t.range[0]),t.r2l(t.range[1])],a=n[0]+(n[1]-n[0])*i;t.range=t._input.range=[t.l2r(a+(n[0]-a)*r),t.l2r(a+(n[1]-a)*r)],t.setScale()}});var v_=W(IA=>{"use strict";var p_=it(),zH=Op(),Up=Cs().id2name,gSt=ec(),Jme=RH(),mSt=i1(),ySt=Kn().ALMOST_EQUAL,xSt=Hl().FROM_BL;IA.handleDefaults=function(e,t,r){var i=r.axIds,n=r.axHasImage,a=t._axisConstraintGroups=[],o=t._axisMatchGroups=[],s,l,u,c,f,h,d,p;for(s=0;sa?r.slice(a):i.slice(n))+o}function bSt(e,t){for(var r=t._size,i=r.h/r.w,n={},a=Object.keys(e),o=0;oySt*p&&!w)){for(a=0;aC&&BE&&(E=B);var $=(E-y)/(2*S);f/=$,y=l.l2r(y),E=l.l2r(E),l.range=l._input.range=x{"use strict";var E7=vi(),Af=yi(),b0=Ko(),hd=it(),OH=uo(),NH=CA(),RA=ni(),qw=Ji(),rye=e_(),sye=IH(),zA=ji(),qg=Hl(),lye=v_(),wSt=lye.enforce,TSt=lye.clean,iye=Op().doAutoRange,uye="start",ASt="middle",cye="end",MSt=Gl().zindexSeparator;Pu.layoutStyles=function(e){return hd.syncOrAsync([b0.doAutoMargin,ESt],e)};function SSt(e,t,r){for(var i=0;i=e[1]||n[1]<=e[0])&&a[0]t[0])return!0}return!1}function ESt(e){var t=e._fullLayout,r=t._size,i=r.p,n=zA.list(e,"",!0),a,o,s,l,u,c;if(t._paperdiv.style({width:e._context.responsive&&t.autosize&&!e._context._hasZeroWidth&&!e.layout.width?"100%":t.width+"px",height:e._context.responsive&&t.autosize&&!e._context._hasZeroHeight&&!e.layout.height?"100%":t.height+"px"}).selectAll(".main-svg").call(qw.setSize,t.width,t.height),e._context.setBackground(e,t.paper_bgcolor),Pu.drawMainTitle(e),sye.manage(e),!t._has("cartesian"))return b0.previousPromises(e);function f(H,G,Q){var te=H._lw/2;if(H._id.charAt(0)==="x"){if(G){if(Q==="top")return G._offset-i-te}else return r.t+r.h*(1-(H.position||0))+te%1;return G._offset+G._length+i+te}if(G){if(Q==="right")return G._offset+G._length+i+te}else return r.l+r.w*(H.position||0)+te%1;return G._offset-i-te}for(a=0;a0){FSt(e,a,u,l),s.attr({x:o,y:a,"text-anchor":i,dy:oye(t.yanchor)}).call(OH.positionText,o,a);var c=(t.text.match(OH.BR_TAG_ALL)||[]).length;if(c){var f=qg.LINE_SPACING*c+qg.MID_SHIFT;t.y===0&&(f=-f),s.selectAll(".line").each(function(){var m=+this.getAttribute("dy").slice(0,-2)-f+"em";this.setAttribute("dy",m)})}var h=E7.select(e).selectAll(".gtitle-subtitle");if(h.node()){var d=s.node().getBBox(),p=d.y+d.height,v=p+rye.SUBTITLE_PADDING_EM*t.subtitle.font.size;h.attr({x:o,y:v,"text-anchor":i,dy:oye(t.yanchor)}).call(OH.positionText,o,v)}}}};function kSt(e,t,r,i,n){var a=t.yref==="paper"?e._fullLayout._size.h:e._fullLayout.height,o=hd.isTopAnchor(t)?i:i-n,s=r==="b"?a-o:o;return hd.isTopAnchor(t)&&r==="t"||hd.isBottomAnchor(t)&&r==="b"?!1:s.5?"t":"b",o=e._fullLayout.margin[a],s=0;return t.yref==="paper"?s=r+t.pad.t+t.pad.b:t.yref==="container"&&(s=CSt(a,i,n,e._fullLayout.height,r)+t.pad.t+t.pad.b),s>o?s:0}function FSt(e,t,r,i){var n="title.automargin",a=e._fullLayout.title,o=a.y>.5?"t":"b",s={x:a.x,y:a.y,t:0,b:0},l={};a.yref==="paper"&&kSt(e,a,o,t,i)?s[o]=r:a.yref==="container"&&(l[o]=r,e._fullLayout._reservedMargin[n]=l),b0.allowAutoMargin(e,n),b0.autoMargin(e,n,s)}function LSt(e,t){var r=e.title,i=e._size,n=0;return t===uye?n=r.pad.l:t===cye&&(n=-r.pad.r),r.xref==="paper"?i.l+i.w*r.x+n:e.width*r.x+n}function PSt(e,t){var r=e.title,i=e._size,n=0;return t==="0em"||!t?n=-r.pad.b:t===qg.CAP_SHIFT+"em"&&(n=r.pad.t),r.y==="auto"?i.t/2:r.yref==="paper"?i.t+i.h-i.h*r.y+n:e.height-e.height*r.y+n}function oye(e){return e==="top"?qg.CAP_SHIFT+.3+"em":e==="bottom"?"-0.3em":qg.MID_SHIFT+"em"}function ISt(e){var t=e.title,r=ASt;return hd.isRightAnchor(t)?r=cye:hd.isLeftAnchor(t)&&(r=uye),r}function RSt(e){var t=e.title,r="0em";return hd.isTopAnchor(t)?r=qg.CAP_SHIFT+"em":hd.isMiddleAnchor(t)&&(r=qg.MID_SHIFT+"em"),r}Pu.doTraceStyle=function(e){var t=e.calcdata,r=[],i;for(i=0;i{"use strict";var zSt=Py().readPaths,BSt=g7(),fye=by().clearOutlineControllers,UH=ni(),hye=Ji(),qSt=Da().arrayEditor,dye=zy(),OSt=dye.getPathString;vye.exports={draw:k7,drawOne:pye,activateLastSelection:VSt};function k7(e){var t=e._fullLayout;fye(e),t._selectionLayer.selectAll("path").remove();for(var r in t._plots){var i=t._plots[r].selectionLayer;i&&i.selectAll("path").remove()}for(var n=0;n=0;m--){var g=o.append("path").attr(l).style("opacity",m?.1:u).call(UH.stroke,f).call(UH.fill,c).call(hye.dashLine,m?"solid":d,m?4+h:h);if(NSt(g,e,i),p){var w=qSt(e.layout,"selections",i);g.style({cursor:"move"});var b={element:g.node(),plotinfo:n,gd:e,editHelpers:w,isActiveSelection:!0},_=zSt(s,e);BSt(_,g,b)}else g.style("pointer-events",m?"all":"none");v[m]=g}var M=v[0],x=v[1];x.node().addEventListener("click",function(){return USt(e,M)})}}function NSt(e,t,r){var i=r.xref+r.yref;hye.setClipUrl(e,"clip"+t._fullLayout._uid+i,t)}function USt(e,t){if(C7(e)){var r=t.node(),i=+r.getAttribute("data-index");if(i>=0){if(i===e._fullLayout._activeSelectionIndex){VH(e);return}e._fullLayout._activeSelectionIndex=i,e._fullLayout._deactivateSelection=VH,k7(e)}}}function VSt(e){if(C7(e)){var t=e._fullLayout.selections.length-1;e._fullLayout._activeSelectionIndex=t,e._fullLayout._deactivateSelection=VH,k7(e)}}function VH(e){if(C7(e)){var t=e._fullLayout._activeSelectionIndex;t>=0&&(fye(e),delete e._fullLayout._activeSelectionIndex,k7(e))}}});var mye=W((pPr,gye)=>{function GSt(){var e,t=0,r=!1;function i(n,a){return e.list.push({type:n,data:a?JSON.parse(JSON.stringify(a)):void 0}),e}return e={list:[],segmentId:function(){return t++},checkIntersection:function(n,a){return i("check",{seg1:n,seg2:a})},segmentChop:function(n,a){return i("div_seg",{seg:n,pt:a}),i("chop",{seg:n,pt:a})},statusRemove:function(n){return i("pop_seg",{seg:n})},segmentUpdate:function(n){return i("seg_update",{seg:n})},segmentNew:function(n,a){return i("new_seg",{seg:n,primary:a})},segmentRemove:function(n){return i("rem_seg",{seg:n})},tempStatus:function(n,a,o){return i("temp_status",{seg:n,above:a,below:o})},rewind:function(n){return i("rewind",{seg:n})},status:function(n,a,o){return i("status",{seg:n,above:a,below:o})},vert:function(n){return n===r?e:(r=n,i("vert",{x:n}))},log:function(n){return typeof n!="string"&&(n=JSON.stringify(n,!1," ")),i("log",{txt:n})},reset:function(){return i("reset")},selected:function(n){return i("selected",{segs:n})},chainStart:function(n){return i("chain_start",{seg:n})},chainRemoveHead:function(n,a){return i("chain_rem_head",{index:n,pt:a})},chainRemoveTail:function(n,a){return i("chain_rem_tail",{index:n,pt:a})},chainNew:function(n,a){return i("chain_new",{pt1:n,pt2:a})},chainMatch:function(n){return i("chain_match",{index:n})},chainClose:function(n){return i("chain_close",{index:n})},chainAddHead:function(n,a){return i("chain_add_head",{index:n,pt:a})},chainAddTail:function(n,a){return i("chain_add_tail",{index:n,pt:a})},chainConnect:function(n,a){return i("chain_con",{index1:n,index2:a})},chainReverse:function(n){return i("chain_rev",{index:n})},chainJoin:function(n,a){return i("chain_join",{index1:n,index2:a})},done:function(){return i("done")}},e}gye.exports=GSt});var xye=W((vPr,yye)=>{function HSt(e){typeof e!="number"&&(e=1e-10);var t={epsilon:function(r){return typeof r=="number"&&(e=r),e},pointAboveOrOnLine:function(r,i,n){var a=i[0],o=i[1],s=n[0],l=n[1],u=r[0],c=r[1];return(s-a)*(c-o)-(l-o)*(u-a)>=-e},pointBetween:function(r,i,n){var a=r[1]-i[1],o=n[0]-i[0],s=r[0]-i[0],l=n[1]-i[1],u=s*o+a*l;if(u-e)},pointsSameX:function(r,i){return Math.abs(r[0]-i[0])e!=s-a>e&&(o-c)*(a-f)/(s-f)+c-n>e&&(l=!l),o=c,s=f}return l}};return t}yye.exports=HSt});var bye=W((gPr,_ye)=>{var jSt={create:function(){var e={root:{root:!0,next:null},exists:function(t){return!(t===null||t===e.root)},isEmpty:function(){return e.root.next===null},getHead:function(){return e.root.next},insertBefore:function(t,r){for(var i=e.root,n=e.root.next;n!==null;){if(r(n)){t.prev=n.prev,t.next=n,n.prev.next=t,n.prev=t;return}i=n,n=n.next}i.next=t,t.prev=i,t.next=null},findTransition:function(t){for(var r=e.root,i=e.root.next;i!==null&&!t(i);)r=i,i=i.next;return{before:r===e.root?null:r,after:i,insert:function(n){return n.prev=r,n.next=i,r.next=n,i!==null&&(i.prev=n),n}}}};return e},node:function(e){return e.prev=null,e.next=null,e.remove=function(){e.prev.next=e.next,e.next&&(e.next.prev=e.prev),e.prev=null,e.next=null},e}};_ye.exports=jSt});var Tye=W((mPr,wye)=>{var qA=bye();function $St(e,t,r){function i(p,v){return{id:r?r.segmentId():-1,start:p,end:v,myFill:{above:null,below:null},otherFill:null}}function n(p,v,m){return{id:r?r.segmentId():-1,start:p,end:v,myFill:{above:m.myFill.above,below:m.myFill.below},otherFill:null}}var a=qA.create();function o(p,v,m,g,w,b){var _=t.pointsCompare(v,w);return _!==0?_:t.pointsSame(m,b)?0:p!==g?p?1:-1:t.pointAboveOrOnLine(m,g?w:b,g?b:w)?1:-1}function s(p,v){a.insertBefore(p,function(m){var g=o(p.isStart,p.pt,v,m.isStart,m.pt,m.other.pt);return g<0})}function l(p,v){var m=qA.node({isStart:!0,pt:p.start,seg:p,primary:v,other:null,status:null});return s(m,p.end),m}function u(p,v,m){var g=qA.node({isStart:!1,pt:v.end,seg:v,primary:m,other:p,status:null});p.other=g,s(g,p.pt)}function c(p,v){var m=l(p,v);return u(m,p,v),m}function f(p,v){r&&r.segmentChop(p.seg,v),p.other.remove(),p.seg.end=v,p.other.pt=v,s(p.other,p.pt)}function h(p,v){var m=n(v,p.seg.end,p.seg);return f(p,v),c(m,p.primary)}function d(p,v){var m=qA.create();function g(F,P){var R=F.seg.start,L=F.seg.end,I=P.seg.start,B=P.seg.end;return t.pointsCollinear(R,I,B)?t.pointsCollinear(L,I,B)||t.pointAboveOrOnLine(L,I,B)?1:-1:t.pointAboveOrOnLine(R,I,B)?1:-1}function w(F){return m.findTransition(function(P){var R=g(F,P.ev);return R>0})}function b(F,P){var R=F.seg,L=P.seg,I=R.start,B=R.end,O=L.start,$=L.end;r&&r.checkIntersection(R,L);var Y=t.linesIntersect(I,B,O,$);if(Y===!1){if(!t.pointsCollinear(I,B,O)||t.pointsSame(I,$)||t.pointsSame(B,O))return!1;var K=t.pointsSame(I,O),j=t.pointsSame(B,$);if(K&&j)return P;var q=!K&&t.pointBetween(I,O,$),J=!j&&t.pointBetween(B,O,$);if(K)return J?h(P,B):h(F,$),P;q&&(j||(J?h(P,B):h(F,$)),h(P,I))}else Y.alongA===0&&(Y.alongB===-1?h(F,O):Y.alongB===0?h(F,Y.pt):Y.alongB===1&&h(F,$)),Y.alongB===0&&(Y.alongA===-1?h(P,I):Y.alongA===0?h(P,Y.pt):Y.alongA===1&&h(P,B));return!1}for(var _=[];!a.isEmpty();){var M=a.getHead();if(r&&r.vert(M.pt[0]),M.isStart){let F=function(){if(T){var P=b(M,T);if(P)return P}return A?b(M,A):!1};var D=F;r&&r.segmentNew(M.seg,M.primary);var x=w(M),T=x.before?x.before.ev:null,A=x.after?x.after.ev:null;r&&r.tempStatus(M.seg,T?T.seg:!1,A?A.seg:!1);var y=F();if(y){if(e){var E;M.seg.myFill.below===null?E=!0:E=M.seg.myFill.above!==M.seg.myFill.below,E&&(y.seg.myFill.above=!y.seg.myFill.above)}else y.seg.otherFill=M.seg.myFill;r&&r.segmentUpdate(y.seg),M.other.remove(),M.remove()}if(a.getHead()!==M){r&&r.rewind(M.seg);continue}if(e){var E;M.seg.myFill.below===null?E=!0:E=M.seg.myFill.above!==M.seg.myFill.below,A?M.seg.myFill.below=A.seg.myFill.above:M.seg.myFill.below=p,E?M.seg.myFill.above=!M.seg.myFill.below:M.seg.myFill.above=M.seg.myFill.below}else if(M.seg.otherFill===null){var S;A?M.primary===A.primary?S=A.seg.otherFill.above:S=A.seg.myFill.above:S=M.primary?v:p,M.seg.otherFill={above:S,below:S}}r&&r.status(M.seg,T?T.seg:!1,A?A.seg:!1),M.other.status=x.insert(qA.node({ev:M}))}else{var C=M.status;if(C===null)throw new Error("PolyBool: Zero-length segment detected; your epsilon is probably too small or too large");if(m.exists(C.prev)&&m.exists(C.next)&&b(C.prev.ev,C.next.ev),r&&r.statusRemove(C.ev.seg),C.remove(),!M.primary){var k=M.seg.myFill;M.seg.myFill=M.seg.otherFill,M.seg.otherFill=k}_.push(M.seg)}a.getHead().remove()}return r&&r.done(),_}return e?{addRegion:function(p){for(var v,m=p[p.length-1],g=0;g{function WSt(e,t,r){var i=[],n=[];return e.forEach(function(a){var o=a.start,s=a.end;if(t.pointsSame(o,s)){console.warn("PolyBool: Warning: Zero-length segment detected; your epsilon is probably too small or too large");return}r&&r.chainStart(a);var l={index:0,matches_head:!1,matches_pt1:!1},u={index:0,matches_head:!1,matches_pt1:!1},c=l;function f(D,F,P){return c.index=D,c.matches_head=F,c.matches_pt1=P,c===l?(c=u,!1):(c=null,!0)}for(var h=0;h{function OA(e,t,r){var i=[];return e.forEach(function(n){var a=(n.myFill.above?8:0)+(n.myFill.below?4:0)+(n.otherFill&&n.otherFill.above?2:0)+(n.otherFill&&n.otherFill.below?1:0);t[a]!==0&&i.push({id:r?r.segmentId():-1,start:n.start,end:n.end,myFill:{above:t[a]===1,below:t[a]===2},otherFill:null})}),r&&r.selected(i),i}var YSt={union:function(e,t){return OA(e,[0,2,1,0,2,2,0,0,1,0,1,0,0,0,0,0],t)},intersect:function(e,t){return OA(e,[0,0,0,0,0,2,0,2,0,0,1,1,0,2,1,0],t)},difference:function(e,t){return OA(e,[0,0,0,0,2,0,2,0,1,1,0,0,0,1,2,0],t)},differenceRev:function(e,t){return OA(e,[0,2,1,0,0,0,1,1,0,2,0,2,0,0,0,0],t)},xor:function(e,t){return OA(e,[0,2,1,0,2,0,0,1,1,0,0,2,0,1,2,0],t)}};Sye.exports=YSt});var Cye=W((_Pr,kye)=>{var XSt={toPolygon:function(e,t){function r(a){if(a.length<=0)return e.segments({inverted:!1,regions:[]});function o(u){var c=u.slice(0,u.length-1);return e.segments({inverted:!1,regions:[c]})}for(var s=o(a[0]),l=1;l{var ZSt=mye(),KSt=xye(),Dye=Tye(),JSt=Mye(),NA=Eye(),Fye=Cye(),dd=!1,UA=KSt(),qh;qh={buildLog:function(e){return e===!0?dd=ZSt():e===!1&&(dd=!1),dd===!1?!1:dd.list},epsilon:function(e){return UA.epsilon(e)},segments:function(e){var t=Dye(!0,UA,dd);return e.regions.forEach(t.addRegion),{segments:t.calculate(e.inverted),inverted:e.inverted}},combine:function(e,t){var r=Dye(!1,UA,dd);return{combined:r.calculate(e.segments,e.inverted,t.segments,t.inverted),inverted1:e.inverted,inverted2:t.inverted}},selectUnion:function(e){return{segments:NA.union(e.combined,dd),inverted:e.inverted1||e.inverted2}},selectIntersect:function(e){return{segments:NA.intersect(e.combined,dd),inverted:e.inverted1&&e.inverted2}},selectDifference:function(e){return{segments:NA.difference(e.combined,dd),inverted:e.inverted1&&!e.inverted2}},selectDifferenceRev:function(e){return{segments:NA.differenceRev(e.combined,dd),inverted:!e.inverted1&&e.inverted2}},selectXor:function(e){return{segments:NA.xor(e.combined,dd),inverted:e.inverted1!==e.inverted2}},polygon:function(e){return{regions:JSt(e.segments,UA,dd),inverted:e.inverted}},polygonFromGeoJSON:function(e){return Fye.toPolygon(qh,e)},polygonToGeoJSON:function(e){return Fye.fromPolygon(qh,UA,e)},union:function(e,t){return VA(e,t,qh.selectUnion)},intersect:function(e,t){return VA(e,t,qh.selectIntersect)},difference:function(e,t){return VA(e,t,qh.selectDifference)},differenceRev:function(e,t){return VA(e,t,qh.selectDifferenceRev)},xor:function(e,t){return VA(e,t,qh.selectXor)}};function VA(e,t,r){var i=qh.segments(e),n=qh.segments(t),a=qh.combine(i,n),o=r(a);return qh.polygon(o)}typeof window=="object"&&(window.PolyBool=qh);Lye.exports=qh});var Rye=W((wPr,Iye)=>{Iye.exports=function(t,r,i,n){var a=t[0],o=t[1],s=!1;i===void 0&&(i=0),n===void 0&&(n=r.length);for(var l=n-i,u=0,c=l-1;uo!=p>o&&a<(d-f)*(o-h)/(p-h)+f;v&&(s=!s)}return s}});var GA=W((TPr,zye)=>{"use strict";var HH=NC().dot,D7=Kn().BADNUM,F7=zye.exports={};F7.tester=function(t){var r=t.slice(),i=r[0][0],n=i,a=r[0][1],o=a,s;for((r[r.length-1][0]!==r[0][0]||r[r.length-1][1]!==r[0][1])&&r.push(r[0]),s=1;sn||g===D7||go||v&&u(p))}function f(p,v){var m=p[0],g=p[1];if(m===D7||mn||g===D7||go)return!1;var w=r.length,b=r[0][0],_=r[0][1],M=0,x,T,A,y,E;for(x=1;xMath.max(T,b)||g>Math.max(A,_)))if(gs||Math.abs(HH(f,u))>n)return!0;return!1};F7.filter=function(t,r){var i=[t[0]],n=0,a=0;function o(l){t.push(l);var u=i.length,c=n;i.splice(a+1);for(var f=c+1;f1){var s=t.pop();o(s)}return{addPt:o,raw:t,filtered:i}}});var qye=W((APr,Bye)=>{"use strict";Bye.exports={BENDPX:1.5,MINSELECT:12,SELECTDELAY:100,SELECTID:"-select"}});var o2e=W((MPr,a2e)=>{"use strict";var Oye=Pye(),QSt=Rye(),$A=yi(),eEt=Ji().dashStyle,HA=ni(),tEt=Ds(),rEt=Kf().makeEventData,KA=u1(),iEt=KA.freeMode,nEt=KA.rectMode,WA=KA.drawMode,YH=KA.openMode,XH=KA.selectMode,Nye=zy(),Uye=FA(),$ye=g7(),Wye=by().clearOutline,Yye=Py(),jH=Yye.handleEllipse,aEt=Yye.readPaths,oEt=d7().newShapes,sEt=mH(),lEt=GH().activateLastSelection,P7=it(),uEt=P7.sorterAsc,Xye=GA(),jA=QC(),pd=Cs().getFromId,cEt=CA(),fEt=BA().redrawReglTraces,I7=qye(),p1=I7.MINSELECT,hEt=Xye.filter,ZH=Xye.tester,KH=u7(),Vye=KH.p2r,dEt=KH.axValue,pEt=KH.getTransform;function JH(e){return e.subplot!==void 0}function vEt(e,t,r,i,n){var a=!JH(i),o=iEt(n),s=nEt(n),l=YH(n),u=WA(n),c=XH(n),f=n==="drawline",h=n==="drawcircle",d=f||h,p=i.gd,v=p._fullLayout,m=c&&v.newselection.mode==="immediate"&&a,g=v._zoomlayer,w=i.element.getBoundingClientRect(),b=i.plotinfo,_=pEt(b),M=t-w.left,x=r-w.top;v._calcInverseTransform(p);var T=P7.apply3DTransform(v._invTransform)(M,x);M=T[0],x=T[1];var A=v._invScaleX,y=v._invScaleY,E=M,S=x,C="M"+M+","+x,k=i.xaxes[0],D=i.yaxes[0],F=k._length,P=D._length,R=e.altKey&&!(WA(n)&&l),L,I,B,O,$,Y,K;Kye(e,p,i),o&&(L=hEt([[M,x]],I7.BENDPX));var j=g.selectAll("path.select-outline-"+b.id).data([1]),q=u?v.newshape:v.newselection;u&&(i.hasText=q.label.text||q.label.texttemplate);var J=u&&!l?q.fillcolor:"rgba(0,0,0,0)",U=q.line.color||(a?HA.contrast(p._fullLayout.plot_bgcolor):"#7f7f7f");j.enter().append("path").attr("class","select-outline select-outline-"+b.id).style({opacity:u?q.opacity/2:1,"stroke-dasharray":eEt(q.line.dash,q.line.width),"stroke-width":q.line.width+"px","shape-rendering":"crispEdges"}).call(HA.stroke,U).call(HA.fill,J).attr("fill-rule","evenodd").classed("cursor-move",!!u).attr("transform",_).attr("d",C+"Z");var V=g.append("path").attr("class","zoombox-corners").style({fill:HA.background,stroke:HA.defaultLine,"stroke-width":1}).attr("transform",_).attr("d","M0,0Z");if(u&&i.hasText){var X=g.select(".label-temp");X.empty()&&(X=g.append("g").classed("label-temp",!0).classed("select-outline",!0).style({opacity:.8}))}var H=v._uid+I7.SELECTID,G=[],Q=R7(p,i.xaxes,i.yaxes,i.subplot);m&&!e.shiftKey&&(i._clearSubplotSelections=function(){if(a){var ce=k._id,ge=D._id;r2e(p,ce,ge,Q);for(var Ce=(p.layout||{}).selections||[],be=[],he=!1,oe=0;oe=0){p._fullLayout._deactivateShape(p);return}if(!u){var Ce=v.clickmode;jA.done(H).then(function(){if(jA.clear(H),ce===2){for(j.remove(),$=0;$-1&&Zye(ge,p,i.xaxes,i.yaxes,i.subplot,i,j),Ce==="event"&&ZA(p,void 0);tEt.click(p,ge,b.id)}).catch(P7.error)}},i.doneFn=function(){V.remove(),jA.done(H).then(function(){jA.clear(H),!m&&O&&i.selectionDefs&&(O.subtract=R,i.selectionDefs.push(O),i.mergedPolygons.length=0,[].push.apply(i.mergedPolygons,B)),(m||u)&&YA(i,m),i.doneFnCompleted&&i.doneFnCompleted(G),c&&ZA(p,K)}).catch(P7.error)}}function Zye(e,t,r,i,n,a,o){var s=t._hoverdata,l=t._fullLayout,u=l.clickmode,c=u.indexOf("event")>-1,f=[],h,d,p,v,m,g,w,b,_,M;if(_Et(s)){Kye(e,t,a),h=R7(t,r,i,n);var x=bEt(s,h),T=x.pointNumbers.length>0;if(T?wEt(h,x):TEt(h)&&(w=Hye(x))){for(o&&o.remove(),M=0;M=0}function xEt(e){return e._fullLayout._activeSelectionIndex>=0}function YA(e,t){var r=e.dragmode,i=e.plotinfo,n=e.gd;yEt(n)&&n._fullLayout._deactivateShape(n),xEt(n)&&n._fullLayout._deactivateSelection(n);var a=n._fullLayout,o=a._zoomlayer,s=WA(r),l=XH(r);if(s||l){var u=o.selectAll(".select-outline-"+i.id);if(u&&n._fullLayout._outlining){var c;s&&(c=oEt(u,e)),c&&$A.call("_guiRelayout",n,{shapes:c});var f;l&&!JH(e)&&(f=sEt(u,e)),f&&(n._fullLayout._noEmitSelectedAtStart=!0,$A.call("_guiRelayout",n,{selections:f}).then(function(){t&&lEt(n)})),n._fullLayout._outlining=!1}}i.selection={},i.selection.selectionDefs=e.selectionDefs=[],i.selection.mergedPolygons=e.mergedPolygons=[]}function Gye(e){return e._id}function R7(e,t,r,i){if(!e.calcdata)return[];var n=[],a=t.map(Gye),o=r.map(Gye),s,l,u;for(u=0;u0,a=n?i[0]:r;return t.selectedpoints?t.selectedpoints.indexOf(a)>-1:!1}function wEt(e,t){var r=[],i,n,a,o;for(o=0;o0&&r.push(i);if(r.length===1&&(a=r[0]===t.searchInfo,a&&(n=t.searchInfo.cd[0].trace,n.selectedpoints.length===t.pointNumbers.length))){for(o=0;o1||(t+=i.selectedpoints.length,t>1)))return!1;return t===1}function XA(e,t,r){var i,n;for(i=0;i-1&&t;if(!o&&t){var ce=jye(e,!0);if(ce.length){var ge=ce[0].xref,Ce=ce[0].yref;if(ge&&Ce){var be=i2e(ce),he=n2e([pd(e,ge,"x"),pd(e,Ce,"y")]);he(G,be)}}e._fullLayout._noEmitSelectedAtStart?e._fullLayout._noEmitSelectedAtStart=!1:te&&ZA(e,G),h._reselect=!1}if(!o&&h._deselect){var oe=h._deselect;s=oe.xref,l=oe.yref,SEt(s,l,c)||r2e(e,s,l,i),te&&(G.points.length?ZA(e,G):tj(e)),h._deselect=!1}return{eventData:G,selectionTesters:r}}function MEt(e){var t=e.calcdata;if(t)for(var r=0;r{"use strict";s2e.exports=[{path:"",backoff:0},{path:"M-2.4,-3V3L0.6,0Z",backoff:.6},{path:"M-3.7,-2.5V2.5L1.3,0Z",backoff:1.3},{path:"M-4.45,-3L-1.65,-0.2V0.2L-4.45,3L1.55,0Z",backoff:1.55},{path:"M-2.2,-2.2L-0.2,-0.2V0.2L-2.2,2.2L-1.4,3L1.6,0L-1.4,-3Z",backoff:1.6},{path:"M-4.4,-2.1L-0.6,-0.2V0.2L-4.4,2.1L-4,3L2,0L-4,-3Z",backoff:2},{path:"M2,0A2,2 0 1,1 0,-2A2,2 0 0,1 2,0Z",backoff:0,noRotate:!0},{path:"M2,2V-2H-2V2Z",backoff:0,noRotate:!0}]});var JA=W((EPr,l2e)=>{"use strict";l2e.exports={axisRefDescription:function(e,t,r){return["If set to a",e,"axis id (e.g. *"+e+"* or","*"+e+"2*), the `"+e+"` position refers to a",e,"coordinate. If set to *paper*, the `"+e+"`","position refers to the distance from the",t,"of the plotting","area in normalized coordinates where *0* (*1*) corresponds to the",t,"("+r+"). If set to a",e,"axis ID followed by","*domain* (separated by a space), the position behaves like for","*paper*, but refers to the distance in fractions of the domain","length from the",t,"of the domain of that axis: e.g.,","*"+e+"2 domain* refers to the domain of the second",e,"axis and a",e,"position of 0.5 refers to the","point between the",t,"and the",r,"of the domain of the","second",e,"axis."].join(" ")}}});var qy=W((CPr,f2e)=>{"use strict";var u2e=rj(),c2e=Ho(),z7=Gl(),FEt=Da().templatedArray,kPr=JA();f2e.exports=FEt("annotation",{visible:{valType:"boolean",dflt:!0,editType:"calc+arraydraw"},text:{valType:"string",editType:"calc+arraydraw"},textangle:{valType:"angle",dflt:0,editType:"calc+arraydraw"},font:c2e({editType:"calc+arraydraw",colorEditType:"arraydraw"}),width:{valType:"number",min:1,dflt:null,editType:"calc+arraydraw"},height:{valType:"number",min:1,dflt:null,editType:"calc+arraydraw"},opacity:{valType:"number",min:0,max:1,dflt:1,editType:"arraydraw"},align:{valType:"enumerated",values:["left","center","right"],dflt:"center",editType:"arraydraw"},valign:{valType:"enumerated",values:["top","middle","bottom"],dflt:"middle",editType:"arraydraw"},bgcolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"arraydraw"},bordercolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"arraydraw"},borderpad:{valType:"number",min:0,dflt:1,editType:"calc+arraydraw"},borderwidth:{valType:"number",min:0,dflt:1,editType:"calc+arraydraw"},showarrow:{valType:"boolean",dflt:!0,editType:"calc+arraydraw"},arrowcolor:{valType:"color",editType:"arraydraw"},arrowhead:{valType:"integer",min:0,max:u2e.length,dflt:1,editType:"arraydraw"},startarrowhead:{valType:"integer",min:0,max:u2e.length,dflt:1,editType:"arraydraw"},arrowside:{valType:"flaglist",flags:["end","start"],extras:["none"],dflt:"end",editType:"arraydraw"},arrowsize:{valType:"number",min:.3,dflt:1,editType:"calc+arraydraw"},startarrowsize:{valType:"number",min:.3,dflt:1,editType:"calc+arraydraw"},arrowwidth:{valType:"number",min:.1,editType:"calc+arraydraw"},standoff:{valType:"number",min:0,dflt:0,editType:"calc+arraydraw"},startstandoff:{valType:"number",min:0,dflt:0,editType:"calc+arraydraw"},ax:{valType:"any",editType:"calc+arraydraw"},ay:{valType:"any",editType:"calc+arraydraw"},axref:{valType:"enumerated",dflt:"pixel",values:["pixel",z7.idRegex.x.toString()],editType:"calc"},ayref:{valType:"enumerated",dflt:"pixel",values:["pixel",z7.idRegex.y.toString()],editType:"calc"},xref:{valType:"enumerated",values:["paper",z7.idRegex.x.toString()],editType:"calc"},x:{valType:"any",editType:"calc+arraydraw"},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"auto",editType:"calc+arraydraw"},xshift:{valType:"number",dflt:0,editType:"calc+arraydraw"},yref:{valType:"enumerated",values:["paper",z7.idRegex.y.toString()],editType:"calc"},y:{valType:"any",editType:"calc+arraydraw"},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],dflt:"auto",editType:"calc+arraydraw"},yshift:{valType:"number",dflt:0,editType:"calc+arraydraw"},clicktoshow:{valType:"enumerated",values:[!1,"onoff","onout"],dflt:!1,editType:"arraydraw"},xclick:{valType:"any",editType:"arraydraw"},yclick:{valType:"any",editType:"arraydraw"},hovertext:{valType:"string",editType:"arraydraw"},hoverlabel:{bgcolor:{valType:"color",editType:"arraydraw"},bordercolor:{valType:"color",editType:"arraydraw"},font:c2e({editType:"arraydraw"}),editType:"arraydraw"},captureevents:{valType:"boolean",editType:"arraydraw"},editType:"calc"})});var v1=W((DPr,h2e)=>{"use strict";h2e.exports={PTS_LINESONLY:20,minTolerance:.2,toleranceGrowth:10,maxScreensAway:20,eventDataKeys:[]}});var g1=W((FPr,d2e)=>{"use strict";d2e.exports=function(t){return{valType:"color",editType:"style",anim:!0}}});var Ns=W((LPr,b2e)=>{"use strict";var p2e=_s().axisHoverFormat,{hovertemplateAttrs:LEt,texttemplateAttrs:PEt,templatefallbackAttrs:v2e}=Ga(),g2e=Eo(),IEt=Ho(),m2e=Du().dash,REt=Du().pattern,zEt=Ji(),BEt=v1(),QA=tn().extendFlat,qEt=g1();function y2e(e){return{valType:"any",dflt:0,editType:"calc"}}function x2e(e){return{valType:"any",editType:"calc"}}function _2e(e){return{valType:"enumerated",values:["start","middle","end"],dflt:"middle",editType:"calc"}}b2e.exports={x:{valType:"data_array",editType:"calc+clearAxisTypes",anim:!0},x0:{valType:"any",dflt:0,editType:"calc+clearAxisTypes",anim:!0},dx:{valType:"number",dflt:1,editType:"calc",anim:!0},y:{valType:"data_array",editType:"calc+clearAxisTypes",anim:!0},y0:{valType:"any",dflt:0,editType:"calc+clearAxisTypes",anim:!0},dy:{valType:"number",dflt:1,editType:"calc",anim:!0},xperiod:y2e("x"),yperiod:y2e("y"),xperiod0:x2e("x0"),yperiod0:x2e("y0"),xperiodalignment:_2e("x"),yperiodalignment:_2e("y"),xhoverformat:p2e("x"),yhoverformat:p2e("y"),offsetgroup:{valType:"string",dflt:"",editType:"calc"},alignmentgroup:{valType:"string",dflt:"",editType:"calc"},stackgroup:{valType:"string",dflt:"",editType:"calc"},orientation:{valType:"enumerated",values:["v","h"],editType:"calc"},groupnorm:{valType:"enumerated",values:["","fraction","percent"],dflt:"",editType:"calc"},stackgaps:{valType:"enumerated",values:["infer zero","interpolate"],dflt:"infer zero",editType:"calc"},text:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},texttemplate:PEt(),texttemplatefallback:v2e({editType:"calc"}),hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"style"},mode:{valType:"flaglist",flags:["lines","markers","text"],extras:["none"],editType:"calc"},hoveron:{valType:"flaglist",flags:["points","fills"],editType:"style"},hovertemplate:LEt({},{keys:BEt.eventDataKeys}),hovertemplatefallback:v2e(),line:{color:{valType:"color",editType:"style",anim:!0},width:{valType:"number",min:0,dflt:2,editType:"style",anim:!0},shape:{valType:"enumerated",values:["linear","spline","hv","vh","hvh","vhv"],dflt:"linear",editType:"plot"},smoothing:{valType:"number",min:0,max:1.3,dflt:1,editType:"plot"},dash:QA({},m2e,{editType:"style"}),backoff:{valType:"number",min:0,dflt:"auto",arrayOk:!0,editType:"plot"},simplify:{valType:"boolean",dflt:!0,editType:"plot"},editType:"plot"},connectgaps:{valType:"boolean",dflt:!1,editType:"calc"},cliponaxis:{valType:"boolean",dflt:!0,editType:"plot"},fill:{valType:"enumerated",values:["none","tozeroy","tozerox","tonexty","tonextx","toself","tonext"],editType:"calc"},fillcolor:qEt(!0),fillgradient:QA({type:{valType:"enumerated",values:["radial","horizontal","vertical","none"],dflt:"none",editType:"calc"},start:{valType:"number",editType:"calc"},stop:{valType:"number",editType:"calc"},colorscale:{valType:"colorscale",editType:"style"},editType:"calc"}),fillpattern:REt,marker:QA({symbol:{valType:"enumerated",values:zEt.symbolList,dflt:"circle",arrayOk:!0,editType:"style"},opacity:{valType:"number",min:0,max:1,arrayOk:!0,editType:"style",anim:!0},angle:{valType:"angle",dflt:0,arrayOk:!0,editType:"plot",anim:!1},angleref:{valType:"enumerated",values:["previous","up"],dflt:"up",editType:"plot",anim:!1},standoff:{valType:"number",min:0,dflt:0,arrayOk:!0,editType:"plot",anim:!0},size:{valType:"number",min:0,dflt:6,arrayOk:!0,editType:"calc",anim:!0},maxdisplayed:{valType:"number",min:0,dflt:0,editType:"plot"},sizeref:{valType:"number",dflt:1,editType:"calc"},sizemin:{valType:"number",min:0,dflt:0,editType:"calc"},sizemode:{valType:"enumerated",values:["diameter","area"],dflt:"diameter",editType:"calc"},line:QA({width:{valType:"number",min:0,arrayOk:!0,editType:"style",anim:!0},dash:QA({},m2e,{arrayOk:!0}),editType:"calc"},g2e("marker.line",{anim:!0})),gradient:{type:{valType:"enumerated",values:["radial","horizontal","vertical","none"],arrayOk:!0,dflt:"none",editType:"calc"},color:{valType:"color",arrayOk:!0,editType:"calc"},editType:"calc"},editType:"calc"},g2e("marker",{anim:!0})),selected:{marker:{opacity:{valType:"number",min:0,max:1,editType:"style"},color:{valType:"color",editType:"style"},size:{valType:"number",min:0,editType:"style"},editType:"style"},textfont:{color:{valType:"color",editType:"style"},editType:"style"},editType:"style"},unselected:{marker:{opacity:{valType:"number",min:0,max:1,editType:"style"},color:{valType:"color",editType:"style"},size:{valType:"number",min:0,editType:"style"},editType:"style"},textfont:{color:{valType:"color",editType:"style"},editType:"style"},editType:"style"},textposition:{valType:"enumerated",values:["top left","top center","top right","middle left","middle center","middle right","bottom left","bottom center","bottom right"],dflt:"middle center",arrayOk:!0,editType:"calc"},textfont:IEt({editType:"calc",colorEditType:"style",arrayOk:!0}),zorder:{valType:"integer",dflt:0,editType:"plot"}}});var ij=W((IPr,A2e)=>{"use strict";var w2e=qy(),T2e=Ns().line,OEt=Du().dash,B7=tn().extendFlat,NEt=ls().overrideAll,UEt=Da().templatedArray,PPr=JA();A2e.exports=NEt(UEt("selection",{type:{valType:"enumerated",values:["rect","path"]},xref:B7({},w2e.xref,{}),yref:B7({},w2e.yref,{}),x0:{valType:"any"},x1:{valType:"any"},y0:{valType:"any"},y1:{valType:"any"},path:{valType:"string",editType:"arraydraw"},opacity:{valType:"number",min:0,max:1,dflt:.7,editType:"arraydraw"},line:{color:T2e.color,width:B7({},T2e.width,{min:1,dflt:1}),dash:B7({},OEt,{dflt:"dot"})}}),"arraydraw","from-root")});var k2e=W((RPr,E2e)=>{"use strict";var M2e=it(),q7=ji(),VEt=Xc(),GEt=ij(),S2e=zy();E2e.exports=function(t,r){VEt(t,r,{name:"selections",handleItemDefaults:HEt});for(var i=r.selections,n=0;n{"use strict";C2e.exports=function(t,r,i){i("newselection.mode");var n=i("newselection.line.width");n&&(i("newselection.line.color"),i("newselection.line.dash")),i("activeselection.fillcolor"),i("activeselection.opacity")}});var eM=W((BPr,P2e)=>{"use strict";var jEt=yi(),F2e=it(),L2e=Cs();P2e.exports=function(t){return function(i,n){var a=i[t];if(Array.isArray(a))for(var o=jEt.subplotsRegistry.cartesian,s=o.idRegex,l=n._subplots,u=l.xaxis,c=l.yaxis,f=l.cartesian,h=n._has("cartesian"),d=0;d{"use strict";var I2e=GH(),tM=o2e();R2e.exports={moduleType:"component",name:"selections",layoutAttributes:ij(),supplyLayoutDefaults:k2e(),supplyDrawNewSelectionDefaults:D2e(),includeBasePlot:eM()("selections"),draw:I2e.draw,drawOne:I2e.drawOne,reselect:tM.reselect,prepSelect:tM.prepSelect,clearOutline:tM.clearOutline,clearSelectionsCache:tM.clearSelectionsCache,selectOnClick:tM.selectOnClick}});var fj=W((OPr,exe)=>{"use strict";var uj=vi(),vd=it(),z2e=vd.numberFormat,$Et=XD(),O7=yi(),H2e=vd.strTranslate,WEt=uo(),aj=ni(),Oy=Ji(),YEt=Ds(),B2e=ji(),XEt=Np(),ZEt=bf(),j2e=u1(),N7=j2e.selectingOrDrawing,KEt=j2e.freeMode,JEt=Hl().FROM_TL,QEt=CA(),ekt=BA().redrawReglTraces,tkt=Ko(),oj=Cs().getFromId,rkt=cu().prepSelect,ikt=cu().clearOutline,nkt=cu().selectOnClick,nj=RH(),cj=Gl(),q2e=cj.MINDRAG,Qf=cj.MINZOOM,O2e=!0;function akt(e,t,r,i,n,a,o,s){var l=e._fullLayout._zoomlayer,u=o+s==="nsew",c=(o+s).length===1,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C,k,D,F,P,R;r+=t.yaxis._shift;function L(){if(f=t.xaxis,h=t.yaxis,b=f._length,_=h._length,g=f._offset,w=h._offset,d={},d[f._id]=f,p={},p[h._id]=h,o&&s)for(var ke=t.overlays,_e=0;_e=0){Ie._fullLayout._deactivateShape(Ie);return}var Oe=Ie._fullLayout.clickmode;if(lj(Ie),ke===2&&!c&&xe(),u)Oe.indexOf("select")>-1&&nkt(_e,Ie,v,m,t.id,O),Oe.indexOf("event")>-1&&YEt.click(Ie,_e,t.id);else if(ke===1&&c){var Qe=o?h:f,et=o==="s"||s==="w"?0:1,_t=Qe._name+".range["+et+"]",ut=okt(Qe,et),vt="left",Xe="middle";if(Qe.fixedrange)return;o?(Xe=o==="n"?"top":"bottom",Qe.side==="right"&&(vt="right")):s==="e"&&(vt="right"),Ie._context.showAxisRangeEntryBoxes&&uj.select(B).call(WEt.makeEditable,{gd:Ie,immediate:!0,background:Ie._fullLayout.paper_bgcolor,text:String(ut),fill:Qe.tickfont?Qe.tickfont.color:"#444",horizontalAlign:vt,verticalAlign:Xe}).on("edit",function(mt){var bt=Qe.d2r(mt);bt!==void 0&&O7.call("_guiRelayout",Ie,_t,bt)})}}ZEt.init(O);var K,j,q,J,U,V,X,H,G,Q;function te(ke,_e,Ie){var Oe=B.getBoundingClientRect();K=_e-Oe.left,j=Ie-Oe.top,e._fullLayout._calcInverseTransform(e);var Qe=vd.apply3DTransform(e._fullLayout._invTransform)(K,j);K=Qe[0],j=Qe[1],q={l:K,r:K,w:0,t:j,b:j,h:0},J=e._hmpixcount?e._hmlumcount/e._hmpixcount:aj.luminosity(e._fullLayout.plot_bgcolor),U="M0,0H"+b+"V"+_+"H0V0",V=!1,X="xy",Q=!1,H=Y2e(l,J,g,w,U),G=X2e(l,g,w)}function ce(ke,_e){if(e._transitioningWithDuration)return!1;var Ie=Math.max(0,Math.min(b,P*ke+K)),Oe=Math.max(0,Math.min(_,R*_e+j)),Qe=Math.abs(Ie-K),et=Math.abs(Oe-j);q.l=Math.min(K,Ie),q.r=Math.max(K,Ie),q.t=Math.min(j,Oe),q.b=Math.max(j,Oe);function _t(){X="",q.r=q.l,q.t=q.b,G.attr("d","M0,0Z")}if(M.isSubplotConstrained)Qe>Qf||et>Qf?(X="xy",Qe/b>et/_?(et=Qe*_/b,j>Oe?q.t=j-et:q.b=j+et):(Qe=et*b/_,K>Ie?q.l=K-Qe:q.r=K+Qe),G.attr("d",U7(q))):_t();else if(x.isSubplotConstrained)if(Qe>Qf||et>Qf){X="xy";var ut=Math.min(q.l/b,(_-q.b)/_),vt=Math.max(q.r/b,(_-q.t)/_);q.l=ut*b,q.r=vt*b,q.b=(1-ut)*_,q.t=(1-vt)*_,G.attr("d",U7(q))}else _t();else!A||et0){var mt;if(x.isSubplotConstrained||!T&&A.length===1){for(mt=0;mt1&&(_t.maxallowed!==void 0&&E===(_t.range[0]<_t.range[1]?"e":"w")||_t.minallowed!==void 0&&E===(_t.range[0]<_t.range[1]?"w":"e"))&&(Ge=1,Re=0),Ue?(je=bt,Ve=o||x.isSubplotConstrained?ke[1]:Se(ut,je)):x.yaHash[ut._id]?(je=bt,Ve=ke[1]*ut._length/h._length):x.xaHash[ut._id]?(je=mt,Ve=T==="ew"?-ke[0]*ut._length/f._length:Se(ut,je,{e:"right",w:"left"}[T])):(je=we(ut,mt,bt),Ve=Fe(ut,je)),je>1&&(ut.maxallowed!==void 0&&S===(ut.range[0]=0?Math.min(e,.9):1/(1/Math.max(e,-.3)+3.222))}function lkt(e,t,r){return e?e==="nsew"?r?"":t==="pan"?"move":"crosshair":e.toLowerCase()+"-resize":"pointer"}function Y2e(e,t,r,i,n){return e.append("path").attr("class","zoombox").style({fill:t>.2?"rgba(0,0,0,0)":"rgba(255,255,255,0)","stroke-width":0}).attr("transform",H2e(r,i)).attr("d",n+"Z")}function X2e(e,t,r){return e.append("path").attr("class","zoombox-corners").style({fill:aj.background,stroke:aj.defaultLine,"stroke-width":1,opacity:0}).attr("transform",H2e(t,r)).attr("d","M0,0Z")}function Z2e(e,t,r,i,n,a){e.attr("d",i+"M"+r.l+","+r.t+"v"+r.h+"h"+r.w+"v-"+r.h+"h-"+r.w+"Z"),K2e(e,t,n,a)}function K2e(e,t,r,i){r||(e.transition().style("fill",i>.2?"rgba(0,0,0,0.4)":"rgba(255,255,255,0.3)").duration(200),t.transition().style("opacity",1).duration(200))}function lj(e){uj.select(e).selectAll(".zoombox,.js-zoombox-backdrop,.js-zoombox-menu,.zoombox-corners").remove()}function J2e(e){O2e&&e.data&&e._context.showTips&&(vd.notifier(vd._(e,"Double-click to zoom back out"),"long",e),O2e=!1)}function ukt(e,t){return"M"+(e.l-.5)+","+(t-Qf-.5)+"h-3v"+(2*Qf+1)+"h3ZM"+(e.r+.5)+","+(t-Qf-.5)+"h3v"+(2*Qf+1)+"h-3Z"}function ckt(e,t){return"M"+(t-Qf-.5)+","+(e.t-.5)+"v-3h"+(2*Qf+1)+"v3ZM"+(t-Qf-.5)+","+(e.b+.5)+"v3h"+(2*Qf+1)+"v-3Z"}function U7(e){var t=Math.floor(Math.min(e.b-e.t,e.r-e.l,Qf)/2);return"M"+(e.l-3.5)+","+(e.t-.5+t)+"h3v"+-t+"h"+t+"v-3h-"+(t+3)+"ZM"+(e.r+3.5)+","+(e.t-.5+t)+"h-3v"+-t+"h"+-t+"v-3h"+(t+3)+"ZM"+(e.r+3.5)+","+(e.b+.5-t)+"h-3v"+t+"h"+-t+"v3h"+(t+3)+"ZM"+(e.l-3.5)+","+(e.b+.5-t)+"h3v"+t+"h"+t+"v3h-"+(t+3)+"Z"}function V2e(e,t,r,i,n){for(var a=!1,o={},s={},l,u,c,f,h=(n||{}).xaHash,d=(n||{}).yaHash,p=0;p{"use strict";var fkt=vi(),V7=Ds(),hkt=bf(),dkt=Np(),Vp=fj().makeDragBox,Iu=Gl().DRAGGERSIZE;G7.initInteractions=function(t){var r=t._fullLayout;if(t._context.staticPlot){fkt.select(t).selectAll(".drag").remove();return}if(!(!r._has("cartesian")&&!r._has("splom"))){var i=Object.keys(r._plots||{}).sort(function(a,o){if((r._plots[a].mainplot&&!0)===(r._plots[o].mainplot&&!0)){var s=a.split("y"),l=o.split("y");return s[0]===l[0]?Number(s[1]||1)-Number(l[1]||1):Number(s[0]||1)-Number(l[0]||1)}return r._plots[a].mainplot?1:-1});i.forEach(function(a){var o=r._plots[a],s=o.xaxis,l=o.yaxis;if(!o.mainplot){var u=Vp(t,o,s._offset,l._offset,s._length,l._length,"ns","ew");u.onmousemove=function(h){t._fullLayout._rehover=function(){t._fullLayout._hoversubplot===a&&t._fullLayout._plots[a]&&V7.hover(t,h,a)},V7.hover(t,h,a),t._fullLayout._lasthover=u,t._fullLayout._hoversubplot=a},u.onmouseout=function(h){t._dragging||(t._fullLayout._hoversubplot=null,hkt.unhover(t,h))},t._context.showAxisDragHandles&&(Vp(t,o,s._offset-Iu,l._offset-Iu,Iu,Iu,"n","w"),Vp(t,o,s._offset+s._length,l._offset-Iu,Iu,Iu,"n","e"),Vp(t,o,s._offset-Iu,l._offset+l._length,Iu,Iu,"s","w"),Vp(t,o,s._offset+s._length,l._offset+l._length,Iu,Iu,"s","e"))}if(t._context.showAxisDragHandles){if(a===s._mainSubplot){var c=s._mainLinePosition;s.side==="top"&&(c-=Iu),Vp(t,o,s._offset+s._length*.1,c,s._length*.8,Iu,"","ew"),Vp(t,o,s._offset,c,s._length*.1,Iu,"","w"),Vp(t,o,s._offset+s._length*.9,c,s._length*.1,Iu,"","e")}if(a===l._mainSubplot){var f=l._mainLinePosition;l.side!=="right"&&(f-=Iu),Vp(t,o,f,l._offset+l._length*.1,Iu,l._length*.8,"ns",""),Vp(t,o,f,l._offset+l._length*.9,Iu,l._length*.1,"s",""),Vp(t,o,f,l._offset,Iu,l._length*.1,"n","")}}});var n=r._hoverlayer.node();n.onmousemove=function(a){a.target=t._fullLayout._lasthover,V7.hover(t,a,r._hoversubplot)},n.onclick=function(a){a.target=t._fullLayout._lasthover,V7.click(t,a)},n.onmousedown=function(a){t._fullLayout._lasthover.onmousedown(a)},G7.updateFx(t)}};G7.updateFx=function(e){var t=e._fullLayout,r=t.dragmode==="pan"?"move":"crosshair";dkt(t._draggers,r)}});var ixe=W((UPr,rxe)=>{"use strict";var txe=yi();rxe.exports=function(t){for(var r=txe.layoutArrayContainers,i=txe.layoutArrayRegexes,n=t.split("[")[0],a,o,s=0;s{"use strict";var pkt=oy(),dj=OC(),rM=Eg(),vkt=ZC().sorterAsc,pj=yi();iM.containerArrayMatch=ixe();var gkt=iM.isAddVal=function(t){return t==="add"||pkt(t)},nxe=iM.isRemoveVal=function(t){return t===null||t==="remove"};iM.applyContainerArrayChanges=function(t,r,i,n,a){var o=r.astr,s=pj.getComponentMethod(o,"supplyLayoutDefaults"),l=pj.getComponentMethod(o,"draw"),u=pj.getComponentMethod(o,"drawOne"),c=n.replot||n.recalc||s===dj||l===dj,f=t.layout,h=t._fullLayout;if(i[""]){Object.keys(i).length>1&&rM.warn("Full array edits are incompatible with other edits",o);var d=i[""][""];if(nxe(d))r.set(null);else if(Array.isArray(d))r.set(d);else return rM.warn("Unrecognized full array edit value",o,d),!0;return c?!1:(s(f,h),l(t),!0)}var p=Object.keys(i).map(Number).sort(vkt),v=r.get(),m=v||[],g=a(h,o).get(),w=[],b=-1,_=m.length,M,x,T,A,y,E,S,C;for(M=0;Mm.length-(S?0:1)){rM.warn("index out of range",o,T);continue}if(E!==void 0)y.length>1&&rM.warn("Insertion & removal are incompatible with edits to the same index.",o,T),nxe(E)?w.push(T):S?(E==="add"&&(E={}),m.splice(T,0,E),g&&g.splice(T,0,{})):rM.warn("Unrecognized full object edit value",o,T,E),b===-1&&(b=T);else for(x=0;x=0;M--)m.splice(w[M],1),g&&g.splice(w[M],1);if(m.length?v||r.set(m):r.set(null),c)return!1;if(s(f,h),u!==dj){var k;if(b===-1)k=p;else{for(_=Math.max(m.length,_),k=[],M=0;M=b));M++)k.push(T);for(M=b;M<_;M++)k.push(M)}for(M=0;M{"use strict";var uxe=sn(),cxe=yi(),Mf=it(),nM=Ko(),fxe=Cs(),aM=fxe.cleanId,mkt=fxe.getFromTrace,vj=cxe.traceIs,ykt=["x","y","z"];gd.clearPromiseQueue=function(e){Array.isArray(e._promises)&&e._promises.length>0&&Mf.log("Clearing previous rejected promises from queue."),e._promises=[]};gd.cleanLayout=function(e){var t,r;e||(e={}),e.xaxis1&&(e.xaxis||(e.xaxis=e.xaxis1),delete e.xaxis1),e.yaxis1&&(e.yaxis||(e.yaxis=e.yaxis1),delete e.yaxis1),e.scene1&&(e.scene||(e.scene=e.scene1),delete e.scene1);var i=(nM.subplotsRegistry.cartesian||{}).attrRegex,n=(nM.subplotsRegistry.polar||{}).attrRegex,a=(nM.subplotsRegistry.ternary||{}).attrRegex,o=(nM.subplotsRegistry.gl3d||{}).attrRegex,s=Object.keys(e);for(t=0;t3?(m.x=1.02,m.xanchor="left"):m.x<-2&&(m.x=-.02,m.xanchor="right"),m.y>3?(m.y=1.02,m.yanchor="bottom"):m.y<-2&&(m.y=-.02,m.yanchor="top")),e.dragmode==="rotate"&&(e.dragmode="orbit"),e.template&&e.template.layout&&gd.cleanLayout(e.template.layout),e};function Ow(e,t,r=!1){var i=e[t],n=t.charAt(0);r&&Array.isArray(i)||i&&i!=="paper"&&(e[t]=aM(i,n,!0))}gd.cleanData=function(e){for(var t=0;t0)return e.slice(0,t)}gd.hasParent=function(e,t){for(var r=lxe(t);r;){if(r in e)return!0;r=lxe(r)}return!1};gd.clearAxisTypes=function(e,t,r){for(var i=0;i{let r=(...i)=>i.every(n=>Mf.isPlainObject(n))||i.every(n=>Array.isArray(n));if([e,t].every(i=>Array.isArray(i))){if(e.length!==t.length)return!1;for(let i=0;iMf.isPlainObject(i))){if(Object.keys(e).length!==Object.keys(t).length)return!1;for(let i in e){if(i.startsWith("_"))continue;let n=e[i],a=t[i];if(n!==a&&!(r(n,a)?gj(n,a):!1))return!1}return!0}return!1};gd.collectionsAreEqual=gj});var rF=W(Fa=>{"use strict";var W7=vi(),bkt=sn(),wkt=AV(),fi=it(),Qo=fi.nestedProperty,xj=lw(),eh=J0e(),md=yi(),eF=fw(),Fn=Ko(),Sf=ji(),Tkt=UG(),Akt=ec(),mj=Ji(),Mkt=ni(),Skt=hj().initInteractions,Ekt=sd(),kkt=cu().clearOutline,mxe=cy().dfltConfig,j7=axe(),Fl=hxe(),vo=BA(),Ny=ls(),Ckt=Gl().AX_NAME_PATTERN,yj=0,dxe=5;function Dkt(e,t,r,i){var n;if(e=fi.getGraphDiv(e),xj.init(e),fi.isPlainObject(t)){var a=t;t=a.data,r=a.layout,i=a.config,n=a.frames}var o=xj.triggerHandler(e,"plotly_beforeplot",[t,r,i]);if(o===!1)return Promise.reject();!t&&!r&&!fi.isPlotDiv(e)&&fi.warn("Calling _doPlot as if redrawing but this container doesn't yet have a plot.",e);function s(){if(n)return Fa.addFrames(e,n)}xxe(e,i),r||(r={}),W7.select(e).classed("js-plotly-plot",!0),mj.makeTester(),Array.isArray(e._promises)||(e._promises=[]);var l=(e.data||[]).length===0&&Array.isArray(t);Array.isArray(t)&&(Fl.cleanData(t),l?e.data=t:e.data.push.apply(e.data,t),e.empty=!1),(!e.layout||l)&&(e.layout=Fl.cleanLayout(r)),Fn.supplyDefaults(e);var u=e._fullLayout,c=u._has("cartesian");u._replotting=!0,(l||u._shouldCreateBgLayer)&&(Qkt(e),u._shouldCreateBgLayer&&delete u._shouldCreateBgLayer),mj.initGradients(e),mj.initPatterns(e),l&&Sf.saveShowSpikeInitial(e);var f=!e.calcdata||e.calcdata.length!==(e._fullData||[]).length;f&&Fn.doCalcdata(e);for(var h=0;h=e.data.length||n<-e.data.length)throw new Error(r+" must be valid indices for gd.data.");if(t.indexOf(n,i+1)>-1||n>=0&&t.indexOf(-e.data.length+n)>-1||n<0&&t.indexOf(e.data.length+n)>-1)throw new Error("each index in "+r+" must be unique.")}}function _xe(e,t,r){if(!Array.isArray(e.data))throw new Error("gd.data must be an array.");if(typeof t=="undefined")throw new Error("currentIndices is a required argument.");if(Array.isArray(t)||(t=[t]),X7(e,t,"currentIndices"),typeof r!="undefined"&&!Array.isArray(r)&&(r=[r]),typeof r!="undefined"&&X7(e,r,"newIndices"),typeof r!="undefined"&&t.length!==r.length)throw new Error("current and new indices must be of equal length.")}function Rkt(e,t,r){var i,n;if(!Array.isArray(e.data))throw new Error("gd.data must be an array.");if(typeof t=="undefined")throw new Error("traces must be defined.");for(Array.isArray(t)||(t=[t]),i=0;i=0&&c=0&&c0&&typeof A.parts[S]!="string";)S--;var C=A.parts[S],k=A.parts[S-1]+"."+C,D=A.parts.slice(0,S).join("."),F=Qo(e.layout,D).get(),P=Qo(i,D).get(),R=A.get();if(y!==void 0){g[T]=y,w[T]=C==="reverse"?y:Og(R);var L=eF.getLayoutValObject(i,A.parts);if(L&&L.impliedEdits&&y!==null)for(var I in L.impliedEdits)b(fi.relativeAttr(T,I),L.impliedEdits[I]);if(["width","height"].indexOf(T)!==-1)if(y){b("autosize",null);var B=T==="height"?"width":"height";b(B,i[B])}else i[T]=e._initialAutoSize[T];else if(T==="autosize")b("width",y?null:i.width),b("height",y?null:i.height);else if(k.match(Cxe))x(k),Qo(i,D+"._inputRange").set(null);else if(k.match(Dxe)){x(k),Qo(i,D+"._inputRange").set(null);var O=Qo(i,D).get();O._inputDomain&&(O._input.domain=O._inputDomain.slice())}else k.match(Okt)&&Qo(i,D+"._inputDomain").set(null);if(C==="type"){M=F;var $=P.type==="linear"&&y==="log",Y=P.type==="log"&&y==="linear";if($||Y){if(!M||!M.range)b(D+".autorange",!0);else if(P.autorange)$&&(M.range=M.range[1]>M.range[0]?[1,2]:[2,1]);else{var K=M.range[0],j=M.range[1];$?(K<=0&&j<=0&&b(D+".autorange",!0),K<=0?K=j/1e6:j<=0&&(j=K/1e6),b(D+".range[0]",Math.log(K)/Math.LN10),b(D+".range[1]",Math.log(j)/Math.LN10)):(b(D+".range[0]",Math.pow(10,K)),b(D+".range[1]",Math.pow(10,j)))}Array.isArray(i._subplots.polar)&&i._subplots.polar.length&&i[A.parts[0]]&&A.parts[1]==="radialaxis"&&delete i[A.parts[0]]._subplot.viewInitial["radialaxis.range"],md.getComponentMethod("annotations","convertCoords")(e,P,y,b),md.getComponentMethod("images","convertCoords")(e,P,y,b)}else b(D+".autorange",!0),b(D+".range",null);Qo(i,D+"._inputRange").set(null)}else if(C.match(Ckt)){var q=Qo(i,T).get(),J=(y||{}).type;(!J||J==="-")&&(J="linear"),md.getComponentMethod("annotations","convertCoords")(e,q,J,b),md.getComponentMethod("images","convertCoords")(e,q,J,b)}var U=j7.containerArrayMatch(T);if(U){c=U.array,f=U.index;var V=U.property,X=L||{editType:"calc"};f!==""&&V===""&&(j7.isAddVal(y)?w[T]=null:j7.isRemoveVal(y)?w[T]=(Qo(r,c).get()||[])[f]:fi.warn("unrecognized full object value",t)),Ny.update(m,X),u[c]||(u[c]={});var H=u[c][f];H||(H=u[c][f]={}),H[V]=y,delete t[T]}else C==="reverse"?(F.range?F.range.reverse():(b(D+".autorange",!0),F.range=[1,0]),P.autorange?m.calc=!0:m.plot=!0):(T==="dragmode"&&(y===!1&&R!==!1||y!==!1&&R===!1)||i._has("scatter-like")&&i._has("regl")&&T==="dragmode"&&(y==="lasso"||y==="select")&&!(R==="lasso"||R==="select")?m.plot=!0:L?Ny.update(m,L):m.calc=!0,A.set(y))}}for(c in u){var G=j7.applyContainerArrayChanges(e,a(r,c),u[c],m,a);G||(m.plot=!0)}for(var Q in _){M=Sf.getFromId(e,Q);var te=M&&M._constraintGroup;if(te){m.calc=!0;for(var ce in te)_[ce]||(Sf.getFromId(e,ce)._constraintShrinkable=!0)}}(Lxe(e)||t.height||t.width)&&(m.plot=!0);var ge=i.shapes;for(f=0;f1;)if(i.pop(),r=Qo(t,i.join(".")+".uirevision").get(),r!==void 0)return r;return t.uirevision}function Vkt(e,t){for(var r=0;r[D,e._ev.listeners(D)]);a=Fa.newPlot(e,t,r,i).then(()=>{for(let[D,F]of k)F.forEach(P=>e.on(D,P));return Fa.react(e,t,r,i)})}else{e.data=t||[],Fl.cleanData(e.data),e.layout=r||{},Fl.cleanLayout(e.layout),Hkt(e.data,e.layout,s,l),Fn.supplyDefaults(e,{skipUpdateCalc:!0});var f=e._fullData,h=e._fullLayout,d=h.datarevision===void 0,p=h.transition,v=Wkt(e,l,h,d,p),m=v.newDataRevision,g=$kt(e,s,f,d,p,m);if(Lxe(e)&&(v.layoutReplot=!0),g.calc||v.calc){e.calcdata=void 0;for(var w=Object.getOwnPropertyNames(h),b=0;b(c||e.emit("plotly_react",{config:i,data:t,layout:r}),e))}function $kt(e,t,r,i,n,a){var o=t.length===r.length;if(!n&&!o)return{fullReplot:!0,calc:!0};var s=Ny.traceFlags();s.arrays={},s.nChanges=0,s.nChangesAnim=0;var l,u;function c(d){var p=eF.getTraceValObject(u,d);return!u._module.animatable&&p.anim&&(p.anim=!1),p}var f={getValObject:c,flags:s,immutable:i,transition:n,newDataRevision:a,gd:e},h={};for(l=0;l=n.length?n[0]:n[u]:n}function s(u){return Array.isArray(a)?u>=a.length?a[0]:a[u]:a}function l(u,c){var f=0;return function(){if(u&&++f===c)return u()}}return new Promise(function(u,c){function f(){if(i._frameQueue.length!==0){for(;i._frameQueue.length;){var C=i._frameQueue.pop();C.onInterrupt&&C.onInterrupt()}e.emit("plotly_animationinterrupted",[])}}function h(C){if(C.length!==0){for(var k=0;ki._timeToNext&&p()};C()}var m=0;function g(C){return Array.isArray(n)?m>=n.length?C.transitionOpts=n[m]:C.transitionOpts=n[0]:C.transitionOpts=n,m++,C}var w,b,_=[],M=t==null,x=Array.isArray(t),T=!M&&!x&&fi.isPlainObject(t);if(T)_.push({type:"object",data:g(fi.extendFlat({},t))});else if(M||["string","number"].indexOf(typeof t)!==-1)for(w=0;w0&&E<_.length-1){var S=[];for(w=0;w<_.length;w++)b=_[w],(_[w].type!=="byname"||w>E)&&S.push(b);_=S}}_.length>0?h(_):(e.emit("plotly_animated"),u())})}function Xkt(e,t,r){if(e=fi.getGraphDiv(e),t==null)return Promise.resolve();if(!fi.isPlotDiv(e))throw new Error("This element is not a Plotly plot: "+e+". It's likely that you've failed to create a plot before adding frames. For more details, see https://plotly.com/javascript/animations/");var i,n,a,o,s=e._transitionData._frames,l=e._transitionData._frameHash;if(!Array.isArray(t))throw new Error("addFrames failure: frameList must be an Array of frame definitions"+t);var u=s.length+t.length*2,c=[],f={};for(i=t.length-1;i>=0;i--)if(fi.isPlainObject(t[i])){var h=t[i].name,d=(l[h]||f[h]||{}).name,p=t[i].name,v=l[d]||f[d];d&&p&&typeof p=="number"&&v&&yjA.index?-1:T.index=0;i--){if(n=c[i].frame,typeof n.name=="number"&&fi.warn("Warning: addFrames accepts frames with numeric names, but the numbers areimplicitly cast to strings"),!n.name)for(;l[n.name="frame "+e._transitionData._counter++];);if(l[n.name]){for(a=0;a=0;r--)i=t[r],a.push({type:"delete",index:i}),o.unshift({type:"insert",index:i,value:n[i]});var s=Fn.modifyFrames,l=Fn.modifyFrames,u=[e,o],c=[e,a];return eh&&eh.add(e,s,u,l,c),Fn.modifyFrames(e,a)}function Kkt(e){e=fi.getGraphDiv(e);var t=e._fullLayout||{},r=e._fullData||[];return Fn.cleanPlot([],{},r,t),Fn.purge(e),xj.purge(e),t._container&&t._container.remove(),delete e._context,e}function Jkt(e){var t=e._fullLayout,r=e.getBoundingClientRect();if(!fi.equalDomRects(r,t._lastBBox)){var i=t._invTransform=fi.inverseTransformMatrix(fi.getFullTransformMatrix(e));t._invScaleX=Math.sqrt(i[0][0]*i[0][0]+i[0][1]*i[0][1]+i[0][2]*i[0][2]),t._invScaleY=Math.sqrt(i[1][0]*i[1][0]+i[1][1]*i[1][1]+i[1][2]*i[1][2]),t._lastBBox=r}}function Qkt(e){var t=W7.select(e),r=e._fullLayout;if(r._calcInverseTransform=Jkt,r._calcInverseTransform(e),r._container=t.selectAll(".plot-container").data([0]),r._container.enter().insert("div",":first-child").classed("plot-container",!0).classed("plotly",!0).style({width:"100%",height:"100%"}),r._paperdiv=r._container.selectAll(".svg-container").data([0]),r._paperdiv.enter().append("div").classed("user-select-none",!0).classed("svg-container",!0).style("position","relative"),r._glcontainer=r._paperdiv.selectAll(".gl-container").data([{}]),r._glcontainer.enter().append("div").classed("gl-container",!0),r._paperdiv.selectAll(".main-svg").remove(),r._paperdiv.select(".modebar-container").remove(),r._paper=r._paperdiv.insert("svg",":first-child").classed("main-svg",!0),r._toppaper=r._paperdiv.append("svg").classed("main-svg",!0),r._modebardiv=r._paperdiv.append("div"),delete r._modeBar,r._hoverpaper=r._paperdiv.append("svg").classed("main-svg",!0),!r._uid){var i={};W7.selectAll("defs").each(function(){this.id&&(i[this.id.split("-")[1]]=1)}),r._uid=fi.randstr(i)}r._paperdiv.selectAll(".main-svg").attr(Ekt.svgAttrs),r._defs=r._paper.append("defs").attr("id","defs-"+r._uid),r._clips=r._defs.append("g").classed("clips",!0),r._topdefs=r._toppaper.append("defs").attr("id","topdefs-"+r._uid),r._topclips=r._topdefs.append("g").classed("clips",!0),r._bgLayer=r._paper.append("g").classed("bglayer",!0),r._draggers=r._paper.append("g").classed("draglayer",!0);var n=r._paper.append("g").classed("layer-below",!0);r._imageLowerLayer=n.append("g").classed("imagelayer",!0),r._shapeLowerLayer=n.append("g").classed("shapelayer",!0),r._cartesianlayer=r._paper.append("g").classed("cartesianlayer",!0),r._polarlayer=r._paper.append("g").classed("polarlayer",!0),r._smithlayer=r._paper.append("g").classed("smithlayer",!0),r._ternarylayer=r._paper.append("g").classed("ternarylayer",!0),r._geolayer=r._paper.append("g").classed("geolayer",!0),r._funnelarealayer=r._paper.append("g").classed("funnelarealayer",!0),r._pielayer=r._paper.append("g").classed("pielayer",!0),r._iciclelayer=r._paper.append("g").classed("iciclelayer",!0),r._treemaplayer=r._paper.append("g").classed("treemaplayer",!0),r._sunburstlayer=r._paper.append("g").classed("sunburstlayer",!0),r._indicatorlayer=r._toppaper.append("g").classed("indicatorlayer",!0),r._glimages=r._paper.append("g").classed("glimages",!0);var a=r._toppaper.append("g").classed("layer-above",!0);r._imageUpperLayer=a.append("g").classed("imagelayer",!0),r._shapeUpperLayer=a.append("g").classed("shapelayer",!0),r._selectionLayer=r._toppaper.append("g").classed("selectionlayer",!0),r._infolayer=r._toppaper.append("g").classed("infolayer",!0),r._menulayer=r._toppaper.append("g").classed("menulayer",!0),r._zoomlayer=r._toppaper.append("g").classed("zoomlayer",!0),r._hoverlayer=r._hoverpaper.append("g").classed("hoverlayer",!0),r._modebardiv.classed("modebar-container",!0).style("position","absolute").style("top","0px").style("right","0px"),e.emit("plotly_framework")}Fa.animate=Ykt;Fa.addFrames=Xkt;Fa.deleteFrames=Zkt;Fa.addTraces=Mxe;Fa.deleteTraces=Sxe;Fa.extendTraces=Txe;Fa.moveTraces=_j;Fa.prependTraces=Axe;Fa.newPlot=Ikt;Fa._doPlot=Dkt;Fa.purge=Kkt;Fa.react=jkt;Fa.redraw=Pkt;Fa.relayout=oM;Fa.restyle=Z7;Fa.setPlotConfig=Fkt;Fa.update=J7;Fa._guiRelayout=bj(oM);Fa._guiRestyle=bj(Z7);Fa._guiUpdate=bj(J7);Fa._storeDirectGUIEdit=qkt});var Ng=W(yd=>{"use strict";var e8t=yi();yd.getDelay=function(e){return e._has&&(e._has("gl3d")||e._has("map"))?500:0};yd.getRedrawFunc=function(e){return function(){e8t.getComponentMethod("colorbar","draw")(e)}};yd.encodeSVG=function(e){return"data:image/svg+xml,"+encodeURIComponent(e)};yd.encodeJSON=function(e){return"data:application/json,"+encodeURIComponent(e)};var Pxe=window.URL||window.webkitURL;yd.createObjectURL=function(e){return Pxe.createObjectURL(e)};yd.revokeObjectURL=function(e){return Pxe.revokeObjectURL(e)};yd.createBlob=function(e,t){if(t==="svg")return new window.Blob([e],{type:"image/svg+xml;charset=utf-8"});if(t==="full-json")return new window.Blob([e],{type:"application/json;charset=utf-8"});var r=t8t(window.atob(e));return new window.Blob([r],{type:"image/"+t})};yd.octetStream=function(e){document.location.href="data:application/octet-stream"+e};yd.getPlotTitle=function(e){var i,n,a,o;var t=e._fullLayout;if(t){var r=(i=t.title)==null?void 0:i.text;return r===((n=t._dfltTitle)==null?void 0:n.plot)?void 0:r}return(o=(a=e.layout)==null?void 0:a.title)==null?void 0:o.text};yd.getPlotSubtitle=function(e){var i,n,a,o,s,l;var t=e._fullLayout;if(t){var r=(n=(i=t.title)==null?void 0:i.subtitle)==null?void 0:n.text;return r===((a=t._dfltTitle)==null?void 0:a.subtitle)?void 0:r}return(l=(s=(o=e.layout)==null?void 0:o.title)==null?void 0:s.subtitle)==null?void 0:l.text};function t8t(e){for(var t=e.length,r=new ArrayBuffer(t),i=new Uint8Array(r),n=0;n{"use strict";var Tj=vi(),$Pr=it(),r8t=Ji(),i8t=ni(),WPr=sd(),wj=/"/g,g_="TOBESTRIPPED",n8t=new RegExp(`("${g_})|(${g_}")|("${g_})|(${g_}")`,"g"),a8t=["&","&","&",""",""",""","'","'","'"],o8t=["<","<","<"],s8t=[">",">",">"];function l8t(e){let t=Tj.select("body").append("div").style({display:"none"}).html(""),r=e.replace(/(&[^;]*;)/gi,i=>{let n=i.toLowerCase();return a8t.includes(n)?i:o8t.includes(n)?"<":s8t.includes(n)?">":i.includes("<")||i.includes(">")?"":t.html(i).text()});return t.remove(),r}function u8t(e){return e.replace(/&(?!\w+;|\#[0-9]+;| \#x[0-9A-F]+;)/g,"&")}Ixe.exports=function(t,r,i){var n=t._fullLayout,a=n._paper,o=n._toppaper,s=n.width,l=n.height,u;a.insert("rect",":first-child").call(r8t.setRect,0,0,s,l).call(i8t.fill,n.paper_bgcolor);var c=n._basePlotModules||[];for(u=0;u{"use strict";var c8t=it(),f8t=Vx().EventEmitter,lM=Ng();function h8t(e){var t=e.emitter||new f8t,r=new Promise(function(i,n){var a=window.Image,o=e.svg,s=e.format||"png",l=e.canvas,u=e.scale||1,c=e.width||300,f=e.height||150,h=u*c,d=u*f,p=l.getContext("2d",{willReadFrequently:!0}),v=new a,m,g;s==="svg"||c8t.isSafari()?g=lM.encodeSVG(o):(m=lM.createBlob(o,"svg"),g=lM.createObjectURL(m)),l.width=h,l.height=d,v.onload=function(){var w;switch(m=null,lM.revokeObjectURL(g),s!=="svg"&&p.drawImage(v,0,0,h,d),s){case"jpeg":w=l.toDataURL("image/jpeg");break;case"png":w=l.toDataURL("image/png");break;case"webp":w=l.toDataURL("image/webp");break;case"svg":w=g;break;default:var b="Image format is not jpeg, png, svg or webp.";if(n(new Error(b)),!e.promise)return t.emit("error",b)}i(w),e.promise||t.emit("success",w)},v.onerror=function(w){if(m=null,lM.revokeObjectURL(g),n(w),!e.promise)return t.emit("error",w)},v.src=g});return e.promise?r:t}Rxe.exports=h8t});var Mj=W((ZPr,qxe)=>{"use strict";var zxe=sn(),Bxe=rF(),d8t=Ko(),m1=it(),uM=Ng(),p8t=iF(),v8t=nF(),g8t=E6().version,Aj={format:{valType:"enumerated",values:["png","jpeg","webp","svg","full-json"],dflt:"png"},width:{valType:"number",min:1},height:{valType:"number",min:1},scale:{valType:"number",min:0,dflt:1},setBackground:{valType:"any",dflt:!1},imageDataOnly:{valType:"boolean",dflt:!1}};function m8t(e,t){t=t||{};var r,i,n,a;m1.isPlainObject(e)?(r=e.data||[],i=e.layout||{},n=e.config||{},a={}):(e=m1.getGraphDiv(e),r=m1.extendDeep([],e.data),i=m1.extendDeep({},e.layout),n=e._context,a=e._fullLayout||{});function o(x){return!(x in t)||m1.validate(t[x],Aj[x])}if(!o("width")&&t.width!==null||!o("height")&&t.height!==null)throw new Error("Height and width should be pixel values.");if(!o("format"))throw new Error("Export format is not "+m1.join2(Aj.format.values,", "," or ")+".");var s={};function l(x,T){return m1.coerce(t,s,Aj,x,T)}var u=l("format"),c=l("width"),f=l("height"),h=l("scale"),d=l("setBackground"),p=l("imageDataOnly"),v=document.createElement("div");v.style.position="absolute",v.style.left="-5000px",document.body.appendChild(v);var m=m1.extendFlat({},i);c?m.width=c:t.width===null&&zxe(a.width)&&(m.width=a.width),f?m.height=f:t.height===null&&zxe(a.height)&&(m.height=a.height);var g=m1.extendFlat({},n,{_exportedPlot:!0,staticPlot:!0,setBackground:d}),w=uM.getRedrawFunc(v);function b(){return new Promise(function(x){setTimeout(x,uM.getDelay(v._fullLayout))})}function _(){return new Promise(function(x,T){var A=p8t(v,u,h),y=v._fullLayout.width,E=v._fullLayout.height;function S(){Bxe.purge(v),document.body.removeChild(v)}if(u==="full-json"){var C=d8t.graphJson(v,!1,"object",!0,!0);return C.version=g8t,C=JSON.stringify(C),S(),x(p?C:uM.encodeJSON(C))}if(S(),u==="svg")return x(p?A:uM.encodeSVG(A));var k=document.createElement("canvas");k.id=m1.randstr(),v8t({format:u,width:y,height:E,scale:h,canvas:k,svg:A,promise:!0}).then(x).catch(T)})}function M(x){return p?x.replace(uM.IMAGE_URL_PREFIX,""):x}return new Promise(function(x,T){Bxe.newPlot(v,r,m,g).then(w).then(b).then(_).then(function(A){x(M(A))}).catch(function(A){T(A)})})}qxe.exports=m8t});var Uxe=W((KPr,Nxe)=>{"use strict";var xd=it(),y8t=Ko(),x8t=fw(),_8t=cy().dfltConfig,Gp=xd.isPlainObject,y_=Array.isArray,Sj=xd.isArrayOrTypedArray;Nxe.exports=function(t,r){t===void 0&&(t=[]),r===void 0&&(r={});var i=x8t.get(),n=[],a={_context:xd.extendFlat({},_8t)},o,s;y_(t)?(a.data=xd.extendDeep([],t),o=t):(a.data=[],o=[],n.push(Ru("array","data"))),Gp(r)?(a.layout=xd.extendDeep({},r),s=r):(a.layout={},s={},arguments.length>1&&n.push(Ru("object","layout"))),y8t.supplyDefaults(a);for(var l=a._fullData,u=o.length,c=0;cf.length&&i.push(Ru("unused",n,u.concat(f.length)));var g=f.length,w=Array.isArray(m);w&&(g=Math.min(g,m.length));var b,_,M,x,T;if(h.dimensions===2)for(_=0;_f[_].length&&i.push(Ru("unused",n,u.concat(_,f[_].length)));var A=f[_].length;for(b=0;b<(w?Math.min(A,m[_].length):A);b++)M=w?m[_][b]:m,x=c[_][b],T=f[_][b],xd.validate(x,M)?T!==x&&T!==+x&&i.push(Ru("dynamic",n,u.concat(_,b),x,T)):i.push(Ru("value",n,u.concat(_,b),x))}else i.push(Ru("array",n,u.concat(_),c[_]));else for(_=0;_{"use strict";var E8t=it(),oF=Ng();function k8t(e,t,r){var i=document.createElement("a"),n="download"in i,a=new Promise(function(o,s){var l,u;if(n)return l=oF.createBlob(e,r),u=oF.createObjectURL(l),i.href=u,i.download=t,document.body.appendChild(i),i.click(),document.body.removeChild(i),oF.revokeObjectURL(u),l=null,o(t);if(E8t.isSafari()){var c=r==="svg"?",":";base64,";return oF.octetStream(c+encodeURIComponent(e)),o(t)}s(new Error("download error"))});return a}Vxe.exports=k8t});var Ej=W((QPr,Wxe)=>{"use strict";var sF=it(),Hxe=uo(),C8t=Mj(),D8t=Gxe(),jxe=Ng(),$xe=40;function F8t(e,t){var r;return sF.isPlainObject(e)||(r=sF.getGraphDiv(e)),t=t||{},t.format=t.format||"png",t.width=t.width||null,t.height=t.height||null,t.imageDataOnly=!0,new Promise(function(i,n){r&&r._snapshotInProgress&&n(new Error("Image capture already in progress.")),r&&(r._snapshotInProgress=!0);var a=C8t(e,t),o=t.filename||e.fn;if(!o){let l=jxe.getPlotTitle(e);if(l&&!Hxe.matchTex(l))o=sF.slugify(l,$xe);else{let u=jxe.getPlotSubtitle(e);u&&!Hxe.matchTex(u)&&(o=sF.slugify(u,$xe))}}var s=o||"plot-image";s+="."+t.format.replace("-","."),a.then(function(l){return r&&(r._snapshotInProgress=!1),D8t(l,s,t.format)}).then(function(l){i(l)}).catch(function(l){r&&(r._snapshotInProgress=!1),n(l)})})}Wxe.exports=F8t});var Jxe=W(kj=>{"use strict";var Oh=it(),Nh=Oh.isPlainObject,Yxe=fw(),Xxe=Ko(),L8t=Wa(),Zxe=Da(),Kxe=cy().dfltConfig;kj.makeTemplate=function(e){e=Oh.isPlainObject(e)?e:Oh.getGraphDiv(e),e=Oh.extendDeep({_context:Kxe},{data:e.data,layout:e.layout}),Xxe.supplyDefaults(e);var t=e.data||[],r=e.layout||{};r._basePlotModules=e._fullLayout._basePlotModules,r._modules=e._fullLayout._modules;var i={data:{},layout:{}};t.forEach(function(d){var p={};cM(d,p,I8t.bind(null,d));var v=Oh.coerce(d,{},L8t,"type"),m=i.data[v];m||(m=i.data[v]=[]),m.push(p)}),cM(r,i.layout,P8t.bind(null,r)),delete i.layout.template;var n=r.template;if(Nh(n)){var a=n.layout,o,s,l,u,c,f;Nh(a)&&lF(a,i.layout);var h=n.data;if(Nh(h)){for(s in i.data)if(l=h[s],Array.isArray(l)){for(c=i.data[s],f=c.length,u=l.length,o=0;og?o.push({code:"unused",traceType:d,templateCount:m,dataCount:g}):g>m&&o.push({code:"reused",traceType:d,templateCount:m,dataCount:g})}}function w(b,_){for(var M in b)if(M.charAt(0)!=="_"){var x=b[M],T=_d(b,M,_);Nh(x)?(Array.isArray(b)&&x._template===!1&&x.templateitemname&&o.push({code:"missing",path:T,templateitemname:x.templateitemname}),w(x,T)):Array.isArray(x)&&R8t(x)&&w(x,T)}}if(w({data:l,layout:s},""),o.length)return o.map(z8t)};function R8t(e){for(var t=0;t{"use strict";var fu=rF();Ts._doPlot=fu._doPlot;Ts.newPlot=fu.newPlot;Ts.restyle=fu.restyle;Ts.relayout=fu.relayout;Ts.redraw=fu.redraw;Ts.update=fu.update;Ts._guiRestyle=fu._guiRestyle;Ts._guiRelayout=fu._guiRelayout;Ts._guiUpdate=fu._guiUpdate;Ts._storeDirectGUIEdit=fu._storeDirectGUIEdit;Ts.react=fu.react;Ts.extendTraces=fu.extendTraces;Ts.prependTraces=fu.prependTraces;Ts.addTraces=fu.addTraces;Ts.deleteTraces=fu.deleteTraces;Ts.moveTraces=fu.moveTraces;Ts.purge=fu.purge;Ts.addFrames=fu.addFrames;Ts.deleteFrames=fu.deleteFrames;Ts.animate=fu.animate;Ts.setPlotConfig=fu.setPlotConfig;var B8t=K6().getGraphDiv,q8t=b7().eraseActiveShape;Ts.deleteActiveShape=function(e){return q8t(B8t(e))};Ts.toImage=Mj();Ts.validate=Uxe();Ts.downloadImage=Ej();var Qxe=Jxe();Ts.makeTemplate=Qxe.makeTemplate;Ts.validateTemplate=Qxe.validateTemplate});var x_=W((rIr,t_e)=>{"use strict";var Cj=it(),O8t=yi();t_e.exports=function(t,r,i,n){var a=n("x"),o=n("y"),s,l=O8t.getComponentMethod("calendars","handleTraceDefaults");if(l(t,r,["x","y"],i),a){var u=Cj.minRowLength(a);o?s=Math.min(u,Cj.minRowLength(o)):(s=u,n("y0"),n("dy"))}else{if(!o)return 0;s=Cj.minRowLength(o),n("x0"),n("dx")}return r._length=s,s}});var Hp=W((iIr,n_e)=>{"use strict";var r_e=it().dateTick0,N8t=Kn(),U8t=N8t.ONEWEEK;function i_e(e,t){return e%U8t===0?r_e(t,1):r_e(t,0)}n_e.exports=function(t,r,i,n,a){if(a||(a={x:!0,y:!0}),a.x){var o=n("xperiod");o&&(n("xperiod0",i_e(o,r.xcalendar)),n("xperiodalignment"))}if(a.y){var s=n("yperiod");s&&(n("yperiod0",i_e(s,r.ycalendar)),n("yperiodalignment"))}}});var s_e=W((nIr,o_e)=>{"use strict";var a_e=["orientation","groupnorm","stackgaps"];o_e.exports=function(t,r,i,n){var a=i._scatterStackOpts,o=n("stackgroup");if(o){var s=r.xaxis+r.yaxis,l=a[s];l||(l=a[s]={});var u=l[o],c=!1;u?u.traces.push(r):(u=l[o]={traceIndices:[],traces:[r]},c=!0);for(var f={orientation:r.x&&!r.y?"h":"v"},h=0;h{"use strict";var l_e=ni(),u_e=bc().hasColorscale,c_e=Fu(),V8t=$o();f_e.exports=function(t,r,i,n,a,o={}){var s=V8t.isBubble(t),l=(t.line||{}).color,u;if(l&&(i=l),a("marker.symbol"),a("marker.opacity",s?.7:1),a("marker.size"),o.noAngle||(a("marker.angle"),o.noAngleRef||a("marker.angleref"),o.noStandOff||a("marker.standoff")),a("marker.color",i),u_e(t,"marker")&&c_e(t,r,n,a,{prefix:"marker.",cLetter:"c"}),o.noSelect||(a("selected.marker.color"),a("unselected.marker.color"),a("selected.marker.size"),a("unselected.marker.size")),o.noLine||(l&&!Array.isArray(l)&&r.marker.color!==l?u=l:s?u=l_e.background:u=l_e.defaultLine,a("marker.line.color",u),u_e(t,"marker.line")&&c_e(t,r,n,a,{prefix:"marker.line.",cLetter:"c"}),a("marker.line.width",s?1:0),o.noLineDash||a("marker.line.dash")),s&&(a("marker.sizeref"),a("marker.sizemin"),a("marker.sizemode")),o.gradient){var c=a("marker.gradient.type");c!=="none"&&a("marker.gradient.color")}}});var jp=W((oIr,h_e)=>{"use strict";var G8t=it().isArrayOrTypedArray,H8t=bc().hasColorscale,j8t=Fu();h_e.exports=function(t,r,i,n,a,o){o||(o={});var s=(t.marker||{}).color;if(s&&s._inputArray&&(s=s._inputArray),a("line.color",i),H8t(t,"line"))j8t(t,r,n,a,{prefix:"line.",cLetter:"c"});else{var l=(G8t(s)?!1:s)||i;a("line.color",l)}a("line.width"),o.noDash||a("line.dash"),o.backoff&&a("line.backoff")}});var Nw=W((sIr,d_e)=>{"use strict";d_e.exports=function(t,r,i){var n=i("line.shape");n==="spline"&&i("line.smoothing")}});var $p=W((lIr,p_e)=>{"use strict";var $8t=it();p_e.exports=function(e,t,r,i,n){n=n||{},i("textposition"),$8t.coerceFont(i,"textfont",n.font||r.font,n),n.noSelect||(i("selected.textfont.color"),i("unselected.textfont.color"))}});var y1=W((uIr,g_e)=>{"use strict";var cF=ni(),v_e=it().isArrayOrTypedArray;function W8t(e){for(var t=cF.interpolate(e[0][1],e[1][1],.5),r=2;r{"use strict";var m_e=it(),Y8t=yi(),X8t=Ns(),Z8t=v1(),Uw=$o(),K8t=x_(),J8t=Hp(),Q8t=s_e(),eCt=bd(),tCt=jp(),y_e=Nw(),rCt=$p(),iCt=y1(),nCt=it().coercePattern;x_e.exports=function(t,r,i,n){function a(d,p){return m_e.coerce(t,r,X8t,d,p)}var o=K8t(t,r,n,a);if(o||(r.visible=!1),!!r.visible){J8t(t,r,n,a),a("xhoverformat"),a("yhoverformat"),a("zorder");var s=Q8t(t,r,n,a);n.scattermode==="group"&&r.orientation===void 0&&a("orientation","v");var l=!s&&o{"use strict";var aCt=v_().getAxisGroup;b_e.exports=function(t,r,i,n,a){var o=r.orientation,s=r[{v:"x",h:"y"}[o]+"axis"],l=aCt(i,s)+o,u=i._alignmentOpts||{},c=n("alignmentgroup"),f=u[l];f||(f=u[l]={});var h=f[c];h?h.traces.push(r):h=f[c]={traces:[r],alignmentIndex:Object.keys(f).length,offsetGroups:{}};var d=n("offsetgroup")||"",p=h.offsetGroups,v=p[d];r._offsetIndex=0,(a!=="group"||d)&&(v||(v=p[d]={offsetIndex:Object.keys(p).length}),r._offsetIndex=v.offsetIndex)}});var Dj=W((hIr,w_e)=>{"use strict";var oCt=it(),sCt=__(),lCt=Ns();w_e.exports=function(t,r){var i,n,a,o=r.scattermode;function s(h){return oCt.coerce(n._input,n,lCt,h)}if(r.scattermode==="group")for(a=0;a=0;c--){var f=t[c];if(f.type==="scatter"&&f.xaxis===l.xaxis&&f.yaxis===l.yaxis){f.opacity=void 0;break}}}}}});var A_e=W((dIr,T_e)=>{"use strict";var uCt=it(),cCt=fD();T_e.exports=function(e,t){function r(n,a){return uCt.coerce(e,t,cCt,n,a)}var i=t.barmode==="group";t.scattermode==="group"&&r("scattergap",i?t.bargap:.2)}});var Wp=W((pIr,S_e)=>{"use strict";var fCt=sn(),M_e=it(),hCt=M_e.dateTime2ms,fF=M_e.incrementMonth,dCt=Kn(),pCt=dCt.ONEAVGMONTH;S_e.exports=function(t,r,i,n){if(r.type!=="date")return{vals:n};var a=t[i+"periodalignment"];if(!a)return{vals:n};var o=t[i+"period"],s;if(fCt(o)){if(o=+o,o<=0)return{vals:n}}else if(typeof o=="string"&&o.charAt(0)==="M"){var l=+o.substring(1);if(l>0&&Math.round(l)===l)s=l;else return{vals:n}}for(var u=r.calendar,c=a==="start",f=a==="end",h=t[i+"period0"],d=hCt(h,u)||0,p=[],v=[],m=[],g=n.length,w=0;wb;)x=fF(x,-s,u);for(;x<=b;)x=fF(x,s,u);M=fF(x,-s,u)}else{for(_=Math.round((b-d)/o),x=d+_*o;x>b;)x-=o;for(;x<=b;)x+=o;M=x-o}p[w]=c?M:f?x:(M+x)/2,v[w]=M,m[w]=x}return{vals:p,starts:v,ends:m}}});var wd=W((vIr,k_e)=>{"use strict";var Fj=bc().hasColorscale,Lj=Zc(),E_e=$o();k_e.exports=function(t,r){E_e.hasLines(r)&&Fj(r,"line")&&Lj(t,r,{vals:r.line.color,containerStr:"line",cLetter:"c"}),E_e.hasMarkers(r)&&(Fj(r,"marker")&&Lj(t,r,{vals:r.marker.color,containerStr:"marker",cLetter:"c"}),Fj(r,"marker.line")&&Lj(t,r,{vals:r.marker.line.color,containerStr:"marker.line",cLetter:"c"}))}});var x1=W((gIr,C_e)=>{"use strict";var rl=it();C_e.exports=function(t,r){for(var i=0;i{"use strict";var D_e=it();F_e.exports=function(t,r){D_e.isArrayOrTypedArray(r.selectedpoints)&&D_e.tagSelected(t,r)}});var Td=W((yIr,q_e)=>{"use strict";var L_e=sn(),Ij=it(),fM=ji(),P_e=Wp(),Pj=Kn().BADNUM,Rj=$o(),vCt=wd(),gCt=x1(),mCt=w0();function yCt(e,t){var r=e._fullLayout,i=t._xA=fM.getFromId(e,t.xaxis||"x","x"),n=t._yA=fM.getFromId(e,t.yaxis||"y","y"),a=i.makeCalcdata(t,"x"),o=n.makeCalcdata(t,"y"),s=P_e(t,i,"x",a),l=P_e(t,n,"y",o),u=s.vals,c=l.vals,f=t._length,h=new Array(f),d=t.ids,p=zj(t,r,i,n),v=!1,m,g,w,b,_,M;z_e(r,t);var x="x",T="y",A;if(p)Ij.pushUnique(p.traceIndices,t.index),m=p.orientation==="v",m?(T="s",A="x"):(x="s",A="y"),_=p.stackgaps==="interpolate";else{var y=R_e(t,f);I_e(e,t,i,n,u,c,y)}var E=!!t.xperiodalignment,S=!!t.yperiodalignment;for(g=0;gg&&h[b].gap;)b--;for(M=h[b].s,w=h.length-1;w>b;w--)h[w].s=M;for(;g{"use strict";O_e.exports=hF;var xCt=it().distinctVals;function hF(e,t){this.traces=e,this.sepNegVal=t.sepNegVal,this.overlapNoMerge=t.overlapNoMerge;for(var r=1/0,i=t.posAxis._id.charAt(0),n=[],a=0;a{"use strict";U_e.exports={TEXTPAD:3,eventDataKeys:["value","label"]}});var b_=W((bIr,j_e)=>{"use strict";var Ad=sn(),{isArrayOrTypedArray:Ug}=it(),{BADNUM:Vw}=Kn(),_Ct=yi(),hM=ji(),{getAxisGroup:bCt}=v_(),dF=N_e(),{TEXTPAD:wCt}=Uy(),{LINE_SPACING:TCt}=Hl(),{BR_TAG_ALL:ACt}=uo();function MCt(e,t){for(var r=t.xaxis,i=t.yaxis,n=e._fullLayout,a=e._fullData,o=e.calcdata,s=[],l=[],u=0;ul+o||!Ad(s))}for(var c=0;ci(a))):i(e.text);let n=e.outsidetextfont.size*TCt*r+wCt;return{ppadplus:t.some(a=>a.s<0)?n:0,ppadminus:t.some(a=>a.s>=0)?n:0}}return{ppadplus:void 0,ppadminus:void 0}}function RCt(e,t,r,i){for(var n=Gw(i),a=0;a{"use strict";var $_e=Td(),W_e=b_().setGroupPositions;function BCt(e,t){for(var r=t.xaxis,i=t.yaxis,n=e._fullLayout,a=e._fullData,o=e.calcdata,s=[],l=[],u=0;uy[c]&&c{"use strict";var OCt=Ji(),Q_e=Kn(),dM=Q_e.BADNUM,ebe=Q_e.LOG_CLIP,Z_e=ebe+.5,K_e=ebe-.5,pF=it(),NCt=pF.segmentsIntersect,J_e=pF.constrain,Gj=v1();tbe.exports=function(t,r){var i=r.trace||{},n=r.xaxis,a=r.yaxis,o=n.type==="log",s=a.type==="log",l=n._length,u=a._length,c=r.backoff,f=i.marker,h=r.connectGaps,d=r.baseTolerance,p=r.shape,v=p==="linear",m=i.fill&&i.fill!=="none",g=[],w=Gj.minTolerance,b=t.length,_=new Array(b),M=0,x,T,A,y,E,S,C,k,D,F,P,R,L,I,B,O;function $(Xe){var mt=t[Xe];if(!mt)return!1;var bt=r.linearized?n.l2p(mt.x):n.c2p(mt.x),Ne=r.linearized?a.l2p(mt.y):a.c2p(mt.y);if(bt===dM){if(o&&(bt=n.c2p(mt.x,!0)),bt===dM)return!1;s&&Ne===dM&&(bt*=Math.abs(n._m*u*(n._m>0?Z_e:K_e)/(a._m*l*(a._m>0?Z_e:K_e)))),bt*=1e3}if(Ne===dM){if(s&&(Ne=a.c2p(mt.y,!0)),Ne===dM)return!1;Ne*=1e3}return[bt,Ne]}function Y(Xe,mt,bt,Ne){var Ue=bt-Xe,Ge=Ne-mt,je=.5-Xe,Re=.5-mt,Ve=Ue*Ue+Ge*Ge,ct=Ue*je+Ge*Re;if(ct>0&&ct1||Math.abs(je.y-bt[0][1])>1)&&(je=[je.x,je.y],Ne&&J(je,Xe)X||Xe[1]G)return[J_e(Xe[0],V,X),J_e(Xe[1],H,G)]}function ye(Xe,mt){if(Xe[0]===mt[0]&&(Xe[0]===V||Xe[0]===X)||Xe[1]===mt[1]&&(Xe[1]===H||Xe[1]===G))return!0}function ue(Xe,mt){var bt=[],Ne=Ee(Xe),Ue=Ee(mt);return Ne&&Ue&&ye(Ne,Ue)||(Ne&&bt.push(Ne),Ue&&bt.push(Ue)),bt}function ee(Xe,mt,bt){return function(Ne,Ue){var Ge=Ee(Ne),je=Ee(Ue),Re=[];if(Ge&&je&&ye(Ge,je))return Re;Ge&&Re.push(Ge),je&&Re.push(je);var Ve=2*pF.constrain((Ne[Xe]+Ue[Xe])/2,mt,bt)-((Ge||Ne)[Xe]+(je||Ue)[Xe]);if(Ve){var ct;Ge&&je?ct=Ve>0==Ge[Xe]>je[Xe]?Ge:je:ct=Ge||je,ct[Xe]+=Ve}return Re}}var ae;p==="linear"||p==="spline"?ae=oe:p==="hv"||p==="vh"?ae=ue:p==="hvh"?ae=ee(0,V,X):p==="vhv"&&(ae=ee(1,H,G));function xe(Xe,mt){var bt=mt[0]-Xe[0],Ne=(mt[1]-Xe[1])/bt,Ue=(Xe[1]*mt[0]-mt[1]*Xe[0])/bt;return Ue>0?[Ne>0?V:X,G]:[Ne>0?X:V,H]}function re(Xe){var mt=Xe[0],bt=Xe[1],Ne=mt===_[M-1][0],Ue=bt===_[M-1][1];if(!(Ne&&Ue))if(M>1){var Ge=mt===_[M-2][0],je=bt===_[M-2][1];Ne&&(mt===V||mt===X)&&Ge?je?M--:_[M-1]=Xe:Ue&&(bt===H||bt===G)&&je?Ge?M--:_[M-1]=Xe:_[M++]=Xe}else _[M++]=Xe}function pe(Xe){_[M-1][0]!==Xe[0]&&_[M-1][1]!==Xe[1]&&re([ge,Ce]),re(Xe),be=null,ge=Ce=0}var we=pF.isArrayOrTypedArray(f);function Fe(Xe){if(Xe&&c&&(Xe.i=x,Xe.d=t,Xe.trace=i,Xe.marker=we?f[Xe.i]:f,Xe.backoff=c),K=Xe[0]/l,j=Xe[1]/u,te=Xe[0]X?X:0,ce=Xe[1]G?G:0,te||ce){if(!M)_[M++]=[te||Xe[0],ce||Xe[1]];else if(be){var mt=ae(be,Xe);mt.length>1&&(pe(mt[0]),_[M++]=mt[1])}else he=ae(_[M-1],Xe)[0],_[M++]=he;var bt=_[M-1];te&&ce&&(bt[0]!==te||bt[1]!==ce)?(be&&(ge!==te&&Ce!==ce?re(ge&&Ce?xe(be,Xe):[ge||te,Ce||ce]):ge&&Ce&&re([ge,Ce])),re([te,ce])):ge-te&&Ce-ce&&re([te||ge,ce||Ce]),be=Xe,ge=te,Ce=ce}else be&&pe(ae(be,Xe)[0]),_[M++]=Xe}for(x=0;xq(S,Se))break;A=S,L=D[0]*k[0]+D[1]*k[1],L>P?(P=L,y=S,C=!1):L=t.length||!S)break;Fe(S),T=S}}be&&re([ge||be[0],Ce||be[1]]),g.push(_.slice(0,M))}var ke=p.slice(p.length-1);if(c&&ke!=="h"&&ke!=="v"){for(var _e=!1,Ie=-1,Oe=[],Qe=0;Qe{"use strict";var rbe={tonextx:1,tonexty:1,tonext:1};ibe.exports=function(t,r,i){var n,a,o,s,l,u={},c=!1,f=-1,h=0,d=-1;for(a=0;a=0?l=d:(l=d=h,h++),l{"use strict";var Yp=vi(),UCt=yi(),pM=it(),Hw=pM.ensureSingle,abe=pM.identity,hl=Ji(),jw=$o(),VCt=Hj(),GCt=jj(),vF=GA().tester;obe.exports=function(t,r,i,n,a,o){var s,l,u=!a,c=!!a&&a.duration>0,f=GCt(t,r,i);if(s=n.selectAll("g.trace").data(f,function(d){return d[0].trace.uid}),s.enter().append("g").attr("class",function(d){return"trace scatter trace"+d[0].trace.uid}).style("stroke-miterlimit",2),s.order(),HCt(t,s,r),c){o&&(l=o());var h=Yp.transition().duration(a.duration).ease(a.easing).each("end",function(){l&&l()}).each("interrupt",function(){l&&l()});h.each(function(){n.selectAll("g.trace").each(function(d,p){nbe(t,p,r,d,f,this,a)})})}else s.each(function(d,p){nbe(t,p,r,d,f,this,a)});u&&s.exit().remove(),n.selectAll("path:not([d])").remove()};function HCt(e,t,r){t.each(function(i){var n=Hw(Yp.select(this),"g","fills");hl.setClipUrl(n,r.layerClipId,e);var a=i[0].trace;a._ownFill=null,a._nextFill=null;var o=[];a._ownfill&&o.push("_ownFill"),a._nexttrace&&o.push("_nextFill");var s=n.selectAll("g").data(o,abe);s.enter().append("g"),s.exit().remove(),s.order().each(function(l){a[l]=Hw(Yp.select(this),"path","js-fill")})})}function nbe(e,t,r,i,n,a,o){var s=e._context.staticPlot,l;jCt(e,t,r,i,n);var u=!!o&&o.duration>0;function c(ee){return u?ee.transition():ee}var f=r.xaxis,h=r.yaxis,d=i[0].trace,p=d.line,v=Yp.select(a),m=Hw(v,"g","errorbars"),g=Hw(v,"g","lines"),w=Hw(v,"g","points"),b=Hw(v,"g","text");if(UCt.getComponentMethod("errorbars","plot")(e,m,r,o),d.visible!==!0)return;c(v).style("opacity",d.opacity);var _,M,x=d.fill.charAt(d.fill.length-1);x!=="x"&&x!=="y"&&(x="");var T,A;x==="y"?(T=1,A=h.c2p(0,!0)):x==="x"&&(T=0,A=f.c2p(0,!0)),i[0][r.isRangePlot?"nodeRangePlot3":"node3"]=v;var y="",E=[],S=d._prevtrace,C=null,k=null;S&&(y=S._prevRevpath||"",M=S._nextFill,E=S._ownPolygons,C=S._fillsegments,k=S._fillElement);var D,F,P="",R="",L,I,B,O,$,Y,K=[];d._polygons=[];var j=[],q=[],J=pM.noop;if(_=d._ownFill,jw.hasLines(d)||d.fill!=="none"){M&&M.datum(i),["hv","vh","hvh","vhv"].indexOf(p.shape)!==-1?(L=hl.steps(p.shape),I=hl.steps(p.shape.split("").reverse().join(""))):p.shape==="spline"?L=I=function(ee){var ae=ee[ee.length-1];return ee.length>1&&ee[0][0]===ae[0]&&ee[0][1]===ae[1]?hl.smoothclosed(ee.slice(1),p.smoothing):hl.smoothopen(ee,p.smoothing)}:L=I=function(ee){return"M"+ee.join("L")},B=function(ee){return I(ee.reverse())},q=VCt(i,{xaxis:f,yaxis:h,trace:d,connectGaps:d.connectgaps,baseTolerance:Math.max(p.width||1,3)/4,shape:p.shape,backoff:p.backoff,simplify:p.simplify,fill:d.fill}),j=new Array(q.length);var U=0;for(l=0;l=s[0]&&v.x<=s[1]&&v.y>=l[0]&&v.y<=l[1]}),h=Math.ceil(f.length/c),d=0;n.forEach(function(v,m){var g=v[0].trace;jw.hasMarkers(g)&&g.marker.maxdisplayed>0&&m{"use strict";sbe.exports={container:"marker",min:"cmin",max:"cmax"}});var mF=W((EIr,lbe)=>{"use strict";var gF=ji();lbe.exports=function(t,r,i){var n={},a={_fullLayout:i},o=gF.getFromTrace(a,r,"x"),s=gF.getFromTrace(a,r,"y"),l=t.orig_x;l===void 0&&(l=t.x);var u=t.orig_y;return u===void 0&&(u=t.y),n.xLabel=gF.tickText(o,o.c2l(l),!0).text,n.yLabel=gF.tickText(s,s.c2l(u),!0).text,n}});var th=W((kIr,ube)=>{"use strict";var $j=vi(),Ww=Ji(),$Ct=yi();function WCt(e){var t=$j.select(e).selectAll("g.trace.scatter");t.style("opacity",function(r){return r[0].trace.opacity}),t.selectAll("g.points").each(function(r){var i=$j.select(this),n=r.trace||r[0].trace;Wj(i,n,e)}),t.selectAll("g.text").each(function(r){var i=$j.select(this),n=r.trace||r[0].trace;Yj(i,n,e)}),t.selectAll("g.trace path.js-line").call(Ww.lineGroupStyle),t.selectAll("g.trace path.js-fill").call(Ww.fillGroupStyle,e,!1),$Ct.getComponentMethod("errorbars","style")(t)}function Wj(e,t,r){Ww.pointStyle(e.selectAll("path.point"),t,r)}function Yj(e,t,r){Ww.textPointStyle(e.selectAll("text"),t,r)}function YCt(e,t,r){var i=t[0].trace;i.selectedpoints?(Ww.selectedPointStyle(r.selectAll("path.point"),i),Ww.selectedTextStyle(r.selectAll("text"),i)):(Wj(r,i,e),Yj(r,i,e))}ube.exports={style:WCt,stylePoints:Wj,styleText:Yj,styleOnSelect:YCt}});var Xw=W((CIr,cbe)=>{"use strict";var Yw=ni(),XCt=$o();cbe.exports=function(t,r){var i,n;if(t.mode==="lines")return i=t.line.color,i&&Yw.opacity(i)?i:t.fillcolor;if(t.mode==="none")return t.fill?t.fillcolor:"";var a=r.mcc||r.mc||(t.marker||{}).color,o=r.mlcc||((t.marker||{}).line||{}).color;return n=a&&Yw.opacity(a)?a:o&&Yw.opacity(o)&&(r.mlw||((t.marker||{}).line||{}).width)?o:"",n?Yw.opacity(n)<.3?Yw.addOpacity(n,.3):n:(i=(t.line||{}).color,i&&Yw.opacity(i)&&XCt.hasLines(t)&&t.line.width?i:t.fillcolor)}});var Zw=W((DIr,hbe)=>{"use strict";var yF=it(),fbe=Ds(),ZCt=yi(),KCt=Xw(),Xj=ni(),JCt=yF.fillText;hbe.exports=function(t,r,i,n){var a=t.cd,o=a[0].trace,s=t.xa,l=t.ya,u=s.c2p(r),c=l.c2p(i),f=[u,c],h=o.hoveron||"",d=o.mode.indexOf("markers")!==-1?3:.5,p=!!o.xperiodalignment,v=!!o.yperiodalignment;if(h.indexOf("points")!==-1){var m=function(R){if(p){var L=s.c2p(R.xStart),I=s.c2p(R.xEnd);return u>=Math.min(L,I)&&u<=Math.max(L,I)?0:1/0}var B=Math.max(3,R.mrc||0),O=1-1/B,$=Math.abs(s.c2p(R.x)-u);return $=Math.min(L,I)&&c<=Math.max(L,I)?0:1/0}var B=Math.max(3,R.mrc||0),O=1-1/B,$=Math.abs(l.c2p(R.y)-c);return $K!=G>=K&&(V=J[q-1][0],X=J[q][0],G-H&&(U=V+(X-V)*(K-H)/(G-H),B=Math.min(B,U),O=Math.max(O,U)));return B=Math.max(B,0),O=Math.min(O,s._length),{x0:B,x1:O,y0:K,y1:K}}if(h.indexOf("fills")!==-1&&o._fillElement){var D=C(o._fillElement)&&!C(o._fillExclusionElement);if(D){var F=k(o._polygons);F===null&&(F={x0:f[0],x1:f[0],y0:f[1],y1:f[1]});var P=Xj.defaultLine;return Xj.opacity(o.fillcolor)?P=o.fillcolor:Xj.opacity((o.line||{}).color)&&(P=o.line.color),yF.extendFlat(t,{distance:t.maxHoverDistance,x0:F.x0,x1:F.x1,y0:F.y0,y1:F.y1,color:P,hovertemplate:!1}),delete t.index,o.text&&!yF.isArrayOrTypedArray(o.text)?t.text=String(o.text):t.text=o.name,[t]}}}});var w_=W((FIr,pbe)=>{"use strict";var dbe=$o();pbe.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=[],s=i[0].trace,l,u,c,f,h=s.mode&&!dbe.hasMarkers(s)&&!dbe.hasText(s);if(h)return[];if(r===!1)for(l=0;l{"use strict";vbe.exports={xaxis:{valType:"subplotid",dflt:"x",editType:"calc+clearAxisTypes"},yaxis:{valType:"subplotid",dflt:"y",editType:"calc+clearAxisTypes"}}});var Kj=W((PIr,xbe)=>{"use strict";var xF=yi().traceIs,Zj=bw();xbe.exports=function(t,r,i,n){i("autotypenumbers",n.autotypenumbersDflt);var a=i("type",(n.splomStash||{}).type);a==="-"&&(QCt(r,n.data),r.type==="-"?r.type="linear":t.type=r.type)};function QCt(e,t){if(e.type==="-"){var r=e._id,i=r.charAt(0),n;r.indexOf("scene")!==-1&&(r=i);var a=eDt(t,r,i);if(a){if(a.type==="histogram"&&i==={v:"y",h:"x"}[a.orientation||"v"]){e.type="linear";return}var o=i+"calendar",s=a[o],l={noMultiCategory:!xF(a,"cartesian")||xF(a,"noMultiCategory")};if(a.type==="box"&&a._hasPreCompStats&&i==={h:"x",v:"y"}[a.orientation||"v"]&&(l.noMultiCategory=!0),l.autotypenumbers=e.autotypenumbers,ybe(a,i)){var u=mbe(a),c=[];for(n=0;n0&&(n["_"+r+"axes"]||{})[t])return n;if((n[r+"axis"]||r)===t){if(ybe(n,r))return n;if((n[r]||[]).length||n[r+"0"])return n}}}function mbe(e){return{v:"x",h:"y"}[e.orientation||"v"]}function ybe(e,t){var r=mbe(e),i=xF(e,"box-violin");return i&&t===r&&e[r]===void 0&&e[r+"0"]===void 0}});var _F=W((IIr,_be)=>{"use strict";var tDt=yc().isTypedArraySpec;function rDt(e,t){var r=t.dataAttr||e._id.charAt(0),i={},n,a,o;if(t.axData)n=t.axData;else for(n=[],a=0;a0||tDt(a),s;o&&(s="array");var l=i("categoryorder",s),u;l==="array"&&(u=i("categoryarray")),!o&&l==="array"&&(l=r.categoryorder="trace"),l==="trace"?r._initialCategories=[]:l==="array"?r._initialCategories=u.slice():(u=rDt(r,n).sort(),l==="category ascending"?r._initialCategories=u:l==="category descending"&&(r._initialCategories=u.reverse()))}}});var vM=W((RIr,wbe)=>{"use strict";var bbe=ni(),iDt=Vl(),nDt=it();wbe.exports=function(t,r,i,n){n=n||{};var a=n.dfltColor;function o(A,y){return nDt.coerce2(t,r,n.attributes,A,y)}var s=o("linecolor",a),l=o("linewidth"),u=i("showline",n.showLine||!!s||!!l);u||(delete r.linecolor,delete r.linewidth);var c=bbe.mix(a,n.bgColor,n.blend||iDt.lightFraction),f=o("gridcolor",c),h=o("gridwidth"),d=o("griddash"),p=i("showgrid",n.showGrid||!!f||!!h||!!d);if(p||(delete r.gridcolor,delete r.gridwidth,delete r.griddash),n.hasMinor){var v=bbe.mix(r.gridcolor,n.bgColor,67),m=o("minor.gridcolor",v),g=o("minor.gridwidth",r.gridwidth||1),w=o("minor.griddash",r.griddash||"solid"),b=i("minor.showgrid",!!m||!!g||!!w);b||(delete r.minor.gridcolor,delete r.minor.gridwidth,delete r.minor.griddash)}if(!n.noZeroLine){var _=o("zerolinelayer"),M=o("zerolinecolor",a),x=o("zerolinewidth"),T=i("zeroline",n.showGrid||!!M||!!x);T||(delete r.zerolinelayer,delete r.zerolinecolor,delete r.zerolinewidth)}}});var mM=W((zIr,kbe)=>{"use strict";var Tbe=sn(),aDt=yi(),gM=it(),oDt=Da(),sDt=Xc(),Jj=ec(),Abe=Xx(),Mbe=vw(),lDt=wy(),uDt=Ty(),cDt=_F(),fDt=vM(),hDt=UG(),Sbe=i1(),bF=Gl().WEEKDAY_PATTERN,dDt=Gl().HOUR_PATTERN;kbe.exports=function(t,r,i,n,a){var o=n.letter,s=n.font||{},l=n.splomStash||{},u=i("visible",!n.visibleDflt),c=r._template||{},f=r.type||c.type||"-",h;if(f==="date"){var d=aDt.getComponentMethod("calendars","handleDefaults");d(t,r,"calendar",n.calendar),n.noTicklabelmode||(h=i("ticklabelmode"))}!n.noTicklabelindex&&(f==="date"||f==="linear")&&i("ticklabelindex");var p="";(!n.noTicklabelposition||f==="multicategory")&&(p=gM.coerce(t,r,{ticklabelposition:{valType:"enumerated",dflt:"outside",values:h==="period"?["outside","inside"]:o==="x"?["outside","inside","outside left","inside left","outside right","inside right"]:["outside","inside","outside top","inside top","outside bottom","inside bottom"]}},"ticklabelposition")),n.noTicklabeloverflow||i("ticklabeloverflow",p.indexOf("inside")!==-1?"hide past domain":f==="category"||f==="multicategory"?"allow":"hide past div"),Sbe(r,a),hDt(t,r,i,n),cDt(t,r,i,n),n.noHover||(f!=="category"&&i("hoverformat"),n.noUnifiedhovertitle||i("unifiedhovertitle.text"));var v=i("color"),m=v!==Jj.color.dflt?v:s.color,g=l.label||a._dfltTitle[o];if(uDt(t,r,i,f,n),!u)return r;i("title.text",g),gM.coerceFont(i,"title.font",s,{overrideDflt:{size:gM.bigFont(s.size),color:m}}),Abe(t,r,i,f);var w=n.hasMinor;if(w&&(oDt.newContainer(r,"minor"),Abe(t,r,i,f,{isMinor:!0})),lDt(t,r,i,f,n),Mbe(t,r,i,n),w){var b=n.isMinor;n.isMinor=!0,Mbe(t,r,i,n),n.isMinor=b}fDt(t,r,i,{dfltColor:v,bgColor:n.bgColor,showGrid:n.showGrid,hasMinor:w,attributes:Jj}),w&&r.ticklabelindex==null&&!r.minor.ticks&&!r.minor.showgrid&&delete r.minor,(r.showline||r.ticks)&&i("mirror");var _=f==="multicategory";if(!n.noTickson&&(f==="category"||_)&&(r.ticks||r.showgrid)&&(_?(i("tickson","boundaries"),delete r.ticklabelposition):i("tickson")),_){var M=i("showdividers");M&&(i("dividercolor"),i("dividerwidth"))}if(f==="date")if(sDt(t,r,{name:"rangebreaks",inclusionAttr:"enabled",handleItemDefaults:pDt}),!r.rangebreaks.length)delete r.rangebreaks;else{for(var x=0;x=2){var o="",s,l;if(a.length===2){for(s=0;s<2;s++)if(l=Ebe(a[s]),l){o=bF;break}}var u=i("pattern",o);if(u===bF)for(s=0;s<2;s++)l=Ebe(a[s]),l&&(t.bounds[s]=a[s]=l-1);if(u)for(s=0;s<2;s++)switch(l=a[s],u){case bF:if(!Tbe(l)){t.enabled=!1;return}if(l=+l,l!==Math.floor(l)||l<0||l>=7){t.enabled=!1;return}t.bounds[s]=a[s]=l;break;case dDt:if(!Tbe(l)){t.enabled=!1;return}if(l=+l,l<0||l>24){t.enabled=!1;return}t.bounds[s]=a[s]=l;break}if(r.autorange===!1){var c=r.range;if(c[0]c[1]){t.enabled=!1;return}}else if(a[0]>c[0]&&a[1]{"use strict";var gDt=sn(),wF=it();Cbe.exports=function(t,r,i,n){var a=n.counterAxes||[],o=n.overlayableAxes||[],s=n.letter,l=n.grid,u=n.overlayingDomain,c,f,h,d,p,v;l&&(f=l._domains[s][l._axisMap[r._id]],c=l._anchors[r._id],f&&(h=l[s+"side"].split(" ")[0],d=l.domain[s][h==="right"||h==="top"?1:0])),f=f||[0,1],c=c||(gDt(t.position)?"free":a[0]||"free"),h=h||(s==="x"?"bottom":"left"),d=d||0,p=0,v=!1;var m=wF.coerce(t,r,{anchor:{valType:"enumerated",values:["free"].concat(a),dflt:c}},"anchor"),g=wF.coerce(t,r,{side:{valType:"enumerated",values:s==="x"?["bottom","top"]:["left","right"],dflt:h}},"side");if(m==="free"){if(s==="y"){var w=i("autoshift");w&&(d=g==="left"?u[0]:u[1],v=r.automargin?r.automargin:!0,p=g==="left"?-3:3),i("shift",p)}i("position",d)}i("automargin",v);var b=!1;if(o.length&&(b=wF.coerce(t,r,{overlaying:{valType:"enumerated",values:[!1].concat(o),dflt:!1}},"overlaying")),!b){var _=i("domain",f);_[0]>_[1]-1/4096&&(r.domain=f),wF.noneOrAll(t.domain,r.domain,f),r.tickmode==="sync"&&(r.tickmode="auto")}return i("layer"),r}});var qbe=W((qIr,Bbe)=>{"use strict";var T_=it(),Dbe=ni(),mDt=Kf().isUnifiedHover,yDt=dH(),Fbe=Da(),xDt=ew(),Lbe=ec(),_Dt=Kj(),Pbe=mM(),bDt=v_(),Ibe=TF(),e$=Cs(),_1=e$.id2name,Rbe=e$.name2id,wDt=Gl().AX_ID_PATTERN,zbe=yi(),AF=zbe.traceIs,Qj=zbe.getComponentMethod;function MF(e,t,r){Array.isArray(e[t])?e[t].push(r):e[t]=[r]}Bbe.exports=function(t,r,i){var n=r.autotypenumbers,a={},o={},s={},l={},u={},c={},f={},h={},d={},p={},v,m;for(v=0;v{"use strict";var TDt=vi(),Obe=yi(),SF=it(),T0=Ji(),EF=ji();Nbe.exports=function(t,r,i,n){var a=t._fullLayout;if(r.length===0){EF.redrawComponents(t);return}function o(m){var g=m.xaxis,w=m.yaxis;a._defs.select("#"+m.clipId+"> rect").call(T0.setTranslate,0,0).call(T0.setScale,1,1),m.plot.call(T0.setTranslate,g._offset,w._offset).call(T0.setScale,1,1);var b=m.plot.selectAll(".scatterlayer .trace");b.selectAll(".point").call(T0.setPointGroupScale,1,1),b.selectAll(".textpoint").call(T0.setTextPointsScale,1,1),b.call(T0.hideOutsideRangePoints,m)}function s(m,g){var w=m.plotinfo,b=w.xaxis,_=w.yaxis,M=b._length,x=_._length,T=!!m.xr1,A=!!m.yr1,y=[];if(T){var E=SF.simpleMap(m.xr0,b.r2l),S=SF.simpleMap(m.xr1,b.r2l),C=E[1]-E[0],k=S[1]-S[0];y[0]=(E[0]*(1-g)+g*S[0]-E[0])/(E[1]-E[0])*M,y[2]=M*(1-g+g*k/C),b.range[0]=b.l2r(E[0]*(1-g)+g*S[0]),b.range[1]=b.l2r(E[1]*(1-g)+g*S[1])}else y[0]=0,y[2]=M;if(A){var D=SF.simpleMap(m.yr0,_.r2l),F=SF.simpleMap(m.yr1,_.r2l),P=D[1]-D[0],R=F[1]-F[0];y[1]=(D[1]*(1-g)+g*F[1]-D[1])/(D[0]-D[1])*x,y[3]=x*(1-g+g*R/P),_.range[0]=b.l2r(D[0]*(1-g)+g*F[0]),_.range[1]=_.l2r(D[1]*(1-g)+g*F[1])}else y[1]=0,y[3]=x;EF.drawOne(t,b,{skipTitle:!0}),EF.drawOne(t,_,{skipTitle:!0}),EF.redrawComponents(t,[b._id,_._id]);var L=T?M/y[2]:1,I=A?x/y[3]:1,B=T?y[0]:0,O=A?y[1]:0,$=T?y[0]/y[2]*M:0,Y=A?y[1]/y[3]*x:0,K=b._offset-$,j=_._offset-Y;w.clipRect.call(T0.setTranslate,B,O).call(T0.setScale,1/L,1/I),w.plot.call(T0.setTranslate,K,j).call(T0.setScale,L,I),T0.setPointGroupScale(w.zoomScalePts,1/L,1/I),T0.setTextPointsScale(w.zoomScaleTxt,1/L,1/I)}var l;n&&(l=n());function u(){for(var m={},g=0;gi.duration?(u(),d=window.cancelAnimationFrame(v)):d=window.requestAnimationFrame(v)}return f=Date.now(),d=window.requestAnimationFrame(v),Promise.resolve()}});var dl=W(Jc=>{"use strict";var CF=vi(),Vbe=yi(),A_=it(),ADt=Ko(),MDt=Ji(),Gbe=_c().getModuleCalcData,Vy=Cs(),Xp=Gl(),SDt=sd(),Za=A_.ensureSingle;function kF(e,t,r){return A_.ensureSingle(e,t,r,function(i){i.datum(r)})}var M_=Xp.zindexSeparator;Jc.name="cartesian";Jc.attr=["xaxis","yaxis"];Jc.idRoot=["x","y"];Jc.idRegex=Xp.idRegex;Jc.attrRegex=Xp.attrRegex;Jc.attributes=gbe();Jc.layoutAttributes=ec();Jc.supplyLayoutDefaults=qbe();Jc.transitionAxes=Ube();Jc.finalizeSubplots=function(e,t){var r=t._subplots,i=r.xaxis,n=r.yaxis,a=r.cartesian,o=a,s={},l={},u,c,f;for(u=0;u0){var d=h.id;if(d.indexOf(M_)!==-1)continue;d+=M_+(u+1),h=A_.extendFlat({},h,{id:d,plot:n._cartesianlayer.selectAll(".subplot").select("."+d)})}for(var p=[],v,m=0;m1&&(M+=M_+_),b.push(s+M),o=0;o1,f=t.mainplotinfo;if(!t.mainplot||c)if(u)t.xlines=Za(i,"path","xlines-above"),t.ylines=Za(i,"path","ylines-above"),t.xaxislayer=Za(i,"g","xaxislayer-above"),t.yaxislayer=Za(i,"g","yaxislayer-above");else{if(!o){var h=Za(i,"g","layer-subplot");t.shapelayer=Za(h,"g","shapelayer"),t.imagelayer=Za(h,"g","imagelayer"),f&&c?(t.minorGridlayer=f.minorGridlayer,t.gridlayer=f.gridlayer,t.zerolinelayer=f.zerolinelayer):(t.minorGridlayer=Za(i,"g","minor-gridlayer"),t.gridlayer=Za(i,"g","gridlayer"),t.zerolinelayer=Za(i,"g","zerolinelayer"));var d=Za(i,"g","layer-between");t.shapelayerBetween=Za(d,"g","shapelayer"),t.imagelayerBetween=Za(d,"g","imagelayer"),Za(i,"path","xlines-below"),Za(i,"path","ylines-below"),t.overlinesBelow=Za(i,"g","overlines-below"),Za(i,"g","xaxislayer-below"),Za(i,"g","yaxislayer-below"),t.overaxesBelow=Za(i,"g","overaxes-below")}t.overplot=Za(i,"g","overplot"),t.plot=Za(t.overplot,"g",n),f&&c?t.zerolinelayerAbove=f.zerolinelayerAbove:t.zerolinelayerAbove=Za(i,"g","zerolinelayer-above"),o||(t.xlines=Za(i,"path","xlines-above"),t.ylines=Za(i,"path","ylines-above"),t.overlinesAbove=Za(i,"g","overlines-above"),Za(i,"g","xaxislayer-above"),Za(i,"g","yaxislayer-above"),t.overaxesAbove=Za(i,"g","overaxes-above"),t.xlines=i.select(".xlines-"+s),t.ylines=i.select(".ylines-"+l),t.xaxislayer=i.select(".xaxislayer-"+s),t.yaxislayer=i.select(".yaxislayer-"+l))}else{var p=f.plotgroup,v=n+"-x",m=n+"-y";t.minorGridlayer=f.minorGridlayer,t.gridlayer=f.gridlayer,t.zerolinelayer=f.zerolinelayer,t.zerolinelayerAbove=f.zerolinelayerAbove,Za(f.overlinesBelow,"path",v),Za(f.overlinesBelow,"path",m),Za(f.overaxesBelow,"g",v),Za(f.overaxesBelow,"g",m),t.plot=Za(f.overplot,"g",n),Za(f.overlinesAbove,"path",v),Za(f.overlinesAbove,"path",m),Za(f.overaxesAbove,"g",v),Za(f.overaxesAbove,"g",m),t.xlines=p.select(".overlines-"+s).select("."+v),t.ylines=p.select(".overlines-"+l).select("."+m),t.xaxislayer=p.select(".overaxes-"+s).select("."+v),t.yaxislayer=p.select(".overaxes-"+l).select("."+m)}o||(u||(kF(t.minorGridlayer,"g",t.xaxis._id),kF(t.minorGridlayer,"g",t.yaxis._id),t.minorGridlayer.selectAll("g").map(function(g){return g[0]}).sort(Vy.idSort),kF(t.gridlayer,"g",t.xaxis._id),kF(t.gridlayer,"g",t.yaxis._id),t.gridlayer.selectAll("g").map(function(g){return g[0]}).sort(Vy.idSort)),t.xlines.style("fill","none").classed("crisp",!0),t.ylines.style("fill","none").classed("crisp",!0))}function $be(e,t){if(e){var r={};e.each(function(l){var u=l[0],c=CF.select(this);c.remove(),Wbe(u,t),r[u]=!0});for(var i in t._plots)for(var n=t._plots[i],a=n.overlays||[],o=0;o{"use strict";var DF=$o();Ybe.exports={hasLines:DF.hasLines,hasMarkers:DF.hasMarkers,hasText:DF.hasText,isBubble:DF.isBubble,attributes:Ns(),layoutAttributes:fD(),supplyDefaults:__e(),crossTraceDefaults:Dj(),supplyLayoutDefaults:A_e(),calc:Td().calc,crossTraceCalc:X_e(),arraysToCalcdata:x1(),plot:$w(),colorbar:Ac(),formatLabels:mF(),style:th().style,styleOnSelect:th().styleOnSelect,hoverPoints:Zw(),selectPoints:w_(),animatable:!0,moduleType:"trace",name:"scatter",basePlotModule:dl(),categories:["cartesian","svg","symbols","errorBarsOK","showLegend","scatter-like","zoomScale"],meta:{}}});var Jbe=W((VIr,Kbe)=>{"use strict";var kDt=vi(),CDt=ni(),Zbe=rj(),t$=it(),DDt=t$.strScale,FDt=t$.strRotate,LDt=t$.strTranslate;Kbe.exports=function(t,r,i){var n=t.node(),a=Zbe[i.arrowhead||0],o=Zbe[i.startarrowhead||0],s=(i.arrowwidth||1)*(i.arrowsize||1),l=(i.arrowwidth||1)*(i.startarrowsize||1),u=r.indexOf("start")>=0,c=r.indexOf("end")>=0,f=a.backoff*s+i.standoff,h=o.backoff*l+i.startstandoff,d,p,v,m;if(n.nodeName==="line"){d={x:+t.attr("x1"),y:+t.attr("y1")},p={x:+t.attr("x2"),y:+t.attr("y2")};var g=d.x-p.x,w=d.y-p.y;if(v=Math.atan2(w,g),m=v+Math.PI,f&&h&&f+h>Math.sqrt(g*g+w*w)){D();return}if(f){if(f*f>g*g+w*w){D();return}var b=f*Math.cos(v),_=f*Math.sin(v);p.x+=b,p.y+=_,t.attr({x2:p.x,y2:p.y})}if(h){if(h*h>g*g+w*w){D();return}var M=h*Math.cos(v),x=h*Math.sin(v);d.x-=M,d.y-=x,t.attr({x1:d.x,y1:d.y})}}else if(n.nodeName==="path"){var T=n.getTotalLength(),A="";if(T{"use strict";var Qbe=vi(),r$=yi(),PDt=Ko(),Hy=it(),i$=Hy.strTranslate,xM=ji(),S_=ni(),Vg=Ji(),e3e=Ds(),n$=uo(),a$=Np(),yM=bf(),IDt=Da().arrayEditor,RDt=Jbe();i3e.exports={draw:zDt,drawOne:t3e,drawRaw:r3e};function zDt(e){var t=e._fullLayout;t._infolayer.selectAll(".annotation").remove();for(var r=0;r2/3?Ue="right":Ue="center"),{center:0,middle:0,left:.5,bottom:-.5,right:-.5,top:.5}[Ue]}for(var H=!1,G=["x","y"],Q=0;Q1)&&(ge===ce?(Se=Ce.r2fraction(t["a"+te]),(Se<0||Se>1)&&(H=!0)):H=!0),ae=Ce._offset+Ce.r2p(t[te]),pe=.5}else{var ke=Fe==="domain";te==="x"?(re=t[te],ae=ke?Ce._offset+Ce._length*re:ae=s.l+s.w*re):(re=1-t[te],ae=ke?Ce._offset+Ce._length*re:ae=s.t+s.h*re),pe=t.showarrow?.5:re}if(t.showarrow){ee.head=ae;var _e=t["a"+te];if(we=he*X(.5,t.xanchor)-oe*X(.5,t.yanchor),ge===ce){var Ie=xM.getRefType(ge);Ie==="domain"?(te==="y"&&(_e=1-_e),ee.tail=Ce._offset+Ce._length*_e):Ie==="paper"?te==="y"?(_e=1-_e,ee.tail=s.t+s.h*_e):ee.tail=s.l+s.w*_e:ee.tail=Ce._offset+Ce.r2p(_e),xe=we}else ee.tail=ae+_e,xe=we+_e;ee.text=ee.tail+we;var Oe=o[te==="x"?"width":"height"];if(ce==="paper"&&(ee.head=Hy.constrain(ee.head,1,Oe-1)),ge==="pixel"){var Qe=-Math.max(ee.tail-3,ee.text),et=Math.min(ee.tail+3,ee.text)-Oe;Qe>0?(ee.tail+=Qe,ee.text+=Qe):et>0&&(ee.tail-=et,ee.text-=et)}ee.tail+=ue,ee.head+=ue}else we=Ee*X(pe,ye),xe=we,ee.text=ae+we;ee.text+=ue,we+=ue,xe+=ue,t["_"+te+"padplus"]=Ee/2+xe,t["_"+te+"padminus"]=Ee/2-xe,t["_"+te+"size"]=Ee,t["_"+te+"shift"]=we}if(H){T.remove();return}var _t=0,ut=0;if(t.align!=="left"&&(_t=(q-K)*(t.align==="center"?.5:1)),t.valign!=="top"&&(ut=(J-j)*(t.valign==="middle"?.5:1)),$)O.select("svg").attr({x:E+_t-1,y:E+ut}).call(Vg.setClipUrl,C?v:null,e);else{var vt=E+ut-Y.top,Xe=E+_t-Y.left;P.call(n$.positionText,Xe,vt).call(Vg.setClipUrl,C?v:null,e)}k.select("rect").call(Vg.setRect,E,E,q,J),S.call(Vg.setRect,A/2,A/2,U-A,V-A),T.call(Vg.setTranslate,Math.round(m.x.text-U/2),Math.round(m.y.text-V/2)),b.attr({transform:"rotate("+g+","+m.x.text+","+m.y.text+")"});var mt=function(Ne,Ue){w.selectAll(".annotation-arrow-g").remove();var Ge=m.x.head,je=m.y.head,Re=m.x.tail+Ne,Ve=m.y.tail+Ue,ct=m.x.text+Ne,Tt=m.y.text+Ue,Xt=Hy.rotationXYMatrix(g,ct,Tt),Vt=Hy.apply2DTransform(Xt),lr=Hy.apply2DTransform2(Xt),ur=+S.attr("width"),Bt=+S.attr("height"),Zt=ct-.5*ur,kr=Zt+ur,$e=Tt-.5*Bt,tt=$e+Bt,st=[[Zt,$e,Zt,tt],[Zt,tt,kr,tt],[kr,tt,kr,$e],[kr,$e,Zt,$e]].map(lr);if(!st.reduce(function(hn,ta){return hn^!!Hy.segmentsIntersect(Ge,je,Ge+1e6,je+1e6,ta[0],ta[1],ta[2],ta[3])},!1)){st.forEach(function(hn){var ta=Hy.segmentsIntersect(Re,Ve,Ge,je,hn[0],hn[1],hn[2],hn[3]);ta&&(Re=ta.x,Ve=ta.y)});var xt=t.arrowwidth,Je=t.arrowcolor,Ct=t.arrowside,ir=w.append("g").style({opacity:S_.opacity(Je)}).classed("annotation-arrow-g",!0),hr=ir.append("path").attr("d","M"+Re+","+Ve+"L"+Ge+","+je).style("stroke-width",xt+"px").call(S_.stroke,S_.rgb(Je));if(RDt(hr,Ct,t),l.annotationPosition&&hr.node().parentNode&&!i){var Ur=Ge,si=je;if(t.standoff){var ei=Math.sqrt(Math.pow(Ge-Re,2)+Math.pow(je-Ve,2));Ur+=t.standoff*(Re-Ge)/ei,si+=t.standoff*(Ve-je)/ei}var Lr=ir.append("path").classed("annotation-arrow",!0).classed("anndrag",!0).classed("cursor-move",!0).attr({d:"M3,3H-3V-3H3ZM0,0L"+(Re-Ur)+","+(Ve-si),transform:i$(Ur,si)}).style("stroke-width",xt+6+"px").call(S_.stroke,"rgba(0,0,0,0)").call(S_.fill,"rgba(0,0,0,0)"),$i,Tn;yM.init({element:Lr.node(),gd:e,prepFn:function(){var hn=Vg.getTranslate(T);$i=hn.x,Tn=hn.y,n&&n.autorange&&h(n._name+".autorange",!0),a&&a.autorange&&h(a._name+".autorange",!0)},moveFn:function(hn,ta){var ca=Vt($i,Tn),dn=ca[0]+hn,Vn=ca[1]+ta;T.call(Vg.setTranslate,dn,Vn),d("x",Gy(n,hn,"x",s,t)),d("y",Gy(a,ta,"y",s,t)),t.axref===t.xref&&d("ax",Gy(n,hn,"ax",s,t)),t.ayref===t.yref&&d("ay",Gy(a,ta,"ay",s,t)),ir.attr("transform",i$(hn,ta)),b.attr({transform:"rotate("+g+","+dn+","+Vn+")"})},doneFn:function(){r$.call("_guiRelayout",e,p());var hn=document.querySelector(".js-notes-box-panel");hn&&hn.redraw(hn.selectedObj)}})}}};if(t.showarrow&&mt(0,0),_){var bt;yM.init({element:T.node(),gd:e,prepFn:function(){bt=b.attr("transform")},moveFn:function(Ne,Ue){var Ge="pointer";if(t.showarrow)t.axref===t.xref?d("ax",Gy(n,Ne,"ax",s,t)):d("ax",t.ax+Ne),t.ayref===t.yref?d("ay",Gy(a,Ue,"ay",s.w,t)):d("ay",t.ay+Ue),mt(Ne,Ue);else{if(i)return;var je,Re;if(n)je=Gy(n,Ne,"x",s,t);else{var Ve=t._xsize/s.w,ct=t.x+(t._xshift-t.xshift)/s.w-Ve/2;je=yM.align(ct+Ne/s.w,Ve,0,1,t.xanchor)}if(a)Re=Gy(a,Ue,"y",s,t);else{var Tt=t._ysize/s.h,Xt=t.y-(t._yshift+t.yshift)/s.h-Tt/2;Re=yM.align(Xt-Ue/s.h,Tt,0,1,t.yanchor)}d("x",je),d("y",Re),(!n||!a)&&(Ge=yM.getCursor(n?.5:je,a?.5:Re,t.xanchor,t.yanchor))}b.attr({transform:i$(Ne,Ue)+bt}),a$(T,Ge)},clickFn:function(Ne,Ue){t.captureevents&&e.emit("plotly_clickannotation",x(Ue))},doneFn:function(){a$(T),r$.call("_guiRelayout",e,p());var Ne=document.querySelector(".js-notes-box-panel");Ne&&Ne.redraw(Ne.selectedObj)}})}}l.annotationText?P.call(n$.makeEditable,{delegate:T,gd:e}).call(R).on("edit",function(I){t.text=I,this.call(R),d("text",I),n&&n.autorange&&h(n._name+".autorange",!0),a&&a.autorange&&h(a._name+".autorange",!0),r$.call("_guiRelayout",e,p())}):P.call(R)}});var u3e=W((HIr,l3e)=>{"use strict";var n3e=it(),BDt=yi(),a3e=Da().arrayEditor;l3e.exports={hasClickToShow:qDt,onClick:ODt};function qDt(e,t){var r=s3e(e,t);return r.on.length>0||r.explicitOff.length>0}function ODt(e,t){var r=s3e(e,t),i=r.on,n=r.off.concat(r.explicitOff),a={},o=e._fullLayout.annotations,s,l;if(i.length||n.length){for(s=0;s{"use strict";var o$=it(),Kw=ni();c3e.exports=function(t,r,i,n){n("opacity");var a=n("bgcolor"),o=n("bordercolor"),s=Kw.opacity(o);n("borderpad");var l=n("borderwidth"),u=n("showarrow");n("text",u?" ":i._dfltTitle.annotation),n("textangle"),o$.coerceFont(n,"font",i.font),n("width"),n("align");var c=n("height");if(c&&n("valign"),u){var f=n("arrowside"),h,d;f.indexOf("end")!==-1&&(h=n("arrowhead"),d=n("arrowsize")),f.indexOf("start")!==-1&&(n("startarrowhead",h),n("startarrowsize",d)),n("arrowcolor",s?r.bordercolor:Kw.defaultLine),n("arrowwidth",(s&&l||1)*2),n("standoff"),n("startstandoff")}var p=n("hovertext"),v=i.hoverlabel||{};if(p){var m=n("hoverlabel.bgcolor",v.bgcolor||(Kw.opacity(a)?Kw.rgb(a):Kw.defaultLine)),g=n("hoverlabel.bordercolor",v.bordercolor||Kw.contrast(m)),w=o$.extendFlat({},v.font);w.color||(w.color=g),o$.coerceFont(n,"hoverlabel.font",w)}n("captureevents",!!p)}});var h3e=W(($Ir,f3e)=>{"use strict";var l$=it(),E_=ji(),NDt=Xc(),UDt=s$(),VDt=qy();f3e.exports=function(t,r){NDt(t,r,{name:"annotations",handleItemDefaults:GDt})};function GDt(e,t,r){function i(b,_){return l$.coerce(e,t,VDt,b,_)}var n=i("visible"),a=i("clicktoshow");if(n||a){UDt(e,t,r,i);for(var o=t.showarrow,s=["x","y"],l=[-10,-30],u={_fullLayout:r},c=0;c<2;c++){var f=s[c],h=E_.coerceRef(e,t,u,f,"","paper");if(h!=="paper"){var d=E_.getFromId(u,h);d._annIndices.push(t._index)}if(E_.coercePosition(t,u,i,h,f,.5),o){var p="a"+f,v=E_.coerceRef(e,t,u,p,"pixel",["pixel","paper"]);v!=="pixel"&&v!==h&&(v=t[p]="pixel");var m=v==="pixel"?l[c]:.4;E_.coercePosition(t,u,i,v,p,m)}i(f+"anchor"),i(f+"shift")}if(l$.noneOrAll(e,t,["x","y"]),o&&l$.noneOrAll(e,t,["ax","ay"]),a){var g=i("xclick"),w=i("yclick");t._xclick=g===void 0?t.x:E_.cleanPosition(g,u,t.xref),t._yclick=w===void 0?t.y:E_.cleanPosition(w,u,t.yref)}}}});var v3e=W((WIr,p3e)=>{"use strict";var u$=it(),k_=ji(),HDt=FF().draw;p3e.exports=function(t){var r=t._fullLayout,i=u$.filterVisible(r.annotations);if(i.length&&t._fullData.length)return u$.syncOrAsync([HDt,jDt],t)};function jDt(e){var t=e._fullLayout;u$.filterVisible(t.annotations).forEach(function(r){var i=k_.getFromId(e,r.xref),n=k_.getFromId(e,r.yref),a=k_.getRefType(r.xref),o=k_.getRefType(r.yref);r._extremes={},a==="range"&&d3e(r,i),o==="range"&&d3e(r,n)})}function d3e(e,t){var r=t._id,i=r.charAt(0),n=e[i],a=e["a"+i],o=e[i+"ref"],s=e["a"+i+"ref"],l=e["_"+i+"padplus"],u=e["_"+i+"padminus"],c={x:1,y:-1}[i]*e[i+"shift"],f=3*e.arrowsize*e.arrowwidth||0,h=f+c,d=f-c,p=3*e.startarrowsize*e.arrowwidth||0,v=p+c,m=p-c,g;if(s===o){var w=k_.findExtremes(t,[t.r2c(n)],{ppadplus:h,ppadminus:d}),b=k_.findExtremes(t,[t.r2c(a)],{ppadplus:Math.max(l,v),ppadminus:Math.max(u,m)});g={min:[w.min[0],b.min[0]],max:[w.max[0],b.max[0]]}}else v=a?v+a:v,m=a?m-a:m,g=k_.findExtremes(t,[t.r2c(n)],{ppadplus:Math.max(l,h,v),ppadminus:Math.max(u,d,m)});e._extremes[r]=g}});var m3e=W((YIr,g3e)=>{"use strict";var $Dt=sn(),WDt=cC();g3e.exports=function(t,r,i,n){r=r||{};var a=i==="log"&&r.type==="linear",o=i==="linear"&&r.type==="log";if(!(a||o))return;var s=t._fullLayout.annotations,l=r._id.charAt(0),u,c;function f(d){var p=u[d],v=null;a?v=WDt(p,r.range):v=Math.pow(10,p),$Dt(v)||(v=null),n(c+d,v)}for(var h=0;h{"use strict";var c$=FF(),y3e=u3e();x3e.exports={moduleType:"component",name:"annotations",layoutAttributes:qy(),supplyLayoutDefaults:h3e(),includeBasePlot:eM()("annotations"),calcAutorange:v3e(),draw:c$.draw,drawOne:c$.drawOne,drawRaw:c$.drawRaw,hasClickToShow:y3e.hasClickToShow,onClick:y3e.onClick,convertCoords:m3e()}});var LF=W((ZIr,b3e)=>{"use strict";var es=qy(),YDt=ls().overrideAll,XDt=Da().templatedArray;b3e.exports=YDt(XDt("annotation",{visible:es.visible,x:{valType:"any"},y:{valType:"any"},z:{valType:"any"},ax:{valType:"number"},ay:{valType:"number"},xanchor:es.xanchor,xshift:es.xshift,yanchor:es.yanchor,yshift:es.yshift,text:es.text,textangle:es.textangle,font:es.font,width:es.width,height:es.height,opacity:es.opacity,align:es.align,valign:es.valign,bgcolor:es.bgcolor,bordercolor:es.bordercolor,borderpad:es.borderpad,borderwidth:es.borderwidth,showarrow:es.showarrow,arrowcolor:es.arrowcolor,arrowhead:es.arrowhead,startarrowhead:es.startarrowhead,arrowside:es.arrowside,arrowsize:es.arrowsize,startarrowsize:es.startarrowsize,arrowwidth:es.arrowwidth,standoff:es.standoff,startstandoff:es.startstandoff,hovertext:es.hovertext,hoverlabel:es.hoverlabel,captureevents:es.captureevents}),"calc","from-root")});var T3e=W((KIr,w3e)=>{"use strict";var f$=it(),ZDt=ji(),KDt=Xc(),JDt=s$(),QDt=LF();w3e.exports=function(t,r,i){KDt(t,r,{name:"annotations",handleItemDefaults:e7t,fullLayout:i.fullLayout})};function e7t(e,t,r,i){function n(s,l){return f$.coerce(e,t,QDt,s,l)}function a(s){var l=s+"axis",u={_fullLayout:{}};return u._fullLayout[l]=r[l],ZDt.coercePosition(t,u,n,s,s,.5)}var o=n("visible");o&&(JDt(e,t,i.fullLayout,n),a("x"),a("y"),a("z"),f$.noneOrAll(e,t,["x","y","z"]),t.xref="x",t.yref="y",t.zref="z",n("xanchor"),n("yanchor"),n("xshift"),n("yshift"),t.showarrow&&(t.axref="pixel",t.ayref="pixel",n("ax",-10),n("ay",-30),f$.noneOrAll(e,t,["ax","ay"])))}});var E3e=W((JIr,S3e)=>{"use strict";var A3e=it(),M3e=ji();S3e.exports=function(t){for(var r=t.fullSceneLayout,i=r.annotations,n=0;n{"use strict";function h$(e,t){var r=[0,0,0,0],i,n;for(i=0;i<4;++i)for(n=0;n<4;++n)r[n]+=e[4*i+n]*t[i];return r}function r7t(e,t){var r=h$(e.projection,h$(e.view,h$(e.model,[t[0],t[1],t[2],1])));return r}k3e.exports=r7t});var D3e=W((eRr,C3e)=>{"use strict";var i7t=FF().drawRaw,n7t=d$(),a7t=["x","y","z"];C3e.exports=function(t){for(var r=t.fullSceneLayout,i=t.dataScale,n=r.annotations,a=0;a1){s=!0;break}}s?t.fullLayout._infolayer.select(".annotation-"+t.id+'[data-index="'+a+'"]').remove():(o._pdata=n7t(t.glplot.cameraParams,[r.xaxis.r2l(o.x)*i[0],r.yaxis.r2l(o.y)*i[1],r.zaxis.r2l(o.z)*i[2]]),i7t(t.graphDiv,o,a,t.id,o._xa,o._ya))}}});var P3e=W((tRr,L3e)=>{"use strict";var o7t=yi(),F3e=it();L3e.exports={moduleType:"component",name:"annotations3d",schema:{subplots:{scene:{annotations:LF()}}},layoutAttributes:LF(),handleDefaults:T3e(),includeBasePlot:s7t,convert:E3e(),draw:D3e()};function s7t(e,t){var r=o7t.subplotsRegistry.gl3d;if(r)for(var i=r.attrRegex,n=Object.keys(e),a=0;a{"use strict";var rRr=Gl(),I3e=Ho(),R3e=Ns().line,l7t=Du().dash,Zp=tn().extendFlat,u7t=Da().templatedArray,iRr=JA(),Jw=Wa(),z3e=qy(),{shapeTexttemplateAttrs:c7t,templatefallbackAttrs:f7t}=Ga(),h7t=GC();B3e.exports=u7t("shape",{visible:Zp({},Jw.visible,{editType:"calc+arraydraw"}),showlegend:{valType:"boolean",dflt:!1,editType:"calc+arraydraw"},legend:Zp({},Jw.legend,{editType:"calc+arraydraw"}),legendgroup:Zp({},Jw.legendgroup,{editType:"calc+arraydraw"}),legendgrouptitle:{text:Zp({},Jw.legendgrouptitle.text,{editType:"calc+arraydraw"}),font:I3e({editType:"calc+arraydraw"}),editType:"calc+arraydraw"},legendrank:Zp({},Jw.legendrank,{editType:"calc+arraydraw"}),legendwidth:Zp({},Jw.legendwidth,{editType:"calc+arraydraw"}),type:{valType:"enumerated",values:["circle","rect","path","line"],editType:"calc+arraydraw"},layer:{valType:"enumerated",values:["below","above","between"],dflt:"above",editType:"arraydraw"},xref:Zp({},z3e.xref,{arrayOk:!0}),xsizemode:{valType:"enumerated",values:["scaled","pixel"],dflt:"scaled",editType:"calc+arraydraw"},xanchor:{valType:"any",editType:"calc+arraydraw"},x0:{valType:"any",editType:"calc+arraydraw"},x1:{valType:"any",editType:"calc+arraydraw"},x0shift:{valType:"number",dflt:0,min:-1,max:1,editType:"calc"},x1shift:{valType:"number",dflt:0,min:-1,max:1,editType:"calc"},yref:Zp({},z3e.yref,{arrayOk:!0}),ysizemode:{valType:"enumerated",values:["scaled","pixel"],dflt:"scaled",editType:"calc+arraydraw"},yanchor:{valType:"any",editType:"calc+arraydraw"},y0:{valType:"any",editType:"calc+arraydraw"},y1:{valType:"any",editType:"calc+arraydraw"},y0shift:{valType:"number",dflt:0,min:-1,max:1,editType:"calc"},y1shift:{valType:"number",dflt:0,min:-1,max:1,editType:"calc"},path:{valType:"string",editType:"calc+arraydraw"},opacity:{valType:"number",min:0,max:1,dflt:1,editType:"arraydraw"},line:{color:Zp({},R3e.color,{editType:"arraydraw"}),width:Zp({},R3e.width,{editType:"calc+arraydraw"}),dash:Zp({},l7t,{editType:"arraydraw"}),editType:"calc+arraydraw"},fillcolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"arraydraw"},fillrule:{valType:"enumerated",values:["evenodd","nonzero"],dflt:"evenodd",editType:"arraydraw"},editable:{valType:"boolean",dflt:!1,editType:"calc+arraydraw"},label:{text:{valType:"string",dflt:"",editType:"arraydraw"},texttemplate:c7t({},{keys:Object.keys(h7t)}),texttemplatefallback:f7t({editType:"arraydraw"}),font:I3e({editType:"calc+arraydraw",colorEditType:"arraydraw"}),textposition:{valType:"enumerated",values:["top left","top center","top right","middle left","middle center","middle right","bottom left","bottom center","bottom right","start","middle","end"],editType:"arraydraw"},textangle:{valType:"angle",dflt:"auto",editType:"calc+arraydraw"},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"auto",editType:"calc+arraydraw"},yanchor:{valType:"enumerated",values:["top","middle","bottom"],editType:"calc+arraydraw"},padding:{valType:"number",dflt:3,min:0,editType:"arraydraw"},editType:"arraydraw"},editType:"arraydraw"})});var O3e=W((aRr,q3e)=>{"use strict";var Qw=it(),A0=ji(),d7t=Xc(),p7t=p$(),_M=zy();q3e.exports=function(t,r){d7t(t,r,{name:"shapes",handleItemDefaults:g7t})};function v7t(e,t){return e?"bottom":t.indexOf("top")!==-1?"top":t.indexOf("bottom")!==-1?"bottom":"middle"}function g7t(e,t,r){function i(b,_){return Qw.coerce(e,t,p7t,b,_)}t._isShape=!0;var n=i("visible");if(!n)return;var a=i("showlegend");i("legend"),i("legendgroup"),a&&(i("legendwidth"),i("legendgrouptitle.text"),Qw.coerceFont(i,"legendgrouptitle.font"),i("legendrank"));var o=i("path"),s=o?"path":"rect",l=i("type",s),u=l!=="path";u&&delete t.path,i("editable"),i("layer"),i("opacity"),i("fillcolor"),i("fillrule");var c=i("line.width");c&&(i("line.color"),i("line.dash"));var f=i("xsizemode"),h=i("ysizemode");let d=[.25,.75],p=[0,10];["x","y"].forEach(b=>{var _=b+"anchor",M=b==="x"?f:h,x={_fullLayout:r},T,A,y,E;let S=b+"ref",C=e[S];if(Array.isArray(C)&&C.length>0){let k=_M.countDefiningCoords(l,o,b);E=A0.coerceRefArray(e,t,x,b,void 0,"paper",k),t["_"+b+"refArray"]=!0}else E=A0.coerceRef(e,t,x,b,void 0,"paper");if(Array.isArray(E))E.forEach(function(k){A0.getRefType(k)==="range"&&(T=A0.getFromId(x,k),T&&T._shapeIndices.indexOf(t._index)===-1&&T._shapeIndices.push(t._index))}),u&&[0,1].forEach(function(k){let D=E[k];A0.getRefType(D)==="range"?(T=A0.getFromId(x,D),A=_M.shapePositionToRange(T),y=_M.rangeToShapePosition(T),(T.type==="category"||T.type==="multicategory")&&i(b+k+"shift")):A=y=Qw.identity;let P=b+k,R=e[P];if(e[P]=A(e[P],!0),M==="pixel"?i(P,p[k]):A0.coercePosition(t,x,i,D,P,d[k]),t[P]=y(t[P]),e[P]=R,k===0&&M==="pixel"){let L=e[_];e[_]=A(e[_],!0),A0.coercePosition(t,x,i,D,_,.25),t[_]=y(t[_]),e[_]=L}});else{if(A0.getRefType(E)==="range"?(T=A0.getFromId(x,E),T._shapeIndices.push(t._index),y=_M.rangeToShapePosition(T),A=_M.shapePositionToRange(T),u&&(T.type==="category"||T.type==="multicategory")&&(i(b+"0shift"),i(b+"1shift"))):A=y=Qw.identity,u){let D=b+"0",F=b+"1",P=e[D],R=e[F];e[D]=A(e[D],!0),e[F]=A(e[F],!0),M==="pixel"?(i(D,p[0]),i(F,p[1])):(A0.coercePosition(t,x,i,E,D,d[0]),A0.coercePosition(t,x,i,E,F,d[1])),t[D]=y(t[D]),t[F]=y(t[F]),e[D]=P,e[F]=R}if(M==="pixel"){let D=e[_];e[_]=A(e[_],!0),A0.coercePosition(t,x,i,E,_,.25),t[_]=y(t[_]),e[_]=D}}}),u&&Qw.noneOrAll(e,t,["x0","x1","y0","y1"]);var v=l==="line",m,g;if(u&&(m=i("label.texttemplate"),i("label.texttemplatefallback")),m||(g=i("label.text")),g||m){i("label.textangle");var w=i("label.textposition",v?"middle":"middle center");i("label.xanchor"),i("label.yanchor",v7t(v,w)),i("label.padding"),Qw.coerceFont(i,"label.font",r.font)}}});var V3e=W((oRr,U3e)=>{"use strict";var m7t=ni(),N3e=it();function y7t(e,t){return e?"bottom":t.indexOf("top")!==-1?"top":t.indexOf("bottom")!==-1?"bottom":"middle"}U3e.exports=function(t,r,i){i("newshape.visible"),i("newshape.name"),i("newshape.showlegend"),i("newshape.legend"),i("newshape.legendwidth"),i("newshape.legendgroup"),i("newshape.legendgrouptitle.text"),N3e.coerceFont(i,"newshape.legendgrouptitle.font"),i("newshape.legendrank"),i("newshape.drawdirection"),i("newshape.layer"),i("newshape.fillcolor"),i("newshape.fillrule"),i("newshape.opacity");var n=i("newshape.line.width");if(n){var a=(t||{}).plot_bgcolor||"#FFF";i("newshape.line.color",m7t.contrast(a)),i("newshape.line.dash")}var o=t.dragmode==="drawline",s=i("newshape.label.text"),l=i("newshape.label.texttemplate");if(i("newshape.label.texttemplatefallback"),s||l){i("newshape.label.textangle");var u=i("newshape.label.textposition",o?"middle":"middle center");i("newshape.label.xanchor"),i("newshape.label.yanchor",y7t(o,u)),i("newshape.label.padding"),N3e.coerceFont(i,"newshape.label.font",r.font)}i("activeshape.fillcolor"),i("activeshape.opacity")}});var X3e=W((sRr,Y3e)=>{"use strict";var v$=it(),Md=ji(),b1=FA(),g$=zy();Y3e.exports=function(t){var r=t._fullLayout,i=v$.filterVisible(r.shapes);if(!(!i.length||!t._fullData.length))for(var n=0;n{o=Md.getFromId(t,f),a._extremes[o._id]=Md.findExtremes(o,h,H3e(a))})}else a.xref!=="paper"&&l!=="domain"&&(o=Md.getFromId(t,a.xref),s=$3e(o,a,b1.paramIsX),s&&(a._extremes[o._id]=Md.findExtremes(o,s,H3e(a))));if(u==="array"){let c=G3e(t,a,"y");Object.entries(c).forEach(([f,h])=>{o=Md.getFromId(t,f),a._extremes[o._id]=Md.findExtremes(o,h,j3e(a))})}else a.yref!=="paper"&&u!=="domain"&&(o=Md.getFromId(t,a.yref),s=$3e(o,a,b1.paramIsY),s&&(a._extremes[o._id]=Md.findExtremes(o,s,j3e(a))))}};function G3e(e,t,r){let i=t[r+"ref"],n=r==="x"?b1.paramIsX:b1.paramIsY;function a(f,h){f==="paper"||Md.getRefType(f)==="domain"||(o[f]||(o[f]=[]),o[f].push(h))}let o={};if(t.type==="path"&&t.path){let f=t.path.match(b1.segmentRE)||[];for(var s=0,l=0;lp&&(a(i[s],v[p]),s++)}}else a(i[0],t[r+"0"]),a(i[1],t[r+"1"]);let u={};for(let f in o){let h=Md.getFromId(e,f);if(h){var c=h.type==="category"||h.type==="multicategory"?h.r2c:h.d2c;h.type==="date"&&(c=g$.decodeDate(c)),u[h._id]=o[f].map(c)}}return u}function H3e(e){return W3e(e.line.width,e.xsizemode,e.x0,e.x1,e.path,!1)}function j3e(e){return W3e(e.line.width,e.ysizemode,e.y0,e.y1,e.path,!0)}function W3e(e,t,r,i,n,a){var o=e/2,s=a;if(t==="pixel"){var l=n?g$.extractPathCoords(n,a?b1.paramIsY:b1.paramIsX):[r,i],u=v$.aggNums(Math.max,null,l),c=v$.aggNums(Math.min,null,l),f=c<0?Math.abs(c)+o:o,h=u>0?u+o:o;return{ppad:o,ppadplus:s?f:h,ppadminus:s?h:f}}else return{ppad:o}}function $3e(e,t,r){var i=e._id.charAt(0)==="x"?"x":"y",n=e.type==="category"||e.type==="multicategory",a,o,s=0,l=0,u=n?e.r2c:e.d2c,c=t[i+"sizemode"]==="scaled";if(c?(a=t[i+"0"],o=t[i+"1"],n&&(s=t[i+"0shift"],l=t[i+"1shift"])):(a=t[i+"anchor"],o=t[i+"anchor"]),a!==void 0)return[u(a)+s,u(o)+l];if(t.path){var f=1/0,h=-1/0,d=t.path.match(b1.segmentRE),p,v,m,g,w;for(e.type==="date"&&(u=g$.decodeDate(u)),p=0;ph&&(h=w)));if(h>=f)return[f,h]}}});var J3e=W((lRr,K3e)=>{"use strict";var Z3e=b7();K3e.exports={moduleType:"component",name:"shapes",layoutAttributes:p$(),supplyLayoutDefaults:O3e(),supplyDrawNewShapeDefaults:V3e(),includeBasePlot:eM()("shapes"),calcAutorange:X3e(),draw:Z3e.draw,drawOne:Z3e.drawOne}});var m$=W((cRr,ewe)=>{"use strict";var Q3e=Gl(),x7t=Da().templatedArray,uRr=JA();ewe.exports=x7t("image",{visible:{valType:"boolean",dflt:!0,editType:"arraydraw"},source:{valType:"string",editType:"arraydraw"},layer:{valType:"enumerated",values:["below","above"],dflt:"above",editType:"arraydraw"},sizex:{valType:"number",dflt:0,editType:"arraydraw"},sizey:{valType:"number",dflt:0,editType:"arraydraw"},sizing:{valType:"enumerated",values:["fill","contain","stretch"],dflt:"contain",editType:"arraydraw"},opacity:{valType:"number",min:0,max:1,dflt:1,editType:"arraydraw"},x:{valType:"any",dflt:0,editType:"arraydraw"},y:{valType:"any",dflt:0,editType:"arraydraw"},xanchor:{valType:"enumerated",values:["left","center","right"],dflt:"left",editType:"arraydraw"},yanchor:{valType:"enumerated",values:["top","middle","bottom"],dflt:"top",editType:"arraydraw"},xref:{valType:"enumerated",values:["paper",Q3e.idRegex.x.toString()],dflt:"paper",editType:"arraydraw"},yref:{valType:"enumerated",values:["paper",Q3e.idRegex.y.toString()],dflt:"paper",editType:"arraydraw"},editType:"arraydraw"})});var rwe=W((fRr,twe)=>{"use strict";var _7t=it(),y$=ji(),b7t=Xc(),w7t=m$(),T7t="images";twe.exports=function(t,r){var i={name:T7t,handleItemDefaults:A7t};b7t(t,r,i)};function A7t(e,t,r){function i(h,d){return _7t.coerce(e,t,w7t,h,d)}var n=i("source"),a=i("visible",!!n);if(!a)return t;i("layer"),i("xanchor"),i("yanchor"),i("sizex"),i("sizey"),i("sizing"),i("opacity");for(var o={_fullLayout:r},s=["x","y"],l=0;l<2;l++){var u=s[l],c=y$.coerceRef(e,t,o,u,"paper",void 0);if(c!=="paper"){var f=y$.getFromId(o,c);f._imgIndices.push(t._index)}y$.coercePosition(t,o,i,c,u,0)}return t}});var owe=W((hRr,awe)=>{"use strict";var iwe=vi(),M7t=Ji(),e5=ji(),nwe=Cs(),S7t=sd();awe.exports=function(t){var r=t._fullLayout,i=[],n={},a=[],o,s;for(s=0;s{"use strict";var swe=sn(),E7t=cC();lwe.exports=function(t,r,i,n){r=r||{};var a=i==="log"&&r.type==="linear",o=i==="linear"&&r.type==="log";if(a||o){for(var s=t._fullLayout.images,l=r._id.charAt(0),u,c,f=0;f{"use strict";cwe.exports={moduleType:"component",name:"images",layoutAttributes:m$(),supplyLayoutDefaults:rwe(),includeBasePlot:eM()("images"),draw:owe(),convertCoords:uwe()}});var PF=W((vRr,hwe)=>{"use strict";hwe.exports={name:"updatemenus",containerClassName:"updatemenu-container",headerGroupClassName:"updatemenu-header-group",headerClassName:"updatemenu-header",headerArrowClassName:"updatemenu-header-arrow",dropdownButtonGroupClassName:"updatemenu-dropdown-button-group",dropdownButtonClassName:"updatemenu-dropdown-button",buttonClassName:"updatemenu-button",itemRectClassName:"updatemenu-item-rect",itemTextClassName:"updatemenu-item-text",menuIndexAttrName:"updatemenu-active-index",autoMarginIdRoot:"updatemenu-",blankHeaderOpts:{label:" "},minWidth:30,minHeight:30,textPadX:24,arrowPadX:16,rx:2,ry:2,textOffsetX:12,textOffsetY:3,arrowOffsetX:4,gapButtonHeader:5,gapButton:2,activeColor:"#F4FAFF",hoverColor:"#F4FAFF",arrowSymbol:{left:"\u25C4",right:"\u25BA",up:"\u25B2",down:"\u25BC"}}});var x$=W((gRr,pwe)=>{"use strict";var k7t=Ho(),C7t=Vl(),D7t=tn().extendFlat,F7t=ls().overrideAll,L7t=HC(),dwe=Da().templatedArray,P7t=dwe("button",{visible:{valType:"boolean"},method:{valType:"enumerated",values:["restyle","relayout","animate","update","skip"],dflt:"restyle"},args:{valType:"info_array",freeLength:!0,items:[{valType:"any"},{valType:"any"},{valType:"any"}]},args2:{valType:"info_array",freeLength:!0,items:[{valType:"any"},{valType:"any"},{valType:"any"}]},label:{valType:"string",dflt:""},execute:{valType:"boolean",dflt:!0}});pwe.exports=F7t(dwe("updatemenu",{_arrayAttrRegexps:[/^updatemenus\[(0|[1-9][0-9]+)\]\.buttons/],visible:{valType:"boolean"},type:{valType:"enumerated",values:["dropdown","buttons"],dflt:"dropdown"},direction:{valType:"enumerated",values:["left","right","up","down"],dflt:"down"},active:{valType:"integer",min:-1,dflt:0},showactive:{valType:"boolean",dflt:!0},buttons:P7t,x:{valType:"number",min:-2,max:3,dflt:-.05},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"right"},y:{valType:"number",min:-2,max:3,dflt:1},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],dflt:"top"},pad:D7t(L7t({editType:"arraydraw"}),{}),font:k7t({}),bgcolor:{valType:"color"},bordercolor:{valType:"color",dflt:C7t.borderLine},borderwidth:{valType:"number",min:0,dflt:1,editType:"arraydraw"}}),"arraydraw","from-root")});var ywe=W((mRr,mwe)=>{"use strict";var IF=it(),vwe=Xc(),gwe=x$(),I7t=PF(),R7t=I7t.name,z7t=gwe.buttons;mwe.exports=function(t,r){var i={name:R7t,handleItemDefaults:B7t};vwe(t,r,i)};function B7t(e,t,r){function i(o,s){return IF.coerce(e,t,gwe,o,s)}var n=vwe(e,t,{name:"buttons",handleItemDefaults:q7t}),a=i("visible",n.length>0);a&&(i("active"),i("direction"),i("type"),i("showactive"),i("x"),i("y"),IF.noneOrAll(e,t,["x","y"]),i("xanchor"),i("yanchor"),i("pad.t"),i("pad.r"),i("pad.b"),i("pad.l"),IF.coerceFont(i,"font",r.font),i("bgcolor",r.paper_bgcolor),i("bordercolor"),i("borderwidth"))}function q7t(e,t){function r(n,a){return IF.coerce(e,t,z7t,n,a)}var i=r("visible",e.method==="skip"||Array.isArray(e.args));i&&(r("method"),r("args"),r("args2"),r("label"),r("execute"))}});var bwe=W((yRr,_we)=>{"use strict";_we.exports=Us;var Kp=vi(),xwe=ni(),t5=Ji(),RF=it();function Us(e,t,r){this.gd=e,this.container=t,this.id=r,this.position=null,this.translateX=null,this.translateY=null,this.hbar=null,this.vbar=null,this.bg=this.container.selectAll("rect.scrollbox-bg").data([0]),this.bg.exit().on(".drag",null).on("wheel",null).remove(),this.bg.enter().append("rect").classed("scrollbox-bg",!0).style("pointer-events","all").attr({opacity:0,x:0,y:0,width:0,height:0})}Us.barWidth=2;Us.barLength=20;Us.barRadius=2;Us.barPad=1;Us.barColor="#808BA4";Us.prototype.enable=function(t,r,i){var n=this.gd._fullLayout,a=n.width,o=n.height;this.position=t;var s=this.position.l,l=this.position.w,u=this.position.t,c=this.position.h,f=this.position.direction,h=f==="down",d=f==="left",p=f==="right",v=f==="up",m=l,g=c,w,b,_,M;!h&&!d&&!p&&!v&&(this.position.direction="down",h=!0);var x=h||v;x?(w=s,b=w+m,h?(_=u,M=Math.min(_+g,o),g=M-_):(M=u+g,_=Math.max(M-g,0),g=M-_)):(_=u,M=_+g,d?(b=s+m,w=Math.max(b-m,0),m=b-w):(w=s,b=Math.min(w+m,a),m=b-w)),this._box={l:w,t:_,w:m,h:g};var T=l>m,A=Us.barLength+2*Us.barPad,y=Us.barWidth+2*Us.barPad,E=s,S=u+c;S+y>o&&(S=o-y);var C=this.container.selectAll("rect.scrollbar-horizontal").data(T?[0]:[]);C.exit().on(".drag",null).remove(),C.enter().append("rect").classed("scrollbar-horizontal",!0).call(xwe.fill,Us.barColor),T?(this.hbar=C.attr({rx:Us.barRadius,ry:Us.barRadius,x:E,y:S,width:A,height:y}),this._hbarXMin=E+A/2,this._hbarTranslateMax=m-A):(delete this.hbar,delete this._hbarXMin,delete this._hbarTranslateMax);var k=c>g,D=Us.barWidth+2*Us.barPad,F=Us.barLength+2*Us.barPad,P=s+l,R=u;P+D>a&&(P=a-D);var L=this.container.selectAll("rect.scrollbar-vertical").data(k?[0]:[]);L.exit().on(".drag",null).remove(),L.enter().append("rect").classed("scrollbar-vertical",!0).call(xwe.fill,Us.barColor),k?(this.vbar=L.attr({rx:Us.barRadius,ry:Us.barRadius,x:P,y:R,width:D,height:F}),this._vbarYMin=R+F/2,this._vbarTranslateMax=g-F):(delete this.vbar,delete this._vbarYMin,delete this._vbarTranslateMax);var I=this.id,B=w-.5,O=k?b+D+.5:b+.5,$=_-.5,Y=T?M+y+.5:M+.5,K=n._topdefs.selectAll("#"+I).data(T||k?[0]:[]);if(K.exit().remove(),K.enter().append("clipPath").attr("id",I).append("rect"),T||k?(this._clipRect=K.select("rect").attr({x:Math.floor(B),y:Math.floor($),width:Math.ceil(O)-Math.floor(B),height:Math.ceil(Y)-Math.floor($)}),this.container.call(t5.setClipUrl,I,this.gd),this.bg.attr({x:s,y:u,width:l,height:c})):(this.bg.attr({width:0,height:0}),this.container.on("wheel",null).on(".drag",null).call(t5.setClipUrl,null),delete this._clipRect),T||k){var j=Kp.behavior.drag().on("dragstart",function(){Kp.event.sourceEvent.preventDefault()}).on("drag",this._onBoxDrag.bind(this));this.container.on("wheel",null).on("wheel",this._onBoxWheel.bind(this)).on(".drag",null).call(j);var q=Kp.behavior.drag().on("dragstart",function(){Kp.event.sourceEvent.preventDefault(),Kp.event.sourceEvent.stopPropagation()}).on("drag",this._onBarDrag.bind(this));T&&this.hbar.on(".drag",null).call(q),k&&this.vbar.on(".drag",null).call(q)}this.setTranslate(r,i)};Us.prototype.disable=function(){(this.hbar||this.vbar)&&(this.bg.attr({width:0,height:0}),this.container.on("wheel",null).on(".drag",null).call(t5.setClipUrl,null),delete this._clipRect),this.hbar&&(this.hbar.on(".drag",null),this.hbar.remove(),delete this.hbar,delete this._hbarXMin,delete this._hbarTranslateMax),this.vbar&&(this.vbar.on(".drag",null),this.vbar.remove(),delete this.vbar,delete this._vbarYMin,delete this._vbarTranslateMax)};Us.prototype._onBoxDrag=function(){var t=this.translateX,r=this.translateY;this.hbar&&(t-=Kp.event.dx),this.vbar&&(r-=Kp.event.dy),this.setTranslate(t,r)};Us.prototype._onBoxWheel=function(){var t=this.translateX,r=this.translateY;this.hbar&&(t+=Kp.event.deltaY),this.vbar&&(r+=Kp.event.deltaY),this.setTranslate(t,r)};Us.prototype._onBarDrag=function(){var t=this.translateX,r=this.translateY;if(this.hbar){var i=t+this._hbarXMin,n=i+this._hbarTranslateMax,a=RF.constrain(Kp.event.x,i,n),o=(a-i)/(n-i),s=this.position.w-this._box.w;t=o*s}if(this.vbar){var l=r+this._vbarYMin,u=l+this._vbarTranslateMax,c=RF.constrain(Kp.event.y,l,u),f=(c-l)/(u-l),h=this.position.h-this._box.h;r=f*h}this.setTranslate(t,r)};Us.prototype.setTranslate=function(t,r){var i=this.position.w-this._box.w,n=this.position.h-this._box.h;if(t=RF.constrain(t||0,0,i),r=RF.constrain(r||0,0,n),this.translateX=t,this.translateY=r,this.container.call(t5.setTranslate,this._box.l-this.position.l-t,this._box.t-this.position.t-r),this._clipRect&&this._clipRect.attr({x:Math.floor(this.position.l+t-.5),y:Math.floor(this.position.t+r-.5)}),this.hbar){var a=t/i;this.hbar.call(t5.setTranslate,t+a*this._hbarTranslateMax,r)}if(this.vbar){var o=r/n;this.vbar.call(t5.setTranslate,t,r+o*this._vbarTranslateMax)}}});var Fwe=W((xRr,Dwe)=>{"use strict";var r5=vi(),bM=Ko(),wM=ni(),i5=Ji(),M0=it(),zF=uo(),O7t=Da().arrayEditor,Twe=Hl().LINE_SPACING,Cn=PF(),N7t=bwe();Dwe.exports=function(t){var r=t._fullLayout,i=M0.filterVisible(r[Cn.name]);function n(h){bM.autoMargin(t,kwe(h))}var a=r._menulayer.selectAll("g."+Cn.containerClassName).data(i.length>0?[0]:[]);if(a.enter().append("g").classed(Cn.containerClassName,!0).style("cursor","pointer"),a.exit().each(function(){r5.select(this).selectAll("g."+Cn.headerGroupClassName).each(n)}).remove(),i.length!==0){var o=a.selectAll("g."+Cn.headerGroupClassName).data(i,U7t);o.enter().append("g").classed(Cn.headerGroupClassName,!0);for(var s=M0.ensureSingle(a,"g",Cn.dropdownButtonGroupClassName,function(h){h.style("pointer-events","all")}),l=0;l{"use strict";var Y7t=PF();Lwe.exports={moduleType:"component",name:Y7t.name,layoutAttributes:x$(),supplyLayoutDefaults:ywe(),draw:Fwe()}});var AM=W((bRr,Iwe)=>{"use strict";Iwe.exports={name:"sliders",containerClassName:"slider-container",groupClassName:"slider-group",inputAreaClass:"slider-input-area",railRectClass:"slider-rail-rect",railTouchRectClass:"slider-rail-touch-rect",gripRectClass:"slider-grip-rect",tickRectClass:"slider-tick-rect",inputProxyClass:"slider-input-proxy",labelsClass:"slider-labels",labelGroupClass:"slider-label-group",labelClass:"slider-label",currentValueClass:"slider-current-value",railHeight:5,menuIndexAttrName:"slider-active-index",autoMarginIdRoot:"slider-",minWidth:30,minHeight:30,textPadX:40,arrowOffsetX:4,railRadius:2,railWidth:5,railBorder:4,railBorderWidth:1,railBorderColor:"#bec8d9",railBgColor:"#f8fafc",railInset:8,stepInset:10,gripRadius:10,gripWidth:20,gripHeight:20,gripBorder:20,gripBorderWidth:1,gripBorderColor:"#bec8d9",gripBgColor:"#f6f8fa",gripBgActiveColor:"#dbdde0",labelPadding:8,labelOffset:0,tickWidth:1,tickColor:"#333",tickOffset:25,tickLength:7,minorTickOffset:25,minorTickColor:"#333",minorTickLength:4,currentValuePadding:8,currentValueInset:0}});var T$=W((wRr,Bwe)=>{"use strict";var Rwe=Ho(),X7t=HC(),Z7t=tn().extendDeepAll,K7t=ls().overrideAll,J7t=J6(),zwe=Da().templatedArray,C_=AM(),Q7t=zwe("step",{visible:{valType:"boolean",dflt:!0},method:{valType:"enumerated",values:["restyle","relayout","animate","update","skip"],dflt:"restyle"},args:{valType:"info_array",freeLength:!0,items:[{valType:"any"},{valType:"any"},{valType:"any"}]},label:{valType:"string"},value:{valType:"string"},execute:{valType:"boolean",dflt:!0}});Bwe.exports=K7t(zwe("slider",{visible:{valType:"boolean",dflt:!0},active:{valType:"number",min:0,dflt:0},steps:Q7t,lenmode:{valType:"enumerated",values:["fraction","pixels"],dflt:"fraction"},len:{valType:"number",min:0,dflt:1},x:{valType:"number",min:-2,max:3,dflt:0},pad:Z7t(X7t({editType:"arraydraw"}),{},{t:{dflt:20}}),xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"left"},y:{valType:"number",min:-2,max:3,dflt:0},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],dflt:"top"},transition:{duration:{valType:"number",min:0,dflt:150},easing:{valType:"enumerated",values:J7t.transition.easing.values,dflt:"cubic-in-out"}},currentvalue:{visible:{valType:"boolean",dflt:!0},xanchor:{valType:"enumerated",values:["left","center","right"],dflt:"left"},offset:{valType:"number",dflt:10},prefix:{valType:"string"},suffix:{valType:"string"},font:Rwe({})},font:Rwe({}),activebgcolor:{valType:"color",dflt:C_.gripBgActiveColor},bgcolor:{valType:"color",dflt:C_.railBgColor},bordercolor:{valType:"color",dflt:C_.railBorderColor},borderwidth:{valType:"number",min:0,dflt:C_.railBorderWidth},ticklen:{valType:"number",min:0,dflt:C_.tickLength},tickcolor:{valType:"color",dflt:C_.tickColor},tickwidth:{valType:"number",min:0,dflt:1},minorticklen:{valType:"number",min:0,dflt:C_.minorTickLength}}),"arraydraw","from-root")});var Uwe=W((TRr,Nwe)=>{"use strict";var n5=it(),qwe=Xc(),Owe=T$(),eFt=AM(),tFt=eFt.name,rFt=Owe.steps;Nwe.exports=function(t,r){qwe(t,r,{name:tFt,handleItemDefaults:iFt})};function iFt(e,t,r){function i(f,h){return n5.coerce(e,t,Owe,f,h)}for(var n=qwe(e,t,{name:"steps",handleItemDefaults:nFt}),a=0,o=0;o{"use strict";var Jp=vi(),BF=Ko(),jy=ni(),Qp=Ji(),S0=it(),aFt=S0.strTranslate,MM=uo(),oFt=Da().arrayEditor,Qn=AM(),S$=Hl(),Hwe=S$.LINE_SPACING,A$=S$.FROM_TL,M$=S$.FROM_BR;Zwe.exports=function(t){var r=t._context.staticPlot,i=t._fullLayout,n=sFt(i,t),a=i._infolayer.selectAll("g."+Qn.containerClassName).data(n.length>0?[0]:[]);a.enter().append("g").classed(Qn.containerClassName,!0).style("cursor",r?null:"ew-resize");function o(c){c._commandObserver&&(c._commandObserver.remove(),delete c._commandObserver),BF.autoMargin(t,jwe(c))}if(a.exit().each(function(){Jp.select(this).selectAll("g."+Qn.groupClassName).each(o)}).remove(),n.length!==0){var s=a.selectAll("g."+Qn.groupClassName).data(n,lFt);s.enter().append("g").classed(Qn.groupClassName,!0),s.exit().each(o).remove();for(var l=0;l0&&(s=s.transition().duration(t.transition.duration).ease(t.transition.easing)),s.attr("transform",aFt(o-Qn.gripWidth*.5,t._dims.currentValueTotalHeight))}}function E$(e,t){var r=e._dims;return r.inputAreaStart+Qn.stepInset+(r.inputAreaLength-2*Qn.stepInset)*Math.min(1,Math.max(0,t))}function Gwe(e,t){var r=e._dims;return Math.min(1,Math.max(0,(t-Qn.stepInset-r.inputAreaStart)/(r.inputAreaLength-2*Qn.stepInset-2*r.inputAreaStart)))}function vFt(e,t,r){var i=r._dims,n=S0.ensureSingle(e,"rect",Qn.railTouchRectClass,function(a){a.call(Ywe,t,e,r).style("pointer-events","all")});n.attr({width:i.inputAreaLength,height:Math.max(i.inputAreaWidth,Qn.tickOffset+r.ticklen+i.labelHeight)}).call(jy.fill,r.bgcolor).attr("opacity",0),Qp.setTranslate(n,0,i.currentValueTotalHeight)}function gFt(e,t){var r=t._dims,i=r.inputAreaLength-Qn.railInset*2,n=S0.ensureSingle(e,"rect",Qn.railRectClass);n.attr({width:i,height:Qn.railWidth,rx:Qn.railRadius,ry:Qn.railRadius,"shape-rendering":"crispEdges"}).call(jy.stroke,t.bordercolor).call(jy.fill,t.bgcolor).style("stroke-width",t.borderwidth+"px"),Qp.setTranslate(n,Qn.railInset,(r.inputAreaWidth-Qn.railWidth)*.5+r.currentValueTotalHeight)}});var Qwe=W((MRr,Jwe)=>{"use strict";var mFt=AM();Jwe.exports={moduleType:"component",name:mFt.name,layoutAttributes:T$(),supplyLayoutDefaults:Uwe(),draw:Kwe()}});var OF=W((SRr,t5e)=>{"use strict";var e5e=Vl();t5e.exports={bgcolor:{valType:"color",dflt:e5e.background,editType:"plot"},bordercolor:{valType:"color",dflt:e5e.defaultLine,editType:"plot"},borderwidth:{valType:"integer",dflt:0,min:0,editType:"plot"},autorange:{valType:"boolean",dflt:!0,editType:"calc",impliedEdits:{"range[0]":void 0,"range[1]":void 0}},range:{valType:"info_array",items:[{valType:"any",editType:"calc",impliedEdits:{"^autorange":!1}},{valType:"any",editType:"calc",impliedEdits:{"^autorange":!1}}],editType:"calc",impliedEdits:{autorange:!1}},thickness:{valType:"number",dflt:.15,min:0,max:1,editType:"plot"},visible:{valType:"boolean",dflt:!0,editType:"calc"},editType:"calc"}});var k$=W((ERr,r5e)=>{"use strict";r5e.exports={_isSubplotObj:!0,rangemode:{valType:"enumerated",values:["auto","fixed","match"],dflt:"match",editType:"calc"},range:{valType:"info_array",items:[{valType:"any",editType:"plot"},{valType:"any",editType:"plot"}],editType:"plot"},editType:"calc"}});var NF=W((kRr,i5e)=>{"use strict";i5e.exports={name:"rangeslider",containerClassName:"rangeslider-container",bgClassName:"rangeslider-bg",rangePlotClassName:"rangeslider-rangeplot",maskMinClassName:"rangeslider-mask-min",maskMaxClassName:"rangeslider-mask-max",slideBoxClassName:"rangeslider-slidebox",grabberMinClassName:"rangeslider-grabber-min",grabAreaMinClassName:"rangeslider-grabarea-min",handleMinClassName:"rangeslider-handle-min",grabberMaxClassName:"rangeslider-grabber-max",grabAreaMaxClassName:"rangeslider-grabarea-max",handleMaxClassName:"rangeslider-handle-max",maskMinOppAxisClassName:"rangeslider-mask-min-opp-axis",maskMaxOppAxisClassName:"rangeslider-mask-max-opp-axis",maskColor:"rgba(0,0,0,0.4)",maskOppAxisColor:"rgba(0,0,0,0.2)",slideBoxFill:"transparent",slideBoxCursor:"ew-resize",grabAreaFill:"transparent",grabAreaCursor:"col-resize",grabAreaWidth:10,handleWidth:4,handleRadius:1,handleStrokeWidth:1,extraPad:15}});var o5e=W(VF=>{"use strict";var yFt=Cs(),xFt=uo(),n5e=NF(),_Ft=Hl().LINE_SPACING,UF=n5e.name;function a5e(e){var t=e&&e[UF];return t&&t.visible}VF.isVisible=a5e;VF.makeData=function(e){for(var t=yFt.list({_fullLayout:e},"x",!0),r=e.margin,i=[],n=0;n{"use strict";var GF=it(),s5e=Da(),l5e=Cs(),bFt=OF(),wFt=k$();u5e.exports=function(t,r,i){var n=t[i],a=r[i];if(!(n.rangeslider||r._requestRangeslider[a._id]))return;GF.isPlainObject(n.rangeslider)||(n.rangeslider={});var o=n.rangeslider,s=s5e.newContainer(a,"rangeslider");function l(M,x){return GF.coerce(o,s,bFt,M,x)}var u,c;function f(M,x){return GF.coerce(u,c,wFt,M,x)}var h=l("visible");if(h){l("bgcolor",r.plot_bgcolor),l("bordercolor"),l("borderwidth"),l("thickness"),l("autorange",!a.isValidRange(o.range)),l("range");var d=r._subplots;if(d)for(var p=d.cartesian.filter(function(M){return M.slice(0,Math.max(0,M.indexOf("y")))===l5e.name2id(i)}).map(function(M){return M.slice(M.indexOf("y"),M.length)}),v=GF.simpleMap(p,l5e.id2name),m=0;m{"use strict";var TFt=Cs().list,AFt=Op().getAutoRange,MFt=NF();f5e.exports=function(t){for(var r=TFt(t,"x",!0),i=0;i{"use strict";var HF=vi(),SFt=yi(),EFt=Ko(),pl=it(),jF=pl.strTranslate,p5e=Ji(),$y=ni(),kFt=e_(),CFt=dl(),C$=Cs(),DFt=bf(),FFt=Np(),xa=NF();v5e.exports=function(e){for(var t=e._fullLayout,r=t._rangeSliderData,i=0;i=L.max)P=S[R+1];else if(F=L.pmax)P=S[R+1];else if(F0?e.touches[0].clientX:0}function LFt(e,t,r,i){if(t._context.staticPlot)return;var n=e.select("rect."+xa.slideBoxClassName).node(),a=e.select("rect."+xa.grabAreaMinClassName).node(),o=e.select("rect."+xa.grabAreaMaxClassName).node();function s(){var l=HF.event,u=l.target,c=d5e(l),f=c-e.node().getBoundingClientRect().left,h=i.d2p(r._rl[0]),d=i.d2p(r._rl[1]),p=DFt.coverSlip();this.addEventListener("touchmove",v),this.addEventListener("touchend",m),p.addEventListener("mousemove",v),p.addEventListener("mouseup",m);function v(g){var w=d5e(g),b=+w-c,_,M,x;switch(u){case n:if(x="ew-resize",h+b>r._length||d+b<0)return;_=h+b,M=d+b;break;case a:if(x="col-resize",h+b>r._length)return;_=h+b,M=d;break;case o:if(x="col-resize",d+b<0)return;_=h,M=d+b;break;default:x="ew-resize",_=f,M=f+b;break}if(M<_){var T=M;M=_,_=T}i._pixelMin=_,i._pixelMax=M,FFt(HF.select(p),x),PFt(e,t,r,i)}function m(){p.removeEventListener("mousemove",v),p.removeEventListener("mouseup",m),this.removeEventListener("touchmove",v),this.removeEventListener("touchend",m),pl.removeElement(p)}}e.on("mousedown",s),e.on("touchstart",s)}function PFt(e,t,r,i){function n(s){return r.l2r(pl.constrain(s,i._rl[0],i._rl[1]))}var a=n(i.p2d(i._pixelMin)),o=n(i.p2d(i._pixelMax));window.requestAnimationFrame(function(){SFt.call("_guiRelayout",t,r._name+".range",[a,o])})}function IFt(e,t,r,i,n,a){var o=xa.handleWidth/2;function s(g){return pl.constrain(g,0,i._width)}function l(g){return pl.constrain(g,0,i._height)}function u(g){return pl.constrain(g,-o,i._width+o)}var c=s(i.d2p(r._rl[0])),f=s(i.d2p(r._rl[1]));if(e.select("rect."+xa.slideBoxClassName).attr("x",c).attr("width",f-c),e.select("rect."+xa.maskMinClassName).attr("width",c),e.select("rect."+xa.maskMaxClassName).attr("x",f).attr("width",i._width-f),a.rangemode!=="match"){var h=i._height-l(i.d2pOppAxis(n._rl[1])),d=i._height-l(i.d2pOppAxis(n._rl[0]));e.select("rect."+xa.maskMinOppAxisClassName).attr("x",c).attr("height",h).attr("width",f-c),e.select("rect."+xa.maskMaxOppAxisClassName).attr("x",c).attr("y",d).attr("height",i._height-d).attr("width",f-c),e.select("rect."+xa.slideBoxClassName).attr("y",h).attr("height",d-h)}var p=.5,v=Math.round(u(c-o))-p,m=Math.round(u(f-o))+p;e.select("g."+xa.grabberMinClassName).attr("transform",jF(v,p)),e.select("g."+xa.grabberMaxClassName).attr("transform",jF(m,p))}function RFt(e,t,r,i){var n=pl.ensureSingle(e,"rect",xa.bgClassName,function(l){l.attr({x:0,y:0,"shape-rendering":"crispEdges"})}),a=i.borderwidth%2===0?i.borderwidth:i.borderwidth-1,o=-i._offsetShift,s=p5e.crispRound(t,i.borderwidth);n.attr({width:i._width+a,height:i._height+a,transform:jF(o,o),"stroke-width":s}).call($y.stroke,i.bordercolor).call($y.fill,i.bgcolor)}function zFt(e,t,r,i){var n=t._fullLayout,a=pl.ensureSingleById(n._topdefs,"clipPath",i._clipId,function(o){o.append("rect").attr({x:0,y:0})});a.select("rect").attr({width:i._width,height:i._height})}function BFt(e,t,r,i){var n=t.calcdata,a=e.selectAll("g."+xa.rangePlotClassName).data(r._subplotsWith,pl.identity);a.enter().append("g").attr("class",function(s){return xa.rangePlotClassName+" "+s}).call(p5e.setClipUrl,i._clipId,t),a.order(),a.exit().remove();var o;a.each(function(s,l){var u=HF.select(this),c=l===0,f=C$.getFromId(t,s,"y"),h=f._name,d=i[h],p={data:[],layout:{xaxis:{type:r.type,domain:[0,1],range:i.range.slice(),calendar:r.calendar},width:i._width,height:i._height,margin:{t:0,b:0,l:0,r:0}},_context:t._context};r.rangebreaks&&(p.layout.xaxis.rangebreaks=r.rangebreaks),p.layout[h]={type:f.type,domain:[0,1],range:d.rangemode!=="match"?d.range.slice():f.range.slice(),calendar:f.calendar},f.rangebreaks&&(p.layout[h].rangebreaks=f.rangebreaks),EFt.supplyDefaults(p);var v=p._fullLayout.xaxis,m=p._fullLayout[h];v.clearCalc(),v.setScale(),m.clearCalc(),m.setScale();var g={id:s,plotgroup:u,xaxis:v,yaxis:m,isRangePlot:!0};c?o=g:(g.mainplot="xy",g.mainplotinfo=o),CFt.rangePlot(t,g,qFt(n,s))})}function qFt(e,t){for(var r=[],i=0;i{"use strict";var VFt=it(),GFt=OF(),HFt=k$(),D$=o5e();m5e.exports={moduleType:"component",name:"rangeslider",schema:{subplots:{xaxis:{rangeslider:VFt.extendFlat({},GFt,{yaxis:HFt})}}},layoutAttributes:OF(),handleDefaults:c5e(),calcAutorange:h5e(),draw:g5e(),isVisible:D$.isVisible,makeData:D$.makeData,autoMarginOpts:D$.autoMarginOpts}});var $F=W((IRr,_5e)=>{"use strict";var jFt=Ho(),x5e=Vl(),$Ft=Da().templatedArray,WFt=$Ft("button",{visible:{valType:"boolean",dflt:!0,editType:"plot"},step:{valType:"enumerated",values:["month","year","day","hour","minute","second","all"],dflt:"month",editType:"plot"},stepmode:{valType:"enumerated",values:["backward","todate"],dflt:"backward",editType:"plot"},count:{valType:"number",min:0,dflt:1,editType:"plot"},label:{valType:"string",editType:"plot"},editType:"plot"});_5e.exports={visible:{valType:"boolean",editType:"plot"},buttons:WFt,x:{valType:"number",min:-2,max:3,editType:"plot"},xanchor:{valType:"enumerated",values:["auto","left","center","right"],dflt:"left",editType:"plot"},y:{valType:"number",min:-2,max:3,editType:"plot"},yanchor:{valType:"enumerated",values:["auto","top","middle","bottom"],dflt:"bottom",editType:"plot"},font:jFt({editType:"plot"}),bgcolor:{valType:"color",dflt:x5e.lightLine,editType:"plot"},activecolor:{valType:"color",editType:"plot"},bordercolor:{valType:"color",dflt:x5e.defaultLine,editType:"plot"},borderwidth:{valType:"number",min:0,dflt:0,editType:"plot"},editType:"plot"}});var F$=W((RRr,b5e)=>{"use strict";b5e.exports={yPad:.02,minButtonWidth:30,rx:3,ry:3,lightAmount:25,darkAmount:10}});var A5e=W((zRr,T5e)=>{"use strict";var WF=it(),YFt=ni(),XFt=Da(),ZFt=Xc(),w5e=$F(),L$=F$();T5e.exports=function(t,r,i,n,a){var o=t.rangeselector||{},s=XFt.newContainer(r,"rangeselector");function l(d,p){return WF.coerce(o,s,w5e,d,p)}var u=ZFt(o,s,{name:"buttons",handleItemDefaults:KFt,calendar:a}),c=l("visible",u.length>0);if(c){var f=JFt(r,i,n);l("x",f[0]),l("y",f[1]),WF.noneOrAll(t,r,["x","y"]),l("xanchor"),l("yanchor"),WF.coerceFont(l,"font",i.font);var h=l("bgcolor");l("activecolor",YFt.contrast(h,L$.lightAmount,L$.darkAmount)),l("bordercolor"),l("borderwidth")}};function KFt(e,t,r,i){var n=i.calendar;function a(l,u){return WF.coerce(e,t,w5e.buttons,l,u)}var o=a("visible");if(o){var s=a("step");s!=="all"&&(n&&n!=="gregorian"&&(s==="month"||s==="year")?t.stepmode="backward":a("stepmode"),a("count")),a("label")}}function JFt(e,t,r){for(var i=r.filter(function(s){return t[s].anchor===e._id}),n=0,a=0;a{"use strict";var QFt=vN(),eLt=it().titleCase;M5e.exports=function(t,r){var i=t._name,n={};if(r.step==="all")n[i+".autorange"]=!0;else{var a=tLt(t,r);n[i+".range[0]"]=a[0],n[i+".range[1]"]=a[1]}return n};function tLt(e,t){var r=e.range,i=new Date(e.r2l(r[1])),n=t.step,a=QFt["utc"+eLt(n)],o=t.count,s;switch(t.stepmode){case"backward":s=e.l2r(+a.offset(i,-o));break;case"todate":var l=a.offset(i,-o);s=e.l2r(+a.ceil(l));break}var u=r[1];return[s,u]}});var I5e=W((qRr,P5e)=>{"use strict";var XF=vi(),rLt=yi(),iLt=Ko(),E5e=ni(),L5e=Ji(),Gg=it(),k5e=Gg.strTranslate,YF=uo(),nLt=Cs(),R$=Hl(),C5e=R$.LINE_SPACING,D5e=R$.FROM_TL,F5e=R$.FROM_BR,I$=F$(),aLt=S5e();P5e.exports=function(t){var r=t._fullLayout,i=r._infolayer.selectAll(".rangeselector").data(oLt(t),sLt);i.enter().append("g").classed("rangeselector",!0),i.exit().remove(),i.style({cursor:"pointer","pointer-events":"all"}),i.each(function(n){var a=XF.select(this),o=n,s=o.rangeselector,l=a.selectAll("g.button").data(Gg.filterVisible(s.buttons));l.enter().append("g").classed("button",!0),l.exit().remove(),l.each(function(u){var c=XF.select(this),f=aLt(o,u);u._isActive=lLt(o,u,f),c.call(P$,s,u),c.call(cLt,s,u,t),c.on("click",function(){t._dragged||rLt.call("_guiRelayout",t,f)}),c.on("mouseover",function(){u._isHovered=!0,c.call(P$,s,u)}),c.on("mouseout",function(){u._isHovered=!1,c.call(P$,s,u)})}),hLt(t,l,s,o._name,a)})};function oLt(e){for(var t=nLt.list(e,"x",!0),r=[],i=0;i{"use strict";R5e.exports={moduleType:"component",name:"rangeselector",schema:{subplots:{xaxis:{rangeselector:$F()}}},layoutAttributes:$F(),handleDefaults:A5e(),draw:I5e()}});var us=W(z$=>{"use strict";var B5e=tn().extendFlat;z$.attributes=function(e,t){e=e||{},t=t||{};var r={valType:"info_array",editType:e.editType,items:[{valType:"number",min:0,max:1,editType:e.editType},{valType:"number",min:0,max:1,editType:e.editType}],dflt:[0,1]},i=e.name?e.name+" ":"",n=e.trace?"trace":"subplot",a=t.description?" "+t.description:"",o={x:B5e({},r,{}),y:B5e({},r,{}),editType:e.editType};return e.noGridCell||(o.row={valType:"integer",min:0,dflt:0,editType:e.editType},o.column={valType:"integer",min:0,dflt:0,editType:e.editType}),o};z$.defaults=function(e,t,r,i){var n=i&&i.x||[0,1],a=i&&i.y||[0,1],o=t.grid;if(o){var s=r("domain.column");s!==void 0&&(s{"use strict";var dLt=it(),pLt=(K3(),Go(Z3)).counter,vLt=us().attributes,q5e=Gl().idRegex,gLt=Da(),B$={rows:{valType:"integer",min:1,editType:"plot"},roworder:{valType:"enumerated",values:["top to bottom","bottom to top"],dflt:"top to bottom",editType:"plot"},columns:{valType:"integer",min:1,editType:"plot"},subplots:{valType:"info_array",freeLength:!0,dimensions:2,items:{valType:"enumerated",values:[pLt("xy").toString(),""],editType:"plot"},editType:"plot"},xaxes:{valType:"info_array",freeLength:!0,items:{valType:"enumerated",values:[q5e.x.toString(),""],editType:"plot"},editType:"plot"},yaxes:{valType:"info_array",freeLength:!0,items:{valType:"enumerated",values:[q5e.y.toString(),""],editType:"plot"},editType:"plot"},pattern:{valType:"enumerated",values:["independent","coupled"],dflt:"coupled",editType:"plot"},xgap:{valType:"number",min:0,max:1,editType:"plot"},ygap:{valType:"number",min:0,max:1,editType:"plot"},domain:vLt({name:"grid",editType:"plot",noGridCell:!0},{}),xside:{valType:"enumerated",values:["bottom","bottom plot","top plot","top"],dflt:"bottom plot",editType:"plot"},yside:{valType:"enumerated",values:["left","left plot","right plot","right"],dflt:"left plot",editType:"plot"},editType:"plot"};function ZF(e,t,r){var i=t[r+"axes"],n=Object.keys((e._splomAxes||{})[r]||{});if(Array.isArray(i))return i;if(n.length)return n}function mLt(e,t){var r=e.grid||{},i=ZF(t,r,"x"),n=ZF(t,r,"y");if(!e.grid&&!i&&!n)return;var a=Array.isArray(r.subplots)&&Array.isArray(r.subplots[0]),o=Array.isArray(i),s=Array.isArray(n),l=o&&i!==r.xaxes&&s&&n!==r.yaxes,u,c;a?(u=r.subplots.length,c=r.subplots[0].length):(s&&(u=n.length),o&&(c=i.length));var f=gLt.newContainer(t,"grid");function h(x,T){return dLt.coerce(r,f,B$,x,T)}var d=h("rows",u),p=h("columns",c);if(!(d*p>1)){delete t.grid;return}if(!a&&!o&&!s){var v=h("pattern")==="independent";v&&(a=!0)}f._hasSubplotGrid=a;var m=h("roworder"),g=m==="top to bottom",w=a?.2:.1,b=a?.3:.1,_,M;l&&t._splomGridDflt&&(_=t._splomGridDflt.xside,M=t._splomGridDflt.yside),f._domains={x:O5e("x",h,w,_,p),y:O5e("y",h,b,M,d,g)}}function O5e(e,t,r,i,n,a){var o=t(e+"gap",r),s=t("domain."+e);t(e+"side",i);for(var l=new Array(n),u=s[0],c=(s[1]-u)/(n-o),f=c*(1-o),h=0;h{"use strict";V5e.exports={visible:{valType:"boolean",editType:"calc"},type:{valType:"enumerated",values:["percent","constant","sqrt","data"],editType:"calc"},symmetric:{valType:"boolean",editType:"calc"},array:{valType:"data_array",editType:"calc"},arrayminus:{valType:"data_array",editType:"calc"},value:{valType:"number",min:0,dflt:10,editType:"calc"},valueminus:{valType:"number",min:0,dflt:10,editType:"calc"},traceref:{valType:"integer",min:0,dflt:0,editType:"style"},tracerefminus:{valType:"integer",min:0,dflt:0,editType:"style"},copy_ystyle:{valType:"boolean",editType:"plot"},copy_zstyle:{valType:"boolean",editType:"style"},color:{valType:"color",editType:"style"},thickness:{valType:"number",min:0,dflt:2,editType:"style"},width:{valType:"number",min:0,editType:"plot"},editType:"calc"}});var j5e=W((GRr,H5e)=>{"use strict";var G5e=sn(),xLt=yi(),_Lt=it(),bLt=Da(),wLt=O$();H5e.exports=function(e,t,r,i){var n="error_"+i.axis,a=bLt.newContainer(t,n),o=e[n]||{};function s(p,v){return _Lt.coerce(o,a,wLt,p,v)}var l=o.array!==void 0||o.value!==void 0||o.type==="sqrt",u=s("visible",l);if(u!==!1){var c=s("type","array"in o?"data":"percent"),f=!0;c!=="sqrt"&&(f=s("symmetric",!((c==="data"?"arrayminus":"valueminus")in o))),c==="data"?(s("array"),s("traceref"),f||(s("arrayminus"),s("tracerefminus"))):(c==="percent"||c==="constant")&&(s("value"),f||s("valueminus"));var h="copy_"+i.inherit+"style";if(i.inherit){var d=t["error_"+i.inherit];(d||{}).visible&&s(h,!(o.color||G5e(o.thickness)||G5e(o.width)))}(!i.inherit||!a[h])&&(s("color",r),s("thickness"),s("width",xLt.traceIs(t,"gl3d")?0:4))}}});var N$=W((HRr,W5e)=>{"use strict";W5e.exports=function(t){var r=t.type,i=t.symmetric;if(r==="data"){var n=t.array||[];if(i)return function(u,c){var f=+n[c];return[f,f]};var a=t.arrayminus||[];return function(u,c){var f=+n[c],h=+a[c];return!isNaN(f)||!isNaN(h)?[h||0,f||0]:[NaN,NaN]}}else{var o=$5e(r,t.value),s=$5e(r,t.valueminus);return i||t.valueminus===void 0?function(u){var c=o(u);return[c,c]}:function(u){return[s(u),o(u)]}}};function $5e(e,t){if(e==="percent")return function(r){return Math.abs(r*t/100)};if(e==="constant")return function(){return Math.abs(t)};if(e==="sqrt")return function(r){return Math.sqrt(Math.abs(r))}}});var Z5e=W((jRr,X5e)=>{"use strict";var U$=sn(),TLt=yi(),V$=ji(),ALt=it(),MLt=N$();X5e.exports=function(t){for(var r=t.calcdata,i=0;i{"use strict";var K5e=vi(),Wy=sn(),SLt=Ji(),ELt=$o();J5e.exports=function(t,r,i,n){var a,o=i.xaxis,s=i.yaxis,l=n&&n.duration>0,u=t._context.staticPlot;r.each(function(c){var f=c[0].trace,h=f.error_x||{},d=f.error_y||{},p;f.ids&&(p=function(w){return w.id});var v=ELt.hasMarkers(f)&&f.marker.maxdisplayed>0;!d.visible&&!h.visible&&(c=[]);var m=K5e.select(this).selectAll("g.errorbar").data(c,p);if(m.exit().remove(),!!c.length){h.visible||m.selectAll("path.xerror").remove(),d.visible||m.selectAll("path.yerror").remove(),m.style("opacity",1);var g=m.enter().append("g").classed("errorbar",!0);l&&g.style("opacity",0).transition().duration(n.duration).style("opacity",1),SLt.setClipUrl(m,i.layerClipId,t),m.each(function(w){var b=K5e.select(this),_=kLt(w,o,s);if(!(v&&!w.vis)){var M,x=b.select("path.yerror");if(d.visible&&Wy(_.x)&&Wy(_.yh)&&Wy(_.ys)){var T=d.width;M="M"+(_.x-T)+","+_.yh+"h"+2*T+"m-"+T+",0V"+_.ys,_.noYS||(M+="m-"+T+",0h"+2*T),a=!x.size(),a?x=b.append("path").style("vector-effect",u?"none":"non-scaling-stroke").classed("yerror",!0):l&&(x=x.transition().duration(n.duration).ease(n.easing)),x.attr("d",M)}else x.remove();var A=b.select("path.xerror");if(h.visible&&Wy(_.y)&&Wy(_.xh)&&Wy(_.xs)){var y=(h.copy_ystyle?d:h).width;M="M"+_.xh+","+(_.y-y)+"v"+2*y+"m0,-"+y+"H"+_.xs,_.noXS||(M+="m0,-"+y+"v"+2*y),a=!A.size(),a?A=b.append("path").style("vector-effect",u?"none":"non-scaling-stroke").classed("xerror",!0):l&&(A=A.transition().duration(n.duration).ease(n.easing)),A.attr("d",M)}else A.remove()}})}})};function kLt(e,t,r){var i={x:t.c2p(e.x),y:r.c2p(e.y)};return e.yh!==void 0&&(i.yh=r.c2p(e.yh),i.ys=r.c2p(e.ys),Wy(i.ys)||(i.noYS=!0,i.ys=r.c2p(e.ys,!0))),e.xh!==void 0&&(i.xh=t.c2p(e.xh),i.xs=t.c2p(e.xs),Wy(i.xs)||(i.noXS=!0,i.xs=t.c2p(e.xs,!0))),i}});var r4e=W((WRr,t4e)=>{"use strict";var CLt=vi(),e4e=ni();t4e.exports=function(t){t.each(function(r){var i=r[0].trace,n=i.error_y||{},a=i.error_x||{},o=CLt.select(this);o.selectAll("path.yerror").style("stroke-width",n.thickness+"px").call(e4e.stroke,n.color),a.copy_ystyle&&(a=n),o.selectAll("path.xerror").style("stroke-width",a.thickness+"px").call(e4e.stroke,a.color)})}});var a4e=W((YRr,n4e)=>{"use strict";var SM=it(),i4e=ls().overrideAll,EM=O$(),D_={error_x:SM.extendFlat({},EM),error_y:SM.extendFlat({},EM)};delete D_.error_x.copy_zstyle;delete D_.error_y.copy_zstyle;delete D_.error_y.copy_ystyle;var kM={error_x:SM.extendFlat({},EM),error_y:SM.extendFlat({},EM),error_z:SM.extendFlat({},EM)};delete kM.error_x.copy_ystyle;delete kM.error_y.copy_ystyle;delete kM.error_z.copy_ystyle;delete kM.error_z.copy_zstyle;n4e.exports={moduleType:"component",name:"errorbars",schema:{traces:{scatter:D_,bar:D_,histogram:D_,scatter3d:i4e(kM,"calc","nested"),scattergl:i4e(D_,"calc","nested")}},supplyDefaults:j5e(),calc:Z5e(),makeComputeError:N$(),plot:Q5e(),style:r4e(),hoverInfo:DLt};function DLt(e,t,r){(t.error_y||{}).visible&&(r.yerr=e.yh-e.y,t.error_y.symmetric||(r.yerrneg=e.y-e.ys)),(t.error_x||{}).visible&&(r.xerr=e.xh-e.x,t.error_x.symmetric||(r.xerrneg=e.x-e.xs))}});var s4e=W((XRr,o4e)=>{"use strict";o4e.exports={cn:{colorbar:"colorbar",cbbg:"cbbg",cbfill:"cbfill",cbfills:"cbfills",cbline:"cbline",cblines:"cblines",cbaxis:"cbaxis",cbtitleunshift:"cbtitleunshift",cbtitle:"cbtitle",cboutline:"cboutline",crisp:"crisp",jsPlaceholder:"js-placeholder"}}});var v4e=W((ZRr,p4e)=>{"use strict";var Yy=vi(),JF=Ko(),l4e=yi(),Hg=ji(),KF=bf(),Sd=it(),tv=Sd.strTranslate,d4e=tn().extendFlat,G$=Np(),ev=Ji(),a5=ni(),FLt=e_(),LLt=uo(),PLt=bc().flipScale,ILt=mM(),RLt=TF(),zLt=ec(),j$=Hl(),u4e=j$.LINE_SPACING,c4e=j$.FROM_TL,f4e=j$.FROM_BR,Fs=s4e().cn;function BLt(e){var t=e._fullLayout,r=t._infolayer.selectAll("g."+Fs.colorbar).data(qLt(e),function(i){return i._id});r.enter().append("g").attr("class",function(i){return i._id}).classed(Fs.colorbar,!0),r.each(function(i){var n=Yy.select(this);Sd.ensureSingle(n,"rect",Fs.cbbg),Sd.ensureSingle(n,"g",Fs.cbfills),Sd.ensureSingle(n,"g",Fs.cblines),Sd.ensureSingle(n,"g",Fs.cbaxis,function(o){o.classed(Fs.crisp,!0)}),Sd.ensureSingle(n,"g",Fs.cbtitleunshift,function(o){o.append("g").classed(Fs.cbtitle,!0)}),Sd.ensureSingle(n,"rect",Fs.cboutline);var a=OLt(n,i,e);a&&a.then&&(e._promises||[]).push(a),e._context.edits.colorbarPosition&&NLt(n,i,e)}),r.exit().each(function(i){JF.autoMargin(e,i._id)}).remove(),r.order()}function qLt(e){var t=e._fullLayout,r=e.calcdata,i=[],n,a,o,s;function l(b){return d4e(b,{_fillcolor:null,_line:{color:null,width:null,dash:null},_levels:{start:null,end:null,size:null},_filllevels:null,_fillgradient:null,_zrange:null})}function u(){typeof s.calc=="function"?s.calc(e,o,n):(n._fillgradient=a.reversescale?PLt(a.colorscale):a.colorscale,n._zrange=[a[s.min],a[s.max]])}for(var c=0;c[Math.min(e[0]+t,e[1]),e[1]],h4e=(e,t)=>[e[0],Math.max(e[1]-t,e[0])];function OLt(e,t,r){var i=t.orientation==="v",n=t.len,a=t.lenmode,o=t.thickness,s=t.thicknessmode,l=t.outlinewidth,u=t.borderwidth,c=t.bgcolor,f=t.xanchor,h=t.yanchor,d=t.xpad,p=t.ypad,v=t.x,m=i?t.y:1-t.y,g=t.yref==="paper",w=t.xref==="paper",b=r._fullLayout,_=b._size,M=t._fillcolor,x=t._line,T=t.title,A=T.side,y=t._zrange||Yy.extent((typeof M=="function"?M:x.color).domain()),E=typeof x.color=="function"?x.color:function(){return x.color},S=typeof M=="function"?M:function(){return M},C=t._levels,k=ULt(r,t,y),D=k.fill,F=k.line,P=Math.round(o*(s==="fraction"?i?_.w:_.h:1)),R=P/(i?_.w:_.h),L=Math.round(n*(a==="fraction"?i?_.h:_.w:1)),I=L/(i?_.h:_.w),B=w?_.w:r._fullLayout.width,O=g?_.h:r._fullLayout.height,$=Math.round(i?v*B+d:m*O+p),Y={center:.5,right:1}[f]||0,K={top:1,middle:.5}[h]||0,j=i?v-Y*R:m-K*R,q=i?m-K*I:v-Y*I,J=Math.round(i?O*(1-q):B*q);t._lenFrac=I,t._thickFrac=R,t._uFrac=j,t._vFrac=q;var U=t._axis=VLt(r,t,y);U.position=R+(i?v+d/_.w:m+p/_.h);var V=["top","bottom"].indexOf(A)!==-1;if(i&&V&&(U.title.side=A,U.titlex=v+d/_.w,U.titley=q+(T.side==="top"?I-p/_.h:p/_.h)),!i&&!V&&(U.title.side=A,U.titley=m+p/_.h,U.titlex=q+d/_.w),x.color&&t.tickmode==="auto"){U.tickmode="linear",U.tick0=C.start;var X=C.size,H=Sd.constrain(L/50,4,15)+1,G=(y[1]-y[0])/((t.nticks||H)*X);if(G>1){var Q=Math.pow(10,Math.floor(Math.log(G)/Math.LN10));X*=Q*Sd.roundUp(G/Q,[2,5,10]),(Math.abs(C.start)/C.size+1e-6)%1<2e-6&&(U.tick0=0)}U.dtick=X}var te=i?p/_.h:d/_.w;U.domain=h4e(H$([q,q+I],te),te),U.setScale(),e.attr("transform",tv(Math.round(_.l),Math.round(_.t)));var ce=e.select("."+Fs.cbtitleunshift).attr("transform",tv(-Math.round(_.l),-Math.round(_.t))),ge=U.ticklabelposition,Ce=U.title.font.size,be=e.select("."+Fs.cbaxis),he,oe=0,Ee=0;function ye(re,pe){var we={propContainer:U,propName:t._propPrefix+"title.text",traceIndex:t._traceIndex,_meta:t._meta,placeholder:b._dfltTitle.colorbar,containerGroup:e.select("."+Fs.cbtitle)},Fe=re.charAt(0)==="h"?re.slice(1):"h"+re;e.selectAll("."+Fe+",."+Fe+"-math-group").remove(),FLt.draw(r,re,d4e(we,pe||{}))}function ue(){if(i&&V||!i&&!V){var re,pe;A==="top"&&(re=d+_.l+B*v,pe=p+_.t+O*(1-q-I)+3+Ce*.75),A==="bottom"&&(re=d+_.l+B*v,pe=p+_.t+O*(1-q)-3-Ce*.25),A==="right"&&(pe=p+_.t+O*m+3+Ce*.75,re=d+_.l+B*q),ye(U._id+"title",{attributes:{x:re,y:pe,"text-anchor":i?"start":"middle"}})}}function ee(){if(i&&!V||!i&&V){var re=U.position||0,pe=U._offset+U._length/2,we,Fe;if(A==="right")Fe=pe,we=_.l+B*re+10+Ce*(U.showticklabels?1:.5);else if(we=pe,A==="bottom"&&(Fe=_.t+O*re+10+(ge.indexOf("inside")===-1?U.tickfont.size:0)+(U.ticks!=="inside"&&t.ticklen||0)),A==="top"){var Se=T.text.split("
").length;Fe=_.t+O*re+10-P-u4e*Ce*Se}ye((i?"h":"v")+U._id+"title",{avoid:{selection:Yy.select(r).selectAll("g."+U._id+"tick"),side:A,offsetTop:i?0:_.t,offsetLeft:i?_.l:0,maxShift:i?b.width:b.height},attributes:{x:we,y:Fe,"text-anchor":"middle"},transform:{rotate:i?-90:0,offset:0}})}}function ae(){if(!i&&!V||i&&V){var re=e.select("."+Fs.cbtitle),pe=re.select("text"),we=[-l/2,l/2],Fe=re.select(".h"+U._id+"title-math-group").node(),Se=15.6;pe.node()&&(Se=parseInt(pe.node().style.fontSize,10)*u4e);var ke;if(Fe?(ke=ev.bBox(Fe),Ee=ke.width,oe=ke.height,oe>Se&&(we[1]-=(oe-Se)/2)):pe.node()&&!pe.classed(Fs.jsPlaceholder)&&(ke=ev.bBox(pe.node()),Ee=ke.width,oe=ke.height),i){if(oe){if(oe+=5,A==="top")U.domain=h4e(U.domain,oe/_.h),we[1]*=-1;else{U.domain=H$(U.domain,oe/_.h);var _e=LLt.lineCount(pe);we[1]+=(1-_e)*Se}re.attr("transform",tv(we[0],we[1])),U.setScale()}}else Ee&&(A==="right"&&(U.domain=H$(U.domain,(Ee+Ce/2)/_.w)),re.attr("transform",tv(we[0],we[1])),U.setScale())}e.selectAll("."+Fs.cbfills+",."+Fs.cblines).attr("transform",i?tv(0,Math.round(_.h*(1-U.domain[1]))):tv(Math.round(_.w*U.domain[0]),0)),be.attr("transform",i?tv(0,Math.round(-_.t)):tv(Math.round(-_.l),0));var Ie=e.select("."+Fs.cbfills).selectAll("rect."+Fs.cbfill).attr("style","").data(D);Ie.enter().append("rect").classed(Fs.cbfill,!0).attr("style",""),Ie.exit().remove();var Oe=y.map(U.c2p).map(Math.round).sort(function(vt,Xe){return vt-Xe});Ie.each(function(vt,Xe){var mt=[Xe===0?y[0]:(D[Xe]+D[Xe-1])/2,Xe===D.length-1?y[1]:(D[Xe]+D[Xe+1])/2].map(U.c2p).map(Math.round);i&&(mt[1]=Sd.constrain(mt[1]+(mt[1]>mt[0])?1:-1,Oe[0],Oe[1]));var bt=Yy.select(this).attr(i?"x":"y",$).attr(i?"y":"x",Yy.min(mt)).attr(i?"width":"height",Math.max(P,2)).attr(i?"height":"width",Math.max(Yy.max(mt)-Yy.min(mt),2));if(t._fillgradient)ev.gradient(bt,r,t._id,i?"vertical":"horizontalreversed",t._fillgradient,"fill");else{var Ne=S(vt).replace("e-","");bt.attr("fill",a5.hexString(Ne))}});var Qe=e.select("."+Fs.cblines).selectAll("path."+Fs.cbline).data(x.color&&x.width?F:[]);Qe.enter().append("path").classed(Fs.cbline,!0),Qe.exit().remove(),Qe.each(function(vt){var Xe=$,mt=Math.round(U.c2p(vt))+x.width/2%1;Yy.select(this).attr("d","M"+(i?Xe+","+mt:mt+","+Xe)+(i?"h":"v")+P).call(ev.lineGroupStyle,x.width,E(vt),x.dash)}),be.selectAll("g."+U._id+"tick,path").remove();var et=$+P+(l||0)/2-(t.ticks==="outside"?1:0),_t=Hg.calcTicks(U),ut=Hg.getTickSigns(U)[2];return Hg.drawTicks(r,U,{vals:U.ticks==="inside"?Hg.clipEnds(U,_t):_t,layer:be,path:Hg.makeTickPath(U,et,ut),transFn:Hg.makeTransTickFn(U)}),Hg.drawLabels(r,U,{vals:_t,layer:be,transFn:Hg.makeTransTickLabelFn(U),labelFns:Hg.makeLabelFns(U,et)})}function xe(){var re,pe=P+l/2;ge.indexOf("inside")===-1&&(re=ev.bBox(be.node()),pe+=i?re.width:re.height),he=ce.select("text");var we=0,Fe=i&&A==="top",Se=!i&&A==="right",ke=0;if(he.node()&&!he.classed(Fs.jsPlaceholder)){var _e,Ie=ce.select(".h"+U._id+"title-math-group").node();Ie&&(i&&V||!i&&!V)?(re=ev.bBox(Ie),we=re.width,_e=re.height):(re=ev.bBox(ce.node()),we=re.right-_.l-(i?$:J),_e=re.bottom-_.t-(i?J:$),!i&&A==="top"&&(pe+=re.height,ke=re.height)),Se&&(he.attr("transform",tv(we/2+Ce/2,0)),we*=2),pe=Math.max(pe,i?we:_e)}var Oe=(i?d:p)*2+pe+u+l/2,Qe=0;!i&&T.text&&h==="bottom"&&m<=0&&(Qe=Oe/2,Oe+=Qe,ke+=Qe),b._hColorbarMoveTitle=Qe,b._hColorbarMoveCBTitle=ke;var et=u+l,_t=(i?$:J)-et/2-(i?d:0),ut=(i?J:$)-(i?L:p+ke-Qe);e.select("."+Fs.cbbg).attr("x",_t).attr("y",ut).attr(i?"width":"height",Math.max(Oe-Qe,2)).attr(i?"height":"width",Math.max(L+et,2)).call(a5.fill,c).call(a5.stroke,t.bordercolor).style("stroke-width",u);var vt=Se?Math.max(we-10,0):0;e.selectAll("."+Fs.cboutline).attr("x",(i?$:J+d)+vt).attr("y",(i?J+p-L:$)+(Fe?oe:0)).attr(i?"width":"height",Math.max(P,2)).attr(i?"height":"width",Math.max(L-(i?2*p+oe:2*d+vt),2)).call(a5.stroke,t.outlinecolor).style({fill:"none","stroke-width":l});var Xe=i?Y*Oe:0,mt=i?0:(1-K)*Oe-ke;if(Xe=w?_.l-Xe:-Xe,mt=g?_.t-mt:-mt,e.attr("transform",tv(Xe,mt)),!i&&(u||a5.opacity(c)&&!a5.equals(b.paper_bgcolor,c))){var bt=be.selectAll("text"),Ne=bt[0].length,Ue=e.select("."+Fs.cbbg).node(),Ge=ev.bBox(Ue),je=ev.getTranslate(e),Re=2;bt.each(function(kr,$e){var tt=0,st=Ne-1;if($e===tt||$e===st){var xt=ev.bBox(this),Je=ev.getTranslate(this),Ct;if($e===st){var ir=xt.right+Je.x,hr=Ge.right+je.x+J-u-Re+v;Ct=hr-ir,Ct>0&&(Ct=0)}else if($e===tt){var Ur=xt.left+Je.x,si=Ge.left+je.x+J+u+Re;Ct=si-Ur,Ct<0&&(Ct=0)}Ct&&(Ne<3?this.setAttribute("transform","translate("+Ct+",0) "+this.getAttribute("transform")):this.setAttribute("visibility","hidden"))}})}var Ve={},ct=c4e[f],Tt=f4e[f],Xt=c4e[h],Vt=f4e[h],lr=Oe-P;i?(a==="pixels"?(Ve.y=m,Ve.t=L*Xt,Ve.b=L*Vt):(Ve.t=Ve.b=0,Ve.yt=m+n*Xt,Ve.yb=m-n*Vt),s==="pixels"?(Ve.x=v,Ve.l=Oe*ct,Ve.r=Oe*Tt):(Ve.l=lr*ct,Ve.r=lr*Tt,Ve.xl=v-o*ct,Ve.xr=v+o*Tt)):(a==="pixels"?(Ve.x=v,Ve.l=L*ct,Ve.r=L*Tt):(Ve.l=Ve.r=0,Ve.xl=v+n*ct,Ve.xr=v-n*Tt),s==="pixels"?(Ve.y=1-m,Ve.t=Oe*Xt,Ve.b=Oe*Vt):(Ve.t=lr*Xt,Ve.b=lr*Vt,Ve.yt=m-o*Xt,Ve.yb=m+o*Vt));var ur=t.y<.5?"b":"t",Bt=t.x<.5?"l":"r";r._fullLayout._reservedMargin[t._id]={};var Zt={r:b.width-_t-Xe,l:_t+Ve.r,b:b.height-ut-mt,t:ut+Ve.b};w&&g?JF.autoMargin(r,t._id,Ve):w?r._fullLayout._reservedMargin[t._id][ur]=Zt[ur]:g||i?r._fullLayout._reservedMargin[t._id][Bt]=Zt[Bt]:r._fullLayout._reservedMargin[t._id][ur]=Zt[ur]}return Sd.syncOrAsync([JF.previousPromises,ue,ae,ee,JF.previousPromises,xe],r)}function NLt(e,t,r){var i=t.orientation==="v",n=r._fullLayout,a=n._size,o,s,l;KF.init({element:e.node(),gd:r,prepFn:function(){o=e.attr("transform"),G$(e)},moveFn:function(u,c){e.attr("transform",o+tv(u,c)),s=KF.align((i?t._uFrac:t._vFrac)+u/a.w,i?t._thickFrac:t._lenFrac,0,1,t.xanchor),l=KF.align((i?t._vFrac:1-t._uFrac)-c/a.h,i?t._lenFrac:t._thickFrac,0,1,t.yanchor);var f=KF.getCursor(s,l,t.xanchor,t.yanchor);G$(e,f)},doneFn:function(){if(G$(e),s!==void 0&&l!==void 0){var u={};u[t._propPrefix+"x"]=s,u[t._propPrefix+"y"]=l,t._traceIndex!==void 0?l4e.call("_guiRestyle",r,u,t._traceIndex):l4e.call("_guiRelayout",r,u)}}})}function ULt(e,t,r){var i=t._levels,n=[],a=[],o,s,l=i.end+i.size/100,u=i.size,c=1.001*r[0]-.001*r[1],f=1.001*r[1]-.001*r[0];for(s=0;s<1e5&&(o=i.start+s*u,!(u>0?o>=l:o<=l));s++)o>c&&o0?o>=l:o<=l));s++)o>r[0]&&o{"use strict";g4e.exports={moduleType:"component",name:"colorbar",attributes:yD(),supplyDefaults:JV(),draw:v4e().draw,hasColorbar:jV()}});var x4e=W((JRr,y4e)=>{"use strict";y4e.exports={moduleType:"component",name:"legend",layoutAttributes:$G(),supplyLayoutDefaults:YG(),draw:lH(),style:nH()}});var b4e=W((QRr,_4e)=>{"use strict";_4e.exports={moduleType:"locale",name:"en",dictionary:{"Click to enter Colorscale title":"Click to enter Colourscale title"},format:{days:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],shortDays:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],months:["January","February","March","April","May","June","July","August","September","October","November","December"],shortMonths:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"],periods:["AM","PM"],dateTime:"%a %b %e %X %Y",date:"%d/%m/%Y",time:"%H:%M:%S",decimal:".",thousands:",",grouping:[3],currency:["$",""],year:"%Y",month:"%b %Y",dayMonth:"%b %-d",dayMonthYear:"%b %-d, %Y"}}});var T4e=W((ezr,w4e)=>{"use strict";w4e.exports={moduleType:"locale",name:"en-US",dictionary:{"Click to enter Colorscale title":"Click to enter Colorscale title"},format:{date:"%m/%d/%Y"}}});var W$=W((tzr,E4e)=>{"use strict";var GLt=yi(),S4e=it(),$$=S4e.extendFlat,A4e=S4e.extendDeep;function M4e(e){var t;switch(e){case"themes__thumb":t={autosize:!0,width:150,height:150,title:{text:""},showlegend:!1,margin:{l:5,r:5,t:5,b:5,pad:0},annotations:[]};break;case"thumbnail":t={title:{text:""},showlegend:!1,borderwidth:0,bordercolor:"",margin:{l:1,r:1,t:1,b:1,pad:0},annotations:[]};break;default:t={}}return t}function HLt(e){var t=["xaxis","yaxis","zaxis"];return t.indexOf(e.slice(0,5))>-1}E4e.exports=function(t,r){var i,n=t.data,a=t.layout,o=A4e([],n),s=A4e({},a,M4e(r.tileClass)),l=t._context||{};if(r.width&&(s.width=r.width),r.height&&(s.height=r.height),r.tileClass==="thumbnail"||r.tileClass==="themes__thumb"){s.annotations=[];var u=Object.keys(s);for(i=0;i{"use strict";var jLt=Vx().EventEmitter,$Lt=yi(),WLt=it(),k4e=Ng(),YLt=W$(),XLt=iF(),ZLt=nF();function KLt(e,t){var r=new jLt,i=YLt(e,{format:"png"}),n=i.gd;n.style.position="absolute",n.style.left="-5000px",document.body.appendChild(n);function a(){var s=k4e.getDelay(n._fullLayout);setTimeout(function(){var l=XLt(n),u=document.createElement("canvas");u.id=WLt.randstr(),r=ZLt({format:t.format,width:n._fullLayout.width,height:n._fullLayout.height,canvas:u,emitter:r,svg:l}),r.clean=function(){n&&document.body.removeChild(n)}},s)}var o=k4e.getRedrawFunc(n);return $Lt.call("_doPlot",n,i.data,i.layout,i.config).then(o).then(a).catch(function(s){r.emit("error",s)}),r}C4e.exports=KLt});var P4e=W((izr,L4e)=>{"use strict";var F4e=Ng(),JLt={getDelay:F4e.getDelay,getRedrawFunc:F4e.getRedrawFunc,clone:W$(),toSVG:iF(),svgToImg:nF(),toImage:D4e(),downloadImage:Ej()};L4e.exports=JLt});var R4e=W(jg=>{"use strict";jg.version=E6().version;Yse();z0e();var QLt=yi(),CM=jg.register=QLt.register,X$=e_e(),I4e=Object.keys(X$);for(QF=0;QF{"use strict";z4e.exports=R4e()});var w1=W((ozr,V4e)=>{"use strict";var il=Ns(),q4e=_s().axisHoverFormat,{hovertemplateAttrs:e9t,texttemplateAttrs:t9t,templatefallbackAttrs:O4e}=Ga(),U4e=Eo(),r9t=Ho(),N4e=Uy(),i9t=Du().pattern,F_=tn().extendFlat,Z$=r9t({editType:"calc",arrayOk:!0,colorEditType:"style"}),n9t=il.marker,a9t=n9t.line,o9t=F_({},a9t.width,{dflt:0}),s9t=F_({width:o9t,editType:"calc"},U4e("marker.line")),l9t=F_({line:s9t,editType:"calc"},U4e("marker"),{opacity:{valType:"number",arrayOk:!0,dflt:1,min:0,max:1,editType:"style"},pattern:i9t,cornerradius:{valType:"any",editType:"calc"}});V4e.exports={x:il.x,x0:il.x0,dx:il.dx,y:il.y,y0:il.y0,dy:il.dy,xperiod:il.xperiod,yperiod:il.yperiod,xperiod0:il.xperiod0,yperiod0:il.yperiod0,xperiodalignment:il.xperiodalignment,yperiodalignment:il.yperiodalignment,xhoverformat:q4e("x"),yhoverformat:q4e("y"),text:il.text,texttemplate:t9t({editType:"plot"},{keys:N4e.eventDataKeys}),texttemplatefallback:O4e({editType:"plot"}),hovertext:il.hovertext,hovertemplate:e9t({},{keys:N4e.eventDataKeys}),hovertemplatefallback:O4e(),textposition:{valType:"enumerated",values:["inside","outside","auto","none"],dflt:"auto",arrayOk:!0,editType:"calc"},insidetextanchor:{valType:"enumerated",values:["end","middle","start"],dflt:"end",editType:"plot"},textangle:{valType:"angle",dflt:"auto",editType:"plot"},textfont:F_({},Z$,{}),insidetextfont:F_({},Z$,{}),outsidetextfont:F_({},Z$,{}),constraintext:{valType:"enumerated",values:["inside","outside","both","none"],dflt:"both",editType:"calc"},cliponaxis:F_({},il.cliponaxis,{}),orientation:{valType:"enumerated",values:["v","h"],editType:"calc+clearAxisTypes"},base:{valType:"any",dflt:null,arrayOk:!0,editType:"calc"},offset:{valType:"number",dflt:null,arrayOk:!0,editType:"calc"},width:{valType:"number",dflt:null,min:0,arrayOk:!0,editType:"calc"},marker:l9t,offsetgroup:il.offsetgroup,alignmentgroup:il.alignmentgroup,selected:{marker:{opacity:il.selected.marker.opacity,color:il.selected.marker.color,editType:"style"},textfont:il.selected.textfont,editType:"style"},unselected:{marker:{opacity:il.unselected.marker.opacity,color:il.unselected.marker.color,editType:"style"},textfont:il.unselected.textfont,editType:"style"},zorder:il.zorder}});var tL=W((szr,G4e)=>{"use strict";G4e.exports={barmode:{valType:"enumerated",values:["stack","group","overlay","relative"],dflt:"group",editType:"calc"},barnorm:{valType:"enumerated",values:["","fraction","percent"],dflt:"",editType:"calc"},bargap:{valType:"number",min:0,max:1,editType:"calc"},bargroupgap:{valType:"number",min:0,max:1,dflt:0,editType:"calc"},barcornerradius:{valType:"any",editType:"calc"}}});var rL=W((lzr,$4e)=>{"use strict";var u9t=ni(),H4e=bc().hasColorscale,j4e=Fu(),c9t=it().coercePattern;$4e.exports=function(t,r,i,n,a){var o=i("marker.color",n),s=H4e(t,"marker");s&&j4e(t,r,a,i,{prefix:"marker.",cLetter:"c"}),i("marker.line.color",u9t.defaultLine),H4e(t,"marker.line")&&j4e(t,r,a,i,{prefix:"marker.line.",cLetter:"c"}),i("marker.line.width"),i("marker.opacity"),c9t(i,"marker.pattern",o,s),i("selected.marker.color"),i("unselected.marker.color")}});var E0=W((uzr,J4e)=>{"use strict";var W4e=sn(),s5=it(),Y4e=ni(),f9t=yi(),h9t=x_(),d9t=Hp(),p9t=rL(),v9t=__(),X4e=w1(),iL=s5.coerceFont;function g9t(e,t,r,i){function n(u,c){return s5.coerce(e,t,X4e,u,c)}var a=h9t(e,t,i,n);if(!a){t.visible=!1;return}d9t(e,t,i,n),n("xhoverformat"),n("yhoverformat"),n("zorder"),n("orientation",t.x&&!t.y?"h":"v"),n("base"),n("offset"),n("width"),n("text"),n("hovertext"),n("hovertemplate"),n("hovertemplatefallback");var o=n("textposition");K4e(e,t,i,n,o,{moduleHasSelected:!0,moduleHasUnselected:!0,moduleHasConstrain:!0,moduleHasCliponaxis:!0,moduleHasTextangle:!0,moduleHasInsideanchor:!0}),p9t(e,t,n,r,i);var s=(t.marker.line||{}).color,l=f9t.getComponentMethod("errorbars","supplyDefaults");l(e,t,s||Y4e.defaultLine,{axis:"y"}),l(e,t,s||Y4e.defaultLine,{axis:"x",inherit:"y"}),s5.coerceSelectionMarkerOpacity(t,n)}function m9t(e,t){var r,i;function n(s,l){return s5.coerce(i._input,i,X4e,s,l)}for(var a=0;a=0)return e}else if(typeof e=="string"&&(e=e.trim(),e.slice(-1)==="%"&&W4e(e.slice(0,-1))&&(e=+e.slice(0,-1),e>=0)))return e+"%"}function K4e(e,t,r,i,n,a){a=a||{};var o=a.moduleHasSelected!==!1,s=a.moduleHasUnselected!==!1,l=a.moduleHasConstrain!==!1,u=a.moduleHasCliponaxis!==!1,c=a.moduleHasTextangle!==!1,f=a.moduleHasInsideanchor!==!1,h=!!a.hasPathbar,d=Array.isArray(n)||n==="auto",p=d||n==="inside",v=d||n==="outside";if(p||v){var m=iL(i,"textfont",r.font),g=s5.extendFlat({},m),w=e.textfont&&e.textfont.color,b=!w;if(b&&delete g.color,iL(i,"insidetextfont",g),h){var _=s5.extendFlat({},m);b&&delete _.color,iL(i,"pathbar.textfont",_)}v&&iL(i,"outsidetextfont",m),o&&i("selected.textfont.color"),s&&i("unselected.textfont.color"),l&&i("constraintext"),u&&i("cliponaxis"),c&&i("textangle"),i("texttemplate"),i("texttemplatefallback")}p&&f&&i("insidetextanchor")}J4e.exports={supplyDefaults:g9t,crossTraceDefaults:m9t,handleText:K4e,validateCornerradius:Z4e}});var K$=W((czr,Q4e)=>{"use strict";var y9t=yi(),x9t=ji(),_9t=it(),b9t=tL(),w9t=E0().validateCornerradius;Q4e.exports=function(e,t,r){function i(v,m){return _9t.coerce(e,t,b9t,v,m)}for(var n=!1,a=!1,o=!1,s={},l=i("barmode"),u=l==="group",c=0;c0&&!s[h]&&(o=!0),s[h]=!0),f.visible&&f.type==="histogram"){var d=x9t.getFromId({_fullLayout:t},f[f.orientation==="v"?"xaxis":"yaxis"]);d.type!=="category"&&(a=!0)}}if(!n){delete t.barmode;return}l!=="overlay"&&i("barnorm"),i("bargap",a&&!o?0:.2),i("bargroupgap");var p=i("barcornerradius");t.barcornerradius=w9t(p)}});var DM=W((fzr,eTe)=>{"use strict";var l5=it();eTe.exports=function(t,r){for(var i=0;i{"use strict";var tTe=ji(),rTe=Wp(),iTe=bc().hasColorscale,nTe=Zc(),T9t=DM(),A9t=w0();aTe.exports=function(t,r){var i=tTe.getFromId(t,r.xaxis||"x"),n=tTe.getFromId(t,r.yaxis||"y"),a,o,s,l,u,c,f={msUTC:!!(r.base||r.base===0)};r.orientation==="h"?(a=i.makeCalcdata(r,"x",f),s=n.makeCalcdata(r,"y"),l=rTe(r,n,"y",s),u=!!r.yperiodalignment,c="y"):(a=n.makeCalcdata(r,"y",f),s=i.makeCalcdata(r,"x"),l=rTe(r,i,"x",s),u=!!r.xperiodalignment,c="x"),o=l.vals;for(var h=Math.min(o.length,a.length),d=new Array(h),p=0;p{"use strict";var M9t=vi(),S9t=it();function E9t(e,t,r){var i=e._fullLayout,n=i["_"+r+"Text_minsize"];if(n){var a=i.uniformtext.mode==="hide",o;switch(r){case"funnelarea":case"pie":case"sunburst":o="g.slice";break;case"treemap":case"icicle":o="g.slice, g.pathbar";break;default:o="g.points > g.point"}t.selectAll(o).each(function(s){var l=s.transform;if(l){l.scale=a&&l.hide?0:n/l.fontSize;var u=M9t.select(this).select("text");S9t.setTransormAndDisplay(u,l)}})}}function k9t(e,t,r){if(r.uniformtext.mode){var i=sTe(e),n=r.uniformtext.minsize,a=t.scale*t.fontSize;t.hide=a{"use strict";var D9t=ni(),F9t=sn(),uTe=it().isArrayOrTypedArray;L_.coerceString=function(e,t,r){if(typeof t=="string"){if(t||!e.noBlank)return t}else if((typeof t=="number"||t===!0)&&!e.strict)return String(t);return r!==void 0?r:e.dflt};L_.coerceNumber=function(e,t,r){if(F9t(t)){t=+t;var i=e.min,n=e.max,a=i!==void 0&&tn;if(!a)return t}return r!==void 0?r:e.dflt};L_.coerceColor=function(e,t,r){return D9t.isValid(t)?t:r!==void 0?r:e.dflt};L_.coerceEnumerated=function(e,t,r){return e.coerceNumber&&(t=+t),e.values.indexOf(t)!==-1?t:r!==void 0?r:e.dflt};L_.getValue=function(e,t){var r;return uTe(e)?t{"use strict";var FM=vi(),L9t=ni(),LM=Ji(),cTe=it(),fTe=yi(),hTe=Qc().resizeText,J$=w1(),P9t=J$.textfont,I9t=J$.insidetextfont,R9t=J$.outsidetextfont,Mc=nL();function z9t(e){var t=FM.select(e).selectAll('g[class^="barlayer"]').selectAll("g.trace");hTe(e,t,"bar");var r=t.size(),i=e._fullLayout;t.style("opacity",function(n){return n[0].trace.opacity}).each(function(n){(i.barmode==="stack"&&r>1||i.bargap===0&&i.bargroupgap===0&&!n[0].trace.marker.line.width)&&FM.select(this).attr("shape-rendering","crispEdges")}),t.selectAll("g.points").each(function(n){var a=FM.select(this),o=n[0].trace;dTe(a,o,e)}),fTe.getComponentMethod("errorbars","style")(t)}function dTe(e,t,r){LM.pointStyle(e.selectAll("path"),t,r),pTe(e,t,r)}function pTe(e,t,r){e.selectAll("text").each(function(i){var n=FM.select(this),a=cTe.ensureUniformFontSize(r,vTe(n,i,t,r));LM.font(n,a)})}function B9t(e,t,r){var i=t[0].trace;i.selectedpoints?q9t(r,i,e):(dTe(r,i,e),fTe.getComponentMethod("errorbars","style")(r))}function q9t(e,t,r){LM.selectedPointStyle(e.selectAll("path"),t),O9t(e.selectAll("text"),t,r)}function O9t(e,t,r){e.each(function(i){var n=FM.select(this),a;if(i.selected){a=cTe.ensureUniformFontSize(r,vTe(n,i,t,r));var o=t.selected.textfont&&t.selected.textfont.color;o&&(a.color=o),LM.font(n,a)}else LM.selectedTextStyle(n,t)})}function vTe(e,t,r,i){var n=i._fullLayout.font,a=r.textfont;if(e.classed("bartext-inside")){var o=xTe(t,r);a=mTe(r,t.i,n,o)}else e.classed("bartext-outside")&&(a=yTe(r,t.i,n));return a}function gTe(e,t,r){return Q$(P9t,e.textfont,t,r)}function mTe(e,t,r,i){var n=gTe(e,t,r),a=e._input.textfont===void 0||e._input.textfont.color===void 0||Array.isArray(e.textfont.color)&&e.textfont.color[t]===void 0;return a&&(n={color:L9t.contrast(i),family:n.family,size:n.size,weight:n.weight,style:n.style,variant:n.variant,textcase:n.textcase,lineposition:n.lineposition,shadow:n.shadow}),Q$(I9t,e.insidetextfont,t,n)}function yTe(e,t,r){var i=gTe(e,t,r);return Q$(R9t,e.outsidetextfont,t,i)}function Q$(e,t,r,i){t=t||{};var n=Mc.getValue(t.family,r),a=Mc.getValue(t.size,r),o=Mc.getValue(t.color,r),s=Mc.getValue(t.weight,r),l=Mc.getValue(t.style,r),u=Mc.getValue(t.variant,r),c=Mc.getValue(t.textcase,r),f=Mc.getValue(t.lineposition,r),h=Mc.getValue(t.shadow,r);return{family:Mc.coerceString(e.family,n,i.family),size:Mc.coerceNumber(e.size,a,i.size),color:Mc.coerceColor(e.color,o,i.color),weight:Mc.coerceString(e.weight,s,i.weight),style:Mc.coerceString(e.style,l,i.style),variant:Mc.coerceString(e.variant,u,i.variant),textcase:Mc.coerceString(e.variant,c,i.textcase),lineposition:Mc.coerceString(e.variant,f,i.lineposition),shadow:Mc.coerceString(e.variant,h,i.shadow)}}function xTe(e,t){return t.type==="waterfall"?t[e.dir].marker.color:e.mcc||e.mc||t.marker.color}_Te.exports={style:z9t,styleTextPoints:pTe,styleOnSelect:B9t,getInsideTextFont:mTe,getOutsideTextFont:yTe,getBarColor:xTe,resizeText:hTe}});var I_=W((gzr,kTe)=>{"use strict";var aL=vi(),oL=sn(),rc=it(),N9t=uo(),U9t=ni(),Xy=Ji(),V9t=yi(),sL=ji().tickText,bTe=Qc(),G9t=bTe.recordMinTextSize,H9t=bTe.clearMinTextSize,eW=Ed(),u5=nL(),j9t=Uy(),wTe=w1(),$9t=wTe.text,W9t=wTe.textposition,Y9t=Kf().appendArrayPointValue,Ef=j9t.TEXTPAD;function X9t(e){return e.id}function Z9t(e){if(e.ids)return X9t}function tW(e){return(e>0)-(e<0)}function rv(e,t){return e0}function J9t(e,t,r,i,n,a){var o=t.xaxis,s=t.yaxis,l=e._fullLayout,u=e._context.staticPlot;n||(n={mode:l.barmode,norm:l.barmode,gap:l.bargap,groupgap:l.bargroupgap},H9t("bar",l));var c=rc.makeTraceGroups(i,r,"trace bars").each(function(f){var h=aL.select(this),d=f[0].trace,p=f[0].t,v=d.type==="waterfall",m=d.type==="funnel",g=d.type==="histogram",w=d.type==="bar",b=w||m,_=0;v&&d.connector.visible&&d.connector.mode==="between"&&(_=d.connector.line.width/2);var M=d.orientation==="h",x=ATe(n),T=rc.ensureSingle(h,"g","points"),A=Z9t(d),y=T.selectAll("g.point").data(rc.identity,A);y.enter().append("g").classed("point",!0),y.exit().remove(),y.each(function(S,C){var k=aL.select(this),D=K9t(S,o,s,M),F=D[0][0],P=D[0][1],R=D[1][0],L=D[1][1],I=(M?P-F:L-R)===0;I&&b&&u5.getLineWidth(d,S)&&(I=!1),I||(I=!oL(F)||!oL(P)||!oL(R)||!oL(L)),S.isBlank=I,I&&(M?P=F:L=R),_&&!I&&(M?(F-=rv(F,P)*_,P+=rv(F,P)*_):(R-=rv(R,L)*_,L+=rv(R,L)*_));var B,O;if(d.type==="waterfall"){if(!I){var $=d[S.dir].marker;B=$.line.width,O=$.color}}else B=u5.getLineWidth(d,S),O=S.mc||d.marker.color;function Y(re){var pe=aL.round(B/2%1,2);return n.gap===0&&n.groupgap===0?aL.round(Math.round(re)-pe,2):re}function K(re,pe,we){return we&&re===pe?re:Math.abs(re-pe)>=2?Y(re):re>pe?Math.ceil(re):Math.floor(re)}var j=U9t.opacity(O),q=j<1||B>.01?Y:K;e._context.staticPlot||(F=q(F,P,M),P=q(P,F,M),R=q(R,L,!M),L=q(L,R,!M));var J=M?o.c2p:s.c2p,U;S.s0>0?U=S._sMax:S.s0<0?U=S._sMin:U=S.s1>0?S._sMax:S._sMin;function V(re,pe){if(!re)return 0;var we=Math.abs(M?L-R:P-F),Fe=Math.abs(M?P-F:L-R),Se=q(Math.abs(J(U,!0)-J(0,!0))),ke=S.hasB?Math.min(we/2,Fe/2):Math.min(we/2,Se),_e;if(pe==="%"){var Ie=Math.min(50,re);_e=we*(Ie/100)}else _e=re;return q(Math.max(Math.min(_e,ke),0))}var X=w||g?V(p.cornerradiusvalue,p.cornerradiusform):0,H,G,Q="M"+F+","+R+"V"+L+"H"+P+"V"+R+"Z",te=0;if(X&&S.s){var ce=tW(S.s0)===0||tW(S.s)===tW(S.s0)?S.s1:S.s0;if(te=q(S.hasB?0:Math.abs(J(U,!0)-J(ce,!0))),te0?Math.sqrt(te*(2*X-te)):0,Ee=ge>0?Math.max:Math.min;H="M"+F+","+R+"V"+(L-he*Ce)+"H"+Ee(P-(X-te)*ge,F)+"A "+X+","+X+" 0 0 "+be+" "+P+","+(L-X*Ce-oe)+"V"+(R+X*Ce+oe)+"A "+X+","+X+" 0 0 "+be+" "+Ee(P-(X-te)*ge,F)+","+(R+he*Ce)+"Z"}else if(S.hasB)H="M"+(F+X*ge)+","+R+"A "+X+","+X+" 0 0 "+be+" "+F+","+(R+X*Ce)+"V"+(L-X*Ce)+"A "+X+","+X+" 0 0 "+be+" "+(F+X*ge)+","+L+"H"+(P-X*ge)+"A "+X+","+X+" 0 0 "+be+" "+P+","+(L-X*Ce)+"V"+(R+X*Ce)+"A "+X+","+X+" 0 0 "+be+" "+(P-X*ge)+","+R+"Z";else{G=Math.abs(L-R)+te;var ye=G0?Math.sqrt(te*(2*X-te)):0,ee=Ce>0?Math.max:Math.min;H="M"+(F+ye*ge)+","+R+"V"+ee(L-(X-te)*Ce,R)+"A "+X+","+X+" 0 0 "+be+" "+(F+X*ge-ue)+","+L+"H"+(P-X*ge+ue)+"A "+X+","+X+" 0 0 "+be+" "+(P-ye*ge)+","+ee(L-(X-te)*Ce,R)+"V"+R+"Z"}}else H=Q}else H=Q;var ae=TTe(rc.ensureSingle(k,"path"),l,n,a);if(ae.style("vector-effect",u?"none":"non-scaling-stroke").attr("d",isNaN((P-F)*(L-R))||I&&e._context.staticPlot?"M0,0Z":H).call(Xy.setClipUrl,t.layerClipId,e),!l.uniformtext.mode&&x){var xe=Xy.makePointStyleFns(d);Xy.singlePointStyle(S,ae,d,xe,e)}Q9t(e,t,k,f,C,F,P,R,L,X,te,n,a),t.layerClipId&&Xy.hideOutsideRangePoint(S,k.select("text"),o,s,d.xcalendar,d.ycalendar)});var E=d.cliponaxis===!1;Xy.setClipUrl(h,E?null:t.layerClipId,e)});V9t.getComponentMethod("errorbars","plot")(e,c,t,n)}function Q9t(e,t,r,i,n,a,o,s,l,u,c,f,h){var d=t.xaxis,p=t.yaxis,v=e._fullLayout,m;function g(Q,te,ce){var ge=rc.ensureSingle(Q,"text").text(te).attr({class:"bartext bartext-"+m,"text-anchor":"middle","data-notex":1}).call(Xy.font,ce).call(N9t.convertToTspans,e);return ge}var w=i[0].trace,b=w.orientation==="h",_=nPt(i,b,d,p),M=rPt(v,i,n,d,p);m=iPt(w,n);var x=f.mode==="stack"||f.mode==="relative",T=i[n],A=!x||T._outmost,y=T.hasB,E=u&&u-c>Ef;if(!M||m==="none"||(T.isBlank||a===o||s===l)&&(m==="auto"||m==="inside")){r.select("text").remove();return}var S=v.font,C=eW.getBarColor(i[n],w),k=eW.getInsideTextFont(w,n,S,C),D=eW.getOutsideTextFont(w,n,S),F=w.insidetextanchor||"end",P=r.datum();b?d.type==="log"&&P.s0<=0&&(d.range[0]0&&K>0,J;E?y?J=P_(I-2*u,B,Y,K,b)||P_(I,B-2*u,Y,K,b):b?J=P_(I-(u-c),B,Y,K,b)||P_(I,B-2*(u-c),Y,K,b):J=P_(I,B-(u-c),Y,K,b)||P_(I-2*(u-c),B,Y,K,b):J=P_(I,B,Y,K,b),q&&J?m="inside":(m="outside",O.remove(),O=null)}else m="inside";if(!O){j=rc.ensureUniformFontSize(e,m==="outside"?D:k),O=g(r,M,j);var U=O.attr("transform");if(O.attr("transform",""),$=Xy.bBox(O.node()),Y=$.width,K=$.height,O.attr("transform",U),Y<=0||K<=0){O.remove();return}}var V=w.textangle,X,H;m==="outside"?(H=w.constraintext==="both"||w.constraintext==="outside",X=tPt(a,o,s,l,$,{isHorizontal:b,constrained:H,angle:V,zeroBarDir:_})):(H=w.constraintext==="both"||w.constraintext==="inside",X=ETe(a,o,s,l,$,{isHorizontal:b,constrained:H,angle:V,anchor:F,hasB:y,r:u,overhead:c})),X.fontSize=j.size,G9t(w.type==="histogram"?"bar":w.type,X,v),T.transform=X;var G=TTe(O,v,f,h);rc.setTransormAndDisplay(G,X)}function P_(e,t,r,i,n){if(e<0||t<0)return!1;var a=r<=e&&i<=t,o=r<=t&&i<=e,s=n?e>=r*(t/i):t>=i*(e/r);return a||o||s}function MTe(e){return e==="auto"?0:e}function STe(e,t){var r=Math.PI/180*t,i=Math.abs(Math.sin(r)),n=Math.abs(Math.cos(r));return{x:e.width*n+e.height*i,y:e.width*i+e.height*n}}function ETe(e,t,r,i,n,a){var o=!!a.isHorizontal,s=!!a.constrained,l=a.angle||0,u=a.anchor,c=u==="end",f=u==="start",h=a.leftToRight||0,d=(h+1)/2,p=1-d,v=a.hasB,m=a.r,g=a.overhead,w=n.width,b=n.height,_=Math.abs(t-e),M=Math.abs(i-r),x=_>2*Ef&&M>2*Ef?Ef:0;_-=2*x,M-=2*x;var T=MTe(l);l==="auto"&&!(w<=_&&b<=M)&&(w>_||b>M)&&(!(w>M||b>_)||wEf){var S=ePt(e,t,r,i,A,m,g,o,v);y=S.scale,E=S.pad}else y=1,s&&(y=Math.min(1,_/A.x,M/A.y)),E=0;var C=n.left*p+n.right*d,k=(n.top+n.bottom)/2,D=(e+Ef)*p+(t-Ef)*d,F=(r+i)/2,P=0,R=0;if(f||c){var L=(o?A.x:A.y)/2;m&&(c||v)&&(x+=E);var I=o?rv(e,t):rv(r,i);o?f?(D=e+I*x,P=-I*L):(D=t-I*x,P=I*L):f?(F=r+I*x,R=-I*L):(F=i-I*x,R=I*L)}return{textX:C,textY:k,targetX:D,targetY:F,anchorX:P,anchorY:R,scale:y,rotate:T}}function ePt(e,t,r,i,n,a,o,s,l){var u=Math.max(0,Math.abs(t-e)-2*Ef),c=Math.max(0,Math.abs(i-r)-2*Ef),f=a-Ef,h=o?f-Math.sqrt(f*f-(f-o)*(f-o)):f,d=l?f*2:s?f-o:2*h,p=l?f*2:s?2*h:f-o,v,m,g,w,b;return n.y/n.x>=c/(u-d)?w=c/n.y:n.y/n.x<=(c-p)/u?w=u/n.x:!l&&s?(v=n.x*n.x+n.y*n.y/4,m=-2*n.x*(u-f)-n.y*(c/2-f),g=(u-f)*(u-f)+(c/2-f)*(c/2-f)-f*f,w=(-m+Math.sqrt(m*m-4*v*g))/(2*v)):l?(v=(n.x*n.x+n.y*n.y)/4,m=-n.x*(u/2-f)-n.y*(c/2-f),g=(u/2-f)*(u/2-f)+(c/2-f)*(c/2-f)-f*f,w=(-m+Math.sqrt(m*m-4*v*g))/(2*v)):(v=n.x*n.x/4+n.y*n.y,m=-n.x*(u/2-f)-2*n.y*(c-f),g=(u/2-f)*(u/2-f)+(c-f)*(c-f)-f*f,w=(-m+Math.sqrt(m*m-4*v*g))/(2*v)),w=Math.min(1,w),s?b=Math.max(0,f-Math.sqrt(Math.max(0,f*f-(f-(c-n.y*w)/2)*(f-(c-n.y*w)/2)))-o):b=Math.max(0,f-Math.sqrt(Math.max(0,f*f-(f-(u-n.x*w)/2)*(f-(u-n.x*w)/2)))-o),{scale:w,pad:b}}function tPt(e,t,r,i,n,a){var o=!!a.isHorizontal,s=!!a.constrained,l=a.angle||0,u=n.width,c=n.height,f=Math.abs(t-e),h=Math.abs(i-r),d;o?d=h>2*Ef?Ef:0:d=f>2*Ef?Ef:0;var p=1;s&&(p=o?Math.min(1,h/c):Math.min(1,f/u));var v=MTe(l),m=STe(n,v),g=(o?m.x:m.y)/2,w=(n.left+n.right)/2,b=(n.top+n.bottom)/2,_=(e+t)/2,M=(r+i)/2,x=0,T=0,A;return(o?e===t:r===i)&&a.zeroBarDir?A=a.zeroBarDir:A=o?rv(t,e):rv(r,i),o?(_=t-A*d,x=A*g):(M=i+A*d,T=-A*g),{textX:w,textY:b,targetX:_,targetY:M,anchorX:x,anchorY:T,scale:p,rotate:v}}function rPt(e,t,r,i,n){var a=t[0].trace,o=a.texttemplate,s;return o?s=aPt(e,t,r,i,n):a.textinfo?s=oPt(t,r,i,n):s=u5.getValue(a.text,r),u5.coerceString($9t,s)}function iPt(e,t){var r=u5.getValue(e.textposition,t);return u5.coerceEnumerated(W9t,r)}function nPt(e,t,r,i){for(var n=!1,a=!1,o=0;o0?n=!0:s<0&&(a=!0),n&&a)return 0}var l=t?r:i,u=-rv(l.range[0],l.range[1]);return a?n?0:-u:u}function aPt(e,t,r,i,n){var a=t[0].trace,o=rc.castOption(a,r,"texttemplate");if(!o)return"";var s=a.type==="histogram",l=a.type==="waterfall",u=a.type==="funnel",c=a.orientation==="h",f,h,d,p;c?(f="y",h=n,d="x",p=i):(f="x",h=i,d="y",p=n);function v(x){return sL(h,h.c2l(x),!0).text}function m(x){return sL(p,p.c2l(x),!0).text}var g=t[r],w={};w.label=g.p,w.labelLabel=w[f+"Label"]=v(g.p);var b=rc.castOption(a,g.i,"text");(b===0||b)&&(w.text=b),w.value=g.s,w.valueLabel=w[d+"Label"]=m(g.s);var _={};Y9t(_,a,g.i),(s||_.x===void 0)&&(_.x=c?w.value:w.label),(s||_.y===void 0)&&(_.y=c?w.label:w.value),(s||_.xLabel===void 0)&&(_.xLabel=c?w.valueLabel:w.labelLabel),(s||_.yLabel===void 0)&&(_.yLabel=c?w.labelLabel:w.valueLabel),l&&(w.delta=+g.rawS||g.s,w.deltaLabel=m(w.delta),w.final=g.v,w.finalLabel=m(w.final),w.initial=w.final-w.delta,w.initialLabel=m(w.initial)),u&&(w.value=g.s,w.valueLabel=m(w.value),w.percentInitial=g.begR,w.percentInitialLabel=rc.formatPercent(g.begR),w.percentPrevious=g.difR,w.percentPreviousLabel=rc.formatPercent(g.difR),w.percentTotal=g.sumR,w.percenTotalLabel=rc.formatPercent(g.sumR));var M=rc.castOption(a,g.i,"customdata");return M&&(w.customdata=M),rc.texttemplateString({data:[_,w,a._meta],fallback:a.texttemplatefallback,labels:w,locale:e._d3locale,template:o})}function oPt(e,t,r,i){var n=e[0].trace,a=n.orientation==="h",o=n.type==="waterfall",s=n.type==="funnel";function l(M){var x=a?i:r;return sL(x,M,!0).text}function u(M){var x=a?r:i;return sL(x,+M,!0).text}var c=n.textinfo,f=e[t],h=c.split("+"),d=[],p,v=function(M){return h.indexOf(M)!==-1};if(v("label")&&d.push(l(e[t].p)),v("text")&&(p=rc.castOption(n,f.i,"text"),(p===0||p)&&d.push(p)),o){var m=+f.rawS||f.s,g=f.v,w=g-m;v("initial")&&d.push(u(w)),v("delta")&&d.push(u(m)),v("final")&&d.push(u(g))}if(s){v("value")&&d.push(u(f.s));var b=0;v("percent initial")&&b++,v("percent previous")&&b++,v("percent total")&&b++;var _=b>1;v("percent initial")&&(p=rc.formatPercent(f.begR),_&&(p+=" of initial"),d.push(p)),v("percent previous")&&(p=rc.formatPercent(f.difR),_&&(p+=" of previous"),d.push(p)),v("percent total")&&(p=rc.formatPercent(f.sumR),_&&(p+=" of total"),d.push(p))}return d.join("
")}kTe.exports={plot:J9t,toMoveInsideBar:ETe}});var c5=W((mzr,LTe)=>{"use strict";var PM=Ds(),sPt=yi(),CTe=ni(),lPt=it().fillText,uPt=nL().getLineWidth,rW=ji().hoverLabelText,cPt=Kn().BADNUM;function fPt(e,t,r,i,n){var a=DTe(e,t,r,i,n);if(a){var o=a.cd,s=o[0].trace,l=o[a.index];return a.color=FTe(s,l),sPt.getComponentMethod("errorbars","hoverInfo")(l,s,a),[a]}}function DTe(e,t,r,i,n){var a=e.cd,o=a[0].trace,s=a[0].t,l=i==="closest",u=o.type==="waterfall",c=e.maxHoverDistance,f=e.maxSpikeDistance,h,d,p,v,m,g,w;o.orientation==="h"?(h=r,d=t,p="y",v="x",m=F,g=C):(h=t,d=r,p="x",v="y",g=F,m=C);var b=o[p+"period"],_=l||b;function M(q){return T(q,-1)}function x(q){return T(q,1)}function T(q,J){var U=q.w;return q[p]+J*U/2}function A(q){return q[p+"End"]-q[p+"Start"]}var y=l?M:b?function(q){return q.p-A(q)/2}:function(q){return Math.min(M(q),q.p-s.bardelta/2)},E=l?x:b?function(q){return q.p+A(q)/2}:function(q){return Math.max(x(q),q.p+s.bardelta/2)};function S(q,J,U){return n.finiteRange&&(U=0),PM.inbox(q-h,J-h,U+Math.min(1,Math.abs(J-q)/w)-1)}function C(q){return S(y(q),E(q),c)}function k(q){return S(M(q),x(q),f)}function D(q){var J=q[v];if(u){var U=Math.abs(q.rawS)||0;d>0?J+=U:d<0&&(J-=U)}return J}function F(q){var J=d,U=q.b,V=D(q);return PM.inbox(U-J,V-J,c+(V-J)/(V-U)-1)}function P(q){var J=d,U=q.b,V=D(q);return PM.inbox(U-J,V-J,f+(V-J)/(V-U)-1)}var R=e[p+"a"],L=e[v+"a"];w=Math.abs(R.r2c(R.range[1])-R.r2c(R.range[0]));function I(q){return(m(q)+g(q))/2}var B=PM.getDistanceFunction(i,m,g,I);if(PM.getClosest(a,B,e),e.index!==!1&&a[e.index].p!==cPt){_||(y=function(q){return Math.min(M(q),q.p-s.bargroupwidth/2)},E=function(q){return Math.max(x(q),q.p+s.bargroupwidth/2)});var O=e.index,$=a[O],Y=o.base?$.b+$.s:$.s;e[v+"0"]=e[v+"1"]=L.c2p($[v],!0),e[v+"LabelVal"]=Y;var K=s.extents[s.extents.round($.p)];e[p+"0"]=R.c2p(l?y($):K[0],!0),e[p+"1"]=R.c2p(l?E($):K[1],!0);var j=$.orig_p!==void 0;return e[p+"LabelVal"]=j?$.orig_p:$.p,e.labelLabel=rW(R,e[p+"LabelVal"],o[p+"hoverformat"]),e.valueLabel=rW(L,e[v+"LabelVal"],o[v+"hoverformat"]),e.baseLabel=rW(L,$.b,o[v+"hoverformat"]),e.spikeDistance=(P($)+k($))/2,e[p+"Spike"]=R.c2p($.p,!0),lPt($,o,e),e.hovertemplate=o.hovertemplate,e}}function FTe(e,t){var r=t.mcc||e.marker.color,i=t.mlcc||e.marker.line.color,n=uPt(e,t);if(CTe.opacity(r))return r;if(CTe.opacity(i)&&n)return i}LTe.exports={hoverPoints:fPt,hoverOnBars:DTe,getTraceColor:FTe}});var ITe=W((yzr,PTe)=>{"use strict";PTe.exports=function(t,r,i){return t.x="xVal"in r?r.xVal:r.x,t.y="yVal"in r?r.yVal:r.y,r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),i.orientation==="h"?(t.label=t.y,t.value=t.x):(t.label=t.x,t.value=t.y),t}});var f5=W((xzr,RTe)=>{"use strict";RTe.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=i[0].trace,s=o.type==="funnel",l=o.orientation==="h",u=[],c;if(r===!1)for(c=0;c{"use strict";zTe.exports={attributes:w1(),layoutAttributes:tL(),supplyDefaults:E0().supplyDefaults,crossTraceDefaults:E0().crossTraceDefaults,supplyLayoutDefaults:K$(),calc:oTe(),crossTraceCalc:b_().crossTraceCalc,colorbar:Ac(),arraysToCalcdata:DM(),plot:I_().plot,style:Ed().style,styleOnSelect:Ed().styleOnSelect,hoverPoints:c5().hoverPoints,eventData:ITe(),selectPoints:f5(),moduleType:"trace",name:"bar",basePlotModule:dl(),categories:["bar-like","cartesian","svg","bar","oriented","errorBarsOK","showLegend","zoomScale"],animatable:!0,meta:{}}});var OTe=W((bzr,qTe)=>{"use strict";qTe.exports=BTe()});var IM=W((wzr,GTe)=>{"use strict";var dPt=g1(),kd=Ns(),NTe=w1(),pPt=Vl(),UTe=_s().axisHoverFormat,{hovertemplateAttrs:vPt,templatefallbackAttrs:gPt}=Ga(),$g=tn().extendFlat,h5=kd.marker,VTe=h5.line;GTe.exports={y:{valType:"data_array",editType:"calc+clearAxisTypes"},x:{valType:"data_array",editType:"calc+clearAxisTypes"},x0:{valType:"any",editType:"calc+clearAxisTypes"},y0:{valType:"any",editType:"calc+clearAxisTypes"},dx:{valType:"number",editType:"calc"},dy:{valType:"number",editType:"calc"},xperiod:kd.xperiod,yperiod:kd.yperiod,xperiod0:kd.xperiod0,yperiod0:kd.yperiod0,xperiodalignment:kd.xperiodalignment,yperiodalignment:kd.yperiodalignment,xhoverformat:UTe("x"),yhoverformat:UTe("y"),name:{valType:"string",editType:"calc+clearAxisTypes"},q1:{valType:"data_array",editType:"calc+clearAxisTypes"},median:{valType:"data_array",editType:"calc+clearAxisTypes"},q3:{valType:"data_array",editType:"calc+clearAxisTypes"},lowerfence:{valType:"data_array",editType:"calc"},upperfence:{valType:"data_array",editType:"calc"},notched:{valType:"boolean",editType:"calc"},notchwidth:{valType:"number",min:0,max:.5,dflt:.25,editType:"calc"},notchspan:{valType:"data_array",editType:"calc"},boxpoints:{valType:"enumerated",values:["all","outliers","suspectedoutliers",!1],editType:"calc"},jitter:{valType:"number",min:0,max:1,editType:"calc"},pointpos:{valType:"number",min:-2,max:2,editType:"calc"},sdmultiple:{valType:"number",min:0,editType:"calc",dflt:1},sizemode:{valType:"enumerated",values:["quartiles","sd"],editType:"calc",dflt:"quartiles"},boxmean:{valType:"enumerated",values:[!0,"sd",!1],editType:"calc"},mean:{valType:"data_array",editType:"calc"},sd:{valType:"data_array",editType:"calc"},orientation:{valType:"enumerated",values:["v","h"],editType:"calc+clearAxisTypes"},quartilemethod:{valType:"enumerated",values:["linear","exclusive","inclusive"],dflt:"linear",editType:"calc"},width:{valType:"number",min:0,dflt:0,editType:"calc"},marker:{outliercolor:{valType:"color",dflt:"rgba(0, 0, 0, 0)",editType:"style"},symbol:$g({},h5.symbol,{arrayOk:!1,editType:"plot"}),opacity:$g({},h5.opacity,{arrayOk:!1,dflt:1,editType:"style"}),angle:$g({},h5.angle,{arrayOk:!1,editType:"calc"}),size:$g({},h5.size,{arrayOk:!1,editType:"calc"}),color:$g({},h5.color,{arrayOk:!1,editType:"style"}),line:{color:$g({},VTe.color,{arrayOk:!1,dflt:pPt.defaultLine,editType:"style"}),width:$g({},VTe.width,{arrayOk:!1,dflt:0,editType:"style"}),outliercolor:{valType:"color",editType:"style"},outlierwidth:{valType:"number",min:0,dflt:1,editType:"style"},editType:"style"},editType:"plot"},line:{color:{valType:"color",editType:"style"},width:{valType:"number",min:0,dflt:2,editType:"style"},editType:"plot"},fillcolor:dPt(),whiskerwidth:{valType:"number",min:0,max:1,dflt:.5,editType:"calc"},showwhiskers:{valType:"boolean",editType:"calc"},offsetgroup:NTe.offsetgroup,alignmentgroup:NTe.alignmentgroup,selected:{marker:kd.selected.marker,editType:"style"},unselected:{marker:kd.unselected.marker,editType:"style"},text:$g({},kd.text,{}),hovertext:$g({},kd.hovertext,{}),hovertemplate:vPt({}),hovertemplatefallback:gPt(),hoveron:{valType:"flaglist",flags:["boxes","points"],dflt:"boxes+points",editType:"style"},zorder:kd.zorder}});var RM=W((Tzr,HTe)=>{"use strict";HTe.exports={boxmode:{valType:"enumerated",values:["group","overlay"],dflt:"overlay",editType:"calc"},boxgap:{valType:"number",min:0,max:1,dflt:.3,editType:"calc"},boxgroupgap:{valType:"number",min:0,max:1,dflt:.3,editType:"calc"}}});var BM=W((Azr,YTe)=>{"use strict";var Cd=it(),mPt=yi(),yPt=ni(),xPt=Hp(),_Pt=__(),jTe=bw(),zM=IM();function bPt(e,t,r,i){function n(p,v){return Cd.coerce(e,t,zM,p,v)}if($Te(e,t,n,i),t.visible!==!1){xPt(e,t,i,n),n("xhoverformat"),n("yhoverformat");var a=t._hasPreCompStats;a&&(n("lowerfence"),n("upperfence")),n("line.color",(e.marker||{}).color||r),n("line.width"),n("fillcolor",yPt.addOpacity(t.line.color,.5));var o=!1;if(a){var s=n("mean"),l=n("sd");s&&s.length&&(o=!0,l&&l.length&&(o="sd"))}n("whiskerwidth");var u=n("sizemode"),c;u==="quartiles"&&(c=n("boxmean",o)),n("showwhiskers",u==="quartiles"),(u==="sd"||c==="sd")&&n("sdmultiple"),n("width"),n("quartilemethod");var f=!1;if(a){var h=n("notchspan");h&&h.length&&(f=!0)}else Cd.validate(e.notchwidth,zM.notchwidth)&&(f=!0);var d=n("notched",f);d&&n("notchwidth"),WTe(e,t,n,{prefix:"box"}),n("zorder")}}function $Te(e,t,r,i){function n(E){var S=0;return E&&E.length&&(S+=1,Cd.isArrayOrTypedArray(E[0])&&E[0].length&&(S+=1)),S}function a(E){return Cd.validate(e[E],zM[E])}var o=r("y"),s=r("x"),l;if(t.type==="box"){var u=r("q1"),c=r("median"),f=r("q3");t._hasPreCompStats=u&&u.length&&c&&c.length&&f&&f.length,l=Math.min(Cd.minRowLength(u),Cd.minRowLength(c),Cd.minRowLength(f))}else t._hasPreCompStats=!1;var h=n(o),d=n(s),p=h&&Cd.minRowLength(o),v=d&&Cd.minRowLength(s),m=i.calendar,g={autotypenumbers:i.autotypenumbers},w,b;if(t._hasPreCompStats)switch(String(d)+String(h)){case"00":var _=a("x0")||a("dx"),M=a("y0")||a("dy");M&&!_?w="h":w="v",b=l;break;case"10":w="v",b=Math.min(l,v);break;case"20":w="h",b=Math.min(l,s.length);break;case"01":w="h",b=Math.min(l,p);break;case"02":w="v",b=Math.min(l,o.length);break;case"12":w="v",b=Math.min(l,v,o.length);break;case"21":w="h",b=Math.min(l,s.length,p);break;case"11":b=0;break;case"22":var x=!1,T;for(T=0;T0?(w="v",d>0?b=Math.min(v,p):b=Math.min(p)):d>0?(w="h",b=Math.min(v)):b=0;if(!b){t.visible=!1;return}t._length=b;var A=r("orientation",w);t._hasPreCompStats?A==="v"&&d===0?(r("x0",0),r("dx",1)):A==="h"&&h===0&&(r("y0",0),r("dy",1)):A==="v"&&d===0?r("x0"):A==="h"&&h===0&&r("y0");var y=mPt.getComponentMethod("calendars","handleTraceDefaults");y(e,t,["x","y"],i)}function WTe(e,t,r,i){var n=i.prefix,a=Cd.coerce2(e,t,zM,"marker.outliercolor"),o=r("marker.line.outliercolor"),s="outliers";t._hasPreCompStats?s="all":(a||o)&&(s="suspectedoutliers");var l=r(n+"points",s);l?(r("jitter",l==="all"?.3:0),r("pointpos",l==="all"?-1.5:0),r("marker.symbol"),r("marker.opacity"),r("marker.size"),r("marker.angle"),r("marker.color",t.line.color),r("marker.line.color"),r("marker.line.width"),l==="suspectedoutliers"&&(r("marker.line.outliercolor",t.marker.color),r("marker.line.outlierwidth")),r("selected.marker.color"),r("unselected.marker.color"),r("selected.marker.size"),r("unselected.marker.size"),r("text"),r("hovertext")):delete t.marker;var u=r("hoveron");(u==="all"||u.indexOf("points")!==-1)&&(r("hovertemplate"),r("hovertemplatefallback")),Cd.coerceSelectionMarkerOpacity(t,r)}function wPt(e,t){var r,i;function n(l){return Cd.coerce(i._input,i,zM,l)}for(var a=0;a{"use strict";var TPt=yi(),APt=it(),MPt=RM();function XTe(e,t,r,i,n){for(var a=n+"Layout",o=!1,s=0;s{"use strict";var nW=sn(),uL=ji(),EPt=Wp(),Ll=it(),k0=Kn().BADNUM,Wg=Ll._;a6e.exports=function(t,r){var i=t._fullLayout,n=uL.getFromId(t,r.xaxis||"x"),a=uL.getFromId(t,r.yaxis||"y"),o=[],s=r.type==="violin"?"_numViolins":"_numBoxes",l,u,c,f,h,d,p;r.orientation==="h"?(c=n,f="x",h=a,d="y",p=!!r.yperiodalignment):(c=a,f="y",h=n,d="x",p=!!r.xperiodalignment);var v=kPt(r,d,h,i[s]),m=v[0],g=v[1],w=Ll.distinctVals(m,h),b=w.vals,_=w.minDiff/2,M,x,T,A,y,E,S=(r.boxpoints||r.points)==="all"?Ll.identity:function(be){return be.vM.uf};if(r._hasPreCompStats){var C=r[f],k=function(be){return c.d2c((r[be]||[])[l])},D=1/0,F=-1/0;for(l=0;l=M.q1&&M.q3>=M.med){var R=k("lowerfence");M.lf=R!==k0&&R<=M.q1?R:e6e(M,T,A);var L=k("upperfence");M.uf=L!==k0&&L>=M.q3?L:t6e(M,T,A);var I=k("mean");M.mean=I!==k0?I:A?Ll.mean(T,A):(M.q1+M.q3)/2;var B=k("sd");M.sd=I!==k0&&B>=0?B:A?Ll.stdev(T,A,M.mean):M.q3-M.q1,M.lo=r6e(M),M.uo=i6e(M);var O=k("notchspan");O=O!==k0&&O>0?O:n6e(M,A),M.ln=M.med-O,M.un=M.med+O;var $=M.lf,Y=M.uf;r.boxpoints&&T.length&&($=Math.min($,T[0]),Y=Math.max(Y,T[A-1])),r.notched&&($=Math.min($,M.ln),Y=Math.max(Y,M.un)),M.min=$,M.max=Y}else{Ll.warn(["Invalid input - make sure that q1 <= median <= q3","q1 = "+M.q1,"median = "+M.med,"q3 = "+M.q3].join(` +`));var K;M.med!==k0?K=M.med:M.q1!==k0?M.q3!==k0?K=(M.q1+M.q3)/2:K=M.q1:M.q3!==k0?K=M.q3:K=0,M.med=K,M.q1=M.q3=K,M.lf=M.uf=K,M.mean=M.sd=K,M.ln=M.un=K,M.min=M.max=K}D=Math.min(D,M.min),F=Math.max(F,M.max),M.pts2=x.filter(S),o.push(M)}}r._extremes[c._id]=uL.findExtremes(c,[D,F],{padded:!0})}else{var j=c.makeCalcdata(r,f),q=CPt(b,_),J=b.length,U=DPt(J);for(l=0;l=0&&V0){if(M={},M.pos=M[d]=b[l],x=M.pts=U[l].sort(JTe),T=M[f]=x.map(QTe),A=T.length,M.min=T[0],M.max=T[A-1],M.mean=Ll.mean(T,A),M.sd=Ll.stdev(T,A,M.mean)*r.sdmultiple,M.med=Ll.interp(T,.5),A%2&&(Q||te)){var ce,ge;Q?(ce=T.slice(0,A/2),ge=T.slice(A/2+1)):te&&(ce=T.slice(0,A/2+1),ge=T.slice(A/2)),M.q1=Ll.interp(ce,.5),M.q3=Ll.interp(ge,.5)}else M.q1=Ll.interp(T,.25),M.q3=Ll.interp(T,.75);M.lf=e6e(M,T,A),M.uf=t6e(M,T,A),M.lo=r6e(M),M.uo=i6e(M);var Ce=n6e(M,A);M.ln=M.med-Ce,M.un=M.med+Ce,X=Math.min(X,M.ln),H=Math.max(H,M.un),M.pts2=x.filter(S),o.push(M)}r.notched&&Ll.isTypedArray(j)&&(j=Array.from(j)),r._extremes[c._id]=uL.findExtremes(c,r.notched?j.concat([X,H]):j,{padded:!0})}return FPt(o,r),o.length>0?(o[0].t={num:i[s],dPos:_,posLetter:d,valLetter:f,labels:{med:Wg(t,"median:"),min:Wg(t,"min:"),q1:Wg(t,"q1:"),q3:Wg(t,"q3:"),max:Wg(t,"max:"),mean:r.boxmean==="sd"||r.sizemode==="sd"?Wg(t,"mean \xB1 \u03C3:").replace("\u03C3",r.sdmultiple===1?"\u03C3":r.sdmultiple+"\u03C3"):Wg(t,"mean:"),lf:Wg(t,"lower fence:"),uf:Wg(t,"upper fence:")}},i[s]++,o):[{t:{empty:!0}}]};function kPt(e,t,r,i){var n=t in e,a=t+"0"in e,o="d"+t in e;if(n||a&&o){var s=r.makeCalcdata(e,t),l=EPt(e,r,t,s).vals;return[l,s]}var u;a?u=e[t+"0"]:"name"in e&&(r.type==="category"||nW(e.name)&&["linear","log"].indexOf(r.type)!==-1||Ll.isDateTime(e.name)&&r.type==="date")?u=e.name:u=i;for(var c=r.type==="multicategory"?r.r2c_just_indices(u):r.d2c(u,0,e[t+"calendar"]),f=e._length,h=new Array(f),d=0;d{"use strict";var o6e=ji(),LPt=it(),PPt=v_().getAxisGroup,s6e=["v","h"];function IPt(e,t){for(var r=e.calcdata,i=t.xaxis,n=t.yaxis,a=0;a1,w=1-a[e+"gap"],b=1-a[e+"groupgap"];for(l=0;l0;if(T==="positive"?(L=A*(x?1:.5),O=B,I=O=E):T==="negative"?(L=O=E,I=A*(x?1:.5),$=B):(L=I=A,O=$=B),U){var V=_.pointpos,X=_.jitter,H=_.marker.size/2,G=0;V+X>=0&&(G=B*(V+X),G>L?(J=!0,j=H,Y=G):G>O&&(j=H,Y=L)),G<=L&&(Y=L);var Q=0;V-X<=0&&(Q=-B*(V-X),Q>I?(J=!0,q=H,K=Q):Q>$&&(q=H,K=I)),Q<=I&&(K=I)}else Y=L,K=I;var te=new Array(c.length);for(u=0;u{"use strict";var d5=vi(),R_=it(),RPt=Ji(),c6e=5,zPt=.01;function BPt(e,t,r,i){var n=e._context.staticPlot,a=t.xaxis,o=t.yaxis;R_.makeTraceGroups(i,r,"trace boxes").each(function(s){var l=d5.select(this),u=s[0],c=u.t,f=u.trace;if(c.wdPos=c.bdPos*f.whiskerwidth,f.visible!==!0||c.empty){l.remove();return}var h,d;f.orientation==="h"?(h=o,d=a):(h=a,d=o),f6e(l,{pos:h,val:d},f,c,n),h6e(l,{x:a,y:o},f,c),d6e(l,{pos:h,val:d},f,c)})}function f6e(e,t,r,i,n){var a=r.orientation==="h",o=t.val,s=t.pos,l=!!s.rangebreaks,u=i.bPos,c=i.wdPos||0,f=i.bPosPxOffset||0,h=r.whiskerwidth||0,d=r.showwhiskers!==!1,p=r.notched||!1,v=p?1-2*r.notchwidth:1,m,g;Array.isArray(i.bdPos)?(m=i.bdPos[0],g=i.bdPos[1]):(m=i.bdPos,g=i.bdPos);var w=e.selectAll("path.box").data(r.type!=="violin"||r.box.visible?R_.identity:[]);w.enter().append("path").style("vector-effect",n?"none":"non-scaling-stroke").attr("class","box"),w.exit().remove(),w.each(function(b){if(b.empty)return d5.select(this).attr("d","M0,0Z");var _=s.c2l(b.pos+u,!0),M=s.l2p(_-m)+f,x=s.l2p(_+g)+f,T=l?(M+x)/2:s.l2p(_)+f,A=r.whiskerwidth,y=l?M*A+(1-A)*T:s.l2p(_-c)+f,E=l?x*A+(1-A)*T:s.l2p(_+c)+f,S=s.l2p(_-m*v)+f,C=s.l2p(_+g*v)+f,k=r.sizemode==="sd",D=o.c2p(k?b.mean-b.sd:b.q1,!0),F=k?o.c2p(b.mean+b.sd,!0):o.c2p(b.q3,!0),P=R_.constrain(k?o.c2p(b.mean,!0):o.c2p(b.med,!0),Math.min(D,F)+1,Math.max(D,F)-1),R=b.lf===void 0||r.boxpoints===!1||k,L=o.c2p(R?b.min:b.lf,!0),I=o.c2p(R?b.max:b.uf,!0),B=o.c2p(b.ln,!0),O=o.c2p(b.un,!0);a?d5.select(this).attr("d","M"+P+","+S+"V"+C+"M"+D+","+M+"V"+x+(p?"H"+B+"L"+P+","+C+"L"+O+","+x:"")+"H"+F+"V"+M+(p?"H"+O+"L"+P+","+S+"L"+B+","+M:"")+"Z"+(d?"M"+D+","+T+"H"+L+"M"+F+","+T+"H"+I+(h===0?"":"M"+L+","+y+"V"+E+"M"+I+","+y+"V"+E):"")):d5.select(this).attr("d","M"+S+","+P+"H"+C+"M"+M+","+D+"H"+x+(p?"V"+B+"L"+C+","+P+"L"+x+","+O:"")+"V"+F+"H"+M+(p?"V"+O+"L"+S+","+P+"L"+M+","+B:"")+"Z"+(d?"M"+T+","+D+"V"+L+"M"+T+","+F+"V"+I+(h===0?"":"M"+y+","+L+"H"+E+"M"+y+","+I+"H"+E):""))})}function h6e(e,t,r,i){var n=t.x,a=t.y,o=i.bdPos,s=i.bPos,l=r.boxpoints||r.points;R_.seedPseudoRandom();var u=function(h){return h.forEach(function(d){d.t=i,d.trace=r}),h},c=e.selectAll("g.points").data(l?u:[]);c.enter().append("g").attr("class","points"),c.exit().remove();var f=c.selectAll("path").data(function(h){var d,p=h.pts2,v=Math.max((h.max-h.min)/10,h.q3-h.q1),m=v*1e-9,g=v*zPt,w=[],b=0,_;if(r.jitter){if(v===0)for(b=1,w=new Array(p.length),d=0;dh.lo&&(E.so=!0)}return p});f.enter().append("path").classed("point",!0),f.exit().remove(),f.call(RPt.translatePoints,n,a)}function d6e(e,t,r,i){var n=t.val,a=t.pos,o=!!a.rangebreaks,s=i.bPos,l=i.bPosPxOffset||0,u=r.boxmean||(r.meanline||{}).visible,c,f;Array.isArray(i.bdPos)?(c=i.bdPos[0],f=i.bdPos[1]):(c=i.bdPos,f=i.bdPos);var h=e.selectAll("path.mean").data(r.type==="box"&&r.boxmean||r.type==="violin"&&r.box.visible&&r.meanline.visible?R_.identity:[]);h.enter().append("path").attr("class","mean").style({fill:"none","vector-effect":"non-scaling-stroke"}),h.exit().remove(),h.each(function(d){var p=a.c2l(d.pos+s,!0),v=a.l2p(p-c)+l,m=a.l2p(p+f)+l,g=o?(v+m)/2:a.l2p(p)+l,w=n.c2p(d.mean,!0),b=n.c2p(d.mean-d.sd,!0),_=n.c2p(d.mean+d.sd,!0);r.orientation==="h"?d5.select(this).attr("d","M"+w+","+v+"V"+m+(u==="sd"?"m0,0L"+b+","+g+"L"+w+","+v+"L"+_+","+g+"Z":"")):d5.select(this).attr("d","M"+v+","+w+"H"+m+(u==="sd"?"m0,0L"+g+","+b+"L"+v+","+w+"L"+g+","+_+"Z":""))})}p6e.exports={plot:BPt,plotBoxAndWhiskers:f6e,plotPoints:h6e,plotBoxMean:d6e}});var hL=W((Czr,v6e)=>{"use strict";var oW=vi(),sW=ni(),lW=Ji();function qPt(e,t,r){var i=r||oW.select(e).selectAll("g.trace.boxes");i.style("opacity",function(n){return n[0].trace.opacity}),i.each(function(n){var a=oW.select(this),o=n[0].trace,s=o.line.width;function l(f,h,d,p){f.style("stroke-width",h+"px").call(sW.stroke,d).call(sW.fill,p)}var u=a.selectAll("path.box");if(o.type==="candlestick")u.each(function(f){if(!f.empty){var h=oW.select(this),d=o[f.dir];l(h,d.line.width,d.line.color,d.fillcolor),h.style("opacity",o.selectedpoints&&!f.selected?.3:1)}});else{l(u,s,o.line.color,o.fillcolor),a.selectAll("path.mean").style({"stroke-width":s,"stroke-dasharray":2*s+"px,"+s+"px"}).call(sW.stroke,o.line.color);var c=a.selectAll("path.point");lW.pointStyle(c,o,e)}})}function OPt(e,t,r){var i=t[0].trace,n=r.selectAll("path.point");i.selectedpoints?lW.selectedPointStyle(n,i):lW.pointStyle(n,i,e)}v6e.exports={style:qPt,styleOnSelect:OPt}});var cW=W((Dzr,x6e)=>{"use strict";var NPt=ji(),uW=it(),Zy=Ds(),g6e=ni(),UPt=uW.fillText;function VPt(e,t,r,i){var n=e.cd,a=n[0].trace,o=a.hoveron,s=[],l;return o.indexOf("boxes")!==-1&&(s=s.concat(m6e(e,t,r,i))),o.indexOf("points")!==-1&&(l=y6e(e,t,r)),i==="closest"?l?[l]:s:(l&&s.push(l),s)}function m6e(e,t,r,i){var n=e.cd,a=e.xa,o=e.ya,s=n[0].trace,l=n[0].t,u=s.type==="violin",c,f,h,d,p,v,m,g,w,b,_,M=l.bdPos,x,T,A=l.wHover,y=function(H){return h.c2l(H.pos)+l.bPos-h.c2l(v)};u&&s.side!=="both"?(s.side==="positive"&&(w=function(H){var G=y(H);return Zy.inbox(G,G+A,b)},x=M,T=0),s.side==="negative"&&(w=function(H){var G=y(H);return Zy.inbox(G-A,G,b)},x=0,T=M)):(w=function(H){var G=y(H);return Zy.inbox(G-A,G+A,b)},x=T=M);var E;u?E=function(H){return Zy.inbox(H.span[0]-p,H.span[1]-p,b)}:E=function(H){return Zy.inbox(H.min-p,H.max-p,b)},s.orientation==="h"?(p=t,v=r,m=E,g=w,c="y",h=o,f="x",d=a):(p=r,v=t,m=w,g=E,c="x",h=a,f="y",d=o);var S=Math.min(1,M/Math.abs(h.r2c(h.range[1])-h.r2c(h.range[0])));b=e.maxHoverDistance-S,_=e.maxSpikeDistance-S;function C(H){return(m(H)+g(H))/2}var k=Zy.getDistanceFunction(i,m,g,C);if(Zy.getClosest(n,k,e),e.index===!1)return[];var D=n[e.index],F=s.line.color,P=(s.marker||{}).color;g6e.opacity(F)&&s.line.width?e.color=F:g6e.opacity(P)&&s.boxpoints?e.color=P:e.color=s.fillcolor,e[c+"0"]=h.c2p(D.pos+l.bPos-T,!0),e[c+"1"]=h.c2p(D.pos+l.bPos+x,!0),e[c+"LabelVal"]=D.orig_p!==void 0?D.orig_p:D.pos;var R=c+"Spike";e.spikeDistance=C(D)*_/b,e[R]=h.c2p(D.pos,!0);var L=s.boxmean||s.sizemode==="sd"||(s.meanline||{}).visible,I=s.boxpoints||s.points,B=I&&L?["max","uf","q3","med","mean","q1","lf","min"]:I&&!L?["max","uf","q3","med","q1","lf","min"]:!I&&L?["max","q3","med","mean","q1","min"]:["max","q3","med","q1","min"],O=d.range[1]{"use strict";_6e.exports=function(t,r){return r.hoverOnBox&&(t.hoverOnBox=r.hoverOnBox),"xVal"in r&&(t.x=r.xVal),"yVal"in r&&(t.y=r.yVal),r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),t}});var fW=W((Lzr,w6e)=>{"use strict";w6e.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=[],s,l;if(r===!1)for(s=0;s{"use strict";T6e.exports={attributes:IM(),layoutAttributes:RM(),supplyDefaults:BM().supplyDefaults,crossTraceDefaults:BM().crossTraceDefaults,supplyLayoutDefaults:lL().supplyLayoutDefaults,calc:aW(),crossTraceCalc:cL().crossTraceCalc,plot:fL().plot,style:hL().style,styleOnSelect:hL().styleOnSelect,hoverPoints:cW().hoverPoints,eventData:b6e(),selectPoints:fW(),moduleType:"trace",name:"box",basePlotModule:dl(),categories:["cartesian","svg","symbols","oriented","box-violin","showLegend","boxLayout","zoomScale"],meta:{}}});var S6e=W((Izr,M6e)=>{"use strict";M6e.exports=A6e()});var p5=W((Rzr,k6e)=>{"use strict";var GPt=Eo(),{extendFlat:Uh}=tn(),HPt=Wa(),{axisHoverFormat:hW}=_s(),jPt=Ho(),{hovertemplateAttrs:$Pt,templatefallbackAttrs:E6e,texttemplateAttrs:WPt}=Ga(),C0=Ns();k6e.exports=Uh({z:{valType:"data_array",editType:"calc"},x:Uh({},C0.x,{impliedEdits:{xtype:"array"}}),x0:Uh({},C0.x0,{impliedEdits:{xtype:"scaled"}}),dx:Uh({},C0.dx,{impliedEdits:{xtype:"scaled"}}),y:Uh({},C0.y,{impliedEdits:{ytype:"array"}}),y0:Uh({},C0.y0,{impliedEdits:{ytype:"scaled"}}),dy:Uh({},C0.dy,{impliedEdits:{ytype:"scaled"}}),xperiod:Uh({},C0.xperiod,{impliedEdits:{xtype:"scaled"}}),yperiod:Uh({},C0.yperiod,{impliedEdits:{ytype:"scaled"}}),xperiod0:Uh({},C0.xperiod0,{impliedEdits:{xtype:"scaled"}}),yperiod0:Uh({},C0.yperiod0,{impliedEdits:{ytype:"scaled"}}),xperiodalignment:Uh({},C0.xperiodalignment,{impliedEdits:{xtype:"scaled"}}),yperiodalignment:Uh({},C0.yperiodalignment,{impliedEdits:{ytype:"scaled"}}),text:{valType:"data_array",editType:"calc"},hovertext:{valType:"data_array",editType:"calc"},transpose:{valType:"boolean",dflt:!1,editType:"calc"},xtype:{valType:"enumerated",values:["array","scaled"],editType:"calc+clearAxisTypes"},ytype:{valType:"enumerated",values:["array","scaled"],editType:"calc+clearAxisTypes"},zsmooth:{valType:"enumerated",values:["fast","best",!1],dflt:!1,editType:"calc"},hoverongaps:{valType:"boolean",dflt:!0,editType:"none"},connectgaps:{valType:"boolean",editType:"calc"},xgap:{valType:"number",dflt:0,min:0,editType:"plot"},ygap:{valType:"number",dflt:0,min:0,editType:"plot"},xhoverformat:hW("x"),yhoverformat:hW("y"),zhoverformat:hW("z",1),hovertemplate:$Pt(),hovertemplatefallback:E6e(),texttemplate:WPt({arrayOk:!1,editType:"plot"},{keys:["x","y","z","text"]}),texttemplatefallback:E6e({editType:"plot"}),textfont:jPt({editType:"plot",autoSize:!0,autoColor:!0,colorEditType:"style"}),showlegend:Uh({},HPt.showlegend,{dflt:!1}),zorder:C0.zorder},GPt("",{cLetter:"z",autoColorDflt:!1}))});var pL=W((zzr,D6e)=>{"use strict";var YPt=sn(),dL=it(),XPt=yi();D6e.exports=function(t,r,i,n,a,o){var s=i("z");a=a||"x",o=o||"y";var l,u;if(s===void 0||!s.length)return 0;if(dL.isArray1D(s)){l=i(a),u=i(o);var c=dL.minRowLength(l),f=dL.minRowLength(u);if(c===0||f===0)return 0;r._length=Math.min(c,f,s.length)}else{if(l=C6e(a,i),u=C6e(o,i),!ZPt(s))return 0;i("transpose"),r._length=null}var h=XPt.getComponentMethod("calendars","handleTraceDefaults");return h(t,r,[a,o],n),!0};function C6e(e,t){var r=t(e),i=r?t(e+"type","array"):"scaled";return i==="scaled"&&(t(e+"0"),t("d"+e)),r}function ZPt(e){for(var t=!0,r=!1,i=!1,n,a=0;a0&&(r=!0);for(var o=0;o{"use strict";var F6e=it();L6e.exports=function(t,r){t("texttemplate"),t("texttemplatefallback");var i=F6e.extendFlat({},r.font,{color:"auto",size:"auto"});F6e.coerceFont(t,"textfont",i)}});var dW=W((qzr,P6e)=>{"use strict";P6e.exports=function(t,r,i){var n=i("zsmooth");n===!1&&(i("xgap"),i("ygap")),i("zhoverformat")}});var z6e=W((Ozr,R6e)=>{"use strict";var I6e=it(),KPt=pL(),JPt=qM(),QPt=Hp(),eIt=dW(),tIt=Fu(),rIt=p5();R6e.exports=function(t,r,i,n){function a(s,l){return I6e.coerce(t,r,rIt,s,l)}var o=KPt(t,r,a,n);if(!o){r.visible=!1;return}QPt(t,r,n,a),a("xhoverformat"),a("yhoverformat"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),JPt(a,n),eIt(t,r,a,n),a("hoverongaps"),a("connectgaps",I6e.isArray1D(r.z)&&r.zsmooth!==!1),tIt(t,r,n,a,{prefix:"",cLetter:"z"}),a("zorder")}});var pW=W((Nzr,B6e)=>{"use strict";var v5=sn();B6e.exports={count:function(e,t,r){return r[e]++,1},sum:function(e,t,r,i){var n=i[t];return v5(n)?(n=Number(n),r[e]+=n,n):0},avg:function(e,t,r,i,n){var a=i[t];return v5(a)&&(a=Number(a),r[e]+=a,n[e]++),0},min:function(e,t,r,i){var n=i[t];if(v5(n))if(n=Number(n),v5(r[e])){if(r[e]>n){var a=n-r[e];return r[e]=n,a}}else return r[e]=n,n;return 0},max:function(e,t,r,i){var n=i[t];if(v5(n))if(n=Number(n),v5(r[e])){if(r[e]{"use strict";q6e.exports={percent:function(e,t){for(var r=e.length,i=100/t,n=0;n{"use strict";O6e.exports=function(t,r){for(var i=t.length,n=0,a=0;a{"use strict";var g5=Kn(),z_=g5.ONEAVGYEAR,N6e=g5.ONEAVGMONTH,gL=g5.ONEDAY,U6e=g5.ONEHOUR,V6e=g5.ONEMIN,G6e=g5.ONESEC,H6e=ji().tickIncrement;W6e.exports=function(t,r,i,n,a){var o=-1.1*r,s=-.1*r,l=t-s,u=i[0],c=i[1],f=Math.min(vL(u+s,u+l,n,a),vL(c+s,c+l,n,a)),h=Math.min(vL(u+o,u+s,n,a),vL(c+o,c+s,n,a)),d,p;if(f>h&&hgL){var v=d===z_?1:6,m=d===z_?"M12":"M1";return function(g,w){var b=n.c2d(g,z_,a),_=b.indexOf("-",v);_>0&&(b=b.slice(0,_));var M=n.d2c(b,0,a);if(MG6e?e>gL?e>z_*1.1?z_:e>N6e*1.1?N6e:gL:e>U6e?U6e:e>V6e?V6e:G6e:Math.pow(10,Math.floor(Math.log(e)/Math.LN10))}function iIt(e,t,r,i,n,a){if(i&&e>gL){var o=$6e(t,n,a),s=$6e(r,n,a),l=e===z_?0:1;return o[l]!==s[l]}return Math.floor(r/e)-Math.floor(t/e)>.1}function $6e(e,t,r){var i=t.c2d(e,z_,r).split("-");return i[0]===""&&(i.unshift(),i[0]="-"+i[0]),i}});var _W=W((Hzr,J6e)=>{"use strict";var yW=sn(),kf=it(),Y6e=yi(),Dd=ji(),{hasColorscale:X6e}=bc(),Z6e=Zc(),nIt=DM(),K6e=pW(),aIt=vW(),oIt=gW(),sIt=mW();function lIt(e,t){var r=[],i=[],n=t.orientation==="h",a=Dd.getFromId(e,n?t.yaxis:t.xaxis),o=n?"y":"x",s={x:"y",y:"x"}[o],l=t[o+"calendar"],u=t.cumulative,c,f=xW(e,t,a,o),h=f[0],d=f[1],p=typeof h.size=="string",v=[],m=p?v:h,g=[],w=[],b=[],_=0,M=t.histnorm,x=t.histfunc,T=M.indexOf("density")!==-1,A,y,E;u.enabled&&T&&(M=M.replace(/ ?density$/,""),T=!1);var S=x==="max"||x==="min",C=S?null:0,k=K6e.count,D=aIt[M],F=!1,P=function(G){return a.r2c(G,0,l)},R;for(kf.isArrayOrTypedArray(t[s])&&x!=="count"&&(R=t[s],F=x==="avg",k=K6e[x]),c=P(h.start),y=P(h.end)+(c-Dd.tickIncrement(c,h.size,!1,l))/1e6;c=0&&E=V;c--)if(i[c]){X=c;break}for(c=V;c<=X;c++)if(yW(r[c])&&yW(i[c])){var H={p:r[c],s:i[c],b:0};u.enabled||(H.pts=b[c],O?H.ph0=H.ph1=b[c].length?d[b[c][0]]:r[c]:(t._computePh=!0,H.ph0=q(v[c]),H.ph1=q(v[c+1],!0))),U.push(H)}return U.length===1&&(U[0].width1=Dd.tickIncrement(U[0].p,h.size,!1,l)-U[0].p),X6e(t,"marker")&&Z6e(e,t,{vals:t.marker.color,containerStr:"marker",cLetter:"c"}),X6e(t,"marker.line")&&Z6e(e,t,{vals:t.marker.line.color,containerStr:"marker.line",cLetter:"c"}),nIt(U,t),kf.isArrayOrTypedArray(t.selectedpoints)&&kf.tagSelected(U,t,K),U}function xW(e,t,r,i,n){var j;var a=i+"bins",o=e._fullLayout,s=t["_"+i+"bingroup"],l=o._histogramBinOpts[s],u=o.barmode==="overlay",c,f,h,d,p,v,m,g=function(q){return r.r2c(q,0,d)},w=function(q){return r.c2r(q,0,d)},b=r.type==="date"?function(q){return q||q===0?kf.cleanDate(q,null,d):null}:function(q){return yW(q)?Number(q):null};function _(q,J,U){J[q+"Found"]?(J[q]=b(J[q]),J[q]===null&&(J[q]=U[q])):(v[q]=J[q]=U[q],kf.nestedProperty(f[0],a+"."+q).set(U[q]))}if(t["_"+i+"autoBinFinished"])delete t["_"+i+"autoBinFinished"];else{f=l.traces;var M=[],x=!0,T=!1,A=!1;for(c=0;cr.r2l(R)&&(I=Dd.tickIncrement(I,l.size,!0,d)),k.start=r.l2r(I),P||kf.nestedProperty(t,a+".start").set(k.start)}var B=l.end,O=r.r2l(C.end),$=O!==void 0;if((l.endFound||$)&&O!==r.r2l(B)){var Y=$?O:kf.aggNums(Math.max,null,p);k.end=r.l2r(Y),$||kf.nestedProperty(t,a+".start").set(k.end)}var K="autobin"+i;return t._input[K]===!1&&(t._input[a]=kf.extendFlat({},t[a]||{}),delete t._input[K],delete t[K]),[k,p]}function uIt(e,t,r,i,n){var a=e._fullLayout,o=cIt(e,t),s=!1,l=1/0,u=[t],c,f,h;for(c=0;c=0;i--)s(i);else if(t==="increasing"){for(i=1;i=0;i--)e[i]+=e[i+1];r==="exclude"&&(e.push(0),e.shift())}}J6e.exports={calc:lIt,calcAllAutoBins:xW}});var oAe=W((jzr,aAe)=>{"use strict";var Q6e=it(),m5=ji(),eAe=pW(),hIt=vW(),dIt=gW(),pIt=mW(),tAe=_W().calcAllAutoBins;aAe.exports=function(t,r){var i=m5.getFromId(t,r.xaxis),n=m5.getFromId(t,r.yaxis),a=r.xcalendar,o=r.ycalendar,s=function(ke){return i.r2c(ke,0,a)},l=function(ke){return n.r2c(ke,0,o)},u=function(ke){return i.c2r(ke,0,a)},c=function(ke){return n.c2r(ke,0,o)},f,h,d,p,v=tAe(t,r,i,"x"),m=v[0],g=v[1],w=tAe(t,r,n,"y"),b=w[0],_=w[1],M=r._length;g.length>M&&g.splice(M,g.length-M),_.length>M&&_.splice(M,_.length-M);var x=[],T=[],A=[],y=typeof m.size=="string",E=typeof b.size=="string",S=[],C=[],k=y?S:m,D=E?C:b,F=0,P=[],R=[],L=r.histnorm,I=r.histfunc,B=L.indexOf("density")!==-1,O=I==="max"||I==="min",$=O?null:0,Y=eAe.count,K=hIt[L],j=!1,q=[],J=[],U="z"in r?r.z:"marker"in r&&Array.isArray(r.marker.color)?r.marker.color:"";U&&I!=="count"&&(j=I==="avg",Y=eAe[I]);var V=m.size,X=s(m.start),H=s(m.end)+(X-m5.tickIncrement(X,V,!1,a))/1e6;for(f=X;f=0&&d=0&&p{"use strict";var T1=it(),sAe=Kn().BADNUM,lAe=Wp();uAe.exports=function(t,r,i,n,a,o){var s=t._length,l=r.makeCalcdata(t,n),u=i.makeCalcdata(t,a);l=lAe(t,r,n,l).vals,u=lAe(t,i,a,u).vals;var c=t.text,f=c!==void 0&&T1.isArray1D(c),h=t.hovertext,d=h!==void 0&&T1.isArray1D(h),p,v,m=T1.distinctVals(l),g=m.vals,w=T1.distinctVals(u),b=w.vals,_=[],M,x,T=b.length,A=g.length;for(p=0;p{"use strict";var vIt=sn(),gIt=it(),yL=Kn().BADNUM;cAe.exports=function(t,r,i,n){var a,o,s,l,u,c;function f(g){if(vIt(g))return+g}if(r&&r.transpose){for(a=0,u=0;u{"use strict";var mIt=it(),fAe=.01,yIt=[[-1,0],[1,0],[0,-1],[0,1]];function xIt(e){return .5-.25*Math.min(1,e*.5)}dAe.exports=function(t,r){var i=1,n;for(hAe(t,r),n=0;nfAe;n++)i=hAe(t,r,xIt(i));return i>fAe&&mIt.log("interp2d didn't converge quickly",i),t};function hAe(e,t,r){var i=0,n,a,o,s,l,u,c,f,h,d,p,v,m;for(s=0;sv&&(i=Math.max(i,Math.abs(e[a][o]-p)/(m-v))))}return i}});var bL=W((Xzr,pAe)=>{"use strict";var _It=it().maxRowLength;pAe.exports=function(t){var r=[],i={},n=[],a=t[0],o=[],s=[0,0,0],l=_It(t),u,c,f,h,d,p,v,m;for(c=0;c=0;d--)h=n[d],c=h[0],f=h[1],p=((i[[c-1,f]]||s)[2]+(i[[c+1,f]]||s)[2]+(i[[c,f-1]]||s)[2]+(i[[c,f+1]]||s)[2])/20,p&&(v[h]=[c,f,p],n.splice(d,1),m=!0);if(!m)throw"findEmpties iterated with no new neighbors";for(h in v)i[h]=v[h],r.push(v[h])}return r.sort(function(g,w){return w[2]-g[2]})}});var bW=W((Zzr,mAe)=>{"use strict";var vAe=yi(),gAe=it().isArrayOrTypedArray;mAe.exports=function(t,r,i,n,a,o){var s=[],l=vAe.traceIs(t,"contour"),u=vAe.traceIs(t,"histogram"),c,f,h,d=gAe(r)&&r.length>1;if(d&&!u&&o.type!=="category"){var p=r.length;if(p<=a){if(l)s=Array.from(r).slice(0,a);else if(a===1)o.type==="log"?s=[.5*r[0],2*r[0]]:s=[r[0]-.5,r[0]+.5];else if(o.type==="log"){for(s=[Math.pow(r[0],1.5)/Math.pow(r[1],.5)],h=1;h{"use strict";var yAe=yi(),wW=it(),wL=ji(),xAe=Wp(),bIt=oAe(),wIt=Zc(),TIt=mL(),AIt=xL(),MIt=_L(),SIt=bL(),TL=bW(),TW=Kn().BADNUM;bAe.exports=function(t,r){var i=wL.getFromId(t,r.xaxis||"x"),n=wL.getFromId(t,r.yaxis||"y"),a=yAe.traceIs(r,"contour"),o=yAe.traceIs(r,"histogram"),s=a?"best":r.zsmooth,l,u,c,f,h,d,p,v,m,g,w;if(i._minDtick=0,n._minDtick=0,o)w=bIt(t,r),f=w.orig_x,l=w.x,u=w.x0,c=w.dx,v=w.orig_y,h=w.y,d=w.y0,p=w.dy,m=w.z;else{var b=r.z;wW.isArray1D(b)?(TIt(r,i,n,"x","y",["z"]),l=r._x,h=r._y,b=r._z):(f=r.x?i.makeCalcdata(r,"x"):[],v=r.y?n.makeCalcdata(r,"y"):[],l=xAe(r,i,"x",f).vals,h=xAe(r,n,"y",v).vals,r._x=l,r._y=h),u=r.x0,c=r.dx,d=r.y0,p=r.dy,m=AIt(b,r,i,n)}(i.rangebreaks||n.rangebreaks)&&(m=EIt(l,h,m),o||(l=_Ae(l),h=_Ae(h),r._x=l,r._y=h)),!o&&(a||r.connectgaps)&&(r._emptypoints=SIt(m),MIt(m,r._emptypoints));function _(k){s=r._input.zsmooth=r.zsmooth=!1,wW.warn('cannot use zsmooth: "fast": '+k)}function M(k){if(k.length>1){var D=(k[k.length-1]-k[0])/(k.length-1),F=Math.abs(D/100);for(g=0;gF)return!1}return!0}r._islinear=!1,i.type==="log"||n.type==="log"?s==="fast"&&_("log axis found"):M(l)?M(h)?r._islinear=!0:s==="fast"&&_("y scale is not linear"):s==="fast"&&_("x scale is not linear");var x=wW.maxRowLength(m),T=r.xtype==="scaled"?"":l,A=TL(r,T,u,c,x,i),y=r.ytype==="scaled"?"":h,E=TL(r,y,d,p,m.length,n);r._extremes[i._id]=wL.findExtremes(i,A),r._extremes[n._id]=wL.findExtremes(n,E);var S={x:A,y:E,z:m,text:r._text||r.text,hovertext:r._hovertext||r.hovertext};if(r.xperiodalignment&&f&&(S.orig_x=f),r.yperiodalignment&&v&&(S.orig_y=v),T&&T.length===A.length-1&&(S.xCenter=T),y&&y.length===E.length-1&&(S.yCenter=y),o&&(S.xRanges=w.xRanges,S.yRanges=w.yRanges,S.pts=w.pts),a||wIt(t,r,{vals:m,cLetter:"z"}),a&&r.contours&&r.contours.coloring==="heatmap"){var C={type:r.type==="contour"?"heatmap":"histogram2d",xcalendar:r.xcalendar,ycalendar:r.ycalendar};S.xfill=TL(C,T,u,c,x,i),S.yfill=TL(C,y,d,p,m.length,n)}return[S]};function _Ae(e){for(var t=[],r=e.length,i=0;i{"use strict";ML.CSS_DECLARATIONS=[["image-rendering","optimizeSpeed"],["image-rendering","-moz-crisp-edges"],["image-rendering","-o-crisp-edges"],["image-rendering","-webkit-optimize-contrast"],["image-rendering","optimize-contrast"],["image-rendering","crisp-edges"],["image-rendering","pixelated"]];ML.STYLE=ML.CSS_DECLARATIONS.map(function(e){return e.join(": ")+"; "}).join("")});var MW=W((Qzr,TAe)=>{"use strict";var wAe=SL(),kIt=Ji(),AW=it(),y5=null;function CIt(){if(y5!==null)return y5;y5=!1;var e=AW.isSafari()||AW.isMacWKWebView()||AW.isIOS();if(window.navigator.userAgent&&!e){var t=Array.from(wAe.CSS_DECLARATIONS).reverse(),r=window.CSS&&window.CSS.supports||window.supportsCSS;if(typeof r=="function")y5=t.some(function(o){return r.apply(null,o)});else{var i=kIt.tester.append("image").attr("style",wAe.STYLE),n=window.getComputedStyle(i.node()),a=n.imageRendering;y5=t.some(function(o){var s=o[1];return a===s||a===s.toLowerCase()}),i.remove()}}return y5}TAe.exports=CIt});var EL=W((eBr,PAe)=>{"use strict";var AAe=vi(),DIt=yi(),FIt=Ji(),LIt=ji(),Fd=it(),MAe=uo(),PIt=mF(),SAe=ni(),IIt=Jo().extractOpts,RIt=Jo().makeColorScaleFuncFromTrace,zIt=sd(),BIt=Hl(),SW=BIt.LINE_SPACING,qIt=MW(),OIt=SL().STYLE,FAe="heatmap-label";function LAe(e){return e.selectAll("g."+FAe)}function EAe(e){LAe(e).remove()}PAe.exports=function(e,t,r,i){var n=t.xaxis,a=t.yaxis;Fd.makeTraceGroups(i,r,"hm").each(function(o){var s=AAe.select(this),l=o[0],u=l.trace,c=u.xgap||0,f=u.ygap||0,h=l.z,d=l.x,p=l.y,v=l.xCenter,m=l.yCenter,g=DIt.traceIs(u,"contour"),w=g?"best":u.zsmooth,b=h.length,_=Fd.maxRowLength(h),M=!1,x=!1,T,A,y,E,S,C,k,D;for(C=0;T===void 0&&C0;)A=n.c2p(d[C]),C--;for(A0;)S=a.c2p(p[C]),C--;S=n._length||A<=0||E>=a._length||S<=0;if(I){var B=s.selectAll("image").data([]);B.exit().remove(),EAe(s);return}var O,$;F==="fast"?(O=_,$=b):(O=R,$=L);var Y=document.createElement("canvas");Y.width=O,Y.height=$;var K=Y.getContext("2d",{willReadFrequently:!0}),j=RIt(u,{noNumericCheck:!0,returnArray:!0}),q,J;F==="fast"?(q=M?function(dn){return _-1-dn}:Fd.identity,J=x?function(dn){return b-1-dn}:Fd.identity):(q=function(dn){return Fd.constrain(Math.round(n.c2p(d[dn])-T),0,R)},J=function(dn){return Fd.constrain(Math.round(a.c2p(p[dn])-E),0,L)});var U=J(0),V=[U,U],X=M?0:1,H=x?0:1,G=0,Q=0,te=0,ce=0,ge,Ce,be,he,oe;function Ee(dn,Vn=0){if(dn===void 0)return[0,0,0,0];var ra=j(dn);return ra[0]=Math.round(ra[0]),ra[1]=Math.round(ra[1]),ra[2]=Math.round(ra[2]),G+=Vn,Q+=ra[0]*Vn,te+=ra[1]*Vn,ce+=ra[2]*Vn,ra}function ye(dn,Vn,ra,ds){var mo=dn[ra.bin0];if(mo===void 0)return Ee(void 0,1);var Rs=dn[ra.bin1],ho=Vn[ra.bin0],ka=Vn[ra.bin1],ao=Rs-mo||0,zs=ho-mo||0,_a;return Rs===void 0?ka===void 0?_a=0:ho===void 0?_a=2*(ka-mo):_a=(2*ka-ho-mo)*2/3:ka===void 0?ho===void 0?_a=0:_a=(2*mo-Rs-ho)*2/3:ho===void 0?_a=(2*ka-Rs-mo)*2/3:_a=ka+mo-Rs-ho,Ee(mo+ra.frac*ao+ds.frac*(zs+ra.frac*_a))}if(F!=="default"){var ue=0,ee;try{ee=new Uint8Array(O*$*4)}catch(dn){ee=new Array(O*$*4)}if(F==="smooth"){var ae=v||d,xe=m||p,re=new Array(ae.length),pe=new Array(xe.length),we=new Array(R),Fe=v?CAe:kAe,Se=m?CAe:kAe,ke,_e,Ie;for(C=0;CXt||Xt>a._length))for(k=Re;klr||lr>n._length)){var ur=PIt({x:Vt,y:Tt},u,e._fullLayout);ur.x=Vt,ur.y=Tt;var Bt=l.z[C][k];Bt===void 0?(ur.z="",ur.zLabel=""):(ur.z=Bt,ur.zLabel=LIt.tickText(bt,Bt,"hover").text);var Zt=l.text&&l.text[C]&&l.text[C][k];(Zt===void 0||Zt===!1)&&(Zt=""),ur.text=Zt;var kr=Fd.texttemplateString({data:[ur,u._meta],fallback:u.texttemplatefallback,labels:ur,locale:e._fullLayout._d3locale,template:Xe});if(kr){var $e=kr.split("
"),tt=$e.length,st=0;for(D=0;D{"use strict";IAe.exports={min:"zmin",max:"zmax"}});var kL=W((rBr,RAe)=>{"use strict";var NIt=vi();RAe.exports=function(t){NIt.select(t).selectAll(".hm image").style("opacity",function(r){return r.trace.opacity})}});var DL=W((iBr,BAe)=>{"use strict";var zAe=Ds(),OM=it(),CL=OM.isArrayOrTypedArray,UIt=ji(),VIt=Jo().extractOpts;BAe.exports=function(t,r,i,n,a){a||(a={});var o=a.isContour,s=t.cd[0],l=s.trace,u=t.xa,c=t.ya,f=s.x,h=s.y,d=s.z,p=s.xCenter,v=s.yCenter,m=s.zmask,g=l.zhoverformat,w=f,b=h,_,M,x,T;if(t.index!==!1){try{x=Math.round(t.index[1]),T=Math.round(t.index[0])}catch(B){OM.error("Error hovering on heatmap, pointNumber must be [row,col], found:",t.index);return}if(x<0||x>=d[0].length||T<0||T>d.length)return}else{if(zAe.inbox(r-f[0],r-f[f.length-1],0)>0||zAe.inbox(i-h[0],i-h[h.length-1],0)>0)return;if(o){var A;for(w=[2*f[0]-f[1]],A=1;A{"use strict";qAe.exports={attributes:p5(),supplyDefaults:z6e(),calc:AL(),plot:EL(),colorbar:x5(),style:kL(),hoverPoints:DL(),moduleType:"trace",name:"heatmap",basePlotModule:dl(),categories:["cartesian","svg","2dMap","showLegend"],meta:{}}});var UAe=W((aBr,NAe)=>{"use strict";NAe.exports=OAe()});var EW=W((oBr,VAe)=>{"use strict";VAe.exports=function(t,r){return{start:{valType:"any",editType:"calc"},end:{valType:"any",editType:"calc"},size:{valType:"any",editType:"calc"},editType:"calc"}}});var HAe=W((sBr,GAe)=>{"use strict";GAe.exports={eventDataKeys:["binNumber"]}});var FL=W((lBr,YAe)=>{"use strict";var Vh=w1(),jAe=_s().axisHoverFormat,{hovertemplateAttrs:GIt,texttemplateAttrs:HIt,templatefallbackAttrs:$Ae}=Ga(),kW=Ho(),WAe=EW(),jIt=HAe(),CW=tn().extendFlat;YAe.exports={x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},xhoverformat:jAe("x"),yhoverformat:jAe("y"),text:CW({},Vh.text,{}),hovertext:CW({},Vh.hovertext,{}),orientation:Vh.orientation,histfunc:{valType:"enumerated",values:["count","sum","avg","min","max"],dflt:"count",editType:"calc"},histnorm:{valType:"enumerated",values:["","percent","probability","density","probability density"],dflt:"",editType:"calc"},cumulative:{enabled:{valType:"boolean",dflt:!1,editType:"calc"},direction:{valType:"enumerated",values:["increasing","decreasing"],dflt:"increasing",editType:"calc"},currentbin:{valType:"enumerated",values:["include","exclude","half"],dflt:"include",editType:"calc"},editType:"calc"},nbinsx:{valType:"integer",min:0,dflt:0,editType:"calc"},xbins:WAe("x",!0),nbinsy:{valType:"integer",min:0,dflt:0,editType:"calc"},ybins:WAe("y",!0),autobinx:{valType:"boolean",dflt:null,editType:"calc"},autobiny:{valType:"boolean",dflt:null,editType:"calc"},bingroup:{valType:"string",dflt:"",editType:"calc"},hovertemplate:GIt({},{keys:jIt.eventDataKeys}),hovertemplatefallback:$Ae(),texttemplate:HIt({arrayOk:!1,editType:"plot"},{keys:["label","value"]}),texttemplatefallback:$Ae({editType:"plot"}),textposition:CW({},Vh.textposition,{arrayOk:!1}),textfont:kW({arrayOk:!1,editType:"plot",colorEditType:"style"}),outsidetextfont:kW({arrayOk:!1,editType:"plot",colorEditType:"style"}),insidetextfont:kW({arrayOk:!1,editType:"plot",colorEditType:"style"}),insidetextanchor:Vh.insidetextanchor,textangle:Vh.textangle,cliponaxis:Vh.cliponaxis,constraintext:Vh.constraintext,marker:Vh.marker,offsetgroup:Vh.offsetgroup,alignmentgroup:Vh.alignmentgroup,selected:Vh.selected,unselected:Vh.unselected,zorder:Vh.zorder}});var JAe=W((uBr,KAe)=>{"use strict";var XAe=yi(),NM=it(),ZAe=ni(),$It=E0().handleText,WIt=rL(),YIt=FL();KAe.exports=function(t,r,i,n){function a(w,b){return NM.coerce(t,r,YIt,w,b)}var o=a("x"),s=a("y"),l=a("cumulative.enabled");l&&(a("cumulative.direction"),a("cumulative.currentbin")),a("text");var u=a("textposition");$It(t,r,n,a,u,{moduleHasSelected:!0,moduleHasUnselected:!0,moduleHasConstrain:!0,moduleHasCliponaxis:!0,moduleHasTextangle:!0,moduleHasInsideanchor:!0}),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("xhoverformat"),a("yhoverformat");var c=a("orientation",s&&!o?"h":"v"),f=c==="v"?"x":"y",h=c==="v"?"y":"x",d=o&&s?Math.min(NM.minRowLength(o)&&NM.minRowLength(s)):NM.minRowLength(r[f]||[]);if(!d){r.visible=!1;return}r._length=d;var p=XAe.getComponentMethod("calendars","handleTraceDefaults");p(t,r,["x","y"],n);var v=r[h];v&&a("histfunc"),a("histnorm"),a("autobin"+f),WIt(t,r,a,i,n),NM.coerceSelectionMarkerOpacity(r,a);var m=(r.marker.line||{}).color,g=XAe.getComponentMethod("errorbars","supplyDefaults");g(t,r,m||ZAe.defaultLine,{axis:"y"}),g(t,r,m||ZAe.defaultLine,{axis:"x",inherit:"y"}),a("zorder")}});var PL=W((cBr,tMe)=>{"use strict";var UM=it(),XIt=Cs(),LL=yi().traceIs,ZIt=__(),KIt=E0().validateCornerradius,QAe=UM.nestedProperty,DW=v_().getAxisGroup,eMe=[{aStr:{x:"xbins.start",y:"ybins.start"},name:"start"},{aStr:{x:"xbins.end",y:"ybins.end"},name:"end"},{aStr:{x:"xbins.size",y:"ybins.size"},name:"size"},{aStr:{x:"nbinsx",y:"nbinsy"},name:"nbins"}],JIt=["x","y"];tMe.exports=function(t,r){var i=r._histogramBinOpts={},n=[],a={},o=[],s,l,u,c,f,h,d;function p(F,P){return UM.coerce(s._input,s,s._module.attributes,F,P)}function v(F){return F.orientation==="v"?"x":"y"}function m(F,P){var R=XIt.getFromTrace({_fullLayout:r},F,P);return R.type}function g(F,P,R){var L=F.uid+"__"+R;P||(P=L);var I=m(F,R),B=F[R+"calendar"]||"",O=i[P],$=!0;O&&(I===O.axType&&B===O.calendar?($=!1,O.traces.push(F),O.dirs.push(R)):(P=L,I!==O.axType&&UM.warn(["Attempted to group the bins of trace",F.index,"set on a","type:"+I,"axis","with bins on","type:"+O.axType,"axis."].join(" ")),B!==O.calendar&&UM.warn(["Attempted to group the bins of trace",F.index,"set with a",B,"calendar","with bins",O.calendar?"on a "+O.calendar+" calendar":"w/o a set calendar"].join(" ")))),$&&(i[P]={traces:[F],dirs:[R],axType:I,calendar:F[R+"calendar"]||""}),F["_"+R+"bingroup"]=P}for(f=0;f{"use strict";var QIt=c5().hoverPoints,eRt=ji().hoverLabelText;rMe.exports=function(t,r,i,n,a){var o=QIt(t,r,i,n,a);if(o){t=o[0];var s=t.cd[t.index],l=t.cd[0].trace;if(!l.cumulative.enabled){var u=l.orientation==="h"?"y":"x";t[u+"Label"]=eRt(t[u+"a"],[s.ph0,s.ph1],l[u+"hoverformat"])}return o}}});var FW=W((hBr,nMe)=>{"use strict";nMe.exports=function(t,r,i,n,a){if(t.x="xVal"in r?r.xVal:r.x,t.y="yVal"in r?r.yVal:r.y,"zLabelVal"in r&&(t.z=r.zLabelVal),r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),!(i.cumulative||{}).enabled){var o=Array.isArray(a)?n[0].pts[a[0]][a[1]]:n[a].pts;t.pointNumbers=o,t.binNumber=t.pointNumber,delete t.pointNumber,delete t.pointIndex,t.pointIndices=o}return t}});var oMe=W((dBr,aMe)=>{"use strict";aMe.exports={attributes:FL(),layoutAttributes:tL(),supplyDefaults:JAe(),crossTraceDefaults:PL(),supplyLayoutDefaults:K$(),calc:_W().calc,crossTraceCalc:b_().crossTraceCalc,plot:I_().plot,layerName:"barlayer",style:Ed().style,styleOnSelect:Ed().styleOnSelect,colorbar:Ac(),hoverPoints:iMe(),selectPoints:f5(),eventData:FW(),moduleType:"trace",name:"histogram",basePlotModule:dl(),categories:["bar-like","cartesian","svg","bar","histogram","oriented","errorBarsOK","showLegend"],meta:{}}});var lMe=W((pBr,sMe)=>{"use strict";sMe.exports=oMe()});var RL=W((vBr,fMe)=>{"use strict";var iv=FL(),uMe=EW(),IL=p5(),tRt=Wa(),LW=_s().axisHoverFormat,{hovertemplateAttrs:rRt,texttemplateAttrs:iRt,templatefallbackAttrs:cMe}=Ga(),nRt=Eo(),VM=tn().extendFlat;fMe.exports=VM({x:iv.x,y:iv.y,z:{valType:"data_array",editType:"calc"},marker:{color:{valType:"data_array",editType:"calc"},editType:"calc"},histnorm:iv.histnorm,histfunc:iv.histfunc,nbinsx:iv.nbinsx,xbins:uMe("x"),nbinsy:iv.nbinsy,ybins:uMe("y"),autobinx:iv.autobinx,autobiny:iv.autobiny,bingroup:VM({},iv.bingroup,{}),xbingroup:VM({},iv.bingroup,{}),ybingroup:VM({},iv.bingroup,{}),xgap:IL.xgap,ygap:IL.ygap,zsmooth:IL.zsmooth,xhoverformat:LW("x"),yhoverformat:LW("y"),zhoverformat:LW("z",1),hovertemplate:rRt({},{keys:["z"]}),hovertemplatefallback:cMe(),texttemplate:iRt({arrayOk:!1,editType:"plot"},{keys:["z"]}),texttemplatefallback:cMe({editType:"plot"}),textfont:IL.textfont,showlegend:VM({},tRt.showlegend,{dflt:!1})},nRt("",{cLetter:"z",autoColorDflt:!1}))});var PW=W((gBr,dMe)=>{"use strict";var aRt=yi(),hMe=it();dMe.exports=function(t,r,i,n){var a=i("x"),o=i("y"),s=hMe.minRowLength(a),l=hMe.minRowLength(o);if(!s||!l){r.visible=!1;return}r._length=Math.min(s,l);var u=aRt.getComponentMethod("calendars","handleTraceDefaults");u(t,r,["x","y"],n);var c=i("z")||i("marker.color");c&&i("histfunc"),i("histnorm"),i("autobinx"),i("autobiny")}});var vMe=W((mBr,pMe)=>{"use strict";var oRt=it(),sRt=PW(),lRt=dW(),uRt=Fu(),cRt=qM(),fRt=RL();pMe.exports=function(t,r,i,n){function a(o,s){return oRt.coerce(t,r,fRt,o,s)}sRt(t,r,a,n),r.visible!==!1&&(lRt(t,r,a,n),uRt(t,r,n,a,{prefix:"",cLetter:"z"}),a("hovertemplate"),a("hovertemplatefallback"),cRt(a,n),a("xhoverformat"),a("yhoverformat"))}});var yMe=W((yBr,mMe)=>{"use strict";var hRt=DL(),gMe=ji().hoverLabelText;mMe.exports=function(t,r,i,n,a){var o=hRt(t,r,i,n,a);if(o){t=o[0];var s=t.index,l=s[0],u=s[1],c=t.cd[0],f=c.trace,h=c.xRanges[u],d=c.yRanges[l];return t.xLabel=gMe(t.xa,[h[0],h[1]],f.xhoverformat),t.yLabel=gMe(t.ya,[d[0],d[1]],f.yhoverformat),o}}});var _Me=W((xBr,xMe)=>{"use strict";xMe.exports={attributes:RL(),supplyDefaults:vMe(),crossTraceDefaults:PL(),calc:AL(),plot:EL(),layerName:"heatmaplayer",colorbar:x5(),style:kL(),hoverPoints:yMe(),eventData:FW(),moduleType:"trace",name:"histogram2d",basePlotModule:dl(),categories:["cartesian","svg","2dMap","histogram","showLegend"],meta:{}}});var wMe=W((_Br,bMe)=>{"use strict";bMe.exports=_Me()});var zL=W((bBr,TMe)=>{"use strict";TMe.exports={COMPARISON_OPS:["=","!=","<",">=",">","<="],COMPARISON_OPS2:["=","<",">=",">","<="],INTERVAL_OPS:["[]","()","[)","(]","][",")(","](",")["],SET_OPS:["{}","}{"],CONSTRAINT_REDUCTION:{"=":"=","<":"<","<=":"<",">":">",">=":">","[]":"[]","()":"[]","[)":"[]","(]":"[]","][":"][",")(":"][","](":"][",")[":"]["}}});var GM=W((wBr,EMe)=>{"use strict";var Pl=p5(),BL=Ns(),MMe=_s(),IW=MMe.axisHoverFormat,dRt=MMe.descriptionOnlyNumbers,pRt=Eo(),vRt=Du().dash,gRt=Ho(),_5=tn().extendFlat,SMe=zL(),mRt=SMe.COMPARISON_OPS2,yRt=SMe.INTERVAL_OPS,AMe=BL.line;EMe.exports=_5({z:Pl.z,x:Pl.x,x0:Pl.x0,dx:Pl.dx,y:Pl.y,y0:Pl.y0,dy:Pl.dy,xperiod:Pl.xperiod,yperiod:Pl.yperiod,xperiod0:BL.xperiod0,yperiod0:BL.yperiod0,xperiodalignment:Pl.xperiodalignment,yperiodalignment:Pl.yperiodalignment,text:Pl.text,hovertext:Pl.hovertext,transpose:Pl.transpose,xtype:Pl.xtype,ytype:Pl.ytype,xhoverformat:IW("x"),yhoverformat:IW("y"),zhoverformat:IW("z",1),hovertemplate:Pl.hovertemplate,hovertemplatefallback:Pl.hovertemplatefallback,texttemplate:_5({},Pl.texttemplate,{}),texttemplatefallback:Pl.texttemplatefallback,textfont:_5({},Pl.textfont,{}),hoverongaps:Pl.hoverongaps,connectgaps:_5({},Pl.connectgaps,{}),fillcolor:{valType:"color",editType:"calc"},autocontour:{valType:"boolean",dflt:!0,editType:"calc",impliedEdits:{"contours.start":void 0,"contours.end":void 0,"contours.size":void 0}},ncontours:{valType:"integer",dflt:15,min:1,editType:"calc"},contours:{type:{valType:"enumerated",values:["levels","constraint"],dflt:"levels",editType:"calc"},start:{valType:"number",dflt:null,editType:"plot",impliedEdits:{"^autocontour":!1}},end:{valType:"number",dflt:null,editType:"plot",impliedEdits:{"^autocontour":!1}},size:{valType:"number",dflt:null,min:0,editType:"plot",impliedEdits:{"^autocontour":!1}},coloring:{valType:"enumerated",values:["fill","heatmap","lines","none"],dflt:"fill",editType:"calc"},showlines:{valType:"boolean",dflt:!0,editType:"plot"},showlabels:{valType:"boolean",dflt:!1,editType:"plot"},labelfont:gRt({editType:"plot",colorEditType:"style"}),labelformat:{valType:"string",dflt:"",editType:"plot",description:dRt("contour label")},operation:{valType:"enumerated",values:[].concat(mRt).concat(yRt),dflt:"=",editType:"calc"},value:{valType:"any",dflt:0,editType:"calc"},editType:"calc",impliedEdits:{autocontour:!1}},line:{color:_5({},AMe.color,{editType:"style+colorbars"}),width:{valType:"number",min:0,editType:"style+colorbars"},dash:vRt,smoothing:_5({},AMe.smoothing,{}),editType:"plot"},zorder:BL.zorder},pRt("",{cLetter:"z",autoColorDflt:!1,editTypeOverride:"calc"}))});var zW=W((TBr,CMe)=>{"use strict";var ef=RL(),A1=GM(),xRt=Eo(),RW=_s().axisHoverFormat,kMe=tn().extendFlat;CMe.exports=kMe({x:ef.x,y:ef.y,z:ef.z,marker:ef.marker,histnorm:ef.histnorm,histfunc:ef.histfunc,nbinsx:ef.nbinsx,xbins:ef.xbins,nbinsy:ef.nbinsy,ybins:ef.ybins,autobinx:ef.autobinx,autobiny:ef.autobiny,bingroup:ef.bingroup,xbingroup:ef.xbingroup,ybingroup:ef.ybingroup,autocontour:A1.autocontour,ncontours:A1.ncontours,contours:A1.contours,line:{color:A1.line.color,width:kMe({},A1.line.width,{dflt:.5}),dash:A1.line.dash,smoothing:A1.line.smoothing,editType:"plot"},xhoverformat:RW("x"),yhoverformat:RW("y"),zhoverformat:RW("z",1),hovertemplate:ef.hovertemplate,hovertemplatefallback:ef.hovertemplatefallback,texttemplate:A1.texttemplate,texttemplatefallback:A1.texttemplatefallback,textfont:A1.textfont},xRt("",{cLetter:"z",editTypeOverride:"calc"}))});var qL=W((ABr,DMe)=>{"use strict";DMe.exports=function(t,r,i,n){var a=n("contours.start"),o=n("contours.end"),s=a===!1||o===!1,l=i("contours.size"),u;s?u=r.autocontour=!0:u=i("autocontour",!1),(u||!l)&&i("ncontours")}});var BW=W((MBr,FMe)=>{"use strict";var _Rt=it();FMe.exports=function(t,r,i,n){n||(n={});var a=t("contours.showlabels");if(a){var o=r.font;_Rt.coerceFont(t,"contours.labelfont",o,{overrideDflt:{color:i}}),t("contours.labelformat")}n.hasHover!==!1&&t("zhoverformat")}});var OL=W((SBr,LMe)=>{"use strict";var bRt=Fu(),wRt=BW();LMe.exports=function(t,r,i,n,a){var o=i("contours.coloring"),s,l="";o==="fill"&&(s=i("contours.showlines")),s!==!1&&(o!=="lines"&&(l=i("line.color","#000")),i("line.width",.5),i("line.dash")),o!=="none"&&(t.showlegend!==!0&&(r.showlegend=!1),r._dfltShowLegend=!1,bRt(t,r,n,i,{prefix:"",cLetter:"z"})),i("line.smoothing"),wRt(i,n,l,a)}});var zMe=W((EBr,RMe)=>{"use strict";var PMe=it(),TRt=PW(),ARt=qL(),MRt=OL(),SRt=qM(),IMe=zW();RMe.exports=function(t,r,i,n){function a(s,l){return PMe.coerce(t,r,IMe,s,l)}function o(s){return PMe.coerce2(t,r,IMe,s)}TRt(t,r,a,n),r.visible!==!1&&(ARt(t,r,a,o),MRt(t,r,a,n),a("xhoverformat"),a("yhoverformat"),a("hovertemplate"),a("hovertemplatefallback"),r.contours&&r.contours.coloring==="heatmap"&&SRt(a,n))}});var NW=W((kBr,qMe)=>{"use strict";var OW=ji(),qW=it();qMe.exports=function(t,r){var i=t.contours;if(t.autocontour){var n=t.zmin,a=t.zmax;(t.zauto||n===void 0)&&(n=qW.aggNums(Math.min,null,r)),(t.zauto||a===void 0)&&(a=qW.aggNums(Math.max,null,r));var o=BMe(n,a,t.ncontours);i.size=o.dtick,i.start=OW.tickFirst(o),o.range.reverse(),i.end=OW.tickFirst(o),i.start===n&&(i.start+=i.size),i.end===a&&(i.end-=i.size),i.start>i.end&&(i.start=i.end=(i.start+i.end)/2),t._input.contours||(t._input.contours={}),qW.extendFlat(t._input.contours,{start:i.start,end:i.end,size:i.size}),t._input.autocontour=!0}else if(i.type!=="constraint"){var s=i.start,l=i.end,u=t._input.contours;if(s>l&&(i.start=u.start=l,l=i.end=u.end=s,s=i.start),!(i.size>0)){var c;s===l?c=1:c=BMe(s,l,t.ncontours).dtick,u.size=i.size=c}}};function BMe(e,t,r){var i={type:"linear",range:[e,t]};return OW.autoTicks(i,(t-e)/(r||15)),i}});var HM=W((CBr,OMe)=>{"use strict";OMe.exports=function(t){return t.end+t.size/1e6}});var UW=W((DBr,UMe)=>{"use strict";var NMe=Jo(),ERt=AL(),kRt=NW(),CRt=HM();UMe.exports=function(t,r){var i=ERt(t,r),n=i[0].z;kRt(r,n);var a=r.contours,o=NMe.extractOpts(r),s;if(a.coloring==="heatmap"&&o.auto&&r.autocontour===!1){var l=a.start,u=CRt(a),c=a.size||1,f=Math.floor((u-l)/c)+1;isFinite(c)||(c=1,f=1);var h=l-c/2,d=h+f*c;s=[h,d]}else s=n;return NMe.calc(t,r,{vals:s,cLetter:"z"}),i}});var jM=W((FBr,VMe)=>{"use strict";VMe.exports={BOTTOMSTART:[1,9,13,104,713],TOPSTART:[4,6,7,104,713],LEFTSTART:[8,12,14,208,1114],RIGHTSTART:[2,3,11,208,1114],NEWDELTA:[null,[-1,0],[0,-1],[-1,0],[1,0],null,[0,-1],[-1,0],[0,1],[0,1],null,[0,1],[1,0],[1,0],[0,-1]],CHOOSESADDLE:{104:[4,1],208:[2,8],713:[7,13],1114:[11,14]},SADDLEREMAINDER:{1:4,2:8,4:1,7:13,8:2,11:14,13:7,14:11},LABELDISTANCE:2,LABELINCREASE:10,LABELMIN:3,LABELMAX:10,LABELOPTIMIZER:{EDGECOST:1,ANGLECOST:1,NEIGHBORCOST:5,SAMELEVELFACTOR:10,SAMELEVELDISTANCE:5,MAXCOST:100,INITIALSEARCHPOINTS:10,ITERATIONS:5}}});var VW=W((LBr,GMe)=>{"use strict";var NL=jM();GMe.exports=function(t){var r=t[0].z,i=r.length,n=r[0].length,a=i===2||n===2,o,s,l,u,c,f,h,d,p;for(s=0;se?0:1)+(t[0][1]>e?0:2)+(t[1][1]>e?0:4)+(t[1][0]>e?0:8);if(r===5||r===10){var i=(t[0][0]+t[0][1]+t[1][0]+t[1][1])/4;return e>i?r===5?713:1114:r===5?104:208}return r===15?0:r}});var GW=W((PBr,$Me)=>{"use strict";var UL=it(),b5=jM();$Me.exports=function(t,r,i){var n,a,o,s,l;for(r=r||.01,i=i||.01,o=0;o20?(o=b5.CHOOSESADDLE[o][(s[0]||s[1])<0?0:1],e.crossings[a]=b5.SADDLEREMAINDER[o]):delete e.crossings[a],s=b5.NEWDELTA[o],!s){UL.log("Found bad marching index:",o,t,e.level);break}l.push(jMe(e,t,s)),t[0]+=s[0],t[1]+=s[1],a=t.join(","),$M(l[l.length-1],l[l.length-2],i,n)&&l.pop();var p=s[0]&&(t[0]<0||t[0]>c-2)||s[1]&&(t[1]<0||t[1]>u-2),v=t[0]===f[0]&&t[1]===f[1]&&s[0]===h[0]&&s[1]===h[1];if(v||r&&p)break;o=e.crossings[a]}d===1e4&&UL.log("Infinite loop in contour?");var m=$M(l[0],l[l.length-1],i,n),g=0,w=.2*e.smoothing,b=[],_=0,M,x,T,A,y,E,S,C,k,D,F;for(d=1;d=_;d--)if(M=b[d],M=_&&M+b[x]C&&k--,e.edgepaths[k]=F.concat(l,D));break}I||(e.edgepaths[C]=l.concat(D))}for(C=0;C20&&t?e===208||e===1114?i=r[0]===0?1:-1:n=r[1]===0?1:-1:b5.BOTTOMSTART.indexOf(e)!==-1?n=1:b5.LEFTSTART.indexOf(e)!==-1?i=1:b5.TOPSTART.indexOf(e)!==-1?n=-1:i=-1,[i,n]}function jMe(e,t,r){var i=t[0]+Math.max(r[0],0),n=t[1]+Math.max(r[1],0),a=e.z[n][i],o=e.xaxis,s=e.yaxis;if(r[1]){var l=(e.level-a)/(e.z[n][i+1]-a),u=(l!==1?(1-l)*o.c2l(e.x[i]):0)+(l!==0?l*o.c2l(e.x[i+1]):0);return[o.c2p(o.l2c(u),!0),s.c2p(e.y[n],!0),i+l,n]}else{var c=(e.level-a)/(e.z[n+1][i]-a),f=(c!==1?(1-c)*s.c2l(e.y[n]):0)+(c!==0?c*s.c2l(e.y[n+1]):0);return[o.c2p(e.x[i],!0),s.c2p(s.l2c(f),!0),i,n+c]}}});var ZMe=W((IBr,XMe)=>{"use strict";var HW=zL(),PRt=sn();XMe.exports={"[]":WMe("[]"),"][":WMe("]["),">":jW(">"),"<":jW("<"),"=":jW("=")};function YMe(e,t){var r=Array.isArray(t),i;function n(a){return PRt(a)?+a:null}return HW.COMPARISON_OPS2.indexOf(e)!==-1?i=n(r?t[0]:t):HW.INTERVAL_OPS.indexOf(e)!==-1?i=r?[n(t[0]),n(t[1])]:[n(t),n(t)]:HW.SET_OPS.indexOf(e)!==-1&&(i=r?t.map(n):[n(t)]),i}function WMe(e){return function(t){t=YMe(e,t);var r=Math.min(t[0],t[1]),i=Math.max(t[0],t[1]);return{start:r,end:i,size:i-r}}}function jW(e){return function(t){return t=YMe(e,t),{start:t,end:1/0,size:1/0}}}});var $W=W((RBr,JMe)=>{"use strict";var KMe=it(),IRt=ZMe(),RRt=HM();JMe.exports=function(t,r,i){for(var n=t.type==="constraint"?IRt[t._operation](t.value):t,a=n.size,o=[],s=RRt(n),l=i.trace._carpetTrace,u=l?{xaxis:l.aaxis,yaxis:l.baxis,x:i.a,y:i.b}:{xaxis:r.xaxis,yaxis:r.yaxis,x:i.x,y:i.y},c=n.start;c1e3){KMe.warn("Too many contours, clipping at 1000",t);break}return o}});var WW=W((zBr,eSe)=>{"use strict";var w5=it();eSe.exports=function(e,t){var r,i,n,a=function(l){return l.reverse()},o=function(l){return l};switch(t){case"=":case"<":return e;case">":for(e.length!==1&&w5.warn("Contour data invalid for the specified inequality operation."),i=e[0],r=0;r{"use strict";tSe.exports=function(e,t){var r=e[0],i=r.z,n;switch(t.type){case"levels":var a=Math.min(i[0][0],i[0][1]);for(n=0;no.level||o.starts.length&&a===o.level)}break;case"constraint":if(r.prefixBoundary=!1,r.edgepaths.length)return;var s=r.x.length,l=r.y.length,u=-1/0,c=1/0;for(n=0;n":f>u&&(r.prefixBoundary=!0);break;case"<":(fu||r.starts.length&&d===c)&&(r.prefixBoundary=!0);break;case"][":h=Math.min(f[0],f[1]),d=Math.max(f[0],f[1]),hu&&(r.prefixBoundary=!0);break}break}}});var VL=W(Cf=>{"use strict";var YM=vi(),ic=it(),Yg=Ji(),zRt=Jo(),nSe=uo(),rSe=ji(),iSe=i1(),BRt=EL(),aSe=VW(),oSe=GW(),qRt=$W(),ORt=WW(),sSe=YW(),WM=jM(),M1=WM.LABELOPTIMIZER;Cf.plot=function(t,r,i,n){var a=r.xaxis,o=r.yaxis;ic.makeTraceGroups(n,i,"contour").each(function(s){var l=YM.select(this),u=s[0],c=u.trace,f=u.x,h=u.y,d=c.contours,p=qRt(d,r,u),v=ic.ensureSingle(l,"g","heatmapcoloring"),m=[];d.coloring==="heatmap"&&(m=[s]),BRt(t,r,m,v),aSe(p),oSe(p);var g=a.c2p(f[0],!0),w=a.c2p(f[f.length-1],!0),b=o.c2p(h[0],!0),_=o.c2p(h[h.length-1],!0),M=[[g,_],[w,_],[w,b],[g,b]],x=p;d.type==="constraint"&&(x=ORt(p,d._operation)),NRt(l,M,d),URt(l,x,M,d),VRt(l,p,t,u,d),HRt(l,r,t,u,M)})};function NRt(e,t,r){var i=ic.ensureSingle(e,"g","contourbg"),n=i.selectAll("path").data(r.coloring==="fill"?[0]:[]);n.enter().append("path"),n.exit().remove(),n.attr("d","M"+t.join("L")+"Z").style("stroke","none")}function URt(e,t,r,i){var n=i.coloring==="fill"||i.type==="constraint"&&i._operation!=="=",a="M"+r.join("L")+"Z";n&&sSe(t,i);var o=ic.ensureSingle(e,"g","contourfill"),s=o.selectAll("path").data(n?t:[]);s.enter().append("path"),s.exit().remove(),s.each(function(l){var u=(l.prefixBoundary?a:"")+lSe(l,r);u?YM.select(this).attr("d",u).style("stroke","none"):YM.select(this).remove()})}function lSe(e,t){var r="",i=0,n=e.edgepaths.map(function(g,w){return w}),a=!0,o,s,l,u,c,f;function h(g){return Math.abs(g[1]-t[0][1])<.01}function d(g){return Math.abs(g[1]-t[2][1])<.01}function p(g){return Math.abs(g[0]-t[0][0])<.01}function v(g){return Math.abs(g[0]-t[2][0])<.01}for(;n.length;){for(f=Yg.smoothopen(e.edgepaths[i],e.smoothing),r+=a?f:f.replace(/^M/,"L"),n.splice(n.indexOf(i),1),o=e.edgepaths[i][e.edgepaths[i].length-1],u=-1,l=0;l<4;l++){if(!o){ic.log("Missing end?",i,e);break}for(h(o)&&!v(o)?s=t[1]:p(o)?s=t[0]:d(o)?s=t[3]:v(o)&&(s=t[2]),c=0;c=0&&(s=m,u=c):Math.abs(o[1]-s[1])<.01?Math.abs(o[1]-m[1])<.01&&(m[0]-o[0])*(s[0]-m[0])>=0&&(s=m,u=c):ic.log("endpt to newendpt is not vert. or horz.",o,s,m)}if(o=s,u>=0)break;r+="L"+s}if(u===e.edgepaths.length){ic.log("unclosed perimeter path");break}i=u,a=n.indexOf(i)===-1,a&&(i=n[0],r+="Z")}for(i=0;iM1.MAXCOST*2)break;h&&(s/=2),o=u-s/2,l=o+s*1.5}if(f<=M1.MAXCOST)return c};function GRt(e,t,r,i){var n=t.width/2,a=t.height/2,o=e.x,s=e.y,l=e.theta,u=Math.cos(l)*n,c=Math.sin(l)*n,f=(o>i.center?i.right-o:o-i.left)/(u+Math.abs(Math.sin(l)*a)),h=(s>i.middle?i.bottom-s:s-i.top)/(Math.abs(c)+Math.cos(l)*a);if(f<1||h<1)return 1/0;var d=M1.EDGECOST*(1/(f-1)+1/(h-1));d+=M1.ANGLECOST*l*l;for(var p=o-u,v=s-c,m=o+u,g=s+c,w=0;w{"use strict";var $Rt=vi(),XW=Jo(),WRt=HM();uSe.exports=function(t){var r=t.contours,i=r.start,n=WRt(r),a=r.size||1,o=Math.floor((n-i)/a)+1,s=r.coloring==="lines"?0:1,l=XW.extractOpts(t);isFinite(a)||(a=1,o=1);var u=l.reversescale?XW.flipScale(l.colorscale):l.colorscale,c=u.length,f=new Array(c),h=new Array(c),d,p,v=l.min,m=l.max;if(r.coloring==="heatmap"){for(p=0;p=m)&&(i<=v&&(i=v),n>=m&&(n=m),o=Math.floor((n-i)/a)+1,s=0),p=0;pv&&(f.unshift(v),h.unshift(h[0])),f[f.length-1]{"use strict";var GL=vi(),cSe=Ji(),YRt=kL(),XRt=ZW();fSe.exports=function(t){var r=GL.select(t).selectAll("g.contour");r.style("opacity",function(i){return i[0].trace.opacity}),r.each(function(i){var n=GL.select(this),a=i[0].trace,o=a.contours,s=a.line,l=o.size||1,u=o.start,c=o.type==="constraint",f=!c&&o.coloring==="lines",h=!c&&o.coloring==="fill",d=f||h?XRt(a):null;n.selectAll("g.contourlevel").each(function(m){GL.select(this).selectAll("path").call(cSe.lineGroupStyle,s.width,f?d(m.level):s.color,s.dash)});var p=o.labelfont;if(n.selectAll("g.contourlabels text").each(function(m){cSe.font(GL.select(this),{weight:p.weight,style:p.style,variant:p.variant,textcase:p.textcase,lineposition:p.lineposition,shadow:p.shadow,family:p.family,size:p.size,color:p.color||(f?d(m.level):s.color)})}),c)n.selectAll("g.contourfill path").style("fill",a.fillcolor);else if(h){var v;n.selectAll("g.contourfill path").style("fill",function(m){return v===void 0&&(v=m.level),d(m.level+.5*l)}),v===void 0&&(v=u),n.selectAll("g.contourbg path").style("fill",d(v-.5*l))}}),YRt(t)}});var jL=W((UBr,dSe)=>{"use strict";var hSe=Jo(),ZRt=ZW(),KRt=HM();function JRt(e,t,r){var i=t.contours,n=t.line,a=i.size||1,o=i.coloring,s=ZRt(t,{isColorbar:!0});if(o==="heatmap"){var l=hSe.extractOpts(t);r._fillgradient=l.reversescale?hSe.flipScale(l.colorscale):l.colorscale,r._zrange=[l.min,l.max]}else o==="fill"&&(r._fillcolor=s);r._line={color:o==="lines"?s:n.color,width:i.showlines!==!1?n.width:0,dash:n.dash},r._levels={start:i.start,end:KRt(i),size:a}}dSe.exports={min:"zmin",max:"zmax",calc:JRt}});var KW=W((VBr,pSe)=>{"use strict";var $L=ni(),QRt=DL();pSe.exports=function(t,r,i,n,a){a||(a={}),a.isContour=!0;var o=QRt(t,r,i,n,a);return o&&o.forEach(function(s){var l=s.trace;l.contours.type==="constraint"&&(l.fillcolor&&$L.opacity(l.fillcolor)?s.color=$L.addOpacity(l.fillcolor,1):l.contours.showlines&&$L.opacity(l.line.color)&&(s.color=$L.addOpacity(l.line.color,1)))}),o}});var gSe=W((GBr,vSe)=>{"use strict";vSe.exports={attributes:zW(),supplyDefaults:zMe(),crossTraceDefaults:PL(),calc:UW(),plot:VL().plot,layerName:"contourlayer",style:HL(),colorbar:jL(),hoverPoints:KW(),moduleType:"trace",name:"histogram2dcontour",basePlotModule:dl(),categories:["cartesian","svg","2dMap","contour","histogram","showLegend"],meta:{}}});var ySe=W((HBr,mSe)=>{"use strict";mSe.exports=gSe()});var JW=W((jBr,ASe)=>{"use strict";var xSe=sn(),ezt=BW(),wSe=ni(),_Se=wSe.addOpacity,tzt=wSe.opacity,TSe=zL(),bSe=it().isArrayOrTypedArray,rzt=TSe.CONSTRAINT_REDUCTION,izt=TSe.COMPARISON_OPS2;ASe.exports=function(t,r,i,n,a,o){var s=r.contours,l,u,c,f=i("contours.operation");if(s._operation=rzt[f],nzt(i,s),f==="="?l=s.showlines=!0:(l=i("contours.showlines"),c=i("fillcolor",_Se((t.line||{}).color||a,.5))),l){var h=c&&tzt(c)?_Se(r.fillcolor,1):a;u=i("line.color",h),i("line.width",2),i("line.dash")}i("line.smoothing"),ezt(i,n,u,o)};function nzt(e,t){var r;izt.indexOf(t.operation)===-1?(e("contours.value",[0,1]),bSe(t.value)?t.value.length>2?t.value=t.value.slice(2):t.length===0?t.value=[0,1]:t.length<2?(r=parseFloat(t.value[0]),t.value=[r,r+1]):t.value=[parseFloat(t.value[0]),parseFloat(t.value[1])]:xSe(t.value)&&(r=parseFloat(t.value),t.value=[r,r+1])):(e("contours.value",0),xSe(t.value)||(bSe(t.value)?t.value=parseFloat(t.value[0]):t.value=0))}});var ESe=W(($Br,SSe)=>{"use strict";var QW=it(),azt=pL(),ozt=Hp(),szt=JW(),lzt=qL(),uzt=OL(),czt=qM(),MSe=GM();SSe.exports=function(t,r,i,n){function a(u,c){return QW.coerce(t,r,MSe,u,c)}function o(u){return QW.coerce2(t,r,MSe,u)}var s=azt(t,r,a,n);if(!s){r.visible=!1;return}ozt(t,r,n,a),a("xhoverformat"),a("yhoverformat"),a("text"),a("hovertext"),a("hoverongaps"),a("hovertemplate"),a("hovertemplatefallback");var l=a("contours.type")==="constraint";a("connectgaps",QW.isArray1D(r.z)),l?szt(t,r,a,n,i):(lzt(t,r,a,o),uzt(t,r,a,n)),r.contours&&r.contours.coloring==="heatmap"&&czt(a,n),a("zorder")}});var CSe=W((WBr,kSe)=>{"use strict";kSe.exports={attributes:GM(),supplyDefaults:ESe(),calc:UW(),plot:VL().plot,style:HL(),colorbar:jL(),hoverPoints:KW(),moduleType:"trace",name:"contour",basePlotModule:dl(),categories:["cartesian","svg","2dMap","contour","showLegend"],meta:{}}});var FSe=W((YBr,DSe)=>{"use strict";DSe.exports=CSe()});var eY=W((XBr,RSe)=>{"use strict";var{hovertemplateAttrs:fzt,texttemplateAttrs:hzt,templatefallbackAttrs:LSe}=Ga(),dzt=g1(),D0=Ns(),pzt=Wa(),PSe=Eo(),vzt=Du().dash,Ky=tn().extendFlat,Ld=D0.marker,XM=D0.line,ISe=Ld.line;RSe.exports={a:{valType:"data_array",editType:"calc"},b:{valType:"data_array",editType:"calc"},c:{valType:"data_array",editType:"calc"},sum:{valType:"number",dflt:0,min:0,editType:"calc"},mode:Ky({},D0.mode,{dflt:"markers"}),text:Ky({},D0.text,{}),texttemplate:hzt({editType:"plot"},{keys:["a","b","c","text"]}),texttemplatefallback:LSe({editType:"plot"}),hovertext:Ky({},D0.hovertext,{}),line:{color:XM.color,width:XM.width,dash:vzt,backoff:XM.backoff,shape:Ky({},XM.shape,{values:["linear","spline"]}),smoothing:XM.smoothing,editType:"calc"},connectgaps:D0.connectgaps,cliponaxis:D0.cliponaxis,fill:Ky({},D0.fill,{values:["none","toself","tonext"],dflt:"none"}),fillcolor:dzt(),marker:Ky({symbol:Ld.symbol,opacity:Ld.opacity,angle:Ld.angle,angleref:Ld.angleref,standoff:Ld.standoff,maxdisplayed:Ld.maxdisplayed,size:Ld.size,sizeref:Ld.sizeref,sizemin:Ld.sizemin,sizemode:Ld.sizemode,line:Ky({width:ISe.width,dash:ISe.dash,editType:"calc"},PSe("marker.line")),gradient:Ld.gradient,editType:"calc"},PSe("marker")),textfont:D0.textfont,textposition:D0.textposition,selected:D0.selected,unselected:D0.unselected,hoverinfo:Ky({},pzt.hoverinfo,{flags:["a","b","c","text","name"]}),hoveron:D0.hoveron,hovertemplate:fzt(),hovertemplatefallback:LSe()}});var OSe=W((ZBr,qSe)=>{"use strict";var zSe=it(),gzt=v1(),T5=$o(),mzt=bd(),yzt=jp(),BSe=Nw(),xzt=$p(),_zt=y1(),bzt=eY();qSe.exports=function(t,r,i,n){function a(h,d){return zSe.coerce(t,r,bzt,h,d)}var o=a("a"),s=a("b"),l=a("c"),u;if(o?(u=o.length,s?(u=Math.min(u,s.length),l&&(u=Math.min(u,l.length))):l?u=Math.min(u,l.length):u=0):s&&l&&(u=Math.min(s.length,l.length)),!u){r.visible=!1;return}r._length=u,a("sum"),a("text"),a("hovertext"),r.hoveron!=="fills"&&(a("hovertemplate"),a("hovertemplatefallback"));var c=u{"use strict";var tY=ji();NSe.exports=function(t,r,i){var n={},a=i[r.subplot]._subplot;return n.aLabel=tY.tickText(a.aaxis,t.a,!0).text,n.bLabel=tY.tickText(a.baxis,t.b,!0).text,n.cLabel=tY.tickText(a.caxis,t.c,!0).text,n}});var jSe=W((JBr,HSe)=>{"use strict";var rY=sn(),wzt=wd(),Tzt=x1(),Azt=w0(),Mzt=Td().calcMarkerSize,VSe=["a","b","c"],GSe={a:["b","c"],b:["a","c"],c:["a","b"]};HSe.exports=function(t,r){var i=t._fullLayout[r.subplot],n=i.sum,a=r.sum||n,o={a:r.a,b:r.b,c:r.c},s=r.ids,l,u,c,f,h,d;for(l=0;l{"use strict";var Szt=$w();$Se.exports=function(t,r,i){var n=r.plotContainer;n.select(".scatterlayer").selectAll("*").remove();for(var a=r.xaxis,o=r.yaxis,s={xaxis:a,yaxis:o,plot:n,layerClipId:r._hasClipOnAxisFalse?r.clipIdRelative:null},l=r.layers.frontplot.select("g.scatterlayer"),u=0;u{"use strict";var Ezt=Zw();YSe.exports=function(t,r,i,n){var a=Ezt(t,r,i,n);if(!a||a[0].index===!1)return;var o=a[0];if(o.index===void 0){var s=1-o.y0/t.ya._length,l=t.xa._length,u=l*s/2,c=l-u;return o.x0=Math.max(Math.min(o.x0,c),u),o.x1=Math.max(Math.min(o.x1,c),u),a}var f=o.cd[o.index],h=o.trace,d=o.subplot;o.a=f.a,o.b=f.b,o.c=f.c,o.xLabelVal=void 0,o.yLabelVal=void 0;var p={};p[h.subplot]={_subplot:d};var v=h._module.formatLabels(f,h,p);o.aLabel=v.aLabel,o.bLabel=v.bLabel,o.cLabel=v.cLabel;var m=f.hi||h.hoverinfo,g=[];function w(_,M){g.push(_._hovertitle+": "+M)}if(!h.hovertemplate){var b=m.split("+");b.indexOf("all")!==-1&&(b=["a","b","c"]),b.indexOf("a")!==-1&&w(d.aaxis,o.aLabel),b.indexOf("b")!==-1&&w(d.baxis,o.bLabel),b.indexOf("c")!==-1&&w(d.caxis,o.cLabel)}return o.extraText=g.join("
"),o.hovertemplate=h.hovertemplate,a}});var KSe=W((tqr,ZSe)=>{"use strict";ZSe.exports=function(t,r,i,n,a){if(r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),n[a]){var o=n[a];t.a=o.a,t.b=o.b,t.c=o.c}else t.a=r.a,t.b=r.b,t.c=r.c;return t}});var lEe=W((rqr,sEe)=>{"use strict";var iEe=vi(),iY=yi(),Xg=it(),S1=Xg.strTranslate,WL=Xg._,B_=ni(),YL=Ji(),ZM=i1(),nY=tn().extendFlat,kzt=Ko(),Jy=ji(),JSe=bf(),QSe=Ds(),nEe=u1(),eEe=nEe.freeMode,Czt=nEe.rectMode,aY=e_(),Dzt=cu().prepSelect,Fzt=cu().selectOnClick,Lzt=cu().clearOutline,Pzt=cu().clearSelectionsCache,aEe=Gl();function oEe(e,t){this.id=e.id,this.graphDiv=e.graphDiv,this.init(t),this.makeFramework(t),this.updateFx(t),this.aTickLayout=null,this.bTickLayout=null,this.cTickLayout=null}sEe.exports=oEe;var E1=oEe.prototype;E1.init=function(e){this.container=e._ternarylayer,this.defs=e._defs,this.layoutId=e._uid,this.traceHash={},this.layers={}};E1.plot=function(e,t){var r=this,i=t[r.id],n=t._size;r._hasClipOnAxisFalse=!1;for(var a=0;aA5*u?(g=u,m=g*A5):(m=l,g=m/A5),w=o*m/l,b=s*g/u,p=t.l+t.w*n-m/2,v=t.t+t.h*(1-a)-g/2,r.x0=p,r.y0=v,r.w=m,r.h=g,r.sum=c,r.xaxis={type:"linear",range:[f+2*d-c,c-f-2*h],domain:[n-w/2,n+w/2],_id:"x"},ZM(r.xaxis,r.graphDiv._fullLayout),r.xaxis.setScale(),r.xaxis.isPtWithinRange=function(D){return D.a>=r.aaxis.range[0]&&D.a<=r.aaxis.range[1]&&D.b>=r.baxis.range[1]&&D.b<=r.baxis.range[0]&&D.c>=r.caxis.range[1]&&D.c<=r.caxis.range[0]},r.yaxis={type:"linear",range:[f,c-h-d],domain:[a-b/2,a+b/2],_id:"y"},ZM(r.yaxis,r.graphDiv._fullLayout),r.yaxis.setScale(),r.yaxis.isPtWithinRange=function(){return!0};var _=r.yaxis.domain[0],M=r.aaxis=nY({},e.aaxis,{range:[f,c-h-d],side:"left",tickangle:(+e.aaxis.tickangle||0)-30,domain:[_,_+b*A5],anchor:"free",position:0,_id:"y",_length:m});ZM(M,r.graphDiv._fullLayout),M.setScale();var x=r.baxis=nY({},e.baxis,{range:[c-f-d,h],side:"bottom",domain:r.xaxis.domain,anchor:"free",position:0,_id:"x",_length:m});ZM(x,r.graphDiv._fullLayout),x.setScale();var T=r.caxis=nY({},e.caxis,{range:[c-f-h,d],side:"right",tickangle:(+e.caxis.tickangle||0)+30,domain:[_,_+b*A5],anchor:"free",position:0,_id:"y",_length:m});ZM(T,r.graphDiv._fullLayout),T.setScale();var A="M"+p+","+(v+g)+"h"+m+"l-"+m/2+",-"+g+"Z";r.clipDef.select("path").attr("d",A),r.layers.plotbg.select("path").attr("d",A);var y="M0,"+g+"h"+m+"l-"+m/2+",-"+g+"Z";r.clipDefRelative.select("path").attr("d",y);var E=S1(p,v);r.plotContainer.selectAll(".scatterlayer,.maplayer").attr("transform",E),r.clipDefRelative.select("path").attr("transform",null);var S=S1(p-x._offset,v+g);r.layers.baxis.attr("transform",S),r.layers.bgrid.attr("transform",S);var C=S1(p+m/2,v)+"rotate(30)"+S1(0,-M._offset);r.layers.aaxis.attr("transform",C),r.layers.agrid.attr("transform",C);var k=S1(p+m/2,v)+"rotate(-30)"+S1(0,-T._offset);r.layers.caxis.attr("transform",k),r.layers.cgrid.attr("transform",k),r.drawAxes(!0),r.layers.aline.select("path").attr("d",M.showline?"M"+p+","+(v+g)+"l"+m/2+",-"+g:"M0,0").call(B_.stroke,M.linecolor||"#000").style("stroke-width",(M.linewidth||0)+"px"),r.layers.bline.select("path").attr("d",x.showline?"M"+p+","+(v+g)+"h"+m:"M0,0").call(B_.stroke,x.linecolor||"#000").style("stroke-width",(x.linewidth||0)+"px"),r.layers.cline.select("path").attr("d",T.showline?"M"+(p+m/2)+","+v+"l"+m/2+","+g:"M0,0").call(B_.stroke,T.linecolor||"#000").style("stroke-width",(T.linewidth||0)+"px"),r.graphDiv._context.staticPlot||r.initInteractions(),YL.setClipUrl(r.layers.frontplot,r._hasClipOnAxisFalse?null:r.clipId,r.graphDiv)};E1.drawAxes=function(e){var t=this,r=t.graphDiv,i=t.id.slice(7)+"title",n=t.layers,a=t.aaxis,o=t.baxis,s=t.caxis;if(t.drawAx(a),t.drawAx(o),t.drawAx(s),e){var l=Math.max(a.showticklabels?a.tickfont.size/2:0,(s.showticklabels?s.tickfont.size*.75:0)+(s.ticks==="outside"?s.ticklen*.87:0)),u=(o.showticklabels?o.tickfont.size:0)+(o.ticks==="outside"?o.ticklen:0)+3;n["a-title"]=aY.draw(r,"a"+i,{propContainer:a,propName:t.id+".aaxis.title.text",placeholder:WL(r,"Click to enter Component A title"),attributes:{x:t.x0+t.w/2,y:t.y0-a.title.font.size/3-l,"text-anchor":"middle"}}),n["b-title"]=aY.draw(r,"b"+i,{propContainer:o,propName:t.id+".baxis.title.text",placeholder:WL(r,"Click to enter Component B title"),attributes:{x:t.x0-u,y:t.y0+t.h+o.title.font.size*.83+u,"text-anchor":"middle"}}),n["c-title"]=aY.draw(r,"c"+i,{propContainer:s,propName:t.id+".caxis.title.text",placeholder:WL(r,"Click to enter Component C title"),attributes:{x:t.x0+t.w+u,y:t.y0+t.h+s.title.font.size*.83+u,"text-anchor":"middle"}})}};E1.drawAx=function(e){var t=this,r=t.graphDiv,i=e._name,n=i.charAt(0),a=e._id,o=t.layers[i],s=30,l=n+"tickLayout",u=Izt(e);t[l]!==u&&(o.selectAll("."+a+"tick").remove(),t[l]=u),e.setScale();var c=Jy.calcTicks(e),f=Jy.clipEnds(e,c),h=Jy.makeTransTickFn(e),d=Jy.getTickSigns(e)[2],p=Xg.deg2rad(s),v=d*(e.linewidth||1)/2,m=d*e.ticklen,g=t.w,w=t.h,b=n==="b"?"M0,"+v+"l"+Math.sin(p)*m+","+Math.cos(p)*m:"M"+v+",0l"+Math.cos(p)*m+","+-Math.sin(p)*m,_={a:"M0,0l"+w+",-"+g/2,b:"M0,0l-"+g/2+",-"+w,c:"M0,0l-"+w+","+g/2}[n];Jy.drawTicks(r,e,{vals:e.ticks==="inside"?f:c,layer:o,path:b,transFn:h,crisp:!1}),Jy.drawGrid(r,e,{vals:f,layer:t.layers[n+"grid"],path:_,transFn:h,crisp:!1}),Jy.drawLabels(r,e,{vals:c,layer:o,transFn:h,labelFns:Jy.makeLabelFns(e,0,s)})};function Izt(e){return e.ticks+String(e.ticklen)+String(e.showticklabels)}var zu=aEe.MINZOOM/2+.87,Rzt="m-0.87,.5h"+zu+"v3h-"+(zu+5.2)+"l"+(zu/2+2.6)+",-"+(zu*.87+4.5)+"l2.6,1.5l-"+zu/2+","+zu*.87+"Z",zzt="m0.87,.5h-"+zu+"v3h"+(zu+5.2)+"l-"+(zu/2+2.6)+",-"+(zu*.87+4.5)+"l-2.6,1.5l"+zu/2+","+zu*.87+"Z",Bzt="m0,1l"+zu/2+","+zu*.87+"l2.6,-1.5l-"+(zu/2+2.6)+",-"+(zu*.87+4.5)+"l-"+(zu/2+2.6)+","+(zu*.87+4.5)+"l2.6,1.5l"+zu/2+",-"+zu*.87+"Z",qzt="m0.5,0.5h5v-2h-5v-5h-2v5h-5v2h5v5h2Z",tEe=!0;E1.clearOutline=function(){Pzt(this.dragOptions),Lzt(this.dragOptions.gd)};E1.initInteractions=function(){var e=this,t=e.layers.plotbg.select("path").node(),r=e.graphDiv,i=r._fullLayout._zoomlayer,n,a;this.dragOptions={element:t,gd:r,plotinfo:{id:e.id,domain:r._fullLayout[e.id].domain,xaxis:e.xaxis,yaxis:e.yaxis},subplot:e.id,prepFn:function(S,C,k){e.dragOptions.xaxes=[e.xaxis],e.dragOptions.yaxes=[e.yaxis],n=r._fullLayout._invScaleX,a=r._fullLayout._invScaleY;var D=e.dragOptions.dragmode=r._fullLayout.dragmode;eEe(D)?e.dragOptions.minDrag=1:e.dragOptions.minDrag=void 0,D==="zoom"?(e.dragOptions.moveFn=x,e.dragOptions.clickFn=g,e.dragOptions.doneFn=T,w(S,C,k)):D==="pan"?(e.dragOptions.moveFn=y,e.dragOptions.clickFn=g,e.dragOptions.doneFn=E,A(),e.clearOutline(r)):(Czt(D)||eEe(D))&&Dzt(S,C,k,e.dragOptions,D)}};var o,s,l,u,c,f,h,d,p,v;function m(S){var C={};return C[e.id+".aaxis.min"]=S.a,C[e.id+".baxis.min"]=S.b,C[e.id+".caxis.min"]=S.c,C}function g(S,C){var k=r._fullLayout.clickmode;rEe(r),S===2&&(r.emit("plotly_doubleclick",null),iY.call("_guiRelayout",r,m({a:0,b:0,c:0}))),k.indexOf("select")>-1&&S===1&&Fzt(C,r,[e.xaxis],[e.yaxis],e.id,e.dragOptions),k.indexOf("event")>-1&&QSe.click(r,C,e.id)}function w(S,C,k){var D=t.getBoundingClientRect();o=C-D.left,s=k-D.top,r._fullLayout._calcInverseTransform(r);var F=r._fullLayout._invTransform,P=Xg.apply3DTransform(F)(o,s);o=P[0],s=P[1],l={a:e.aaxis.range[0],b:e.baxis.range[1],c:e.caxis.range[1]},c=l,u=e.aaxis.range[1]-l.a,f=B_.luminosity(e.graphDiv._fullLayout[e.id].bgcolor),h="M0,"+e.h+"L"+e.w/2+", 0L"+e.w+","+e.h+"Z",d=!1,p=i.append("path").attr("class","zoombox").attr("transform",S1(e.x0,e.y0)).style({fill:f>.2?"rgba(0,0,0,0)":"rgba(255,255,255,0)","stroke-width":0}).attr("d",h),v=i.append("path").attr("class","zoombox-corners").attr("transform",S1(e.x0,e.y0)).style({fill:B_.background,stroke:B_.defaultLine,"stroke-width":1,opacity:0}).attr("d","M0,0Z"),e.clearOutline(r)}function b(S,C){return 1-C/e.h}function _(S,C){return 1-(S+(e.h-C)/Math.sqrt(3))/e.w}function M(S,C){return(S-(e.h-C)/Math.sqrt(3))/e.w}function x(S,C){var k=o+S*n,D=s+C*a,F=Math.max(0,Math.min(1,b(o,s),b(k,D))),P=Math.max(0,Math.min(1,_(o,s),_(k,D))),R=Math.max(0,Math.min(1,M(o,s),M(k,D))),L=(F/2+R)*e.w,I=(1-F/2-P)*e.w,B=(L+I)/2,O=I-L,$=(1-F)*e.h,Y=$-O/A5;O.2?"rgba(0,0,0,0.4)":"rgba(255,255,255,0.3)").duration(200),v.transition().style("opacity",1).duration(200),d=!0),r.emit("plotly_relayouting",m(c))}function T(){rEe(r),c!==l&&(iY.call("_guiRelayout",r,m(c)),tEe&&r.data&&r._context.showTips&&(Xg.notifier(WL(r,"Double-click to zoom back out"),"long",r),tEe=!1))}function A(){l={a:e.aaxis.range[0],b:e.baxis.range[1],c:e.caxis.range[1]},c=l}function y(S,C){var k=S/e.xaxis._m,D=C/e.yaxis._m;c={a:l.a-D,b:l.b+(k+D)/2,c:l.c-(k-D)/2};var F=[c.a,c.b,c.c].sort(Xg.sorterAsc),P={a:F.indexOf(c.a),b:F.indexOf(c.b),c:F.indexOf(c.c)};F[0]<0&&(F[1]+F[0]/2<0?(F[2]+=F[0]+F[1],F[0]=F[1]=0):(F[2]+=F[0]/2,F[1]+=F[0]/2,F[0]=0),c={a:F[P.a],b:F[P.b],c:F[P.c]},C=(l.a-c.a)*e.yaxis._m,S=(l.c-c.c-l.b+c.b)*e.xaxis._m);var R=S1(e.x0+S,e.y0+C);e.plotContainer.selectAll(".scatterlayer,.maplayer").attr("transform",R);var L=S1(-S,-C);e.clipDefRelative.select("path").attr("transform",L),e.aaxis.range=[c.a,e.sum-c.b-c.c],e.baxis.range=[e.sum-c.a-c.c,c.b],e.caxis.range=[e.sum-c.a-c.b,c.c],e.drawAxes(!1),e._hasClipOnAxisFalse&&e.plotContainer.select(".scatterlayer").selectAll(".trace").call(YL.hideOutsideRangePoints,e),r.emit("plotly_relayouting",m(c))}function E(){iY.call("_guiRelayout",r,m(c))}t.onmousemove=function(S){QSe.hover(r,S,e.id),r._fullLayout._lasthover=t,r._fullLayout._hoversubplot=e.id},t.onmouseout=function(S){r._dragging||JSe.unhover(r,S)},JSe.init(this.dragOptions)};function rEe(e){iEe.select(e).selectAll(".zoombox,.js-zoombox-backdrop,.js-zoombox-menu,.zoombox-corners").remove()}});var lY=W((iqr,uEe)=>{"use strict";var Ozt=Vl(),Nzt=us().attributes,eo=ec(),Uzt=ls().overrideAll,oY=tn().extendFlat,sY={title:{text:eo.title.text,font:eo.title.font},color:eo.color,tickmode:eo.minor.tickmode,nticks:oY({},eo.nticks,{dflt:6,min:1}),tick0:eo.tick0,dtick:eo.dtick,tickvals:eo.tickvals,ticktext:eo.ticktext,ticks:eo.ticks,ticklen:eo.ticklen,tickwidth:eo.tickwidth,tickcolor:eo.tickcolor,ticklabelstep:eo.ticklabelstep,showticklabels:eo.showticklabels,labelalias:eo.labelalias,showtickprefix:eo.showtickprefix,tickprefix:eo.tickprefix,showticksuffix:eo.showticksuffix,ticksuffix:eo.ticksuffix,showexponent:eo.showexponent,exponentformat:eo.exponentformat,minexponent:eo.minexponent,separatethousands:eo.separatethousands,tickfont:eo.tickfont,tickangle:eo.tickangle,tickformat:eo.tickformat,tickformatstops:eo.tickformatstops,hoverformat:eo.hoverformat,showline:oY({},eo.showline,{dflt:!0}),linecolor:eo.linecolor,linewidth:eo.linewidth,showgrid:oY({},eo.showgrid,{dflt:!0}),gridcolor:eo.gridcolor,gridwidth:eo.gridwidth,griddash:eo.griddash,layer:eo.layer,min:{valType:"number",dflt:0,min:0}},XL=uEe.exports=Uzt({domain:Nzt({name:"ternary"}),bgcolor:{valType:"color",dflt:Ozt.background},sum:{valType:"number",dflt:1,min:0},aaxis:sY,baxis:sY,caxis:sY},"plot","from-root");XL.uirevision={valType:"any",editType:"none"};XL.aaxis.uirevision=XL.baxis.uirevision=XL.caxis.uirevision={valType:"any",editType:"none"}});var q_=W((nqr,cEe)=>{"use strict";var Vzt=it(),Gzt=Da(),Hzt=us().defaults;cEe.exports=function(t,r,i,n){var a=n.type,o=n.attributes,s=n.handleDefaults,l=n.partition||"x",u=r._subplots[a],c=u.length,f=c&&u[0].replace(/\d+$/,""),h,d;function p(w,b){return Vzt.coerce(h,d,o,w,b)}for(var v=0;v{"use strict";var jzt=ni(),$zt=Da(),ZL=it(),Wzt=q_(),Yzt=wy(),Xzt=Ty(),Zzt=vw(),Kzt=Xx(),Jzt=vM(),hEe=lY(),fEe=["aaxis","baxis","caxis"];dEe.exports=function(t,r,i){Wzt(t,r,i,{type:"ternary",attributes:hEe,handleDefaults:Qzt,font:r.font,paper_bgcolor:r.paper_bgcolor})};function Qzt(e,t,r,i){var n=r("bgcolor"),a=r("sum");i.bgColor=jzt.combine(n,i.paper_bgcolor);for(var o,s,l,u=0;u=a&&(c.min=0,f.min=0,h.min=0,e.aaxis&&delete e.aaxis.min,e.baxis&&delete e.baxis.min,e.caxis&&delete e.caxis.min)}function eBt(e,t,r,i){var n=hEe[t._name];function a(d,p){return ZL.coerce(e,t,n,d,p)}a("uirevision",i.uirevision),t.type="linear";var o=a("color"),s=o!==n.color.dflt?o:r.font.color,l=t._name,u=l.charAt(0).toUpperCase(),c="Component "+u,f=a("title.text",c);t._hovertitle=f===c?f:u,ZL.coerceFont(a,"title.font",r.font,{overrideDflt:{size:ZL.bigFont(r.font.size),color:s}}),a("min"),Kzt(e,t,a,"linear"),Xzt(e,t,a,"linear"),Yzt(e,t,a,"linear",{noAutotickangles:!0,noTicklabelshift:!0,noTicklabelstandoff:!0}),Zzt(e,t,a,{outerTicks:!0});var h=a("showticklabels");h&&(ZL.coerceFont(a,"tickfont",r.font,{overrideDflt:{color:s}}),a("tickangle"),a("tickformat")),Jzt(e,t,a,{dfltColor:o,bgColor:r.bgColor,blend:60,showLine:!0,showGrid:!0,noZeroLine:!0,attributes:n}),a("hoverformat"),a("layer")}});var vEe=W(Pd=>{"use strict";var tBt=lEe(),rBt=_c().getSubplotCalcData,iBt=it().counterRegex,M5="ternary";Pd.name=M5;var nBt=Pd.attr="subplot";Pd.idRoot=M5;Pd.idRegex=Pd.attrRegex=iBt(M5);var aBt=Pd.attributes={};aBt[nBt]={valType:"subplotid",dflt:"ternary",editType:"calc"};Pd.layoutAttributes=lY();Pd.supplyLayoutDefaults=pEe();Pd.plot=function(t){for(var r=t._fullLayout,i=t.calcdata,n=r._subplots[M5],a=0;a{"use strict";gEe.exports={attributes:eY(),supplyDefaults:OSe(),colorbar:Ac(),formatLabels:USe(),calc:jSe(),plot:WSe(),style:th().style,styleOnSelect:th().styleOnSelect,hoverPoints:XSe(),selectPoints:w_(),eventData:KSe(),moduleType:"trace",name:"scatterternary",basePlotModule:vEe(),categories:["ternary","symbols","showLegend","scatter-like"],meta:{}}});var xEe=W((lqr,yEe)=>{"use strict";yEe.exports=mEe()});var uY=W((uqr,bEe)=>{"use strict";var Wl=IM(),S5=tn().extendFlat,_Ee=_s().axisHoverFormat;bEe.exports={y:Wl.y,x:Wl.x,x0:Wl.x0,y0:Wl.y0,xhoverformat:_Ee("x"),yhoverformat:_Ee("y"),name:S5({},Wl.name,{}),orientation:S5({},Wl.orientation,{}),bandwidth:{valType:"number",min:0,editType:"calc"},scalegroup:{valType:"string",dflt:"",editType:"calc"},scalemode:{valType:"enumerated",values:["width","count"],dflt:"width",editType:"calc"},spanmode:{valType:"enumerated",values:["soft","hard","manual"],dflt:"soft",editType:"calc"},span:{valType:"info_array",items:[{valType:"any",editType:"calc"},{valType:"any",editType:"calc"}],editType:"calc"},line:{color:{valType:"color",editType:"style"},width:{valType:"number",min:0,dflt:2,editType:"style"},editType:"plot"},fillcolor:Wl.fillcolor,points:S5({},Wl.boxpoints,{}),jitter:S5({},Wl.jitter,{}),pointpos:S5({},Wl.pointpos,{}),width:S5({},Wl.width,{}),marker:Wl.marker,text:Wl.text,hovertext:Wl.hovertext,hovertemplate:Wl.hovertemplate,hovertemplatefallback:Wl.hovertemplatefallback,quartilemethod:Wl.quartilemethod,box:{visible:{valType:"boolean",dflt:!1,editType:"plot"},width:{valType:"number",min:0,max:1,dflt:.25,editType:"plot"},fillcolor:{valType:"color",editType:"style"},line:{color:{valType:"color",editType:"style"},width:{valType:"number",min:0,editType:"style"},editType:"style"},editType:"plot"},meanline:{visible:{valType:"boolean",dflt:!1,editType:"plot"},color:{valType:"color",editType:"style"},width:{valType:"number",min:0,editType:"style"},editType:"plot"},side:{valType:"enumerated",values:["both","positive","negative"],dflt:"both",editType:"calc"},offsetgroup:Wl.offsetgroup,alignmentgroup:Wl.alignmentgroup,selected:Wl.selected,unselected:Wl.unselected,hoveron:{valType:"flaglist",flags:["violins","points","kde"],dflt:"violins+points+kde",extras:["all"],editType:"style"},zorder:Wl.zorder}});var hY=W((cqr,wEe)=>{"use strict";var cY=RM(),fY=it().extendFlat;wEe.exports={violinmode:fY({},cY.boxmode,{}),violingap:fY({},cY.boxgap,{}),violingroupgap:fY({},cY.boxgroupgap,{})}});var EEe=W((fqr,SEe)=>{"use strict";var TEe=it(),oBt=ni(),AEe=BM(),MEe=uY();SEe.exports=function(t,r,i,n){function a(M,x){return TEe.coerce(t,r,MEe,M,x)}function o(M,x){return TEe.coerce2(t,r,MEe,M,x)}if(AEe.handleSampleDefaults(t,r,a,n),r.visible!==!1){a("bandwidth"),a("side");var s=a("width");s||(a("scalegroup",r.name),a("scalemode"));var l=a("span"),u;Array.isArray(l)&&(u="manual"),a("spanmode",u);var c=a("line.color",(t.marker||{}).color||i),f=a("line.width"),h=a("fillcolor",oBt.addOpacity(r.line.color,.5));AEe.handlePointsDefaults(t,r,a,{prefix:""});var d=o("box.width"),p=o("box.fillcolor",h),v=o("box.line.color",c),m=o("box.line.width",f),g=a("box.visible",!!(d||p||v||m));g||(r.box={visible:!1});var w=o("meanline.color",c),b=o("meanline.width",f),_=a("meanline.visible",!!(w||b));_||(r.meanline={visible:!1}),a("quartilemethod"),a("zorder")}}});var CEe=W((hqr,kEe)=>{"use strict";var sBt=it(),lBt=hY(),uBt=lL();kEe.exports=function(t,r,i){function n(a,o){return sBt.coerce(t,r,lBt,a,o)}uBt._supply(t,r,i,n,"violin")}});var KL=W(O_=>{"use strict";var cBt=it(),fBt={gaussian:function(e){return 1/Math.sqrt(2*Math.PI)*Math.exp(-.5*e*e)}};O_.makeKDE=function(e,t,r){var i=r.length,n=fBt.gaussian,a=e.bandwidth,o=1/(i*a);return function(s){for(var l=0,u=0;u{"use strict";var dY=it(),pY=ji(),hBt=aW(),DEe=KL(),dBt=Kn().BADNUM;FEe.exports=function(t,r){var i=hBt(t,r);if(i[0].t.empty)return i;for(var n=t._fullLayout,a=pY.getFromId(t,r[r.orientation==="h"?"xaxis":"yaxis"]),o=1/0,s=-1/0,l=0,u=0,c=0;c{"use strict";var mBt=cL().setPositionOffset,PEe=["v","h"];IEe.exports=function(t,r){for(var i=t.calcdata,n=r.xaxis,a=r.yaxis,o=0;o{"use strict";var vY=vi(),gY=it(),yBt=Ji(),mY=fL(),xBt=Hj(),_Bt=KL();zEe.exports=function(t,r,i,n){var a=t._context.staticPlot,o=t._fullLayout,s=r.xaxis,l=r.yaxis;function u(c,f){var h=xBt(c,{xaxis:s,yaxis:l,trace:f,connectGaps:!0,baseTolerance:.75,shape:"spline",simplify:!0,linearized:!0});return yBt.smoothopen(h[0],1)}gY.makeTraceGroups(n,i,"trace violins").each(function(c){var f=vY.select(this),h=c[0],d=h.t,p=h.trace;if(p.visible!==!0||d.empty){f.remove();return}var v=d.bPos,m=d.bdPos,g=r[d.valLetter+"axis"],w=r[d.posLetter+"axis"],b=p.side==="both",_=b||p.side==="positive",M=b||p.side==="negative",x=f.selectAll("path.violin").data(gY.identity);x.enter().append("path").style("vector-effect",a?"none":"non-scaling-stroke").attr("class","violin"),x.exit().remove(),x.each(function(D){var F=vY.select(this),P=D.density,R=P.length,L=w.c2l(D.pos+v,!0),I=w.l2p(L),B;if(p.width)B=d.maxKDE/m;else{var O=o._violinScaleGroupStats[p.scalegroup];B=p.scalemode==="count"?O.maxKDE/m*(O.maxCount/D.pts.length):O.maxKDE/m}var $,Y,K,j,q,J,U;if(_){for(J=new Array(R),j=0;j{"use strict";var qEe=vi(),E5=ni(),bBt=th().stylePoints;OEe.exports=function(t){var r=qEe.select(t).selectAll("g.trace.violins");r.style("opacity",function(i){return i[0].trace.opacity}),r.each(function(i){var n=i[0].trace,a=qEe.select(this),o=n.box||{},s=o.line||{},l=n.meanline||{},u=l.width;a.selectAll("path.violin").style("stroke-width",n.line.width+"px").call(E5.stroke,n.line.color).call(E5.fill,n.fillcolor),a.selectAll("path.box").style("stroke-width",s.width+"px").call(E5.stroke,s.color).call(E5.fill,o.fillcolor);var c={"stroke-width":u+"px","stroke-dasharray":2*u+"px,"+u+"px"};a.selectAll("path.mean").style(c).call(E5.stroke,l.color),a.selectAll("path.meanline").style(c).call(E5.stroke,l.color),bBt(a,n,t)})}});var HEe=W((yqr,GEe)=>{"use strict";var wBt=ni(),yY=it(),TBt=ji(),UEe=cW(),VEe=KL();GEe.exports=function(t,r,i,n,a){a||(a={});var o=a.hoverLayer,s=t.cd,l=s[0].trace,u=l.hoveron,c=u.indexOf("violins")!==-1,f=u.indexOf("kde")!==-1,h=[],d,p;if(c||f){var v=UEe.hoverOnBoxes(t,r,i,n);if(f&&v.length>0){var m=t.xa,g=t.ya,w,b,_,M,x;l.orientation==="h"?(x=r,w="y",_=g,b="x",M=m):(x=i,w="x",_=m,b="y",M=g);var T=s[t.index];if(x>=T.span[0]&&x<=T.span[1]){var A=yY.extendFlat({},t),y=M.c2p(x,!0),E=VEe.getKdeValue(T,l,x),S=VEe.getPositionOnKdePath(T,l,y),C=_._offset,k=_._length;A[w+"0"]=S[0],A[w+"1"]=S[1],A[b+"0"]=A[b+"1"]=y,A[b+"Label"]=b+": "+TBt.hoverLabelText(M,x,l[b+"hoverformat"])+", "+s[0].t.labels.kde+" "+E.toFixed(3);for(var D=0,F=0;F{"use strict";jEe.exports={attributes:uY(),layoutAttributes:hY(),supplyDefaults:EEe(),crossTraceDefaults:BM().crossTraceDefaults,supplyLayoutDefaults:CEe(),calc:LEe(),crossTraceCalc:REe(),plot:BEe(),style:NEe(),styleOnSelect:th().styleOnSelect,hoverPoints:HEe(),selectPoints:fW(),moduleType:"trace",name:"violin",basePlotModule:dl(),categories:["cartesian","svg","symbols","oriented","box-violin","showLegend","violinLayout","zoomScale"],meta:{}}});var YEe=W((_qr,WEe)=>{"use strict";WEe.exports=$Ee()});var ZEe=W((bqr,XEe)=>{"use strict";XEe.exports={eventDataKeys:["percentInitial","percentPrevious","percentTotal"]}});var _Y=W((wqr,eke)=>{"use strict";var cs=w1(),xY=Ns().line,ABt=Wa(),KEe=_s().axisHoverFormat,{hovertemplateAttrs:MBt,texttemplateAttrs:SBt,templatefallbackAttrs:JEe}=Ga(),QEe=ZEe(),Zg=tn().extendFlat,EBt=ni();eke.exports={x:cs.x,x0:cs.x0,dx:cs.dx,y:cs.y,y0:cs.y0,dy:cs.dy,xperiod:cs.xperiod,yperiod:cs.yperiod,xperiod0:cs.xperiod0,yperiod0:cs.yperiod0,xperiodalignment:cs.xperiodalignment,yperiodalignment:cs.yperiodalignment,xhoverformat:KEe("x"),yhoverformat:KEe("y"),hovertext:cs.hovertext,hovertemplate:MBt({},{keys:QEe.eventDataKeys}),hovertemplatefallback:JEe(),hoverinfo:Zg({},ABt.hoverinfo,{flags:["name","x","y","text","percent initial","percent previous","percent total"]}),textinfo:{valType:"flaglist",flags:["label","text","percent initial","percent previous","percent total","value"],extras:["none"],editType:"plot",arrayOk:!1},texttemplate:SBt({editType:"plot"},{keys:QEe.eventDataKeys.concat(["label","value"])}),texttemplatefallback:JEe({editType:"plot"}),text:cs.text,textposition:cs.textposition,insidetextanchor:Zg({},cs.insidetextanchor,{dflt:"middle"}),textangle:Zg({},cs.textangle,{dflt:0}),textfont:cs.textfont,insidetextfont:cs.insidetextfont,outsidetextfont:cs.outsidetextfont,constraintext:cs.constraintext,cliponaxis:cs.cliponaxis,orientation:Zg({},cs.orientation,{}),offset:Zg({},cs.offset,{arrayOk:!1}),width:Zg({},cs.width,{arrayOk:!1}),marker:kBt(),connector:{fillcolor:{valType:"color",editType:"style"},line:{color:Zg({},xY.color,{dflt:EBt.defaultLine}),width:Zg({},xY.width,{dflt:0,editType:"plot"}),dash:xY.dash,editType:"style"},visible:{valType:"boolean",dflt:!0,editType:"plot"},editType:"plot"},offsetgroup:cs.offsetgroup,alignmentgroup:cs.alignmentgroup,zorder:cs.zorder};function kBt(){var e=Zg({},cs.marker);return delete e.pattern,delete e.cornerradius,e}});var bY=W((Tqr,tke)=>{"use strict";tke.exports={funnelmode:{valType:"enumerated",values:["stack","group","overlay"],dflt:"stack",editType:"calc"},funnelgap:{valType:"number",min:0,max:1,editType:"calc"},funnelgroupgap:{valType:"number",min:0,max:1,dflt:0,editType:"calc"}}});var TY=W((Aqr,ike)=>{"use strict";var JL=it(),CBt=__(),DBt=E0().handleText,FBt=x_(),LBt=Hp(),rke=_Y(),wY=ni();function PBt(e,t,r,i){function n(f,h){return JL.coerce(e,t,rke,f,h)}var a=FBt(e,t,i,n);if(!a){t.visible=!1;return}LBt(e,t,i,n),n("xhoverformat"),n("yhoverformat"),n("orientation",t.y&&!t.x?"v":"h"),n("offset"),n("width");var o=n("text");n("hovertext"),n("hovertemplate"),n("hovertemplatefallback");var s=n("textposition");DBt(e,t,i,n,s,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!0,moduleHasCliponaxis:!0,moduleHasTextangle:!0,moduleHasInsideanchor:!0}),t.textposition!=="none"&&!t.texttemplate&&n("textinfo",JL.isArrayOrTypedArray(o)?"text+value":"value");var l=n("marker.color",r);n("marker.line.color",wY.defaultLine),n("marker.line.width");var u=n("connector.visible");if(u){n("connector.fillcolor",IBt(l));var c=n("connector.line.width");c&&(n("connector.line.color"),n("connector.line.dash"))}n("zorder")}function IBt(e){var t=JL.isArrayOrTypedArray(e)?"#000":e;return wY.addOpacity(t,.5*wY.opacity(t))}function RBt(e,t){var r,i;function n(o){return JL.coerce(i._input,i,rke,o)}for(var a=0;a{"use strict";var zBt=it(),BBt=bY();nke.exports=function(e,t,r){var i=!1;function n(s,l){return zBt.coerce(e,t,BBt,s,l)}for(var a=0;a{"use strict";var k5=it();oke.exports=function(t,r){for(var i=0;i{"use strict";var lke=ji(),uke=Wp(),qBt=ske(),OBt=w0(),KM=Kn().BADNUM;cke.exports=function(t,r){var i=lke.getFromId(t,r.xaxis||"x"),n=lke.getFromId(t,r.yaxis||"y"),a,o,s,l,u,c,f,h;r.orientation==="h"?(a=i.makeCalcdata(r,"x"),s=n.makeCalcdata(r,"y"),l=uke(r,n,"y",s),u=!!r.yperiodalignment,c="y"):(a=n.makeCalcdata(r,"y"),s=i.makeCalcdata(r,"x"),l=uke(r,i,"x",s),u=!!r.xperiodalignment,c="x"),o=l.vals;var d=Math.min(o.length,a.length),p=new Array(d);for(r._base=[],f=0;f{"use strict";var hke=b_().setGroupPositions;dke.exports=function(t,r){var i=t._fullLayout,n=t._fullData,a=t.calcdata,o=r.xaxis,s=r.yaxis,l=[],u=[],c=[],f,h;for(h=0;h{"use strict";var QL=vi(),e2=it(),vke=Ji(),Qy=Kn().BADNUM,NBt=I_(),UBt=Qc().clearMinTextSize;mke.exports=function(t,r,i,n){var a=t._fullLayout;UBt("funnel",a),VBt(t,r,i,n),GBt(t,r,i,n),NBt.plot(t,r,i,n,{mode:a.funnelmode,norm:a.funnelmode,gap:a.funnelgap,groupgap:a.funnelgroupgap})};function VBt(e,t,r,i){var n=t.xaxis,a=t.yaxis;e2.makeTraceGroups(i,r,"trace bars").each(function(o){var s=QL.select(this),l=o[0].trace,u=e2.ensureSingle(s,"g","regions");if(!l.connector||!l.connector.visible){u.remove();return}var c=l.orientation==="h",f=u.selectAll("g.region").data(e2.identity);f.enter().append("g").classed("region",!0),f.exit().remove();var h=f.size();f.each(function(d,p){if(!(p!==h-1&&!d.cNext)){var v=gke(d,n,a,c),m=v[0],g=v[1],w="";m[0]!==Qy&&g[0]!==Qy&&m[1]!==Qy&&g[1]!==Qy&&m[2]!==Qy&&g[2]!==Qy&&m[3]!==Qy&&g[3]!==Qy&&(c?w+="M"+m[0]+","+g[1]+"L"+m[2]+","+g[2]+"H"+m[3]+"L"+m[1]+","+g[1]+"Z":w+="M"+m[1]+","+g[1]+"L"+m[2]+","+g[3]+"V"+g[2]+"L"+m[1]+","+g[0]+"Z"),w===""&&(w="M0,0Z"),e2.ensureSingle(QL.select(this),"path").attr("d",w).call(vke.setClipUrl,t.layerClipId,e)}})})}function GBt(e,t,r,i){var n=t.xaxis,a=t.yaxis;e2.makeTraceGroups(i,r,"trace bars").each(function(o){var s=QL.select(this),l=o[0].trace,u=e2.ensureSingle(s,"g","lines");if(!l.connector||!l.connector.visible||!l.connector.line.width){u.remove();return}var c=l.orientation==="h",f=u.selectAll("g.line").data(e2.identity);f.enter().append("g").classed("line",!0),f.exit().remove();var h=f.size();f.each(function(d,p){if(!(p!==h-1&&!d.cNext)){var v=gke(d,n,a,c),m=v[0],g=v[1],w="";m[3]!==void 0&&g[3]!==void 0&&(c?(w+="M"+m[0]+","+g[1]+"L"+m[2]+","+g[2],w+="M"+m[1]+","+g[1]+"L"+m[3]+","+g[2]):(w+="M"+m[1]+","+g[1]+"L"+m[2]+","+g[3],w+="M"+m[1]+","+g[0]+"L"+m[2]+","+g[2])),w===""&&(w="M0,0Z"),e2.ensureSingle(QL.select(this),"path").attr("d",w).call(vke.setClipUrl,t.layerClipId,e)}})})}function gke(e,t,r,i){var n=[],a=[],o=i?t:r,s=i?r:t;return n[0]=o.c2p(e.s0,!0),a[0]=s.c2p(e.p0,!0),n[1]=o.c2p(e.s1,!0),a[1]=s.c2p(e.p1,!0),n[2]=o.c2p(e.nextS0,!0),a[2]=s.c2p(e.nextP0,!0),n[3]=o.c2p(e.nextS1,!0),a[3]=s.c2p(e.nextP1,!0),i?[n,a]:[a,n]}});var bke=W((Dqr,_ke)=>{"use strict";var JM=vi(),xke=Ji(),MY=ni(),HBt=kg().DESELECTDIM,jBt=Ed(),$Bt=Qc().resizeText,WBt=jBt.styleTextPoints;function YBt(e,t,r){var i=r||JM.select(e).selectAll('g[class^="funnellayer"]').selectAll("g.trace");$Bt(e,i,"funnel"),i.style("opacity",function(n){return n[0].trace.opacity}),i.each(function(n){var a=JM.select(this),o=n[0].trace;a.selectAll(".point > path").each(function(s){if(!s.isBlank){var l=o.marker;JM.select(this).call(MY.fill,s.mc||l.color).call(MY.stroke,s.mlc||l.line.color).call(xke.dashLine,l.line.dash,s.mlw||l.line.width).style("opacity",o.selectedpoints&&!s.selected?HBt:1)}}),WBt(a,o,e),a.selectAll(".regions").each(function(){JM.select(this).selectAll("path").style("stroke-width",0).call(MY.fill,o.connector.fillcolor)}),a.selectAll(".lines").each(function(){var s=o.connector.line;xke.lineGroupStyle(JM.select(this).selectAll("path"),s.width,s.color,s.dash)})})}_ke.exports={style:YBt}});var Ake=W((Fqr,Tke)=>{"use strict";var wke=ni().opacity,XBt=c5().hoverOnBars,SY=it().formatPercent;Tke.exports=function(t,r,i,n,a){var o=XBt(t,r,i,n,a);if(o){var s=o.cd,l=s[0].trace,u=l.orientation==="h",c=o.index,f=s[c],h=u?"x":"y";o[h+"LabelVal"]=f.s,o.percentInitial=f.begR,o.percentInitialLabel=SY(f.begR,1),o.percentPrevious=f.difR,o.percentPreviousLabel=SY(f.difR,1),o.percentTotal=f.sumR,o.percentTotalLabel=SY(f.sumR,1);var d=f.hi||l.hoverinfo,p=[];if(d&&d!=="none"&&d!=="skip"){var v=d==="all",m=d.split("+"),g=function(w){return v||m.indexOf(w)!==-1};g("percent initial")&&p.push(o.percentInitialLabel+" of initial"),g("percent previous")&&p.push(o.percentPreviousLabel+" of previous"),g("percent total")&&p.push(o.percentTotalLabel+" of total")}return o.extraText=p.join("
"),o.color=ZBt(l,f),[o]}};function ZBt(e,t){var r=e.marker,i=t.mc||r.color,n=t.mlc||r.line.color,a=t.mlw||r.line.width;if(wke(i))return i;if(wke(n)&&a)return n}});var Ske=W((Lqr,Mke)=>{"use strict";Mke.exports=function(t,r){return t.x="xVal"in r?r.xVal:r.x,t.y="yVal"in r?r.yVal:r.y,"percentInitial"in r&&(t.percentInitial=r.percentInitial),"percentPrevious"in r&&(t.percentPrevious=r.percentPrevious),"percentTotal"in r&&(t.percentTotal=r.percentTotal),r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),t}});var kke=W((Pqr,Eke)=>{"use strict";Eke.exports={attributes:_Y(),layoutAttributes:bY(),supplyDefaults:TY().supplyDefaults,crossTraceDefaults:TY().crossTraceDefaults,supplyLayoutDefaults:ake(),calc:fke(),crossTraceCalc:pke(),plot:yke(),style:bke().style,hoverPoints:Ake(),eventData:Ske(),selectPoints:f5(),moduleType:"trace",name:"funnel",basePlotModule:dl(),categories:["bar-like","cartesian","svg","oriented","showLegend","zoomScale"],meta:{}}});var Dke=W((Iqr,Cke)=>{"use strict";Cke.exports=kke()});var Lke=W((Rqr,Fke)=>{"use strict";Fke.exports={eventDataKeys:["initial","delta","final"]}});var CY=W((zqr,zke)=>{"use strict";var Yo=w1(),EY=Ns().line,KBt=Wa(),Pke=_s().axisHoverFormat,{hovertemplateAttrs:JBt,texttemplateAttrs:QBt,templatefallbackAttrs:Ike}=Ga(),Rke=Lke(),C5=tn().extendFlat,eqt=ni();function kY(e){return{marker:{color:C5({},Yo.marker.color,{arrayOk:!1,editType:"style"}),line:{color:C5({},Yo.marker.line.color,{arrayOk:!1,editType:"style"}),width:C5({},Yo.marker.line.width,{arrayOk:!1,editType:"style"}),editType:"style"},editType:"style"},editType:"style"}}zke.exports={measure:{valType:"data_array",dflt:[],editType:"calc"},base:{valType:"number",dflt:null,arrayOk:!1,editType:"calc"},x:Yo.x,x0:Yo.x0,dx:Yo.dx,y:Yo.y,y0:Yo.y0,dy:Yo.dy,xperiod:Yo.xperiod,yperiod:Yo.yperiod,xperiod0:Yo.xperiod0,yperiod0:Yo.yperiod0,xperiodalignment:Yo.xperiodalignment,yperiodalignment:Yo.yperiodalignment,xhoverformat:Pke("x"),yhoverformat:Pke("y"),hovertext:Yo.hovertext,hovertemplate:JBt({},{keys:Rke.eventDataKeys}),hovertemplatefallback:Ike(),hoverinfo:C5({},KBt.hoverinfo,{flags:["name","x","y","text","initial","delta","final"]}),textinfo:{valType:"flaglist",flags:["label","text","initial","delta","final"],extras:["none"],editType:"plot",arrayOk:!1},texttemplate:QBt({editType:"plot"},{keys:Rke.eventDataKeys.concat(["label"])}),texttemplatefallback:Ike({editType:"plot"}),text:Yo.text,textposition:Yo.textposition,insidetextanchor:Yo.insidetextanchor,textangle:Yo.textangle,textfont:Yo.textfont,insidetextfont:Yo.insidetextfont,outsidetextfont:Yo.outsidetextfont,constraintext:Yo.constraintext,cliponaxis:Yo.cliponaxis,orientation:Yo.orientation,offset:Yo.offset,width:Yo.width,increasing:kY("increasing"),decreasing:kY("decreasing"),totals:kY("intermediate sums and total"),connector:{line:{color:C5({},EY.color,{dflt:eqt.defaultLine}),width:C5({},EY.width,{editType:"plot"}),dash:EY.dash,editType:"plot"},mode:{valType:"enumerated",values:["spanning","between"],dflt:"between",editType:"plot"},visible:{valType:"boolean",dflt:!0,editType:"plot"},editType:"plot"},offsetgroup:Yo.offsetgroup,alignmentgroup:Yo.alignmentgroup,zorder:Yo.zorder}});var DY=W((Bqr,Bke)=>{"use strict";Bke.exports={waterfallmode:{valType:"enumerated",values:["group","overlay"],dflt:"group",editType:"calc"},waterfallgap:{valType:"number",min:0,max:1,editType:"calc"},waterfallgroupgap:{valType:"number",min:0,max:1,dflt:0,editType:"calc"}}});var D5=W((qqr,qke)=>{"use strict";qke.exports={INCREASING:{COLOR:"#3D9970",SYMBOL:"\u25B2"},DECREASING:{COLOR:"#FF4136",SYMBOL:"\u25BC"}}});var LY=W((Oqr,Vke)=>{"use strict";var Oke=it(),tqt=__(),rqt=E0().handleText,iqt=x_(),nqt=Hp(),Nke=CY(),aqt=ni(),Uke=D5(),oqt=Uke.INCREASING.COLOR,sqt=Uke.DECREASING.COLOR,lqt="#4499FF";function FY(e,t,r){e(t+".marker.color",r),e(t+".marker.line.color",aqt.defaultLine),e(t+".marker.line.width")}function uqt(e,t,r,i){function n(u,c){return Oke.coerce(e,t,Nke,u,c)}var a=iqt(e,t,i,n);if(!a){t.visible=!1;return}nqt(e,t,i,n),n("xhoverformat"),n("yhoverformat"),n("measure"),n("orientation",t.x&&!t.y?"h":"v"),n("base"),n("offset"),n("width"),n("text"),n("hovertext"),n("hovertemplate"),n("hovertemplatefallback");var o=n("textposition");rqt(e,t,i,n,o,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!0,moduleHasCliponaxis:!0,moduleHasTextangle:!0,moduleHasInsideanchor:!0}),t.textposition!=="none"&&(n("texttemplate"),n("texttemplatefallback"),t.texttemplate||n("textinfo")),FY(n,"increasing",oqt),FY(n,"decreasing",sqt),FY(n,"totals",lqt);var s=n("connector.visible");if(s){n("connector.mode");var l=n("connector.line.width");l&&(n("connector.line.color"),n("connector.line.dash"))}n("zorder")}function cqt(e,t){var r,i;function n(o){return Oke.coerce(i._input,i,Nke,o)}if(t.waterfallmode==="group")for(var a=0;a{"use strict";var fqt=it(),hqt=DY();Gke.exports=function(e,t,r){var i=!1;function n(s,l){return fqt.coerce(e,t,hqt,s,l)}for(var a=0;a{"use strict";var jke=ji(),$ke=Wp(),Wke=it().mergeArray,dqt=w0(),Yke=Kn().BADNUM;function PY(e){return e==="a"||e==="absolute"}function IY(e){return e==="t"||e==="total"}Xke.exports=function(t,r){var i=jke.getFromId(t,r.xaxis||"x"),n=jke.getFromId(t,r.yaxis||"y"),a,o,s,l,u,c;r.orientation==="h"?(a=i.makeCalcdata(r,"x"),s=n.makeCalcdata(r,"y"),l=$ke(r,n,"y",s),u=!!r.yperiodalignment,c="y"):(a=n.makeCalcdata(r,"y"),s=i.makeCalcdata(r,"x"),l=$ke(r,i,"x",s),u=!!r.xperiodalignment,c="x"),o=l.vals;for(var f=Math.min(o.length,a.length),h=new Array(f),d=0,p,v=!1,m=0;m{"use strict";var Kke=b_().setGroupPositions;Jke.exports=function(t,r){var i=t._fullLayout,n=t._fullData,a=t.calcdata,o=r.xaxis,s=r.yaxis,l=[],u=[],c=[],f,h;for(h=0;h{"use strict";var e8e=vi(),e9=it(),pqt=Ji(),F5=Kn().BADNUM,vqt=I_(),gqt=Qc().clearMinTextSize;t8e.exports=function(t,r,i,n){var a=t._fullLayout;gqt("waterfall",a),vqt.plot(t,r,i,n,{mode:a.waterfallmode,norm:a.waterfallmode,gap:a.waterfallgap,groupgap:a.waterfallgroupgap}),mqt(t,r,i,n)};function mqt(e,t,r,i){var n=t.xaxis,a=t.yaxis;e9.makeTraceGroups(i,r,"trace bars").each(function(o){var s=e8e.select(this),l=o[0].trace,u=e9.ensureSingle(s,"g","lines");if(!l.connector||!l.connector.visible){u.remove();return}var c=l.orientation==="h",f=l.connector.mode,h=u.selectAll("g.line").data(e9.identity);h.enter().append("g").classed("line",!0),h.exit().remove();var d=h.size();h.each(function(p,v){if(!(v!==d-1&&!p.cNext)){var m=yqt(p,n,a,c),g=m[0],w=m[1],b="";g[0]!==F5&&w[0]!==F5&&g[1]!==F5&&w[1]!==F5&&(f==="spanning"&&!p.isSum&&v>0&&(c?b+="M"+g[0]+","+w[1]+"V"+w[0]:b+="M"+g[1]+","+w[0]+"H"+g[0]),f!=="between"&&(p.isSum||v{"use strict";var t9=vi(),i8e=Ji(),n8e=ni(),xqt=kg().DESELECTDIM,_qt=Ed(),bqt=Qc().resizeText,wqt=_qt.styleTextPoints;function Tqt(e,t,r){var i=r||t9.select(e).selectAll('g[class^="waterfalllayer"]').selectAll("g.trace");bqt(e,i,"waterfall"),i.style("opacity",function(n){return n[0].trace.opacity}),i.each(function(n){var a=t9.select(this),o=n[0].trace;a.selectAll(".point > path").each(function(s){if(!s.isBlank){var l=o[s.dir].marker;t9.select(this).call(n8e.fill,l.color).call(n8e.stroke,l.line.color).call(i8e.dashLine,l.line.dash,l.line.width).style("opacity",o.selectedpoints&&!s.selected?xqt:1)}}),wqt(a,o,e),a.selectAll(".lines").each(function(){var s=o.connector.line;i8e.lineGroupStyle(t9.select(this).selectAll("path"),s.width,s.color,s.dash)})})}a8e.exports={style:Tqt}});var f8e=W((jqr,c8e)=>{"use strict";var Aqt=ji().hoverLabelText,s8e=ni().opacity,Mqt=c5().hoverOnBars,l8e=D5(),u8e={increasing:l8e.INCREASING.SYMBOL,decreasing:l8e.DECREASING.SYMBOL};c8e.exports=function(t,r,i,n,a){var o=Mqt(t,r,i,n,a);if(!o)return;var s=o.cd,l=s[0].trace,u=l.orientation==="h",c=u?"x":"y",f=u?t.xa:t.ya;function h(x){return Aqt(f,x,l[c+"hoverformat"])}var d=o.index,p=s[d],v=p.isSum?p.b+p.s:p.rawS;o.initial=p.b+p.s-v,o.delta=v,o.final=o.initial+o.delta;var m=h(Math.abs(o.delta));o.deltaLabel=v<0?"("+m+")":m,o.finalLabel=h(o.final),o.initialLabel=h(o.initial);var g=p.hi||l.hoverinfo,w=[];if(g&&g!=="none"&&g!=="skip"){var b=g==="all",_=g.split("+"),M=function(x){return b||_.indexOf(x)!==-1};p.isSum||(M("final")&&(u?!M("x"):!M("y"))&&w.push(o.finalLabel),M("delta")&&(v<0?w.push(o.deltaLabel+" "+u8e.decreasing):w.push(o.deltaLabel+" "+u8e.increasing)),M("initial")&&w.push("Initial: "+o.initialLabel))}return w.length&&(o.extraText=w.join("
")),o.color=Sqt(l,p),[o]};function Sqt(e,t){var r=e[t.dir].marker,i=r.color,n=r.line.color,a=r.line.width;if(s8e(i))return i;if(s8e(n)&&a)return n}});var d8e=W(($qr,h8e)=>{"use strict";h8e.exports=function(t,r){return t.x="xVal"in r?r.xVal:r.x,t.y="yVal"in r?r.yVal:r.y,"initial"in r&&(t.initial=r.initial),"delta"in r&&(t.delta=r.delta),"final"in r&&(t.final=r.final),r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),t}});var v8e=W((Wqr,p8e)=>{"use strict";p8e.exports={attributes:CY(),layoutAttributes:DY(),supplyDefaults:LY().supplyDefaults,crossTraceDefaults:LY().crossTraceDefaults,supplyLayoutDefaults:Hke(),calc:Zke(),crossTraceCalc:Qke(),plot:r8e(),style:o8e().style,hoverPoints:f8e(),eventData:d8e(),selectPoints:f5(),moduleType:"trace",name:"waterfall",basePlotModule:dl(),categories:["bar-like","cartesian","svg","oriented","showLegend","zoomScale"],meta:{}}});var m8e=W((Yqr,g8e)=>{"use strict";g8e.exports=v8e()});var L5=W((Xqr,y8e)=>{"use strict";y8e.exports={colormodel:{rgb:{min:[0,0,0],max:[255,255,255],fmt:function(e){return e.slice(0,3)},suffix:["","",""]},rgba:{min:[0,0,0,0],max:[255,255,255,1],fmt:function(e){return e.slice(0,4)},suffix:["","","",""]},rgba256:{colormodel:"rgba",zminDflt:[0,0,0,0],zmaxDflt:[255,255,255,255],min:[0,0,0,0],max:[255,255,255,1],fmt:function(e){return e.slice(0,4)},suffix:["","","",""]},hsl:{min:[0,0,0],max:[360,100,100],fmt:function(e){var t=e.slice(0,3);return t[1]=t[1]+"%",t[2]=t[2]+"%",t},suffix:["\xB0","%","%"]},hsla:{min:[0,0,0,0],max:[360,100,100,1],fmt:function(e){var t=e.slice(0,4);return t[1]=t[1]+"%",t[2]=t[2]+"%",t},suffix:["\xB0","%","%",""]}}}});var RY={};Fp(RY,{default:()=>kqt});var x8e,_8e,r9,b8e,w8e,T8e,A8e,M8e,Eqt,kqt,zY=Ea(()=>{"use strict";x8e=nd(tn()),_8e=nd(Wa()),r9=nd(Ga()),b8e=nd(Ns()),w8e=nd(L5()),T8e=["rgb","rgba","rgba256","hsl","hsla"],A8e=[],M8e=[];for(let e of T8e){let t=w8e.colormodel[e];A8e.push(`For the \`${e}\` colormodel, it is [${(t.zminDflt||t.min).join(", ")}].`),M8e.push(`For the \`${e}\` colormodel, it is [${(t.zmaxDflt||t.max).join(", ")}].`)}Eqt={source:{valType:"string",editType:"calc",description:["Specifies the data URI of the image to be visualized.",'The URI consists of "data:image/[][;base64\\\\],"'].join(" ")},z:{valType:"data_array",editType:"calc",description:["A 2-dimensional array in which each element is an array of 3 or 4 numbers representing a color."].join(" ")},colormodel:{valType:"enumerated",values:T8e,editType:"calc",description:["Color model used to map the numerical color components described in `z` into colors.","If `source` is specified, this attribute will be set to `rgba256`","otherwise it defaults to `rgb`."].join(" ")},zsmooth:{valType:"enumerated",values:["fast",!1],dflt:!1,editType:"plot",description:["Picks a smoothing algorithm used to smooth `z` data.","This only applies for image traces that use the `source` attribute."].join(" ")},zmin:{valType:"info_array",items:[{valType:"number",editType:"calc"},{valType:"number",editType:"calc"},{valType:"number",editType:"calc"},{valType:"number",editType:"calc"}],editType:"calc",description:["Array defining the lower bound for each color component.","Note that the default value will depend on the colormodel.",A8e.join(" ")].join(" ")},zmax:{valType:"info_array",items:[{valType:"number",editType:"calc"},{valType:"number",editType:"calc"},{valType:"number",editType:"calc"},{valType:"number",editType:"calc"}],editType:"calc",description:["Array defining the higher bound for each color component.","Note that the default value will depend on the colormodel.",M8e.join(" ")].join(" ")},x0:{valType:"any",dflt:0,editType:"calc+clearAxisTypes",description:["Set the image's x position. The left edge of the image","(or the right edge if the x axis is reversed or dx is negative)","will be found at xmin=x0-dx/2"].join(" ")},y0:{valType:"any",dflt:0,editType:"calc+clearAxisTypes",description:["Set the image's y position. The top edge of the image","(or the bottom edge if the y axis is NOT reversed or if dy is negative)","will be found at ymin=y0-dy/2. By default when an image trace is","included, the y axis will be reversed so that the image is right-side-up,","but you can disable this by setting yaxis.autorange=true or by providing","an explicit y axis range."].join(" ")},dx:{valType:"number",dflt:1,editType:"calc",description:"Set the pixel's horizontal size."},dy:{valType:"number",dflt:1,editType:"calc",description:"Set the pixel's vertical size"},text:{valType:"data_array",editType:"plot",description:"Sets the text elements associated with each z value."},hovertext:{valType:"data_array",editType:"plot",description:"Same as `text`."},hoverinfo:(0,x8e.extendFlat)({},_8e.default.hoverinfo,{flags:["x","y","z","color","name","text"],dflt:"x+y+z+text+name"}),hovertemplate:(0,r9.hovertemplateAttrs)({},{keys:["z","color","colormodel"]}),hovertemplatefallback:(0,r9.templatefallbackAttrs)(),zorder:b8e.zorder},kqt=Eqt});var k8e=W((Zqr,E8e)=>{"use strict";var Cqt=it(),Dqt=(zY(),Go(RY)).default,S8e=L5(),Fqt=Ng().IMAGE_URL_PREFIX;E8e.exports=function(t,r){function i(o,s){return Cqt.coerce(t,r,Dqt,o,s)}i("source"),r.source&&!r.source.match(Fqt)&&delete r.source,r._hasSource=!!r.source;var n=i("z");if(r._hasZ=!(n===void 0||!n.length||!n[0]||!n[0].length),!r._hasZ&&!r._hasSource){r.visible=!1;return}i("x0"),i("y0"),i("dx"),i("dy");var a;r._hasZ?(i("colormodel","rgb"),a=S8e.colormodel[r.colormodel],i("zmin",a.zminDflt||a.min),i("zmax",a.zmaxDflt||a.max)):r._hasSource&&(r.colormodel="rgba256",a=S8e.colormodel[r.colormodel],r.zmin=a.zminDflt,r.zmax=a.zmaxDflt),i("zsmooth"),i("text"),i("hovertext"),i("hovertemplate"),i("hovertemplatefallback"),r._length=null,i("zorder")}});var Kg=W((Kqr,BY)=>{typeof Object.create=="function"?BY.exports=function(t,r){r&&(t.super_=r,t.prototype=Object.create(r.prototype,{constructor:{value:t,enumerable:!1,writable:!0,configurable:!0}}))}:BY.exports=function(t,r){if(r){t.super_=r;var i=function(){};i.prototype=r.prototype,t.prototype=new i,t.prototype.constructor=t}}});var qY=W((Jqr,C8e)=>{C8e.exports=Vx().EventEmitter});var L8e=W(i9=>{"use strict";i9.byteLength=Pqt;i9.toByteArray=Rqt;i9.fromByteArray=qqt;var k1=[],Id=[],Lqt=typeof Uint8Array!="undefined"?Uint8Array:Array,OY="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";for(N_=0,D8e=OY.length;N_0)throw new Error("Invalid string. Length must be a multiple of 4");var r=e.indexOf("=");r===-1&&(r=t);var i=r===t?0:4-r%4;return[r,i]}function Pqt(e){var t=F8e(e),r=t[0],i=t[1];return(r+i)*3/4-i}function Iqt(e,t,r){return(t+r)*3/4-r}function Rqt(e){var t,r=F8e(e),i=r[0],n=r[1],a=new Lqt(Iqt(e,i,n)),o=0,s=n>0?i-4:i,l;for(l=0;l>16&255,a[o++]=t>>8&255,a[o++]=t&255;return n===2&&(t=Id[e.charCodeAt(l)]<<2|Id[e.charCodeAt(l+1)]>>4,a[o++]=t&255),n===1&&(t=Id[e.charCodeAt(l)]<<10|Id[e.charCodeAt(l+1)]<<4|Id[e.charCodeAt(l+2)]>>2,a[o++]=t>>8&255,a[o++]=t&255),a}function zqt(e){return k1[e>>18&63]+k1[e>>12&63]+k1[e>>6&63]+k1[e&63]}function Bqt(e,t,r){for(var i,n=[],a=t;as?s:o+a));return i===1?(t=e[r-1],n.push(k1[t>>2]+k1[t<<4&63]+"==")):i===2&&(t=(e[r-2]<<8)+e[r-1],n.push(k1[t>>10]+k1[t>>4&63]+k1[t<<2&63]+"=")),n.join("")}});var P8e=W(NY=>{NY.read=function(e,t,r,i,n){var a,o,s=n*8-i-1,l=(1<>1,c=-7,f=r?n-1:0,h=r?-1:1,d=e[t+f];for(f+=h,a=d&(1<<-c)-1,d>>=-c,c+=s;c>0;a=a*256+e[t+f],f+=h,c-=8);for(o=a&(1<<-c)-1,a>>=-c,c+=i;c>0;o=o*256+e[t+f],f+=h,c-=8);if(a===0)a=1-u;else{if(a===l)return o?NaN:(d?-1:1)*(1/0);o=o+Math.pow(2,i),a=a-u}return(d?-1:1)*o*Math.pow(2,a-i)};NY.write=function(e,t,r,i,n,a){var o,s,l,u=a*8-n-1,c=(1<>1,h=n===23?Math.pow(2,-24)-Math.pow(2,-77):0,d=i?0:a-1,p=i?1:-1,v=t<0||t===0&&1/t<0?1:0;for(t=Math.abs(t),isNaN(t)||t===1/0?(s=isNaN(t)?1:0,o=c):(o=Math.floor(Math.log(t)/Math.LN2),t*(l=Math.pow(2,-o))<1&&(o--,l*=2),o+f>=1?t+=h/l:t+=h*Math.pow(2,1-f),t*l>=2&&(o++,l/=2),o+f>=c?(s=0,o=c):o+f>=1?(s=(t*l-1)*Math.pow(2,n),o=o+f):(s=t*Math.pow(2,f-1)*Math.pow(2,n),o=0));n>=8;e[r+d]=s&255,d+=p,s/=256,n-=8);for(o=o<0;e[r+d]=o&255,d+=p,o/=256,u-=8);e[r+d-p]|=v*128}});var V_=W(z5=>{"use strict";var UY=L8e(),I5=P8e(),I8e=typeof Symbol=="function"&&typeof Symbol.for=="function"?Symbol.for("nodejs.util.inspect.custom"):null;z5.Buffer=Or;z5.SlowBuffer=Hqt;z5.INSPECT_MAX_BYTES=50;var n9=2147483647;z5.kMaxLength=n9;Or.TYPED_ARRAY_SUPPORT=Oqt();!Or.TYPED_ARRAY_SUPPORT&&typeof console!="undefined"&&typeof console.error=="function"&&console.error("This browser lacks typed array (Uint8Array) support which is required by `buffer` v5.x. Use `buffer` v4.x if you require old browser support.");function Oqt(){try{let e=new Uint8Array(1),t={foo:function(){return 42}};return Object.setPrototypeOf(t,Uint8Array.prototype),Object.setPrototypeOf(e,t),e.foo()===42}catch(e){return!1}}Object.defineProperty(Or.prototype,"parent",{enumerable:!0,get:function(){if(Or.isBuffer(this))return this.buffer}});Object.defineProperty(Or.prototype,"offset",{enumerable:!0,get:function(){if(Or.isBuffer(this))return this.byteOffset}});function Jg(e){if(e>n9)throw new RangeError('The value "'+e+'" is invalid for option "size"');let t=new Uint8Array(e);return Object.setPrototypeOf(t,Or.prototype),t}function Or(e,t,r){if(typeof e=="number"){if(typeof t=="string")throw new TypeError('The "string" argument must be of type string. Received type number');return jY(e)}return q8e(e,t,r)}Or.poolSize=8192;function q8e(e,t,r){if(typeof e=="string")return Uqt(e,t);if(ArrayBuffer.isView(e))return Vqt(e);if(e==null)throw new TypeError("The first argument must be one of type string, Buffer, ArrayBuffer, Array, or Array-like Object. Received type "+typeof e);if(C1(e,ArrayBuffer)||e&&C1(e.buffer,ArrayBuffer)||typeof SharedArrayBuffer!="undefined"&&(C1(e,SharedArrayBuffer)||e&&C1(e.buffer,SharedArrayBuffer)))return GY(e,t,r);if(typeof e=="number")throw new TypeError('The "value" argument must not be of type number. Received type number');let i=e.valueOf&&e.valueOf();if(i!=null&&i!==e)return Or.from(i,t,r);let n=Gqt(e);if(n)return n;if(typeof Symbol!="undefined"&&Symbol.toPrimitive!=null&&typeof e[Symbol.toPrimitive]=="function")return Or.from(e[Symbol.toPrimitive]("string"),t,r);throw new TypeError("The first argument must be one of type string, Buffer, ArrayBuffer, Array, or Array-like Object. Received type "+typeof e)}Or.from=function(e,t,r){return q8e(e,t,r)};Object.setPrototypeOf(Or.prototype,Uint8Array.prototype);Object.setPrototypeOf(Or,Uint8Array);function O8e(e){if(typeof e!="number")throw new TypeError('"size" argument must be of type number');if(e<0)throw new RangeError('The value "'+e+'" is invalid for option "size"')}function Nqt(e,t,r){return O8e(e),e<=0?Jg(e):t!==void 0?typeof r=="string"?Jg(e).fill(t,r):Jg(e).fill(t):Jg(e)}Or.alloc=function(e,t,r){return Nqt(e,t,r)};function jY(e){return O8e(e),Jg(e<0?0:$Y(e)|0)}Or.allocUnsafe=function(e){return jY(e)};Or.allocUnsafeSlow=function(e){return jY(e)};function Uqt(e,t){if((typeof t!="string"||t==="")&&(t="utf8"),!Or.isEncoding(t))throw new TypeError("Unknown encoding: "+t);let r=N8e(e,t)|0,i=Jg(r),n=i.write(e,t);return n!==r&&(i=i.slice(0,n)),i}function VY(e){let t=e.length<0?0:$Y(e.length)|0,r=Jg(t);for(let i=0;i=n9)throw new RangeError("Attempt to allocate Buffer larger than maximum size: 0x"+n9.toString(16)+" bytes");return e|0}function Hqt(e){return+e!=e&&(e=0),Or.alloc(+e)}Or.isBuffer=function(t){return t!=null&&t._isBuffer===!0&&t!==Or.prototype};Or.compare=function(t,r){if(C1(t,Uint8Array)&&(t=Or.from(t,t.offset,t.byteLength)),C1(r,Uint8Array)&&(r=Or.from(r,r.offset,r.byteLength)),!Or.isBuffer(t)||!Or.isBuffer(r))throw new TypeError('The "buf1", "buf2" arguments must be one of type Buffer or Uint8Array');if(t===r)return 0;let i=t.length,n=r.length;for(let a=0,o=Math.min(i,n);an.length?(Or.isBuffer(o)||(o=Or.from(o)),o.copy(n,a)):Uint8Array.prototype.set.call(n,o,a);else if(Or.isBuffer(o))o.copy(n,a);else throw new TypeError('"list" argument must be an Array of Buffers');a+=o.length}return n};function N8e(e,t){if(Or.isBuffer(e))return e.length;if(ArrayBuffer.isView(e)||C1(e,ArrayBuffer))return e.byteLength;if(typeof e!="string")throw new TypeError('The "string" argument must be one of type string, Buffer, or ArrayBuffer. Received type '+typeof e);let r=e.length,i=arguments.length>2&&arguments[2]===!0;if(!i&&r===0)return 0;let n=!1;for(;;)switch(t){case"ascii":case"latin1":case"binary":return r;case"utf8":case"utf-8":return HY(e).length;case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return r*2;case"hex":return r>>>1;case"base64":return X8e(e).length;default:if(n)return i?-1:HY(e).length;t=(""+t).toLowerCase(),n=!0}}Or.byteLength=N8e;function jqt(e,t,r){let i=!1;if((t===void 0||t<0)&&(t=0),t>this.length||((r===void 0||r>this.length)&&(r=this.length),r<=0)||(r>>>=0,t>>>=0,r<=t))return"";for(e||(e="utf8");;)switch(e){case"hex":return tOt(this,t,r);case"utf8":case"utf-8":return V8e(this,t,r);case"ascii":return Qqt(this,t,r);case"latin1":case"binary":return eOt(this,t,r);case"base64":return Kqt(this,t,r);case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return rOt(this,t,r);default:if(i)throw new TypeError("Unknown encoding: "+e);e=(e+"").toLowerCase(),i=!0}}Or.prototype._isBuffer=!0;function U_(e,t,r){let i=e[t];e[t]=e[r],e[r]=i}Or.prototype.swap16=function(){let t=this.length;if(t%2!==0)throw new RangeError("Buffer size must be a multiple of 16-bits");for(let r=0;rr&&(t+=" ... "),""};I8e&&(Or.prototype[I8e]=Or.prototype.inspect);Or.prototype.compare=function(t,r,i,n,a){if(C1(t,Uint8Array)&&(t=Or.from(t,t.offset,t.byteLength)),!Or.isBuffer(t))throw new TypeError('The "target" argument must be one of type Buffer or Uint8Array. Received type '+typeof t);if(r===void 0&&(r=0),i===void 0&&(i=t?t.length:0),n===void 0&&(n=0),a===void 0&&(a=this.length),r<0||i>t.length||n<0||a>this.length)throw new RangeError("out of range index");if(n>=a&&r>=i)return 0;if(n>=a)return-1;if(r>=i)return 1;if(r>>>=0,i>>>=0,n>>>=0,a>>>=0,this===t)return 0;let o=a-n,s=i-r,l=Math.min(o,s),u=this.slice(n,a),c=t.slice(r,i);for(let f=0;f2147483647?r=2147483647:r<-2147483648&&(r=-2147483648),r=+r,YY(r)&&(r=n?0:e.length-1),r<0&&(r=e.length+r),r>=e.length){if(n)return-1;r=e.length-1}else if(r<0)if(n)r=0;else return-1;if(typeof t=="string"&&(t=Or.from(t,i)),Or.isBuffer(t))return t.length===0?-1:R8e(e,t,r,i,n);if(typeof t=="number")return t=t&255,typeof Uint8Array.prototype.indexOf=="function"?n?Uint8Array.prototype.indexOf.call(e,t,r):Uint8Array.prototype.lastIndexOf.call(e,t,r):R8e(e,[t],r,i,n);throw new TypeError("val must be string, number or Buffer")}function R8e(e,t,r,i,n){let a=1,o=e.length,s=t.length;if(i!==void 0&&(i=String(i).toLowerCase(),i==="ucs2"||i==="ucs-2"||i==="utf16le"||i==="utf-16le")){if(e.length<2||t.length<2)return-1;a=2,o/=2,s/=2,r/=2}function l(c,f){return a===1?c[f]:c.readUInt16BE(f*a)}let u;if(n){let c=-1;for(u=r;uo&&(r=o-s),u=r;u>=0;u--){let c=!0;for(let f=0;fn&&(i=n)):i=n;let a=t.length;i>a/2&&(i=a/2);let o;for(o=0;o>>0,isFinite(i)?(i=i>>>0,n===void 0&&(n="utf8")):(n=i,i=void 0);else throw new Error("Buffer.write(string, encoding, offset[, length]) is no longer supported");let a=this.length-r;if((i===void 0||i>a)&&(i=a),t.length>0&&(i<0||r<0)||r>this.length)throw new RangeError("Attempt to write outside buffer bounds");n||(n="utf8");let o=!1;for(;;)switch(n){case"hex":return $qt(this,t,r,i);case"utf8":case"utf-8":return Wqt(this,t,r,i);case"ascii":case"latin1":case"binary":return Yqt(this,t,r,i);case"base64":return Xqt(this,t,r,i);case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return Zqt(this,t,r,i);default:if(o)throw new TypeError("Unknown encoding: "+n);n=(""+n).toLowerCase(),o=!0}};Or.prototype.toJSON=function(){return{type:"Buffer",data:Array.prototype.slice.call(this._arr||this,0)}};function Kqt(e,t,r){return t===0&&r===e.length?UY.fromByteArray(e):UY.fromByteArray(e.slice(t,r))}function V8e(e,t,r){r=Math.min(e.length,r);let i=[],n=t;for(;n239?4:a>223?3:a>191?2:1;if(n+s<=r){let l,u,c,f;switch(s){case 1:a<128&&(o=a);break;case 2:l=e[n+1],(l&192)===128&&(f=(a&31)<<6|l&63,f>127&&(o=f));break;case 3:l=e[n+1],u=e[n+2],(l&192)===128&&(u&192)===128&&(f=(a&15)<<12|(l&63)<<6|u&63,f>2047&&(f<55296||f>57343)&&(o=f));break;case 4:l=e[n+1],u=e[n+2],c=e[n+3],(l&192)===128&&(u&192)===128&&(c&192)===128&&(f=(a&15)<<18|(l&63)<<12|(u&63)<<6|c&63,f>65535&&f<1114112&&(o=f))}}o===null?(o=65533,s=1):o>65535&&(o-=65536,i.push(o>>>10&1023|55296),o=56320|o&1023),i.push(o),n+=s}return Jqt(i)}var z8e=4096;function Jqt(e){let t=e.length;if(t<=z8e)return String.fromCharCode.apply(String,e);let r="",i=0;for(;ii)&&(r=i);let n="";for(let a=t;ai&&(t=i),r<0?(r+=i,r<0&&(r=0)):r>i&&(r=i),rr)throw new RangeError("Trying to access beyond buffer length")}Or.prototype.readUintLE=Or.prototype.readUIntLE=function(t,r,i){t=t>>>0,r=r>>>0,i||Sc(t,r,this.length);let n=this[t],a=1,o=0;for(;++o>>0,r=r>>>0,i||Sc(t,r,this.length);let n=this[t+--r],a=1;for(;r>0&&(a*=256);)n+=this[t+--r]*a;return n};Or.prototype.readUint8=Or.prototype.readUInt8=function(t,r){return t=t>>>0,r||Sc(t,1,this.length),this[t]};Or.prototype.readUint16LE=Or.prototype.readUInt16LE=function(t,r){return t=t>>>0,r||Sc(t,2,this.length),this[t]|this[t+1]<<8};Or.prototype.readUint16BE=Or.prototype.readUInt16BE=function(t,r){return t=t>>>0,r||Sc(t,2,this.length),this[t]<<8|this[t+1]};Or.prototype.readUint32LE=Or.prototype.readUInt32LE=function(t,r){return t=t>>>0,r||Sc(t,4,this.length),(this[t]|this[t+1]<<8|this[t+2]<<16)+this[t+3]*16777216};Or.prototype.readUint32BE=Or.prototype.readUInt32BE=function(t,r){return t=t>>>0,r||Sc(t,4,this.length),this[t]*16777216+(this[t+1]<<16|this[t+2]<<8|this[t+3])};Or.prototype.readBigUInt64LE=t2(function(t){t=t>>>0,R5(t,"offset");let r=this[t],i=this[t+7];(r===void 0||i===void 0)&&QM(t,this.length-8);let n=r+this[++t]*2**8+this[++t]*2**16+this[++t]*2**24,a=this[++t]+this[++t]*2**8+this[++t]*2**16+i*2**24;return BigInt(n)+(BigInt(a)<>>0,R5(t,"offset");let r=this[t],i=this[t+7];(r===void 0||i===void 0)&&QM(t,this.length-8);let n=r*2**24+this[++t]*2**16+this[++t]*2**8+this[++t],a=this[++t]*2**24+this[++t]*2**16+this[++t]*2**8+i;return(BigInt(n)<>>0,r=r>>>0,i||Sc(t,r,this.length);let n=this[t],a=1,o=0;for(;++o=a&&(n-=Math.pow(2,8*r)),n};Or.prototype.readIntBE=function(t,r,i){t=t>>>0,r=r>>>0,i||Sc(t,r,this.length);let n=r,a=1,o=this[t+--n];for(;n>0&&(a*=256);)o+=this[t+--n]*a;return a*=128,o>=a&&(o-=Math.pow(2,8*r)),o};Or.prototype.readInt8=function(t,r){return t=t>>>0,r||Sc(t,1,this.length),this[t]&128?(255-this[t]+1)*-1:this[t]};Or.prototype.readInt16LE=function(t,r){t=t>>>0,r||Sc(t,2,this.length);let i=this[t]|this[t+1]<<8;return i&32768?i|4294901760:i};Or.prototype.readInt16BE=function(t,r){t=t>>>0,r||Sc(t,2,this.length);let i=this[t+1]|this[t]<<8;return i&32768?i|4294901760:i};Or.prototype.readInt32LE=function(t,r){return t=t>>>0,r||Sc(t,4,this.length),this[t]|this[t+1]<<8|this[t+2]<<16|this[t+3]<<24};Or.prototype.readInt32BE=function(t,r){return t=t>>>0,r||Sc(t,4,this.length),this[t]<<24|this[t+1]<<16|this[t+2]<<8|this[t+3]};Or.prototype.readBigInt64LE=t2(function(t){t=t>>>0,R5(t,"offset");let r=this[t],i=this[t+7];(r===void 0||i===void 0)&&QM(t,this.length-8);let n=this[t+4]+this[t+5]*2**8+this[t+6]*2**16+(i<<24);return(BigInt(n)<>>0,R5(t,"offset");let r=this[t],i=this[t+7];(r===void 0||i===void 0)&&QM(t,this.length-8);let n=(r<<24)+this[++t]*2**16+this[++t]*2**8+this[++t];return(BigInt(n)<>>0,r||Sc(t,4,this.length),I5.read(this,t,!0,23,4)};Or.prototype.readFloatBE=function(t,r){return t=t>>>0,r||Sc(t,4,this.length),I5.read(this,t,!1,23,4)};Or.prototype.readDoubleLE=function(t,r){return t=t>>>0,r||Sc(t,8,this.length),I5.read(this,t,!0,52,8)};Or.prototype.readDoubleBE=function(t,r){return t=t>>>0,r||Sc(t,8,this.length),I5.read(this,t,!1,52,8)};function Gh(e,t,r,i,n,a){if(!Or.isBuffer(e))throw new TypeError('"buffer" argument must be a Buffer instance');if(t>n||te.length)throw new RangeError("Index out of range")}Or.prototype.writeUintLE=Or.prototype.writeUIntLE=function(t,r,i,n){if(t=+t,r=r>>>0,i=i>>>0,!n){let s=Math.pow(2,8*i)-1;Gh(this,t,r,i,s,0)}let a=1,o=0;for(this[r]=t&255;++o>>0,i=i>>>0,!n){let s=Math.pow(2,8*i)-1;Gh(this,t,r,i,s,0)}let a=i-1,o=1;for(this[r+a]=t&255;--a>=0&&(o*=256);)this[r+a]=t/o&255;return r+i};Or.prototype.writeUint8=Or.prototype.writeUInt8=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,1,255,0),this[r]=t&255,r+1};Or.prototype.writeUint16LE=Or.prototype.writeUInt16LE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,2,65535,0),this[r]=t&255,this[r+1]=t>>>8,r+2};Or.prototype.writeUint16BE=Or.prototype.writeUInt16BE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,2,65535,0),this[r]=t>>>8,this[r+1]=t&255,r+2};Or.prototype.writeUint32LE=Or.prototype.writeUInt32LE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,4,4294967295,0),this[r+3]=t>>>24,this[r+2]=t>>>16,this[r+1]=t>>>8,this[r]=t&255,r+4};Or.prototype.writeUint32BE=Or.prototype.writeUInt32BE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,4,4294967295,0),this[r]=t>>>24,this[r+1]=t>>>16,this[r+2]=t>>>8,this[r+3]=t&255,r+4};function G8e(e,t,r,i,n){Y8e(t,i,n,e,r,7);let a=Number(t&BigInt(4294967295));e[r++]=a,a=a>>8,e[r++]=a,a=a>>8,e[r++]=a,a=a>>8,e[r++]=a;let o=Number(t>>BigInt(32)&BigInt(4294967295));return e[r++]=o,o=o>>8,e[r++]=o,o=o>>8,e[r++]=o,o=o>>8,e[r++]=o,r}function H8e(e,t,r,i,n){Y8e(t,i,n,e,r,7);let a=Number(t&BigInt(4294967295));e[r+7]=a,a=a>>8,e[r+6]=a,a=a>>8,e[r+5]=a,a=a>>8,e[r+4]=a;let o=Number(t>>BigInt(32)&BigInt(4294967295));return e[r+3]=o,o=o>>8,e[r+2]=o,o=o>>8,e[r+1]=o,o=o>>8,e[r]=o,r+8}Or.prototype.writeBigUInt64LE=t2(function(t,r=0){return G8e(this,t,r,BigInt(0),BigInt("0xffffffffffffffff"))});Or.prototype.writeBigUInt64BE=t2(function(t,r=0){return H8e(this,t,r,BigInt(0),BigInt("0xffffffffffffffff"))});Or.prototype.writeIntLE=function(t,r,i,n){if(t=+t,r=r>>>0,!n){let l=Math.pow(2,8*i-1);Gh(this,t,r,i,l-1,-l)}let a=0,o=1,s=0;for(this[r]=t&255;++a>0)-s&255;return r+i};Or.prototype.writeIntBE=function(t,r,i,n){if(t=+t,r=r>>>0,!n){let l=Math.pow(2,8*i-1);Gh(this,t,r,i,l-1,-l)}let a=i-1,o=1,s=0;for(this[r+a]=t&255;--a>=0&&(o*=256);)t<0&&s===0&&this[r+a+1]!==0&&(s=1),this[r+a]=(t/o>>0)-s&255;return r+i};Or.prototype.writeInt8=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,1,127,-128),t<0&&(t=255+t+1),this[r]=t&255,r+1};Or.prototype.writeInt16LE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,2,32767,-32768),this[r]=t&255,this[r+1]=t>>>8,r+2};Or.prototype.writeInt16BE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,2,32767,-32768),this[r]=t>>>8,this[r+1]=t&255,r+2};Or.prototype.writeInt32LE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,4,2147483647,-2147483648),this[r]=t&255,this[r+1]=t>>>8,this[r+2]=t>>>16,this[r+3]=t>>>24,r+4};Or.prototype.writeInt32BE=function(t,r,i){return t=+t,r=r>>>0,i||Gh(this,t,r,4,2147483647,-2147483648),t<0&&(t=4294967295+t+1),this[r]=t>>>24,this[r+1]=t>>>16,this[r+2]=t>>>8,this[r+3]=t&255,r+4};Or.prototype.writeBigInt64LE=t2(function(t,r=0){return G8e(this,t,r,-BigInt("0x8000000000000000"),BigInt("0x7fffffffffffffff"))});Or.prototype.writeBigInt64BE=t2(function(t,r=0){return H8e(this,t,r,-BigInt("0x8000000000000000"),BigInt("0x7fffffffffffffff"))});function j8e(e,t,r,i,n,a){if(r+i>e.length)throw new RangeError("Index out of range");if(r<0)throw new RangeError("Index out of range")}function $8e(e,t,r,i,n){return t=+t,r=r>>>0,n||j8e(e,t,r,4,34028234663852886e22,-34028234663852886e22),I5.write(e,t,r,i,23,4),r+4}Or.prototype.writeFloatLE=function(t,r,i){return $8e(this,t,r,!0,i)};Or.prototype.writeFloatBE=function(t,r,i){return $8e(this,t,r,!1,i)};function W8e(e,t,r,i,n){return t=+t,r=r>>>0,n||j8e(e,t,r,8,17976931348623157e292,-17976931348623157e292),I5.write(e,t,r,i,52,8),r+8}Or.prototype.writeDoubleLE=function(t,r,i){return W8e(this,t,r,!0,i)};Or.prototype.writeDoubleBE=function(t,r,i){return W8e(this,t,r,!1,i)};Or.prototype.copy=function(t,r,i,n){if(!Or.isBuffer(t))throw new TypeError("argument should be a Buffer");if(i||(i=0),!n&&n!==0&&(n=this.length),r>=t.length&&(r=t.length),r||(r=0),n>0&&n=this.length)throw new RangeError("Index out of range");if(n<0)throw new RangeError("sourceEnd out of bounds");n>this.length&&(n=this.length),t.length-r>>0,i=i===void 0?this.length:i>>>0,t||(t=0);let a;if(typeof t=="number")for(a=r;a2**32?n=B8e(String(r)):typeof r=="bigint"&&(n=String(r),(r>BigInt(2)**BigInt(32)||r<-(BigInt(2)**BigInt(32)))&&(n=B8e(n)),n+="n"),i+=` It must be ${t}. Received ${n}`,i},RangeError);function B8e(e){let t="",r=e.length,i=e[0]==="-"?1:0;for(;r>=i+4;r-=3)t=`_${e.slice(r-3,r)}${t}`;return`${e.slice(0,r)}${t}`}function iOt(e,t,r){R5(t,"offset"),(e[t]===void 0||e[t+r]===void 0)&&QM(t,e.length-(r+1))}function Y8e(e,t,r,i,n,a){if(e>r||e3?t===0||t===BigInt(0)?s=`>= 0${o} and < 2${o} ** ${(a+1)*8}${o}`:s=`>= -(2${o} ** ${(a+1)*8-1}${o}) and < 2 ** ${(a+1)*8-1}${o}`:s=`>= ${t}${o} and <= ${r}${o}`,new P5.ERR_OUT_OF_RANGE("value",s,e)}iOt(i,n,a)}function R5(e,t){if(typeof e!="number")throw new P5.ERR_INVALID_ARG_TYPE(t,"number",e)}function QM(e,t,r){throw Math.floor(e)!==e?(R5(e,r),new P5.ERR_OUT_OF_RANGE(r||"offset","an integer",e)):t<0?new P5.ERR_BUFFER_OUT_OF_BOUNDS:new P5.ERR_OUT_OF_RANGE(r||"offset",`>= ${r?1:0} and <= ${t}`,e)}var nOt=/[^+/0-9A-Za-z-_]/g;function aOt(e){if(e=e.split("=")[0],e=e.trim().replace(nOt,""),e.length<2)return"";for(;e.length%4!==0;)e=e+"=";return e}function HY(e,t){t=t||1/0;let r,i=e.length,n=null,a=[];for(let o=0;o55295&&r<57344){if(!n){if(r>56319){(t-=3)>-1&&a.push(239,191,189);continue}else if(o+1===i){(t-=3)>-1&&a.push(239,191,189);continue}n=r;continue}if(r<56320){(t-=3)>-1&&a.push(239,191,189),n=r;continue}r=(n-55296<<10|r-56320)+65536}else n&&(t-=3)>-1&&a.push(239,191,189);if(n=null,r<128){if((t-=1)<0)break;a.push(r)}else if(r<2048){if((t-=2)<0)break;a.push(r>>6|192,r&63|128)}else if(r<65536){if((t-=3)<0)break;a.push(r>>12|224,r>>6&63|128,r&63|128)}else if(r<1114112){if((t-=4)<0)break;a.push(r>>18|240,r>>12&63|128,r>>6&63|128,r&63|128)}else throw new Error("Invalid code point")}return a}function oOt(e){let t=[];for(let r=0;r>8,n=r%256,a.push(n),a.push(i);return a}function X8e(e){return UY.toByteArray(aOt(e))}function a9(e,t,r,i){let n;for(n=0;n=t.length||n>=e.length);++n)t[n+r]=e[n];return n}function C1(e,t){return e instanceof t||e!=null&&e.constructor!=null&&e.constructor.name!=null&&e.constructor.name===t.name}function YY(e){return e!==e}var lOt=(function(){let e="0123456789abcdef",t=new Array(256);for(let r=0;r<16;++r){let i=r*16;for(let n=0;n<16;++n)t[i+n]=e[r]+e[n]}return t})();function t2(e){return typeof BigInt=="undefined"?uOt:e}function uOt(){throw new Error("BigInt not supported")}});var o9=W((iOr,Z8e)=>{"use strict";Z8e.exports=function(){if(typeof Symbol!="function"||typeof Object.getOwnPropertySymbols!="function")return!1;if(typeof Symbol.iterator=="symbol")return!0;var t={},r=Symbol("test"),i=Object(r);if(typeof r=="string"||Object.prototype.toString.call(r)!=="[object Symbol]"||Object.prototype.toString.call(i)!=="[object Symbol]")return!1;var n=42;t[r]=n;for(var a in t)return!1;if(typeof Object.keys=="function"&&Object.keys(t).length!==0||typeof Object.getOwnPropertyNames=="function"&&Object.getOwnPropertyNames(t).length!==0)return!1;var o=Object.getOwnPropertySymbols(t);if(o.length!==1||o[0]!==r||!Object.prototype.propertyIsEnumerable.call(t,r))return!1;if(typeof Object.getOwnPropertyDescriptor=="function"){var s=Object.getOwnPropertyDescriptor(t,r);if(s.value!==n||s.enumerable!==!0)return!1}return!0}});var eS=W((nOr,K8e)=>{"use strict";var cOt=o9();K8e.exports=function(){return cOt()&&!!Symbol.toStringTag}});var s9=W((aOr,J8e)=>{"use strict";J8e.exports=Object});var eCe=W((oOr,Q8e)=>{"use strict";Q8e.exports=Error});var rCe=W((sOr,tCe)=>{"use strict";tCe.exports=EvalError});var nCe=W((lOr,iCe)=>{"use strict";iCe.exports=RangeError});var oCe=W((uOr,aCe)=>{"use strict";aCe.exports=ReferenceError});var XY=W((cOr,sCe)=>{"use strict";sCe.exports=SyntaxError});var B5=W((fOr,lCe)=>{"use strict";lCe.exports=TypeError});var cCe=W((hOr,uCe)=>{"use strict";uCe.exports=URIError});var hCe=W((dOr,fCe)=>{"use strict";fCe.exports=Math.abs});var pCe=W((pOr,dCe)=>{"use strict";dCe.exports=Math.floor});var gCe=W((vOr,vCe)=>{"use strict";vCe.exports=Math.max});var yCe=W((gOr,mCe)=>{"use strict";mCe.exports=Math.min});var _Ce=W((mOr,xCe)=>{"use strict";xCe.exports=Math.pow});var wCe=W((yOr,bCe)=>{"use strict";bCe.exports=Math.round});var ACe=W((xOr,TCe)=>{"use strict";TCe.exports=Number.isNaN||function(t){return t!==t}});var SCe=W((_Or,MCe)=>{"use strict";var fOt=ACe();MCe.exports=function(t){return fOt(t)||t===0?t:t<0?-1:1}});var kCe=W((bOr,ECe)=>{"use strict";ECe.exports=Object.getOwnPropertyDescriptor});var G_=W((wOr,CCe)=>{"use strict";var l9=kCe();if(l9)try{l9([],"length")}catch(e){l9=null}CCe.exports=l9});var tS=W((TOr,DCe)=>{"use strict";var u9=Object.defineProperty||!1;if(u9)try{u9({},"a",{value:1})}catch(e){u9=!1}DCe.exports=u9});var PCe=W((AOr,LCe)=>{"use strict";var FCe=typeof Symbol!="undefined"&&Symbol,hOt=o9();LCe.exports=function(){return typeof FCe!="function"||typeof Symbol!="function"||typeof FCe("foo")!="symbol"||typeof Symbol("bar")!="symbol"?!1:hOt()}});var ZY=W((MOr,ICe)=>{"use strict";ICe.exports=typeof Reflect!="undefined"&&Reflect.getPrototypeOf||null});var KY=W((SOr,RCe)=>{"use strict";var dOt=s9();RCe.exports=dOt.getPrototypeOf||null});var qCe=W((EOr,BCe)=>{"use strict";var pOt="Function.prototype.bind called on incompatible ",vOt=Object.prototype.toString,gOt=Math.max,mOt="[object Function]",zCe=function(t,r){for(var i=[],n=0;n{"use strict";var _Ot=qCe();OCe.exports=Function.prototype.bind||_Ot});var c9=W((COr,NCe)=>{"use strict";NCe.exports=Function.prototype.call});var f9=W((DOr,UCe)=>{"use strict";UCe.exports=Function.prototype.apply});var GCe=W((FOr,VCe)=>{"use strict";VCe.exports=typeof Reflect!="undefined"&&Reflect&&Reflect.apply});var JY=W((LOr,HCe)=>{"use strict";var bOt=q5(),wOt=f9(),TOt=c9(),AOt=GCe();HCe.exports=AOt||bOt.call(TOt,wOt)});var h9=W((POr,jCe)=>{"use strict";var MOt=q5(),SOt=B5(),EOt=c9(),kOt=JY();jCe.exports=function(t){if(t.length<1||typeof t[0]!="function")throw new SOt("a function is required");return kOt(MOt,EOt,t)}});var KCe=W((IOr,ZCe)=>{"use strict";var COt=h9(),$Ce=G_(),YCe;try{YCe=[].__proto__===Array.prototype}catch(e){if(!e||typeof e!="object"||!("code"in e)||e.code!=="ERR_PROTO_ACCESS")throw e}var QY=!!YCe&&$Ce&&$Ce(Object.prototype,"__proto__"),XCe=Object,WCe=XCe.getPrototypeOf;ZCe.exports=QY&&typeof QY.get=="function"?COt([QY.get]):typeof WCe=="function"?function(t){return WCe(t==null?t:XCe(t))}:!1});var d9=W((ROr,tDe)=>{"use strict";var JCe=ZY(),QCe=KY(),eDe=KCe();tDe.exports=JCe?function(t){return JCe(t)}:QCe?function(t){if(!t||typeof t!="object"&&typeof t!="function")throw new TypeError("getProto: not an object");return QCe(t)}:eDe?function(t){return eDe(t)}:null});var eX=W((zOr,rDe)=>{"use strict";var DOt=Function.prototype.call,FOt=Object.prototype.hasOwnProperty,LOt=q5();rDe.exports=LOt.call(DOt,FOt)});var g9=W((BOr,lDe)=>{"use strict";var to,POt=s9(),IOt=eCe(),ROt=rCe(),zOt=nCe(),BOt=oCe(),V5=XY(),U5=B5(),qOt=cCe(),OOt=hCe(),NOt=pCe(),UOt=gCe(),VOt=yCe(),GOt=_Ce(),HOt=wCe(),jOt=SCe(),oDe=Function,tX=function(e){try{return oDe('"use strict"; return ('+e+").constructor;")()}catch(t){}},rS=G_(),$Ot=tS(),rX=function(){throw new U5},WOt=rS?(function(){try{return arguments.callee,rX}catch(e){try{return rS(arguments,"callee").get}catch(t){return rX}}})():rX,O5=PCe()(),Ec=d9(),YOt=KY(),XOt=ZY(),sDe=f9(),iS=c9(),N5={},ZOt=typeof Uint8Array=="undefined"||!Ec?to:Ec(Uint8Array),H_={__proto__:null,"%AggregateError%":typeof AggregateError=="undefined"?to:AggregateError,"%Array%":Array,"%ArrayBuffer%":typeof ArrayBuffer=="undefined"?to:ArrayBuffer,"%ArrayIteratorPrototype%":O5&&Ec?Ec([][Symbol.iterator]()):to,"%AsyncFromSyncIteratorPrototype%":to,"%AsyncFunction%":N5,"%AsyncGenerator%":N5,"%AsyncGeneratorFunction%":N5,"%AsyncIteratorPrototype%":N5,"%Atomics%":typeof Atomics=="undefined"?to:Atomics,"%BigInt%":typeof BigInt=="undefined"?to:BigInt,"%BigInt64Array%":typeof BigInt64Array=="undefined"?to:BigInt64Array,"%BigUint64Array%":typeof BigUint64Array=="undefined"?to:BigUint64Array,"%Boolean%":Boolean,"%DataView%":typeof DataView=="undefined"?to:DataView,"%Date%":Date,"%decodeURI%":decodeURI,"%decodeURIComponent%":decodeURIComponent,"%encodeURI%":encodeURI,"%encodeURIComponent%":encodeURIComponent,"%Error%":IOt,"%eval%":eval,"%EvalError%":ROt,"%Float16Array%":typeof Float16Array=="undefined"?to:Float16Array,"%Float32Array%":typeof Float32Array=="undefined"?to:Float32Array,"%Float64Array%":typeof Float64Array=="undefined"?to:Float64Array,"%FinalizationRegistry%":typeof FinalizationRegistry=="undefined"?to:FinalizationRegistry,"%Function%":oDe,"%GeneratorFunction%":N5,"%Int8Array%":typeof Int8Array=="undefined"?to:Int8Array,"%Int16Array%":typeof Int16Array=="undefined"?to:Int16Array,"%Int32Array%":typeof Int32Array=="undefined"?to:Int32Array,"%isFinite%":isFinite,"%isNaN%":isNaN,"%IteratorPrototype%":O5&&Ec?Ec(Ec([][Symbol.iterator]())):to,"%JSON%":typeof JSON=="object"?JSON:to,"%Map%":typeof Map=="undefined"?to:Map,"%MapIteratorPrototype%":typeof Map=="undefined"||!O5||!Ec?to:Ec(new Map()[Symbol.iterator]()),"%Math%":Math,"%Number%":Number,"%Object%":POt,"%Object.getOwnPropertyDescriptor%":rS,"%parseFloat%":parseFloat,"%parseInt%":parseInt,"%Promise%":typeof Promise=="undefined"?to:Promise,"%Proxy%":typeof Proxy=="undefined"?to:Proxy,"%RangeError%":zOt,"%ReferenceError%":BOt,"%Reflect%":typeof Reflect=="undefined"?to:Reflect,"%RegExp%":RegExp,"%Set%":typeof Set=="undefined"?to:Set,"%SetIteratorPrototype%":typeof Set=="undefined"||!O5||!Ec?to:Ec(new Set()[Symbol.iterator]()),"%SharedArrayBuffer%":typeof SharedArrayBuffer=="undefined"?to:SharedArrayBuffer,"%String%":String,"%StringIteratorPrototype%":O5&&Ec?Ec(""[Symbol.iterator]()):to,"%Symbol%":O5?Symbol:to,"%SyntaxError%":V5,"%ThrowTypeError%":WOt,"%TypedArray%":ZOt,"%TypeError%":U5,"%Uint8Array%":typeof Uint8Array=="undefined"?to:Uint8Array,"%Uint8ClampedArray%":typeof Uint8ClampedArray=="undefined"?to:Uint8ClampedArray,"%Uint16Array%":typeof Uint16Array=="undefined"?to:Uint16Array,"%Uint32Array%":typeof Uint32Array=="undefined"?to:Uint32Array,"%URIError%":qOt,"%WeakMap%":typeof WeakMap=="undefined"?to:WeakMap,"%WeakRef%":typeof WeakRef=="undefined"?to:WeakRef,"%WeakSet%":typeof WeakSet=="undefined"?to:WeakSet,"%Function.prototype.call%":iS,"%Function.prototype.apply%":sDe,"%Object.defineProperty%":$Ot,"%Object.getPrototypeOf%":YOt,"%Math.abs%":OOt,"%Math.floor%":NOt,"%Math.max%":UOt,"%Math.min%":VOt,"%Math.pow%":GOt,"%Math.round%":HOt,"%Math.sign%":jOt,"%Reflect.getPrototypeOf%":XOt};if(Ec)try{null.error}catch(e){iDe=Ec(Ec(e)),H_["%Error.prototype%"]=iDe}var iDe,KOt=function e(t){var r;if(t==="%AsyncFunction%")r=tX("async function () {}");else if(t==="%GeneratorFunction%")r=tX("function* () {}");else if(t==="%AsyncGeneratorFunction%")r=tX("async function* () {}");else if(t==="%AsyncGenerator%"){var i=e("%AsyncGeneratorFunction%");i&&(r=i.prototype)}else if(t==="%AsyncIteratorPrototype%"){var n=e("%AsyncGenerator%");n&&Ec&&(r=Ec(n.prototype))}return H_[t]=r,r},nDe={__proto__:null,"%ArrayBufferPrototype%":["ArrayBuffer","prototype"],"%ArrayPrototype%":["Array","prototype"],"%ArrayProto_entries%":["Array","prototype","entries"],"%ArrayProto_forEach%":["Array","prototype","forEach"],"%ArrayProto_keys%":["Array","prototype","keys"],"%ArrayProto_values%":["Array","prototype","values"],"%AsyncFunctionPrototype%":["AsyncFunction","prototype"],"%AsyncGenerator%":["AsyncGeneratorFunction","prototype"],"%AsyncGeneratorPrototype%":["AsyncGeneratorFunction","prototype","prototype"],"%BooleanPrototype%":["Boolean","prototype"],"%DataViewPrototype%":["DataView","prototype"],"%DatePrototype%":["Date","prototype"],"%ErrorPrototype%":["Error","prototype"],"%EvalErrorPrototype%":["EvalError","prototype"],"%Float32ArrayPrototype%":["Float32Array","prototype"],"%Float64ArrayPrototype%":["Float64Array","prototype"],"%FunctionPrototype%":["Function","prototype"],"%Generator%":["GeneratorFunction","prototype"],"%GeneratorPrototype%":["GeneratorFunction","prototype","prototype"],"%Int8ArrayPrototype%":["Int8Array","prototype"],"%Int16ArrayPrototype%":["Int16Array","prototype"],"%Int32ArrayPrototype%":["Int32Array","prototype"],"%JSONParse%":["JSON","parse"],"%JSONStringify%":["JSON","stringify"],"%MapPrototype%":["Map","prototype"],"%NumberPrototype%":["Number","prototype"],"%ObjectPrototype%":["Object","prototype"],"%ObjProto_toString%":["Object","prototype","toString"],"%ObjProto_valueOf%":["Object","prototype","valueOf"],"%PromisePrototype%":["Promise","prototype"],"%PromiseProto_then%":["Promise","prototype","then"],"%Promise_all%":["Promise","all"],"%Promise_reject%":["Promise","reject"],"%Promise_resolve%":["Promise","resolve"],"%RangeErrorPrototype%":["RangeError","prototype"],"%ReferenceErrorPrototype%":["ReferenceError","prototype"],"%RegExpPrototype%":["RegExp","prototype"],"%SetPrototype%":["Set","prototype"],"%SharedArrayBufferPrototype%":["SharedArrayBuffer","prototype"],"%StringPrototype%":["String","prototype"],"%SymbolPrototype%":["Symbol","prototype"],"%SyntaxErrorPrototype%":["SyntaxError","prototype"],"%TypedArrayPrototype%":["TypedArray","prototype"],"%TypeErrorPrototype%":["TypeError","prototype"],"%Uint8ArrayPrototype%":["Uint8Array","prototype"],"%Uint8ClampedArrayPrototype%":["Uint8ClampedArray","prototype"],"%Uint16ArrayPrototype%":["Uint16Array","prototype"],"%Uint32ArrayPrototype%":["Uint32Array","prototype"],"%URIErrorPrototype%":["URIError","prototype"],"%WeakMapPrototype%":["WeakMap","prototype"],"%WeakSetPrototype%":["WeakSet","prototype"]},nS=q5(),p9=eX(),JOt=nS.call(iS,Array.prototype.concat),QOt=nS.call(sDe,Array.prototype.splice),aDe=nS.call(iS,String.prototype.replace),v9=nS.call(iS,String.prototype.slice),eNt=nS.call(iS,RegExp.prototype.exec),tNt=/[^%.[\]]+|\[(?:(-?\d+(?:\.\d+)?)|(["'])((?:(?!\2)[^\\]|\\.)*?)\2)\]|(?=(?:\.|\[\])(?:\.|\[\]|%$))/g,rNt=/\\(\\)?/g,iNt=function(t){var r=v9(t,0,1),i=v9(t,-1);if(r==="%"&&i!=="%")throw new V5("invalid intrinsic syntax, expected closing `%`");if(i==="%"&&r!=="%")throw new V5("invalid intrinsic syntax, expected opening `%`");var n=[];return aDe(t,tNt,function(a,o,s,l){n[n.length]=s?aDe(l,rNt,"$1"):o||a}),n},nNt=function(t,r){var i=t,n;if(p9(nDe,i)&&(n=nDe[i],i="%"+n[0]+"%"),p9(H_,i)){var a=H_[i];if(a===N5&&(a=KOt(i)),typeof a=="undefined"&&!r)throw new U5("intrinsic "+t+" exists, but is not available. Please file an issue!");return{alias:n,name:i,value:a}}throw new V5("intrinsic "+t+" does not exist!")};lDe.exports=function(t,r){if(typeof t!="string"||t.length===0)throw new U5("intrinsic name must be a non-empty string");if(arguments.length>1&&typeof r!="boolean")throw new U5('"allowMissing" argument must be a boolean');if(eNt(/^%?[^%]*%?$/,t)===null)throw new V5("`%` may not be present anywhere but at the beginning and end of the intrinsic name");var i=iNt(t),n=i.length>0?i[0]:"",a=nNt("%"+n+"%",r),o=a.name,s=a.value,l=!1,u=a.alias;u&&(n=u[0],QOt(i,JOt([0,1],u)));for(var c=1,f=!0;c=i.length){var v=rS(s,h);f=!!v,f&&"get"in v&&!("originalValue"in v.get)?s=v.get:s=s[h]}else f=p9(s,h),s=s[h];f&&!l&&(H_[o]=s)}}return s}});var j_=W((qOr,fDe)=>{"use strict";var uDe=g9(),cDe=h9(),aNt=cDe([uDe("%String.prototype.indexOf%")]);fDe.exports=function(t,r){var i=uDe(t,!!r);return typeof i=="function"&&aNt(t,".prototype.")>-1?cDe([i]):i}});var pDe=W((OOr,dDe)=>{"use strict";var oNt=eS()(),sNt=j_(),iX=sNt("Object.prototype.toString"),m9=function(t){return oNt&&t&&typeof t=="object"&&Symbol.toStringTag in t?!1:iX(t)==="[object Arguments]"},hDe=function(t){return m9(t)?!0:t!==null&&typeof t=="object"&&"length"in t&&typeof t.length=="number"&&t.length>=0&&iX(t)!=="[object Array]"&&"callee"in t&&iX(t.callee)==="[object Function]"},lNt=(function(){return m9(arguments)})();m9.isLegacyArguments=hDe;dDe.exports=lNt?m9:hDe});var _De=W((NOr,xDe)=>{"use strict";var vDe=j_(),uNt=eS()(),cNt=eX(),fNt=G_(),oX;uNt?(gDe=vDe("RegExp.prototype.exec"),nX={},y9=function(){throw nX},aX={toString:y9,valueOf:y9},typeof Symbol.toPrimitive=="symbol"&&(aX[Symbol.toPrimitive]=y9),oX=function(t){if(!t||typeof t!="object")return!1;var r=fNt(t,"lastIndex"),i=r&&cNt(r,"value");if(!i)return!1;try{gDe(t,aX)}catch(n){return n===nX}}):(mDe=vDe("Object.prototype.toString"),yDe="[object RegExp]",oX=function(t){return!t||typeof t!="object"&&typeof t!="function"?!1:mDe(t)===yDe});var gDe,nX,y9,aX,mDe,yDe;xDe.exports=oX});var wDe=W((UOr,bDe)=>{"use strict";var hNt=j_(),dNt=_De(),pNt=hNt("RegExp.prototype.exec"),vNt=B5();bDe.exports=function(t){if(!dNt(t))throw new vNt("`regex` must be a RegExp");return function(i){return pNt(t,i)!==null}}});var ADe=W((VOr,TDe)=>{"use strict";var gNt=function*(){}.constructor;TDe.exports=()=>gNt});var kDe=W((GOr,EDe)=>{"use strict";var SDe=j_(),mNt=wDe(),yNt=mNt(/^\s*(?:function)?\*/),xNt=eS()(),MDe=d9(),_Nt=SDe("Object.prototype.toString"),bNt=SDe("Function.prototype.toString"),wNt=ADe();EDe.exports=function(t){if(typeof t!="function")return!1;if(yNt(bNt(t)))return!0;if(!xNt){var r=_Nt(t);return r==="[object GeneratorFunction]"}if(!MDe)return!1;var i=wNt();return i&&MDe(t)===i.prototype}});var LDe=W((HOr,FDe)=>{"use strict";var DDe=Function.prototype.toString,G5=typeof Reflect=="object"&&Reflect!==null&&Reflect.apply,lX,x9;if(typeof G5=="function"&&typeof Object.defineProperty=="function")try{lX=Object.defineProperty({},"length",{get:function(){throw x9}}),x9={},G5(function(){throw 42},null,lX)}catch(e){e!==x9&&(G5=null)}else G5=null;var TNt=/^\s*class\b/,uX=function(t){try{var r=DDe.call(t);return TNt.test(r)}catch(i){return!1}},sX=function(t){try{return uX(t)?!1:(DDe.call(t),!0)}catch(r){return!1}},_9=Object.prototype.toString,ANt="[object Object]",MNt="[object Function]",SNt="[object GeneratorFunction]",ENt="[object HTMLAllCollection]",kNt="[object HTML document.all class]",CNt="[object HTMLCollection]",DNt=typeof Symbol=="function"&&!!Symbol.toStringTag,FNt=!(0 in[,]),cX=function(){return!1};typeof document=="object"&&(CDe=document.all,_9.call(CDe)===_9.call(document.all)&&(cX=function(t){if((FNt||!t)&&(typeof t=="undefined"||typeof t=="object"))try{var r=_9.call(t);return(r===ENt||r===kNt||r===CNt||r===ANt)&&t("")==null}catch(i){}return!1}));var CDe;FDe.exports=G5?function(t){if(cX(t))return!0;if(!t||typeof t!="function"&&typeof t!="object")return!1;try{G5(t,null,lX)}catch(r){if(r!==x9)return!1}return!uX(t)&&sX(t)}:function(t){if(cX(t))return!0;if(!t||typeof t!="function"&&typeof t!="object")return!1;if(DNt)return sX(t);if(uX(t))return!1;var r=_9.call(t);return r!==MNt&&r!==SNt&&!/^\[object HTML/.test(r)?!1:sX(t)}});var RDe=W((jOr,IDe)=>{"use strict";var LNt=LDe(),PNt=Object.prototype.toString,PDe=Object.prototype.hasOwnProperty,INt=function(t,r,i){for(var n=0,a=t.length;n=3&&(n=i),BNt(t)?INt(t,r,n):typeof t=="string"?RNt(t,r,n):zNt(t,r,n)}});var BDe=W(($Or,zDe)=>{"use strict";zDe.exports=["Float16Array","Float32Array","Float64Array","Int8Array","Int16Array","Int32Array","Uint8Array","Uint8ClampedArray","Uint16Array","Uint32Array","BigInt64Array","BigUint64Array"]});var ODe=W((WOr,qDe)=>{"use strict";var fX=BDe(),qNt=typeof globalThis=="undefined"?window:globalThis;qDe.exports=function(){for(var t=[],r=0;r{"use strict";var NDe=tS(),ONt=XY(),H5=B5(),UDe=G_();VDe.exports=function(t,r,i){if(!t||typeof t!="object"&&typeof t!="function")throw new H5("`obj` must be an object or a function`");if(typeof r!="string"&&typeof r!="symbol")throw new H5("`property` must be a string or a symbol`");if(arguments.length>3&&typeof arguments[3]!="boolean"&&arguments[3]!==null)throw new H5("`nonEnumerable`, if provided, must be a boolean or null");if(arguments.length>4&&typeof arguments[4]!="boolean"&&arguments[4]!==null)throw new H5("`nonWritable`, if provided, must be a boolean or null");if(arguments.length>5&&typeof arguments[5]!="boolean"&&arguments[5]!==null)throw new H5("`nonConfigurable`, if provided, must be a boolean or null");if(arguments.length>6&&typeof arguments[6]!="boolean")throw new H5("`loose`, if provided, must be a boolean");var n=arguments.length>3?arguments[3]:null,a=arguments.length>4?arguments[4]:null,o=arguments.length>5?arguments[5]:null,s=arguments.length>6?arguments[6]:!1,l=!!UDe&&UDe(t,r);if(NDe)NDe(t,r,{configurable:o===null&&l?l.configurable:!o,enumerable:n===null&&l?l.enumerable:!n,value:i,writable:a===null&&l?l.writable:!a});else if(s||!n&&!a&&!o)t[r]=i;else throw new ONt("This environment does not support defining a property as non-configurable, non-writable, or non-enumerable.")}});var pX=W((XOr,HDe)=>{"use strict";var dX=tS(),GDe=function(){return!!dX};GDe.hasArrayLengthDefineBug=function(){if(!dX)return null;try{return dX([],"length",{value:1}).length!==1}catch(t){return!0}};HDe.exports=GDe});var XDe=W((ZOr,YDe)=>{"use strict";var NNt=g9(),jDe=hX(),UNt=pX()(),$De=G_(),WDe=B5(),VNt=NNt("%Math.floor%");YDe.exports=function(t,r){if(typeof t!="function")throw new WDe("`fn` is not a function");if(typeof r!="number"||r<0||r>4294967295||VNt(r)!==r)throw new WDe("`length` must be a positive 32-bit integer");var i=arguments.length>2&&!!arguments[2],n=!0,a=!0;if("length"in t&&$De){var o=$De(t,"length");o&&!o.configurable&&(n=!1),o&&!o.writable&&(a=!1)}return(n||a||!i)&&(UNt?jDe(t,"length",r,!0,!0):jDe(t,"length",r)),t}});var KDe=W((KOr,ZDe)=>{"use strict";var GNt=q5(),HNt=f9(),jNt=JY();ZDe.exports=function(){return jNt(GNt,HNt,arguments)}});var aS=W((JOr,b9)=>{"use strict";var $Nt=XDe(),JDe=tS(),WNt=h9(),QDe=KDe();b9.exports=function(t){var r=WNt(arguments),i=1+t.length-(arguments.length-1);return $Nt(r,i>0?i:0,!0)};JDe?JDe(b9.exports,"apply",{value:QDe}):b9.exports.apply=QDe});var yX=W((QOr,i7e)=>{"use strict";var A9=RDe(),YNt=ODe(),e7e=aS(),gX=j_(),T9=G_(),w9=d9(),XNt=gX("Object.prototype.toString"),r7e=eS()(),t7e=typeof globalThis=="undefined"?window:globalThis,vX=YNt(),mX=gX("String.prototype.slice"),ZNt=gX("Array.prototype.indexOf",!0)||function(t,r){for(var i=0;i-1}i7e.exports=function(t){if(!t||typeof t!="object")return!1;if(!r7e){var r=mX(XNt(t),8,-1);return QNt(r)?r:r!=="Object"?!1:JNt(t)}return T9?KNt(t):null}});var a7e=W((eNr,n7e)=>{"use strict";var eUt=yX();n7e.exports=function(t){return!!eUt(t)}});var bX=W(ro=>{"use strict";var tUt=pDe(),rUt=kDe(),nv=yX(),o7e=a7e();function j5(e){return e.call.bind(e)}var s7e=typeof BigInt!="undefined",l7e=typeof Symbol!="undefined",Rd=j5(Object.prototype.toString),iUt=j5(Number.prototype.valueOf),nUt=j5(String.prototype.valueOf),aUt=j5(Boolean.prototype.valueOf);s7e&&(u7e=j5(BigInt.prototype.valueOf));var u7e;l7e&&(c7e=j5(Symbol.prototype.valueOf));var c7e;function sS(e,t){if(typeof e!="object")return!1;try{return t(e),!0}catch(r){return!1}}ro.isArgumentsObject=tUt;ro.isGeneratorFunction=rUt;ro.isTypedArray=o7e;function oUt(e){return typeof Promise!="undefined"&&e instanceof Promise||e!==null&&typeof e=="object"&&typeof e.then=="function"&&typeof e.catch=="function"}ro.isPromise=oUt;function sUt(e){return typeof ArrayBuffer!="undefined"&&ArrayBuffer.isView?ArrayBuffer.isView(e):o7e(e)||h7e(e)}ro.isArrayBufferView=sUt;function lUt(e){return nv(e)==="Uint8Array"}ro.isUint8Array=lUt;function uUt(e){return nv(e)==="Uint8ClampedArray"}ro.isUint8ClampedArray=uUt;function cUt(e){return nv(e)==="Uint16Array"}ro.isUint16Array=cUt;function fUt(e){return nv(e)==="Uint32Array"}ro.isUint32Array=fUt;function hUt(e){return nv(e)==="Int8Array"}ro.isInt8Array=hUt;function dUt(e){return nv(e)==="Int16Array"}ro.isInt16Array=dUt;function pUt(e){return nv(e)==="Int32Array"}ro.isInt32Array=pUt;function vUt(e){return nv(e)==="Float32Array"}ro.isFloat32Array=vUt;function gUt(e){return nv(e)==="Float64Array"}ro.isFloat64Array=gUt;function mUt(e){return nv(e)==="BigInt64Array"}ro.isBigInt64Array=mUt;function yUt(e){return nv(e)==="BigUint64Array"}ro.isBigUint64Array=yUt;function S9(e){return Rd(e)==="[object Map]"}S9.working=typeof Map!="undefined"&&S9(new Map);function xUt(e){return typeof Map=="undefined"?!1:S9.working?S9(e):e instanceof Map}ro.isMap=xUt;function E9(e){return Rd(e)==="[object Set]"}E9.working=typeof Set!="undefined"&&E9(new Set);function _Ut(e){return typeof Set=="undefined"?!1:E9.working?E9(e):e instanceof Set}ro.isSet=_Ut;function k9(e){return Rd(e)==="[object WeakMap]"}k9.working=typeof WeakMap!="undefined"&&k9(new WeakMap);function bUt(e){return typeof WeakMap=="undefined"?!1:k9.working?k9(e):e instanceof WeakMap}ro.isWeakMap=bUt;function _X(e){return Rd(e)==="[object WeakSet]"}_X.working=typeof WeakSet!="undefined"&&_X(new WeakSet);function wUt(e){return _X(e)}ro.isWeakSet=wUt;function C9(e){return Rd(e)==="[object ArrayBuffer]"}C9.working=typeof ArrayBuffer!="undefined"&&C9(new ArrayBuffer);function f7e(e){return typeof ArrayBuffer=="undefined"?!1:C9.working?C9(e):e instanceof ArrayBuffer}ro.isArrayBuffer=f7e;function D9(e){return Rd(e)==="[object DataView]"}D9.working=typeof ArrayBuffer!="undefined"&&typeof DataView!="undefined"&&D9(new DataView(new ArrayBuffer(1),0,1));function h7e(e){return typeof DataView=="undefined"?!1:D9.working?D9(e):e instanceof DataView}ro.isDataView=h7e;var xX=typeof SharedArrayBuffer!="undefined"?SharedArrayBuffer:void 0;function oS(e){return Rd(e)==="[object SharedArrayBuffer]"}function d7e(e){return typeof xX=="undefined"?!1:(typeof oS.working=="undefined"&&(oS.working=oS(new xX)),oS.working?oS(e):e instanceof xX)}ro.isSharedArrayBuffer=d7e;function TUt(e){return Rd(e)==="[object AsyncFunction]"}ro.isAsyncFunction=TUt;function AUt(e){return Rd(e)==="[object Map Iterator]"}ro.isMapIterator=AUt;function MUt(e){return Rd(e)==="[object Set Iterator]"}ro.isSetIterator=MUt;function SUt(e){return Rd(e)==="[object Generator]"}ro.isGeneratorObject=SUt;function EUt(e){return Rd(e)==="[object WebAssembly.Module]"}ro.isWebAssemblyCompiledModule=EUt;function p7e(e){return sS(e,iUt)}ro.isNumberObject=p7e;function v7e(e){return sS(e,nUt)}ro.isStringObject=v7e;function g7e(e){return sS(e,aUt)}ro.isBooleanObject=g7e;function m7e(e){return s7e&&sS(e,u7e)}ro.isBigIntObject=m7e;function y7e(e){return l7e&&sS(e,c7e)}ro.isSymbolObject=y7e;function kUt(e){return p7e(e)||v7e(e)||g7e(e)||m7e(e)||y7e(e)}ro.isBoxedPrimitive=kUt;function CUt(e){return typeof Uint8Array!="undefined"&&(f7e(e)||d7e(e))}ro.isAnyArrayBuffer=CUt;["isProxy","isExternal","isModuleNamespaceObject"].forEach(function(e){Object.defineProperty(ro,e,{enumerable:!1,value:function(){throw new Error(e+" is not supported in userland")}})})});var wX=W((rNr,x7e)=>{x7e.exports=function(t){return t&&typeof t=="object"&&typeof t.copy=="function"&&typeof t.fill=="function"&&typeof t.readUInt8=="function"}});var kX=W(io=>{var _7e=Object.getOwnPropertyDescriptors||function(t){for(var r=Object.keys(t),i={},n=0;n=n)return s;switch(s){case"%s":return String(i[r++]);case"%d":return Number(i[r++]);case"%j":try{return JSON.stringify(i[r++])}catch(l){return"[Circular]"}default:return s}}),o=i[r];r=3&&(r.depth=arguments[2]),arguments.length>=4&&(r.colors=arguments[3]),SX(t)?r.showHidden=t:t&&io._extend(r,t),W_(r.showHidden)&&(r.showHidden=!1),W_(r.depth)&&(r.depth=2),W_(r.colors)&&(r.colors=!1),W_(r.customInspect)&&(r.customInspect=!0),r.colors&&(r.stylize=FUt),I9(r,e,r.depth)}io.inspect=r2;r2.colors={bold:[1,22],italic:[3,23],underline:[4,24],inverse:[7,27],white:[37,39],grey:[90,39],black:[30,39],blue:[34,39],cyan:[36,39],green:[32,39],magenta:[35,39],red:[31,39],yellow:[33,39]};r2.styles={special:"cyan",number:"yellow",boolean:"yellow",undefined:"grey",null:"bold",string:"green",date:"magenta",regexp:"red"};function FUt(e,t){var r=r2.styles[t];return r?"\x1B["+r2.colors[r][0]+"m"+e+"\x1B["+r2.colors[r][1]+"m":e}function LUt(e,t){return e}function PUt(e){var t={};return e.forEach(function(r,i){t[r]=!0}),t}function I9(e,t,r){if(e.customInspect&&t&&P9(t.inspect)&&t.inspect!==io.inspect&&!(t.constructor&&t.constructor.prototype===t)){var i=t.inspect(r,e);return B9(i)||(i=I9(e,i,r)),i}var n=IUt(e,t);if(n)return n;var a=Object.keys(t),o=PUt(a);if(e.showHidden&&(a=Object.getOwnPropertyNames(t)),uS(t)&&(a.indexOf("message")>=0||a.indexOf("description")>=0))return TX(t);if(a.length===0){if(P9(t)){var s=t.name?": "+t.name:"";return e.stylize("[Function"+s+"]","special")}if(lS(t))return e.stylize(RegExp.prototype.toString.call(t),"regexp");if(R9(t))return e.stylize(Date.prototype.toString.call(t),"date");if(uS(t))return TX(t)}var l="",u=!1,c=["{","}"];if(w7e(t)&&(u=!0,c=["[","]"]),P9(t)){var f=t.name?": "+t.name:"";l=" [Function"+f+"]"}if(lS(t)&&(l=" "+RegExp.prototype.toString.call(t)),R9(t)&&(l=" "+Date.prototype.toUTCString.call(t)),uS(t)&&(l=" "+TX(t)),a.length===0&&(!u||t.length==0))return c[0]+l+c[1];if(r<0)return lS(t)?e.stylize(RegExp.prototype.toString.call(t),"regexp"):e.stylize("[Object]","special");e.seen.push(t);var h;return u?h=RUt(e,t,r,o,a):h=a.map(function(d){return MX(e,t,r,o,d,u)}),e.seen.pop(),zUt(h,l,c)}function IUt(e,t){if(W_(t))return e.stylize("undefined","undefined");if(B9(t)){var r="'"+JSON.stringify(t).replace(/^"|"$/g,"").replace(/'/g,"\\'").replace(/\\"/g,'"')+"'";return e.stylize(r,"string")}if(T7e(t))return e.stylize(""+t,"number");if(SX(t))return e.stylize(""+t,"boolean");if(z9(t))return e.stylize("null","null")}function TX(e){return"["+Error.prototype.toString.call(e)+"]"}function RUt(e,t,r,i,n){for(var a=[],o=0,s=t.length;o-1&&(a?s=s.split(` +`).map(function(u){return" "+u}).join(` +`).slice(2):s=` +`+s.split(` +`).map(function(u){return" "+u}).join(` +`))):s=e.stylize("[Circular]","special")),W_(o)){if(a&&n.match(/^\d+$/))return s;o=JSON.stringify(""+n),o.match(/^"([a-zA-Z_][a-zA-Z_0-9]*)"$/)?(o=o.slice(1,-1),o=e.stylize(o,"name")):(o=o.replace(/'/g,"\\'").replace(/\\"/g,'"').replace(/(^"|"$)/g,"'"),o=e.stylize(o,"string"))}return o+": "+s}function zUt(e,t,r){var i=0,n=e.reduce(function(a,o){return i++,o.indexOf(` +`)>=0&&i++,a+o.replace(/\u001b\[\d\d?m/g,"").length+1},0);return n>60?r[0]+(t===""?"":t+` + `)+" "+e.join(`, + `)+" "+r[1]:r[0]+t+" "+e.join(", ")+" "+r[1]}io.types=bX();function w7e(e){return Array.isArray(e)}io.isArray=w7e;function SX(e){return typeof e=="boolean"}io.isBoolean=SX;function z9(e){return e===null}io.isNull=z9;function BUt(e){return e==null}io.isNullOrUndefined=BUt;function T7e(e){return typeof e=="number"}io.isNumber=T7e;function B9(e){return typeof e=="string"}io.isString=B9;function qUt(e){return typeof e=="symbol"}io.isSymbol=qUt;function W_(e){return e===void 0}io.isUndefined=W_;function lS(e){return $5(e)&&EX(e)==="[object RegExp]"}io.isRegExp=lS;io.types.isRegExp=lS;function $5(e){return typeof e=="object"&&e!==null}io.isObject=$5;function R9(e){return $5(e)&&EX(e)==="[object Date]"}io.isDate=R9;io.types.isDate=R9;function uS(e){return $5(e)&&(EX(e)==="[object Error]"||e instanceof Error)}io.isError=uS;io.types.isNativeError=uS;function P9(e){return typeof e=="function"}io.isFunction=P9;function OUt(e){return e===null||typeof e=="boolean"||typeof e=="number"||typeof e=="string"||typeof e=="symbol"||typeof e=="undefined"}io.isPrimitive=OUt;io.isBuffer=wX();function EX(e){return Object.prototype.toString.call(e)}function AX(e){return e<10?"0"+e.toString(10):e.toString(10)}var NUt=["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"];function UUt(){var e=new Date,t=[AX(e.getHours()),AX(e.getMinutes()),AX(e.getSeconds())].join(":");return[e.getDate(),NUt[e.getMonth()],t].join(" ")}io.log=function(){console.log("%s - %s",UUt(),io.format.apply(io,arguments))};io.inherits=Kg();io._extend=function(e,t){if(!t||!$5(t))return e;for(var r=Object.keys(t),i=r.length;i--;)e[r[i]]=t[r[i]];return e};function A7e(e,t){return Object.prototype.hasOwnProperty.call(e,t)}var $_=typeof Symbol!="undefined"?Symbol("util.promisify.custom"):void 0;io.promisify=function(t){if(typeof t!="function")throw new TypeError('The "original" argument must be of type Function');if($_&&t[$_]){var r=t[$_];if(typeof r!="function")throw new TypeError('The "util.promisify.custom" argument must be of type Function');return Object.defineProperty(r,$_,{value:r,enumerable:!1,writable:!1,configurable:!0}),r}function r(){for(var i,n,a=new Promise(function(l,u){i=l,n=u}),o=[],s=0;s{"use strict";function M7e(e,t){var r=Object.keys(e);if(Object.getOwnPropertySymbols){var i=Object.getOwnPropertySymbols(e);t&&(i=i.filter(function(n){return Object.getOwnPropertyDescriptor(e,n).enumerable})),r.push.apply(r,i)}return r}function S7e(e){for(var t=1;t0?this.tail.next=i:this.head=i,this.tail=i,++this.length}},{key:"unshift",value:function(r){var i={data:r,next:this.head};this.length===0&&(this.tail=i),this.head=i,++this.length}},{key:"shift",value:function(){if(this.length!==0){var r=this.head.data;return this.length===1?this.head=this.tail=null:this.head=this.head.next,--this.length,r}}},{key:"clear",value:function(){this.head=this.tail=null,this.length=0}},{key:"join",value:function(r){if(this.length===0)return"";for(var i=this.head,n=""+i.data;i=i.next;)n+=r+i.data;return n}},{key:"concat",value:function(r){if(this.length===0)return q9.alloc(0);for(var i=q9.allocUnsafe(r>>>0),n=this.head,a=0;n;)KUt(n.data,i,a),a+=n.data.length,n=n.next;return i}},{key:"consume",value:function(r,i){var n;return ro.length?o.length:r;if(s===o.length?a+=o:a+=o.slice(0,r),r-=s,r===0){s===o.length?(++n,i.next?this.head=i.next:this.head=this.tail=null):(this.head=i,i.data=o.slice(s));break}++n}return this.length-=n,a}},{key:"_getBuffer",value:function(r){var i=q9.allocUnsafe(r),n=this.head,a=1;for(n.data.copy(i),r-=n.data.length;n=n.next;){var o=n.data,s=r>o.length?o.length:r;if(o.copy(i,i.length-r,0,s),r-=s,r===0){s===o.length?(++a,n.next?this.head=n.next:this.head=this.tail=null):(this.head=n,n.data=o.slice(s));break}++a}return this.length-=a,i}},{key:ZUt,value:function(r,i){return CX(this,S7e(S7e({},i),{},{depth:0,customInspect:!1}))}}]),e})()});var FX=W((aNr,L7e)=>{"use strict";function JUt(e,t){var r=this,i=this._readableState&&this._readableState.destroyed,n=this._writableState&&this._writableState.destroyed;return i||n?(t?t(e):e&&(this._writableState?this._writableState.errorEmitted||(this._writableState.errorEmitted=!0,process.nextTick(DX,this,e)):process.nextTick(DX,this,e)),this):(this._readableState&&(this._readableState.destroyed=!0),this._writableState&&(this._writableState.destroyed=!0),this._destroy(e||null,function(a){!t&&a?r._writableState?r._writableState.errorEmitted?process.nextTick(O9,r):(r._writableState.errorEmitted=!0,process.nextTick(F7e,r,a)):process.nextTick(F7e,r,a):t?(process.nextTick(O9,r),t(a)):process.nextTick(O9,r)}),this)}function F7e(e,t){DX(e,t),O9(e)}function O9(e){e._writableState&&!e._writableState.emitClose||e._readableState&&!e._readableState.emitClose||e.emit("close")}function QUt(){this._readableState&&(this._readableState.destroyed=!1,this._readableState.reading=!1,this._readableState.ended=!1,this._readableState.endEmitted=!1),this._writableState&&(this._writableState.destroyed=!1,this._writableState.ended=!1,this._writableState.ending=!1,this._writableState.finalCalled=!1,this._writableState.prefinished=!1,this._writableState.finished=!1,this._writableState.errorEmitted=!1)}function DX(e,t){e.emit("error",t)}function eVt(e,t){var r=e._readableState,i=e._writableState;r&&r.autoDestroy||i&&i.autoDestroy?e.destroy(t):e.emit("error",t)}L7e.exports={destroy:JUt,undestroy:QUt,errorOrDestroy:eVt}});var Y_=W((oNr,R7e)=>{"use strict";function tVt(e,t){e.prototype=Object.create(t.prototype),e.prototype.constructor=e,e.__proto__=t}var I7e={};function zd(e,t,r){r||(r=Error);function i(a,o,s){return typeof t=="string"?t:t(a,o,s)}var n=(function(a){tVt(o,a);function o(s,l,u){return a.call(this,i(s,l,u))||this}return o})(r);n.prototype.name=r.name,n.prototype.code=e,I7e[e]=n}function P7e(e,t){if(Array.isArray(e)){var r=e.length;return e=e.map(function(i){return String(i)}),r>2?"one of ".concat(t," ").concat(e.slice(0,r-1).join(", "),", or ")+e[r-1]:r===2?"one of ".concat(t," ").concat(e[0]," or ").concat(e[1]):"of ".concat(t," ").concat(e[0])}else return"of ".concat(t," ").concat(String(e))}function rVt(e,t,r){return e.substr(!r||r<0?0:+r,t.length)===t}function iVt(e,t,r){return(r===void 0||r>e.length)&&(r=e.length),e.substring(r-t.length,r)===t}function nVt(e,t,r){return typeof r!="number"&&(r=0),r+t.length>e.length?!1:e.indexOf(t,r)!==-1}zd("ERR_INVALID_OPT_VALUE",function(e,t){return'The value "'+t+'" is invalid for option "'+e+'"'},TypeError);zd("ERR_INVALID_ARG_TYPE",function(e,t,r){var i;typeof t=="string"&&rVt(t,"not ")?(i="must not be",t=t.replace(/^not /,"")):i="must be";var n;if(iVt(e," argument"))n="The ".concat(e," ").concat(i," ").concat(P7e(t,"type"));else{var a=nVt(e,".")?"property":"argument";n='The "'.concat(e,'" ').concat(a," ").concat(i," ").concat(P7e(t,"type"))}return n+=". Received type ".concat(typeof r),n},TypeError);zd("ERR_STREAM_PUSH_AFTER_EOF","stream.push() after EOF");zd("ERR_METHOD_NOT_IMPLEMENTED",function(e){return"The "+e+" method is not implemented"});zd("ERR_STREAM_PREMATURE_CLOSE","Premature close");zd("ERR_STREAM_DESTROYED",function(e){return"Cannot call "+e+" after a stream was destroyed"});zd("ERR_MULTIPLE_CALLBACK","Callback called multiple times");zd("ERR_STREAM_CANNOT_PIPE","Cannot pipe, not readable");zd("ERR_STREAM_WRITE_AFTER_END","write after end");zd("ERR_STREAM_NULL_VALUES","May not write null values to stream",TypeError);zd("ERR_UNKNOWN_ENCODING",function(e){return"Unknown encoding: "+e},TypeError);zd("ERR_STREAM_UNSHIFT_AFTER_END_EVENT","stream.unshift() after end event");R7e.exports.codes=I7e});var LX=W((sNr,z7e)=>{"use strict";var aVt=Y_().codes.ERR_INVALID_OPT_VALUE;function oVt(e,t,r){return e.highWaterMark!=null?e.highWaterMark:t?e[r]:null}function sVt(e,t,r,i){var n=oVt(t,i,r);if(n!=null){if(!(isFinite(n)&&Math.floor(n)===n)||n<0){var a=i?r:"highWaterMark";throw new aVt(a,n)}return Math.floor(n)}return e.objectMode?16:16*1024}z7e.exports={getHighWaterMark:sVt}});var q7e=W((lNr,B7e)=>{B7e.exports=lVt;function lVt(e,t){if(PX("noDeprecation"))return e;var r=!1;function i(){if(!r){if(PX("throwDeprecation"))throw new Error(t);PX("traceDeprecation")?console.trace(t):console.warn(t),r=!0}return e.apply(this,arguments)}return i}function PX(e){try{if(!window.localStorage)return!1}catch(r){return!1}var t=window.localStorage[e];return t==null?!1:String(t).toLowerCase()==="true"}});var zX=W((uNr,H7e)=>{"use strict";H7e.exports=Yl;function N7e(e){var t=this;this.next=null,this.entry=null,this.finish=function(){RVt(t,e)}}var W5;Yl.WritableState=fS;var uVt={deprecate:q7e()},U7e=qY(),U9=V_().Buffer,cVt=(typeof window!="undefined"||typeof window!="undefined"?window:typeof self!="undefined"?self:{}).Uint8Array||function(){};function fVt(e){return U9.from(e)}function hVt(e){return U9.isBuffer(e)||e instanceof cVt}var RX=FX(),dVt=LX(),pVt=dVt.getHighWaterMark,i2=Y_().codes,vVt=i2.ERR_INVALID_ARG_TYPE,gVt=i2.ERR_METHOD_NOT_IMPLEMENTED,mVt=i2.ERR_MULTIPLE_CALLBACK,yVt=i2.ERR_STREAM_CANNOT_PIPE,xVt=i2.ERR_STREAM_DESTROYED,_Vt=i2.ERR_STREAM_NULL_VALUES,bVt=i2.ERR_STREAM_WRITE_AFTER_END,wVt=i2.ERR_UNKNOWN_ENCODING,Y5=RX.errorOrDestroy;Kg()(Yl,U7e);function TVt(){}function fS(e,t,r){W5=W5||X_(),e=e||{},typeof r!="boolean"&&(r=t instanceof W5),this.objectMode=!!e.objectMode,r&&(this.objectMode=this.objectMode||!!e.writableObjectMode),this.highWaterMark=pVt(this,e,"writableHighWaterMark",r),this.finalCalled=!1,this.needDrain=!1,this.ending=!1,this.ended=!1,this.finished=!1,this.destroyed=!1;var i=e.decodeStrings===!1;this.decodeStrings=!i,this.defaultEncoding=e.defaultEncoding||"utf8",this.length=0,this.writing=!1,this.corked=0,this.sync=!0,this.bufferProcessing=!1,this.onwrite=function(n){DVt(t,n)},this.writecb=null,this.writelen=0,this.bufferedRequest=null,this.lastBufferedRequest=null,this.pendingcb=0,this.prefinished=!1,this.errorEmitted=!1,this.emitClose=e.emitClose!==!1,this.autoDestroy=!!e.autoDestroy,this.bufferedRequestCount=0,this.corkedRequestsFree=new N7e(this)}fS.prototype.getBuffer=function(){for(var t=this.bufferedRequest,r=[];t;)r.push(t),t=t.next;return r};(function(){try{Object.defineProperty(fS.prototype,"buffer",{get:uVt.deprecate(function(){return this.getBuffer()},"_writableState.buffer is deprecated. Use _writableState.getBuffer instead.","DEP0003")})}catch(e){}})();var N9;typeof Symbol=="function"&&Symbol.hasInstance&&typeof Function.prototype[Symbol.hasInstance]=="function"?(N9=Function.prototype[Symbol.hasInstance],Object.defineProperty(Yl,Symbol.hasInstance,{value:function(t){return N9.call(this,t)?!0:this!==Yl?!1:t&&t._writableState instanceof fS}})):N9=function(t){return t instanceof this};function Yl(e){W5=W5||X_();var t=this instanceof W5;if(!t&&!N9.call(Yl,this))return new Yl(e);this._writableState=new fS(e,this,t),this.writable=!0,e&&(typeof e.write=="function"&&(this._write=e.write),typeof e.writev=="function"&&(this._writev=e.writev),typeof e.destroy=="function"&&(this._destroy=e.destroy),typeof e.final=="function"&&(this._final=e.final)),U7e.call(this)}Yl.prototype.pipe=function(){Y5(this,new yVt)};function AVt(e,t){var r=new bVt;Y5(e,r),process.nextTick(t,r)}function MVt(e,t,r,i){var n;return r===null?n=new _Vt:typeof r!="string"&&!t.objectMode&&(n=new vVt("chunk",["string","Buffer"],r)),n?(Y5(e,n),process.nextTick(i,n),!1):!0}Yl.prototype.write=function(e,t,r){var i=this._writableState,n=!1,a=!i.objectMode&&hVt(e);return a&&!U9.isBuffer(e)&&(e=fVt(e)),typeof t=="function"&&(r=t,t=null),a?t="buffer":t||(t=i.defaultEncoding),typeof r!="function"&&(r=TVt),i.ending?AVt(this,r):(a||MVt(this,i,e,r))&&(i.pendingcb++,n=EVt(this,i,a,e,t,r)),n};Yl.prototype.cork=function(){this._writableState.corked++};Yl.prototype.uncork=function(){var e=this._writableState;e.corked&&(e.corked--,!e.writing&&!e.corked&&!e.bufferProcessing&&e.bufferedRequest&&V7e(this,e))};Yl.prototype.setDefaultEncoding=function(t){if(typeof t=="string"&&(t=t.toLowerCase()),!(["hex","utf8","utf-8","ascii","binary","base64","ucs2","ucs-2","utf16le","utf-16le","raw"].indexOf((t+"").toLowerCase())>-1))throw new wVt(t);return this._writableState.defaultEncoding=t,this};Object.defineProperty(Yl.prototype,"writableBuffer",{enumerable:!1,get:function(){return this._writableState&&this._writableState.getBuffer()}});function SVt(e,t,r){return!e.objectMode&&e.decodeStrings!==!1&&typeof t=="string"&&(t=U9.from(t,r)),t}Object.defineProperty(Yl.prototype,"writableHighWaterMark",{enumerable:!1,get:function(){return this._writableState.highWaterMark}});function EVt(e,t,r,i,n,a){if(!r){var o=SVt(t,i,n);i!==o&&(r=!0,n="buffer",i=o)}var s=t.objectMode?1:i.length;t.length+=s;var l=t.length{"use strict";var zVt=Object.keys||function(e){var t=[];for(var r in e)t.push(r);return t};$7e.exports=D1;var j7e=OX(),qX=zX();Kg()(D1,j7e);for(BX=zVt(qX.prototype),V9=0;V9{var H9=V_(),F1=H9.Buffer;function W7e(e,t){for(var r in e)t[r]=e[r]}F1.from&&F1.alloc&&F1.allocUnsafe&&F1.allocUnsafeSlow?Y7e.exports=H9:(W7e(H9,NX),NX.Buffer=Z_);function Z_(e,t,r){return F1(e,t,r)}Z_.prototype=Object.create(F1.prototype);W7e(F1,Z_);Z_.from=function(e,t,r){if(typeof e=="number")throw new TypeError("Argument must not be a number");return F1(e,t,r)};Z_.alloc=function(e,t,r){if(typeof e!="number")throw new TypeError("Argument must be a number");var i=F1(e);return t!==void 0?typeof r=="string"?i.fill(t,r):i.fill(t):i.fill(0),i};Z_.allocUnsafe=function(e){if(typeof e!="number")throw new TypeError("Argument must be a number");return F1(e)};Z_.allocUnsafeSlow=function(e){if(typeof e!="number")throw new TypeError("Argument must be a number");return H9.SlowBuffer(e)}});var GX=W(K7e=>{"use strict";var VX=X7e().Buffer,Z7e=VX.isEncoding||function(e){switch(e=""+e,e&&e.toLowerCase()){case"hex":case"utf8":case"utf-8":case"ascii":case"binary":case"base64":case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":case"raw":return!0;default:return!1}};function OVt(e){if(!e)return"utf8";for(var t;;)switch(e){case"utf8":case"utf-8":return"utf8";case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return"utf16le";case"latin1":case"binary":return"latin1";case"base64":case"ascii":case"hex":return e;default:if(t)return;e=(""+e).toLowerCase(),t=!0}}function NVt(e){var t=OVt(e);if(typeof t!="string"&&(VX.isEncoding===Z7e||!Z7e(e)))throw new Error("Unknown encoding: "+e);return t||e}K7e.StringDecoder=hS;function hS(e){this.encoding=NVt(e);var t;switch(this.encoding){case"utf16le":this.text=$Vt,this.end=WVt,t=4;break;case"utf8":this.fillLast=GVt,t=4;break;case"base64":this.text=YVt,this.end=XVt,t=3;break;default:this.write=ZVt,this.end=KVt;return}this.lastNeed=0,this.lastTotal=0,this.lastChar=VX.allocUnsafe(t)}hS.prototype.write=function(e){if(e.length===0)return"";var t,r;if(this.lastNeed){if(t=this.fillLast(e),t===void 0)return"";r=this.lastNeed,this.lastNeed=0}else r=0;return r>5===6?2:e>>4===14?3:e>>3===30?4:e>>6===2?-1:-2}function UVt(e,t,r){var i=t.length-1;if(i=0?(n>0&&(e.lastNeed=n-1),n):--i=0?(n>0&&(e.lastNeed=n-2),n):--i=0?(n>0&&(n===2?n=0:e.lastNeed=n-3),n):0))}function VVt(e,t,r){if((t[0]&192)!==128)return e.lastNeed=0,"\uFFFD";if(e.lastNeed>1&&t.length>1){if((t[1]&192)!==128)return e.lastNeed=1,"\uFFFD";if(e.lastNeed>2&&t.length>2&&(t[2]&192)!==128)return e.lastNeed=2,"\uFFFD"}}function GVt(e){var t=this.lastTotal-this.lastNeed,r=VVt(this,e,t);if(r!==void 0)return r;if(this.lastNeed<=e.length)return e.copy(this.lastChar,t,0,this.lastNeed),this.lastChar.toString(this.encoding,0,this.lastTotal);e.copy(this.lastChar,t,0,e.length),this.lastNeed-=e.length}function HVt(e,t){var r=UVt(this,e,t);if(!this.lastNeed)return e.toString("utf8",t);this.lastTotal=r;var i=e.length-(r-this.lastNeed);return e.copy(this.lastChar,0,i),e.toString("utf8",t,i)}function jVt(e){var t=e&&e.length?this.write(e):"";return this.lastNeed?t+"\uFFFD":t}function $Vt(e,t){if((e.length-t)%2===0){var r=e.toString("utf16le",t);if(r){var i=r.charCodeAt(r.length-1);if(i>=55296&&i<=56319)return this.lastNeed=2,this.lastTotal=4,this.lastChar[0]=e[e.length-2],this.lastChar[1]=e[e.length-1],r.slice(0,-1)}return r}return this.lastNeed=1,this.lastTotal=2,this.lastChar[0]=e[e.length-1],e.toString("utf16le",t,e.length-1)}function WVt(e){var t=e&&e.length?this.write(e):"";if(this.lastNeed){var r=this.lastTotal-this.lastNeed;return t+this.lastChar.toString("utf16le",0,r)}return t}function YVt(e,t){var r=(e.length-t)%3;return r===0?e.toString("base64",t):(this.lastNeed=3-r,this.lastTotal=3,r===1?this.lastChar[0]=e[e.length-1]:(this.lastChar[0]=e[e.length-2],this.lastChar[1]=e[e.length-1]),e.toString("base64",t,e.length-r))}function XVt(e){var t=e&&e.length?this.write(e):"";return this.lastNeed?t+this.lastChar.toString("base64",0,3-this.lastNeed):t}function ZVt(e){return e.toString(this.encoding)}function KVt(e){return e&&e.length?this.write(e):""}});var j9=W((hNr,eFe)=>{"use strict";var J7e=Y_().codes.ERR_STREAM_PREMATURE_CLOSE;function JVt(e){var t=!1;return function(){if(!t){t=!0;for(var r=arguments.length,i=new Array(r),n=0;n{"use strict";var $9;function n2(e,t,r){return t=tGt(t),t in e?Object.defineProperty(e,t,{value:r,enumerable:!0,configurable:!0,writable:!0}):e[t]=r,e}function tGt(e){var t=rGt(e,"string");return typeof t=="symbol"?t:String(t)}function rGt(e,t){if(typeof e!="object"||e===null)return e;var r=e[Symbol.toPrimitive];if(r!==void 0){var i=r.call(e,t||"default");if(typeof i!="object")return i;throw new TypeError("@@toPrimitive must return a primitive value.")}return(t==="string"?String:Number)(e)}var iGt=j9(),a2=Symbol("lastResolve"),K_=Symbol("lastReject"),dS=Symbol("error"),W9=Symbol("ended"),J_=Symbol("lastPromise"),HX=Symbol("handlePromise"),Q_=Symbol("stream");function o2(e,t){return{value:e,done:t}}function nGt(e){var t=e[a2];if(t!==null){var r=e[Q_].read();r!==null&&(e[J_]=null,e[a2]=null,e[K_]=null,t(o2(r,!1)))}}function aGt(e){process.nextTick(nGt,e)}function oGt(e,t){return function(r,i){e.then(function(){if(t[W9]){r(o2(void 0,!0));return}t[HX](r,i)},i)}}var sGt=Object.getPrototypeOf(function(){}),lGt=Object.setPrototypeOf(($9={get stream(){return this[Q_]},next:function(){var t=this,r=this[dS];if(r!==null)return Promise.reject(r);if(this[W9])return Promise.resolve(o2(void 0,!0));if(this[Q_].destroyed)return new Promise(function(o,s){process.nextTick(function(){t[dS]?s(t[dS]):o(o2(void 0,!0))})});var i=this[J_],n;if(i)n=new Promise(oGt(i,this));else{var a=this[Q_].read();if(a!==null)return Promise.resolve(o2(a,!1));n=new Promise(this[HX])}return this[J_]=n,n}},n2($9,Symbol.asyncIterator,function(){return this}),n2($9,"return",function(){var t=this;return new Promise(function(r,i){t[Q_].destroy(null,function(n){if(n){i(n);return}r(o2(void 0,!0))})})}),$9),sGt),uGt=function(t){var r,i=Object.create(lGt,(r={},n2(r,Q_,{value:t,writable:!0}),n2(r,a2,{value:null,writable:!0}),n2(r,K_,{value:null,writable:!0}),n2(r,dS,{value:null,writable:!0}),n2(r,W9,{value:t._readableState.endEmitted,writable:!0}),n2(r,HX,{value:function(a,o){var s=i[Q_].read();s?(i[J_]=null,i[a2]=null,i[K_]=null,a(o2(s,!1))):(i[a2]=a,i[K_]=o)},writable:!0}),r));return i[J_]=null,iGt(t,function(n){if(n&&n.code!=="ERR_STREAM_PREMATURE_CLOSE"){var a=i[K_];a!==null&&(i[J_]=null,i[a2]=null,i[K_]=null,a(n)),i[dS]=n;return}var o=i[a2];o!==null&&(i[J_]=null,i[a2]=null,i[K_]=null,o(o2(void 0,!0))),i[W9]=!0}),t.on("readable",aGt.bind(null,i)),i};tFe.exports=uGt});var nFe=W((pNr,iFe)=>{iFe.exports=function(){throw new Error("Readable.from is not available in the browser")}});var OX=W((gNr,pFe)=>{"use strict";pFe.exports=ko;var X5;ko.ReadableState=lFe;var vNr=Vx().EventEmitter,sFe=function(t,r){return t.listeners(r).length},vS=qY(),Y9=V_().Buffer,cGt=(typeof window!="undefined"||typeof window!="undefined"?window:typeof self!="undefined"?self:{}).Uint8Array||function(){};function fGt(e){return Y9.from(e)}function hGt(e){return Y9.isBuffer(e)||e instanceof cGt}var jX=kX(),Ka;jX&&jX.debuglog?Ka=jX.debuglog("stream"):Ka=function(){};var dGt=D7e(),JX=FX(),pGt=LX(),vGt=pGt.getHighWaterMark,X9=Y_().codes,gGt=X9.ERR_INVALID_ARG_TYPE,mGt=X9.ERR_STREAM_PUSH_AFTER_EOF,yGt=X9.ERR_METHOD_NOT_IMPLEMENTED,xGt=X9.ERR_STREAM_UNSHIFT_AFTER_END_EVENT,Z5,$X,WX;Kg()(ko,vS);var pS=JX.errorOrDestroy,YX=["error","close","destroy","pause","resume"];function _Gt(e,t,r){if(typeof e.prependListener=="function")return e.prependListener(t,r);!e._events||!e._events[t]?e.on(t,r):Array.isArray(e._events[t])?e._events[t].unshift(r):e._events[t]=[r,e._events[t]]}function lFe(e,t,r){X5=X5||X_(),e=e||{},typeof r!="boolean"&&(r=t instanceof X5),this.objectMode=!!e.objectMode,r&&(this.objectMode=this.objectMode||!!e.readableObjectMode),this.highWaterMark=vGt(this,e,"readableHighWaterMark",r),this.buffer=new dGt,this.length=0,this.pipes=null,this.pipesCount=0,this.flowing=null,this.ended=!1,this.endEmitted=!1,this.reading=!1,this.sync=!0,this.needReadable=!1,this.emittedReadable=!1,this.readableListening=!1,this.resumeScheduled=!1,this.paused=!0,this.emitClose=e.emitClose!==!1,this.autoDestroy=!!e.autoDestroy,this.destroyed=!1,this.defaultEncoding=e.defaultEncoding||"utf8",this.awaitDrain=0,this.readingMore=!1,this.decoder=null,this.encoding=null,e.encoding&&(Z5||(Z5=GX().StringDecoder),this.decoder=new Z5(e.encoding),this.encoding=e.encoding)}function ko(e){if(X5=X5||X_(),!(this instanceof ko))return new ko(e);var t=this instanceof X5;this._readableState=new lFe(e,this,t),this.readable=!0,e&&(typeof e.read=="function"&&(this._read=e.read),typeof e.destroy=="function"&&(this._destroy=e.destroy)),vS.call(this)}Object.defineProperty(ko.prototype,"destroyed",{enumerable:!1,get:function(){return this._readableState===void 0?!1:this._readableState.destroyed},set:function(t){this._readableState&&(this._readableState.destroyed=t)}});ko.prototype.destroy=JX.destroy;ko.prototype._undestroy=JX.undestroy;ko.prototype._destroy=function(e,t){t(e)};ko.prototype.push=function(e,t){var r=this._readableState,i;return r.objectMode?i=!0:typeof e=="string"&&(t=t||r.defaultEncoding,t!==r.encoding&&(e=Y9.from(e,t),t=""),i=!0),uFe(this,e,t,!1,i)};ko.prototype.unshift=function(e){return uFe(this,e,null,!0,!1)};function uFe(e,t,r,i,n){Ka("readableAddChunk",t);var a=e._readableState;if(t===null)a.reading=!1,TGt(e,a);else{var o;if(n||(o=bGt(a,t)),o)pS(e,o);else if(a.objectMode||t&&t.length>0)if(typeof t!="string"&&!a.objectMode&&Object.getPrototypeOf(t)!==Y9.prototype&&(t=fGt(t)),i)a.endEmitted?pS(e,new xGt):XX(e,a,t,!0);else if(a.ended)pS(e,new mGt);else{if(a.destroyed)return!1;a.reading=!1,a.decoder&&!r?(t=a.decoder.write(t),a.objectMode||t.length!==0?XX(e,a,t,!1):KX(e,a)):XX(e,a,t,!1)}else i||(a.reading=!1,KX(e,a))}return!a.ended&&(a.length=aFe?e=aFe:(e--,e|=e>>>1,e|=e>>>2,e|=e>>>4,e|=e>>>8,e|=e>>>16,e++),e}function oFe(e,t){return e<=0||t.length===0&&t.ended?0:t.objectMode?1:e!==e?t.flowing&&t.length?t.buffer.head.data.length:t.length:(e>t.highWaterMark&&(t.highWaterMark=wGt(e)),e<=t.length?e:t.ended?t.length:(t.needReadable=!0,0))}ko.prototype.read=function(e){Ka("read",e),e=parseInt(e,10);var t=this._readableState,r=e;if(e!==0&&(t.emittedReadable=!1),e===0&&t.needReadable&&((t.highWaterMark!==0?t.length>=t.highWaterMark:t.length>0)||t.ended))return Ka("read: emitReadable",t.length,t.ended),t.length===0&&t.ended?ZX(this):Z9(this),null;if(e=oFe(e,t),e===0&&t.ended)return t.length===0&&ZX(this),null;var i=t.needReadable;Ka("need readable",i),(t.length===0||t.length-e0?n=hFe(e,t):n=null,n===null?(t.needReadable=t.length<=t.highWaterMark,e=0):(t.length-=e,t.awaitDrain=0),t.length===0&&(t.ended||(t.needReadable=!0),r!==e&&t.ended&&ZX(this)),n!==null&&this.emit("data",n),n};function TGt(e,t){if(Ka("onEofChunk"),!t.ended){if(t.decoder){var r=t.decoder.end();r&&r.length&&(t.buffer.push(r),t.length+=t.objectMode?1:r.length)}t.ended=!0,t.sync?Z9(e):(t.needReadable=!1,t.emittedReadable||(t.emittedReadable=!0,cFe(e)))}}function Z9(e){var t=e._readableState;Ka("emitReadable",t.needReadable,t.emittedReadable),t.needReadable=!1,t.emittedReadable||(Ka("emitReadable",t.flowing),t.emittedReadable=!0,process.nextTick(cFe,e))}function cFe(e){var t=e._readableState;Ka("emitReadable_",t.destroyed,t.length,t.ended),!t.destroyed&&(t.length||t.ended)&&(e.emit("readable"),t.emittedReadable=!1),t.needReadable=!t.flowing&&!t.ended&&t.length<=t.highWaterMark,QX(e)}function KX(e,t){t.readingMore||(t.readingMore=!0,process.nextTick(AGt,e,t))}function AGt(e,t){for(;!t.reading&&!t.ended&&(t.length1&&dFe(i.pipes,e)!==-1)&&!u&&(Ka("false write response, pause",i.awaitDrain),i.awaitDrain++),r.pause())}function h(m){Ka("onerror",m),v(),e.removeListener("error",h),sFe(e,"error")===0&&pS(e,m)}_Gt(e,"error",h);function d(){e.removeListener("finish",p),v()}e.once("close",d);function p(){Ka("onfinish"),e.removeListener("close",d),v()}e.once("finish",p);function v(){Ka("unpipe"),r.unpipe(e)}return e.emit("pipe",r),i.flowing||(Ka("pipe resume"),r.resume()),e};function MGt(e){return function(){var r=e._readableState;Ka("pipeOnDrain",r.awaitDrain),r.awaitDrain&&r.awaitDrain--,r.awaitDrain===0&&sFe(e,"data")&&(r.flowing=!0,QX(e))}}ko.prototype.unpipe=function(e){var t=this._readableState,r={hasUnpiped:!1};if(t.pipesCount===0)return this;if(t.pipesCount===1)return e&&e!==t.pipes?this:(e||(e=t.pipes),t.pipes=null,t.pipesCount=0,t.flowing=!1,e&&e.emit("unpipe",this,r),this);if(!e){var i=t.pipes,n=t.pipesCount;t.pipes=null,t.pipesCount=0,t.flowing=!1;for(var a=0;a0,i.flowing!==!1&&this.resume()):e==="readable"&&!i.endEmitted&&!i.readableListening&&(i.readableListening=i.needReadable=!0,i.flowing=!1,i.emittedReadable=!1,Ka("on readable",i.length,i.reading),i.length?Z9(this):i.reading||process.nextTick(SGt,this)),r};ko.prototype.addListener=ko.prototype.on;ko.prototype.removeListener=function(e,t){var r=vS.prototype.removeListener.call(this,e,t);return e==="readable"&&process.nextTick(fFe,this),r};ko.prototype.removeAllListeners=function(e){var t=vS.prototype.removeAllListeners.apply(this,arguments);return(e==="readable"||e===void 0)&&process.nextTick(fFe,this),t};function fFe(e){var t=e._readableState;t.readableListening=e.listenerCount("readable")>0,t.resumeScheduled&&!t.paused?t.flowing=!0:e.listenerCount("data")>0&&e.resume()}function SGt(e){Ka("readable nexttick read 0"),e.read(0)}ko.prototype.resume=function(){var e=this._readableState;return e.flowing||(Ka("resume"),e.flowing=!e.readableListening,EGt(this,e)),e.paused=!1,this};function EGt(e,t){t.resumeScheduled||(t.resumeScheduled=!0,process.nextTick(kGt,e,t))}function kGt(e,t){Ka("resume",t.reading),t.reading||e.read(0),t.resumeScheduled=!1,e.emit("resume"),QX(e),t.flowing&&!t.reading&&e.read(0)}ko.prototype.pause=function(){return Ka("call pause flowing=%j",this._readableState.flowing),this._readableState.flowing!==!1&&(Ka("pause"),this._readableState.flowing=!1,this.emit("pause")),this._readableState.paused=!0,this};function QX(e){var t=e._readableState;for(Ka("flow",t.flowing);t.flowing&&e.read()!==null;);}ko.prototype.wrap=function(e){var t=this,r=this._readableState,i=!1;e.on("end",function(){if(Ka("wrapped end"),r.decoder&&!r.ended){var o=r.decoder.end();o&&o.length&&t.push(o)}t.push(null)}),e.on("data",function(o){if(Ka("wrapped data"),r.decoder&&(o=r.decoder.write(o)),!(r.objectMode&&o==null)&&!(!r.objectMode&&(!o||!o.length))){var s=t.push(o);s||(i=!0,e.pause())}});for(var n in e)this[n]===void 0&&typeof e[n]=="function"&&(this[n]=(function(s){return function(){return e[s].apply(e,arguments)}})(n));for(var a=0;a=t.length?(t.decoder?r=t.buffer.join(""):t.buffer.length===1?r=t.buffer.first():r=t.buffer.concat(t.length),t.buffer.clear()):r=t.buffer.consume(e,t.decoder),r}function ZX(e){var t=e._readableState;Ka("endReadable",t.endEmitted),t.endEmitted||(t.ended=!0,process.nextTick(CGt,t,e))}function CGt(e,t){if(Ka("endReadableNT",e.endEmitted,e.length),!e.endEmitted&&e.length===0&&(e.endEmitted=!0,t.readable=!1,t.emit("end"),e.autoDestroy)){var r=t._writableState;(!r||r.autoDestroy&&r.finished)&&t.destroy()}}typeof Symbol=="function"&&(ko.from=function(e,t){return WX===void 0&&(WX=nFe()),WX(ko,e,t)});function dFe(e,t){for(var r=0,i=e.length;r{"use strict";gFe.exports=Qg;var K9=Y_().codes,DGt=K9.ERR_METHOD_NOT_IMPLEMENTED,FGt=K9.ERR_MULTIPLE_CALLBACK,LGt=K9.ERR_TRANSFORM_ALREADY_TRANSFORMING,PGt=K9.ERR_TRANSFORM_WITH_LENGTH_0,J9=X_();Kg()(Qg,J9);function IGt(e,t){var r=this._transformState;r.transforming=!1;var i=r.writecb;if(i===null)return this.emit("error",new FGt);r.writechunk=null,r.writecb=null,t!=null&&this.push(t),i(e);var n=this._readableState;n.reading=!1,(n.needReadable||n.length{"use strict";yFe.exports=gS;var mFe=eZ();Kg()(gS,mFe);function gS(e){if(!(this instanceof gS))return new gS(e);mFe.call(this,e)}gS.prototype._transform=function(e,t,r){r(null,e)}});var AFe=W((xNr,TFe)=>{"use strict";var tZ;function zGt(e){var t=!1;return function(){t||(t=!0,e.apply(void 0,arguments))}}var wFe=Y_().codes,BGt=wFe.ERR_MISSING_ARGS,qGt=wFe.ERR_STREAM_DESTROYED;function _Fe(e){if(e)throw e}function OGt(e){return e.setHeader&&typeof e.abort=="function"}function NGt(e,t,r,i){i=zGt(i);var n=!1;e.on("close",function(){n=!0}),tZ===void 0&&(tZ=j9()),tZ(e,{readable:t,writable:r},function(o){if(o)return i(o);n=!0,i()});var a=!1;return function(o){if(!n&&!a){if(a=!0,OGt(e))return e.abort();if(typeof e.destroy=="function")return e.destroy();i(o||new qGt("pipe"))}}}function bFe(e){e()}function UGt(e,t){return e.pipe(t)}function VGt(e){return!e.length||typeof e[e.length-1]!="function"?_Fe:e.pop()}function GGt(){for(var e=arguments.length,t=new Array(e),r=0;r0;return NGt(o,l,u,function(c){n||(n=c),c&&a.forEach(bFe),!l&&(a.forEach(bFe),i(n))})});return t.reduce(UGt)}TFe.exports=GGt});var SFe=W((_Nr,MFe)=>{MFe.exports=Bd;var rZ=Vx().EventEmitter,HGt=Kg();HGt(Bd,rZ);Bd.Readable=OX();Bd.Writable=zX();Bd.Duplex=X_();Bd.Transform=eZ();Bd.PassThrough=xFe();Bd.finished=j9();Bd.pipeline=AFe();Bd.Stream=Bd;function Bd(){rZ.call(this)}Bd.prototype.pipe=function(e,t){var r=this;function i(c){e.writable&&e.write(c)===!1&&r.pause&&r.pause()}r.on("data",i);function n(){r.readable&&r.resume&&r.resume()}e.on("drain",n),!e._isStdio&&(!t||t.end!==!1)&&(r.on("end",o),r.on("close",s));var a=!1;function o(){a||(a=!0,e.end())}function s(){a||(a=!0,typeof e.destroy=="function"&&e.destroy())}function l(c){if(u(),rZ.listenerCount(this,"error")===0)throw c}r.on("error",l),e.on("error",l);function u(){r.removeListener("data",i),e.removeListener("drain",n),r.removeListener("end",o),r.removeListener("close",s),r.removeListener("error",l),e.removeListener("error",l),r.removeListener("end",u),r.removeListener("close",u),e.removeListener("close",u)}return r.on("end",u),r.on("close",u),e.on("close",u),e.emit("pipe",r),e}});var J5=W(no=>{var EFe=Object.getOwnPropertyDescriptors||function(t){for(var r=Object.keys(t),i={},n=0;n=n)return s;switch(s){case"%s":return String(i[r++]);case"%d":return Number(i[r++]);case"%j":try{return JSON.stringify(i[r++])}catch(l){return"[Circular]"}default:return s}}),o=i[r];r=3&&(r.depth=arguments[2]),arguments.length>=4&&(r.colors=arguments[3]),oZ(t)?r.showHidden=t:t&&no._extend(r,t),tb(r.showHidden)&&(r.showHidden=!1),tb(r.depth)&&(r.depth=2),tb(r.colors)&&(r.colors=!1),tb(r.customInspect)&&(r.customInspect=!0),r.colors&&(r.stylize=$Gt),rP(r,e,r.depth)}no.inspect=s2;s2.colors={bold:[1,22],italic:[3,23],underline:[4,24],inverse:[7,27],white:[37,39],grey:[90,39],black:[30,39],blue:[34,39],cyan:[36,39],green:[32,39],magenta:[35,39],red:[31,39],yellow:[33,39]};s2.styles={special:"cyan",number:"yellow",boolean:"yellow",undefined:"grey",null:"bold",string:"green",date:"magenta",regexp:"red"};function $Gt(e,t){var r=s2.styles[t];return r?"\x1B["+s2.colors[r][0]+"m"+e+"\x1B["+s2.colors[r][1]+"m":e}function WGt(e,t){return e}function YGt(e){var t={};return e.forEach(function(r,i){t[r]=!0}),t}function rP(e,t,r){if(e.customInspect&&t&&tP(t.inspect)&&t.inspect!==no.inspect&&!(t.constructor&&t.constructor.prototype===t)){var i=t.inspect(r,e);return aP(i)||(i=rP(e,i,r)),i}var n=XGt(e,t);if(n)return n;var a=Object.keys(t),o=YGt(a);if(e.showHidden&&(a=Object.getOwnPropertyNames(t)),yS(t)&&(a.indexOf("message")>=0||a.indexOf("description")>=0))return iZ(t);if(a.length===0){if(tP(t)){var s=t.name?": "+t.name:"";return e.stylize("[Function"+s+"]","special")}if(mS(t))return e.stylize(RegExp.prototype.toString.call(t),"regexp");if(iP(t))return e.stylize(Date.prototype.toString.call(t),"date");if(yS(t))return iZ(t)}var l="",u=!1,c=["{","}"];if(CFe(t)&&(u=!0,c=["[","]"]),tP(t)){var f=t.name?": "+t.name:"";l=" [Function"+f+"]"}if(mS(t)&&(l=" "+RegExp.prototype.toString.call(t)),iP(t)&&(l=" "+Date.prototype.toUTCString.call(t)),yS(t)&&(l=" "+iZ(t)),a.length===0&&(!u||t.length==0))return c[0]+l+c[1];if(r<0)return mS(t)?e.stylize(RegExp.prototype.toString.call(t),"regexp"):e.stylize("[Object]","special");e.seen.push(t);var h;return u?h=ZGt(e,t,r,o,a):h=a.map(function(d){return aZ(e,t,r,o,d,u)}),e.seen.pop(),KGt(h,l,c)}function XGt(e,t){if(tb(t))return e.stylize("undefined","undefined");if(aP(t)){var r="'"+JSON.stringify(t).replace(/^"|"$/g,"").replace(/'/g,"\\'").replace(/\\"/g,'"')+"'";return e.stylize(r,"string")}if(DFe(t))return e.stylize(""+t,"number");if(oZ(t))return e.stylize(""+t,"boolean");if(nP(t))return e.stylize("null","null")}function iZ(e){return"["+Error.prototype.toString.call(e)+"]"}function ZGt(e,t,r,i,n){for(var a=[],o=0,s=t.length;o-1&&(a?s=s.split(` +`).map(function(u){return" "+u}).join(` +`).slice(2):s=` +`+s.split(` +`).map(function(u){return" "+u}).join(` +`))):s=e.stylize("[Circular]","special")),tb(o)){if(a&&n.match(/^\d+$/))return s;o=JSON.stringify(""+n),o.match(/^"([a-zA-Z_][a-zA-Z_0-9]*)"$/)?(o=o.slice(1,-1),o=e.stylize(o,"name")):(o=o.replace(/'/g,"\\'").replace(/\\"/g,'"').replace(/(^"|"$)/g,"'"),o=e.stylize(o,"string"))}return o+": "+s}function KGt(e,t,r){var i=0,n=e.reduce(function(a,o){return i++,o.indexOf(` +`)>=0&&i++,a+o.replace(/\u001b\[\d\d?m/g,"").length+1},0);return n>60?r[0]+(t===""?"":t+` + `)+" "+e.join(`, + `)+" "+r[1]:r[0]+t+" "+e.join(", ")+" "+r[1]}no.types=bX();function CFe(e){return Array.isArray(e)}no.isArray=CFe;function oZ(e){return typeof e=="boolean"}no.isBoolean=oZ;function nP(e){return e===null}no.isNull=nP;function JGt(e){return e==null}no.isNullOrUndefined=JGt;function DFe(e){return typeof e=="number"}no.isNumber=DFe;function aP(e){return typeof e=="string"}no.isString=aP;function QGt(e){return typeof e=="symbol"}no.isSymbol=QGt;function tb(e){return e===void 0}no.isUndefined=tb;function mS(e){return K5(e)&&sZ(e)==="[object RegExp]"}no.isRegExp=mS;no.types.isRegExp=mS;function K5(e){return typeof e=="object"&&e!==null}no.isObject=K5;function iP(e){return K5(e)&&sZ(e)==="[object Date]"}no.isDate=iP;no.types.isDate=iP;function yS(e){return K5(e)&&(sZ(e)==="[object Error]"||e instanceof Error)}no.isError=yS;no.types.isNativeError=yS;function tP(e){return typeof e=="function"}no.isFunction=tP;function eHt(e){return e===null||typeof e=="boolean"||typeof e=="number"||typeof e=="string"||typeof e=="symbol"||typeof e=="undefined"}no.isPrimitive=eHt;no.isBuffer=wX();function sZ(e){return Object.prototype.toString.call(e)}function nZ(e){return e<10?"0"+e.toString(10):e.toString(10)}var tHt=["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"];function rHt(){var e=new Date,t=[nZ(e.getHours()),nZ(e.getMinutes()),nZ(e.getSeconds())].join(":");return[e.getDate(),tHt[e.getMonth()],t].join(" ")}no.log=function(){console.log("%s - %s",rHt(),no.format.apply(no,arguments))};no.inherits=Kg();no._extend=function(e,t){if(!t||!K5(t))return e;for(var r=Object.keys(t),i=r.length;i--;)e[r[i]]=t[r[i]];return e};function FFe(e,t){return Object.prototype.hasOwnProperty.call(e,t)}var eb=typeof Symbol!="undefined"?Symbol("util.promisify.custom"):void 0;no.promisify=function(t){if(typeof t!="function")throw new TypeError('The "original" argument must be of type Function');if(eb&&t[eb]){var r=t[eb];if(typeof r!="function")throw new TypeError('The "util.promisify.custom" argument must be of type Function');return Object.defineProperty(r,eb,{value:r,enumerable:!1,writable:!1,configurable:!0}),r}function r(){for(var i,n,a=new Promise(function(l,u){i=l,n=u}),o=[],s=0;s{"use strict";function l2(e){"@babel/helpers - typeof";return l2=typeof Symbol=="function"&&typeof Symbol.iterator=="symbol"?function(t){return typeof t}:function(t){return t&&typeof Symbol=="function"&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t},l2(e)}function LFe(e,t){for(var r=0;r2?"one of ".concat(t," ").concat(e.slice(0,r-1).join(", "),", or ")+e[r-1]:r===2?"one of ".concat(t," ").concat(e[0]," or ").concat(e[1]):"of ".concat(t," ").concat(e[0])}else return"of ".concat(t," ").concat(String(e))}function pHt(e,t,r){return e.substr(!r||r<0?0:+r,t.length)===t}function vHt(e,t,r){return(r===void 0||r>e.length)&&(r=e.length),e.substring(r-t.length,r)===t}function gHt(e,t,r){return typeof r!="number"&&(r=0),r+t.length>e.length?!1:e.indexOf(t,r)!==-1}xS("ERR_AMBIGUOUS_ARGUMENT",'The "%s" argument is ambiguous. %s',TypeError);xS("ERR_INVALID_ARG_TYPE",function(e,t,r){Q5===void 0&&(Q5=sP()),Q5(typeof e=="string","'name' must be a string");var i;typeof t=="string"&&pHt(t,"not ")?(i="must not be",t=t.replace(/^not /,"")):i="must be";var n;if(vHt(e," argument"))n="The ".concat(e," ").concat(i," ").concat(PFe(t,"type"));else{var a=gHt(e,".")?"property":"argument";n='The "'.concat(e,'" ').concat(a," ").concat(i," ").concat(PFe(t,"type"))}return n+=". Received type ".concat(l2(r)),n},TypeError);xS("ERR_INVALID_ARG_VALUE",function(e,t){var r=arguments.length>2&&arguments[2]!==void 0?arguments[2]:"is invalid";lZ===void 0&&(lZ=J5());var i=lZ.inspect(t);return i.length>128&&(i="".concat(i.slice(0,128),"...")),"The argument '".concat(e,"' ").concat(r,". Received ").concat(i)},TypeError,RangeError);xS("ERR_INVALID_RETURN_VALUE",function(e,t,r){var i;return r&&r.constructor&&r.constructor.name?i="instance of ".concat(r.constructor.name):i="type ".concat(l2(r)),"Expected ".concat(e,' to be returned from the "').concat(t,'"')+" function but got ".concat(i,".")},TypeError);xS("ERR_MISSING_ARGS",function(){for(var e=arguments.length,t=new Array(e),r=0;r0,"At least one arg needs to be specified");var i="The ",n=t.length;switch(t=t.map(function(a){return'"'.concat(a,'"')}),n){case 1:i+="".concat(t[0]," argument");break;case 2:i+="".concat(t[0]," and ").concat(t[1]," arguments");break;default:i+=t.slice(0,n-1).join(", "),i+=", and ".concat(t[n-1]," arguments");break}return"".concat(i," must be specified")},TypeError);RFe.exports.codes=IFe});var jFe=W((TNr,HFe)=>{"use strict";function zFe(e,t){var r=Object.keys(e);if(Object.getOwnPropertySymbols){var i=Object.getOwnPropertySymbols(e);t&&(i=i.filter(function(n){return Object.getOwnPropertyDescriptor(e,n).enumerable})),r.push.apply(r,i)}return r}function BFe(e){for(var t=1;te.length)&&(r=e.length),e.substring(r-t.length,r)===t}function EHt(e,t){if(t=Math.floor(t),e.length==0||t==0)return"";var r=e.length*t;for(t=Math.floor(Math.log(t)/Math.log(2));t;)e+=e,t--;return e+=e.substring(0,r-e.length),e}var av="",_S="",bS="",tf="",rb={deepStrictEqual:"Expected values to be strictly deep-equal:",strictEqual:"Expected values to be strictly equal:",strictEqualObject:'Expected "actual" to be reference-equal to "expected":',deepEqual:"Expected values to be loosely deep-equal:",equal:"Expected values to be loosely equal:",notDeepStrictEqual:'Expected "actual" not to be strictly deep-equal to:',notStrictEqual:'Expected "actual" to be strictly unequal to:',notStrictEqualObject:'Expected "actual" not to be reference-equal to "expected":',notDeepEqual:'Expected "actual" not to be loosely deep-equal to:',notEqual:'Expected "actual" to be loosely unequal to:',notIdentical:"Values identical but not reference-equal:"},kHt=10;function NFe(e){var t=Object.keys(e),r=Object.create(Object.getPrototypeOf(e));return t.forEach(function(i){r[i]=e[i]}),Object.defineProperty(r,"message",{value:e.message}),r}function wS(e){return dZ(e,{compact:!1,customInspect:!1,depth:1e3,maxArrayLength:1/0,showHidden:!1,breakLength:1/0,showProxy:!1,sorted:!0,getters:!0})}function CHt(e,t,r){var i="",n="",a=0,o="",s=!1,l=wS(e),u=l.split(` +`),c=wS(t).split(` +`),f=0,h="";if(r==="strictEqual"&&Hh(e)==="object"&&Hh(t)==="object"&&e!==null&&t!==null&&(r="strictEqualObject"),u.length===1&&c.length===1&&u[0]!==c[0]){var d=u[0].length+c[0].length;if(d<=kHt){if((Hh(e)!=="object"||e===null)&&(Hh(t)!=="object"||t===null)&&(e!==0||t!==0))return"".concat(rb[r],` + +`)+"".concat(u[0]," !== ").concat(c[0],` +`)}else if(r!=="strictEqualObject"){var p=process.stderr&&process.stderr.isTTY?process.stderr.columns:80;if(d2&&(h=` + `.concat(EHt(" ",f),"^"),f=0)}}}for(var v=u[u.length-1],m=c[c.length-1];v===m&&(f++<2?o=` + `.concat(v).concat(o):i=v,u.pop(),c.pop(),!(u.length===0||c.length===0));)v=u[u.length-1],m=c[c.length-1];var g=Math.max(u.length,c.length);if(g===0){var w=l.split(` +`);if(w.length>30)for(w[26]="".concat(av,"...").concat(tf);w.length>27;)w.pop();return"".concat(rb.notIdentical,` + +`).concat(w.join(` +`),` +`)}f>3&&(o=` +`.concat(av,"...").concat(tf).concat(o),s=!0),i!==""&&(o=` + `.concat(i).concat(o),i="");var b=0,_=rb[r]+` +`.concat(_S,"+ actual").concat(tf," ").concat(bS,"- expected").concat(tf),M=" ".concat(av,"...").concat(tf," Lines skipped");for(f=0;f1&&f>2&&(x>4?(n+=` +`.concat(av,"...").concat(tf),s=!0):x>3&&(n+=` + `.concat(c[f-2]),b++),n+=` + `.concat(c[f-1]),b++),a=f,i+=` +`.concat(bS,"-").concat(tf," ").concat(c[f]),b++;else if(c.length1&&f>2&&(x>4?(n+=` +`.concat(av,"...").concat(tf),s=!0):x>3&&(n+=` + `.concat(u[f-2]),b++),n+=` + `.concat(u[f-1]),b++),a=f,n+=` +`.concat(_S,"+").concat(tf," ").concat(u[f]),b++;else{var T=c[f],A=u[f],y=A!==T&&(!OFe(A,",")||A.slice(0,-1)!==T);y&&OFe(T,",")&&T.slice(0,-1)===A&&(y=!1,A+=","),y?(x>1&&f>2&&(x>4?(n+=` +`.concat(av,"...").concat(tf),s=!0):x>3&&(n+=` + `.concat(u[f-2]),b++),n+=` + `.concat(u[f-1]),b++),a=f,n+=` +`.concat(_S,"+").concat(tf," ").concat(A),i+=` +`.concat(bS,"-").concat(tf," ").concat(T),b+=2):(n+=i,i="",(x===1||f===0)&&(n+=` + `.concat(A),b++))}if(b>20&&f30)for(d[26]="".concat(av,"...").concat(tf);d.length>27;)d.pop();d.length===1?a=r.call(this,"".concat(h," ").concat(d[0])):a=r.call(this,"".concat(h,` + +`).concat(d.join(` +`),` +`))}else{var p=wS(u),v="",m=rb[s];s==="notDeepEqual"||s==="notEqual"?(p="".concat(rb[s],` + +`).concat(p),p.length>1024&&(p="".concat(p.slice(0,1021),"..."))):(v="".concat(wS(c)),p.length>512&&(p="".concat(p.slice(0,509),"...")),v.length>512&&(v="".concat(v.slice(0,509),"...")),s==="deepEqual"||s==="equal"?p="".concat(m,` + +`).concat(p,` + +should equal + +`):v=" ".concat(s," ").concat(v)),a=r.call(this,"".concat(p).concat(v))}return Error.stackTraceLimit=f,a.generatedMessage=!o,Object.defineProperty(fZ(a),"name",{value:"AssertionError [ERR_ASSERTION]",enumerable:!1,writable:!0,configurable:!0}),a.code="ERR_ASSERTION",a.actual=u,a.expected=c,a.operator=s,Error.captureStackTrace&&Error.captureStackTrace(fZ(a),l),a.stack,a.name="AssertionError",VFe(a)}return xHt(i,[{key:"toString",value:function(){return"".concat(this.name," [").concat(this.code,"]: ").concat(this.message)}},{key:t,value:function(a,o){return dZ(this,BFe(BFe({},o),{},{customInspect:!1,depth:0}))}}]),i})(hZ(Error),dZ.custom);HFe.exports=DHt});var pZ=W((ANr,WFe)=>{"use strict";var $Fe=Object.prototype.toString;WFe.exports=function(t){var r=$Fe.call(t),i=r==="[object Arguments]";return i||(i=r!=="[object Array]"&&t!==null&&typeof t=="object"&&typeof t.length=="number"&&t.length>=0&&$Fe.call(t.callee)==="[object Function]"),i}});var rLe=W((MNr,tLe)=>{"use strict";var eLe;Object.keys||(MS=Object.prototype.hasOwnProperty,vZ=Object.prototype.toString,YFe=pZ(),gZ=Object.prototype.propertyIsEnumerable,XFe=!gZ.call({toString:null},"toString"),ZFe=gZ.call(function(){},"prototype"),SS=["toString","toLocaleString","valueOf","hasOwnProperty","isPrototypeOf","propertyIsEnumerable","constructor"],uP=function(e){var t=e.constructor;return t&&t.prototype===e},KFe={$applicationCache:!0,$console:!0,$external:!0,$frame:!0,$frameElement:!0,$frames:!0,$innerHeight:!0,$innerWidth:!0,$onmozfullscreenchange:!0,$onmozfullscreenerror:!0,$outerHeight:!0,$outerWidth:!0,$pageXOffset:!0,$pageYOffset:!0,$parent:!0,$scrollLeft:!0,$scrollTop:!0,$scrollX:!0,$scrollY:!0,$self:!0,$webkitIndexedDB:!0,$webkitStorageInfo:!0,$window:!0},JFe=(function(){if(typeof window=="undefined")return!1;for(var e in window)try{if(!KFe["$"+e]&&MS.call(window,e)&&window[e]!==null&&typeof window[e]=="object")try{uP(window[e])}catch(t){return!0}}catch(t){return!0}return!1})(),QFe=function(e){if(typeof window=="undefined"||!JFe)return uP(e);try{return uP(e)}catch(t){return!1}},eLe=function(t){var r=t!==null&&typeof t=="object",i=vZ.call(t)==="[object Function]",n=YFe(t),a=r&&vZ.call(t)==="[object String]",o=[];if(!r&&!i&&!n)throw new TypeError("Object.keys called on a non-object");var s=ZFe&&i;if(a&&t.length>0&&!MS.call(t,0))for(var l=0;l0)for(var u=0;u{"use strict";var FHt=Array.prototype.slice,LHt=pZ(),iLe=Object.keys,cP=iLe?function(t){return iLe(t)}:rLe(),nLe=Object.keys;cP.shim=function(){if(Object.keys){var t=(function(){var r=Object.keys(arguments);return r&&r.length===arguments.length})(1,2);t||(Object.keys=function(i){return LHt(i)?nLe(FHt.call(i)):nLe(i)})}else Object.keys=cP;return Object.keys||cP};aLe.exports=cP});var cLe=W((ENr,uLe)=>{"use strict";var PHt=mZ(),sLe=o9()(),lLe=j_(),fP=s9(),IHt=lLe("Array.prototype.push"),oLe=lLe("Object.prototype.propertyIsEnumerable"),RHt=sLe?fP.getOwnPropertySymbols:null;uLe.exports=function(t,r){if(t==null)throw new TypeError("target must be an object");var i=fP(t);if(arguments.length===1)return i;for(var n=1;n{"use strict";var yZ=cLe(),zHt=function(){if(!Object.assign)return!1;for(var e="abcdefghijklmnopqrst",t=e.split(""),r={},i=0;i{"use strict";var dLe=function(e){return e!==e};pLe.exports=function(t,r){return t===0&&r===0?1/t===1/r:!!(t===r||dLe(t)&&dLe(r))}});var hP=W((DNr,vLe)=>{"use strict";var qHt=xZ();vLe.exports=function(){return typeof Object.is=="function"?Object.is:qHt}});var xLe=W((FNr,yLe)=>{"use strict";var gLe=g9(),mLe=aS(),OHt=mLe(gLe("String.prototype.indexOf"));yLe.exports=function(t,r){var i=gLe(t,!!r);return typeof i=="function"&&OHt(t,".prototype.")>-1?mLe(i):i}});var ES=W((LNr,TLe)=>{"use strict";var NHt=mZ(),UHt=typeof Symbol=="function"&&typeof Symbol("foo")=="symbol",VHt=Object.prototype.toString,GHt=Array.prototype.concat,_Le=hX(),HHt=function(e){return typeof e=="function"&&VHt.call(e)==="[object Function]"},bLe=pX()(),jHt=function(e,t,r,i){if(t in e){if(i===!0){if(e[t]===r)return}else if(!HHt(i)||!i())return}bLe?_Le(e,t,r,!0):_Le(e,t,r)},wLe=function(e,t){var r=arguments.length>2?arguments[2]:{},i=NHt(t);UHt&&(i=GHt.call(i,Object.getOwnPropertySymbols(t)));for(var n=0;n{"use strict";var $Ht=hP(),WHt=ES();ALe.exports=function(){var t=$Ht();return WHt(Object,{is:t},{is:function(){return Object.is!==t}}),t}});var CLe=W((INr,kLe)=>{"use strict";var YHt=ES(),XHt=aS(),ZHt=xZ(),SLe=hP(),KHt=MLe(),ELe=XHt(SLe(),Object);YHt(ELe,{getPolyfill:SLe,implementation:ZHt,shim:KHt});kLe.exports=ELe});var _Z=W((RNr,DLe)=>{"use strict";DLe.exports=function(t){return t!==t}});var bZ=W((zNr,FLe)=>{"use strict";var JHt=_Z();FLe.exports=function(){return Number.isNaN&&Number.isNaN(NaN)&&!Number.isNaN("a")?Number.isNaN:JHt}});var PLe=W((BNr,LLe)=>{"use strict";var QHt=ES(),ejt=bZ();LLe.exports=function(){var t=ejt();return QHt(Number,{isNaN:t},{isNaN:function(){return Number.isNaN!==t}}),t}});var BLe=W((qNr,zLe)=>{"use strict";var tjt=aS(),rjt=ES(),ijt=_Z(),ILe=bZ(),njt=PLe(),RLe=tjt(ILe(),Number);rjt(RLe,{getPolyfill:ILe,implementation:ijt,shim:njt});zLe.exports=RLe});var i9e=W((ONr,r9e)=>{"use strict";function qLe(e,t){return ljt(e)||sjt(e,t)||ojt(e,t)||ajt()}function ajt(){throw new TypeError(`Invalid attempt to destructure non-iterable instance. +In order to be iterable, non-array objects must have a [Symbol.iterator]() method.`)}function ojt(e,t){if(e){if(typeof e=="string")return OLe(e,t);var r=Object.prototype.toString.call(e).slice(8,-1);if(r==="Object"&&e.constructor&&(r=e.constructor.name),r==="Map"||r==="Set")return Array.from(e);if(r==="Arguments"||/^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(r))return OLe(e,t)}}function OLe(e,t){(t==null||t>e.length)&&(t=e.length);for(var r=0,i=new Array(t);r10)return!0;for(var t=0;t57)return!0}return e.length===10&&e>=Math.pow(2,32)}function vP(e){return Object.keys(e).filter(mjt).concat(mP(e).filter(Object.prototype.propertyIsEnumerable.bind(e)))}function JLe(e,t){if(e===t)return 0;for(var r=e.length,i=t.length,n=0,a=Math.min(r,i);n{"use strict";function ov(e){"@babel/helpers - typeof";return ov=typeof Symbol=="function"&&typeof Symbol.iterator=="symbol"?function(t){return typeof t}:function(t){return t&&typeof Symbol=="function"&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t},ov(e)}function n9e(e,t){for(var r=0;r1?r-1:0),n=1;n1?r-1:0),n=1;n1?r-1:0),n=1;n1?r-1:0),n=1;n{var LS=1e3,PS=LS*60,IS=PS*60,RS=IS*24,Gjt=RS*365.25;w9e.exports=function(e,t){t=t||{};var r=typeof e;if(r==="string"&&e.length>0)return Hjt(e);if(r==="number"&&isNaN(e)===!1)return t.long?$jt(e):jjt(e);throw new Error("val is not a non-empty string or a valid number. val="+JSON.stringify(e))};function Hjt(e){if(e=String(e),!(e.length>100)){var t=/^((?:\d+)?\.?\d+) *(milliseconds?|msecs?|ms|seconds?|secs?|s|minutes?|mins?|m|hours?|hrs?|h|days?|d|years?|yrs?|y)?$/i.exec(e);if(t){var r=parseFloat(t[1]),i=(t[2]||"ms").toLowerCase();switch(i){case"years":case"year":case"yrs":case"yr":case"y":return r*Gjt;case"days":case"day":case"d":return r*RS;case"hours":case"hour":case"hrs":case"hr":case"h":return r*IS;case"minutes":case"minute":case"mins":case"min":case"m":return r*PS;case"seconds":case"second":case"secs":case"sec":case"s":return r*LS;case"milliseconds":case"millisecond":case"msecs":case"msec":case"ms":return r;default:return}}}}function jjt(e){return e>=RS?Math.round(e/RS)+"d":e>=IS?Math.round(e/IS)+"h":e>=PS?Math.round(e/PS)+"m":e>=LS?Math.round(e/LS)+"s":e+"ms"}function $jt(e){return MP(e,RS,"day")||MP(e,IS,"hour")||MP(e,PS,"minute")||MP(e,LS,"second")||e+" ms"}function MP(e,t,r){if(!(e{ts=A9e.exports=kZ.debug=kZ.default=kZ;ts.coerce=Kjt;ts.disable=Xjt;ts.enable=Yjt;ts.enabled=Zjt;ts.humanize=T9e();ts.names=[];ts.skips=[];ts.formatters={};var EZ;function Wjt(e){var t=0,r;for(r in e)t=(t<<5)-t+e.charCodeAt(r),t|=0;return ts.colors[Math.abs(t)%ts.colors.length]}function kZ(e){function t(){if(t.enabled){var r=t,i=+new Date,n=i-(EZ||i);r.diff=n,r.prev=EZ,r.curr=i,EZ=i;for(var a=new Array(arguments.length),o=0;o{ih=E9e.exports=M9e();ih.log=e$t;ih.formatArgs=Qjt;ih.save=t$t;ih.load=S9e;ih.useColors=Jjt;ih.storage=typeof chrome!="undefined"&&typeof chrome.storage!="undefined"?chrome.storage.local:r$t();ih.colors=["lightseagreen","forestgreen","goldenrod","dodgerblue","darkorchid","crimson"];function Jjt(){return typeof window!="undefined"&&window.process&&window.process.type==="renderer"?!0:typeof document!="undefined"&&document.documentElement&&document.documentElement.style&&document.documentElement.style.WebkitAppearance||typeof window!="undefined"&&window.console&&(window.console.firebug||window.console.exception&&window.console.table)||typeof navigator!="undefined"&&navigator.userAgent&&navigator.userAgent.toLowerCase().match(/firefox\/(\d+)/)&&parseInt(RegExp.$1,10)>=31||typeof navigator!="undefined"&&navigator.userAgent&&navigator.userAgent.toLowerCase().match(/applewebkit\/(\d+)/)}ih.formatters.j=function(e){try{return JSON.stringify(e)}catch(t){return"[UnexpectedJSONParseError]: "+t.message}};function Qjt(e){var t=this.useColors;if(e[0]=(t?"%c":"")+this.namespace+(t?" %c":" ")+e[0]+(t?"%c ":" ")+"+"+ih.humanize(this.diff),!!t){var r="color: "+this.color;e.splice(1,0,r,"color: inherit");var i=0,n=0;e[0].replace(/%[a-zA-Z%]/g,function(a){a!=="%%"&&(i++,a==="%c"&&(n=i))}),e.splice(n,0,r)}}function e$t(){return typeof console=="object"&&console.log&&Function.prototype.apply.call(console.log,console,arguments)}function t$t(e){try{e==null?ih.storage.removeItem("debug"):ih.storage.debug=e}catch(t){}}function S9e(){var e;try{e=ih.storage.debug}catch(t){}return!e&&typeof process!="undefined"&&"env"in process&&(e=process.env.DEBUG),e}ih.enable(S9e());function r$t(){try{return window.localStorage}catch(e){}}});var z9e=W((VNr,R9e)=>{var t4=sP(),h2=k9e()("stream-parser");R9e.exports=n$t;var D9e=-1,SP=0,i$t=1,F9e=2;function n$t(e){var t=e&&typeof e._transform=="function",r=e&&typeof e._write=="function";if(!t&&!r)throw new Error("must pass a Writable or Transform stream in");h2("extending Parser into stream"),e._bytes=a$t,e._skipBytes=o$t,t&&(e._passthrough=s$t),t?e._transform=u$t:e._write=l$t}function zS(e){h2("initializing parser stream"),e._parserBytesLeft=0,e._parserBuffers=[],e._parserBuffered=0,e._parserState=D9e,e._parserCallback=null,typeof e.push=="function"&&(e._parserOutput=e.push.bind(e)),e._parserInit=!0}function a$t(e,t){t4(!this._parserCallback,'there is already a "callback" set!'),t4(isFinite(e)&&e>0,'can only buffer a finite number of bytes > 0, got "'+e+'"'),this._parserInit||zS(this),h2("buffering %o bytes",e),this._parserBytesLeft=e,this._parserCallback=t,this._parserState=SP}function o$t(e,t){t4(!this._parserCallback,'there is already a "callback" set!'),t4(e>0,'can only skip > 0 bytes, got "'+e+'"'),this._parserInit||zS(this),h2("skipping %o bytes",e),this._parserBytesLeft=e,this._parserCallback=t,this._parserState=i$t}function s$t(e,t){t4(!this._parserCallback,'There is already a "callback" set!'),t4(e>0,'can only pass through > 0 bytes, got "'+e+'"'),this._parserInit||zS(this),h2("passing through %o bytes",e),this._parserBytesLeft=e,this._parserCallback=t,this._parserState=F9e}function l$t(e,t,r){this._parserInit||zS(this),h2("write(%o bytes)",e.length),typeof t=="function"&&(r=t),P9e(this,e,null,r)}function u$t(e,t,r){this._parserInit||zS(this),h2("transform(%o bytes)",e.length),typeof t!="function"&&(t=this._parserOutput),P9e(this,e,t,r)}function L9e(e,t,r,i){return e._parserBytesLeft<=0?i(new Error("got data but not currently parsing anything")):t.length<=e._parserBytesLeft?function(){return C9e(e,t,r,i)}:function(){var n=t.slice(0,e._parserBytesLeft);return C9e(e,n,r,function(a){if(a)return i(a);if(t.length>n.length)return function(){return L9e(e,t.slice(n.length),r,i)}})}}function C9e(e,t,r,i){if(e._parserBytesLeft-=t.length,h2("%o bytes left for stream piece",e._parserBytesLeft),e._parserState===SP?(e._parserBuffers.push(t),e._parserBuffered+=t.length):e._parserState===F9e&&r(t),e._parserBytesLeft===0){var n=e._parserCallback;if(n&&e._parserState===SP&&e._parserBuffers.length>1&&(t=Buffer.concat(e._parserBuffers,e._parserBuffered)),e._parserState!==SP&&(t=null),e._parserCallback=null,e._parserBuffered=0,e._parserState=D9e,e._parserBuffers.splice(0),n){var a=[];t&&a.push(t),r&&a.push(r);var o=n.length>a.length;o&&a.push(I9e(i));var s=n.apply(e,a);if(!o||i===s)return i}}else return i}var P9e=I9e(L9e);function I9e(e){return function(){for(var t=e.apply(this,arguments);typeof t=="function";)t=t();return t}}});var bo=W(rf=>{"use strict";var B9e=SFe().Transform,c$t=z9e();function BS(){B9e.call(this,{readableObjectMode:!0})}BS.prototype=Object.create(B9e.prototype);BS.prototype.constructor=BS;c$t(BS.prototype);rf.ParserStream=BS;rf.sliceEq=function(e,t,r){for(var i=t,n=0;n>16};rf.readInt16BE=function(e,t){return rf.readUInt16BE(e,t)<<16>>16};rf.readUInt32LE=function(e,t){return(e[t]|e[t+1]<<8|e[t+2]<<16)+e[t+3]*16777216};rf.readUInt32BE=function(e,t){return e[t]*16777216+(e[t+1]<<16|e[t+2]<<8|e[t+3])};rf.readInt32LE=function(e,t){return rf.readUInt32LE(e,t)|0};rf.readInt32BE=function(e,t){return rf.readUInt32BE(e,t)|0};function EP(e,t,r){Error.call(this),Error.captureStackTrace?Error.captureStackTrace(this,this.constructor):this.stack=new Error().stack||"",this.name=this.constructor.name,this.message=e,t&&(this.code=t),r&&(this.statusCode=r)}EP.prototype=Object.create(Error.prototype);EP.prototype.constructor=EP;rf.ProbeError=EP});var q9e=W((HNr,kP)=>{"use strict";var r4=bo().readUInt16BE,DZ=bo().readUInt32BE;function qS(e,t){if(e.length<4+t)return null;var r=DZ(e,t);return e.length>4&15,i=e[4]&15,n=e[5]>>4&15,a=r4(e,6),o=8,s=0;sa.width||n.width===a.width&&n.height>a.height?n:a}),r=e.reduce(function(n,a){return n.height>a.height||n.height===a.height&&n.width>a.width?n:a}),i;return t.width>r.height||t.width===r.height&&t.height>r.width?i=t:i=r,i}kP.exports.readSizeFromMeta=function(e){var t={sizes:[],transforms:[],item_inf:{},item_loc:{}};if(v$t(e,t),!!t.sizes.length){var r=g$t(t.sizes),i=1;t.transforms.forEach(function(a){var o={1:6,2:5,3:8,4:7,5:4,6:3,7:2,8:1},s={1:4,2:3,3:2,4:1,5:6,6:5,7:8,8:7};if(a.type==="imir"&&(a.value===0?i=s[i]:(i=s[i],i=o[i],i=o[i])),a.type==="irot")for(var l=0;l{"use strict";function CP(e,t){var r=new Error(e);return r.code=t,r}function m$t(e){try{return decodeURIComponent(escape(e))}catch(t){return e}}function em(e,t,r){this.input=e.subarray(t,r),this.start=t;var i=String.fromCharCode.apply(null,this.input.subarray(0,4));if(i!=="II*\0"&&i!=="MM\0*")throw CP("invalid TIFF signature","EBADDATA");this.big_endian=i[0]==="M"}em.prototype.each=function(e){this.aborted=!1;var t=this.read_uint32(4);for(this.ifds_to_read=[{id:0,offset:t}];this.ifds_to_read.length>0&&!this.aborted;){var r=this.ifds_to_read.shift();r.offset&&this.scan_ifd(r.id,r.offset,e)}};em.prototype.read_uint16=function(e){var t=this.input;if(e+2>t.length)throw CP("unexpected EOF","EBADDATA");return this.big_endian?t[e]*256+t[e+1]:t[e]+t[e+1]*256};em.prototype.read_uint32=function(e){var t=this.input;if(e+4>t.length)throw CP("unexpected EOF","EBADDATA");return this.big_endian?t[e]*16777216+t[e+1]*65536+t[e+2]*256+t[e+3]:t[e]+t[e+1]*256+t[e+2]*65536+t[e+3]*16777216};em.prototype.is_subifd_link=function(e,t){return e===0&&t===34665||e===0&&t===34853||e===34665&&t===40965};em.prototype.exif_format_length=function(e){switch(e){case 1:case 2:case 6:case 7:return 1;case 3:case 8:return 2;case 4:case 9:case 11:return 4;case 5:case 10:case 12:return 8;default:return 0}};em.prototype.exif_format_read=function(e,t){var r;switch(e){case 1:case 2:return r=this.input[t],r;case 6:return r=this.input[t],r|(r&128)*33554430;case 3:return r=this.read_uint16(t),r;case 8:return r=this.read_uint16(t),r|(r&32768)*131070;case 4:return r=this.read_uint32(t),r;case 9:return r=this.read_uint32(t),r|0;case 5:case 10:case 11:case 12:return null;case 7:return null;default:return null}};em.prototype.scan_ifd=function(e,t,r){var i=this.read_uint16(t);t+=2;for(var n=0;nthis.input.length)throw CP("unexpected EOF","EBADDATA");for(var h=[],d=c,p=0;p0&&(this.ifds_to_read.push({id:a,offset:h[0]}),f=!0);var m={is_big_endian:this.big_endian,ifd:e,tag:a,format:o,count:s,entry_offset:t+this.start,data_length:u,data_offset:c+this.start,value:h,is_subifd_link:f};if(r(m)===!1){this.aborted=!0;return}t+=12}e===0&&this.ifds_to_read.push({id:1,offset:this.read_uint32(t)})};FZ.exports.ExifParser=em;FZ.exports.get_orientation=function(e){var t=0;try{return new em(e,0,e.length).each(function(r){if(r.ifd===0&&r.tag===274&&Array.isArray(r.value))return t=r.value[0],!1}),t}catch(r){return-1}}});var N9e=W(($Nr,O9e)=>{"use strict";var y$t=bo().str2arr,x$t=bo().sliceEq,_$t=bo().readUInt32BE,FP=q9e(),b$t=DP(),w$t=y$t("ftyp");O9e.exports=function(e){if(x$t(e,4,w$t)){var t=FP.unbox(e,0);if(t){var r=FP.getMimeType(t.data);if(r){for(var i,n=t.end;;){var a=FP.unbox(e,n);if(!a)break;if(n=a.end,a.boxtype==="mdat")return;if(a.boxtype==="meta"){i=a.data;break}}if(i){var o=FP.readSizeFromMeta(i);if(o){var s={width:o.width,height:o.height,type:r.type,mime:r.mime,wUnits:"px",hUnits:"px"};if(o.variants.length>1&&(s.variants=o.variants),o.orientation&&(s.orientation=o.orientation),o.exif_location&&o.exif_location.offset+o.exif_location.length<=e.length){var l=_$t(e,o.exif_location.offset),u=e.slice(o.exif_location.offset+l+4,o.exif_location.offset+o.exif_location.length),c=b$t.get_orientation(u);c>0&&(s.orientation=c)}return s}}}}}}});var H9e=W((WNr,G9e)=>{"use strict";var T$t=bo().str2arr,A$t=bo().sliceEq,U9e=bo().readInt16LE,V9e=bo().readInt32LE,M$t=bo().readUInt32LE,S$t=T$t("BM");G9e.exports=function(e){if(!(e.length<26)&&A$t(e,0,S$t)){var t,r,i=M$t(e,14);if(i===12)r=U9e(e,18),t=U9e(e,20);else if(i>12)r=V9e(e,18),t=V9e(e,22);else return;return{width:r,height:Math.abs(t),type:"bmp",mime:"image/bmp",wUnits:"px",hUnits:"px"}}}});var X9e=W((YNr,Y9e)=>{"use strict";var W9e=bo().str2arr,j9e=bo().sliceEq,$9e=bo().readUInt16LE,E$t=W9e("GIF87a"),k$t=W9e("GIF89a");Y9e.exports=function(e){if(!(e.length<10)&&!(!j9e(e,0,E$t)&&!j9e(e,0,k$t)))return{width:$9e(e,6),height:$9e(e,8),type:"gif",mime:"image/gif",wUnits:"px",hUnits:"px"}}});var K9e=W((XNr,Z9e)=>{"use strict";var LZ=bo().readUInt16LE,C$t=0,D$t=1,PZ=16;Z9e.exports=function(e){var t=LZ(e,0),r=LZ(e,2),i=LZ(e,4);if(!(t!==C$t||r!==D$t||!i)&&!(e.length<6+i*PZ)){for(var n=[],a={width:0,height:0},o=0;oa.width||l>a.height)&&(a=u)}return{width:a.width,height:a.height,variants:n,type:"ico",mime:"image/x-icon",wUnits:"px",hUnits:"px"}}}});var Q9e=W((ZNr,J9e)=>{"use strict";var IZ=bo().readUInt16BE,F$t=bo().str2arr,L$t=bo().sliceEq,P$t=DP(),I$t=F$t("Exif\0\0");J9e.exports=function(e){if(!(e.length<2)&&!(e[0]!==255||e[1]!==216||e[2]!==255))for(var t=2;;){for(;;){if(e.length-t<2)return;if(e[t++]===255)break}for(var r=e[t++],i;r===255;)r=e[t++];if(r>=208&&r<=217||r===1)i=0;else if(r>=192&&r<=254){if(e.length-t<2)return;i=IZ(e,t)-2,t+=2}else return;if(r===217||r===218)return;var n;if(r===225&&i>=10&&L$t(e,t,I$t)&&(n=P$t.get_orientation(e.slice(t+6,t+i))),i>=5&&r>=192&&r<=207&&r!==196&&r!==200&&r!==204){if(e.length-t0&&(a.orientation=n),a}t+=i}}});var nPe=W((KNr,iPe)=>{"use strict";var rPe=bo().str2arr,ePe=bo().sliceEq,tPe=bo().readUInt32BE,R$t=rPe(`\x89PNG\r + +`),z$t=rPe("IHDR");iPe.exports=function(e){if(!(e.length<24)&&ePe(e,0,R$t)&&ePe(e,12,z$t))return{width:tPe(e,16),height:tPe(e,20),type:"png",mime:"image/png",wUnits:"px",hUnits:"px"}}});var sPe=W((JNr,oPe)=>{"use strict";var B$t=bo().str2arr,q$t=bo().sliceEq,aPe=bo().readUInt32BE,O$t=B$t("8BPS\0");oPe.exports=function(e){if(!(e.length<22)&&q$t(e,0,O$t))return{width:aPe(e,18),height:aPe(e,14),type:"psd",mime:"image/vnd.adobe.photoshop",wUnits:"px",hUnits:"px"}}});var cPe=W((QNr,uPe)=>{"use strict";function N$t(e){return e===32||e===9||e===13||e===10}function i4(e){return typeof e=="number"&&isFinite(e)&&e>0}function U$t(e){var t=0,r=e.length;for(e[0]===239&&e[1]===187&&e[2]===191&&(t=3);t]*>/,G$t=/^<([-_.:a-zA-Z0-9]+:)?svg\s/,H$t=/[^-]\bwidth="([^%]+?)"|[^-]\bwidth='([^%]+?)'/,j$t=/\bheight="([^%]+?)"|\bheight='([^%]+?)'/,$$t=/\bview[bB]ox="(.+?)"|\bview[bB]ox='(.+?)'/,lPe=/in$|mm$|cm$|pt$|pc$|px$|em$|ex$/;function W$t(e){var t=e.match(H$t),r=e.match(j$t),i=e.match($$t);return{width:t&&(t[1]||t[2]),height:r&&(r[1]||r[2]),viewbox:i&&(i[1]||i[2])}}function L1(e){return lPe.test(e)?e.match(lPe)[0]:"px"}uPe.exports=function(e){if(U$t(e)){for(var t="",r=0;r{"use strict";var dPe=bo().str2arr,fPe=bo().sliceEq,Y$t=bo().readUInt16LE,X$t=bo().readUInt16BE,Z$t=bo().readUInt32LE,K$t=bo().readUInt32BE,J$t=dPe("II*\0"),Q$t=dPe("MM\0*");function LP(e,t,r){return r?X$t(e,t):Y$t(e,t)}function RZ(e,t,r){return r?K$t(e,t):Z$t(e,t)}function hPe(e,t,r){var i=LP(e,t+2,r),n=RZ(e,t+4,r);return n!==1||i!==3&&i!==4?null:i===3?LP(e,t+8,r):RZ(e,t+8,r)}pPe.exports=function(e){if(!(e.length<8)&&!(!fPe(e,0,J$t)&&!fPe(e,0,Q$t))){var t=e[0]===77,r=RZ(e,4,t)-8;if(!(r<0)){var i=r+8;if(!(e.length-i<2)){var n=LP(e,i+0,t)*12;if(!(n<=0)&&(i+=2,!(e.length-i{"use strict";var yPe=bo().str2arr,gPe=bo().sliceEq,mPe=bo().readUInt16LE,zZ=bo().readUInt32LE,eWt=DP(),tWt=yPe("RIFF"),rWt=yPe("WEBP");function iWt(e,t){if(!(e[t+3]!==157||e[t+4]!==1||e[t+5]!==42))return{width:mPe(e,t+6)&16383,height:mPe(e,t+8)&16383,type:"webp",mime:"image/webp",wUnits:"px",hUnits:"px"}}function nWt(e,t){if(e[t]===47){var r=zZ(e,t+1);return{width:(r&16383)+1,height:(r>>14&16383)+1,type:"webp",mime:"image/webp",wUnits:"px",hUnits:"px"}}}function aWt(e,t){return{width:(e[t+6]<<16|e[t+5]<<8|e[t+4])+1,height:(e[t+9]<<16|e[t+8]<<8|e[t+7])+1,type:"webp",mime:"image/webp",wUnits:"px",hUnits:"px"}}xPe.exports=function(e){if(!(e.length<16)&&!(!gPe(e,0,tWt)||!gPe(e,8,rWt))){var t=12,r=null,i=0,n=zZ(e,4)+8;if(!(n>e.length)){for(;t+8=10?r=r||iWt(e,t+8):a==="VP8L"&&o>=5?r=r||nWt(e,t+8):a==="VP8X"&&o>=10?r=r||aWt(e,t+8):a==="EXIF"&&(i=eWt.get_orientation(e.slice(t+8,t+8+o)),t=1/0),t+=8+o}if(r)return i>0&&(r.orientation=i),r}}}});var wPe=W((rUr,bPe)=>{"use strict";bPe.exports={avif:N9e(),bmp:H9e(),gif:X9e(),ico:K9e(),jpeg:Q9e(),png:nPe(),psd:sPe(),svg:cPe(),tiff:vPe(),webp:_Pe()}});var TPe=W((iUr,qZ)=>{"use strict";var BZ=wPe();function oWt(e){for(var t=Object.keys(BZ),r=0;r0&&i.height>0?i:null}return null}qZ.exports=function(t){return oWt(t)};qZ.exports.parsers=BZ});var MPe=W(APe=>{"use strict";var sWt=TPe(),lWt=Ng().IMAGE_URL_PREFIX,uWt=V_().Buffer;APe.getImageSize=function(e){var t=e.replace(lWt,""),r=new uWt(t,"base64");return sWt(r)}});var kPe=W((aUr,EPe)=>{"use strict";var SPe=it(),cWt=L5(),fWt=sn(),PP=ji(),hWt=it().maxRowLength,dWt=MPe().getImageSize;EPe.exports=function(t,r){var i,n;if(r._hasZ)i=r.z.length,n=hWt(r.z);else if(r._hasSource){var a=dWt(r.source);i=a.height,n=a.width}var o=PP.getFromId(t,r.xaxis||"x"),s=PP.getFromId(t,r.yaxis||"y"),l=o.d2c(r.x0)-r.dx/2,u=s.d2c(r.y0)-r.dy/2,c,f=[l,l+n*r.dx],h=[u,u+i*r.dy];if(o&&o.type==="log")for(c=0;c{"use strict";var mWt=vi(),ib=it(),CPe=ib.strTranslate,yWt=sd(),xWt=L5(),_Wt=MW(),bWt=SL().STYLE;DPe.exports=function(t,r,i,n){var a=r.xaxis,o=r.yaxis,s=!t._context._exportedPlot&&_Wt();ib.makeTraceGroups(n,i,"im").each(function(l){var u=mWt.select(this),c=l[0],f=c.trace,h=(f.zsmooth==="fast"||f.zsmooth===!1&&s)&&!f._hasZ&&f._hasSource&&a.type==="linear"&&o.type==="linear";f._realImage=h;var d=c.z,p=c.x0,v=c.y0,m=c.w,g=c.h,w=f.dx,b=f.dy,_,M,x,T,A,y;for(y=0;_===void 0&&y0;)M=a.c2p(p+y*w),y--;for(y=0;T===void 0&&y0;)A=o.c2p(v+y*b),y--;if(M<_&&(x=M,M=_,_=x),AI[0];if(B||O){var $=_+S/2,Y=T+C/2;R+="transform:"+CPe($+"px",Y+"px")+"scale("+(B?-1:1)+","+(O?-1:1)+")"+CPe(-$+"px",-Y+"px")+";"}}P.attr("style",R);var K=new Promise(function(j){if(f._hasZ)j();else if(f._hasSource)if(f._canvas&&f._canvas.el.width===m&&f._canvas.el.height===g&&f._canvas.source===f.source)j();else{var q=document.createElement("canvas");q.width=m,q.height=g;var J=q.getContext("2d",{willReadFrequently:!0});f._image=f._image||new Image;var U=f._image;U.onload=function(){J.drawImage(U,0,0),f._canvas={el:q,source:f.source},j()},U.setAttribute("src",f.source)}}).then(function(){var j,q;if(f._hasZ)q=F(function(V,X){var H=d[X][V];return ib.isTypedArray(H)&&(H=Array.from(H)),H}),j=q.toDataURL("image/png");else if(f._hasSource)if(h)j=f.source;else{var J=f._canvas.el.getContext("2d",{willReadFrequently:!0}),U=J.getImageData(0,0,m,g).data;q=F(function(V,X){var H=4*(X*m+V);return[U[H],U[H+1],U[H+2],U[H+3]]}),j=q.toDataURL("image/png")}P.attr({"xlink:href":j,height:C,width:S,x:_,y:T})});t._promises.push(K)})}});var PPe=W((sUr,LPe)=>{"use strict";var wWt=vi();LPe.exports=function(t){wWt.select(t).selectAll(".im image").style("opacity",function(r){return r[0].trace.opacity})}});var BPe=W((lUr,zPe)=>{"use strict";var IPe=Ds(),RPe=it(),IP=RPe.isArrayOrTypedArray,TWt=L5();zPe.exports=function(t,r,i){var n=t.cd[0],a=n.trace,o=t.xa,s=t.ya;if(!(IPe.inbox(r-n.x0,r-(n.x0+n.w*a.dx),0)>0||IPe.inbox(i-n.y0,i-(n.y0+n.h*a.dy),0)>0)){var l=Math.floor((r-n.x0)/a.dx),u=Math.floor(Math.abs(i-n.y0)/a.dy),c;if(a._hasZ?c=n.z[u][l]:a._hasSource&&(c=a._canvas.el.getContext("2d",{willReadFrequently:!0}).getImageData(l,u,1,1).data),!!c){var f=n.hi||a.hoverinfo,h;if(f){var d=f.split("+");d.indexOf("all")!==-1&&(d=["color"]),d.indexOf("color")!==-1&&(h=!0)}var p=TWt.colormodel[a.colormodel],v=p.colormodel||a.colormodel,m=v.length,g=a._scaler(c),w=p.suffix,b=[];(a.hovertemplate||h)&&(b.push("["+[g[0]+w[0],g[1]+w[1],g[2]+w[2]].join(", ")),m===4&&b.push(", "+g[3]+w[3]),b.push("]"),b=b.join(""),t.extraText=v.toUpperCase()+": "+b);var _;IP(a.hovertext)&&IP(a.hovertext[u])?_=a.hovertext[u][l]:IP(a.text)&&IP(a.text[u])&&(_=a.text[u][l]);var M=s.c2p(n.y0+(u+.5)*a.dy),x=n.x0+(l+.5)*a.dx,T=n.y0+(u+.5)*a.dy,A="["+c.slice(0,a.colormodel.length).join(", ")+"]";return[RPe.extendFlat(t,{index:[u,l],x0:o.c2p(n.x0+l*a.dx),x1:o.c2p(n.x0+(l+1)*a.dx),y0:M,y1:M,color:g,xVal:x,xLabelVal:x,yVal:T,yLabelVal:T,zLabelVal:A,text:_,hovertemplateLabels:{zLabel:A,colorLabel:b,"color[0]Label":g[0]+w[0],"color[1]Label":g[1]+w[1],"color[2]Label":g[2]+w[2],"color[3]Label":g[3]+w[3]}})]}}}});var OPe=W((uUr,qPe)=>{"use strict";qPe.exports=function(t,r){return"xVal"in r&&(t.x=r.xVal),"yVal"in r&&(t.y=r.yVal),r.xa&&(t.xaxis=r.xa),r.ya&&(t.yaxis=r.ya),t.color=r.color,t.colormodel=r.trace.colormodel,t.z||(t.z=r.color),t}});var UPe=W((cUr,NPe)=>{"use strict";NPe.exports={attributes:(zY(),Go(RY)).default,supplyDefaults:k8e(),calc:kPe(),plot:FPe(),style:PPe(),hoverPoints:BPe(),eventData:OPe(),moduleType:"trace",name:"image",basePlotModule:dl(),categories:["cartesian","svg","2dMap","noSortingByValue"],animatable:!1,meta:{}}});var GPe=W((fUr,VPe)=>{"use strict";VPe.exports=UPe()});var nb=W((hUr,jPe)=>{"use strict";var RP=Wa(),AWt=us().attributes,MWt=Ho(),SWt=Vl(),{hovertemplateAttrs:EWt,texttemplateAttrs:kWt,templatefallbackAttrs:HPe}=Ga(),d2=tn().extendFlat,CWt=Du().pattern,zP=MWt({editType:"plot",arrayOk:!0,colorEditType:"plot"});jPe.exports={labels:{valType:"data_array",editType:"calc"},label0:{valType:"number",dflt:0,editType:"calc"},dlabel:{valType:"number",dflt:1,editType:"calc"},values:{valType:"data_array",editType:"calc"},marker:{colors:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:SWt.defaultLine,arrayOk:!0,editType:"style"},width:{valType:"number",min:0,dflt:0,arrayOk:!0,editType:"style"},editType:"calc"},pattern:CWt,editType:"calc"},text:{valType:"data_array",editType:"plot"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"style"},scalegroup:{valType:"string",dflt:"",editType:"calc"},textinfo:{valType:"flaglist",flags:["label","text","value","percent"],extras:["none"],editType:"calc"},hoverinfo:d2({},RP.hoverinfo,{flags:["label","text","value","percent","name"]}),hovertemplate:EWt({},{keys:["label","color","value","percent","text"]}),hovertemplatefallback:HPe(),texttemplate:kWt({editType:"plot"},{keys:["label","color","value","percent","text"]}),texttemplatefallback:HPe({editType:"plot"}),textposition:{valType:"enumerated",values:["inside","outside","auto","none"],dflt:"auto",arrayOk:!0,editType:"plot"},textfont:d2({},zP,{}),insidetextorientation:{valType:"enumerated",values:["horizontal","radial","tangential","auto"],dflt:"auto",editType:"plot"},insidetextfont:d2({},zP,{}),outsidetextfont:d2({},zP,{}),automargin:{valType:"boolean",dflt:!1,editType:"plot"},showlegend:d2({},RP.showlegend,{arrayOk:!0}),legend:d2({},RP.legend,{arrayOk:!0}),legendrank:d2({},RP.legendrank,{arrayOk:!0}),title:{text:{valType:"string",dflt:"",editType:"plot"},font:d2({},zP,{}),position:{valType:"enumerated",values:["top left","top center","top right","middle center","bottom left","bottom center","bottom right"],editType:"plot"},editType:"plot"},domain:AWt({name:"pie",trace:!0,editType:"calc"}),hole:{valType:"number",min:0,max:1,dflt:0,editType:"calc"},sort:{valType:"boolean",dflt:!0,editType:"calc"},direction:{valType:"enumerated",values:["clockwise","counterclockwise"],dflt:"counterclockwise",editType:"calc"},rotation:{valType:"angle",dflt:0,editType:"calc"},pull:{valType:"number",min:0,max:1,dflt:0,arrayOk:!0,editType:"calc"}}});var ab=W((dUr,YPe)=>{"use strict";var DWt=sn(),OS=it(),FWt=nb(),LWt=us().defaults,PWt=E0().handleText,IWt=it().coercePattern;function $Pe(e,t){var r=OS.isArrayOrTypedArray(e),i=OS.isArrayOrTypedArray(t),n=Math.min(r?e.length:1/0,i?t.length:1/0);if(isFinite(n)||(n=0),n&&i){for(var a,o=0;o0){a=!0;break}}a||(n=0)}return{hasLabels:r,hasValues:i,len:n}}function WPe(e,t,r,i,n){var a=i("marker.line.width");a&&i("marker.line.color",n?void 0:r.paper_bgcolor);var o=i("marker.colors");IWt(i,"marker.pattern",o),e.marker&&!t.marker.pattern.fgcolor&&(t.marker.pattern.fgcolor=e.marker.colors),t.marker.pattern.bgcolor||(t.marker.pattern.bgcolor=r.paper_bgcolor)}function RWt(e,t,r,i){function n(w,b){return OS.coerce(e,t,FWt,w,b)}var a=n("labels"),o=n("values"),s=$Pe(a,o),l=s.len;if(t._hasLabels=s.hasLabels,t._hasValues=s.hasValues,!t._hasLabels&&t._hasValues&&(n("label0"),n("dlabel")),!l){t.visible=!1;return}t._length=l,WPe(e,t,i,n,!0),n("scalegroup");var u=n("text"),c=n("texttemplate");n("texttemplatefallback");var f;if(c||(f=n("textinfo",OS.isArrayOrTypedArray(u)?"text+percent":"percent")),n("hovertext"),n("hovertemplate"),n("hovertemplatefallback"),c||f&&f!=="none"){var h=n("textposition");PWt(e,t,i,n,h,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1});var d=Array.isArray(h)||h==="auto",p=d||h==="outside";p&&n("automargin"),(h==="inside"||h==="auto"||Array.isArray(h))&&n("insidetextorientation")}else f==="none"&&n("textposition","none");LWt(t,i,n);var v=n("hole"),m=n("title.text");if(m){var g=n("title.position",v?"middle center":"top center");!v&&g==="middle center"&&(t.title.position="top center"),OS.coerceFont(n,"title.font",i.font)}n("sort"),n("direction"),n("rotation"),n("pull")}YPe.exports={handleLabelsAndValues:$Pe,handleMarkerDefaults:WPe,supplyDefaults:RWt}});var BP=W((pUr,XPe)=>{"use strict";XPe.exports={hiddenlabels:{valType:"data_array",editType:"calc"},piecolorway:{valType:"colorlist",editType:"calc"},extendpiecolors:{valType:"boolean",dflt:!0,editType:"calc"}}});var KPe=W((vUr,ZPe)=>{"use strict";var zWt=it(),BWt=BP();ZPe.exports=function(t,r){function i(n,a){return zWt.coerce(t,r,BWt,n,a)}i("hiddenlabels"),i("piecolorway",r.colorway),i("extendpiecolors")}});var a4=W((gUr,eIe)=>{"use strict";var qWt=sn(),n4=ni(),OWt={};function NWt(e,t){var r=[],i=e._fullLayout,n=i.hiddenlabels||[],a=t.labels,o=t.marker.colors||[],s=t.values,l=t._length,u=t._hasValues&&l,c,f;if(t.dlabel)for(a=new Array(l),c=0;c=0});var _=t.type==="funnelarea"?v:t.sort;return _&&r.sort(function(M,x){return x.v-M.v}),r[0]&&(r[0].vTotal=p),r}function JPe(e){return function(r,i){if(!r||!n4.isValid(r))return!1;let n=n4.rgbaString(r);return e[i]||(e[i]=n),n}}function UWt(e,t){var r=(t||{}).type;r||(r="pie");var i=e._fullLayout,n=e.calcdata,a=i[r+"colorway"],o=i["_"+r+"colormap"];i["extend"+r+"colors"]&&(a=QPe(a,OWt));for(var s=0,l=0;l{"use strict";var VWt=Kf().appendArrayMultiPointValues;tIe.exports=function(t,r){var i={curveNumber:r.index,pointNumbers:t.pts,data:r._input,fullData:r,label:t.label,color:t.color,value:t.v,percent:t.percent,text:t.text,bbox:t.bbox,v:t.v};return t.pts.length===1&&(i.pointNumber=i.i=t.pts[0]),VWt(i,r,t.pts),r.type==="funnelarea"&&(delete i.v,delete i.i),i}});var UP=W((yUr,TIe)=>{"use strict";var jh=vi(),GWt=Ko(),qP=Ds(),lIe=ni(),tm=Ji(),kc=it(),HWt=kc.strScale,iIe=kc.strTranslate,OZ=uo(),uIe=Qc(),jWt=uIe.recordMinTextSize,$Wt=uIe.clearMinTextSize,cIe=Uy().TEXTPAD,Ln=Ly(),OP=rIe(),nIe=it().isValidTextValue;function WWt(e,t){var r=e._context.staticPlot,i=e._fullLayout,n=i._size;$Wt("pie",i),dIe(t,e),_Ie(t,n);var a=kc.makeTraceGroups(i._pielayer,t,"trace").each(function(o){var s=jh.select(this),l=o[0],u=l.trace;rYt(o),s.attr("stroke-linejoin","round"),s.each(function(){var c=jh.select(this).selectAll("g.slice").data(o);c.enter().append("g").classed("slice",!0),c.exit().remove();var f=[[[],[]],[[],[]]],h=!1;c.each(function(_,M){if(_.hidden){jh.select(this).selectAll("path,g").remove();return}_.pointNumber=_.i,_.curveNumber=u.index,f[_.pxmid[1]<0?0:1][_.pxmid[0]<0?0:1].push(_);var x=l.cx,T=l.cy,A=jh.select(this),y=A.selectAll("path.surface").data([_]);if(y.enter().append("path").classed("surface",!0).style({"pointer-events":r?"none":"all"}),A.call(fIe,e,o),u.pull){var E=+Ln.castOption(u.pull,_.pts)||0;E>0&&(x+=E*_.pxmid[0],T+=E*_.pxmid[1])}_.cxFinal=x,_.cyFinal=T;function S(L,I,B,O){var $=O*(I[0]-L[0]),Y=O*(I[1]-L[1]);return"a"+O*l.r+","+O*l.r+" 0 "+_.largeArc+(B?" 1 ":" 0 ")+$+","+Y}var C=u.hole;if(_.v===l.vTotal){var k="M"+(x+_.px0[0])+","+(T+_.px0[1])+S(_.px0,_.pxmid,!0,1)+S(_.pxmid,_.px0,!0,1)+"Z";C?y.attr("d","M"+(x+C*_.px0[0])+","+(T+C*_.px0[1])+S(_.px0,_.pxmid,!1,C)+S(_.pxmid,_.px0,!1,C)+"Z"+k):y.attr("d",k)}else{var D=S(_.px0,_.px1,!0,1);if(C){var F=1-C;y.attr("d","M"+(x+C*_.px1[0])+","+(T+C*_.px1[1])+S(_.px1,_.px0,!1,C)+"l"+F*_.px0[0]+","+F*_.px0[1]+D+"Z")}else y.attr("d","M"+x+","+T+"l"+_.px0[0]+","+_.px0[1]+D+"Z")}bIe(e,_,l);var P=Ln.castOption(u.textposition,_.pts),R=A.selectAll("g.slicetext").data(_.text&&P!=="none"?[0]:[]);R.enter().append("g").classed("slicetext",!0),R.exit().remove(),R.each(function(){var L=kc.ensureSingle(jh.select(this),"text","",function(q){q.attr("data-notex",1)}),I=kc.ensureUniformFontSize(e,P==="outside"?XWt(u,_,i.font):hIe(u,_,i.font));L.text(_.text).attr({class:"slicetext",transform:"","text-anchor":"middle"}).call(tm.font,I).call(OZ.convertToTspans,e);var B=tm.bBox(L.node()),O;if(P==="outside")O=sIe(B,_);else if(O=pIe(B,_,l),P==="auto"&&O.scale<1){var $=kc.ensureUniformFontSize(e,u.outsidetextfont);L.call(tm.font,$),B=tm.bBox(L.node()),O=sIe(B,_)}var Y=O.textPosAngle,K=Y===void 0?_.pxmid:NP(l.r,Y);if(O.targetX=x+K[0]*O.rCenter+(O.x||0),O.targetY=T+K[1]*O.rCenter+(O.y||0),wIe(O,B),O.outside){var j=O.targetY;_.yLabelMin=j-B.height/2,_.yLabelMid=j,_.yLabelMax=j+B.height/2,_.labelExtraX=0,_.labelExtraY=0,h=!0}O.fontSize=I.size,jWt(u.type,O,i),o[M].transform=O,kc.setTransormAndDisplay(L,O)})});var d=jh.select(this).selectAll("g.titletext").data(u.title.text?[0]:[]);if(d.enter().append("g").classed("titletext",!0),d.exit().remove(),d.each(function(){var _=kc.ensureSingle(jh.select(this),"text","",function(T){T.attr("data-notex",1)}),M=u.title.text;u._meta&&(M=kc.templateString(M,u._meta)),_.text(M).attr({class:"titletext",transform:"","text-anchor":"middle"}).call(tm.font,u.title.font).call(OZ.convertToTspans,e);var x;u.title.position==="middle center"?x=JWt(l):x=yIe(l,n),_.attr("transform",iIe(x.x,x.y)+HWt(Math.min(1,x.scale))+iIe(x.tx,x.ty))}),h&&eYt(f,u),YWt(c,u),h&&u.automargin){var p=tm.bBox(s.node()),v=u.domain,m=n.w*(v.x[1]-v.x[0]),g=n.h*(v.y[1]-v.y[0]),w=(.5*m-l.r)/n.w,b=(.5*g-l.r)/n.h;GWt.autoMargin(e,"pie."+u.uid+".automargin",{xl:v.x[0]-w,xr:v.x[1]+w,yb:v.y[0]-b,yt:v.y[1]+b,l:Math.max(l.cx-l.r-p.left,0),r:Math.max(p.right-(l.cx+l.r),0),b:Math.max(p.bottom-(l.cy+l.r),0),t:Math.max(l.cy-l.r-p.top,0),pad:5})}})});setTimeout(function(){a.selectAll("tspan").each(function(){var o=jh.select(this);o.attr("dy")&&o.attr("dy",o.attr("dy"))})},0)}function YWt(e,t){e.each(function(r){var i=jh.select(this);if(!r.labelExtraX&&!r.labelExtraY){i.select("path.textline").remove();return}var n=i.select("g.slicetext text");r.transform.targetX+=r.labelExtraX,r.transform.targetY+=r.labelExtraY,kc.setTransormAndDisplay(n,r.transform);var a=r.cxFinal+r.pxmid[0],o=r.cyFinal+r.pxmid[1],s="M"+a+","+o,l=(r.yLabelMax-r.yLabelMin)*(r.pxmid[0]<0?-1:1)/4;if(r.labelExtraX){var u=r.labelExtraX*r.pxmid[1]/r.pxmid[0],c=r.yLabelMid+r.labelExtraY-(r.cyFinal+r.pxmid[1]);Math.abs(u)>Math.abs(c)?s+="l"+c*r.pxmid[0]/r.pxmid[1]+","+c+"H"+(a+r.labelExtraX+l):s+="l"+r.labelExtraX+","+u+"v"+(c-u)+"h"+l}else s+="V"+(r.yLabelMid+r.labelExtraY)+"h"+l;kc.ensureSingle(i,"path","textline").call(lIe.stroke,t.outsidetextfont.color).attr({"stroke-width":Math.min(2,t.outsidetextfont.size/8),d:s,fill:"none"})})}function fIe(e,t,r){var i=r[0],n=i.cx,a=i.cy,o=i.trace,s=o.type==="funnelarea";"_hasHoverLabel"in o||(o._hasHoverLabel=!1),"_hasHoverEvent"in o||(o._hasHoverEvent=!1),e.on("mouseover",function(l){var u=t._fullLayout,c=t._fullData[o.index];if(!(t._dragging||u.hovermode===!1)){var f=c.hoverinfo;if(Array.isArray(f)&&(f=qP.castHoverinfo({hoverinfo:[Ln.castOption(f,l.pts)],_module:o._module},u,0)),f==="all"&&(f="label+text+value+percent+name"),c.hovertemplate||f!=="none"&&f!=="skip"&&f){var h=l.rInscribed||0,d=n+l.pxmid[0]*(1-h),p=a+l.pxmid[1]*(1-h),v=u.separators,m=[];if(f&&f.indexOf("label")!==-1&&m.push(l.label),l.text=Ln.castOption(c.hovertext||c.text,l.pts),f&&f.indexOf("text")!==-1){var g=l.text;kc.isValidTextValue(g)&&m.push(g)}l.value=l.v,l.valueLabel=Ln.formatPieValue(l.v,v),f&&f.indexOf("value")!==-1&&m.push(l.valueLabel),l.percent=l.v/i.vTotal,l.percentLabel=Ln.formatPiePercent(l.percent,v),f&&f.indexOf("percent")!==-1&&m.push(l.percentLabel);var w=c.hoverlabel,b=w.font,_=[];qP.loneHover({trace:o,x0:d-h*i.r,x1:d+h*i.r,y:p,_x0:s?n+l.TL[0]:d-h*i.r,_x1:s?n+l.TR[0]:d+h*i.r,_y0:s?a+l.TL[1]:p-h*i.r,_y1:s?a+l.BL[1]:p+h*i.r,text:m.join("
"),name:c.hovertemplate||f.indexOf("name")!==-1?c.name:void 0,idealAlign:l.pxmid[0]<0?"left":"right",color:Ln.castOption(w.bgcolor,l.pts)||l.color,borderColor:Ln.castOption(w.bordercolor,l.pts),fontFamily:Ln.castOption(b.family,l.pts),fontSize:Ln.castOption(b.size,l.pts),fontColor:Ln.castOption(b.color,l.pts),nameLength:Ln.castOption(w.namelength,l.pts),textAlign:Ln.castOption(w.align,l.pts),hovertemplate:Ln.castOption(c.hovertemplate,l.pts),hovertemplateLabels:l,eventData:[OP(l,c)]},{container:u._hoverlayer.node(),outerContainer:u._paper.node(),gd:t,inOut_bbox:_}),l.bbox=_[0],o._hasHoverLabel=!0}o._hasHoverEvent=!0,t.emit("plotly_hover",{points:[OP(l,c)],event:jh.event})}}),e.on("mouseout",function(l){var u=t._fullLayout,c=t._fullData[o.index],f=jh.select(this).datum();o._hasHoverEvent&&(l.originalEvent=jh.event,t.emit("plotly_unhover",{points:[OP(f,c)],event:jh.event}),o._hasHoverEvent=!1),o._hasHoverLabel&&(qP.loneUnhover(u._hoverlayer.node()),o._hasHoverLabel=!1)}),e.on("click",function(l){var u=t._fullLayout,c=t._fullData[o.index];t._dragging||u.hovermode===!1||(t._hoverdata=[OP(l,c)],qP.click(t,jh.event))})}function XWt(e,t,r){var i=Ln.castOption(e.outsidetextfont.color,t.pts)||Ln.castOption(e.textfont.color,t.pts)||r.color,n=Ln.castOption(e.outsidetextfont.family,t.pts)||Ln.castOption(e.textfont.family,t.pts)||r.family,a=Ln.castOption(e.outsidetextfont.size,t.pts)||Ln.castOption(e.textfont.size,t.pts)||r.size,o=Ln.castOption(e.outsidetextfont.weight,t.pts)||Ln.castOption(e.textfont.weight,t.pts)||r.weight,s=Ln.castOption(e.outsidetextfont.style,t.pts)||Ln.castOption(e.textfont.style,t.pts)||r.style,l=Ln.castOption(e.outsidetextfont.variant,t.pts)||Ln.castOption(e.textfont.variant,t.pts)||r.variant,u=Ln.castOption(e.outsidetextfont.textcase,t.pts)||Ln.castOption(e.textfont.textcase,t.pts)||r.textcase,c=Ln.castOption(e.outsidetextfont.lineposition,t.pts)||Ln.castOption(e.textfont.lineposition,t.pts)||r.lineposition,f=Ln.castOption(e.outsidetextfont.shadow,t.pts)||Ln.castOption(e.textfont.shadow,t.pts)||r.shadow;return{color:i,family:n,size:a,weight:o,style:s,variant:l,textcase:u,lineposition:c,shadow:f}}function hIe(e,t,r){var i=Ln.castOption(e.insidetextfont.color,t.pts);!i&&e._input.textfont&&(i=Ln.castOption(e._input.textfont.color,t.pts));var n=Ln.castOption(e.insidetextfont.family,t.pts)||Ln.castOption(e.textfont.family,t.pts)||r.family,a=Ln.castOption(e.insidetextfont.size,t.pts)||Ln.castOption(e.textfont.size,t.pts)||r.size,o=Ln.castOption(e.insidetextfont.weight,t.pts)||Ln.castOption(e.textfont.weight,t.pts)||r.weight,s=Ln.castOption(e.insidetextfont.style,t.pts)||Ln.castOption(e.textfont.style,t.pts)||r.style,l=Ln.castOption(e.insidetextfont.variant,t.pts)||Ln.castOption(e.textfont.variant,t.pts)||r.variant,u=Ln.castOption(e.insidetextfont.textcase,t.pts)||Ln.castOption(e.textfont.textcase,t.pts)||r.textcase,c=Ln.castOption(e.insidetextfont.lineposition,t.pts)||Ln.castOption(e.textfont.lineposition,t.pts)||r.lineposition,f=Ln.castOption(e.insidetextfont.shadow,t.pts)||Ln.castOption(e.textfont.shadow,t.pts)||r.shadow;return{color:i||lIe.contrast(t.color),family:n,size:a,weight:o,style:s,variant:l,textcase:u,lineposition:c,shadow:f}}function dIe(e,t){for(var r,i,n=0;n=-4;w-=2)g(Math.PI*w,"tan");for(w=4;w>=-4;w-=2)g(Math.PI*(w+1),"tan")}if(f||d){for(w=4;w>=-4;w-=2)g(Math.PI*(w+1.5),"rad");for(w=4;w>=-4;w-=2)g(Math.PI*(w+.5),"rad")}}if(s||p||f){var b=Math.sqrt(e.width*e.width+e.height*e.height);if(m={scale:n*i*2/b,rCenter:1-n,rotate:0},m.textPosAngle=(t.startangle+t.stopangle)/2,m.scale>=1)return m;v.push(m)}(p||d)&&(m=aIe(e,i,o,l,u),m.textPosAngle=(t.startangle+t.stopangle)/2,v.push(m)),(p||h)&&(m=oIe(e,i,o,l,u),m.textPosAngle=(t.startangle+t.stopangle)/2,v.push(m));for(var _=0,M=0,x=0;x=1)break}return v[_]}function ZWt(e,t){var r=e.startangle,i=e.stopangle;return r>t&&t>i||r0?1:-1)/2,y:a/(1+r*r/(i*i)),outside:!0}}function JWt(e){var t=Math.sqrt(e.titleBox.width*e.titleBox.width+e.titleBox.height*e.titleBox.height);return{x:e.cx,y:e.cy,scale:e.trace.hole*e.r*2/t,tx:0,ty:-e.titleBox.height/2+e.trace.title.font.size}}function yIe(e,t){var r=1,i=1,n,a=e.trace,o={x:e.cx,y:e.cy},s={tx:0,ty:0};s.ty+=a.title.font.size,n=xIe(a),a.title.position.indexOf("top")!==-1?(o.y-=(1+n)*e.r,s.ty-=e.titleBox.height):a.title.position.indexOf("bottom")!==-1&&(o.y+=(1+n)*e.r);var l=QWt(e.r,e.trace.aspectratio),u=t.w*(a.domain.x[1]-a.domain.x[0])/2;return a.title.position.indexOf("left")!==-1?(u=u+l,o.x-=(1+n)*l,s.tx+=e.titleBox.width/2):a.title.position.indexOf("center")!==-1?u*=2:a.title.position.indexOf("right")!==-1&&(u=u+l,o.x+=(1+n)*l,s.tx-=e.titleBox.width/2),r=u/e.titleBox.width,i=NZ(e,t)/e.titleBox.height,{x:o.x,y:o.y,scale:Math.min(r,i),tx:s.tx,ty:s.ty}}function QWt(e,t){return e/(t===void 0?1:t)}function NZ(e,t){var r=e.trace,i=t.h*(r.domain.y[1]-r.domain.y[0]);return Math.min(e.titleBox.height,i/2)}function xIe(e){var t=e.pull;if(!t)return 0;var r;if(kc.isArrayOrTypedArray(t))for(t=0,r=0;rt&&(t=e.pull[r]);return t}function eYt(e,t){var r,i,n,a,o,s,l,u,c,f,h,d,p;function v(b,_){return b.pxmid[1]-_.pxmid[1]}function m(b,_){return _.pxmid[1]-b.pxmid[1]}function g(b,_){_||(_={});var M=_.labelExtraY+(i?_.yLabelMax:_.yLabelMin),x=i?b.yLabelMin:b.yLabelMax,T=i?b.yLabelMax:b.yLabelMin,A=b.cyFinal+o(b.px0[1],b.px1[1]),y=M-x,E,S,C,k,D,F;if(y*l>0&&(b.labelExtraY=y),!!kc.isArrayOrTypedArray(t.pull))for(S=0;S=(Ln.castOption(t.pull,C.pts)||0))&&((b.pxmid[1]-C.pxmid[1])*l>0?(k=C.cyFinal+o(C.px0[1],C.px1[1]),y=k-x-b.labelExtraY,y*l>0&&(b.labelExtraY+=y)):(T+b.labelExtraY-A)*l>0&&(E=3*s*Math.abs(S-f.indexOf(b)),D=C.cxFinal+a(C.px0[0],C.px1[0]),F=D+E-(b.cxFinal+b.pxmid[0])-b.labelExtraX,F*s>0&&(b.labelExtraX+=F)))}for(i=0;i<2;i++)for(n=i?v:m,o=i?Math.max:Math.min,l=i?1:-1,r=0;r<2;r++){for(a=r?Math.max:Math.min,s=r?1:-1,u=e[i][r],u.sort(n),c=e[1-i][r],f=c.concat(u),d=[],h=0;h1?(u=r.r,c=u/n.aspectratio):(c=r.r,u=c*n.aspectratio),u*=(1+n.baseratio)/2,l=u*c}o=Math.min(o,l/r.vTotal)}for(i=0;it.vTotal/2?1:0,u.halfangle=Math.PI*Math.min(u.v/t.vTotal,.5),u.ring=1-i.hole,u.rInscribed=KWt(u,t))}function NP(e,t){return[e*Math.sin(t),-e*Math.cos(t)]}function bIe(e,t,r){var i=e._fullLayout,n=r.trace,a=n.texttemplate,o=n.textinfo;if(!a&&o&&o!=="none"){var s=o.split("+"),l=function(_){return s.indexOf(_)!==-1},u=l("label"),c=l("text"),f=l("value"),h=l("percent"),d=i.separators,p;if(p=u?[t.label]:[],c){var v=Ln.getFirstFilled(n.text,t.pts);nIe(v)&&p.push(v)}f&&p.push(Ln.formatPieValue(t.v,d)),h&&p.push(Ln.formatPiePercent(t.v/r.vTotal,d)),t.text=p.join("
")}function m(_){return{label:_.label,value:_.v,valueLabel:Ln.formatPieValue(_.v,i.separators),percent:_.v/r.vTotal,percentLabel:Ln.formatPiePercent(_.v/r.vTotal,i.separators),color:_.color,text:_.text,customdata:kc.castOption(n,_.i,"customdata")}}if(a){var g=kc.castOption(n,t.i,"texttemplate");if(!g)t.text="";else{var w=m(t),b=Ln.getFirstFilled(n.text,t.pts);(nIe(b)||b==="")&&(w.text=b),t.text=kc.texttemplateString({data:[w,n._meta],fallback:n.texttemplatefallback,labels:w,locale:e._fullLayout._d3locale,template:g})}}}function wIe(e,t){var r=e.rotate*Math.PI/180,i=Math.cos(r),n=Math.sin(r),a=(t.left+t.right)/2,o=(t.top+t.bottom)/2;e.textX=a*i-o*n,e.textY=a*n+o*i,e.noCenter=!0}TIe.exports={plot:WWt,formatSliceLabel:bIe,transformInsideText:pIe,determineInsideTextFont:hIe,positionTitleOutside:yIe,prerenderTitles:dIe,layoutAreas:_Ie,attachFxHandlers:fIe,computeTransform:wIe}});var SIe=W((xUr,MIe)=>{"use strict";var AIe=vi(),iYt=Sw(),nYt=Qc().resizeText;MIe.exports=function(t){var r=t._fullLayout._pielayer.selectAll(".trace");nYt(t,r,"pie"),r.each(function(i){var n=i[0],a=n.trace,o=AIe.select(this);o.style({opacity:a.opacity}),o.selectAll("path.surface").each(function(s){AIe.select(this).call(iYt,s,a,t)})})}});var kIe=W(o4=>{"use strict";var EIe=Ko();o4.name="pie";o4.plot=function(e,t,r,i){EIe.plotBasePlot(o4.name,e,t,r,i)};o4.clean=function(e,t,r,i){EIe.cleanBasePlot(o4.name,e,t,r,i)}});var DIe=W((bUr,CIe)=>{"use strict";CIe.exports={attributes:nb(),supplyDefaults:ab().supplyDefaults,supplyLayoutDefaults:KPe(),layoutAttributes:BP(),calc:a4().calc,crossTraceCalc:a4().crossTraceCalc,plot:UP().plot,style:SIe(),styleOne:Sw(),moduleType:"trace",name:"pie",basePlotModule:kIe(),categories:["pie-like","pie","showLegend"],meta:{}}});var LIe=W((wUr,FIe)=>{"use strict";FIe.exports=DIe()});var IIe=W(s4=>{"use strict";var PIe=Ko();s4.name="sunburst";s4.plot=function(e,t,r,i){PIe.plotBasePlot(s4.name,e,t,r,i)};s4.clean=function(e,t,r,i){PIe.cleanBasePlot(s4.name,e,t,r,i)}});var UZ=W((AUr,RIe)=>{"use strict";RIe.exports={CLICK_TRANSITION_TIME:750,CLICK_TRANSITION_EASING:"linear",eventDataKeys:["currentPath","root","entry","percentRoot","percentEntry","percentParent"]}});var US=W((MUr,qIe)=>{"use strict";var aYt=Wa(),{hovertemplateAttrs:oYt,texttemplateAttrs:sYt,templatefallbackAttrs:zIe}=Ga(),lYt=Eo(),uYt=us().attributes,rm=nb(),BIe=UZ(),NS=tn().extendFlat,cYt=Du().pattern;qIe.exports={labels:{valType:"data_array",editType:"calc"},parents:{valType:"data_array",editType:"calc"},values:{valType:"data_array",editType:"calc"},branchvalues:{valType:"enumerated",values:["remainder","total"],dflt:"remainder",editType:"calc"},count:{valType:"flaglist",flags:["branches","leaves"],dflt:"leaves",editType:"calc"},level:{valType:"any",editType:"plot",anim:!0},maxdepth:{valType:"integer",editType:"plot",dflt:-1},marker:NS({colors:{valType:"data_array",editType:"calc"},line:{color:NS({},rm.marker.line.color,{dflt:null}),width:NS({},rm.marker.line.width,{dflt:1}),editType:"calc"},pattern:cYt,editType:"calc"},lYt("marker",{colorAttr:"colors",anim:!1})),leaf:{opacity:{valType:"number",editType:"style",min:0,max:1},editType:"plot"},text:rm.text,textinfo:{valType:"flaglist",flags:["label","text","value","current path","percent root","percent entry","percent parent"],extras:["none"],editType:"plot"},texttemplate:sYt({editType:"plot"},{keys:BIe.eventDataKeys.concat(["label","value"])}),texttemplatefallback:zIe({editType:"plot"}),hovertext:rm.hovertext,hoverinfo:NS({},aYt.hoverinfo,{flags:["label","text","value","name","current path","percent root","percent entry","percent parent"],dflt:"label+text+value+name"}),hovertemplate:oYt({},{keys:BIe.eventDataKeys}),hovertemplatefallback:zIe(),textfont:rm.textfont,insidetextorientation:rm.insidetextorientation,insidetextfont:rm.insidetextfont,outsidetextfont:NS({},rm.outsidetextfont,{}),rotation:{valType:"angle",dflt:0,editType:"plot"},sort:rm.sort,root:{color:{valType:"color",editType:"calc",dflt:"rgba(0,0,0,0)"},editType:"calc"},domain:uYt({name:"sunburst",trace:!0,editType:"calc"})}});var VZ=W((SUr,OIe)=>{"use strict";OIe.exports={sunburstcolorway:{valType:"colorlist",editType:"calc"},extendsunburstcolors:{valType:"boolean",dflt:!0,editType:"calc"}}});var GIe=W((EUr,VIe)=>{"use strict";var NIe=it(),fYt=US(),hYt=us().defaults,dYt=E0().handleText,pYt=ab().handleMarkerDefaults,UIe=Jo(),vYt=UIe.hasColorscale,gYt=UIe.handleDefaults;VIe.exports=function(t,r,i,n){function a(h,d){return NIe.coerce(t,r,fYt,h,d)}var o=a("labels"),s=a("parents");if(!o||!o.length||!s||!s.length){r.visible=!1;return}var l=a("values");l&&l.length?a("branchvalues"):a("count"),a("level"),a("maxdepth"),pYt(t,r,n,a);var u=r._hasColorscale=vYt(t,"marker","colors")||(t.marker||{}).coloraxis;u&&gYt(t,r,n,a,{prefix:"marker.",cLetter:"c"}),a("leaf.opacity",u?1:.7);var c=a("text");a("texttemplate"),a("texttemplatefallback"),r.texttemplate||a("textinfo",NIe.isArrayOrTypedArray(c)?"text+label":"label"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var f="auto";dYt(t,r,n,a,f,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1}),a("insidetextorientation"),a("sort"),a("rotation"),a("root.color"),hYt(r,n,a),r._length=null}});var jIe=W((kUr,HIe)=>{"use strict";var mYt=it(),yYt=VZ();HIe.exports=function(t,r){function i(n,a){return mYt.coerce(t,r,yYt,n,a)}i("sunburstcolorway",r.colorway),i("extendsunburstcolors")}});var VS=W((VP,$Ie)=>{(function(e,t){typeof VP=="object"&&typeof $Ie!="undefined"?t(VP):(e=e||self,t(e.d3=e.d3||{}))})(VP,function(e){"use strict";function t(Ne,Ue){return Ne.parent===Ue.parent?1:2}function r(Ne){return Ne.reduce(i,0)/Ne.length}function i(Ne,Ue){return Ne+Ue.x}function n(Ne){return 1+Ne.reduce(a,0)}function a(Ne,Ue){return Math.max(Ne,Ue.y)}function o(Ne){for(var Ue;Ue=Ne.children;)Ne=Ue[0];return Ne}function s(Ne){for(var Ue;Ue=Ne.children;)Ne=Ue[Ue.length-1];return Ne}function l(){var Ne=t,Ue=1,Ge=1,je=!1;function Re(Ve){var ct,Tt=0;Ve.eachAfter(function(Bt){var Zt=Bt.children;Zt?(Bt.x=r(Zt),Bt.y=n(Zt)):(Bt.x=ct?Tt+=Ne(Bt,ct):0,Bt.y=0,ct=Bt)});var Xt=o(Ve),Vt=s(Ve),lr=Xt.x-Ne(Xt,Vt)/2,ur=Vt.x+Ne(Vt,Xt)/2;return Ve.eachAfter(je?function(Bt){Bt.x=(Bt.x-Ve.x)*Ue,Bt.y=(Ve.y-Bt.y)*Ge}:function(Bt){Bt.x=(Bt.x-lr)/(ur-lr)*Ue,Bt.y=(1-(Ve.y?Bt.y/Ve.y:1))*Ge})}return Re.separation=function(Ve){return arguments.length?(Ne=Ve,Re):Ne},Re.size=function(Ve){return arguments.length?(je=!1,Ue=+Ve[0],Ge=+Ve[1],Re):je?null:[Ue,Ge]},Re.nodeSize=function(Ve){return arguments.length?(je=!0,Ue=+Ve[0],Ge=+Ve[1],Re):je?[Ue,Ge]:null},Re}function u(Ne){var Ue=0,Ge=Ne.children,je=Ge&&Ge.length;if(!je)Ue=1;else for(;--je>=0;)Ue+=Ge[je].value;Ne.value=Ue}function c(){return this.eachAfter(u)}function f(Ne){var Ue=this,Ge,je=[Ue],Re,Ve,ct;do for(Ge=je.reverse(),je=[];Ue=Ge.pop();)if(Ne(Ue),Re=Ue.children,Re)for(Ve=0,ct=Re.length;Ve=0;--Re)Ge.push(je[Re]);return this}function d(Ne){for(var Ue=this,Ge=[Ue],je=[],Re,Ve,ct;Ue=Ge.pop();)if(je.push(Ue),Re=Ue.children,Re)for(Ve=0,ct=Re.length;Ve=0;)Ge+=je[Re].value;Ue.value=Ge})}function v(Ne){return this.eachBefore(function(Ue){Ue.children&&Ue.children.sort(Ne)})}function m(Ne){for(var Ue=this,Ge=g(Ue,Ne),je=[Ue];Ue!==Ge;)Ue=Ue.parent,je.push(Ue);for(var Re=je.length;Ne!==Ge;)je.splice(Re,0,Ne),Ne=Ne.parent;return je}function g(Ne,Ue){if(Ne===Ue)return Ne;var Ge=Ne.ancestors(),je=Ue.ancestors(),Re=null;for(Ne=Ge.pop(),Ue=je.pop();Ne===Ue;)Re=Ne,Ne=Ge.pop(),Ue=je.pop();return Re}function w(){for(var Ne=this,Ue=[Ne];Ne=Ne.parent;)Ue.push(Ne);return Ue}function b(){var Ne=[];return this.each(function(Ue){Ne.push(Ue)}),Ne}function _(){var Ne=[];return this.eachBefore(function(Ue){Ue.children||Ne.push(Ue)}),Ne}function M(){var Ne=this,Ue=[];return Ne.each(function(Ge){Ge!==Ne&&Ue.push({source:Ge.parent,target:Ge})}),Ue}function x(Ne,Ue){var Ge=new S(Ne),je=+Ne.value&&(Ge.value=Ne.value),Re,Ve=[Ge],ct,Tt,Xt,Vt;for(Ue==null&&(Ue=A);Re=Ve.pop();)if(je&&(Re.value=+Re.data.value),(Tt=Ue(Re.data))&&(Vt=Tt.length))for(Re.children=new Array(Vt),Xt=Vt-1;Xt>=0;--Xt)Ve.push(ct=Re.children[Xt]=new S(Tt[Xt])),ct.parent=Re,ct.depth=Re.depth+1;return Ge.eachBefore(E)}function T(){return x(this).eachBefore(y)}function A(Ne){return Ne.children}function y(Ne){Ne.data=Ne.data.data}function E(Ne){var Ue=0;do Ne.height=Ue;while((Ne=Ne.parent)&&Ne.height<++Ue)}function S(Ne){this.data=Ne,this.depth=this.height=0,this.parent=null}S.prototype=x.prototype={constructor:S,count:c,each:f,eachAfter:d,eachBefore:h,sum:p,sort:v,path:m,ancestors:w,descendants:b,leaves:_,links:M,copy:T};var C=Array.prototype.slice;function k(Ne){for(var Ue=Ne.length,Ge,je;Ue;)je=Math.random()*Ue--|0,Ge=Ne[Ue],Ne[Ue]=Ne[je],Ne[je]=Ge;return Ne}function D(Ne){for(var Ue=0,Ge=(Ne=k(C.call(Ne))).length,je=[],Re,Ve;Ue0&&Ge*Ge>je*je+Re*Re}function L(Ne,Ue){for(var Ge=0;GeXt?(Re=(Vt+Xt-Ve)/(2*Vt),Tt=Math.sqrt(Math.max(0,Xt/Vt-Re*Re)),Ge.x=Ne.x-Re*je-Tt*ct,Ge.y=Ne.y-Re*ct+Tt*je):(Re=(Vt+Ve-Xt)/(2*Vt),Tt=Math.sqrt(Math.max(0,Ve/Vt-Re*Re)),Ge.x=Ue.x+Re*je-Tt*ct,Ge.y=Ue.y+Re*ct+Tt*je)):(Ge.x=Ue.x+Ge.r,Ge.y=Ue.y)}function K(Ne,Ue){var Ge=Ne.r+Ue.r-1e-6,je=Ue.x-Ne.x,Re=Ue.y-Ne.y;return Ge>0&&Ge*Ge>je*je+Re*Re}function j(Ne){var Ue=Ne._,Ge=Ne.next._,je=Ue.r+Ge.r,Re=(Ue.x*Ge.r+Ge.x*Ue.r)/je,Ve=(Ue.y*Ge.r+Ge.y*Ue.r)/je;return Re*Re+Ve*Ve}function q(Ne){this._=Ne,this.next=null,this.previous=null}function J(Ne){if(!(Re=Ne.length))return 0;var Ue,Ge,je,Re,Ve,ct,Tt,Xt,Vt,lr,ur;if(Ue=Ne[0],Ue.x=0,Ue.y=0,!(Re>1))return Ue.r;if(Ge=Ne[1],Ue.x=-Ge.r,Ge.x=Ue.r,Ge.y=0,!(Re>2))return Ue.r+Ge.r;Y(Ge,Ue,je=Ne[2]),Ue=new q(Ue),Ge=new q(Ge),je=new q(je),Ue.next=je.previous=Ge,Ge.next=Ue.previous=je,je.next=Ge.previous=Ue;e:for(Tt=3;Tt0)throw new Error("cycle");return Tt}return Ge.id=function(je){return arguments.length?(Ne=X(je),Ge):Ne},Ge.parentId=function(je){return arguments.length?(Ue=X(je),Ge):Ue},Ge}function re(Ne,Ue){return Ne.parent===Ue.parent?1:2}function pe(Ne){var Ue=Ne.children;return Ue?Ue[0]:Ne.t}function we(Ne){var Ue=Ne.children;return Ue?Ue[Ue.length-1]:Ne.t}function Fe(Ne,Ue,Ge){var je=Ge/(Ue.i-Ne.i);Ue.c-=je,Ue.s+=Ge,Ne.c+=je,Ue.z+=Ge,Ue.m+=Ge}function Se(Ne){for(var Ue=0,Ge=0,je=Ne.children,Re=je.length,Ve;--Re>=0;)Ve=je[Re],Ve.z+=Ue,Ve.m+=Ue,Ue+=Ve.s+(Ge+=Ve.c)}function ke(Ne,Ue,Ge){return Ne.a.parent===Ue.parent?Ne.a:Ge}function _e(Ne,Ue){this._=Ne,this.parent=null,this.children=null,this.A=null,this.a=this,this.z=0,this.m=0,this.c=0,this.s=0,this.t=null,this.i=Ue}_e.prototype=Object.create(S.prototype);function Ie(Ne){for(var Ue=new _e(Ne,0),Ge,je=[Ue],Re,Ve,ct,Tt;Ge=je.pop();)if(Ve=Ge._.children)for(Ge.children=new Array(Tt=Ve.length),ct=Tt-1;ct>=0;--ct)je.push(Re=Ge.children[ct]=new _e(Ve[ct],ct)),Re.parent=Ge;return(Ue.parent=new _e(null,0)).children=[Ue],Ue}function Oe(){var Ne=re,Ue=1,Ge=1,je=null;function Re(Vt){var lr=Ie(Vt);if(lr.eachAfter(Ve),lr.parent.m=-lr.z,lr.eachBefore(ct),je)Vt.eachBefore(Xt);else{var ur=Vt,Bt=Vt,Zt=Vt;Vt.eachBefore(function(xt){xt.xBt.x&&(Bt=xt),xt.depth>Zt.depth&&(Zt=xt)});var kr=ur===Bt?1:Ne(ur,Bt)/2,$e=kr-ur.x,tt=Ue/(Bt.x+kr+$e),st=Ge/(Zt.depth||1);Vt.eachBefore(function(xt){xt.x=(xt.x+$e)*tt,xt.y=xt.depth*st})}return Vt}function Ve(Vt){var lr=Vt.children,ur=Vt.parent.children,Bt=Vt.i?ur[Vt.i-1]:null;if(lr){Se(Vt);var Zt=(lr[0].z+lr[lr.length-1].z)/2;Bt?(Vt.z=Bt.z+Ne(Vt._,Bt._),Vt.m=Vt.z-Zt):Vt.z=Zt}else Bt&&(Vt.z=Bt.z+Ne(Vt._,Bt._));Vt.parent.A=Tt(Vt,Bt,Vt.parent.A||ur[0])}function ct(Vt){Vt._.x=Vt.z+Vt.parent.m,Vt.m+=Vt.parent.m}function Tt(Vt,lr,ur){if(lr){for(var Bt=Vt,Zt=Vt,kr=lr,$e=Bt.parent.children[0],tt=Bt.m,st=Zt.m,xt=kr.m,Je=$e.m,Ct;kr=we(kr),Bt=pe(Bt),kr&&Bt;)$e=pe($e),Zt=we(Zt),Zt.a=Vt,Ct=kr.z+xt-Bt.z-tt+Ne(kr._,Bt._),Ct>0&&(Fe(ke(kr,Vt,ur),Vt,Ct),tt+=Ct,st+=Ct),xt+=kr.m,tt+=Bt.m,Je+=$e.m,st+=Zt.m;kr&&!we(Zt)&&(Zt.t=kr,Zt.m+=xt-st),Bt&&!pe($e)&&($e.t=Bt,$e.m+=tt-Je,ur=Vt)}return ur}function Xt(Vt){Vt.x*=Ue,Vt.y=Vt.depth*Ge}return Re.separation=function(Vt){return arguments.length?(Ne=Vt,Re):Ne},Re.size=function(Vt){return arguments.length?(je=!1,Ue=+Vt[0],Ge=+Vt[1],Re):je?null:[Ue,Ge]},Re.nodeSize=function(Vt){return arguments.length?(je=!0,Ue=+Vt[0],Ge=+Vt[1],Re):je?[Ue,Ge]:null},Re}function Qe(Ne,Ue,Ge,je,Re){for(var Ve=Ne.children,ct,Tt=-1,Xt=Ve.length,Vt=Ne.value&&(Re-Ge)/Ne.value;++Ttxt&&(xt=Vt),hr=tt*tt*ir,Je=Math.max(xt/hr,hr/st),Je>Ct){tt-=Vt;break}Ct=Je}ct.push(Xt={value:tt,dice:Zt1?je:1)},Ge})(et);function vt(){var Ne=ut,Ue=!1,Ge=1,je=1,Re=[0],Ve=H,ct=H,Tt=H,Xt=H,Vt=H;function lr(Bt){return Bt.x0=Bt.y0=0,Bt.x1=Ge,Bt.y1=je,Bt.eachBefore(ur),Re=[0],Ue&&Bt.eachBefore(be),Bt}function ur(Bt){var Zt=Re[Bt.depth],kr=Bt.x0+Zt,$e=Bt.y0+Zt,tt=Bt.x1-Zt,st=Bt.y1-Zt;tt=Bt-1){var xt=Ve[ur];xt.x0=kr,xt.y0=$e,xt.x1=tt,xt.y1=st;return}for(var Je=Vt[ur],Ct=Zt/2+Je,ir=ur+1,hr=Bt-1;ir>>1;Vt[Ur]st-$e){var Lr=(kr*ei+tt*si)/Zt;lr(ur,ir,si,kr,$e,Lr,st),lr(ir,Bt,ei,Lr,$e,tt,st)}else{var $i=($e*ei+st*si)/Zt;lr(ur,ir,si,kr,$e,tt,$i),lr(ir,Bt,ei,kr,$i,tt,st)}}}function mt(Ne,Ue,Ge,je,Re){(Ne.depth&1?Qe:he)(Ne,Ue,Ge,je,Re)}var bt=(function Ne(Ue){function Ge(je,Re,Ve,ct,Tt){if((Xt=je._squarify)&&Xt.ratio===Ue)for(var Xt,Vt,lr,ur,Bt=-1,Zt,kr=Xt.length,$e=je.value;++Bt1?je:1)},Ge})(et);e.cluster=l,e.hierarchy=x,e.pack=te,e.packEnclose=D,e.packSiblings=U,e.partition=oe,e.stratify=xe,e.tree=Oe,e.treemap=vt,e.treemapBinary=Xe,e.treemapDice=he,e.treemapResquarify=bt,e.treemapSlice=Qe,e.treemapSliceDice=mt,e.treemapSquarify=ut,Object.defineProperty(e,"__esModule",{value:!0})})});var HS=W(GS=>{"use strict";var WIe=VS(),xYt=sn(),l4=it(),_Yt=Jo().makeColorScaleFuncFromTrace,bYt=a4().makePullColorFn,wYt=a4().generateExtendedColors,TYt=Jo().calc,AYt=Kn().ALMOST_EQUAL,MYt={},SYt={},EYt={};GS.calc=function(e,t){var r=e._fullLayout,i=t.ids,n=l4.isArrayOrTypedArray(i),a=t.labels,o=t.parents,s=t.values,l=l4.isArrayOrTypedArray(s),u=[],c={},f={},h=function(R,L){c[R]?c[R].push(L):c[R]=[L],f[L]=1},d=function(R){return R||typeof R=="number"},p=function(R){return!l||xYt(s[R])&&s[R]>=0},v,m,g;n?(v=Math.min(i.length,o.length),m=function(R){return d(i[R])&&p(R)},g=function(R){return String(i[R])}):(v=Math.min(a.length,o.length),m=function(R){return d(a[R])&&p(R)},g=function(R){return String(a[R])}),l&&(v=Math.min(v,s.length));for(var w=0;w1){for(var A=l4.randstr(),y=0;y{});function I1(){}function ZIe(){return this.rgb().formatHex()}function RYt(){return this.rgb().formatHex8()}function zYt(){return iRe(this).formatHsl()}function KIe(){return this.rgb().formatRgb()}function g2(e){var t,r;return e=(e+"").trim().toLowerCase(),(t=kYt.exec(e))?(r=t[1].length,t=parseInt(t[1],16),r===6?JIe(t):r===3?new Bu(t>>8&15|t>>4&240,t>>4&15|t&240,(t&15)<<4|t&15,1):r===8?HP(t>>24&255,t>>16&255,t>>8&255,(t&255)/255):r===4?HP(t>>12&15|t>>8&240,t>>8&15|t>>4&240,t>>4&15|t&240,((t&15)<<4|t&15)/255):null):(t=CYt.exec(e))?new Bu(t[1],t[2],t[3],1):(t=DYt.exec(e))?new Bu(t[1]*255/100,t[2]*255/100,t[3]*255/100,1):(t=FYt.exec(e))?HP(t[1],t[2],t[3],t[4]):(t=LYt.exec(e))?HP(t[1]*255/100,t[2]*255/100,t[3]*255/100,t[4]):(t=PYt.exec(e))?tRe(t[1],t[2]/100,t[3]/100,1):(t=IYt.exec(e))?tRe(t[1],t[2]/100,t[3]/100,t[4]):XIe.hasOwnProperty(e)?JIe(XIe[e]):e==="transparent"?new Bu(NaN,NaN,NaN,0):null}function JIe(e){return new Bu(e>>16&255,e>>8&255,e&255,1)}function HP(e,t,r,i){return i<=0&&(e=t=r=NaN),new Bu(e,t,r,i)}function $S(e){return e instanceof I1||(e=g2(e)),e?(e=e.rgb(),new Bu(e.r,e.g,e.b,e.opacity)):new Bu}function c4(e,t,r,i){return arguments.length===1?$S(e):new Bu(e,t,r,i==null?1:i)}function Bu(e,t,r,i){this.r=+e,this.g=+t,this.b=+r,this.opacity=+i}function QIe(){return`#${ob(this.r)}${ob(this.g)}${ob(this.b)}`}function BYt(){return`#${ob(this.r)}${ob(this.g)}${ob(this.b)}${ob((isNaN(this.opacity)?1:this.opacity)*255)}`}function eRe(){let e=$P(this.opacity);return`${e===1?"rgb(":"rgba("}${sb(this.r)}, ${sb(this.g)}, ${sb(this.b)}${e===1?")":`, ${e})`}`}function $P(e){return isNaN(e)?1:Math.max(0,Math.min(1,e))}function sb(e){return Math.max(0,Math.min(255,Math.round(e)||0))}function ob(e){return e=sb(e),(e<16?"0":"")+e.toString(16)}function tRe(e,t,r,i){return i<=0?e=t=r=NaN:r<=0||r>=1?e=t=NaN:t<=0&&(e=NaN),new lv(e,t,r,i)}function iRe(e){if(e instanceof lv)return new lv(e.h,e.s,e.l,e.opacity);if(e instanceof I1||(e=g2(e)),!e)return new lv;if(e instanceof lv)return e;e=e.rgb();var t=e.r/255,r=e.g/255,i=e.b/255,n=Math.min(t,r,i),a=Math.max(t,r,i),o=NaN,s=a-n,l=(a+n)/2;return s?(t===a?o=(r-i)/s+(r0&&l<1?0:o,new lv(o,s,l,e.opacity)}function WS(e,t,r,i){return arguments.length===1?iRe(e):new lv(e,t,r,i==null?1:i)}function lv(e,t,r,i){this.h=+e,this.s=+t,this.l=+r,this.opacity=+i}function rRe(e){return e=(e||0)%360,e<0?e+360:e}function jP(e){return Math.max(0,Math.min(1,e||0))}function GZ(e,t,r){return(e<60?t+(r-t)*e/60:e<180?r:e<240?t+(r-t)*(240-e)/60:t)*255}var v2,lb,u4,jS,P1,kYt,CYt,DYt,FYt,LYt,PYt,IYt,XIe,WP=Ea(()=>{GP();v2=.7,lb=1/v2,u4="\\s*([+-]?\\d+)\\s*",jS="\\s*([+-]?(?:\\d*\\.)?\\d+(?:[eE][+-]?\\d+)?)\\s*",P1="\\s*([+-]?(?:\\d*\\.)?\\d+(?:[eE][+-]?\\d+)?)%\\s*",kYt=/^#([0-9a-f]{3,8})$/,CYt=new RegExp(`^rgb\\(${u4},${u4},${u4}\\)$`),DYt=new RegExp(`^rgb\\(${P1},${P1},${P1}\\)$`),FYt=new RegExp(`^rgba\\(${u4},${u4},${u4},${jS}\\)$`),LYt=new RegExp(`^rgba\\(${P1},${P1},${P1},${jS}\\)$`),PYt=new RegExp(`^hsl\\(${jS},${P1},${P1}\\)$`),IYt=new RegExp(`^hsla\\(${jS},${P1},${P1},${jS}\\)$`),XIe={aliceblue:15792383,antiquewhite:16444375,aqua:65535,aquamarine:8388564,azure:15794175,beige:16119260,bisque:16770244,black:0,blanchedalmond:16772045,blue:255,blueviolet:9055202,brown:10824234,burlywood:14596231,cadetblue:6266528,chartreuse:8388352,chocolate:13789470,coral:16744272,cornflowerblue:6591981,cornsilk:16775388,crimson:14423100,cyan:65535,darkblue:139,darkcyan:35723,darkgoldenrod:12092939,darkgray:11119017,darkgreen:25600,darkgrey:11119017,darkkhaki:12433259,darkmagenta:9109643,darkolivegreen:5597999,darkorange:16747520,darkorchid:10040012,darkred:9109504,darksalmon:15308410,darkseagreen:9419919,darkslateblue:4734347,darkslategray:3100495,darkslategrey:3100495,darkturquoise:52945,darkviolet:9699539,deeppink:16716947,deepskyblue:49151,dimgray:6908265,dimgrey:6908265,dodgerblue:2003199,firebrick:11674146,floralwhite:16775920,forestgreen:2263842,fuchsia:16711935,gainsboro:14474460,ghostwhite:16316671,gold:16766720,goldenrod:14329120,gray:8421504,green:32768,greenyellow:11403055,grey:8421504,honeydew:15794160,hotpink:16738740,indianred:13458524,indigo:4915330,ivory:16777200,khaki:15787660,lavender:15132410,lavenderblush:16773365,lawngreen:8190976,lemonchiffon:16775885,lightblue:11393254,lightcoral:15761536,lightcyan:14745599,lightgoldenrodyellow:16448210,lightgray:13882323,lightgreen:9498256,lightgrey:13882323,lightpink:16758465,lightsalmon:16752762,lightseagreen:2142890,lightskyblue:8900346,lightslategray:7833753,lightslategrey:7833753,lightsteelblue:11584734,lightyellow:16777184,lime:65280,limegreen:3329330,linen:16445670,magenta:16711935,maroon:8388608,mediumaquamarine:6737322,mediumblue:205,mediumorchid:12211667,mediumpurple:9662683,mediumseagreen:3978097,mediumslateblue:8087790,mediumspringgreen:64154,mediumturquoise:4772300,mediumvioletred:13047173,midnightblue:1644912,mintcream:16121850,mistyrose:16770273,moccasin:16770229,navajowhite:16768685,navy:128,oldlace:16643558,olive:8421376,olivedrab:7048739,orange:16753920,orangered:16729344,orchid:14315734,palegoldenrod:15657130,palegreen:10025880,paleturquoise:11529966,palevioletred:14381203,papayawhip:16773077,peachpuff:16767673,peru:13468991,pink:16761035,plum:14524637,powderblue:11591910,purple:8388736,rebeccapurple:6697881,red:16711680,rosybrown:12357519,royalblue:4286945,saddlebrown:9127187,salmon:16416882,sandybrown:16032864,seagreen:3050327,seashell:16774638,sienna:10506797,silver:12632256,skyblue:8900331,slateblue:6970061,slategray:7372944,slategrey:7372944,snow:16775930,springgreen:65407,steelblue:4620980,tan:13808780,teal:32896,thistle:14204888,tomato:16737095,turquoise:4251856,violet:15631086,wheat:16113331,white:16777215,whitesmoke:16119285,yellow:16776960,yellowgreen:10145074};im(I1,g2,{copy(e){return Object.assign(new this.constructor,this,e)},displayable(){return this.rgb().displayable()},hex:ZIe,formatHex:ZIe,formatHex8:RYt,formatHsl:zYt,formatRgb:KIe,toString:KIe});im(Bu,c4,p2(I1,{brighter(e){return e=e==null?lb:Math.pow(lb,e),new Bu(this.r*e,this.g*e,this.b*e,this.opacity)},darker(e){return e=e==null?v2:Math.pow(v2,e),new Bu(this.r*e,this.g*e,this.b*e,this.opacity)},rgb(){return this},clamp(){return new Bu(sb(this.r),sb(this.g),sb(this.b),$P(this.opacity))},displayable(){return-.5<=this.r&&this.r<255.5&&-.5<=this.g&&this.g<255.5&&-.5<=this.b&&this.b<255.5&&0<=this.opacity&&this.opacity<=1},hex:QIe,formatHex:QIe,formatHex8:BYt,formatRgb:eRe,toString:eRe}));im(lv,WS,p2(I1,{brighter(e){return e=e==null?lb:Math.pow(lb,e),new lv(this.h,this.s,this.l*e,this.opacity)},darker(e){return e=e==null?v2:Math.pow(v2,e),new lv(this.h,this.s,this.l*e,this.opacity)},rgb(){var e=this.h%360+(this.h<0)*360,t=isNaN(e)||isNaN(this.s)?0:this.s,r=this.l,i=r+(r<.5?r:1-r)*t,n=2*r-i;return new Bu(GZ(e>=240?e-240:e+120,n,i),GZ(e,n,i),GZ(e<120?e+240:e-120,n,i),this.opacity)},clamp(){return new lv(rRe(this.h),jP(this.s),jP(this.l),$P(this.opacity))},displayable(){return(0<=this.s&&this.s<=1||isNaN(this.s))&&0<=this.l&&this.l<=1&&0<=this.opacity&&this.opacity<=1},formatHsl(){let e=$P(this.opacity);return`${e===1?"hsl(":"hsla("}${rRe(this.h)}, ${jP(this.s)*100}%, ${jP(this.l)*100}%${e===1?")":`, ${e})`}`}}))});var YP,XP,HZ=Ea(()=>{YP=Math.PI/180,XP=180/Math.PI});function uRe(e){if(e instanceof R1)return new R1(e.l,e.a,e.b,e.opacity);if(e instanceof nm)return cRe(e);e instanceof Bu||(e=$S(e));var t=YZ(e.r),r=YZ(e.g),i=YZ(e.b),n=jZ((.2225045*t+.7168786*r+.0606169*i)/aRe),a,o;return t===r&&r===i?a=o=n:(a=jZ((.4360747*t+.3850649*r+.1430804*i)/nRe),o=jZ((.0139322*t+.0971045*r+.7141733*i)/oRe)),new R1(116*n-16,500*(a-n),200*(n-o),e.opacity)}function h4(e,t,r,i){return arguments.length===1?uRe(e):new R1(e,t,r,i==null?1:i)}function R1(e,t,r,i){this.l=+e,this.a=+t,this.b=+r,this.opacity=+i}function jZ(e){return e>qYt?Math.pow(e,1/3):e/lRe+sRe}function $Z(e){return e>f4?e*e*e:lRe*(e-sRe)}function WZ(e){return 255*(e<=.0031308?12.92*e:1.055*Math.pow(e,1/2.4)-.055)}function YZ(e){return(e/=255)<=.04045?e/12.92:Math.pow((e+.055)/1.055,2.4)}function OYt(e){if(e instanceof nm)return new nm(e.h,e.c,e.l,e.opacity);if(e instanceof R1||(e=uRe(e)),e.a===0&&e.b===0)return new nm(NaN,0{GP();WP();HZ();ZP=18,nRe=.96422,aRe=1,oRe=.82521,sRe=4/29,f4=6/29,lRe=3*f4*f4,qYt=f4*f4*f4;im(R1,h4,p2(I1,{brighter(e){return new R1(this.l+ZP*(e==null?1:e),this.a,this.b,this.opacity)},darker(e){return new R1(this.l-ZP*(e==null?1:e),this.a,this.b,this.opacity)},rgb(){var e=(this.l+16)/116,t=isNaN(this.a)?e:e+this.a/500,r=isNaN(this.b)?e:e-this.b/200;return t=nRe*$Z(t),e=aRe*$Z(e),r=oRe*$Z(r),new Bu(WZ(3.1338561*t-1.6168667*e-.4906146*r),WZ(-.9787684*t+1.9161415*e+.033454*r),WZ(.0719453*t-.2289914*e+1.4052427*r),this.opacity)}}));im(nm,YS,p2(I1,{brighter(e){return new nm(this.h,this.c,this.l+ZP*(e==null?1:e),this.opacity)},darker(e){return new nm(this.h,this.c,this.l-ZP*(e==null?1:e),this.opacity)},rgb(){return cRe(this).rgb()}}))});function NYt(e){if(e instanceof ub)return new ub(e.h,e.s,e.l,e.opacity);e instanceof Bu||(e=$S(e));var t=e.r/255,r=e.g/255,i=e.b/255,n=(pRe*i+hRe*t-dRe*r)/(pRe+hRe-dRe),a=i-n,o=(XS*(r-n)-ZZ*a)/KP,s=Math.sqrt(o*o+a*a)/(XS*n*(1-n)),l=s?Math.atan2(o,a)*XP-120:NaN;return new ub(l<0?l+360:l,s,n,e.opacity)}function d4(e,t,r,i){return arguments.length===1?NYt(e):new ub(e,t,r,i==null?1:i)}function ub(e,t,r,i){this.h=+e,this.s=+t,this.l=+r,this.opacity=+i}var vRe,XZ,ZZ,KP,XS,hRe,dRe,pRe,gRe=Ea(()=>{GP();WP();HZ();vRe=-.14861,XZ=1.78277,ZZ=-.29227,KP=-.90649,XS=1.97294,hRe=XS*KP,dRe=XS*XZ,pRe=XZ*ZZ-KP*vRe;im(ub,d4,p2(I1,{brighter(e){return e=e==null?lb:Math.pow(lb,e),new ub(this.h,this.s,this.l*e,this.opacity)},darker(e){return e=e==null?v2:Math.pow(v2,e),new ub(this.h,this.s,this.l*e,this.opacity)},rgb(){var e=isNaN(this.h)?0:(this.h+120)*YP,t=+this.l,r=isNaN(this.s)?0:this.s*t*(1-t),i=Math.cos(e),n=Math.sin(e);return new Bu(255*(t+r*(vRe*i+XZ*n)),255*(t+r*(ZZ*i+KP*n)),255*(t+r*(XS*i)),this.opacity)}}))});var cb=Ea(()=>{WP();fRe();gRe()});function KZ(e,t,r,i,n){var a=e*e,o=a*e;return((1-3*e+3*a-o)*t+(4-6*a+3*o)*r+(1+3*e+3*a-3*o)*i+o*n)/6}function JP(e){var t=e.length-1;return function(r){var i=r<=0?r=0:r>=1?(r=1,t-1):Math.floor(r*t),n=e[i],a=e[i+1],o=i>0?e[i-1]:2*n-a,s=i{});function eI(e){var t=e.length;return function(r){var i=Math.floor(((r%=1)<0?++r:r)*t),n=e[(i+t-1)%t],a=e[i%t],o=e[(i+1)%t],s=e[(i+2)%t];return KZ((r-i/t)*t,n,a,o,s)}}var JZ=Ea(()=>{QP()});var p4,QZ=Ea(()=>{p4=e=>()=>e});function mRe(e,t){return function(r){return e+r*t}}function UYt(e,t,r){return e=Math.pow(e,r),t=Math.pow(t,r)-e,r=1/r,function(i){return Math.pow(e+i*t,r)}}function m2(e,t){var r=t-e;return r?mRe(e,r>180||r<-180?r-360*Math.round(r/360):r):p4(isNaN(e)?t:e)}function yRe(e){return(e=+e)==1?vl:function(t,r){return r-t?UYt(t,r,e):p4(isNaN(t)?r:t)}}function vl(e,t){var r=t-e;return r?mRe(e,r):p4(isNaN(e)?t:e)}var fb=Ea(()=>{QZ()});function xRe(e){return function(t){var r=t.length,i=new Array(r),n=new Array(r),a=new Array(r),o,s;for(o=0;o{cb();QP();JZ();fb();ZS=(function e(t){var r=yRe(t);function i(n,a){var o=r((n=c4(n)).r,(a=c4(a)).r),s=r(n.g,a.g),l=r(n.b,a.b),u=vl(n.opacity,a.opacity);return function(c){return n.r=o(c),n.g=s(c),n.b=l(c),n.opacity=u(c),n+""}}return i.gamma=e,i})(1);_Re=xRe(JP),bRe=xRe(eI)});function v4(e,t){t||(t=[]);var r=e?Math.min(t.length,e.length):0,i=t.slice(),n;return function(a){for(n=0;n{});function wRe(e,t){return(tI(t)?v4:tK)(e,t)}function tK(e,t){var r=t?t.length:0,i=e?Math.min(r,e.length):0,n=new Array(i),a=new Array(r),o;for(o=0;o{KS();rI()});function iI(e,t){var r=new Date;return e=+e,t=+t,function(i){return r.setTime(e*(1-i)+t*i),r}}var iK=Ea(()=>{});function $h(e,t){return e=+e,t=+t,function(r){return e*(1-r)+t*r}}var JS=Ea(()=>{});function nI(e,t){var r={},i={},n;(e===null||typeof e!="object")&&(e={}),(t===null||typeof t!="object")&&(t={});for(n in t)n in e?r[n]=y2(e[n],t[n]):i[n]=t[n];return function(a){for(n in r)i[n]=r[n](a);return i}}var nK=Ea(()=>{KS()});function VYt(e){return function(){return e}}function GYt(e){return function(t){return e(t)+""}}function aI(e,t){var r=oK.lastIndex=aK.lastIndex=0,i,n,a,o=-1,s=[],l=[];for(e=e+"",t=t+"";(i=oK.exec(e))&&(n=aK.exec(t));)(a=n.index)>r&&(a=t.slice(r,a),s[o]?s[o]+=a:s[++o]=a),(i=i[0])===(n=n[0])?s[o]?s[o]+=n:s[++o]=n:(s[++o]=null,l.push({i:o,x:$h(i,n)})),r=aK.lastIndex;return r{JS();oK=/[-+]?(?:\d+\.?\d*|\.?\d+)(?:[eE][-+]?\d+)?/g,aK=new RegExp(oK.source,"g")});function y2(e,t){var r=typeof t,i;return t==null||r==="boolean"?p4(t):(r==="number"?$h:r==="string"?(i=g2(t))?(t=i,ZS):aI:t instanceof g2?ZS:t instanceof Date?iI:tI(t)?v4:Array.isArray(t)?tK:typeof t.valueOf!="function"&&typeof t.toString!="function"||isNaN(t)?nI:$h)(e,t)}var KS=Ea(()=>{cb();eK();rK();iK();JS();nK();sK();QZ();rI()});function TRe(e){var t=e.length;return function(r){return e[Math.max(0,Math.min(t-1,Math.floor(r*t)))]}}var ARe=Ea(()=>{});function MRe(e,t){var r=m2(+e,+t);return function(i){var n=r(i);return n-360*Math.floor(n/360)}}var SRe=Ea(()=>{fb()});function ERe(e,t){return e=+e,t=+t,function(r){return Math.round(e*(1-r)+t*r)}}var kRe=Ea(()=>{});function lK(e,t,r,i,n,a){var o,s,l;return(o=Math.sqrt(e*e+t*t))&&(e/=o,t/=o),(l=e*r+t*i)&&(r-=e*l,i-=t*l),(s=Math.sqrt(r*r+i*i))&&(r/=s,i/=s,l/=s),e*i{CRe=180/Math.PI,oI={translateX:0,translateY:0,rotate:0,skewX:0,scaleX:1,scaleY:1}});function FRe(e){let t=new(typeof DOMMatrix=="function"?DOMMatrix:WebKitCSSMatrix)(e+"");return t.isIdentity?oI:lK(t.a,t.b,t.c,t.d,t.e,t.f)}function LRe(e){return e==null?oI:(sI||(sI=document.createElementNS("http://www.w3.org/2000/svg","g")),sI.setAttribute("transform",e),(e=sI.transform.baseVal.consolidate())?(e=e.matrix,lK(e.a,e.b,e.c,e.d,e.e,e.f)):oI)}var sI,PRe=Ea(()=>{DRe()});function IRe(e,t,r,i){function n(u){return u.length?u.pop()+" ":""}function a(u,c,f,h,d,p){if(u!==f||c!==h){var v=d.push("translate(",null,t,null,r);p.push({i:v-4,x:$h(u,f)},{i:v-2,x:$h(c,h)})}else(f||h)&&d.push("translate("+f+t+h+r)}function o(u,c,f,h){u!==c?(u-c>180?c+=360:c-u>180&&(u+=360),h.push({i:f.push(n(f)+"rotate(",null,i)-2,x:$h(u,c)})):c&&f.push(n(f)+"rotate("+c+i)}function s(u,c,f,h){u!==c?h.push({i:f.push(n(f)+"skewX(",null,i)-2,x:$h(u,c)}):c&&f.push(n(f)+"skewX("+c+i)}function l(u,c,f,h,d,p){if(u!==f||c!==h){var v=d.push(n(d)+"scale(",null,",",null,")");p.push({i:v-4,x:$h(u,f)},{i:v-2,x:$h(c,h)})}else(f!==1||h!==1)&&d.push(n(d)+"scale("+f+","+h+")")}return function(u,c){var f=[],h=[];return u=e(u),c=e(c),a(u.translateX,u.translateY,c.translateX,c.translateY,f,h),o(u.rotate,c.rotate,f,h),s(u.skewX,c.skewX,f,h),l(u.scaleX,u.scaleY,c.scaleX,c.scaleY,f,h),u=c=null,function(d){for(var p=-1,v=h.length,m;++p{JS();PRe();RRe=IRe(FRe,"px, ","px)","deg)"),zRe=IRe(LRe,", ",")",")")});function qRe(e){return((e=Math.exp(e))+1/e)/2}function jYt(e){return((e=Math.exp(e))-1/e)/2}function $Yt(e){return((e=Math.exp(2*e))-1)/(e+1)}var HYt,ORe,NRe=Ea(()=>{HYt=1e-12;ORe=(function e(t,r,i){function n(a,o){var s=a[0],l=a[1],u=a[2],c=o[0],f=o[1],h=o[2],d=c-s,p=f-l,v=d*d+p*p,m,g;if(v{cb();fb();VRe=URe(m2),GRe=URe(vl)});function uK(e,t){var r=vl((e=h4(e)).l,(t=h4(t)).l),i=vl(e.a,t.a),n=vl(e.b,t.b),a=vl(e.opacity,t.opacity);return function(o){return e.l=r(o),e.a=i(o),e.b=n(o),e.opacity=a(o),e+""}}var jRe=Ea(()=>{cb();fb()});function $Re(e){return function(t,r){var i=e((t=YS(t)).h,(r=YS(r)).h),n=vl(t.c,r.c),a=vl(t.l,r.l),o=vl(t.opacity,r.opacity);return function(s){return t.h=i(s),t.c=n(s),t.l=a(s),t.opacity=o(s),t+""}}}var WRe,YRe,XRe=Ea(()=>{cb();fb();WRe=$Re(m2),YRe=$Re(vl)});function ZRe(e){return(function t(r){r=+r;function i(n,a){var o=e((n=d4(n)).h,(a=d4(a)).h),s=vl(n.s,a.s),l=vl(n.l,a.l),u=vl(n.opacity,a.opacity);return function(c){return n.h=o(c),n.s=s(c),n.l=l(Math.pow(c,r)),n.opacity=u(c),n+""}}return i.gamma=t,i})(1)}var KRe,JRe,QRe=Ea(()=>{cb();fb();KRe=ZRe(m2),JRe=ZRe(vl)});function cK(e,t){t===void 0&&(t=e,e=y2);for(var r=0,i=t.length-1,n=t[0],a=new Array(i<0?0:i);r{KS()});function tze(e,t){for(var r=new Array(t),i=0;i{});var hb={};Fp(hb,{interpolate:()=>y2,interpolateArray:()=>wRe,interpolateBasis:()=>JP,interpolateBasisClosed:()=>eI,interpolateCubehelix:()=>KRe,interpolateCubehelixLong:()=>JRe,interpolateDate:()=>iI,interpolateDiscrete:()=>TRe,interpolateHcl:()=>WRe,interpolateHclLong:()=>YRe,interpolateHsl:()=>VRe,interpolateHslLong:()=>GRe,interpolateHue:()=>MRe,interpolateLab:()=>uK,interpolateNumber:()=>$h,interpolateNumberArray:()=>v4,interpolateObject:()=>nI,interpolateRgb:()=>ZS,interpolateRgbBasis:()=>_Re,interpolateRgbBasisClosed:()=>bRe,interpolateRound:()=>ERe,interpolateString:()=>aI,interpolateTransformCss:()=>RRe,interpolateTransformSvg:()=>zRe,interpolateZoom:()=>ORe,piecewise:()=>cK,quantize:()=>tze});var db=Ea(()=>{KS();rK();QP();JZ();iK();ARe();SRe();JS();rI();nK();kRe();sK();BRe();NRe();eK();HRe();jRe();XRe();QRe();eze();rze()});var lI=W((yGr,ize)=>{"use strict";var WYt=Ji(),YYt=ni();ize.exports=function(t,r,i,n,a){var o=r.data.data,s=o.i,l=a||o.color;if(s>=0){r.i=o.i;var u=i.marker;u.pattern?(!u.colors||!u.pattern.shape)&&(u.color=l,r.color=l):(u.color=l,r.color=l),WYt.pointStyle(t,i,n,r)}else YYt.fill(t,l)}});var fK=W((xGr,lze)=>{"use strict";var nze=vi(),aze=ni(),oze=it(),XYt=Qc().resizeText,ZYt=lI();function KYt(e){var t=e._fullLayout._sunburstlayer.selectAll(".trace");XYt(e,t,"sunburst"),t.each(function(r){var i=nze.select(this),n=r[0],a=n.trace;i.style("opacity",a.opacity),i.selectAll("path.surface").each(function(o){nze.select(this).call(sze,o,a,e)})})}function sze(e,t,r,i){var n=t.data.data,a=!t.children,o=n.i,s=oze.castOption(r,o,"marker.line.color")||aze.defaultLine,l=oze.castOption(r,o,"marker.line.width")||0;e.call(ZYt,t,r,i).style("stroke-width",l).call(aze.stroke,s).style("opacity",a?r.leaf.opacity:null)}lze.exports={style:KYt,styleOne:sze}});var am=W(na=>{"use strict";var pb=it(),JYt=ni(),QYt=Np(),uze=Ly();na.findEntryWithLevel=function(e,t){var r;return t&&e.eachAfter(function(i){if(na.getPtId(i)===t)return r=i.copy()}),r||e};na.findEntryWithChild=function(e,t){var r;return e.eachAfter(function(i){for(var n=i.children||[],a=0;a0)};na.getMaxDepth=function(e){return e.maxdepth>=0?e.maxdepth:1/0};na.isHeader=function(e,t){return!(na.isLeaf(e)||e.depth===t._maxDepth-1)};function cze(e){return e.data.data.pid}na.getParent=function(e,t){return na.findEntryWithLevel(e,cze(t))};na.listPath=function(e,t){var r=e.parent;if(!r)return[];var i=t?[r.data[t]]:[r];return na.listPath(r,t).concat(i)};na.getPath=function(e){return na.listPath(e,"label").join("/")+"/"};na.formatValue=uze.formatPieValue;na.formatPercent=function(e,t){var r=pb.formatPercent(e,0);return r==="0%"&&(r=uze.formatPiePercent(e,t)),r}});var tE=W((bGr,dze)=>{"use strict";var g4=vi(),fze=yi(),rXt=Kf().appendArrayPointValue,QS=Ds(),hze=it(),iXt=lw(),hu=am(),nXt=Ly(),aXt=nXt.formatPieValue;dze.exports=function(t,r,i,n,a){var o=n[0],s=o.trace,l=o.hierarchy,u=s.type==="sunburst",c=s.type==="treemap"||s.type==="icicle";"_hasHoverLabel"in s||(s._hasHoverLabel=!1),"_hasHoverEvent"in s||(s._hasHoverEvent=!1);var f=function(p){var v=i._fullLayout;if(!(i._dragging||v.hovermode===!1)){var m=i._fullData[s.index],g=p.data.data,w=g.i,b=hu.isHierarchyRoot(p),_=hu.getParent(l,p),M=hu.getValue(p),x=function(Y){return hze.castOption(m,w,Y)},T=x("hovertemplate"),A=QS.castHoverinfo(m,v,w),y=v.separators,E;if(T||A&&A!=="none"&&A!=="skip"){var S,C;u&&(S=o.cx+p.pxmid[0]*(1-p.rInscribed),C=o.cy+p.pxmid[1]*(1-p.rInscribed)),c&&(S=p._hoverX,C=p._hoverY);var k={},D=[],F=[],P=function(Y){return D.indexOf(Y)!==-1};A&&(D=A==="all"?m._module.attributes.hoverinfo.flags:A.split("+")),k.label=g.label,P("label")&&k.label&&F.push(k.label),g.hasOwnProperty("v")&&(k.value=g.v,k.valueLabel=aXt(k.value,y),P("value")&&F.push(k.valueLabel)),k.currentPath=p.currentPath=hu.getPath(p.data),P("current path")&&!b&&F.push(k.currentPath);var R,L=[],I=function(){L.indexOf(R)===-1&&(F.push(R),L.push(R))};k.percentParent=p.percentParent=M/hu.getValue(_),k.parent=p.parentString=hu.getPtLabel(_),P("percent parent")&&(R=hu.formatPercent(k.percentParent,y)+" of "+k.parent,I()),k.percentEntry=p.percentEntry=M/hu.getValue(r),k.entry=p.entry=hu.getPtLabel(r),P("percent entry")&&!b&&!p.onPathbar&&(R=hu.formatPercent(k.percentEntry,y)+" of "+k.entry,I()),k.percentRoot=p.percentRoot=M/hu.getValue(l),k.root=p.root=hu.getPtLabel(l),P("percent root")&&!b&&(R=hu.formatPercent(k.percentRoot,y)+" of "+k.root,I()),k.text=x("hovertext")||x("text"),P("text")&&(R=k.text,hze.isValidTextValue(R)&&F.push(R)),E=[eE(p,m,a.eventDataKeys)];var B={trace:m,y:C,_x0:p._x0,_x1:p._x1,_y0:p._y0,_y1:p._y1,text:F.join("
"),name:T||P("name")?m.name:void 0,color:x("hoverlabel.bgcolor")||g.color,borderColor:x("hoverlabel.bordercolor"),fontFamily:x("hoverlabel.font.family"),fontSize:x("hoverlabel.font.size"),fontColor:x("hoverlabel.font.color"),fontWeight:x("hoverlabel.font.weight"),fontStyle:x("hoverlabel.font.style"),fontVariant:x("hoverlabel.font.variant"),nameLength:x("hoverlabel.namelength"),textAlign:x("hoverlabel.align"),hovertemplate:T,hovertemplateLabels:k,eventData:E};u&&(B.x0=S-p.rInscribed*p.rpx1,B.x1=S+p.rInscribed*p.rpx1,B.idealAlign=p.pxmid[0]<0?"left":"right"),c&&(B.x=S,B.idealAlign=S<0?"left":"right");var O=[];QS.loneHover(B,{container:v._hoverlayer.node(),outerContainer:v._paper.node(),gd:i,inOut_bbox:O}),E[0].bbox=O[0],s._hasHoverLabel=!0}if(c){var $=t.select("path.surface");a.styleOne($,p,m,i,{hovered:!0})}s._hasHoverEvent=!0,i.emit("plotly_hover",{points:E||[eE(p,m,a.eventDataKeys)],event:g4.event})}},h=function(p){var v=i._fullLayout,m=i._fullData[s.index],g=g4.select(this).datum();if(s._hasHoverEvent&&(p.originalEvent=g4.event,i.emit("plotly_unhover",{points:[eE(g,m,a.eventDataKeys)],event:g4.event}),s._hasHoverEvent=!1),s._hasHoverLabel&&(QS.loneUnhover(v._hoverlayer.node()),s._hasHoverLabel=!1),c){var w=t.select("path.surface");a.styleOne(w,g,m,i,{hovered:!1})}},d=function(p){var v=i._fullLayout,m=i._fullData[s.index],g=u&&(hu.isHierarchyRoot(p)||hu.isLeaf(p)),w=hu.getPtId(p),b=hu.isEntry(p)?hu.findEntryWithChild(l,w):hu.findEntryWithLevel(l,w),_=hu.getPtId(b),M={points:[eE(p,m,a.eventDataKeys)],event:g4.event};g||(M.nextLevel=_);var x=iXt.triggerHandler(i,"plotly_"+s.type+"click",M);if(x!==!1&&v.hovermode&&(i._hoverdata=[eE(p,m,a.eventDataKeys)],QS.click(i,g4.event)),!g&&x!==!1&&!i._dragging&&!i._transitioning){fze.call("_storeDirectGUIEdit",m,v._tracePreGUI[m.uid],{level:m.level});var T={data:[{level:_}],traces:[s.index]},A={frame:{redraw:!1,duration:a.transitionTime},transition:{duration:a.transitionTime,easing:a.transitionEasing},mode:"immediate",fromcurrent:!0};QS.loneUnhover(v._hoverlayer.node()),fze.call("animate",i,T,A)}};t.on("mouseover",f),t.on("mouseout",h),t.on("click",d)};function eE(e,t,r){for(var i=e.data.data,n={curveNumber:t.index,pointNumber:i.i,data:t._input,fullData:t},a=0;a{"use strict";var rE=vi(),oXt=VS(),uv=(db(),Go(hb)).interpolate,pze=Ji(),nf=it(),sXt=uo(),yze=Qc(),vze=yze.recordMinTextSize,lXt=yze.clearMinTextSize,xze=UP(),uXt=Ly().getRotationAngle,cXt=xze.computeTransform,fXt=xze.transformInsideText,hXt=fK().styleOne,dXt=Ed().resizeText,pXt=tE(),hK=UZ(),Ia=am();uI.plot=function(e,t,r,i){var n=e._fullLayout,a=n._sunburstlayer,o,s,l=!r,u=!n.uniformtext.mode&&Ia.hasTransition(r);if(lXt("sunburst",n),o=a.selectAll("g.trace.sunburst").data(t,function(f){return f[0].trace.uid}),o.enter().append("g").classed("trace",!0).classed("sunburst",!0).attr("stroke-linejoin","round"),o.order(),u){i&&(s=i());var c=rE.transition().duration(r.duration).ease(r.easing).each("end",function(){s&&s()}).each("interrupt",function(){s&&s()});c.each(function(){a.selectAll("g.trace").each(function(f){gze(e,f,this,r)})})}else o.each(function(f){gze(e,f,this,r)}),n.uniformtext.mode&&dXt(e,n._sunburstlayer.selectAll(".trace"),"sunburst");l&&o.exit().remove()};function gze(e,t,r,i){var n=e._context.staticPlot,a=e._fullLayout,o=!a.uniformtext.mode&&Ia.hasTransition(i),s=rE.select(r),l=s.selectAll("g.slice"),u=t[0],c=u.trace,f=u.hierarchy,h=Ia.findEntryWithLevel(f,c.level),d=Ia.getMaxDepth(c),p=a._size,v=c.domain,m=p.w*(v.x[1]-v.x[0]),g=p.h*(v.y[1]-v.y[0]),w=.5*Math.min(m,g),b=u.cx=p.l+p.w*(v.x[1]+v.x[0])/2,_=u.cy=p.t+p.h*(1-v.y[0])-g/2;if(!h)return l.remove();var M=null,x={};o&&l.each(function(j){x[Ia.getPtId(j)]={rpx0:j.rpx0,rpx1:j.rpx1,x0:j.x0,x1:j.x1,transform:j.transform},!M&&Ia.isEntry(j)&&(M=j)});var T=vXt(h).descendants(),A=h.height+1,y=0,E=d;u.hasMultipleRoots&&Ia.isHierarchyRoot(h)&&(T=T.slice(1),A-=1,y=1,E+=1),T=T.filter(function(j){return j.y1<=E});var S=uXt(c.rotation);S&&T.forEach(function(j){j.x0+=S,j.x1+=S});var C=Math.min(A,d),k=function(j){return(j-y)/C*w},D=function(j,q){return[j*Math.cos(q),-j*Math.sin(q)]},F=function(j){return nf.pathAnnulus(j.rpx0,j.rpx1,j.x0,j.x1,b,_)},P=function(j){return b+mze(j)[0]*(j.transform.rCenter||0)+(j.transform.x||0)},R=function(j){return _+mze(j)[1]*(j.transform.rCenter||0)+(j.transform.y||0)};l=l.data(T,Ia.getPtId),l.enter().append("g").classed("slice",!0),o?l.exit().transition().each(function(){var j=rE.select(this),q=j.select("path.surface");q.transition().attrTween("d",function(U){var V=O(U);return function(X){return F(V(X))}});var J=j.select("g.slicetext");J.attr("opacity",0)}).remove():l.exit().remove(),l.order();var L=null;if(o&&M){var I=Ia.getPtId(M);l.each(function(j){L===null&&Ia.getPtId(j)===I&&(L=j.x1)})}var B=l;o&&(B=B.transition().each("end",function(){var j=rE.select(this);Ia.setSliceCursor(j,e,{hideOnRoot:!0,hideOnLeaves:!0,isTransitioning:!1})})),B.each(function(j){var q=rE.select(this),J=nf.ensureSingle(q,"path","surface",function(Q){Q.style("pointer-events",n?"none":"all")});j.rpx0=k(j.y0),j.rpx1=k(j.y1),j.xmid=(j.x0+j.x1)/2,j.pxmid=D(j.rpx1,j.xmid),j.midangle=-(j.xmid-Math.PI/2),j.startangle=-(j.x0-Math.PI/2),j.stopangle=-(j.x1-Math.PI/2),j.halfangle=.5*Math.min(nf.angleDelta(j.x0,j.x1)||Math.PI,Math.PI),j.ring=1-j.rpx0/j.rpx1,j.rInscribed=gXt(j,c),o?J.transition().attrTween("d",function(Q){var te=$(Q);return function(ce){return F(te(ce))}}):J.attr("d",F),q.call(pXt,h,e,t,{eventDataKeys:hK.eventDataKeys,transitionTime:hK.CLICK_TRANSITION_TIME,transitionEasing:hK.CLICK_TRANSITION_EASING}).call(Ia.setSliceCursor,e,{hideOnRoot:!0,hideOnLeaves:!0,isTransitioning:e._transitioning}),J.call(hXt,j,c,e);var U=nf.ensureSingle(q,"g","slicetext"),V=nf.ensureSingle(U,"text","",function(Q){Q.attr("data-notex",1)}),X=nf.ensureUniformFontSize(e,Ia.determineTextFont(c,j,a.font));V.text(uI.formatSliceLabel(j,h,c,t,a)).classed("slicetext",!0).attr("text-anchor","middle").call(pze.font,X).call(sXt.convertToTspans,e);var H=pze.bBox(V.node());j.transform=fXt(H,j,u),j.transform.targetX=P(j),j.transform.targetY=R(j);var G=function(Q,te){var ce=Q.transform;return cXt(ce,te),ce.fontSize=X.size,vze(c.type,ce,a),nf.getTextTransform(ce)};o?V.transition().attrTween("transform",function(Q){var te=Y(Q);return function(ce){return G(te(ce),H)}}):V.attr("transform",G(j,H))});function O(j){var q=Ia.getPtId(j),J=x[q],U=x[Ia.getPtId(h)],V;if(U){var X=(j.x1>U.x1?2*Math.PI:0)+S;V=j.rpx1L?2*Math.PI:0)+S;J={x0:V,x1:V}}else J={rpx0:w,rpx1:w},nf.extendFlat(J,K(j));else J={rpx0:0,rpx1:0};else J={x0:S,x1:S};return uv(J,U)}function Y(j){var q=x[Ia.getPtId(j)],J,U=j.transform;if(q)J=q;else if(J={rpx1:j.rpx1,transform:{textPosAngle:U.textPosAngle,scale:0,rotate:U.rotate,rCenter:U.rCenter,x:U.x,y:U.y}},M)if(j.parent)if(L){var V=j.x1>L?2*Math.PI:0;J.x0=J.x1=V}else nf.extendFlat(J,K(j));else J.x0=J.x1=S;else J.x0=J.x1=S;var X=uv(J.transform.textPosAngle,j.transform.textPosAngle),H=uv(J.rpx1,j.rpx1),G=uv(J.x0,j.x0),Q=uv(J.x1,j.x1),te=uv(J.transform.scale,U.scale),ce=uv(J.transform.rotate,U.rotate),ge=U.rCenter===0?3:J.transform.rCenter===0?1/3:1,Ce=uv(J.transform.rCenter,U.rCenter),be=function(he){return Ce(Math.pow(he,ge))};return function(he){var oe=H(he),Ee=G(he),ye=Q(he),ue=be(he),ee=D(oe,(Ee+ye)/2),ae=X(he),xe={pxmid:ee,rpx1:oe,transform:{textPosAngle:ae,rCenter:ue,x:U.x,y:U.y}};return vze(c.type,U,a),{transform:{targetX:P(xe),targetY:R(xe),scale:te(he),rotate:ce(he),rCenter:ue}}}}function K(j){var q=j.parent,J=x[Ia.getPtId(q)],U={};if(J){var V=q.children,X=V.indexOf(j),H=V.length,G=uv(J.x0,J.x1);U.x0=G(X/H),U.x1=G(X/H)}else U.x0=U.x1=0;return U}}function vXt(e){return oXt.partition().size([2*Math.PI,e.height+1])(e)}uI.formatSliceLabel=function(e,t,r,i,n){var a=r.texttemplate,o=r.textinfo;if(!a&&(!o||o==="none"))return"";var s=n.separators,l=i[0],u=e.data.data,c=l.hierarchy,f=Ia.isHierarchyRoot(e),h=Ia.getParent(c,e),d=Ia.getValue(e);if(!a){var p=o.split("+"),v=function(y){return p.indexOf(y)!==-1},m=[],g;if(v("label")&&u.label&&m.push(u.label),u.hasOwnProperty("v")&&v("value")&&m.push(Ia.formatValue(u.v,s)),!f){v("current path")&&m.push(Ia.getPath(e.data));var w=0;v("percent parent")&&w++,v("percent entry")&&w++,v("percent root")&&w++;var b=w>1;if(w){var _,M=function(y){g=Ia.formatPercent(_,s),b&&(g+=" of "+y),m.push(g)};v("percent parent")&&!f&&(_=d/Ia.getValue(h),M("parent")),v("percent entry")&&(_=d/Ia.getValue(t),M("entry")),v("percent root")&&(_=d/Ia.getValue(c),M("root"))}}return v("text")&&(g=nf.castOption(r,u.i,"text"),nf.isValidTextValue(g)&&m.push(g)),m.join("
")}var x=nf.castOption(r,u.i,"texttemplate");if(!x)return"";var T={};u.label&&(T.label=u.label),u.hasOwnProperty("v")&&(T.value=u.v,T.valueLabel=Ia.formatValue(u.v,s)),T.currentPath=Ia.getPath(e.data),f||(T.percentParent=d/Ia.getValue(h),T.percentParentLabel=Ia.formatPercent(T.percentParent,s),T.parent=Ia.getPtLabel(h)),T.percentEntry=d/Ia.getValue(t),T.percentEntryLabel=Ia.formatPercent(T.percentEntry,s),T.entry=Ia.getPtLabel(t),T.percentRoot=d/Ia.getValue(c),T.percentRootLabel=Ia.formatPercent(T.percentRoot,s),T.root=Ia.getPtLabel(c),u.hasOwnProperty("color")&&(T.color=u.color);var A=nf.castOption(r,u.i,"text");return(nf.isValidTextValue(A)||A==="")&&(T.text=A),T.customdata=nf.castOption(r,u.i,"customdata"),nf.texttemplateString({data:[T,r._meta],fallback:r.texttemplatefallback,labels:T,locale:n._d3locale,template:x})};function gXt(e){return e.rpx0===0&&nf.isFullCircle([e.x0,e.x1])?1:Math.max(0,Math.min(1/(1+1/Math.sin(e.halfangle)),e.ring/2))}function mze(e){return mXt(e.rpx1,e.transform.textPosAngle)}function mXt(e,t){return[e*Math.sin(t),-e*Math.cos(t)]}});var bze=W((TGr,_ze)=>{"use strict";_ze.exports={moduleType:"trace",name:"sunburst",basePlotModule:IIe(),categories:[],animatable:!0,attributes:US(),layoutAttributes:VZ(),supplyDefaults:GIe(),supplyLayoutDefaults:jIe(),calc:HS().calc,crossTraceCalc:HS().crossTraceCalc,plot:cI().plot,style:fK().style,colorbar:Ac(),meta:{}}});var Tze=W((AGr,wze)=>{"use strict";wze.exports=bze()});var Mze=W(m4=>{"use strict";var Aze=Ko();m4.name="treemap";m4.plot=function(e,t,r,i){Aze.plotBasePlot(m4.name,e,t,r,i)};m4.clean=function(e,t,r,i){Aze.cleanBasePlot(m4.name,e,t,r,i)}});var vb=W((SGr,Sze)=>{"use strict";Sze.exports={CLICK_TRANSITION_TIME:750,CLICK_TRANSITION_EASING:"poly",eventDataKeys:["currentPath","root","entry","percentRoot","percentEntry","percentParent"],gapWithPathbar:1}});var fI=W((EGr,Cze)=>{"use strict";var{hovertemplateAttrs:yXt,texttemplateAttrs:xXt,templatefallbackAttrs:Eze}=Ga(),_Xt=Eo(),bXt=us().attributes,gb=nb(),Nd=US(),kze=vb(),dK=tn().extendFlat,wXt=Du().pattern;Cze.exports={labels:Nd.labels,parents:Nd.parents,values:Nd.values,branchvalues:Nd.branchvalues,count:Nd.count,level:Nd.level,maxdepth:Nd.maxdepth,tiling:{packing:{valType:"enumerated",values:["squarify","binary","dice","slice","slice-dice","dice-slice"],dflt:"squarify",editType:"plot"},squarifyratio:{valType:"number",min:1,dflt:1,editType:"plot"},flip:{valType:"flaglist",flags:["x","y"],dflt:"",editType:"plot"},pad:{valType:"number",min:0,dflt:3,editType:"plot"},editType:"calc"},marker:dK({pad:{t:{valType:"number",min:0,editType:"plot"},l:{valType:"number",min:0,editType:"plot"},r:{valType:"number",min:0,editType:"plot"},b:{valType:"number",min:0,editType:"plot"},editType:"calc"},colors:Nd.marker.colors,pattern:wXt,depthfade:{valType:"enumerated",values:[!0,!1,"reversed"],editType:"style"},line:Nd.marker.line,cornerradius:{valType:"number",min:0,dflt:0,editType:"plot"},editType:"calc"},_Xt("marker",{colorAttr:"colors",anim:!1})),pathbar:{visible:{valType:"boolean",dflt:!0,editType:"plot"},side:{valType:"enumerated",values:["top","bottom"],dflt:"top",editType:"plot"},edgeshape:{valType:"enumerated",values:[">","<","|","/","\\"],dflt:">",editType:"plot"},thickness:{valType:"number",min:12,editType:"plot"},textfont:dK({},gb.textfont,{}),editType:"calc"},text:gb.text,textinfo:Nd.textinfo,texttemplate:xXt({editType:"plot"},{keys:kze.eventDataKeys.concat(["label","value"])}),texttemplatefallback:Eze({editType:"plot"}),hovertext:gb.hovertext,hoverinfo:Nd.hoverinfo,hovertemplate:yXt({},{keys:kze.eventDataKeys}),hovertemplatefallback:Eze(),textfont:gb.textfont,insidetextfont:gb.insidetextfont,outsidetextfont:dK({},gb.outsidetextfont,{}),textposition:{valType:"enumerated",values:["top left","top center","top right","middle left","middle center","middle right","bottom left","bottom center","bottom right"],dflt:"top left",editType:"plot"},sort:gb.sort,root:Nd.root,domain:bXt({name:"treemap",trace:!0,editType:"calc"})}});var pK=W((kGr,Dze)=>{"use strict";Dze.exports={treemapcolorway:{valType:"colorlist",editType:"calc"},extendtreemapcolors:{valType:"boolean",dflt:!0,editType:"calc"}}});var Ize=W((CGr,Pze)=>{"use strict";var Fze=it(),TXt=fI(),AXt=ni(),MXt=us().defaults,SXt=E0().handleText,EXt=Uy().TEXTPAD,kXt=ab().handleMarkerDefaults,Lze=Jo(),CXt=Lze.hasColorscale,DXt=Lze.handleDefaults;Pze.exports=function(t,r,i,n){function a(m,g){return Fze.coerce(t,r,TXt,m,g)}var o=a("labels"),s=a("parents");if(!o||!o.length||!s||!s.length){r.visible=!1;return}var l=a("values");l&&l.length?a("branchvalues"):a("count"),a("level"),a("maxdepth");var u=a("tiling.packing");u==="squarify"&&a("tiling.squarifyratio"),a("tiling.flip"),a("tiling.pad");var c=a("text");a("texttemplate"),a("texttemplatefallback"),r.texttemplate||a("textinfo",Fze.isArrayOrTypedArray(c)?"text+label":"label"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var f=a("pathbar.visible"),h="auto";SXt(t,r,n,a,h,{hasPathbar:f,moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1}),a("textposition");var d=r.textposition.indexOf("bottom")!==-1;kXt(t,r,n,a);var p=r._hasColorscale=CXt(t,"marker","colors")||(t.marker||{}).coloraxis;p?DXt(t,r,n,a,{prefix:"marker.",cLetter:"c"}):a("marker.depthfade",!(r.marker.colors||[]).length);var v=r.textfont.size*2;a("marker.pad.t",d?v/4:v),a("marker.pad.l",v/4),a("marker.pad.r",v/4),a("marker.pad.b",d?v:v/4),a("marker.cornerradius"),r._hovered={marker:{line:{width:2,color:AXt.contrast(n.paper_bgcolor)}}},f&&(a("pathbar.thickness",r.pathbar.textfont.size+2*EXt),a("pathbar.side"),a("pathbar.edgeshape")),a("sort"),a("root.color"),MXt(r,n,a),r._length=null}});var zze=W((DGr,Rze)=>{"use strict";var FXt=it(),LXt=pK();Rze.exports=function(t,r){function i(n,a){return FXt.coerce(t,r,LXt,n,a)}i("treemapcolorway",r.colorway),i("extendtreemapcolors")}});var gK=W(vK=>{"use strict";var Bze=HS();vK.calc=function(e,t){return Bze.calc(e,t)};vK.crossTraceCalc=function(e){return Bze._runCrossTraceCalc("treemap",e)}});var mK=W((LGr,qze)=>{"use strict";qze.exports=function e(t,r,i){var n;i.swapXY&&(n=t.x0,t.x0=t.y0,t.y0=n,n=t.x1,t.x1=t.y1,t.y1=n),i.flipX&&(n=t.x0,t.x0=r[0]-t.x1,t.x1=r[0]-n),i.flipY&&(n=t.y0,t.y0=r[1]-t.y1,t.y1=r[1]-n);var a=t.children;if(a)for(var o=0;o{"use strict";var y4=VS(),PXt=mK();Oze.exports=function(t,r,i){var n=i.flipX,a=i.flipY,o=i.packing==="dice-slice",s=i.pad[a?"bottom":"top"],l=i.pad[n?"right":"left"],u=i.pad[n?"left":"right"],c=i.pad[a?"top":"bottom"],f;o&&(f=l,l=s,s=f,f=u,u=c,c=f);var h=y4.treemap().tile(IXt(i.packing,i.squarifyratio)).paddingInner(i.pad.inner).paddingLeft(l).paddingRight(u).paddingTop(s).paddingBottom(c).size(o?[r[1],r[0]]:r)(t);return(o||n||a)&&PXt(h,r,{swapXY:o,flipX:n,flipY:a}),h};function IXt(e,t){switch(e){case"squarify":return y4.treemapSquarify.ratio(t);case"binary":return y4.treemapBinary;case"dice":return y4.treemapDice;case"slice":return y4.treemapSlice;default:return y4.treemapSliceDice}}});var hI=W((IGr,Gze)=>{"use strict";var Nze=vi(),x4=ni(),Uze=it(),xK=am(),RXt=Qc().resizeText,zXt=lI();function BXt(e){var t=e._fullLayout._treemaplayer.selectAll(".trace");RXt(e,t,"treemap"),t.each(function(r){var i=Nze.select(this),n=r[0],a=n.trace;i.style("opacity",a.opacity),i.selectAll("path.surface").each(function(o){Nze.select(this).call(Vze,o,a,e,{hovered:!1})})})}function Vze(e,t,r,i,n){var a=(n||{}).hovered,o=t.data.data,s=o.i,l,u,c=o.color,f=xK.isHierarchyRoot(t),h=1;if(a)l=r._hovered.marker.line.color,u=r._hovered.marker.line.width;else if(f&&c===r.root.color)h=100,l="rgba(0,0,0,0)",u=0;else if(l=Uze.castOption(r,s,"marker.line.color")||x4.defaultLine,u=Uze.castOption(r,s,"marker.line.width")||0,!r._hasColorscale&&!t.onPathbar){var d=r.marker.depthfade;if(d){var p=x4.combine(x4.addOpacity(r._backgroundColor,.75),c),v;if(d===!0){var m=xK.getMaxDepth(r);isFinite(m)?xK.isLeaf(t)?v=0:v=r._maxVisibleLayers-(t.data.depth-r._entryDepth):v=t.data.height+1}else v=t.data.depth-r._entryDepth,r._atRootLevel||v++;if(v>0)for(var g=0;g{"use strict";var Hze=vi(),dI=it(),jze=Ji(),qXt=uo(),OXt=yK(),$ze=hI().styleOne,_K=vb(),_4=am(),NXt=tE(),bK=!0;Wze.exports=function(t,r,i,n,a){var o=a.barDifY,s=a.width,l=a.height,u=a.viewX,c=a.viewY,f=a.pathSlice,h=a.toMoveInsideSlice,d=a.strTransform,p=a.hasTransition,v=a.handleSlicesExit,m=a.makeUpdateSliceInterpolator,g=a.makeUpdateTextInterpolator,w={},b=t._context.staticPlot,_=t._fullLayout,M=r[0],x=M.trace,T=M.hierarchy,A=s/x._entryDepth,y=_4.listPath(i.data,"id"),E=OXt(T.copy(),[s,l],{packing:"dice",pad:{inner:0,top:0,left:0,right:0,bottom:0}}).descendants();E=E.filter(function(C){var k=y.indexOf(C.data.id);return k===-1?!1:(C.x0=A*k,C.x1=A*(k+1),C.y0=o,C.y1=o+l,C.onPathbar=!0,!0)}),E.reverse(),n=n.data(E,_4.getPtId),n.enter().append("g").classed("pathbar",!0),v(n,bK,w,[s,l],f),n.order();var S=n;p&&(S=S.transition().each("end",function(){var C=Hze.select(this);_4.setSliceCursor(C,t,{hideOnRoot:!1,hideOnLeaves:!1,isTransitioning:!1})})),S.each(function(C){C._x0=u(C.x0),C._x1=u(C.x1),C._y0=c(C.y0),C._y1=c(C.y1),C._hoverX=u(C.x1-Math.min(s,l)/2),C._hoverY=c(C.y1-l/2);var k=Hze.select(this),D=dI.ensureSingle(k,"path","surface",function(L){L.style("pointer-events",b?"none":"all")});p?D.transition().attrTween("d",function(L){var I=m(L,bK,w,[s,l]);return function(B){return f(I(B))}}):D.attr("d",f),k.call(NXt,i,t,r,{styleOne:$ze,eventDataKeys:_K.eventDataKeys,transitionTime:_K.CLICK_TRANSITION_TIME,transitionEasing:_K.CLICK_TRANSITION_EASING}).call(_4.setSliceCursor,t,{hideOnRoot:!1,hideOnLeaves:!1,isTransitioning:t._transitioning}),D.call($ze,C,x,t,{hovered:!1}),C._text=(_4.getPtLabel(C)||"").split("
").join(" ")||"";var F=dI.ensureSingle(k,"g","slicetext"),P=dI.ensureSingle(F,"text","",function(L){L.attr("data-notex",1)}),R=dI.ensureUniformFontSize(t,_4.determineTextFont(x,C,_.font,{onPathbar:!0}));P.text(C._text||" ").classed("slicetext",!0).attr("text-anchor","start").call(jze.font,R).call(qXt.convertToTspans,t),C.textBB=jze.bBox(P.node()),C.transform=h(C,{fontSize:R.size,onPathbar:!0}),C.transform.fontSize=R.size,p?P.transition().attrTween("transform",function(L){var I=g(L,bK,w,[s,l]);return function(B){return d(I(B))}}):P.attr("transform",d(C))})}});var Jze=W((zGr,Kze)=>{"use strict";var Xze=vi(),wK=(db(),Go(hb)).interpolate,x2=am(),iE=it(),Zze=Uy().TEXTPAD,UXt=I_(),VXt=UXt.toMoveInsideBar,GXt=Qc(),TK=GXt.recordMinTextSize,HXt=vb(),jXt=Yze();function mb(e){return x2.isHierarchyRoot(e)?"":x2.getPtId(e)}Kze.exports=function(t,r,i,n,a){var o=t._fullLayout,s=r[0],l=s.trace,u=l.type,c=u==="icicle",f=s.hierarchy,h=x2.findEntryWithLevel(f,l.level),d=Xze.select(i),p=d.selectAll("g.pathbar"),v=d.selectAll("g.slice");if(!h){p.remove(),v.remove();return}var m=x2.isHierarchyRoot(h),g=!o.uniformtext.mode&&x2.hasTransition(n),w=x2.getMaxDepth(l),b=function(re){return re.data.depth-h.data.depth-1?T+E:-(y+E):0,C={x0:A,x1:A,y0:S,y1:S+y},k=function(re,pe,we){var Fe=l.tiling.pad,Se=function(Oe){return Oe-Fe<=pe.x0},ke=function(Oe){return Oe+Fe>=pe.x1},_e=function(Oe){return Oe-Fe<=pe.y0},Ie=function(Oe){return Oe+Fe>=pe.y1};return re.x0===pe.x0&&re.x1===pe.x1&&re.y0===pe.y0&&re.y1===pe.y1?{x0:re.x0,x1:re.x1,y0:re.y0,y1:re.y1}:{x0:Se(re.x0-Fe)?0:ke(re.x0-Fe)?we[0]:re.x0,x1:Se(re.x1+Fe)?0:ke(re.x1+Fe)?we[0]:re.x1,y0:_e(re.y0-Fe)?0:Ie(re.y0-Fe)?we[1]:re.y0,y1:_e(re.y1+Fe)?0:Ie(re.y1+Fe)?we[1]:re.y1}},D=null,F={},P={},R=null,L=function(re,pe){return pe?F[mb(re)]:P[mb(re)]},I=function(re,pe,we,Fe){if(pe)return F[mb(f)]||C;var Se=P[l.level]||we;return b(re)?k(re,Se,Fe):{}};s.hasMultipleRoots&&m&&w++,l._maxDepth=w,l._backgroundColor=o.paper_bgcolor,l._entryDepth=h.data.depth,l._atRootLevel=m;var B=-x/2+_.l+_.w*(M.x[1]+M.x[0])/2,O=-T/2+_.t+_.h*(1-(M.y[1]+M.y[0])/2),$=function(re){return B+re},Y=function(re){return O+re},K=Y(0),j=$(0),q=function(re){return j+re},J=function(re){return K+re};function U(re,pe){return re+","+pe}var V=q(0),X=function(re){re.x=Math.max(V,re.x)},H=l.pathbar.edgeshape,G=function(re){var pe=q(Math.max(Math.min(re.x0,re.x0),0)),we=q(Math.min(Math.max(re.x1,re.x1),A)),Fe=J(re.y0),Se=J(re.y1),ke=y/2,_e={},Ie={};_e.x=pe,Ie.x=we,_e.y=Ie.y=(Fe+Se)/2;var Oe={x:pe,y:Fe},Qe={x:we,y:Fe},et={x:we,y:Se},_t={x:pe,y:Se};return H===">"?(Oe.x-=ke,Qe.x-=ke,et.x-=ke,_t.x-=ke):H==="/"?(et.x-=ke,_t.x-=ke,_e.x-=ke/2,Ie.x-=ke/2):H==="\\"?(Oe.x-=ke,Qe.x-=ke,_e.x-=ke/2,Ie.x-=ke/2):H==="<"&&(_e.x-=ke,Ie.x-=ke),X(Oe),X(_t),X(_e),X(Qe),X(et),X(Ie),"M"+U(Oe.x,Oe.y)+"L"+U(Qe.x,Qe.y)+"L"+U(Ie.x,Ie.y)+"L"+U(et.x,et.y)+"L"+U(_t.x,_t.y)+"L"+U(_e.x,_e.y)+"Z"},Q=l[c?"tiling":"marker"].pad,te=function(re){return l.textposition.indexOf(re)!==-1},ce=te("top"),ge=te("left"),Ce=te("right"),be=te("bottom"),he=function(re){var pe=$(re.x0),we=$(re.x1),Fe=Y(re.y0),Se=Y(re.y1),ke=we-pe,_e=Se-Fe;if(!ke||!_e)return"";var Ie=l.marker.cornerradius||0,Oe=Math.min(Ie,ke/2,_e/2);Oe&&re.data&&re.data.data&&re.data.data.label&&(ce&&(Oe=Math.min(Oe,Q.t)),ge&&(Oe=Math.min(Oe,Q.l)),Ce&&(Oe=Math.min(Oe,Q.r)),be&&(Oe=Math.min(Oe,Q.b)));var Qe=function(et,_t){return Oe?"a"+U(Oe,Oe)+" 0 0 1 "+U(et,_t):""};return"M"+U(pe,Fe+Oe)+Qe(Oe,-Oe)+"L"+U(we-Oe,Fe)+Qe(Oe,Oe)+"L"+U(we,Se-Oe)+Qe(-Oe,Oe)+"L"+U(pe+Oe,Se)+Qe(-Oe,-Oe)+"Z"},oe=function(re,pe){var we=re.x0,Fe=re.x1,Se=re.y0,ke=re.y1,_e=re.textBB,Ie=ce||pe.isHeader&&!be,Oe=Ie?"start":be?"end":"middle",Qe=te("right"),et=te("left")||pe.onPathbar,_t=et?-1:Qe?1:0;if(pe.isHeader){if(we+=(c?Q:Q.l)-Zze,Fe-=(c?Q:Q.r)-Zze,we>=Fe){var ut=(we+Fe)/2;we=ut,Fe=ut}var vt;be?(vt=ke-(c?Q:Q.b),Se{"use strict";var $Xt=vi(),WXt=am(),YXt=Qc(),XXt=YXt.clearMinTextSize,ZXt=Ed().resizeText,Qze=Jze();eBe.exports=function(t,r,i,n,a){var o=a.type,s=a.drawDescendants,l=t._fullLayout,u=l["_"+o+"layer"],c,f,h=!i;if(XXt(o,l),c=u.selectAll("g.trace."+o).data(r,function(p){return p[0].trace.uid}),c.enter().append("g").classed("trace",!0).classed(o,!0),c.order(),!l.uniformtext.mode&&WXt.hasTransition(i)){n&&(f=n());var d=$Xt.transition().duration(i.duration).ease(i.easing).each("end",function(){f&&f()}).each("interrupt",function(){f&&f()});d.each(function(){u.selectAll("g.trace").each(function(p){Qze(t,p,this,i,s)})})}else c.each(function(p){Qze(t,p,this,i,s)}),l.uniformtext.mode&&ZXt(t,u.selectAll(".trace"),o);h&&c.exit().remove()}});var aBe=W((qGr,nBe)=>{"use strict";var tBe=vi(),pI=it(),rBe=Ji(),KXt=uo(),JXt=yK(),iBe=hI().styleOne,MK=vb(),_2=am(),QXt=tE(),eZt=cI().formatSliceLabel,SK=!1;nBe.exports=function(t,r,i,n,a){var o=a.width,s=a.height,l=a.viewX,u=a.viewY,c=a.pathSlice,f=a.toMoveInsideSlice,h=a.strTransform,d=a.hasTransition,p=a.handleSlicesExit,v=a.makeUpdateSliceInterpolator,m=a.makeUpdateTextInterpolator,g=a.prevEntry,w={},b=t._context.staticPlot,_=t._fullLayout,M=r[0],x=M.trace,T=x.textposition.indexOf("left")!==-1,A=x.textposition.indexOf("right")!==-1,y=x.textposition.indexOf("bottom")!==-1,E=!y&&!x.marker.pad.t||y&&!x.marker.pad.b,S=JXt(i,[o,s],{packing:x.tiling.packing,squarifyratio:x.tiling.squarifyratio,flipX:x.tiling.flip.indexOf("x")>-1,flipY:x.tiling.flip.indexOf("y")>-1,pad:{inner:x.tiling.pad,top:x.marker.pad.t,left:x.marker.pad.l,right:x.marker.pad.r,bottom:x.marker.pad.b}}),C=S.descendants(),k=1/0,D=-1/0;C.forEach(function(I){var B=I.depth;B>=x._maxDepth?(I.x0=I.x1=(I.x0+I.x1)/2,I.y0=I.y1=(I.y0+I.y1)/2):(k=Math.min(k,B),D=Math.max(D,B))}),n=n.data(C,_2.getPtId),x._maxVisibleLayers=isFinite(D)?D-k+1:0,n.enter().append("g").classed("slice",!0),p(n,SK,w,[o,s],c),n.order();var F=null;if(d&&g){var P=_2.getPtId(g);n.each(function(I){F===null&&_2.getPtId(I)===P&&(F={x0:I.x0,x1:I.x1,y0:I.y0,y1:I.y1})})}var R=function(){return F||{x0:0,x1:o,y0:0,y1:s}},L=n;return d&&(L=L.transition().each("end",function(){var I=tBe.select(this);_2.setSliceCursor(I,t,{hideOnRoot:!0,hideOnLeaves:!1,isTransitioning:!1})})),L.each(function(I){var B=_2.isHeader(I,x);I._x0=l(I.x0),I._x1=l(I.x1),I._y0=u(I.y0),I._y1=u(I.y1),I._hoverX=l(I.x1-x.marker.pad.r),I._hoverY=u(y?I.y1-x.marker.pad.b/2:I.y0+x.marker.pad.t/2);var O=tBe.select(this),$=pI.ensureSingle(O,"path","surface",function(U){U.style("pointer-events",b?"none":"all")});d?$.transition().attrTween("d",function(U){var V=v(U,SK,R(),[o,s]);return function(X){return c(V(X))}}):$.attr("d",c),O.call(QXt,i,t,r,{styleOne:iBe,eventDataKeys:MK.eventDataKeys,transitionTime:MK.CLICK_TRANSITION_TIME,transitionEasing:MK.CLICK_TRANSITION_EASING}).call(_2.setSliceCursor,t,{isTransitioning:t._transitioning}),$.call(iBe,I,x,t,{hovered:!1}),I.x0===I.x1||I.y0===I.y1?I._text="":B?I._text=E?"":_2.getPtLabel(I)||"":I._text=eZt(I,i,x,r,_)||"";var Y=pI.ensureSingle(O,"g","slicetext"),K=pI.ensureSingle(Y,"text","",function(U){U.attr("data-notex",1)}),j=pI.ensureUniformFontSize(t,_2.determineTextFont(x,I,_.font)),q=I._text||" ",J=B&&q.indexOf("
")===-1;K.text(q).classed("slicetext",!0).attr("text-anchor",A?"end":T||J?"start":"middle").call(rBe.font,j).call(KXt.convertToTspans,t),I.textBB=rBe.bBox(K.node()),I.transform=f(I,{fontSize:j.size,isHeader:B}),I.transform.fontSize=j.size,d?K.transition().attrTween("transform",function(U){var V=m(U,SK,R(),[o,s]);return function(X){return h(V(X))}}):K.attr("transform",h(I))}),F}});var sBe=W((OGr,oBe)=>{"use strict";var tZt=AK(),rZt=aBe();oBe.exports=function(t,r,i,n){return tZt(t,r,i,n,{type:"treemap",drawDescendants:rZt})}});var uBe=W((NGr,lBe)=>{"use strict";lBe.exports={moduleType:"trace",name:"treemap",basePlotModule:Mze(),categories:[],animatable:!0,attributes:fI(),layoutAttributes:pK(),supplyDefaults:Ize(),supplyLayoutDefaults:zze(),calc:gK().calc,crossTraceCalc:gK().crossTraceCalc,plot:sBe(),style:hI().style,colorbar:Ac(),meta:{}}});var fBe=W((UGr,cBe)=>{"use strict";cBe.exports=uBe()});var dBe=W(b4=>{"use strict";var hBe=Ko();b4.name="icicle";b4.plot=function(e,t,r,i){hBe.plotBasePlot(b4.name,e,t,r,i)};b4.clean=function(e,t,r,i){hBe.cleanBasePlot(b4.name,e,t,r,i)}});var EK=W((GGr,gBe)=>{"use strict";var{hovertemplateAttrs:iZt,texttemplateAttrs:nZt,templatefallbackAttrs:pBe}=Ga(),aZt=Eo(),oZt=us().attributes,nE=nb(),F0=US(),vI=fI(),vBe=vb(),sZt=tn().extendFlat,lZt=Du().pattern;gBe.exports={labels:F0.labels,parents:F0.parents,values:F0.values,branchvalues:F0.branchvalues,count:F0.count,level:F0.level,maxdepth:F0.maxdepth,tiling:{orientation:{valType:"enumerated",values:["v","h"],dflt:"h",editType:"plot"},flip:vI.tiling.flip,pad:{valType:"number",min:0,dflt:0,editType:"plot"},editType:"calc"},marker:sZt({colors:F0.marker.colors,line:F0.marker.line,pattern:lZt,editType:"calc"},aZt("marker",{colorAttr:"colors",anim:!1})),leaf:F0.leaf,pathbar:vI.pathbar,text:nE.text,textinfo:F0.textinfo,texttemplate:nZt({editType:"plot"},{keys:vBe.eventDataKeys.concat(["label","value"])}),texttemplatefallback:pBe({editType:"plot"}),hovertext:nE.hovertext,hoverinfo:F0.hoverinfo,hovertemplate:iZt({},{keys:vBe.eventDataKeys}),hovertemplatefallback:pBe(),textfont:nE.textfont,insidetextfont:nE.insidetextfont,outsidetextfont:vI.outsidetextfont,textposition:vI.textposition,sort:nE.sort,root:F0.root,domain:oZt({name:"icicle",trace:!0,editType:"calc"})}});var kK=W((HGr,mBe)=>{"use strict";mBe.exports={iciclecolorway:{valType:"colorlist",editType:"calc"},extendiciclecolors:{valType:"boolean",dflt:!0,editType:"calc"}}});var bBe=W((jGr,_Be)=>{"use strict";var yBe=it(),uZt=EK(),cZt=ni(),fZt=us().defaults,hZt=E0().handleText,dZt=Uy().TEXTPAD,pZt=ab().handleMarkerDefaults,xBe=Jo(),vZt=xBe.hasColorscale,gZt=xBe.handleDefaults;_Be.exports=function(t,r,i,n){function a(d,p){return yBe.coerce(t,r,uZt,d,p)}var o=a("labels"),s=a("parents");if(!o||!o.length||!s||!s.length){r.visible=!1;return}var l=a("values");l&&l.length?a("branchvalues"):a("count"),a("level"),a("maxdepth"),a("tiling.orientation"),a("tiling.flip"),a("tiling.pad");var u=a("text");a("texttemplate"),a("texttemplatefallback"),r.texttemplate||a("textinfo",yBe.isArrayOrTypedArray(u)?"text+label":"label"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var c=a("pathbar.visible"),f="auto";hZt(t,r,n,a,f,{hasPathbar:c,moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1}),a("textposition"),pZt(t,r,n,a);var h=r._hasColorscale=vZt(t,"marker","colors")||(t.marker||{}).coloraxis;h&&gZt(t,r,n,a,{prefix:"marker.",cLetter:"c"}),a("leaf.opacity",h?1:.7),r._hovered={marker:{line:{width:2,color:cZt.contrast(n.paper_bgcolor)}}},c&&(a("pathbar.thickness",r.pathbar.textfont.size+2*dZt),a("pathbar.side"),a("pathbar.edgeshape")),a("sort"),a("root.color"),fZt(r,n,a),r._length=null}});var TBe=W(($Gr,wBe)=>{"use strict";var mZt=it(),yZt=kK();wBe.exports=function(t,r){function i(n,a){return mZt.coerce(t,r,yZt,n,a)}i("iciclecolorway",r.colorway),i("extendiciclecolors")}});var DK=W(CK=>{"use strict";var ABe=HS();CK.calc=function(e,t){return ABe.calc(e,t)};CK.crossTraceCalc=function(e){return ABe._runCrossTraceCalc("icicle",e)}});var SBe=W((YGr,MBe)=>{"use strict";var xZt=VS(),_Zt=mK();MBe.exports=function(t,r,i){var n=i.flipX,a=i.flipY,o=i.orientation==="h",s=i.maxDepth,l=r[0],u=r[1];s&&(l=(t.height+1)*r[0]/Math.min(t.height+1,s),u=(t.height+1)*r[1]/Math.min(t.height+1,s));var c=xZt.partition().padding(i.pad.inner).size(o?[r[1],l]:[r[0],u])(t);return(o||n||a)&&_Zt(c,r,{swapXY:o,flipX:n,flipY:a}),c}});var FK=W((XGr,FBe)=>{"use strict";var EBe=vi(),kBe=ni(),CBe=it(),bZt=Qc().resizeText,wZt=lI();function TZt(e){var t=e._fullLayout._iciclelayer.selectAll(".trace");bZt(e,t,"icicle"),t.each(function(r){var i=EBe.select(this),n=r[0],a=n.trace;i.style("opacity",a.opacity),i.selectAll("path.surface").each(function(o){EBe.select(this).call(DBe,o,a,e)})})}function DBe(e,t,r,i){var n=t.data.data,a=!t.children,o=n.i,s=CBe.castOption(r,o,"marker.line.color")||kBe.defaultLine,l=CBe.castOption(r,o,"marker.line.width")||0;e.call(wZt,t,r,i).style("stroke-width",l).call(kBe.stroke,s).style("opacity",a?r.leaf.opacity:null)}FBe.exports={style:TZt,styleOne:DBe}});var zBe=W((ZGr,RBe)=>{"use strict";var LBe=vi(),gI=it(),PBe=Ji(),AZt=uo(),MZt=SBe(),IBe=FK().styleOne,LK=vb(),w4=am(),SZt=tE(),EZt=cI().formatSliceLabel,PK=!1;RBe.exports=function(t,r,i,n,a){var o=a.width,s=a.height,l=a.viewX,u=a.viewY,c=a.pathSlice,f=a.toMoveInsideSlice,h=a.strTransform,d=a.hasTransition,p=a.handleSlicesExit,v=a.makeUpdateSliceInterpolator,m=a.makeUpdateTextInterpolator,g=a.prevEntry,w={},b=t._context.staticPlot,_=t._fullLayout,M=r[0],x=M.trace,T=x.textposition.indexOf("left")!==-1,A=x.textposition.indexOf("right")!==-1,y=x.textposition.indexOf("bottom")!==-1,E=MZt(i,[o,s],{flipX:x.tiling.flip.indexOf("x")>-1,flipY:x.tiling.flip.indexOf("y")>-1,orientation:x.tiling.orientation,pad:{inner:x.tiling.pad},maxDepth:x._maxDepth}),S=E.descendants(),C=1/0,k=-1/0;S.forEach(function(L){var I=L.depth;I>=x._maxDepth?(L.x0=L.x1=(L.x0+L.x1)/2,L.y0=L.y1=(L.y0+L.y1)/2):(C=Math.min(C,I),k=Math.max(k,I))}),n=n.data(S,w4.getPtId),x._maxVisibleLayers=isFinite(k)?k-C+1:0,n.enter().append("g").classed("slice",!0),p(n,PK,w,[o,s],c),n.order();var D=null;if(d&&g){var F=w4.getPtId(g);n.each(function(L){D===null&&w4.getPtId(L)===F&&(D={x0:L.x0,x1:L.x1,y0:L.y0,y1:L.y1})})}var P=function(){return D||{x0:0,x1:o,y0:0,y1:s}},R=n;return d&&(R=R.transition().each("end",function(){var L=LBe.select(this);w4.setSliceCursor(L,t,{hideOnRoot:!0,hideOnLeaves:!1,isTransitioning:!1})})),R.each(function(L){L._x0=l(L.x0),L._x1=l(L.x1),L._y0=u(L.y0),L._y1=u(L.y1),L._hoverX=l(L.x1-x.tiling.pad),L._hoverY=u(y?L.y1-x.tiling.pad/2:L.y0+x.tiling.pad/2);var I=LBe.select(this),B=gI.ensureSingle(I,"path","surface",function(K){K.style("pointer-events",b?"none":"all")});d?B.transition().attrTween("d",function(K){var j=v(K,PK,P(),[o,s],{orientation:x.tiling.orientation,flipX:x.tiling.flip.indexOf("x")>-1,flipY:x.tiling.flip.indexOf("y")>-1});return function(q){return c(j(q))}}):B.attr("d",c),I.call(SZt,i,t,r,{styleOne:IBe,eventDataKeys:LK.eventDataKeys,transitionTime:LK.CLICK_TRANSITION_TIME,transitionEasing:LK.CLICK_TRANSITION_EASING}).call(w4.setSliceCursor,t,{isTransitioning:t._transitioning}),B.call(IBe,L,x,t,{hovered:!1}),L.x0===L.x1||L.y0===L.y1?L._text="":L._text=EZt(L,i,x,r,_)||"";var O=gI.ensureSingle(I,"g","slicetext"),$=gI.ensureSingle(O,"text","",function(K){K.attr("data-notex",1)}),Y=gI.ensureUniformFontSize(t,w4.determineTextFont(x,L,_.font));$.text(L._text||" ").classed("slicetext",!0).attr("text-anchor",A?"end":T?"start":"middle").call(PBe.font,Y).call(AZt.convertToTspans,t),L.textBB=PBe.bBox($.node()),L.transform=f(L,{fontSize:Y.size}),L.transform.fontSize=Y.size,d?$.transition().attrTween("transform",function(K){var j=m(K,PK,P(),[o,s]);return function(q){return h(j(q))}}):$.attr("transform",h(L))}),D}});var qBe=W((KGr,BBe)=>{"use strict";var kZt=AK(),CZt=zBe();BBe.exports=function(t,r,i,n){return kZt(t,r,i,n,{type:"icicle",drawDescendants:CZt})}});var NBe=W((JGr,OBe)=>{"use strict";OBe.exports={moduleType:"trace",name:"icicle",basePlotModule:dBe(),categories:[],animatable:!0,attributes:EK(),layoutAttributes:kK(),supplyDefaults:bBe(),supplyLayoutDefaults:TBe(),calc:DK().calc,crossTraceCalc:DK().crossTraceCalc,plot:qBe(),style:FK().style,colorbar:Ac(),meta:{}}});var VBe=W((QGr,UBe)=>{"use strict";UBe.exports=NBe()});var HBe=W(T4=>{"use strict";var GBe=Ko();T4.name="funnelarea";T4.plot=function(e,t,r,i){GBe.plotBasePlot(T4.name,e,t,r,i)};T4.clean=function(e,t,r,i){GBe.cleanBasePlot(T4.name,e,t,r,i)}});var IK=W((tHr,$Be)=>{"use strict";var Cc=nb(),DZt=Wa(),FZt=us().attributes,{hovertemplateAttrs:LZt,texttemplateAttrs:PZt,templatefallbackAttrs:jBe}=Ga(),yb=tn().extendFlat;$Be.exports={labels:Cc.labels,label0:Cc.label0,dlabel:Cc.dlabel,values:Cc.values,marker:{colors:Cc.marker.colors,line:{color:yb({},Cc.marker.line.color,{dflt:null}),width:yb({},Cc.marker.line.width,{dflt:1}),editType:"calc"},pattern:Cc.marker.pattern,editType:"calc"},text:Cc.text,hovertext:Cc.hovertext,scalegroup:yb({},Cc.scalegroup,{}),textinfo:yb({},Cc.textinfo,{flags:["label","text","value","percent"]}),texttemplate:PZt({editType:"plot"},{keys:["label","color","value","text","percent"]}),texttemplatefallback:jBe({editType:"plot"}),hoverinfo:yb({},DZt.hoverinfo,{flags:["label","text","value","percent","name"]}),hovertemplate:LZt({},{keys:["label","color","value","text","percent"]}),hovertemplatefallback:jBe(),textposition:yb({},Cc.textposition,{values:["inside","none"],dflt:"inside"}),textfont:Cc.textfont,insidetextfont:Cc.insidetextfont,title:{text:Cc.title.text,font:Cc.title.font,position:yb({},Cc.title.position,{values:["top left","top center","top right"],dflt:"top center"}),editType:"plot"},domain:FZt({name:"funnelarea",trace:!0,editType:"calc"}),aspectratio:{valType:"number",min:0,dflt:1,editType:"plot"},baseratio:{valType:"number",min:0,max:1,dflt:.333,editType:"plot"}}});var RK=W((rHr,WBe)=>{"use strict";var IZt=BP().hiddenlabels;WBe.exports={hiddenlabels:IZt,funnelareacolorway:{valType:"colorlist",editType:"calc"},extendfunnelareacolors:{valType:"boolean",dflt:!0,editType:"calc"}}});var ZBe=W((iHr,XBe)=>{"use strict";var YBe=it(),RZt=IK(),zZt=us().defaults,BZt=E0().handleText,qZt=ab().handleLabelsAndValues,OZt=ab().handleMarkerDefaults;XBe.exports=function(t,r,i,n){function a(v,m){return YBe.coerce(t,r,RZt,v,m)}var o=a("labels"),s=a("values"),l=qZt(o,s),u=l.len;if(r._hasLabels=l.hasLabels,r._hasValues=l.hasValues,!r._hasLabels&&r._hasValues&&(a("label0"),a("dlabel")),!u){r.visible=!1;return}r._length=u,OZt(t,r,n,a),a("scalegroup");var c=a("text"),f=a("texttemplate");a("texttemplatefallback");var h;if(f||(h=a("textinfo",Array.isArray(c)?"text+percent":"percent")),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),f||h&&h!=="none"){var d=a("textposition");BZt(t,r,n,a,d,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1})}else h==="none"&&a("textposition","none");zZt(r,n,a);var p=a("title.text");p&&(a("title.position"),YBe.coerceFont(a,"title.font",n.font)),a("aspectratio"),a("baseratio")}});var JBe=W((nHr,KBe)=>{"use strict";var NZt=it(),UZt=RK();KBe.exports=function(t,r){function i(n,a){return NZt.coerce(t,r,UZt,n,a)}i("hiddenlabels"),i("funnelareacolorway",r.colorway),i("extendfunnelareacolors")}});var zK=W((aHr,eqe)=>{"use strict";var QBe=a4();function VZt(e,t){return QBe.calc(e,t)}function GZt(e){QBe.crossTraceCalc(e,{type:"funnelarea"})}eqe.exports={calc:VZt,crossTraceCalc:GZt}});var aqe=W((oHr,nqe)=>{"use strict";var xb=vi(),BK=Ji(),b2=it(),HZt=b2.strScale,tqe=b2.strTranslate,rqe=uo(),jZt=I_(),$Zt=jZt.toMoveInsideBar,iqe=Qc(),WZt=iqe.recordMinTextSize,YZt=iqe.clearMinTextSize,XZt=Ly(),A4=UP(),ZZt=A4.attachFxHandlers,KZt=A4.determineInsideTextFont,JZt=A4.layoutAreas,QZt=A4.prerenderTitles,eKt=A4.positionTitleOutside,tKt=A4.formatSliceLabel;nqe.exports=function(t,r){var i=t._context.staticPlot,n=t._fullLayout;YZt("funnelarea",n),QZt(r,t),JZt(r,n._size),b2.makeTraceGroups(n._funnelarealayer,r,"trace").each(function(a){var o=xb.select(this),s=a[0],l=s.trace;iKt(a),o.each(function(){var u=xb.select(this).selectAll("g.slice").data(a);u.enter().append("g").classed("slice",!0),u.exit().remove(),u.each(function(f,h){if(f.hidden){xb.select(this).selectAll("path,g").remove();return}f.pointNumber=f.i,f.curveNumber=l.index;var d=s.cx,p=s.cy,v=xb.select(this),m=v.selectAll("path.surface").data([f]);m.enter().append("path").classed("surface",!0).style({"pointer-events":i?"none":"all"}),v.call(ZZt,t,a);var g="M"+(d+f.TR[0])+","+(p+f.TR[1])+qK(f.TR,f.BR)+qK(f.BR,f.BL)+qK(f.BL,f.TL)+"Z";m.attr("d",g),tKt(t,f,s);var w=XZt.castOption(l.textposition,f.pts),b=v.selectAll("g.slicetext").data(f.text&&w!=="none"?[0]:[]);b.enter().append("g").classed("slicetext",!0),b.exit().remove(),b.each(function(){var _=b2.ensureSingle(xb.select(this),"text","",function(C){C.attr("data-notex",1)}),M=b2.ensureUniformFontSize(t,KZt(l,f,n.font));_.text(f.text).attr({class:"slicetext",transform:"","text-anchor":"middle"}).call(BK.font,M).call(rqe.convertToTspans,t);var x=BK.bBox(_.node()),T,A,y,E=Math.min(f.BL[1],f.BR[1])+p,S=Math.max(f.TL[1],f.TR[1])+p;A=Math.max(f.TL[0],f.BL[0])+d,y=Math.min(f.TR[0],f.BR[0])+d,T=$Zt(A,y,E,S,x,{isHorizontal:!0,constrained:!0,angle:0,anchor:"middle"}),T.fontSize=M.size,WZt(l.type,T,n),a[h].transform=T,b2.setTransormAndDisplay(_,T)})});var c=xb.select(this).selectAll("g.titletext").data(l.title.text?[0]:[]);c.enter().append("g").classed("titletext",!0),c.exit().remove(),c.each(function(){var f=b2.ensureSingle(xb.select(this),"text","",function(p){p.attr("data-notex",1)}),h=l.title.text;l._meta&&(h=b2.templateString(h,l._meta)),f.text(h).attr({class:"titletext",transform:"","text-anchor":"middle"}).call(BK.font,l.title.font).call(rqe.convertToTspans,t);var d=eKt(s,n._size);f.attr("transform",tqe(d.x,d.y)+HZt(Math.min(1,d.scale))+tqe(d.tx,d.ty))})})})};function qK(e,t){var r=t[0]-e[0],i=t[1]-e[1];return"l"+r+","+i}function rKt(e,t){return[.5*(e[0]+t[0]),.5*(e[1]+t[1])]}function iKt(e){if(!e.length)return;var t=e[0],r=t.trace,i=r.aspectratio,n=r.baseratio;n>.999&&(n=.999);var a=Math.pow(n,2),o=t.vTotal,s=o*a/(1-a),l=o,u=s/o;function c(){var k=Math.sqrt(u);return{x:k,y:-k}}function f(){var k=c();return[k.x,k.y]}var h,d=[];d.push(f());var p,v;for(p=e.length-1;p>-1;p--)if(v=e[p],!v.hidden){var m=v.v/l;u+=m,d.push(f())}var g=1/0,w=-1/0;for(p=0;p-1;p--)if(v=e[p],!v.hidden){E+=1;var S=d[E][0],C=d[E][1];v.TL=[-S,C],v.TR=[S,C],v.BL=A,v.BR=y,v.pxmid=rKt(v.TR,v.BR),A=v.TL,y=v.TR}}});var lqe=W((sHr,sqe)=>{"use strict";var oqe=vi(),nKt=Sw(),aKt=Qc().resizeText;sqe.exports=function(t){var r=t._fullLayout._funnelarealayer.selectAll(".trace");aKt(t,r,"funnelarea"),r.each(function(i){var n=i[0],a=n.trace,o=oqe.select(this);o.style({opacity:a.opacity}),o.selectAll("path.surface").each(function(s){oqe.select(this).call(nKt,s,a,t)})})}});var cqe=W((lHr,uqe)=>{"use strict";uqe.exports={moduleType:"trace",name:"funnelarea",basePlotModule:HBe(),categories:["pie-like","funnelarea","showLegend"],attributes:IK(),layoutAttributes:RK(),supplyDefaults:ZBe(),supplyLayoutDefaults:JBe(),calc:zK().calc,crossTraceCalc:zK().crossTraceCalc,plot:aqe(),style:lqe(),styleOne:Sw(),meta:{}}});var hqe=W((uHr,fqe)=>{"use strict";fqe.exports=cqe()});var nc=W((cHr,dqe)=>{"use strict";(()=>{var e={3065(n,a,o){n.exports={alpha_shape:o(3502),convex_hull:o(7352),delaunay_triangulate:o(7642),gl_cone3d:o(6405),gl_error3d:o(9165),gl_line3d:o(5714),gl_mesh3d:o(7201),gl_plot3d:o(4100),gl_scatter3d:o(8418),gl_streamtube3d:o(7815),gl_surface3d:o(9499),ndarray:o(9618),ndarray_linear_interpolate:o(4317)}},6296(n,a,o){"use strict";n.exports=h;var s=o(7261),l=o(9977),u=o(1811);function c(d,p){this._controllerNames=Object.keys(d),this._controllerList=this._controllerNames.map(function(v){return d[v]}),this._mode=p,this._active=d[p],this._active||(this._mode="turntable",this._active=d.turntable),this.modes=this._controllerNames,this.computedMatrix=this._active.computedMatrix,this.computedEye=this._active.computedEye,this.computedUp=this._active.computedUp,this.computedCenter=this._active.computedCenter,this.computedRadius=this._active.computedRadius}var f=c.prototype;f.flush=function(d){for(var p=this._controllerList,v=0;v0)throw new Error("Invalid string. Length must be a multiple of 4");var M=b.indexOf("=");M===-1&&(M=_);var x=M===_?0:4-M%4;return[M,x]}function d(b){var _=h(b),M=_[0],x=_[1];return(M+x)*3/4-x}function p(b,_,M){return(_+M)*3/4-M}function v(b){var _,M=h(b),x=M[0],T=M[1],A=new l(p(b,x,T)),y=0,E=T>0?x-4:x,S;for(S=0;S>16&255,A[y++]=_>>8&255,A[y++]=_&255;return T===2&&(_=s[b.charCodeAt(S)]<<2|s[b.charCodeAt(S+1)]>>4,A[y++]=_&255),T===1&&(_=s[b.charCodeAt(S)]<<10|s[b.charCodeAt(S+1)]<<4|s[b.charCodeAt(S+2)]>>2,A[y++]=_>>8&255,A[y++]=_&255),A}function m(b){return o[b>>18&63]+o[b>>12&63]+o[b>>6&63]+o[b&63]}function g(b,_,M){for(var x,T=[],A=_;AE?E:y+A));return x===1?(_=b[M-1],T.push(o[_>>2]+o[_<<4&63]+"==")):x===2&&(_=(b[M-2]<<8)+b[M-1],T.push(o[_>>10]+o[_>>4&63]+o[_<<2&63]+"=")),T.join("")}},3865(n,a,o){"use strict";var s=o(869);n.exports=l;function l(u,c){return s(u[0].mul(c[1]).add(c[0].mul(u[1])),u[1].mul(c[1]))}},1318(n){"use strict";n.exports=a;function a(o,s){return o[0].mul(s[1]).cmp(s[0].mul(o[1]))}},8697(n,a,o){"use strict";var s=o(869);n.exports=l;function l(u,c){return s(u[0].mul(c[1]),u[1].mul(c[0]))}},7842(n,a,o){"use strict";var s=o(6330),l=o(1533),u=o(2651),c=o(6768),f=o(869),h=o(8697);n.exports=d;function d(p,v){if(s(p))return v?h(p,d(v)):[p[0].clone(),p[1].clone()];var m=0,g,w;if(l(p))g=p.clone();else if(typeof p=="string")g=c(p);else{if(p===0)return[u(0),u(1)];if(p===Math.floor(p))g=u(p);else{for(;p!==Math.floor(p);)p=p*Math.pow(2,256),m-=256;g=u(p)}}if(s(v))g.mul(v[1]),w=v[0].clone();else if(l(v))w=v.clone();else if(typeof v=="string")w=c(v);else if(!v)w=u(1);else if(v===Math.floor(v))w=u(v);else{for(;v!==Math.floor(v);)v=v*Math.pow(2,256),m+=256;w=u(v)}return m>0?g=g.ushln(m):m<0&&(w=w.ushln(-m)),f(g,w)}},6330(n,a,o){"use strict";var s=o(1533);n.exports=l;function l(u){return Array.isArray(u)&&u.length===2&&s(u[0])&&s(u[1])}},5716(n,a,o){"use strict";var s=o(6859);n.exports=l;function l(u){return u.cmp(new s(0))}},1369(n,a,o){"use strict";var s=o(5716);n.exports=l;function l(u){var c=u.length,f=u.words,h=0;if(c===1)h=f[0];else if(c===2)h=f[0]+f[1]*67108864;else for(var d=0;d20?52:h+32}},1533(n,a,o){"use strict";var s=o(6859);n.exports=l;function l(u){return u&&typeof u=="object"&&!!u.words}},2651(n,a,o){"use strict";var s=o(6859),l=o(2361);n.exports=u;function u(c){var f=l.exponent(c);return f<52?new s(c):new s(c*Math.pow(2,52-f)).ushln(f-52)}},869(n,a,o){"use strict";var s=o(2651),l=o(5716);n.exports=u;function u(c,f){var h=l(c),d=l(f);if(h===0)return[s(0),s(1)];if(d===0)return[s(0),s(0)];d<0&&(c=c.neg(),f=f.neg());var p=c.gcd(f);return p.cmpn(1)?[c.div(p),f.div(p)]:[c,f]}},6768(n,a,o){"use strict";var s=o(6859);n.exports=l;function l(u){return new s(u)}},6504(n,a,o){"use strict";var s=o(869);n.exports=l;function l(u,c){return s(u[0].mul(c[0]),u[1].mul(c[1]))}},7721(n,a,o){"use strict";var s=o(5716);n.exports=l;function l(u){return s(u[0])*s(u[1])}},5572(n,a,o){"use strict";var s=o(869);n.exports=l;function l(u,c){return s(u[0].mul(c[1]).sub(u[1].mul(c[0])),u[1].mul(c[1]))}},946(n,a,o){"use strict";var s=o(1369),l=o(4025);n.exports=u;function u(c){var f=c[0],h=c[1];if(f.cmpn(0)===0)return 0;var d=f.abs().divmod(h.abs()),p=d.div,v=s(p),m=d.mod,g=f.negative!==h.negative?-1:1;if(m.cmpn(0)===0)return g*v;if(v){var w=l(v)+4,b=s(m.ushln(w).divRound(h));return g*(v+b*Math.pow(2,-w))}else{var _=h.bitLength()-m.bitLength()+53,b=s(m.ushln(_).divRound(h));return _<1023?g*b*Math.pow(2,-_):(b*=Math.pow(2,-1023),g*b*Math.pow(2,1023-_))}}},2478(n){"use strict";function a(f,h,d,p,v){for(var m=v+1;p<=v;){var g=p+v>>>1,w=f[g],b=d!==void 0?d(w,h):w-h;b>=0?(m=g,v=g-1):p=g+1}return m}function o(f,h,d,p,v){for(var m=v+1;p<=v;){var g=p+v>>>1,w=f[g],b=d!==void 0?d(w,h):w-h;b>0?(m=g,v=g-1):p=g+1}return m}function s(f,h,d,p,v){for(var m=p-1;p<=v;){var g=p+v>>>1,w=f[g],b=d!==void 0?d(w,h):w-h;b<0?(m=g,p=g+1):v=g-1}return m}function l(f,h,d,p,v){for(var m=p-1;p<=v;){var g=p+v>>>1,w=f[g],b=d!==void 0?d(w,h):w-h;b<=0?(m=g,p=g+1):v=g-1}return m}function u(f,h,d,p,v){for(;p<=v;){var m=p+v>>>1,g=f[m],w=d!==void 0?d(g,h):g-h;if(w===0)return m;w<=0?p=m+1:v=m-1}return-1}function c(f,h,d,p,v,m){return typeof d=="function"?m(f,h,d,p===void 0?0:p|0,v===void 0?f.length-1:v|0):m(f,h,void 0,d===void 0?0:d|0,p===void 0?f.length-1:p|0)}n.exports={ge:function(f,h,d,p,v){return c(f,h,d,p,v,a)},gt:function(f,h,d,p,v){return c(f,h,d,p,v,o)},lt:function(f,h,d,p,v){return c(f,h,d,p,v,s)},le:function(f,h,d,p,v){return c(f,h,d,p,v,l)},eq:function(f,h,d,p,v){return c(f,h,d,p,v,u)}}},8828(n,a){"use strict";"use restrict";var o=32;a.INT_BITS=o,a.INT_MAX=2147483647,a.INT_MIN=-1<0)-(u<0)},a.abs=function(u){var c=u>>o-1;return(u^c)-c},a.min=function(u,c){return c^(u^c)&-(u65535)<<4,u>>>=c,f=(u>255)<<3,u>>>=f,c|=f,f=(u>15)<<2,u>>>=f,c|=f,f=(u>3)<<1,u>>>=f,c|=f,c|u>>1},a.log10=function(u){return u>=1e9?9:u>=1e8?8:u>=1e7?7:u>=1e6?6:u>=1e5?5:u>=1e4?4:u>=1e3?3:u>=100?2:u>=10?1:0},a.popCount=function(u){return u=u-(u>>>1&1431655765),u=(u&858993459)+(u>>>2&858993459),(u+(u>>>4)&252645135)*16843009>>>24};function s(u){var c=32;return u&=-u,u&&c--,u&65535&&(c-=16),u&16711935&&(c-=8),u&252645135&&(c-=4),u&858993459&&(c-=2),u&1431655765&&(c-=1),c}a.countTrailingZeros=s,a.nextPow2=function(u){return u+=u===0,--u,u|=u>>>1,u|=u>>>2,u|=u>>>4,u|=u>>>8,u|=u>>>16,u+1},a.prevPow2=function(u){return u|=u>>>1,u|=u>>>2,u|=u>>>4,u|=u>>>8,u|=u>>>16,u-(u>>>1)},a.parity=function(u){return u^=u>>>16,u^=u>>>8,u^=u>>>4,u&=15,27030>>>u&1};var l=new Array(256);(function(u){for(var c=0;c<256;++c){var f=c,h=c,d=7;for(f>>>=1;f;f>>>=1)h<<=1,h|=f&1,--d;u[c]=h<>>8&255]<<16|l[u>>>16&255]<<8|l[u>>>24&255]},a.interleave2=function(u,c){return u&=65535,u=(u|u<<8)&16711935,u=(u|u<<4)&252645135,u=(u|u<<2)&858993459,u=(u|u<<1)&1431655765,c&=65535,c=(c|c<<8)&16711935,c=(c|c<<4)&252645135,c=(c|c<<2)&858993459,c=(c|c<<1)&1431655765,u|c<<1},a.deinterleave2=function(u,c){return u=u>>>c&1431655765,u=(u|u>>>1)&858993459,u=(u|u>>>2)&252645135,u=(u|u>>>4)&16711935,u=(u|u>>>16)&65535,u<<16>>16},a.interleave3=function(u,c,f){return u&=1023,u=(u|u<<16)&4278190335,u=(u|u<<8)&251719695,u=(u|u<<4)&3272356035,u=(u|u<<2)&1227133513,c&=1023,c=(c|c<<16)&4278190335,c=(c|c<<8)&251719695,c=(c|c<<4)&3272356035,c=(c|c<<2)&1227133513,u|=c<<1,f&=1023,f=(f|f<<16)&4278190335,f=(f|f<<8)&251719695,f=(f|f<<4)&3272356035,f=(f|f<<2)&1227133513,u|f<<2},a.deinterleave3=function(u,c){return u=u>>>c&1227133513,u=(u|u>>>2)&3272356035,u=(u|u>>>4)&251719695,u=(u|u>>>8)&4278190335,u=(u|u>>>16)&1023,u<<22>>22},a.nextCombination=function(u){var c=u|u-1;return c+1|(~c&-~c)-1>>>s(u)+1}},6859(n,a,o){n=o.nmd(n),(function(s,l){"use strict";function u(R,L){if(!R)throw new Error(L||"Assertion failed")}function c(R,L){R.super_=L;var I=function(){};I.prototype=L.prototype,R.prototype=new I,R.prototype.constructor=R}function f(R,L,I){if(f.isBN(R))return R;this.negative=0,this.words=null,this.length=0,this.red=null,R!==null&&((L==="le"||L==="be")&&(I=L,L=10),this._init(R||0,L||10,I||"be"))}typeof s=="object"?s.exports=f:l.BN=f,f.BN=f,f.wordSize=26;var h;try{typeof window!="undefined"&&typeof window.Buffer!="undefined"?h=window.Buffer:h=o(7790).Buffer}catch(R){}f.isBN=function(L){return L instanceof f?!0:L!==null&&typeof L=="object"&&L.constructor.wordSize===f.wordSize&&Array.isArray(L.words)},f.max=function(L,I){return L.cmp(I)>0?L:I},f.min=function(L,I){return L.cmp(I)<0?L:I},f.prototype._init=function(L,I,B){if(typeof L=="number")return this._initNumber(L,I,B);if(typeof L=="object")return this._initArray(L,I,B);I==="hex"&&(I=16),u(I===(I|0)&&I>=2&&I<=36),L=L.toString().replace(/\s+/g,"");var O=0;L[0]==="-"&&(O++,this.negative=1),O=0;O-=3)Y=L[O]|L[O-1]<<8|L[O-2]<<16,this.words[$]|=Y<>>26-K&67108863,K+=24,K>=26&&(K-=26,$++);else if(B==="le")for(O=0,$=0;O>>26-K&67108863,K+=24,K>=26&&(K-=26,$++);return this.strip()};function d(R,L){var I=R.charCodeAt(L);return I>=65&&I<=70?I-55:I>=97&&I<=102?I-87:I-48&15}function p(R,L,I){var B=d(R,I);return I-1>=L&&(B|=d(R,I-1)<<4),B}f.prototype._parseHex=function(L,I,B){this.length=Math.ceil((L.length-I)/6),this.words=new Array(this.length);for(var O=0;O=I;O-=2)K=p(L,I,O)<<$,this.words[Y]|=K&67108863,$>=18?($-=18,Y+=1,this.words[Y]|=K>>>26):$+=8;else{var j=L.length-I;for(O=j%2===0?I+1:I;O=18?($-=18,Y+=1,this.words[Y]|=K>>>26):$+=8}this.strip()};function v(R,L,I,B){for(var O=0,$=Math.min(R.length,I),Y=L;Y<$;Y++){var K=R.charCodeAt(Y)-48;O*=B,K>=49?O+=K-49+10:K>=17?O+=K-17+10:O+=K}return O}f.prototype._parseBase=function(L,I,B){this.words=[0],this.length=1;for(var O=0,$=1;$<=67108863;$*=I)O++;O--,$=$/I|0;for(var Y=L.length-B,K=Y%O,j=Math.min(Y,Y-K)+B,q=0,J=B;J1&&this.words[this.length-1]===0;)this.length--;return this._normSign()},f.prototype._normSign=function(){return this.length===1&&this.words[0]===0&&(this.negative=0),this},f.prototype.inspect=function(){return(this.red?""};var m=["","0","00","000","0000","00000","000000","0000000","00000000","000000000","0000000000","00000000000","000000000000","0000000000000","00000000000000","000000000000000","0000000000000000","00000000000000000","000000000000000000","0000000000000000000","00000000000000000000","000000000000000000000","0000000000000000000000","00000000000000000000000","000000000000000000000000","0000000000000000000000000"],g=[0,0,25,16,12,11,10,9,8,8,7,7,7,7,6,6,6,6,6,6,6,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5],w=[0,0,33554432,43046721,16777216,48828125,60466176,40353607,16777216,43046721,1e7,19487171,35831808,62748517,7529536,11390625,16777216,24137569,34012224,47045881,64e6,4084101,5153632,6436343,7962624,9765625,11881376,14348907,17210368,20511149,243e5,28629151,33554432,39135393,45435424,52521875,60466176];f.prototype.toString=function(L,I){L=L||10,I=I|0||1;var B;if(L===16||L==="hex"){B="";for(var O=0,$=0,Y=0;Y>>24-O&16777215,O+=2,O>=26&&(O-=26,Y--),$!==0||Y!==this.length-1?B=m[6-j.length]+j+B:B=j+B}for($!==0&&(B=$.toString(16)+B);B.length%I!==0;)B="0"+B;return this.negative!==0&&(B="-"+B),B}if(L===(L|0)&&L>=2&&L<=36){var q=g[L],J=w[L];B="";var U=this.clone();for(U.negative=0;!U.isZero();){var V=U.modn(J).toString(L);U=U.idivn(J),U.isZero()?B=V+B:B=m[q-V.length]+V+B}for(this.isZero()&&(B="0"+B);B.length%I!==0;)B="0"+B;return this.negative!==0&&(B="-"+B),B}u(!1,"Base should be between 2 and 36")},f.prototype.toNumber=function(){var L=this.words[0];return this.length===2?L+=this.words[1]*67108864:this.length===3&&this.words[2]===1?L+=4503599627370496+this.words[1]*67108864:this.length>2&&u(!1,"Number can only safely store up to 53 bits"),this.negative!==0?-L:L},f.prototype.toJSON=function(){return this.toString(16)},f.prototype.toBuffer=function(L,I){return u(typeof h!="undefined"),this.toArrayLike(h,L,I)},f.prototype.toArray=function(L,I){return this.toArrayLike(Array,L,I)},f.prototype.toArrayLike=function(L,I,B){var O=this.byteLength(),$=B||Math.max(1,O);u(O<=$,"byte array longer than desired length"),u($>0,"Requested array length <= 0"),this.strip();var Y=I==="le",K=new L($),j,q,J=this.clone();if(Y){for(q=0;!J.isZero();q++)j=J.andln(255),J.iushrn(8),K[q]=j;for(;q<$;q++)K[q]=0}else{for(q=0;q<$-O;q++)K[q]=0;for(q=0;!J.isZero();q++)j=J.andln(255),J.iushrn(8),K[$-q-1]=j}return K},Math.clz32?f.prototype._countBits=function(L){return 32-Math.clz32(L)}:f.prototype._countBits=function(L){var I=L,B=0;return I>=4096&&(B+=13,I>>>=13),I>=64&&(B+=7,I>>>=7),I>=8&&(B+=4,I>>>=4),I>=2&&(B+=2,I>>>=2),B+I},f.prototype._zeroBits=function(L){if(L===0)return 26;var I=L,B=0;return(I&8191)===0&&(B+=13,I>>>=13),(I&127)===0&&(B+=7,I>>>=7),(I&15)===0&&(B+=4,I>>>=4),(I&3)===0&&(B+=2,I>>>=2),(I&1)===0&&B++,B},f.prototype.bitLength=function(){var L=this.words[this.length-1],I=this._countBits(L);return(this.length-1)*26+I};function b(R){for(var L=new Array(R.bitLength()),I=0;I>>O}return L}f.prototype.zeroBits=function(){if(this.isZero())return 0;for(var L=0,I=0;IL.length?this.clone().ior(L):L.clone().ior(this)},f.prototype.uor=function(L){return this.length>L.length?this.clone().iuor(L):L.clone().iuor(this)},f.prototype.iuand=function(L){var I;this.length>L.length?I=L:I=this;for(var B=0;BL.length?this.clone().iand(L):L.clone().iand(this)},f.prototype.uand=function(L){return this.length>L.length?this.clone().iuand(L):L.clone().iuand(this)},f.prototype.iuxor=function(L){var I,B;this.length>L.length?(I=this,B=L):(I=L,B=this);for(var O=0;OL.length?this.clone().ixor(L):L.clone().ixor(this)},f.prototype.uxor=function(L){return this.length>L.length?this.clone().iuxor(L):L.clone().iuxor(this)},f.prototype.inotn=function(L){u(typeof L=="number"&&L>=0);var I=Math.ceil(L/26)|0,B=L%26;this._expand(I),B>0&&I--;for(var O=0;O0&&(this.words[O]=~this.words[O]&67108863>>26-B,O++);O=0);var B=L/26|0,O=L%26;return this._expand(B+1),I?this.words[B]=this.words[B]|1<L.length?(B=this,O=L):(B=L,O=this);for(var $=0,Y=0;Y>>26;for(;$!==0&&Y>>26;if(this.length=B.length,$!==0)this.words[this.length]=$,this.length++;else if(B!==this)for(;YL.length?this.clone().iadd(L):L.clone().iadd(this)},f.prototype.isub=function(L){if(L.negative!==0){L.negative=0;var I=this.iadd(L);return L.negative=1,I._normSign()}else if(this.negative!==0)return this.negative=0,this.iadd(L),this.negative=1,this._normSign();var B=this.cmp(L);if(B===0)return this.negative=0,this.length=1,this.words[0]=0,this;var O,$;B>0?(O=this,$=L):(O=L,$=this);for(var Y=0,K=0;K<$.length;K++)I=(O.words[K]|0)-($.words[K]|0)+Y,Y=I>>26,this.words[K]=I&67108863;for(;Y!==0&&K>26,this.words[K]=I&67108863;if(Y===0&&K>>26,U=j&67108863,V=Math.min(q,L.length-1),X=Math.max(0,q-R.length+1);X<=V;X++){var H=q-X|0;O=R.words[H]|0,$=L.words[X]|0,Y=O*$+U,J+=Y/67108864|0,U=Y&67108863}I.words[q]=U|0,j=J|0}return j!==0?I.words[q]=j|0:I.length--,I.strip()}var M=function(L,I,B){var O=L.words,$=I.words,Y=B.words,K=0,j,q,J,U=O[0]|0,V=U&8191,X=U>>>13,H=O[1]|0,G=H&8191,Q=H>>>13,te=O[2]|0,ce=te&8191,ge=te>>>13,Ce=O[3]|0,be=Ce&8191,he=Ce>>>13,oe=O[4]|0,Ee=oe&8191,ye=oe>>>13,ue=O[5]|0,ee=ue&8191,ae=ue>>>13,xe=O[6]|0,re=xe&8191,pe=xe>>>13,we=O[7]|0,Fe=we&8191,Se=we>>>13,ke=O[8]|0,_e=ke&8191,Ie=ke>>>13,Oe=O[9]|0,Qe=Oe&8191,et=Oe>>>13,_t=$[0]|0,ut=_t&8191,vt=_t>>>13,Xe=$[1]|0,mt=Xe&8191,bt=Xe>>>13,Ne=$[2]|0,Ue=Ne&8191,Ge=Ne>>>13,je=$[3]|0,Re=je&8191,Ve=je>>>13,ct=$[4]|0,Tt=ct&8191,Xt=ct>>>13,Vt=$[5]|0,lr=Vt&8191,ur=Vt>>>13,Bt=$[6]|0,Zt=Bt&8191,kr=Bt>>>13,$e=$[7]|0,tt=$e&8191,st=$e>>>13,xt=$[8]|0,Je=xt&8191,Ct=xt>>>13,ir=$[9]|0,hr=ir&8191,Ur=ir>>>13;B.negative=L.negative^I.negative,B.length=19,j=Math.imul(V,ut),q=Math.imul(V,vt),q=q+Math.imul(X,ut)|0,J=Math.imul(X,vt);var si=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(si>>>26)|0,si&=67108863,j=Math.imul(G,ut),q=Math.imul(G,vt),q=q+Math.imul(Q,ut)|0,J=Math.imul(Q,vt),j=j+Math.imul(V,mt)|0,q=q+Math.imul(V,bt)|0,q=q+Math.imul(X,mt)|0,J=J+Math.imul(X,bt)|0;var ei=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ei>>>26)|0,ei&=67108863,j=Math.imul(ce,ut),q=Math.imul(ce,vt),q=q+Math.imul(ge,ut)|0,J=Math.imul(ge,vt),j=j+Math.imul(G,mt)|0,q=q+Math.imul(G,bt)|0,q=q+Math.imul(Q,mt)|0,J=J+Math.imul(Q,bt)|0,j=j+Math.imul(V,Ue)|0,q=q+Math.imul(V,Ge)|0,q=q+Math.imul(X,Ue)|0,J=J+Math.imul(X,Ge)|0;var Lr=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(Lr>>>26)|0,Lr&=67108863,j=Math.imul(be,ut),q=Math.imul(be,vt),q=q+Math.imul(he,ut)|0,J=Math.imul(he,vt),j=j+Math.imul(ce,mt)|0,q=q+Math.imul(ce,bt)|0,q=q+Math.imul(ge,mt)|0,J=J+Math.imul(ge,bt)|0,j=j+Math.imul(G,Ue)|0,q=q+Math.imul(G,Ge)|0,q=q+Math.imul(Q,Ue)|0,J=J+Math.imul(Q,Ge)|0,j=j+Math.imul(V,Re)|0,q=q+Math.imul(V,Ve)|0,q=q+Math.imul(X,Re)|0,J=J+Math.imul(X,Ve)|0;var $i=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+($i>>>26)|0,$i&=67108863,j=Math.imul(Ee,ut),q=Math.imul(Ee,vt),q=q+Math.imul(ye,ut)|0,J=Math.imul(ye,vt),j=j+Math.imul(be,mt)|0,q=q+Math.imul(be,bt)|0,q=q+Math.imul(he,mt)|0,J=J+Math.imul(he,bt)|0,j=j+Math.imul(ce,Ue)|0,q=q+Math.imul(ce,Ge)|0,q=q+Math.imul(ge,Ue)|0,J=J+Math.imul(ge,Ge)|0,j=j+Math.imul(G,Re)|0,q=q+Math.imul(G,Ve)|0,q=q+Math.imul(Q,Re)|0,J=J+Math.imul(Q,Ve)|0,j=j+Math.imul(V,Tt)|0,q=q+Math.imul(V,Xt)|0,q=q+Math.imul(X,Tt)|0,J=J+Math.imul(X,Xt)|0;var Tn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(Tn>>>26)|0,Tn&=67108863,j=Math.imul(ee,ut),q=Math.imul(ee,vt),q=q+Math.imul(ae,ut)|0,J=Math.imul(ae,vt),j=j+Math.imul(Ee,mt)|0,q=q+Math.imul(Ee,bt)|0,q=q+Math.imul(ye,mt)|0,J=J+Math.imul(ye,bt)|0,j=j+Math.imul(be,Ue)|0,q=q+Math.imul(be,Ge)|0,q=q+Math.imul(he,Ue)|0,J=J+Math.imul(he,Ge)|0,j=j+Math.imul(ce,Re)|0,q=q+Math.imul(ce,Ve)|0,q=q+Math.imul(ge,Re)|0,J=J+Math.imul(ge,Ve)|0,j=j+Math.imul(G,Tt)|0,q=q+Math.imul(G,Xt)|0,q=q+Math.imul(Q,Tt)|0,J=J+Math.imul(Q,Xt)|0,j=j+Math.imul(V,lr)|0,q=q+Math.imul(V,ur)|0,q=q+Math.imul(X,lr)|0,J=J+Math.imul(X,ur)|0;var hn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(hn>>>26)|0,hn&=67108863,j=Math.imul(re,ut),q=Math.imul(re,vt),q=q+Math.imul(pe,ut)|0,J=Math.imul(pe,vt),j=j+Math.imul(ee,mt)|0,q=q+Math.imul(ee,bt)|0,q=q+Math.imul(ae,mt)|0,J=J+Math.imul(ae,bt)|0,j=j+Math.imul(Ee,Ue)|0,q=q+Math.imul(Ee,Ge)|0,q=q+Math.imul(ye,Ue)|0,J=J+Math.imul(ye,Ge)|0,j=j+Math.imul(be,Re)|0,q=q+Math.imul(be,Ve)|0,q=q+Math.imul(he,Re)|0,J=J+Math.imul(he,Ve)|0,j=j+Math.imul(ce,Tt)|0,q=q+Math.imul(ce,Xt)|0,q=q+Math.imul(ge,Tt)|0,J=J+Math.imul(ge,Xt)|0,j=j+Math.imul(G,lr)|0,q=q+Math.imul(G,ur)|0,q=q+Math.imul(Q,lr)|0,J=J+Math.imul(Q,ur)|0,j=j+Math.imul(V,Zt)|0,q=q+Math.imul(V,kr)|0,q=q+Math.imul(X,Zt)|0,J=J+Math.imul(X,kr)|0;var ta=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ta>>>26)|0,ta&=67108863,j=Math.imul(Fe,ut),q=Math.imul(Fe,vt),q=q+Math.imul(Se,ut)|0,J=Math.imul(Se,vt),j=j+Math.imul(re,mt)|0,q=q+Math.imul(re,bt)|0,q=q+Math.imul(pe,mt)|0,J=J+Math.imul(pe,bt)|0,j=j+Math.imul(ee,Ue)|0,q=q+Math.imul(ee,Ge)|0,q=q+Math.imul(ae,Ue)|0,J=J+Math.imul(ae,Ge)|0,j=j+Math.imul(Ee,Re)|0,q=q+Math.imul(Ee,Ve)|0,q=q+Math.imul(ye,Re)|0,J=J+Math.imul(ye,Ve)|0,j=j+Math.imul(be,Tt)|0,q=q+Math.imul(be,Xt)|0,q=q+Math.imul(he,Tt)|0,J=J+Math.imul(he,Xt)|0,j=j+Math.imul(ce,lr)|0,q=q+Math.imul(ce,ur)|0,q=q+Math.imul(ge,lr)|0,J=J+Math.imul(ge,ur)|0,j=j+Math.imul(G,Zt)|0,q=q+Math.imul(G,kr)|0,q=q+Math.imul(Q,Zt)|0,J=J+Math.imul(Q,kr)|0,j=j+Math.imul(V,tt)|0,q=q+Math.imul(V,st)|0,q=q+Math.imul(X,tt)|0,J=J+Math.imul(X,st)|0;var ca=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ca>>>26)|0,ca&=67108863,j=Math.imul(_e,ut),q=Math.imul(_e,vt),q=q+Math.imul(Ie,ut)|0,J=Math.imul(Ie,vt),j=j+Math.imul(Fe,mt)|0,q=q+Math.imul(Fe,bt)|0,q=q+Math.imul(Se,mt)|0,J=J+Math.imul(Se,bt)|0,j=j+Math.imul(re,Ue)|0,q=q+Math.imul(re,Ge)|0,q=q+Math.imul(pe,Ue)|0,J=J+Math.imul(pe,Ge)|0,j=j+Math.imul(ee,Re)|0,q=q+Math.imul(ee,Ve)|0,q=q+Math.imul(ae,Re)|0,J=J+Math.imul(ae,Ve)|0,j=j+Math.imul(Ee,Tt)|0,q=q+Math.imul(Ee,Xt)|0,q=q+Math.imul(ye,Tt)|0,J=J+Math.imul(ye,Xt)|0,j=j+Math.imul(be,lr)|0,q=q+Math.imul(be,ur)|0,q=q+Math.imul(he,lr)|0,J=J+Math.imul(he,ur)|0,j=j+Math.imul(ce,Zt)|0,q=q+Math.imul(ce,kr)|0,q=q+Math.imul(ge,Zt)|0,J=J+Math.imul(ge,kr)|0,j=j+Math.imul(G,tt)|0,q=q+Math.imul(G,st)|0,q=q+Math.imul(Q,tt)|0,J=J+Math.imul(Q,st)|0,j=j+Math.imul(V,Je)|0,q=q+Math.imul(V,Ct)|0,q=q+Math.imul(X,Je)|0,J=J+Math.imul(X,Ct)|0;var dn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(dn>>>26)|0,dn&=67108863,j=Math.imul(Qe,ut),q=Math.imul(Qe,vt),q=q+Math.imul(et,ut)|0,J=Math.imul(et,vt),j=j+Math.imul(_e,mt)|0,q=q+Math.imul(_e,bt)|0,q=q+Math.imul(Ie,mt)|0,J=J+Math.imul(Ie,bt)|0,j=j+Math.imul(Fe,Ue)|0,q=q+Math.imul(Fe,Ge)|0,q=q+Math.imul(Se,Ue)|0,J=J+Math.imul(Se,Ge)|0,j=j+Math.imul(re,Re)|0,q=q+Math.imul(re,Ve)|0,q=q+Math.imul(pe,Re)|0,J=J+Math.imul(pe,Ve)|0,j=j+Math.imul(ee,Tt)|0,q=q+Math.imul(ee,Xt)|0,q=q+Math.imul(ae,Tt)|0,J=J+Math.imul(ae,Xt)|0,j=j+Math.imul(Ee,lr)|0,q=q+Math.imul(Ee,ur)|0,q=q+Math.imul(ye,lr)|0,J=J+Math.imul(ye,ur)|0,j=j+Math.imul(be,Zt)|0,q=q+Math.imul(be,kr)|0,q=q+Math.imul(he,Zt)|0,J=J+Math.imul(he,kr)|0,j=j+Math.imul(ce,tt)|0,q=q+Math.imul(ce,st)|0,q=q+Math.imul(ge,tt)|0,J=J+Math.imul(ge,st)|0,j=j+Math.imul(G,Je)|0,q=q+Math.imul(G,Ct)|0,q=q+Math.imul(Q,Je)|0,J=J+Math.imul(Q,Ct)|0,j=j+Math.imul(V,hr)|0,q=q+Math.imul(V,Ur)|0,q=q+Math.imul(X,hr)|0,J=J+Math.imul(X,Ur)|0;var Vn=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(Vn>>>26)|0,Vn&=67108863,j=Math.imul(Qe,mt),q=Math.imul(Qe,bt),q=q+Math.imul(et,mt)|0,J=Math.imul(et,bt),j=j+Math.imul(_e,Ue)|0,q=q+Math.imul(_e,Ge)|0,q=q+Math.imul(Ie,Ue)|0,J=J+Math.imul(Ie,Ge)|0,j=j+Math.imul(Fe,Re)|0,q=q+Math.imul(Fe,Ve)|0,q=q+Math.imul(Se,Re)|0,J=J+Math.imul(Se,Ve)|0,j=j+Math.imul(re,Tt)|0,q=q+Math.imul(re,Xt)|0,q=q+Math.imul(pe,Tt)|0,J=J+Math.imul(pe,Xt)|0,j=j+Math.imul(ee,lr)|0,q=q+Math.imul(ee,ur)|0,q=q+Math.imul(ae,lr)|0,J=J+Math.imul(ae,ur)|0,j=j+Math.imul(Ee,Zt)|0,q=q+Math.imul(Ee,kr)|0,q=q+Math.imul(ye,Zt)|0,J=J+Math.imul(ye,kr)|0,j=j+Math.imul(be,tt)|0,q=q+Math.imul(be,st)|0,q=q+Math.imul(he,tt)|0,J=J+Math.imul(he,st)|0,j=j+Math.imul(ce,Je)|0,q=q+Math.imul(ce,Ct)|0,q=q+Math.imul(ge,Je)|0,J=J+Math.imul(ge,Ct)|0,j=j+Math.imul(G,hr)|0,q=q+Math.imul(G,Ur)|0,q=q+Math.imul(Q,hr)|0,J=J+Math.imul(Q,Ur)|0;var ra=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ra>>>26)|0,ra&=67108863,j=Math.imul(Qe,Ue),q=Math.imul(Qe,Ge),q=q+Math.imul(et,Ue)|0,J=Math.imul(et,Ge),j=j+Math.imul(_e,Re)|0,q=q+Math.imul(_e,Ve)|0,q=q+Math.imul(Ie,Re)|0,J=J+Math.imul(Ie,Ve)|0,j=j+Math.imul(Fe,Tt)|0,q=q+Math.imul(Fe,Xt)|0,q=q+Math.imul(Se,Tt)|0,J=J+Math.imul(Se,Xt)|0,j=j+Math.imul(re,lr)|0,q=q+Math.imul(re,ur)|0,q=q+Math.imul(pe,lr)|0,J=J+Math.imul(pe,ur)|0,j=j+Math.imul(ee,Zt)|0,q=q+Math.imul(ee,kr)|0,q=q+Math.imul(ae,Zt)|0,J=J+Math.imul(ae,kr)|0,j=j+Math.imul(Ee,tt)|0,q=q+Math.imul(Ee,st)|0,q=q+Math.imul(ye,tt)|0,J=J+Math.imul(ye,st)|0,j=j+Math.imul(be,Je)|0,q=q+Math.imul(be,Ct)|0,q=q+Math.imul(he,Je)|0,J=J+Math.imul(he,Ct)|0,j=j+Math.imul(ce,hr)|0,q=q+Math.imul(ce,Ur)|0,q=q+Math.imul(ge,hr)|0,J=J+Math.imul(ge,Ur)|0;var ds=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ds>>>26)|0,ds&=67108863,j=Math.imul(Qe,Re),q=Math.imul(Qe,Ve),q=q+Math.imul(et,Re)|0,J=Math.imul(et,Ve),j=j+Math.imul(_e,Tt)|0,q=q+Math.imul(_e,Xt)|0,q=q+Math.imul(Ie,Tt)|0,J=J+Math.imul(Ie,Xt)|0,j=j+Math.imul(Fe,lr)|0,q=q+Math.imul(Fe,ur)|0,q=q+Math.imul(Se,lr)|0,J=J+Math.imul(Se,ur)|0,j=j+Math.imul(re,Zt)|0,q=q+Math.imul(re,kr)|0,q=q+Math.imul(pe,Zt)|0,J=J+Math.imul(pe,kr)|0,j=j+Math.imul(ee,tt)|0,q=q+Math.imul(ee,st)|0,q=q+Math.imul(ae,tt)|0,J=J+Math.imul(ae,st)|0,j=j+Math.imul(Ee,Je)|0,q=q+Math.imul(Ee,Ct)|0,q=q+Math.imul(ye,Je)|0,J=J+Math.imul(ye,Ct)|0,j=j+Math.imul(be,hr)|0,q=q+Math.imul(be,Ur)|0,q=q+Math.imul(he,hr)|0,J=J+Math.imul(he,Ur)|0;var mo=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(mo>>>26)|0,mo&=67108863,j=Math.imul(Qe,Tt),q=Math.imul(Qe,Xt),q=q+Math.imul(et,Tt)|0,J=Math.imul(et,Xt),j=j+Math.imul(_e,lr)|0,q=q+Math.imul(_e,ur)|0,q=q+Math.imul(Ie,lr)|0,J=J+Math.imul(Ie,ur)|0,j=j+Math.imul(Fe,Zt)|0,q=q+Math.imul(Fe,kr)|0,q=q+Math.imul(Se,Zt)|0,J=J+Math.imul(Se,kr)|0,j=j+Math.imul(re,tt)|0,q=q+Math.imul(re,st)|0,q=q+Math.imul(pe,tt)|0,J=J+Math.imul(pe,st)|0,j=j+Math.imul(ee,Je)|0,q=q+Math.imul(ee,Ct)|0,q=q+Math.imul(ae,Je)|0,J=J+Math.imul(ae,Ct)|0,j=j+Math.imul(Ee,hr)|0,q=q+Math.imul(Ee,Ur)|0,q=q+Math.imul(ye,hr)|0,J=J+Math.imul(ye,Ur)|0;var Rs=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(Rs>>>26)|0,Rs&=67108863,j=Math.imul(Qe,lr),q=Math.imul(Qe,ur),q=q+Math.imul(et,lr)|0,J=Math.imul(et,ur),j=j+Math.imul(_e,Zt)|0,q=q+Math.imul(_e,kr)|0,q=q+Math.imul(Ie,Zt)|0,J=J+Math.imul(Ie,kr)|0,j=j+Math.imul(Fe,tt)|0,q=q+Math.imul(Fe,st)|0,q=q+Math.imul(Se,tt)|0,J=J+Math.imul(Se,st)|0,j=j+Math.imul(re,Je)|0,q=q+Math.imul(re,Ct)|0,q=q+Math.imul(pe,Je)|0,J=J+Math.imul(pe,Ct)|0,j=j+Math.imul(ee,hr)|0,q=q+Math.imul(ee,Ur)|0,q=q+Math.imul(ae,hr)|0,J=J+Math.imul(ae,Ur)|0;var ho=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ho>>>26)|0,ho&=67108863,j=Math.imul(Qe,Zt),q=Math.imul(Qe,kr),q=q+Math.imul(et,Zt)|0,J=Math.imul(et,kr),j=j+Math.imul(_e,tt)|0,q=q+Math.imul(_e,st)|0,q=q+Math.imul(Ie,tt)|0,J=J+Math.imul(Ie,st)|0,j=j+Math.imul(Fe,Je)|0,q=q+Math.imul(Fe,Ct)|0,q=q+Math.imul(Se,Je)|0,J=J+Math.imul(Se,Ct)|0,j=j+Math.imul(re,hr)|0,q=q+Math.imul(re,Ur)|0,q=q+Math.imul(pe,hr)|0,J=J+Math.imul(pe,Ur)|0;var ka=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ka>>>26)|0,ka&=67108863,j=Math.imul(Qe,tt),q=Math.imul(Qe,st),q=q+Math.imul(et,tt)|0,J=Math.imul(et,st),j=j+Math.imul(_e,Je)|0,q=q+Math.imul(_e,Ct)|0,q=q+Math.imul(Ie,Je)|0,J=J+Math.imul(Ie,Ct)|0,j=j+Math.imul(Fe,hr)|0,q=q+Math.imul(Fe,Ur)|0,q=q+Math.imul(Se,hr)|0,J=J+Math.imul(Se,Ur)|0;var ao=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(ao>>>26)|0,ao&=67108863,j=Math.imul(Qe,Je),q=Math.imul(Qe,Ct),q=q+Math.imul(et,Je)|0,J=Math.imul(et,Ct),j=j+Math.imul(_e,hr)|0,q=q+Math.imul(_e,Ur)|0,q=q+Math.imul(Ie,hr)|0,J=J+Math.imul(Ie,Ur)|0;var zs=(K+j|0)+((q&8191)<<13)|0;K=(J+(q>>>13)|0)+(zs>>>26)|0,zs&=67108863,j=Math.imul(Qe,hr),q=Math.imul(Qe,Ur),q=q+Math.imul(et,hr)|0,J=Math.imul(et,Ur);var _a=(K+j|0)+((q&8191)<<13)|0;return K=(J+(q>>>13)|0)+(_a>>>26)|0,_a&=67108863,Y[0]=si,Y[1]=ei,Y[2]=Lr,Y[3]=$i,Y[4]=Tn,Y[5]=hn,Y[6]=ta,Y[7]=ca,Y[8]=dn,Y[9]=Vn,Y[10]=ra,Y[11]=ds,Y[12]=mo,Y[13]=Rs,Y[14]=ho,Y[15]=ka,Y[16]=ao,Y[17]=zs,Y[18]=_a,K!==0&&(Y[19]=K,B.length++),B};Math.imul||(M=_);function x(R,L,I){I.negative=L.negative^R.negative,I.length=R.length+L.length;for(var B=0,O=0,$=0;$>>26)|0,O+=Y>>>26,Y&=67108863}I.words[$]=K,B=Y,Y=O}return B!==0?I.words[$]=B:I.length--,I.strip()}function T(R,L,I){var B=new A;return B.mulp(R,L,I)}f.prototype.mulTo=function(L,I){var B,O=this.length+L.length;return this.length===10&&L.length===10?B=M(this,L,I):O<63?B=_(this,L,I):O<1024?B=x(this,L,I):B=T(this,L,I),B};function A(R,L){this.x=R,this.y=L}A.prototype.makeRBT=function(L){for(var I=new Array(L),B=f.prototype._countBits(L)-1,O=0;O>=1;return O},A.prototype.permute=function(L,I,B,O,$,Y){for(var K=0;K>>1)$++;return 1<<$+1+O},A.prototype.conjugate=function(L,I,B){if(!(B<=1))for(var O=0;O>>13,B[2*Y+1]=$&8191,$=$>>>13;for(Y=2*I;Y>=26,I+=O/67108864|0,I+=$>>>26,this.words[B]=$&67108863}return I!==0&&(this.words[B]=I,this.length++),L===0&&(this.length=1,this._normSign()),this},f.prototype.muln=function(L){return this.clone().imuln(L)},f.prototype.sqr=function(){return this.mul(this)},f.prototype.isqr=function(){return this.imul(this.clone())},f.prototype.pow=function(L){var I=b(L);if(I.length===0)return new f(1);for(var B=this,O=0;O=0);var I=L%26,B=(L-I)/26,O=67108863>>>26-I<<26-I,$;if(I!==0){var Y=0;for($=0;$>>26-I}Y&&(this.words[$]=Y,this.length++)}if(B!==0){for($=this.length-1;$>=0;$--)this.words[$+B]=this.words[$];for($=0;$=0);var O;I?O=(I-I%26)/26:O=0;var $=L%26,Y=Math.min((L-$)/26,this.length),K=67108863^67108863>>>$<<$,j=B;if(O-=Y,O=Math.max(0,O),j){for(var q=0;qY)for(this.length-=Y,q=0;q=0&&(J!==0||q>=O);q--){var U=this.words[q]|0;this.words[q]=J<<26-$|U>>>$,J=U&K}return j&&J!==0&&(j.words[j.length++]=J),this.length===0&&(this.words[0]=0,this.length=1),this.strip()},f.prototype.ishrn=function(L,I,B){return u(this.negative===0),this.iushrn(L,I,B)},f.prototype.shln=function(L){return this.clone().ishln(L)},f.prototype.ushln=function(L){return this.clone().iushln(L)},f.prototype.shrn=function(L){return this.clone().ishrn(L)},f.prototype.ushrn=function(L){return this.clone().iushrn(L)},f.prototype.testn=function(L){u(typeof L=="number"&&L>=0);var I=L%26,B=(L-I)/26,O=1<=0);var I=L%26,B=(L-I)/26;if(u(this.negative===0,"imaskn works only with positive numbers"),this.length<=B)return this;if(I!==0&&B++,this.length=Math.min(B,this.length),I!==0){var O=67108863^67108863>>>I<=67108864;I++)this.words[I]-=67108864,I===this.length-1?this.words[I+1]=1:this.words[I+1]++;return this.length=Math.max(this.length,I+1),this},f.prototype.isubn=function(L){if(u(typeof L=="number"),u(L<67108864),L<0)return this.iaddn(-L);if(this.negative!==0)return this.negative=0,this.iaddn(L),this.negative=1,this;if(this.words[0]-=L,this.length===1&&this.words[0]<0)this.words[0]=-this.words[0],this.negative=1;else for(var I=0;I>26)-(j/67108864|0),this.words[$+B]=Y&67108863}for(;$>26,this.words[$+B]=Y&67108863;if(K===0)return this.strip();for(u(K===-1),K=0,$=0;$>26,this.words[$]=Y&67108863;return this.negative=1,this.strip()},f.prototype._wordDiv=function(L,I){var B=this.length-L.length,O=this.clone(),$=L,Y=$.words[$.length-1]|0,K=this._countBits(Y);B=26-K,B!==0&&($=$.ushln(B),O.iushln(B),Y=$.words[$.length-1]|0);var j=O.length-$.length,q;if(I!=="mod"){q=new f(null),q.length=j+1,q.words=new Array(q.length);for(var J=0;J=0;V--){var X=(O.words[$.length+V]|0)*67108864+(O.words[$.length+V-1]|0);for(X=Math.min(X/Y|0,67108863),O._ishlnsubmul($,X,V);O.negative!==0;)X--,O.negative=0,O._ishlnsubmul($,1,V),O.isZero()||(O.negative^=1);q&&(q.words[V]=X)}return q&&q.strip(),O.strip(),I!=="div"&&B!==0&&O.iushrn(B),{div:q||null,mod:O}},f.prototype.divmod=function(L,I,B){if(u(!L.isZero()),this.isZero())return{div:new f(0),mod:new f(0)};var O,$,Y;return this.negative!==0&&L.negative===0?(Y=this.neg().divmod(L,I),I!=="mod"&&(O=Y.div.neg()),I!=="div"&&($=Y.mod.neg(),B&&$.negative!==0&&$.iadd(L)),{div:O,mod:$}):this.negative===0&&L.negative!==0?(Y=this.divmod(L.neg(),I),I!=="mod"&&(O=Y.div.neg()),{div:O,mod:Y.mod}):(this.negative&L.negative)!==0?(Y=this.neg().divmod(L.neg(),I),I!=="div"&&($=Y.mod.neg(),B&&$.negative!==0&&$.isub(L)),{div:Y.div,mod:$}):L.length>this.length||this.cmp(L)<0?{div:new f(0),mod:this}:L.length===1?I==="div"?{div:this.divn(L.words[0]),mod:null}:I==="mod"?{div:null,mod:new f(this.modn(L.words[0]))}:{div:this.divn(L.words[0]),mod:new f(this.modn(L.words[0]))}:this._wordDiv(L,I)},f.prototype.div=function(L){return this.divmod(L,"div",!1).div},f.prototype.mod=function(L){return this.divmod(L,"mod",!1).mod},f.prototype.umod=function(L){return this.divmod(L,"mod",!0).mod},f.prototype.divRound=function(L){var I=this.divmod(L);if(I.mod.isZero())return I.div;var B=I.mod.abs(),O=L.abs().iushrn(1),$=L.words[0]&1,Y=B.cmp(O);if(Y<0||$===1&&Y===0)return I.div;var K=new f(1);return K.negative=this.negative^L.negative,I.div.iadd(K)},f.prototype.modn=function(L){u(L<=67108863);for(var I=(1<<26)%L,B=0,O=this.length-1;O>=0;O--)B=(I*B+(this.words[O]|0))%L;return B},f.prototype.idivn=function(L){u(L<=67108863);for(var I=0,B=this.length-1;B>=0;B--){var O=(this.words[B]|0)+I*67108864;this.words[B]=O/L|0,I=O%L}return this.strip()},f.prototype.divn=function(L){return this.clone().idivn(L)},f.prototype.egcd=function(L){u(L.negative===0),u(!L.isZero());var I=this,B=L.clone();I.negative!==0?I=I.umod(L):I=I.clone();for(var O=new f(1),$=new f(0),Y=new f(0),K=new f(1),j=0;I.isEven()&&B.isEven();)I.iushrn(1),B.iushrn(1),++j;for(var q=B.clone(),J=I.clone();!I.isZero();){for(var U=0,V=1;(I.words[0]&V)===0&&U<26;++U,V<<=1);if(U>0)for(I.iushrn(U);U-- >0;)(O.isOdd()||$.isOdd())&&(O.iadd(q),$.isub(J)),O.iushrn(1),$.iushrn(1);for(var X=0,H=1;(B.words[0]&H)===0&&X<26;++X,H<<=1);if(X>0)for(B.iushrn(X);X-- >0;)(Y.isOdd()||K.isOdd())&&(Y.iadd(q),K.isub(J)),Y.iushrn(1),K.iushrn(1);I.cmp(B)>=0?(I.isub(B),O.isub(Y),$.isub(K)):(B.isub(I),Y.isub(O),K.isub($))}return{a:Y,b:K,gcd:B.iushln(j)}},f.prototype._invmp=function(L){u(L.negative===0),u(!L.isZero());var I=this,B=L.clone();I.negative!==0?I=I.umod(L):I=I.clone();for(var O=new f(1),$=new f(0),Y=B.clone();I.cmpn(1)>0&&B.cmpn(1)>0;){for(var K=0,j=1;(I.words[0]&j)===0&&K<26;++K,j<<=1);if(K>0)for(I.iushrn(K);K-- >0;)O.isOdd()&&O.iadd(Y),O.iushrn(1);for(var q=0,J=1;(B.words[0]&J)===0&&q<26;++q,J<<=1);if(q>0)for(B.iushrn(q);q-- >0;)$.isOdd()&&$.iadd(Y),$.iushrn(1);I.cmp(B)>=0?(I.isub(B),O.isub($)):(B.isub(I),$.isub(O))}var U;return I.cmpn(1)===0?U=O:U=$,U.cmpn(0)<0&&U.iadd(L),U},f.prototype.gcd=function(L){if(this.isZero())return L.abs();if(L.isZero())return this.abs();var I=this.clone(),B=L.clone();I.negative=0,B.negative=0;for(var O=0;I.isEven()&&B.isEven();O++)I.iushrn(1),B.iushrn(1);do{for(;I.isEven();)I.iushrn(1);for(;B.isEven();)B.iushrn(1);var $=I.cmp(B);if($<0){var Y=I;I=B,B=Y}else if($===0||B.cmpn(1)===0)break;I.isub(B)}while(!0);return B.iushln(O)},f.prototype.invm=function(L){return this.egcd(L).a.umod(L)},f.prototype.isEven=function(){return(this.words[0]&1)===0},f.prototype.isOdd=function(){return(this.words[0]&1)===1},f.prototype.andln=function(L){return this.words[0]&L},f.prototype.bincn=function(L){u(typeof L=="number");var I=L%26,B=(L-I)/26,O=1<>>26,K&=67108863,this.words[Y]=K}return $!==0&&(this.words[Y]=$,this.length++),this},f.prototype.isZero=function(){return this.length===1&&this.words[0]===0},f.prototype.cmpn=function(L){var I=L<0;if(this.negative!==0&&!I)return-1;if(this.negative===0&&I)return 1;this.strip();var B;if(this.length>1)B=1;else{I&&(L=-L),u(L<=67108863,"Number is too big");var O=this.words[0]|0;B=O===L?0:OL.length)return 1;if(this.length=0;B--){var O=this.words[B]|0,$=L.words[B]|0;if(O!==$){O<$?I=-1:O>$&&(I=1);break}}return I},f.prototype.gtn=function(L){return this.cmpn(L)===1},f.prototype.gt=function(L){return this.cmp(L)===1},f.prototype.gten=function(L){return this.cmpn(L)>=0},f.prototype.gte=function(L){return this.cmp(L)>=0},f.prototype.ltn=function(L){return this.cmpn(L)===-1},f.prototype.lt=function(L){return this.cmp(L)===-1},f.prototype.lten=function(L){return this.cmpn(L)<=0},f.prototype.lte=function(L){return this.cmp(L)<=0},f.prototype.eqn=function(L){return this.cmpn(L)===0},f.prototype.eq=function(L){return this.cmp(L)===0},f.red=function(L){return new F(L)},f.prototype.toRed=function(L){return u(!this.red,"Already a number in reduction context"),u(this.negative===0,"red works only with positives"),L.convertTo(this)._forceRed(L)},f.prototype.fromRed=function(){return u(this.red,"fromRed works only with numbers in reduction context"),this.red.convertFrom(this)},f.prototype._forceRed=function(L){return this.red=L,this},f.prototype.forceRed=function(L){return u(!this.red,"Already a number in reduction context"),this._forceRed(L)},f.prototype.redAdd=function(L){return u(this.red,"redAdd works only with red numbers"),this.red.add(this,L)},f.prototype.redIAdd=function(L){return u(this.red,"redIAdd works only with red numbers"),this.red.iadd(this,L)},f.prototype.redSub=function(L){return u(this.red,"redSub works only with red numbers"),this.red.sub(this,L)},f.prototype.redISub=function(L){return u(this.red,"redISub works only with red numbers"),this.red.isub(this,L)},f.prototype.redShl=function(L){return u(this.red,"redShl works only with red numbers"),this.red.shl(this,L)},f.prototype.redMul=function(L){return u(this.red,"redMul works only with red numbers"),this.red._verify2(this,L),this.red.mul(this,L)},f.prototype.redIMul=function(L){return u(this.red,"redMul works only with red numbers"),this.red._verify2(this,L),this.red.imul(this,L)},f.prototype.redSqr=function(){return u(this.red,"redSqr works only with red numbers"),this.red._verify1(this),this.red.sqr(this)},f.prototype.redISqr=function(){return u(this.red,"redISqr works only with red numbers"),this.red._verify1(this),this.red.isqr(this)},f.prototype.redSqrt=function(){return u(this.red,"redSqrt works only with red numbers"),this.red._verify1(this),this.red.sqrt(this)},f.prototype.redInvm=function(){return u(this.red,"redInvm works only with red numbers"),this.red._verify1(this),this.red.invm(this)},f.prototype.redNeg=function(){return u(this.red,"redNeg works only with red numbers"),this.red._verify1(this),this.red.neg(this)},f.prototype.redPow=function(L){return u(this.red&&!L.red,"redPow(normalNum)"),this.red._verify1(this),this.red.pow(this,L)};var y={k256:null,p224:null,p192:null,p25519:null};function E(R,L){this.name=R,this.p=new f(L,16),this.n=this.p.bitLength(),this.k=new f(1).iushln(this.n).isub(this.p),this.tmp=this._tmp()}E.prototype._tmp=function(){var L=new f(null);return L.words=new Array(Math.ceil(this.n/13)),L},E.prototype.ireduce=function(L){var I=L,B;do this.split(I,this.tmp),I=this.imulK(I),I=I.iadd(this.tmp),B=I.bitLength();while(B>this.n);var O=B0?I.isub(this.p):I.strip!==void 0?I.strip():I._strip(),I},E.prototype.split=function(L,I){L.iushrn(this.n,0,I)},E.prototype.imulK=function(L){return L.imul(this.k)};function S(){E.call(this,"k256","ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff fffffffe fffffc2f")}c(S,E),S.prototype.split=function(L,I){for(var B=4194303,O=Math.min(L.length,9),$=0;$>>22,Y=K}Y>>>=22,L.words[$-10]=Y,Y===0&&L.length>10?L.length-=10:L.length-=9},S.prototype.imulK=function(L){L.words[L.length]=0,L.words[L.length+1]=0,L.length+=2;for(var I=0,B=0;B>>=26,L.words[B]=$,I=O}return I!==0&&(L.words[L.length++]=I),L},f._prime=function(L){if(y[L])return y[L];var I;if(L==="k256")I=new S;else if(L==="p224")I=new C;else if(L==="p192")I=new k;else if(L==="p25519")I=new D;else throw new Error("Unknown prime "+L);return y[L]=I,I};function F(R){if(typeof R=="string"){var L=f._prime(R);this.m=L.p,this.prime=L}else u(R.gtn(1),"modulus must be greater than 1"),this.m=R,this.prime=null}F.prototype._verify1=function(L){u(L.negative===0,"red works only with positives"),u(L.red,"red works only with red numbers")},F.prototype._verify2=function(L,I){u((L.negative|I.negative)===0,"red works only with positives"),u(L.red&&L.red===I.red,"red works only with red numbers")},F.prototype.imod=function(L){return this.prime?this.prime.ireduce(L)._forceRed(this):L.umod(this.m)._forceRed(this)},F.prototype.neg=function(L){return L.isZero()?L.clone():this.m.sub(L)._forceRed(this)},F.prototype.add=function(L,I){this._verify2(L,I);var B=L.add(I);return B.cmp(this.m)>=0&&B.isub(this.m),B._forceRed(this)},F.prototype.iadd=function(L,I){this._verify2(L,I);var B=L.iadd(I);return B.cmp(this.m)>=0&&B.isub(this.m),B},F.prototype.sub=function(L,I){this._verify2(L,I);var B=L.sub(I);return B.cmpn(0)<0&&B.iadd(this.m),B._forceRed(this)},F.prototype.isub=function(L,I){this._verify2(L,I);var B=L.isub(I);return B.cmpn(0)<0&&B.iadd(this.m),B},F.prototype.shl=function(L,I){return this._verify1(L),this.imod(L.ushln(I))},F.prototype.imul=function(L,I){return this._verify2(L,I),this.imod(L.imul(I))},F.prototype.mul=function(L,I){return this._verify2(L,I),this.imod(L.mul(I))},F.prototype.isqr=function(L){return this.imul(L,L.clone())},F.prototype.sqr=function(L){return this.mul(L,L)},F.prototype.sqrt=function(L){if(L.isZero())return L.clone();var I=this.m.andln(3);if(u(I%2===1),I===3){var B=this.m.add(new f(1)).iushrn(2);return this.pow(L,B)}for(var O=this.m.subn(1),$=0;!O.isZero()&&O.andln(1)===0;)$++,O.iushrn(1);u(!O.isZero());var Y=new f(1).toRed(this),K=Y.redNeg(),j=this.m.subn(1).iushrn(1),q=this.m.bitLength();for(q=new f(2*q*q).toRed(this);this.pow(q,j).cmp(K)!==0;)q.redIAdd(K);for(var J=this.pow(q,O),U=this.pow(L,O.addn(1).iushrn(1)),V=this.pow(L,O),X=$;V.cmp(Y)!==0;){for(var H=V,G=0;H.cmp(Y)!==0;G++)H=H.redSqr();u(G=0;$--){for(var J=I.words[$],U=q-1;U>=0;U--){var V=J>>U&1;if(Y!==O[0]&&(Y=this.sqr(Y)),V===0&&K===0){j=0;continue}K<<=1,K|=V,j++,!(j!==B&&($!==0||U!==0))&&(Y=this.mul(Y,O[K]),j=0,K=0)}q=26}return Y},F.prototype.convertTo=function(L){var I=L.umod(this.m);return I===L?I.clone():I},F.prototype.convertFrom=function(L){var I=L.clone();return I.red=null,I},f.mont=function(L){return new P(L)};function P(R){F.call(this,R),this.shift=this.m.bitLength(),this.shift%26!==0&&(this.shift+=26-this.shift%26),this.r=new f(1).iushln(this.shift),this.r2=this.imod(this.r.sqr()),this.rinv=this.r._invmp(this.m),this.minv=this.rinv.mul(this.r).isubn(1).div(this.m),this.minv=this.minv.umod(this.r),this.minv=this.r.sub(this.minv)}c(P,F),P.prototype.convertTo=function(L){return this.imod(L.ushln(this.shift))},P.prototype.convertFrom=function(L){var I=this.imod(L.mul(this.rinv));return I.red=null,I},P.prototype.imul=function(L,I){if(L.isZero()||I.isZero())return L.words[0]=0,L.length=1,L;var B=L.imul(I),O=B.maskn(this.shift).mul(this.minv).imaskn(this.shift).mul(this.m),$=B.isub(O).iushrn(this.shift),Y=$;return $.cmp(this.m)>=0?Y=$.isub(this.m):$.cmpn(0)<0&&(Y=$.iadd(this.m)),Y._forceRed(this)},P.prototype.mul=function(L,I){if(L.isZero()||I.isZero())return new f(0)._forceRed(this);var B=L.mul(I),O=B.maskn(this.shift).mul(this.minv).imaskn(this.shift).mul(this.m),$=B.isub(O).iushrn(this.shift),Y=$;return $.cmp(this.m)>=0?Y=$.isub(this.m):$.cmpn(0)<0&&(Y=$.iadd(this.m)),Y._forceRed(this)},P.prototype.invm=function(L){var I=this.imod(L._invmp(this.m).mul(this.r2));return I._forceRed(this)}})(n,this)},6204(n){"use strict";n.exports=a;function a(o){var s,l,u,c=o.length,f=0;for(s=0;s>>1;if(!(A<=0)){var y,E=s.mallocDouble(2*A*x),S=s.mallocInt32(x);if(x=f(w,A,E,S),x>0){if(A===1&&M)l.init(x),y=l.sweepComplete(A,_,0,x,E,S,0,x,E,S);else{var C=s.mallocDouble(2*A*T),k=s.mallocInt32(T);T=f(b,A,C,k),T>0&&(l.init(x+T),A===1?y=l.sweepBipartite(A,_,0,x,E,S,0,T,C,k):y=u(A,_,M,x,E,S,T,C,k),s.free(C),s.free(k))}s.free(E),s.free(S)}return y}}}var d;function p(w,b){d.push([w,b])}function v(w){return d=[],h(w,w,p,!0),d}function m(w,b){return d=[],h(w,b,p,!1),d}function g(w,b,_){switch(arguments.length){case 1:return v(w);case 2:return typeof b=="function"?h(w,w,b,!0):m(w,b);case 3:return h(w,b,_,!1);default:throw new Error("box-intersect: Invalid arguments")}}},2455(n,a){"use strict";function o(){function u(h,d,p,v,m,g,w,b,_,M,x){for(var T=2*h,A=v,y=T*v;A_-b?u(h,d,p,v,m,g,w,b,_,M,x):c(h,d,p,v,m,g,w,b,_,M,x)}return f}function s(){function u(p,v,m,g,w,b,_,M,x,T,A){for(var y=2*p,E=g,S=y*g;ET-x?g?u(p,v,m,w,b,_,M,x,T,A,y):c(p,v,m,w,b,_,M,x,T,A,y):g?f(p,v,m,w,b,_,M,x,T,A,y):h(p,v,m,w,b,_,M,x,T,A,y)}return d}function l(u){return u?o():s()}a.partial=l(!1),a.full=l(!0)},7150(n,a,o){"use strict";n.exports=R;var s=o(1888),l=o(8828),u=o(2455),c=u.partial,f=u.full,h=o(855),d=o(3545),p=o(8105),v=128,m=1<<22,g=1<<22,w=p("!(lo>=p0)&&!(p1>=hi)"),b=p("lo===p0"),_=p("lo0;){J-=1;var X=J*A,H=S[X],G=S[X+1],Q=S[X+2],te=S[X+3],ce=S[X+4],ge=S[X+5],Ce=J*y,be=C[Ce],he=C[Ce+1],oe=ge&1,Ee=!!(ge&16),ye=$,ue=Y,ee=j,ae=q;if(oe&&(ye=j,ue=q,ee=$,ae=Y),!(ge&2&&(Q=_(L,H,G,Q,ye,ue,he),G>=Q))&&!(ge&4&&(G=M(L,H,G,Q,ye,ue,be),G>=Q))){var xe=Q-G,re=ce-te;if(Ee){if(L*xe*(xe+re)p&&m[T+d]>M;--x,T-=w){for(var A=T,y=T+w,E=0;E>>1,M=2*h,x=_,T=m[M*_+d];w=C?(x=S,T=C):E>=D?(x=y,T=E):(x=k,T=D):C>=D?(x=S,T=C):D>=E?(x=y,T=E):(x=k,T=D);for(var R=M*(b-1),L=M*x,F=0;F=p0)&&!(p1>=hi)":d};function o(p){return a[p]}function s(p,v,m,g,w,b,_){for(var M=2*p,x=M*m,T=x,A=m,y=v,E=p+v,S=m;g>S;++S,x+=M){var C=w[x+y];if(C===_)if(A===S)A+=1,T+=M;else{for(var k=0;M>k;++k){var D=w[x+k];w[x+k]=w[T],w[T++]=D}var F=b[S];b[S]=b[A],b[A++]=F}}return A}function l(p,v,m,g,w,b,_){for(var M=2*p,x=M*m,T=x,A=m,y=v,E=p+v,S=m;g>S;++S,x+=M){var C=w[x+y];if(C<_)if(A===S)A+=1,T+=M;else{for(var k=0;M>k;++k){var D=w[x+k];w[x+k]=w[T],w[T++]=D}var F=b[S];b[S]=b[A],b[A++]=F}}return A}function u(p,v,m,g,w,b,_){for(var M=2*p,x=M*m,T=x,A=m,y=v,E=p+v,S=m;g>S;++S,x+=M){var C=w[x+E];if(C<=_)if(A===S)A+=1,T+=M;else{for(var k=0;M>k;++k){var D=w[x+k];w[x+k]=w[T],w[T++]=D}var F=b[S];b[S]=b[A],b[A++]=F}}return A}function c(p,v,m,g,w,b,_){for(var M=2*p,x=M*m,T=x,A=m,y=v,E=p+v,S=m;g>S;++S,x+=M){var C=w[x+E];if(C<=_)if(A===S)A+=1,T+=M;else{for(var k=0;M>k;++k){var D=w[x+k];w[x+k]=w[T],w[T++]=D}var F=b[S];b[S]=b[A],b[A++]=F}}return A}function f(p,v,m,g,w,b,_){for(var M=2*p,x=M*m,T=x,A=m,y=v,E=p+v,S=m;g>S;++S,x+=M){var C=w[x+y],k=w[x+E];if(C<=_&&_<=k)if(A===S)A+=1,T+=M;else{for(var D=0;M>D;++D){var F=w[x+D];w[x+D]=w[T],w[T++]=F}var P=b[S];b[S]=b[A],b[A++]=P}}return A}function h(p,v,m,g,w,b,_){for(var M=2*p,x=M*m,T=x,A=m,y=v,E=p+v,S=m;g>S;++S,x+=M){var C=w[x+y],k=w[x+E];if(C<_&&_<=k)if(A===S)A+=1,T+=M;else{for(var D=0;M>D;++D){var F=w[x+D];w[x+D]=w[T],w[T++]=F}var P=b[S];b[S]=b[A],b[A++]=P}}return A}function d(p,v,m,g,w,b,_,M){for(var x=2*p,T=x*m,A=T,y=m,E=v,S=p+v,C=m;g>C;++C,T+=x){var k=w[T+E],D=w[T+S];if(!(k>=_)&&!(M>=D))if(y===C)y+=1,A+=x;else{for(var F=0;x>F;++F){var P=w[T+F];w[T+F]=w[A],w[A++]=P}var R=b[C];b[C]=b[y],b[y++]=R}}return y}},4192(n){"use strict";n.exports=o;var a=32;function o(v,m){m<=4*a?s(0,m-1,v):p(0,m-1,v)}function s(v,m,g){for(var w=2*(v+1),b=v+1;b<=m;++b){for(var _=g[w++],M=g[w++],x=b,T=w-2;x-- >v;){var A=g[T-2],y=g[T-1];if(A<_)break;if(A===_&&yg[m+1]:!0}function d(v,m,g,w){v*=2;var b=w[v];return b>1,x=M-w,T=M+w,A=b,y=x,E=M,S=T,C=_,k=v+1,D=m-1,F=0;h(A,y,g)&&(F=A,A=y,y=F),h(S,C,g)&&(F=S,S=C,C=F),h(A,E,g)&&(F=A,A=E,E=F),h(y,E,g)&&(F=y,y=E,E=F),h(A,S,g)&&(F=A,A=S,S=F),h(E,S,g)&&(F=E,E=S,S=F),h(y,C,g)&&(F=y,y=C,C=F),h(y,E,g)&&(F=y,y=E,E=F),h(S,C,g)&&(F=S,S=C,C=F);for(var P=g[2*y],R=g[2*y+1],L=g[2*S],I=g[2*S+1],B=2*A,O=2*E,$=2*C,Y=2*b,K=2*M,j=2*_,q=0;q<2;++q){var J=g[B+q],U=g[O+q],V=g[$+q];g[Y+q]=J,g[K+q]=U,g[j+q]=V}u(x,v,g),u(T,m,g);for(var X=k;X<=D;++X)if(d(X,P,R,g))X!==k&&l(X,k,g),++k;else if(!d(X,L,I,g))for(;;)if(d(D,L,I,g)){d(D,P,R,g)?(c(X,k,D,g),++k,--D):(l(X,D,g),--D);break}else{if(--D>>1;u(w,U);for(var V=0,X=0,K=0;K=c)H=H-c|0,_(p,v,X--,H);else if(H>=0)_(h,d,V--,H);else if(H<=-c){H=-H-c|0;for(var G=0;G>>1;u(w,U);for(var V=0,X=0,H=0,K=0;K>1===w[2*K+3]>>1&&(Q=2,K+=1),G<0){for(var te=-(G>>1)-1,ce=0;ce>1)-1;Q===0?_(h,d,V--,te):Q===1?_(p,v,X--,te):Q===2&&_(m,g,H--,te)}}}function A(E,S,C,k,D,F,P,R,L,I,B,O){var $=0,Y=2*E,K=S,j=S+E,q=1,J=1;k?J=c:q=c;for(var U=D;U>>1;u(w,G);for(var Q=0,U=0;U=c?(ce=!k,V-=c):(ce=!!k,V-=1),ce)M(h,d,Q++,V);else{var ge=O[V],Ce=Y*V,be=B[Ce+S+1],he=B[Ce+S+1+E];e:for(var oe=0;oe>>1;u(w,V);for(var X=0,j=0;j=c)h[X++]=q-c;else{q-=1;var G=B[q],Q=$*q,te=I[Q+S+1],ce=I[Q+S+1+E];e:for(var ge=0;ge=0;--ge)if(h[ge]===q){for(var oe=ge+1;oef)throw new RangeError('The value "'+ue+'" is invalid for option "size"');var ee=new Uint8Array(ue);return Object.setPrototypeOf(ee,p.prototype),ee}function p(ue,ee,ae){if(typeof ue=="number"){if(typeof ee=="string")throw new TypeError('The "string" argument must be of type string. Received type number');return w(ue)}return v(ue,ee,ae)}p.poolSize=8192;function v(ue,ee,ae){if(typeof ue=="string")return b(ue,ee);if(ArrayBuffer.isView(ue))return M(ue);if(ue==null)throw new TypeError("The first argument must be one of type string, Buffer, ArrayBuffer, Array, or Array-like Object. Received type "+typeof ue);if(oe(ue,ArrayBuffer)||ue&&oe(ue.buffer,ArrayBuffer)||typeof SharedArrayBuffer!="undefined"&&(oe(ue,SharedArrayBuffer)||ue&&oe(ue.buffer,SharedArrayBuffer)))return x(ue,ee,ae);if(typeof ue=="number")throw new TypeError('The "value" argument must not be of type number. Received type number');var xe=ue.valueOf&&ue.valueOf();if(xe!=null&&xe!==ue)return p.from(xe,ee,ae);var re=T(ue);if(re)return re;if(typeof Symbol!="undefined"&&Symbol.toPrimitive!=null&&typeof ue[Symbol.toPrimitive]=="function")return p.from(ue[Symbol.toPrimitive]("string"),ee,ae);throw new TypeError("The first argument must be one of type string, Buffer, ArrayBuffer, Array, or Array-like Object. Received type "+typeof ue)}p.from=function(ue,ee,ae){return v(ue,ee,ae)},Object.setPrototypeOf(p.prototype,Uint8Array.prototype),Object.setPrototypeOf(p,Uint8Array);function m(ue){if(typeof ue!="number")throw new TypeError('"size" argument must be of type number');if(ue<0)throw new RangeError('The value "'+ue+'" is invalid for option "size"')}function g(ue,ee,ae){return m(ue),ue<=0?d(ue):ee!==void 0?typeof ae=="string"?d(ue).fill(ee,ae):d(ue).fill(ee):d(ue)}p.alloc=function(ue,ee,ae){return g(ue,ee,ae)};function w(ue){return m(ue),d(ue<0?0:A(ue)|0)}p.allocUnsafe=function(ue){return w(ue)},p.allocUnsafeSlow=function(ue){return w(ue)};function b(ue,ee){if((typeof ee!="string"||ee==="")&&(ee="utf8"),!p.isEncoding(ee))throw new TypeError("Unknown encoding: "+ee);var ae=E(ue,ee)|0,xe=d(ae),re=xe.write(ue,ee);return re!==ae&&(xe=xe.slice(0,re)),xe}function _(ue){for(var ee=ue.length<0?0:A(ue.length)|0,ae=d(ee),xe=0;xe=f)throw new RangeError("Attempt to allocate Buffer larger than maximum size: 0x"+f.toString(16)+" bytes");return ue|0}function y(ue){return+ue!=ue&&(ue=0),p.alloc(+ue)}p.isBuffer=function(ee){return ee!=null&&ee._isBuffer===!0&&ee!==p.prototype},p.compare=function(ee,ae){if(oe(ee,Uint8Array)&&(ee=p.from(ee,ee.offset,ee.byteLength)),oe(ae,Uint8Array)&&(ae=p.from(ae,ae.offset,ae.byteLength)),!p.isBuffer(ee)||!p.isBuffer(ae))throw new TypeError('The "buf1", "buf2" arguments must be one of type Buffer or Uint8Array');if(ee===ae)return 0;for(var xe=ee.length,re=ae.length,pe=0,we=Math.min(xe,re);pere.length?p.from(we).copy(re,pe):Uint8Array.prototype.set.call(re,we,pe);else if(p.isBuffer(we))we.copy(re,pe);else throw new TypeError('"list" argument must be an Array of Buffers');pe+=we.length}return re};function E(ue,ee){if(p.isBuffer(ue))return ue.length;if(ArrayBuffer.isView(ue)||oe(ue,ArrayBuffer))return ue.byteLength;if(typeof ue!="string")throw new TypeError('The "string" argument must be one of type string, Buffer, or ArrayBuffer. Received type '+typeof ue);var ae=ue.length,xe=arguments.length>2&&arguments[2]===!0;if(!xe&&ae===0)return 0;for(var re=!1;;)switch(ee){case"ascii":case"latin1":case"binary":return ae;case"utf8":case"utf-8":return ce(ue).length;case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return ae*2;case"hex":return ae>>>1;case"base64":return be(ue).length;default:if(re)return xe?-1:ce(ue).length;ee=(""+ee).toLowerCase(),re=!0}}p.byteLength=E;function S(ue,ee,ae){var xe=!1;if((ee===void 0||ee<0)&&(ee=0),ee>this.length||((ae===void 0||ae>this.length)&&(ae=this.length),ae<=0)||(ae>>>=0,ee>>>=0,ae<=ee))return"";for(ue||(ue="utf8");;)switch(ue){case"hex":return q(this,ee,ae);case"utf8":case"utf-8":return O(this,ee,ae);case"ascii":return K(this,ee,ae);case"latin1":case"binary":return j(this,ee,ae);case"base64":return B(this,ee,ae);case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return J(this,ee,ae);default:if(xe)throw new TypeError("Unknown encoding: "+ue);ue=(ue+"").toLowerCase(),xe=!0}}p.prototype._isBuffer=!0;function C(ue,ee,ae){var xe=ue[ee];ue[ee]=ue[ae],ue[ae]=xe}p.prototype.swap16=function(){var ee=this.length;if(ee%2!==0)throw new RangeError("Buffer size must be a multiple of 16-bits");for(var ae=0;aeae&&(ee+=" ... "),""},c&&(p.prototype[c]=p.prototype.inspect),p.prototype.compare=function(ee,ae,xe,re,pe){if(oe(ee,Uint8Array)&&(ee=p.from(ee,ee.offset,ee.byteLength)),!p.isBuffer(ee))throw new TypeError('The "target" argument must be one of type Buffer or Uint8Array. Received type '+typeof ee);if(ae===void 0&&(ae=0),xe===void 0&&(xe=ee?ee.length:0),re===void 0&&(re=0),pe===void 0&&(pe=this.length),ae<0||xe>ee.length||re<0||pe>this.length)throw new RangeError("out of range index");if(re>=pe&&ae>=xe)return 0;if(re>=pe)return-1;if(ae>=xe)return 1;if(ae>>>=0,xe>>>=0,re>>>=0,pe>>>=0,this===ee)return 0;for(var we=pe-re,Fe=xe-ae,Se=Math.min(we,Fe),ke=this.slice(re,pe),_e=ee.slice(ae,xe),Ie=0;Ie2147483647?ae=2147483647:ae<-2147483648&&(ae=-2147483648),ae=+ae,Ee(ae)&&(ae=re?0:ue.length-1),ae<0&&(ae=ue.length+ae),ae>=ue.length){if(re)return-1;ae=ue.length-1}else if(ae<0)if(re)ae=0;else return-1;if(typeof ee=="string"&&(ee=p.from(ee,xe)),p.isBuffer(ee))return ee.length===0?-1:D(ue,ee,ae,xe,re);if(typeof ee=="number")return ee=ee&255,typeof Uint8Array.prototype.indexOf=="function"?re?Uint8Array.prototype.indexOf.call(ue,ee,ae):Uint8Array.prototype.lastIndexOf.call(ue,ee,ae):D(ue,[ee],ae,xe,re);throw new TypeError("val must be string, number or Buffer")}function D(ue,ee,ae,xe,re){var pe=1,we=ue.length,Fe=ee.length;if(xe!==void 0&&(xe=String(xe).toLowerCase(),xe==="ucs2"||xe==="ucs-2"||xe==="utf16le"||xe==="utf-16le")){if(ue.length<2||ee.length<2)return-1;pe=2,we/=2,Fe/=2,ae/=2}function Se(Qe,et){return pe===1?Qe[et]:Qe.readUInt16BE(et*pe)}var ke;if(re){var _e=-1;for(ke=ae;kewe&&(ae=we-Fe),ke=ae;ke>=0;ke--){for(var Ie=!0,Oe=0;Oere&&(xe=re)):xe=re;var pe=ee.length;xe>pe/2&&(xe=pe/2);for(var we=0;we>>0,isFinite(xe)?(xe=xe>>>0,re===void 0&&(re="utf8")):(re=xe,xe=void 0);else throw new Error("Buffer.write(string, encoding, offset[, length]) is no longer supported");var pe=this.length-ae;if((xe===void 0||xe>pe)&&(xe=pe),ee.length>0&&(xe<0||ae<0)||ae>this.length)throw new RangeError("Attempt to write outside buffer bounds");re||(re="utf8");for(var we=!1;;)switch(re){case"hex":return F(this,ee,ae,xe);case"utf8":case"utf-8":return P(this,ee,ae,xe);case"ascii":case"latin1":case"binary":return R(this,ee,ae,xe);case"base64":return L(this,ee,ae,xe);case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return I(this,ee,ae,xe);default:if(we)throw new TypeError("Unknown encoding: "+re);re=(""+re).toLowerCase(),we=!0}},p.prototype.toJSON=function(){return{type:"Buffer",data:Array.prototype.slice.call(this._arr||this,0)}};function B(ue,ee,ae){return ee===0&&ae===ue.length?l.fromByteArray(ue):l.fromByteArray(ue.slice(ee,ae))}function O(ue,ee,ae){ae=Math.min(ue.length,ae);for(var xe=[],re=ee;re239?4:pe>223?3:pe>191?2:1;if(re+Fe<=ae){var Se,ke,_e,Ie;switch(Fe){case 1:pe<128&&(we=pe);break;case 2:Se=ue[re+1],(Se&192)===128&&(Ie=(pe&31)<<6|Se&63,Ie>127&&(we=Ie));break;case 3:Se=ue[re+1],ke=ue[re+2],(Se&192)===128&&(ke&192)===128&&(Ie=(pe&15)<<12|(Se&63)<<6|ke&63,Ie>2047&&(Ie<55296||Ie>57343)&&(we=Ie));break;case 4:Se=ue[re+1],ke=ue[re+2],_e=ue[re+3],(Se&192)===128&&(ke&192)===128&&(_e&192)===128&&(Ie=(pe&15)<<18|(Se&63)<<12|(ke&63)<<6|_e&63,Ie>65535&&Ie<1114112&&(we=Ie))}}we===null?(we=65533,Fe=1):we>65535&&(we-=65536,xe.push(we>>>10&1023|55296),we=56320|we&1023),xe.push(we),re+=Fe}return Y(xe)}var $=4096;function Y(ue){var ee=ue.length;if(ee<=$)return String.fromCharCode.apply(String,ue);for(var ae="",xe=0;xexe)&&(ae=xe);for(var re="",pe=ee;pexe&&(ee=xe),ae<0?(ae+=xe,ae<0&&(ae=0)):ae>xe&&(ae=xe),aeae)throw new RangeError("Trying to access beyond buffer length")}p.prototype.readUintLE=p.prototype.readUIntLE=function(ee,ae,xe){ee=ee>>>0,ae=ae>>>0,xe||U(ee,ae,this.length);for(var re=this[ee],pe=1,we=0;++we>>0,ae=ae>>>0,xe||U(ee,ae,this.length);for(var re=this[ee+--ae],pe=1;ae>0&&(pe*=256);)re+=this[ee+--ae]*pe;return re},p.prototype.readUint8=p.prototype.readUInt8=function(ee,ae){return ee=ee>>>0,ae||U(ee,1,this.length),this[ee]},p.prototype.readUint16LE=p.prototype.readUInt16LE=function(ee,ae){return ee=ee>>>0,ae||U(ee,2,this.length),this[ee]|this[ee+1]<<8},p.prototype.readUint16BE=p.prototype.readUInt16BE=function(ee,ae){return ee=ee>>>0,ae||U(ee,2,this.length),this[ee]<<8|this[ee+1]},p.prototype.readUint32LE=p.prototype.readUInt32LE=function(ee,ae){return ee=ee>>>0,ae||U(ee,4,this.length),(this[ee]|this[ee+1]<<8|this[ee+2]<<16)+this[ee+3]*16777216},p.prototype.readUint32BE=p.prototype.readUInt32BE=function(ee,ae){return ee=ee>>>0,ae||U(ee,4,this.length),this[ee]*16777216+(this[ee+1]<<16|this[ee+2]<<8|this[ee+3])},p.prototype.readIntLE=function(ee,ae,xe){ee=ee>>>0,ae=ae>>>0,xe||U(ee,ae,this.length);for(var re=this[ee],pe=1,we=0;++we=pe&&(re-=Math.pow(2,8*ae)),re},p.prototype.readIntBE=function(ee,ae,xe){ee=ee>>>0,ae=ae>>>0,xe||U(ee,ae,this.length);for(var re=ae,pe=1,we=this[ee+--re];re>0&&(pe*=256);)we+=this[ee+--re]*pe;return pe*=128,we>=pe&&(we-=Math.pow(2,8*ae)),we},p.prototype.readInt8=function(ee,ae){return ee=ee>>>0,ae||U(ee,1,this.length),this[ee]&128?(255-this[ee]+1)*-1:this[ee]},p.prototype.readInt16LE=function(ee,ae){ee=ee>>>0,ae||U(ee,2,this.length);var xe=this[ee]|this[ee+1]<<8;return xe&32768?xe|4294901760:xe},p.prototype.readInt16BE=function(ee,ae){ee=ee>>>0,ae||U(ee,2,this.length);var xe=this[ee+1]|this[ee]<<8;return xe&32768?xe|4294901760:xe},p.prototype.readInt32LE=function(ee,ae){return ee=ee>>>0,ae||U(ee,4,this.length),this[ee]|this[ee+1]<<8|this[ee+2]<<16|this[ee+3]<<24},p.prototype.readInt32BE=function(ee,ae){return ee=ee>>>0,ae||U(ee,4,this.length),this[ee]<<24|this[ee+1]<<16|this[ee+2]<<8|this[ee+3]},p.prototype.readFloatLE=function(ee,ae){return ee=ee>>>0,ae||U(ee,4,this.length),u.read(this,ee,!0,23,4)},p.prototype.readFloatBE=function(ee,ae){return ee=ee>>>0,ae||U(ee,4,this.length),u.read(this,ee,!1,23,4)},p.prototype.readDoubleLE=function(ee,ae){return ee=ee>>>0,ae||U(ee,8,this.length),u.read(this,ee,!0,52,8)},p.prototype.readDoubleBE=function(ee,ae){return ee=ee>>>0,ae||U(ee,8,this.length),u.read(this,ee,!1,52,8)};function V(ue,ee,ae,xe,re,pe){if(!p.isBuffer(ue))throw new TypeError('"buffer" argument must be a Buffer instance');if(ee>re||eeue.length)throw new RangeError("Index out of range")}p.prototype.writeUintLE=p.prototype.writeUIntLE=function(ee,ae,xe,re){if(ee=+ee,ae=ae>>>0,xe=xe>>>0,!re){var pe=Math.pow(2,8*xe)-1;V(this,ee,ae,xe,pe,0)}var we=1,Fe=0;for(this[ae]=ee&255;++Fe>>0,xe=xe>>>0,!re){var pe=Math.pow(2,8*xe)-1;V(this,ee,ae,xe,pe,0)}var we=xe-1,Fe=1;for(this[ae+we]=ee&255;--we>=0&&(Fe*=256);)this[ae+we]=ee/Fe&255;return ae+xe},p.prototype.writeUint8=p.prototype.writeUInt8=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,1,255,0),this[ae]=ee&255,ae+1},p.prototype.writeUint16LE=p.prototype.writeUInt16LE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,2,65535,0),this[ae]=ee&255,this[ae+1]=ee>>>8,ae+2},p.prototype.writeUint16BE=p.prototype.writeUInt16BE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,2,65535,0),this[ae]=ee>>>8,this[ae+1]=ee&255,ae+2},p.prototype.writeUint32LE=p.prototype.writeUInt32LE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,4,4294967295,0),this[ae+3]=ee>>>24,this[ae+2]=ee>>>16,this[ae+1]=ee>>>8,this[ae]=ee&255,ae+4},p.prototype.writeUint32BE=p.prototype.writeUInt32BE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,4,4294967295,0),this[ae]=ee>>>24,this[ae+1]=ee>>>16,this[ae+2]=ee>>>8,this[ae+3]=ee&255,ae+4},p.prototype.writeIntLE=function(ee,ae,xe,re){if(ee=+ee,ae=ae>>>0,!re){var pe=Math.pow(2,8*xe-1);V(this,ee,ae,xe,pe-1,-pe)}var we=0,Fe=1,Se=0;for(this[ae]=ee&255;++we>0)-Se&255;return ae+xe},p.prototype.writeIntBE=function(ee,ae,xe,re){if(ee=+ee,ae=ae>>>0,!re){var pe=Math.pow(2,8*xe-1);V(this,ee,ae,xe,pe-1,-pe)}var we=xe-1,Fe=1,Se=0;for(this[ae+we]=ee&255;--we>=0&&(Fe*=256);)ee<0&&Se===0&&this[ae+we+1]!==0&&(Se=1),this[ae+we]=(ee/Fe>>0)-Se&255;return ae+xe},p.prototype.writeInt8=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,1,127,-128),ee<0&&(ee=255+ee+1),this[ae]=ee&255,ae+1},p.prototype.writeInt16LE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,2,32767,-32768),this[ae]=ee&255,this[ae+1]=ee>>>8,ae+2},p.prototype.writeInt16BE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,2,32767,-32768),this[ae]=ee>>>8,this[ae+1]=ee&255,ae+2},p.prototype.writeInt32LE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,4,2147483647,-2147483648),this[ae]=ee&255,this[ae+1]=ee>>>8,this[ae+2]=ee>>>16,this[ae+3]=ee>>>24,ae+4},p.prototype.writeInt32BE=function(ee,ae,xe){return ee=+ee,ae=ae>>>0,xe||V(this,ee,ae,4,2147483647,-2147483648),ee<0&&(ee=4294967295+ee+1),this[ae]=ee>>>24,this[ae+1]=ee>>>16,this[ae+2]=ee>>>8,this[ae+3]=ee&255,ae+4};function X(ue,ee,ae,xe,re,pe){if(ae+xe>ue.length)throw new RangeError("Index out of range");if(ae<0)throw new RangeError("Index out of range")}function H(ue,ee,ae,xe,re){return ee=+ee,ae=ae>>>0,re||X(ue,ee,ae,4,34028234663852886e22,-34028234663852886e22),u.write(ue,ee,ae,xe,23,4),ae+4}p.prototype.writeFloatLE=function(ee,ae,xe){return H(this,ee,ae,!0,xe)},p.prototype.writeFloatBE=function(ee,ae,xe){return H(this,ee,ae,!1,xe)};function G(ue,ee,ae,xe,re){return ee=+ee,ae=ae>>>0,re||X(ue,ee,ae,8,17976931348623157e292,-17976931348623157e292),u.write(ue,ee,ae,xe,52,8),ae+8}p.prototype.writeDoubleLE=function(ee,ae,xe){return G(this,ee,ae,!0,xe)},p.prototype.writeDoubleBE=function(ee,ae,xe){return G(this,ee,ae,!1,xe)},p.prototype.copy=function(ee,ae,xe,re){if(!p.isBuffer(ee))throw new TypeError("argument should be a Buffer");if(xe||(xe=0),!re&&re!==0&&(re=this.length),ae>=ee.length&&(ae=ee.length),ae||(ae=0),re>0&&re=this.length)throw new RangeError("Index out of range");if(re<0)throw new RangeError("sourceEnd out of bounds");re>this.length&&(re=this.length),ee.length-ae>>0,xe=xe===void 0?this.length:xe>>>0,ee||(ee=0);var we;if(typeof ee=="number")for(we=ae;we55295&&ae<57344){if(!re){if(ae>56319){(ee-=3)>-1&&pe.push(239,191,189);continue}else if(we+1===xe){(ee-=3)>-1&&pe.push(239,191,189);continue}re=ae;continue}if(ae<56320){(ee-=3)>-1&&pe.push(239,191,189),re=ae;continue}ae=(re-55296<<10|ae-56320)+65536}else re&&(ee-=3)>-1&&pe.push(239,191,189);if(re=null,ae<128){if((ee-=1)<0)break;pe.push(ae)}else if(ae<2048){if((ee-=2)<0)break;pe.push(ae>>6|192,ae&63|128)}else if(ae<65536){if((ee-=3)<0)break;pe.push(ae>>12|224,ae>>6&63|128,ae&63|128)}else if(ae<1114112){if((ee-=4)<0)break;pe.push(ae>>18|240,ae>>12&63|128,ae>>6&63|128,ae&63|128)}else throw new Error("Invalid code point")}return pe}function ge(ue){for(var ee=[],ae=0;ae>8,re=ae%256,pe.push(re),pe.push(xe);return pe}function be(ue){return l.toByteArray(te(ue))}function he(ue,ee,ae,xe){for(var re=0;re=ee.length||re>=ue.length);++re)ee[re+ae]=ue[re];return re}function oe(ue,ee){return ue instanceof ee||ue!=null&&ue.constructor!=null&&ue.constructor.name!=null&&ue.constructor.name===ee.name}function Ee(ue){return ue!==ue}var ye=(function(){for(var ue="0123456789abcdef",ee=new Array(256),ae=0;ae<16;++ae)for(var xe=ae*16,re=0;re<16;++re)ee[xe+re]=ue[ae]+ue[re];return ee})()},2538(n,a,o){"use strict";var s=o(8902),l=o(5542),u=o(2272),c=o(5023);n.exports=v;function f(m){return[Math.min(m[0],m[1]),Math.max(m[0],m[1])]}function h(m,g){return m[0]-g[0]||m[1]-g[1]}function d(m){return m.map(f).sort(h)}function p(m,g,w){return g in m?m[g]:w}function v(m,g,w){Array.isArray(g)?(w=w||{},g=g||[]):(w=g||{},g=[]);var b=!!p(w,"delaunay",!0),_=!!p(w,"interior",!0),M=!!p(w,"exterior",!0),x=!!p(w,"infinity",!1);if(!_&&!M||m.length===0)return[];var T=s(m,g);if(b||_!==M||x){for(var A=l(m.length,d(g)),y=0;y0;){for(var b=d.pop(),m=d.pop(),_=-1,M=-1,g=v[m],T=1;T=0||(h.flip(m,b),u(f,h,d,_,m,M),u(f,h,d,m,M,_),u(f,h,d,M,b,_),u(f,h,d,b,_,M))}}},5023(n,a,o){"use strict";var s=o(2478);n.exports=d;function l(p,v,m,g,w,b,_){this.cells=p,this.neighbor=v,this.flags=g,this.constraint=m,this.active=w,this.next=b,this.boundary=_}var u=l.prototype;function c(p,v){return p[0]-v[0]||p[1]-v[1]||p[2]-v[2]}u.locate=(function(){var p=[0,0,0];return function(v,m,g){var w=v,b=m,_=g;return m0||_.length>0;){for(;b.length>0;){var y=b.pop();if(M[y]!==-w){M[y]=w;for(var E=x[y],S=0;S<3;++S){var C=A[3*y+S];C>=0&&M[C]===0&&(T[3*y+S]?_.push(C):(b.push(C),M[C]=w))}}}var k=_;_=b,b=k,_.length=0,w=-w}var D=h(x,M,v);return m?D.concat(g.boundary):D}},8902(n,a,o){"use strict";var s=o(2478),l=o(3250)[3],u=0,c=1,f=2;n.exports=_;function h(M,x,T,A,y){this.a=M,this.b=x,this.idx=T,this.lowerIds=A,this.upperIds=y}function d(M,x,T,A){this.a=M,this.b=x,this.type=T,this.idx=A}function p(M,x){var T=M.a[0]-x.a[0]||M.a[1]-x.a[1]||M.type-x.type;return T||M.type!==u&&(T=l(M.a,M.b,x.b),T)?T:M.idx-x.idx}function v(M,x){return l(M.a,M.b,x)}function m(M,x,T,A,y){for(var E=s.lt(x,A,v),S=s.gt(x,A,v),C=E;C1&&l(T[D[P-2]],T[D[P-1]],A)>0;)M.push([D[P-1],D[P-2],y]),P-=1;D.length=P,D.push(y);for(var F=k.upperIds,P=F.length;P>1&&l(T[F[P-2]],T[F[P-1]],A)<0;)M.push([F[P-2],F[P-1],y]),P-=1;F.length=P,F.push(y)}}function g(M,x){var T;return M.a[0]k[0]&&y.push(new d(k,C,f,E),new d(C,k,c,E))}y.sort(p);for(var D=y[0].a[0]-(1+Math.abs(y[0].a[0]))*Math.pow(2,-52),F=[new h([D,1],[D,0],-1,[],[],[],[])],P=[],E=0,R=y.length;E=0}})(),u.removeTriangle=function(h,d,p){var v=this.stars;c(v[h],d,p),c(v[d],p,h),c(v[p],h,d)},u.addTriangle=function(h,d,p){var v=this.stars;v[h].push(d,p),v[d].push(p,h),v[p].push(h,d)},u.opposite=function(h,d){for(var p=this.stars[d],v=1,m=p.length;v=0;--L){var J=P[L];I=J[0];var U=D[I],V=U[0],X=U[1],H=k[V],G=k[X];if((H[0]-G[0]||H[1]-G[1])<0){var Q=V;V=X,X=Q}U[0]=V;var te=U[1]=J[1],ce;for(R&&(ce=U[2]);L>0&&P[L-1][0]===I;){var J=P[--L],ge=J[1];R?D.push([te,ge,ce]):D.push([te,ge]),te=ge}R?D.push([te,X,ce]):D.push([te,X])}return B}function x(k,D,F){for(var P=D.length,R=new s(P),L=[],I=0;ID[2]?1:0)}function y(k,D,F){if(k.length!==0){if(D)for(var P=0;P0||I.length>0}function C(k,D,F){var P;if(F){P=D;for(var R=new Array(D.length),L=0;LM+1)throw new Error(b+" map requires nshades to be at least size "+w.length);Array.isArray(d.alpha)?d.alpha.length!==2?x=[1,1]:x=d.alpha.slice():typeof d.alpha=="number"?x=[d.alpha,d.alpha]:x=[1,1],p=w.map(function(C){return Math.round(C.index*M)}),x[0]=Math.min(Math.max(x[0],0),1),x[1]=Math.min(Math.max(x[1],0),1);var A=w.map(function(C,k){var D=w[k].index,F=w[k].rgb.slice();return F.length===4&&F[3]>=0&&F[3]<=1||(F[3]=x[0]+(x[1]-x[0])*D),F}),y=[];for(T=0;T=0}function d(p,v,m,g){var w=s(v,m,g);if(w===0){var b=l(s(p,v,m)),_=l(s(p,v,g));if(b===_){if(b===0){var M=h(p,v,m),x=h(p,v,g);return M===x?0:M?1:-1}return 0}else{if(_===0)return b>0||h(p,v,g)?-1:1;if(b===0)return _>0||h(p,v,m)?1:-1}return l(_-b)}var T=s(p,v,m);if(T>0)return w>0&&s(p,v,g)>0?1:-1;if(T<0)return w>0||s(p,v,g)>0?1:-1;var A=s(p,v,g);return A>0||h(p,v,m)?1:-1}},8572(n){"use strict";n.exports=function(o){return o<0?-1:o>0?1:0}},8507(n){n.exports=s;var a=Math.min;function o(l,u){return l-u}function s(l,u){var c=l.length,f=l.length-u.length;if(f)return f;switch(c){case 0:return 0;case 1:return l[0]-u[0];case 2:return l[0]+l[1]-u[0]-u[1]||a(l[0],l[1])-a(u[0],u[1]);case 3:var h=l[0]+l[1],d=u[0]+u[1];if(f=h+l[2]-(d+u[2]),f)return f;var p=a(l[0],l[1]),v=a(u[0],u[1]);return a(p,l[2])-a(v,u[2])||a(p+l[2],h)-a(v+u[2],d);case 4:var m=l[0],g=l[1],w=l[2],b=l[3],_=u[0],M=u[1],x=u[2],T=u[3];return m+g+w+b-(_+M+x+T)||a(m,g,w,b)-a(_,M,x,T,_)||a(m+g,m+w,m+b,g+w,g+b,w+b)-a(_+M,_+x,_+T,M+x,M+T,x+T)||a(m+g+w,m+g+b,m+w+b,g+w+b)-a(_+M+x,_+M+T,_+x+T,M+x+T);default:for(var A=l.slice().sort(o),y=u.slice().sort(o),E=0;Eo[l][0]&&(l=u);return sl?[[l],[s]]:[[s]]}},4750(n,a,o){"use strict";n.exports=l;var s=o(3090);function l(u){var c=s(u),f=c.length;if(f<=2)return[];for(var h=new Array(f),d=c[f-1],p=0;p=d[_]&&(b+=1);g[w]=b}}return h}function f(h,d){try{return s(h,!0)}catch(g){var p=l(h);if(p.length<=d)return[];var v=u(h,p),m=s(v,!0);return c(m,p)}}},4769(n){"use strict";function a(s,l,u,c,f,h){var d=6*f*f-6*f,p=3*f*f-4*f+1,v=-6*f*f+6*f,m=3*f*f-2*f;if(s.length){h||(h=new Array(s.length));for(var g=s.length-1;g>=0;--g)h[g]=d*s[g]+p*l[g]+v*u[g]+m*c[g];return h}return d*s+p*l+v*u[g]+m*c}function o(s,l,u,c,f,h){var d=f-1,p=f*f,v=d*d,m=(1+2*f)*v,g=f*v,w=p*(3-2*f),b=p*d;if(s.length){h||(h=new Array(s.length));for(var _=s.length-1;_>=0;--_)h[_]=m*s[_]+g*l[_]+w*u[_]+b*c[_];return h}return m*s+g*l+w*u+b*c}n.exports=o,n.exports.derivative=a},7642(n,a,o){"use strict";var s=o(8954),l=o(1682);n.exports=h;function u(d,p){this.point=d,this.index=p}function c(d,p){for(var v=d.point,m=p.point,g=v.length,w=0;w=2)return!1;F[R]=L}return!0}):D=D.filter(function(F){for(var P=0;P<=m;++P){var R=E[F[P]];if(R<0)return!1;F[P]=R}return!0}),m&1)for(var b=0;b>>31},n.exports.exponent=function(w){var b=n.exports.hi(w);return(b<<1>>>21)-1023},n.exports.fraction=function(w){var b=n.exports.lo(w),_=n.exports.hi(w),M=_&(1<<20)-1;return _&2146435072&&(M+=1048576),[b,M]},n.exports.denormalized=function(w){var b=n.exports.hi(w);return!(b&2146435072)}},1338(n){"use strict";function a(l,u,c){var f=l[c]|0;if(f<=0)return[];var h=new Array(f),d;if(c===l.length-1)for(d=0;d0)return o(l|0,u);break;case"object":if(typeof l.length=="number")return a(l,u,0);break}return[]}n.exports=s},3134(n,a,o){"use strict";n.exports=l;var s=o(1682);function l(u,c){var f=u.length;if(typeof c!="number"){c=0;for(var h=0;h=m-1)for(var T=b.length-1,y=p-v[m-1],A=0;A=m-1)for(var x=b.length-1,T=p-v[m-1],A=0;A=0;--m)if(p[--v])return!1;return!0},f.jump=function(p){var v=this.lastT(),m=this.dimension;if(!(p0;--A)g.push(u(M[A-1],x[A-1],arguments[A])),w.push(0)}},f.push=function(p){var v=this.lastT(),m=this.dimension;if(!(p1e-6?1/_:0;this._time.push(p);for(var y=m;y>0;--y){var E=u(x[y-1],T[y-1],arguments[y]);g.push(E),w.push((E-g[b++])*A)}}},f.set=function(p){var v=this.dimension;if(!(p0;--M)m.push(u(b[M-1],_[M-1],arguments[M])),g.push(0)}},f.move=function(p){var v=this.lastT(),m=this.dimension;if(!(p<=v||arguments.length!==m+1)){var g=this._state,w=this._velocity,b=g.length-this.dimension,_=this.bounds,M=_[0],x=_[1],T=p-v,A=T>1e-6?1/T:0;this._time.push(p);for(var y=m;y>0;--y){var E=arguments[y];g.push(u(M[y-1],x[y-1],g[b++]+E)),w.push(E*A)}}},f.idle=function(p){var v=this.lastT();if(!(p=0;--A)g.push(u(M[A],x[A],g[b]+T*w[b])),w.push(0),b+=1}};function h(p){for(var v=new Array(p),m=0;m=0;--k){var y=E[k];S[k]<=0?E[k]=new s(y._color,y.key,y.value,E[k+1],y.right,y._count+1):E[k]=new s(y._color,y.key,y.value,y.left,E[k+1],y._count+1)}for(var k=E.length-1;k>1;--k){var D=E[k-1],y=E[k];if(D._color===o||y._color===o)break;var F=E[k-2];if(F.left===D)if(D.left===y){var P=F.right;if(P&&P._color===a)D._color=o,F.right=u(o,P),F._color=a,k-=1;else{if(F._color=a,F.left=D.right,D._color=o,D.right=F,E[k-2]=D,E[k-1]=y,c(F),c(D),k>=3){var R=E[k-3];R.left===F?R.left=D:R.right=D}break}}else{var P=F.right;if(P&&P._color===a)D._color=o,F.right=u(o,P),F._color=a,k-=1;else{if(D.right=y.left,F._color=a,F.left=y.right,y._color=o,y.left=D,y.right=F,E[k-2]=y,E[k-1]=D,c(F),c(D),c(y),k>=3){var R=E[k-3];R.left===F?R.left=y:R.right=y}break}}else if(D.right===y){var P=F.left;if(P&&P._color===a)D._color=o,F.left=u(o,P),F._color=a,k-=1;else{if(F._color=a,F.right=D.left,D._color=o,D.left=F,E[k-2]=D,E[k-1]=y,c(F),c(D),k>=3){var R=E[k-3];R.right===F?R.right=D:R.left=D}break}}else{var P=F.left;if(P&&P._color===a)D._color=o,F.left=u(o,P),F._color=a,k-=1;else{if(D.left=y.right,F._color=a,F.right=y.left,y._color=o,y.right=D,y.left=F,E[k-2]=y,E[k-1]=D,c(F),c(D),c(y),k>=3){var R=E[k-3];R.right===F?R.right=y:R.left=y}break}}}return E[0]._color=o,new f(A,E[0])};function d(x,T){if(T.left){var A=d(x,T.left);if(A)return A}var A=x(T.key,T.value);if(A)return A;if(T.right)return d(x,T.right)}function p(x,T,A,y){var E=T(x,y.key);if(E<=0){if(y.left){var S=p(x,T,A,y.left);if(S)return S}var S=A(y.key,y.value);if(S)return S}if(y.right)return p(x,T,A,y.right)}function v(x,T,A,y,E){var S=A(x,E.key),C=A(T,E.key),k;if(S<=0&&(E.left&&(k=v(x,T,A,y,E.left),k)||C>0&&(k=y(E.key,E.value),k)))return k;if(C>0&&E.right)return v(x,T,A,y,E.right)}h.forEach=function(T,A,y){if(this.root)switch(arguments.length){case 1:return d(T,this.root);case 2:return p(A,this._compare,T,this.root);case 3:return this._compare(A,y)>=0?void 0:v(A,y,this._compare,T,this.root)}},Object.defineProperty(h,"begin",{get:function(){for(var x=[],T=this.root;T;)x.push(T),T=T.left;return new m(this,x)}}),Object.defineProperty(h,"end",{get:function(){for(var x=[],T=this.root;T;)x.push(T),T=T.right;return new m(this,x)}}),h.at=function(x){if(x<0)return new m(this,[]);for(var T=this.root,A=[];;){if(A.push(T),T.left){if(x=T.right._count)break;T=T.right}else break}return new m(this,[])},h.ge=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S<=0&&(E=y.length),S<=0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.gt=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S<0&&(E=y.length),S<0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.lt=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S>0&&(E=y.length),S<=0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.le=function(x){for(var T=this._compare,A=this.root,y=[],E=0;A;){var S=T(x,A.key);y.push(A),S>=0&&(E=y.length),S<0?A=A.left:A=A.right}return y.length=E,new m(this,y)},h.find=function(x){for(var T=this._compare,A=this.root,y=[];A;){var E=T(x,A.key);if(y.push(A),E===0)return new m(this,y);E<=0?A=A.left:A=A.right}return new m(this,[])},h.remove=function(x){var T=this.find(x);return T?T.remove():this},h.get=function(x){for(var T=this._compare,A=this.root;A;){var y=T(x,A.key);if(y===0)return A.value;y<=0?A=A.left:A=A.right}};function m(x,T){this.tree=x,this._stack=T}var g=m.prototype;Object.defineProperty(g,"valid",{get:function(){return this._stack.length>0}}),Object.defineProperty(g,"node",{get:function(){return this._stack.length>0?this._stack[this._stack.length-1]:null},enumerable:!0}),g.clone=function(){return new m(this.tree,this._stack.slice())};function w(x,T){x.key=T.key,x.value=T.value,x.left=T.left,x.right=T.right,x._color=T._color,x._count=T._count}function b(x){for(var T,A,y,E,S=x.length-1;S>=0;--S){if(T=x[S],S===0){T._color=o;return}if(A=x[S-1],A.left===T){if(y=A.right,y.right&&y.right._color===a){if(y=A.right=l(y),E=y.right=l(y.right),A.right=y.left,y.left=A,y.right=E,y._color=A._color,T._color=o,A._color=o,E._color=o,c(A),c(y),S>1){var C=x[S-2];C.left===A?C.left=y:C.right=y}x[S-1]=y;return}else if(y.left&&y.left._color===a){if(y=A.right=l(y),E=y.left=l(y.left),A.right=E.left,y.left=E.right,E.left=A,E.right=y,E._color=A._color,A._color=o,y._color=o,T._color=o,c(A),c(y),c(E),S>1){var C=x[S-2];C.left===A?C.left=E:C.right=E}x[S-1]=E;return}if(y._color===o)if(A._color===a){A._color=o,A.right=u(a,y);return}else{A.right=u(a,y);continue}else{if(y=l(y),A.right=y.left,y.left=A,y._color=A._color,A._color=a,c(A),c(y),S>1){var C=x[S-2];C.left===A?C.left=y:C.right=y}x[S-1]=y,x[S]=A,S+11){var C=x[S-2];C.right===A?C.right=y:C.left=y}x[S-1]=y;return}else if(y.right&&y.right._color===a){if(y=A.left=l(y),E=y.right=l(y.right),A.left=E.right,y.right=E.left,E.right=A,E.left=y,E._color=A._color,A._color=o,y._color=o,T._color=o,c(A),c(y),c(E),S>1){var C=x[S-2];C.right===A?C.right=E:C.left=E}x[S-1]=E;return}if(y._color===o)if(A._color===a){A._color=o,A.left=u(a,y);return}else{A.left=u(a,y);continue}else{if(y=l(y),A.left=y.right,y.right=A,y._color=A._color,A._color=a,c(A),c(y),S>1){var C=x[S-2];C.right===A?C.right=y:C.left=y}x[S-1]=y,x[S]=A,S+1=0;--y){var A=x[y];A.left===x[y+1]?T[y]=new s(A._color,A.key,A.value,T[y+1],A.right,A._count):T[y]=new s(A._color,A.key,A.value,A.left,T[y+1],A._count)}if(A=T[T.length-1],A.left&&A.right){var E=T.length;for(A=A.left;A.right;)T.push(A),A=A.right;var S=T[E-1];T.push(new s(A._color,S.key,S.value,A.left,A.right,A._count)),T[E-1].key=A.key,T[E-1].value=A.value;for(var y=T.length-2;y>=E;--y)A=T[y],T[y]=new s(A._color,A.key,A.value,A.left,T[y+1],A._count);T[E-1].left=T[E]}if(A=T[T.length-1],A._color===a){var C=T[T.length-2];C.left===A?C.left=null:C.right===A&&(C.right=null),T.pop();for(var y=0;y0)return this._stack[this._stack.length-1].key},enumerable:!0}),Object.defineProperty(g,"value",{get:function(){if(this._stack.length>0)return this._stack[this._stack.length-1].value},enumerable:!0}),Object.defineProperty(g,"index",{get:function(){var x=0,T=this._stack;if(T.length===0){var A=this.tree.root;return A?A._count:0}else T[T.length-1].left&&(x=T[T.length-1].left._count);for(var y=T.length-2;y>=0;--y)T[y+1]===T[y].right&&(++x,T[y].left&&(x+=T[y].left._count));return x},enumerable:!0}),g.next=function(){var x=this._stack;if(x.length!==0){var T=x[x.length-1];if(T.right)for(T=T.right;T;)x.push(T),T=T.left;else for(x.pop();x.length>0&&x[x.length-1].right===T;)T=x[x.length-1],x.pop()}},Object.defineProperty(g,"hasNext",{get:function(){var x=this._stack;if(x.length===0)return!1;if(x[x.length-1].right)return!0;for(var T=x.length-1;T>0;--T)if(x[T-1].left===x[T])return!0;return!1}}),g.update=function(x){var T=this._stack;if(T.length===0)throw new Error("Can't update empty node!");var A=new Array(T.length),y=T[T.length-1];A[A.length-1]=new s(y._color,y.key,x,y.left,y.right,y._count);for(var E=T.length-2;E>=0;--E)y=T[E],y.left===T[E+1]?A[E]=new s(y._color,y.key,y.value,A[E+1],y.right,y._count):A[E]=new s(y._color,y.key,y.value,y.left,A[E+1],y._count);return new f(this.tree._compare,A[0])},g.prev=function(){var x=this._stack;if(x.length!==0){var T=x[x.length-1];if(T.left)for(T=T.left;T;)x.push(T),T=T.right;else for(x.pop();x.length>0&&x[x.length-1].left===T;)T=x[x.length-1],x.pop()}},Object.defineProperty(g,"hasPrev",{get:function(){var x=this._stack;if(x.length===0)return!1;if(x[x.length-1].left)return!0;for(var T=x.length-1;T>0;--T)if(x[T-1].right===x[T])return!0;return!1}});function _(x,T){return xT?1:0}function M(x){return new f(x||_,null)}},3837(n,a,o){"use strict";n.exports=k;var s=o(4935),l=o(501),u=o(5304),c=o(6429),f=o(6444),h=new Float32Array([1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]),d=ArrayBuffer,p=DataView;function v(D){return d.isView(D)&&!(D instanceof p)}function m(D){return Array.isArray(D)||v(D)}function g(D,F){return D[0]=F[0],D[1]=F[1],D[2]=F[2],D}function w(D){this.gl=D,this.pixelRatio=1,this.bounds=[[-10,-10,-10],[10,10,10]],this.ticks=[[],[],[]],this.autoTicks=!0,this.tickSpacing=[1,1,1],this.tickEnable=[!0,!0,!0],this.tickFont=["sans-serif","sans-serif","sans-serif"],this.tickFontStyle=["normal","normal","normal"],this.tickFontWeight=["normal","normal","normal"],this.tickFontVariant=["normal","normal","normal"],this.tickSize=[12,12,12],this.tickAngle=[0,0,0],this.tickAlign=["auto","auto","auto"],this.tickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.tickPad=[10,10,10],this.lastCubeProps={cubeEdges:[0,0,0],axis:[0,0,0]},this.labels=["x","y","z"],this.labelEnable=[!0,!0,!0],this.labelFont=["sans-serif","sans-serif","sans-serif"],this.labelFontStyle=["normal","normal","normal"],this.labelFontWeight=["normal","normal","normal"],this.labelFontVariant=["normal","normal","normal"],this.labelSize=[20,20,20],this.labelAngle=[0,0,0],this.labelAlign=["auto","auto","auto"],this.labelColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.labelPad=[10,10,10],this.lineEnable=[!0,!0,!0],this.lineMirror=[!1,!1,!1],this.lineWidth=[1,1,1],this.lineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.lineTickEnable=[!0,!0,!0],this.lineTickMirror=[!1,!1,!1],this.lineTickLength=[0,0,0],this.lineTickWidth=[1,1,1],this.lineTickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.gridEnable=[!0,!0,!0],this.gridWidth=[1,1,1],this.gridColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroEnable=[!0,!0,!0],this.zeroLineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroLineWidth=[2,2,2],this.backgroundEnable=[!1,!1,!1],this.backgroundColor=[[.8,.8,.8,.5],[.8,.8,.8,.5],[.8,.8,.8,.5]],this._firstInit=!0,this._text=null,this._lines=null,this._background=u(D)}var b=w.prototype;b.update=function(D){D=D||{};function F(V,X,H){if(H in D){var G=D[H],Q=this[H],te;(V?m(G)&&m(G[0]):m(G))?this[H]=te=[X(G[0]),X(G[1]),X(G[2])]:this[H]=te=[X(G),X(G),X(G)];for(var ce=0;ce<3;++ce)if(te[ce]!==Q[ce])return!0}return!1}var P=F.bind(this,!1,Number),R=F.bind(this,!1,Boolean),L=F.bind(this,!1,String),I=F.bind(this,!0,function(V){if(m(V)){if(V.length===3)return[+V[0],+V[1],+V[2],1];if(V.length===4)return[+V[0],+V[1],+V[2],+V[3]]}return[0,0,0,1]}),B,O=!1,$=!1;if("bounds"in D)for(var Y=D.bounds,K=0;K<2;++K)for(var j=0;j<3;++j)Y[K][j]!==this.bounds[K][j]&&($=!0),this.bounds[K][j]=Y[K][j];if("ticks"in D){B=D.ticks,O=!0,this.autoTicks=!1;for(var K=0;K<3;++K)this.tickSpacing[K]=0}else P("tickSpacing")&&(this.autoTicks=!0,$=!0);if(this._firstInit&&("ticks"in D||"tickSpacing"in D||(this.autoTicks=!0),$=!0,O=!0,this._firstInit=!1),$&&this.autoTicks&&(B=f.create(this.bounds,this.tickSpacing),O=!0),O){for(var K=0;K<3;++K)B[K].sort(function(X,H){return X.x-H.x});f.equal(B,this.ticks)?O=!1:this.ticks=B}R("tickEnable"),L("tickFont")&&(O=!0),L("tickFontStyle")&&(O=!0),L("tickFontWeight")&&(O=!0),L("tickFontVariant")&&(O=!0),P("tickSize"),P("tickAngle"),P("tickPad"),I("tickColor");var q=L("labels");L("labelFont")&&(q=!0),L("labelFontStyle")&&(q=!0),L("labelFontWeight")&&(q=!0),L("labelFontVariant")&&(q=!0),R("labelEnable"),P("labelSize"),P("labelPad"),I("labelColor"),R("lineEnable"),R("lineMirror"),P("lineWidth"),I("lineColor"),R("lineTickEnable"),R("lineTickMirror"),P("lineTickLength"),P("lineTickWidth"),I("lineTickColor"),R("gridEnable"),P("gridWidth"),I("gridColor"),R("zeroEnable"),I("zeroLineColor"),P("zeroLineWidth"),R("backgroundEnable"),I("backgroundColor");var J=[{family:this.labelFont[0],style:this.labelFontStyle[0],weight:this.labelFontWeight[0],variant:this.labelFontVariant[0]},{family:this.labelFont[1],style:this.labelFontStyle[1],weight:this.labelFontWeight[1],variant:this.labelFontVariant[1]},{family:this.labelFont[2],style:this.labelFontStyle[2],weight:this.labelFontWeight[2],variant:this.labelFontVariant[2]}],U=[{family:this.tickFont[0],style:this.tickFontStyle[0],weight:this.tickFontWeight[0],variant:this.tickFontVariant[0]},{family:this.tickFont[1],style:this.tickFontStyle[1],weight:this.tickFontWeight[1],variant:this.tickFontVariant[1]},{family:this.tickFont[2],style:this.tickFontStyle[2],weight:this.tickFontWeight[2],variant:this.tickFontVariant[2]}];this._text?this._text&&(q||O)&&this._text.update(this.bounds,this.labels,J,this.ticks,U):this._text=s(this.gl,this.bounds,this.labels,J,this.ticks,U),this._lines&&O&&(this._lines.dispose(),this._lines=null),this._lines||(this._lines=l(this.gl,this.bounds,this.ticks))};function _(){this.primalOffset=[0,0,0],this.primalMinor=[0,0,0],this.mirrorOffset=[0,0,0],this.mirrorMinor=[0,0,0]}var M=[new _,new _,new _];function x(D,F,P,R,L){for(var I=D.primalOffset,B=D.primalMinor,O=D.mirrorOffset,$=D.mirrorMinor,Y=R[F],K=0;K<3;++K)if(F!==K){var j=I,q=O,J=B,U=$;Y&1<0?(J[K]=-1,U[K]=0):(J[K]=0,U[K]=1)}}var T=[0,0,0],A={model:h,view:h,projection:h,_ortho:!1};b.isOpaque=function(){return!0},b.isTransparent=function(){return!1},b.drawTransparent=function(D){};var y=0,E=[0,0,0],S=[0,0,0],C=[0,0,0];b.draw=function(D){D=D||A;for(var H=this.gl,F=D.model||h,P=D.view||h,R=D.projection||h,L=this.bounds,I=D._ortho||!1,B=c(F,P,R,L,I),O=B.cubeEdges,$=B.axis,Y=P[12],K=P[13],j=P[14],q=P[15],J=I?2:1,U=J*this.pixelRatio*(R[3]*Y+R[7]*K+R[11]*j+R[15]*q)/H.drawingBufferHeight,V=0;V<3;++V)this.lastCubeProps.cubeEdges[V]=O[V],this.lastCubeProps.axis[V]=$[V];for(var X=M,V=0;V<3;++V)x(M[V],V,this.bounds,O,$);for(var H=this.gl,G=T,V=0;V<3;++V)this.backgroundEnable[V]?G[V]=$[V]:G[V]=0;this._background.draw(F,P,R,L,G,this.backgroundColor),this._lines.bind(F,P,R,this);for(var V=0;V<3;++V){var Q=[0,0,0];$[V]>0?Q[V]=L[1][V]:Q[V]=L[0][V];for(var te=0;te<2;++te){var ce=(V+1+te)%3,ge=(V+1+(te^1))%3;this.gridEnable[ce]&&this._lines.drawGrid(ce,ge,this.bounds,Q,this.gridColor[ce],this.gridWidth[ce]*this.pixelRatio)}for(var te=0;te<2;++te){var ce=(V+1+te)%3,ge=(V+1+(te^1))%3;this.zeroEnable[ge]&&Math.min(L[0][ge],L[1][ge])<=0&&Math.max(L[0][ge],L[1][ge])>=0&&this._lines.drawZero(ce,ge,this.bounds,Q,this.zeroLineColor[ge],this.zeroLineWidth[ge]*this.pixelRatio)}}for(var V=0;V<3;++V){this.lineEnable[V]&&this._lines.drawAxisLine(V,this.bounds,X[V].primalOffset,this.lineColor[V],this.lineWidth[V]*this.pixelRatio),this.lineMirror[V]&&this._lines.drawAxisLine(V,this.bounds,X[V].mirrorOffset,this.lineColor[V],this.lineWidth[V]*this.pixelRatio);for(var Ce=g(E,X[V].primalMinor),be=g(S,X[V].mirrorMinor),he=this.lineTickLength,te=0;te<3;++te){var oe=U/F[5*te];Ce[te]*=he[te]*oe,be[te]*=he[te]*oe}this.lineTickEnable[V]&&this._lines.drawAxisTicks(V,X[V].primalOffset,Ce,this.lineTickColor[V],this.lineTickWidth[V]*this.pixelRatio),this.lineTickMirror[V]&&this._lines.drawAxisTicks(V,X[V].mirrorOffset,be,this.lineTickColor[V],this.lineTickWidth[V]*this.pixelRatio)}this._lines.unbind(),this._text.bind(F,P,R,this.pixelRatio);var Ee,ye=.5,ue,ee;function ae(Se){ee=[0,0,0],ee[Se]=1}function xe(Se,ke,_e){var Ie=(Se+1)%3,Oe=(Se+2)%3,Qe=ke[Ie],et=ke[Oe],_t=_e[Ie],ut=_e[Oe];if(Qe>0&&ut>0){ae(Ie);return}else if(Qe>0&&ut<0){ae(Ie);return}else if(Qe<0&&ut>0){ae(Ie);return}else if(Qe<0&&ut<0){ae(Ie);return}else if(et>0&&_t>0){ae(Oe);return}else if(et>0&&_t<0){ae(Oe);return}else if(et<0&&_t>0){ae(Oe);return}else if(et<0&&_t<0){ae(Oe);return}}for(var V=0;V<3;++V){for(var re=X[V].primalMinor,pe=X[V].mirrorMinor,we=g(C,X[V].primalOffset),te=0;te<3;++te)this.lineTickEnable[V]&&(we[te]+=U*re[te]*Math.max(this.lineTickLength[te],0)/F[5*te]);var Fe=[0,0,0];if(Fe[V]=1,this.tickEnable[V]){this.tickAngle[V]===-3600?(this.tickAngle[V]=0,this.tickAlign[V]="auto"):this.tickAlign[V]=-1,ue=1,Ee=[this.tickAlign[V],ye,ue],Ee[0]==="auto"?Ee[0]=y:Ee[0]=parseInt(""+Ee[0]),ee=[0,0,0],xe(V,re,pe);for(var te=0;te<3;++te)we[te]+=U*re[te]*this.tickPad[te]/F[5*te];this._text.drawTicks(V,this.tickSize[V],this.tickAngle[V],we,this.tickColor[V],Fe,ee,Ee)}if(this.labelEnable[V]){ue=0,ee=[0,0,0],this.labels[V].length>4&&(ae(V),ue=1),Ee=[this.labelAlign[V],ye,ue],Ee[0]==="auto"?Ee[0]=y:Ee[0]=parseInt(""+Ee[0]);for(var te=0;te<3;++te)we[te]+=U*re[te]*this.labelPad[te]/F[5*te];we[V]+=.5*(L[0][V]+L[1][V]),this._text.drawLabel(V,this.labelSize[V],this.labelAngle[V],we,this.labelColor[V],[0,0,0],ee,Ee)}}this._text.unbind()},b.dispose=function(){this._text.dispose(),this._lines.dispose(),this._background.dispose(),this._lines=null,this._text=null,this._background=null,this.gl=null};function k(D,F){var P=new w(D);return P.update(F),P}},5304(n,a,o){"use strict";n.exports=h;var s=o(2762),l=o(8116),u=o(1879).bg;function c(d,p,v,m){this.gl=d,this.buffer=p,this.vao=v,this.shader=m}var f=c.prototype;f.draw=function(d,p,v,m,g,w){for(var b=!1,_=0;_<3;++_)b=b||g[_];if(b){var M=this.gl;M.enable(M.POLYGON_OFFSET_FILL),M.polygonOffset(1,2),this.shader.bind(),this.shader.uniforms={model:d,view:p,projection:v,bounds:m,enable:g,colors:w},this.vao.bind(),this.vao.draw(this.gl.TRIANGLES,36),this.vao.unbind(),M.disable(M.POLYGON_OFFSET_FILL)}},f.dispose=function(){this.vao.dispose(),this.buffer.dispose(),this.shader.dispose()};function h(d){for(var p=[],v=[],m=0,g=0;g<3;++g)for(var w=(g+1)%3,b=(g+2)%3,_=[0,0,0],M=[0,0,0],x=-1;x<=1;x+=2){v.push(m,m+2,m+1,m+1,m+2,m+3),_[g]=x,M[g]=x;for(var T=-1;T<=1;T+=2){_[w]=T;for(var A=-1;A<=1;A+=2)_[b]=A,p.push(_[0],_[1],_[2],M[0],M[1],M[2]),m+=1}var y=w;w=b,b=y}var E=s(d,new Float32Array(p)),S=s(d,new Uint16Array(v),d.ELEMENT_ARRAY_BUFFER),C=l(d,[{buffer:E,type:d.FLOAT,size:3,offset:0,stride:24},{buffer:E,type:d.FLOAT,size:3,offset:12,stride:24}],S),k=u(d);return k.attributes.position.location=0,k.attributes.normal.location=1,new c(d,E,C,k)}},6429(n,a,o){"use strict";n.exports=x;var s=o(8828),l=o(6760),u=o(5202),c=o(3250),f=new Array(16),h=new Array(8),d=new Array(8),p=new Array(3),v=[0,0,0];(function(){for(var T=0;T<8;++T)h[T]=[1,1,1,1],d[T]=[1,1,1]})();function m(T,A,y){for(var E=0;E<4;++E){T[E]=y[12+E];for(var S=0;S<3;++S)T[E]+=A[S]*y[4*S+E]}}var g=[[0,0,1,0,0],[0,0,-1,1,0],[0,-1,0,1,0],[0,1,0,1,0],[-1,0,0,1,0],[1,0,0,1,0]];function w(T){for(var A=0;A$&&(P|=1<$){P|=1<d[k][1])&&(X=k);for(var H=-1,k=0;k<3;++k){var G=X^1<d[Q][0]&&(Q=G)}}var te=b;te[0]=te[1]=te[2]=0,te[s.log2(H^X)]=X&H,te[s.log2(X^Q)]=X&Q;var ce=Q^7;ce===P||ce===V?(ce=H^7,te[s.log2(Q^ce)]=ce&Q):te[s.log2(H^ce)]=ce&H;for(var ge=_,Ce=P,I=0;I<3;++I)Ce&1< HALF_PI) && (b <= ONE_AND_HALF_PI)) ? + b - PI : + b; +} + +float look_horizontal_or_vertical(float a, float ratio) { + // ratio controls the ratio between being horizontal to (vertical + horizontal) + // if ratio is set to 0.5 then it is 50%, 50%. + // when using a higher ratio e.g. 0.75 the result would + // likely be more horizontal than vertical. + + float b = positive_angle(a); + + return + (b < ( ratio) * HALF_PI) ? 0.0 : + (b < (2.0 - ratio) * HALF_PI) ? -HALF_PI : + (b < (2.0 + ratio) * HALF_PI) ? 0.0 : + (b < (4.0 - ratio) * HALF_PI) ? HALF_PI : + 0.0; +} + +float roundTo(float a, float b) { + return float(b * floor((a + 0.5 * b) / b)); +} + +float look_round_n_directions(float a, int n) { + float b = positive_angle(a); + float div = TWO_PI / float(n); + float c = roundTo(b, div); + return look_upwards(c); +} + +float applyAlignOption(float rawAngle, float delta) { + return + (option > 2) ? look_round_n_directions(rawAngle + delta, option) : // option 3-n: round to n directions + (option == 2) ? look_horizontal_or_vertical(rawAngle + delta, hv_ratio) : // horizontal or vertical + (option == 1) ? rawAngle + delta : // use free angle, and flip to align with one direction of the axis + (option == 0) ? look_upwards(rawAngle) : // use free angle, and stay upwards + (option ==-1) ? 0.0 : // useful for backward compatibility, all texts remains horizontal + rawAngle; // otherwise return back raw input angle +} + +bool isAxisTitle = (axis.x == 0.0) && + (axis.y == 0.0) && + (axis.z == 0.0); + +void main() { + //Compute world offset + float axisDistance = position.z; + vec3 dataPosition = axisDistance * axis + offset; + + float beta = angle; // i.e. user defined attributes for each tick + + float axisAngle; + float clipAngle; + float flip; + + if (enableAlign) { + axisAngle = (isAxisTitle) ? HALF_PI : + computeViewAngle(dataPosition, dataPosition + axis); + clipAngle = computeViewAngle(dataPosition, dataPosition + alignDir); + + axisAngle += (sin(axisAngle) < 0.0) ? PI : 0.0; + clipAngle += (sin(clipAngle) < 0.0) ? PI : 0.0; + + flip = (dot(vec2(cos(axisAngle), sin(axisAngle)), + vec2(sin(clipAngle),-cos(clipAngle))) > 0.0) ? 1.0 : 0.0; + + beta += applyAlignOption(clipAngle, flip * PI); + } + + //Compute plane offset + vec2 planeCoord = position.xy * pixelScale; + + mat2 planeXform = scale * mat2( + cos(beta), sin(beta), + -sin(beta), cos(beta) + ); + + vec2 viewOffset = 2.0 * planeXform * planeCoord / resolution; + + //Compute clip position + vec3 clipPosition = project(dataPosition); + + //Apply text offset in clip coordinates + clipPosition += vec3(viewOffset, 0.0); + + //Done + gl_Position = vec4(clipPosition, 1.0); +} +`]),h=s([`precision highp float; +#define GLSLIFY 1 + +uniform vec4 color; +void main() { + gl_FragColor = color; +}`]);a.Q=function(v){return l(v,f,h,null,[{name:"position",type:"vec3"}])};var d=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; +attribute vec3 normal; + +uniform mat4 model, view, projection; +uniform vec3 enable; +uniform vec3 bounds[2]; + +varying vec3 colorChannel; + +void main() { + + vec3 signAxis = sign(bounds[1] - bounds[0]); + + vec3 realNormal = signAxis * normal; + + if(dot(realNormal, enable) > 0.0) { + vec3 minRange = min(bounds[0], bounds[1]); + vec3 maxRange = max(bounds[0], bounds[1]); + vec3 nPosition = mix(minRange, maxRange, 0.5 * (position + 1.0)); + gl_Position = projection * (view * (model * vec4(nPosition, 1.0))); + } else { + gl_Position = vec4(0,0,0,0); + } + + colorChannel = abs(realNormal); +} +`]),p=s([`precision highp float; +#define GLSLIFY 1 + +uniform vec4 colors[3]; + +varying vec3 colorChannel; + +void main() { + gl_FragColor = colorChannel.x * colors[0] + + colorChannel.y * colors[1] + + colorChannel.z * colors[2]; +}`]);a.bg=function(v){return l(v,d,p,null,[{name:"position",type:"vec3"},{name:"normal",type:"vec3"}])}},4935(n,a,o){"use strict";n.exports=w;var s=o(2762),l=o(8116),u=o(4359),c=o(1879).Q,f=window||process.global||{},h=f.__TEXT_CACHE||{};f.__TEXT_CACHE={};var d=3;function p(b,_,M,x){this.gl=b,this.shader=_,this.buffer=M,this.vao=x,this.tickOffset=this.tickCount=this.labelOffset=this.labelCount=null}var v=p.prototype,m=[0,0];v.bind=function(b,_,M,x){this.vao.bind(),this.shader.bind();var T=this.shader.uniforms;T.model=b,T.view=_,T.projection=M,T.pixelScale=x,m[0]=this.gl.drawingBufferWidth,m[1]=this.gl.drawingBufferHeight,this.shader.uniforms.resolution=m},v.unbind=function(){this.vao.unbind()},v.update=function(b,_,M,x,T){var A=[];function y(I,B,O,$,Y,K){var j=[O.style,O.weight,O.variant,O.family].join("_"),q=h[j];q||(q=h[j]={});var J=q[B];J||(J=q[B]=g(B,{triangles:!0,font:O.family,fontStyle:O.style,fontWeight:O.weight,fontVariant:O.variant,textAlign:"center",textBaseline:"middle",lineSpacing:Y,styletags:K}));for(var U=($||12)/12,V=J.positions,X=J.cells,H=0,G=X.length;H=0;--te){var ce=V[Q[te]];A.push(U*ce[0],-U*ce[1],I)}}for(var E=[0,0,0],S=[0,0,0],C=[0,0,0],k=[0,0,0],D=1.25,F={breaklines:!0,bolds:!0,italics:!0,subscripts:!0,superscripts:!0},P=0;P<3;++P){C[P]=A.length/d|0,y(.5*(b[0][P]+b[1][P]),_[P],M[P],12,D,F),k[P]=(A.length/d|0)-C[P],E[P]=A.length/d|0;for(var R=0;R=0&&(d=f.length-h-1);var p=Math.pow(10,d),v=Math.round(u*c*p),m=v+"";if(m.indexOf("e")>=0)return m;var g=v/p,w=v%p;v<0?(g=-Math.ceil(g)|0,w=-w|0):(g=Math.floor(g)|0,w=w|0);var b=""+g;if(v<0&&(b="-"+b),d){for(var _=""+w;_.length=u[0][h];--v)d.push({x:v*c[h],text:o(c[h],v)});f.push(d)}return f}function l(u,c){for(var f=0;f<3;++f){if(u[f].length!==c[f].length)return!1;for(var h=0;hb)throw new Error("gl-buffer: If resizing buffer, must not specify offset");return g.bufferSubData(w,x,M),b}function p(g,w){for(var b=s.malloc(g.length,w),_=g.length,M=0;M<_;++M)b[M]=g[M];return b}function v(g,w){for(var b=1,_=w.length-1;_>=0;--_){if(w[_]!==b)return!1;b*=g[_]}return!0}h.update=function(g,w){if(typeof w!="number"&&(w=-1),this.bind(),typeof g=="object"&&typeof g.shape!="undefined"){var b=g.dtype;if(c.indexOf(b)<0&&(b="float32"),this.type===this.gl.ELEMENT_ARRAY_BUFFER){var _=gl.getExtension("OES_element_index_uint");_&&b!=="uint16"?b="uint32":b="uint16"}if(b===g.dtype&&v(g.shape,g.stride))g.offset===0&&g.data.length===g.shape[0]?this.length=d(this.gl,this.type,this.length,this.usage,g.data,w):this.length=d(this.gl,this.type,this.length,this.usage,g.data.subarray(g.offset,g.shape[0]),w);else{var M=s.malloc(g.size,b),x=u(M,g.shape);l.assign(x,g),w<0?this.length=d(this.gl,this.type,this.length,this.usage,M,w):this.length=d(this.gl,this.type,this.length,this.usage,M.subarray(0,g.size),w),s.free(M)}}else if(Array.isArray(g)){var T;this.type===this.gl.ELEMENT_ARRAY_BUFFER?T=p(g,"uint16"):T=p(g,"float32"),w<0?this.length=d(this.gl,this.type,this.length,this.usage,T,w):this.length=d(this.gl,this.type,this.length,this.usage,T.subarray(0,g.length),w),s.free(T)}else if(typeof g=="object"&&typeof g.length=="number")this.length=d(this.gl,this.type,this.length,this.usage,g,w);else if(typeof g=="number"||g===void 0){if(w>=0)throw new Error("gl-buffer: Cannot specify offset when resizing buffer");g=g|0,g<=0&&(g=1),this.gl.bufferData(this.type,g|0,this.usage),this.length=g}else throw new Error("gl-buffer: Invalid data type")};function m(g,w,b,_){if(b=b||g.ARRAY_BUFFER,_=_||g.DYNAMIC_DRAW,b!==g.ARRAY_BUFFER&&b!==g.ELEMENT_ARRAY_BUFFER)throw new Error("gl-buffer: Invalid type for webgl buffer, must be either gl.ARRAY_BUFFER or gl.ELEMENT_ARRAY_BUFFER");if(_!==g.DYNAMIC_DRAW&&_!==g.STATIC_DRAW&&_!==g.STREAM_DRAW)throw new Error("gl-buffer: Invalid usage for buffer, must be either gl.DYNAMIC_DRAW, gl.STATIC_DRAW or gl.STREAM_DRAW");var M=g.createBuffer(),x=new f(g,b,M,0,_);return x.update(w),x}n.exports=m},6405(n,a,o){"use strict";var s=o(2931);n.exports=function(u,c){var f=u.positions,h=u.vectors,d={positions:[],vertexIntensity:[],vertexIntensityBounds:u.vertexIntensityBounds,vectors:[],cells:[],coneOffset:u.coneOffset,colormap:u.colormap};if(u.positions.length===0)return c&&(c[0]=[0,0,0],c[1]=[0,0,0]),d;for(var p=0,v=1/0,m=-1/0,g=1/0,w=-1/0,b=1/0,_=-1/0,M=null,x=null,T=[],A=1/0,y=!1,E=u.coneSizemode==="raw",S=0;Sp&&(p=s.length(k)),S&&!E){var D=2*s.distance(M,C)/(s.length(x)+s.length(k));D?(A=Math.min(A,D),y=!1):y=!0}y||(M=C,x=k),T.push(k)}var F=[v,g,b],P=[m,w,_];c&&(c[0]=F,c[1]=P),p===0&&(p=1);var R=1/p;isFinite(A)||(A=1),d.vectorScale=A;var L=u.coneSize||(E?1:.5);u.absoluteConeSize&&(L=u.absoluteConeSize*R),d.coneScale=L;for(var S=0,I=0;S=1},g.isTransparent=function(){return this.opacity<1},g.pickSlots=1,g.setPickBase=function(T){this.pickId=T};function w(T){for(var A=p({colormap:T,nshades:256,format:"rgba"}),y=new Uint8Array(256*4),E=0;E<256;++E){for(var S=A[E],C=0;C<3;++C)y[4*E+C]=S[C];y[4*E+3]=S[3]*255}return d(y,[256,256,4],[4,0,1])}function b(T){for(var A=T.length,y=new Array(A),E=0;E0){var I=this.triShader;I.bind(),I.uniforms=D,this.triangleVAO.bind(),A.drawArrays(A.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind()}},g.drawPick=function(T){T=T||{};for(var A=this.gl,y=T.model||v,E=T.view||v,S=T.projection||v,C=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],k=0;k<3;++k)C[0][k]=Math.max(C[0][k],this.clipBounds[0][k]),C[1][k]=Math.min(C[1][k],this.clipBounds[1][k]);this._model=[].slice.call(y),this._view=[].slice.call(E),this._projection=[].slice.call(S),this._resolution=[A.drawingBufferWidth,A.drawingBufferHeight];var D={model:y,view:E,projection:S,clipBounds:C,tubeScale:this.tubeScale,vectorScale:this.vectorScale,coneScale:this.coneScale,coneOffset:this.coneOffset,pickId:this.pickId/255},F=this.pickShader;F.bind(),F.uniforms=D,this.triangleCount>0&&(this.triangleVAO.bind(),A.drawArrays(A.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind())},g.pick=function(T){if(!T||T.id!==this.pickId)return null;var A=T.value[0]+256*T.value[1]+65536*T.value[2],y=this.cells[A],E=this.positions[y[1]].slice(0,3),S={position:E,dataCoordinate:E,index:Math.floor(y[1]/48)};return this.traceType==="cone"?S.index=Math.floor(y[1]/48):this.traceType==="streamtube"&&(S.intensity=this.intensity[y[1]],S.velocity=this.vectors[y[1]].slice(0,3),S.divergence=this.vectors[y[1]][3],S.index=A),S},g.dispose=function(){this.texture.dispose(),this.triShader.dispose(),this.pickShader.dispose(),this.triangleVAO.dispose(),this.trianglePositions.dispose(),this.triangleVectors.dispose(),this.triangleColors.dispose(),this.triangleUVs.dispose(),this.triangleIds.dispose()};function _(T,A){var y=s(T,A.meshShader.vertex,A.meshShader.fragment,null,A.meshShader.attributes);return y.attributes.position.location=0,y.attributes.color.location=2,y.attributes.uv.location=3,y.attributes.vector.location=4,y}function M(T,A){var y=s(T,A.pickShader.vertex,A.pickShader.fragment,null,A.pickShader.attributes);return y.attributes.position.location=0,y.attributes.id.location=1,y.attributes.vector.location=4,y}function x(T,A,y){var E=y.shaders;arguments.length===1&&(A=T,T=A.gl);var S=_(T,E),C=M(T,E),k=c(T,d(new Uint8Array([255,255,255,255]),[1,1,4]));k.generateMipmap(),k.minFilter=T.LINEAR_MIPMAP_LINEAR,k.magFilter=T.LINEAR;var D=l(T),F=l(T),P=l(T),R=l(T),L=l(T),I=u(T,[{buffer:D,type:T.FLOAT,size:4},{buffer:L,type:T.UNSIGNED_BYTE,size:4,normalized:!0},{buffer:P,type:T.FLOAT,size:4},{buffer:R,type:T.FLOAT,size:2},{buffer:F,type:T.FLOAT,size:4}]),B=new m(T,k,S,C,D,F,L,P,R,I,y.traceType||"cone");return B.update(A),B}n.exports=x},614(n,a,o){var s=o(3236),l=s([`precision highp float; + +precision highp float; +#define GLSLIFY 1 + +vec3 getOrthogonalVector(vec3 v) { + // Return up-vector for only-z vector. + // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0). + // From the above if-statement we have ||a|| > 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the cone vertex and normal at the given index. +// +// The returned vertex is for a cone with its top at origin and height of 1.0, +// pointing in the direction of the vector attribute. +// +// Each cone is made up of a top vertex, a center base vertex and base perimeter vertices. +// These vertices are used to make up the triangles of the cone by the following: +// segment + 0 top vertex +// segment + 1 perimeter vertex a+1 +// segment + 2 perimeter vertex a +// segment + 3 center base vertex +// segment + 4 perimeter vertex a +// segment + 5 perimeter vertex a+1 +// Where segment is the number of the radial segment * 6 and a is the angle at that radial segment. +// To go from index to segment, floor(index / 6) +// To go from segment to angle, 2*pi * (segment/segmentCount) +// To go from index to segment index, index - (segment*6) +// +vec3 getConePosition(vec3 d, float rawIndex, float coneOffset, out vec3 normal) { + + const float segmentCount = 8.0; + + float index = rawIndex - floor(rawIndex / + (segmentCount * 6.0)) * + (segmentCount * 6.0); + + float segment = floor(0.001 + index/6.0); + float segmentIndex = index - (segment*6.0); + + normal = -normalize(d); + + if (segmentIndex > 2.99 && segmentIndex < 3.01) { + return mix(vec3(0.0), -d, coneOffset); + } + + float nextAngle = ( + (segmentIndex > 0.99 && segmentIndex < 1.01) || + (segmentIndex > 4.99 && segmentIndex < 5.01) + ) ? 1.0 : 0.0; + float angle = 2.0 * 3.14159 * ((segment + nextAngle) / segmentCount); + + vec3 v1 = mix(d, vec3(0.0), coneOffset); + vec3 v2 = v1 - d; + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d)*0.25; + vec3 y = v * sin(angle) * length(d)*0.25; + vec3 v3 = v2 + x + y; + if (segmentIndex < 3.0) { + vec3 tx = u * sin(angle); + vec3 ty = v * -cos(angle); + vec3 tangent = tx + ty; + normal = normalize(cross(v3 - v1, tangent)); + } + + if (segmentIndex == 0.0) { + return mix(d, vec3(0.0), coneOffset); + } + return v3; +} + +attribute vec3 vector; +attribute vec4 color, position; +attribute vec2 uv; + +uniform float vectorScale, coneScale, coneOffset; +uniform mat4 model, view, projection, inverseModel; +uniform vec3 eyePosition, lightPosition; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + // Scale the vector magnitude to stay constant with + // model & view changes. + vec3 normal; + vec3 XYZ = getConePosition(mat3(model) * ((vectorScale * coneScale) * vector), position.w, coneOffset, normal); + vec4 conePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * conePosition; + cameraCoordinate.xyz /= cameraCoordinate.w; + f_lightDirection = lightPosition - cameraCoordinate.xyz; + f_eyeDirection = eyePosition - cameraCoordinate.xyz; + f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz); + + // vec4 m_position = model * vec4(conePosition, 1.0); + vec4 t_position = view * conePosition; + gl_Position = projection * t_position; + + f_color = color; + f_data = conePosition.xyz; + f_position = position.xyz; + f_uv = uv; +} +`]),u=s([`#extension GL_OES_standard_derivatives : enable + +precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float cookTorranceSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness, + float fresnel) { + + float VdotN = max(dot(viewDirection, surfaceNormal), 0.0); + float LdotN = max(dot(lightDirection, surfaceNormal), 0.0); + + //Half angle vector + vec3 H = normalize(lightDirection + viewDirection); + + //Geometric term + float NdotH = max(dot(surfaceNormal, H), 0.0); + float VdotH = max(dot(viewDirection, H), 0.000001); + float LdotH = max(dot(lightDirection, H), 0.000001); + float G1 = (2.0 * NdotH * VdotN) / VdotH; + float G2 = (2.0 * NdotH * LdotN) / LdotH; + float G = min(1.0, min(G1, G2)); + + //Distribution term + float D = beckmannDistribution(NdotH, roughness); + + //Fresnel term + float F = pow(1.0 - VdotN, fresnel); + + //Multiply terms and done + return G * F * D / max(3.14159265 * VdotN, 0.000001); +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity; +uniform sampler2D texture; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + vec3 N = normalize(f_normal); + vec3 L = normalize(f_lightDirection); + vec3 V = normalize(f_eyeDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel))); + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + vec4 surfaceColor = f_color * texture2D(texture, f_uv); + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = litColor * opacity; +} +`]),c=s([`precision highp float; + +precision highp float; +#define GLSLIFY 1 + +vec3 getOrthogonalVector(vec3 v) { + // Return up-vector for only-z vector. + // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0). + // From the above if-statement we have ||a|| > 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the cone vertex and normal at the given index. +// +// The returned vertex is for a cone with its top at origin and height of 1.0, +// pointing in the direction of the vector attribute. +// +// Each cone is made up of a top vertex, a center base vertex and base perimeter vertices. +// These vertices are used to make up the triangles of the cone by the following: +// segment + 0 top vertex +// segment + 1 perimeter vertex a+1 +// segment + 2 perimeter vertex a +// segment + 3 center base vertex +// segment + 4 perimeter vertex a +// segment + 5 perimeter vertex a+1 +// Where segment is the number of the radial segment * 6 and a is the angle at that radial segment. +// To go from index to segment, floor(index / 6) +// To go from segment to angle, 2*pi * (segment/segmentCount) +// To go from index to segment index, index - (segment*6) +// +vec3 getConePosition(vec3 d, float rawIndex, float coneOffset, out vec3 normal) { + + const float segmentCount = 8.0; + + float index = rawIndex - floor(rawIndex / + (segmentCount * 6.0)) * + (segmentCount * 6.0); + + float segment = floor(0.001 + index/6.0); + float segmentIndex = index - (segment*6.0); + + normal = -normalize(d); + + if (segmentIndex > 2.99 && segmentIndex < 3.01) { + return mix(vec3(0.0), -d, coneOffset); + } + + float nextAngle = ( + (segmentIndex > 0.99 && segmentIndex < 1.01) || + (segmentIndex > 4.99 && segmentIndex < 5.01) + ) ? 1.0 : 0.0; + float angle = 2.0 * 3.14159 * ((segment + nextAngle) / segmentCount); + + vec3 v1 = mix(d, vec3(0.0), coneOffset); + vec3 v2 = v1 - d; + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d)*0.25; + vec3 y = v * sin(angle) * length(d)*0.25; + vec3 v3 = v2 + x + y; + if (segmentIndex < 3.0) { + vec3 tx = u * sin(angle); + vec3 ty = v * -cos(angle); + vec3 tangent = tx + ty; + normal = normalize(cross(v3 - v1, tangent)); + } + + if (segmentIndex == 0.0) { + return mix(d, vec3(0.0), coneOffset); + } + return v3; +} + +attribute vec4 vector; +attribute vec4 position; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform float vectorScale, coneScale, coneOffset; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + vec3 normal; + vec3 XYZ = getConePosition(mat3(model) * ((vectorScale * coneScale) * vector.xyz), position.w, coneOffset, normal); + vec4 conePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + gl_Position = projection * (view * conePosition); + f_id = id; + f_position = position.xyz; +} +`]),f=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + + gl_FragColor = vec4(pickId, f_id.xyz); +}`]);a.meshShader={vertex:l,fragment:u,attributes:[{name:"position",type:"vec4"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"vector",type:"vec3"}]},a.pickShader={vertex:c,fragment:f,attributes:[{name:"position",type:"vec4"},{name:"id",type:"vec4"},{name:"vector",type:"vec3"}]}},737(n){n.exports={0:"NONE",1:"ONE",2:"LINE_LOOP",3:"LINE_STRIP",4:"TRIANGLES",5:"TRIANGLE_STRIP",6:"TRIANGLE_FAN",256:"DEPTH_BUFFER_BIT",512:"NEVER",513:"LESS",514:"EQUAL",515:"LEQUAL",516:"GREATER",517:"NOTEQUAL",518:"GEQUAL",519:"ALWAYS",768:"SRC_COLOR",769:"ONE_MINUS_SRC_COLOR",770:"SRC_ALPHA",771:"ONE_MINUS_SRC_ALPHA",772:"DST_ALPHA",773:"ONE_MINUS_DST_ALPHA",774:"DST_COLOR",775:"ONE_MINUS_DST_COLOR",776:"SRC_ALPHA_SATURATE",1024:"STENCIL_BUFFER_BIT",1028:"FRONT",1029:"BACK",1032:"FRONT_AND_BACK",1280:"INVALID_ENUM",1281:"INVALID_VALUE",1282:"INVALID_OPERATION",1285:"OUT_OF_MEMORY",1286:"INVALID_FRAMEBUFFER_OPERATION",2304:"CW",2305:"CCW",2849:"LINE_WIDTH",2884:"CULL_FACE",2885:"CULL_FACE_MODE",2886:"FRONT_FACE",2928:"DEPTH_RANGE",2929:"DEPTH_TEST",2930:"DEPTH_WRITEMASK",2931:"DEPTH_CLEAR_VALUE",2932:"DEPTH_FUNC",2960:"STENCIL_TEST",2961:"STENCIL_CLEAR_VALUE",2962:"STENCIL_FUNC",2963:"STENCIL_VALUE_MASK",2964:"STENCIL_FAIL",2965:"STENCIL_PASS_DEPTH_FAIL",2966:"STENCIL_PASS_DEPTH_PASS",2967:"STENCIL_REF",2968:"STENCIL_WRITEMASK",2978:"VIEWPORT",3024:"DITHER",3042:"BLEND",3088:"SCISSOR_BOX",3089:"SCISSOR_TEST",3106:"COLOR_CLEAR_VALUE",3107:"COLOR_WRITEMASK",3317:"UNPACK_ALIGNMENT",3333:"PACK_ALIGNMENT",3379:"MAX_TEXTURE_SIZE",3386:"MAX_VIEWPORT_DIMS",3408:"SUBPIXEL_BITS",3410:"RED_BITS",3411:"GREEN_BITS",3412:"BLUE_BITS",3413:"ALPHA_BITS",3414:"DEPTH_BITS",3415:"STENCIL_BITS",3553:"TEXTURE_2D",4352:"DONT_CARE",4353:"FASTEST",4354:"NICEST",5120:"BYTE",5121:"UNSIGNED_BYTE",5122:"SHORT",5123:"UNSIGNED_SHORT",5124:"INT",5125:"UNSIGNED_INT",5126:"FLOAT",5386:"INVERT",5890:"TEXTURE",6401:"STENCIL_INDEX",6402:"DEPTH_COMPONENT",6406:"ALPHA",6407:"RGB",6408:"RGBA",6409:"LUMINANCE",6410:"LUMINANCE_ALPHA",7680:"KEEP",7681:"REPLACE",7682:"INCR",7683:"DECR",7936:"VENDOR",7937:"RENDERER",7938:"VERSION",9728:"NEAREST",9729:"LINEAR",9984:"NEAREST_MIPMAP_NEAREST",9985:"LINEAR_MIPMAP_NEAREST",9986:"NEAREST_MIPMAP_LINEAR",9987:"LINEAR_MIPMAP_LINEAR",10240:"TEXTURE_MAG_FILTER",10241:"TEXTURE_MIN_FILTER",10242:"TEXTURE_WRAP_S",10243:"TEXTURE_WRAP_T",10497:"REPEAT",10752:"POLYGON_OFFSET_UNITS",16384:"COLOR_BUFFER_BIT",32769:"CONSTANT_COLOR",32770:"ONE_MINUS_CONSTANT_COLOR",32771:"CONSTANT_ALPHA",32772:"ONE_MINUS_CONSTANT_ALPHA",32773:"BLEND_COLOR",32774:"FUNC_ADD",32777:"BLEND_EQUATION_RGB",32778:"FUNC_SUBTRACT",32779:"FUNC_REVERSE_SUBTRACT",32819:"UNSIGNED_SHORT_4_4_4_4",32820:"UNSIGNED_SHORT_5_5_5_1",32823:"POLYGON_OFFSET_FILL",32824:"POLYGON_OFFSET_FACTOR",32854:"RGBA4",32855:"RGB5_A1",32873:"TEXTURE_BINDING_2D",32926:"SAMPLE_ALPHA_TO_COVERAGE",32928:"SAMPLE_COVERAGE",32936:"SAMPLE_BUFFERS",32937:"SAMPLES",32938:"SAMPLE_COVERAGE_VALUE",32939:"SAMPLE_COVERAGE_INVERT",32968:"BLEND_DST_RGB",32969:"BLEND_SRC_RGB",32970:"BLEND_DST_ALPHA",32971:"BLEND_SRC_ALPHA",33071:"CLAMP_TO_EDGE",33170:"GENERATE_MIPMAP_HINT",33189:"DEPTH_COMPONENT16",33306:"DEPTH_STENCIL_ATTACHMENT",33635:"UNSIGNED_SHORT_5_6_5",33648:"MIRRORED_REPEAT",33901:"ALIASED_POINT_SIZE_RANGE",33902:"ALIASED_LINE_WIDTH_RANGE",33984:"TEXTURE0",33985:"TEXTURE1",33986:"TEXTURE2",33987:"TEXTURE3",33988:"TEXTURE4",33989:"TEXTURE5",33990:"TEXTURE6",33991:"TEXTURE7",33992:"TEXTURE8",33993:"TEXTURE9",33994:"TEXTURE10",33995:"TEXTURE11",33996:"TEXTURE12",33997:"TEXTURE13",33998:"TEXTURE14",33999:"TEXTURE15",34e3:"TEXTURE16",34001:"TEXTURE17",34002:"TEXTURE18",34003:"TEXTURE19",34004:"TEXTURE20",34005:"TEXTURE21",34006:"TEXTURE22",34007:"TEXTURE23",34008:"TEXTURE24",34009:"TEXTURE25",34010:"TEXTURE26",34011:"TEXTURE27",34012:"TEXTURE28",34013:"TEXTURE29",34014:"TEXTURE30",34015:"TEXTURE31",34016:"ACTIVE_TEXTURE",34024:"MAX_RENDERBUFFER_SIZE",34041:"DEPTH_STENCIL",34055:"INCR_WRAP",34056:"DECR_WRAP",34067:"TEXTURE_CUBE_MAP",34068:"TEXTURE_BINDING_CUBE_MAP",34069:"TEXTURE_CUBE_MAP_POSITIVE_X",34070:"TEXTURE_CUBE_MAP_NEGATIVE_X",34071:"TEXTURE_CUBE_MAP_POSITIVE_Y",34072:"TEXTURE_CUBE_MAP_NEGATIVE_Y",34073:"TEXTURE_CUBE_MAP_POSITIVE_Z",34074:"TEXTURE_CUBE_MAP_NEGATIVE_Z",34076:"MAX_CUBE_MAP_TEXTURE_SIZE",34338:"VERTEX_ATTRIB_ARRAY_ENABLED",34339:"VERTEX_ATTRIB_ARRAY_SIZE",34340:"VERTEX_ATTRIB_ARRAY_STRIDE",34341:"VERTEX_ATTRIB_ARRAY_TYPE",34342:"CURRENT_VERTEX_ATTRIB",34373:"VERTEX_ATTRIB_ARRAY_POINTER",34466:"NUM_COMPRESSED_TEXTURE_FORMATS",34467:"COMPRESSED_TEXTURE_FORMATS",34660:"BUFFER_SIZE",34661:"BUFFER_USAGE",34816:"STENCIL_BACK_FUNC",34817:"STENCIL_BACK_FAIL",34818:"STENCIL_BACK_PASS_DEPTH_FAIL",34819:"STENCIL_BACK_PASS_DEPTH_PASS",34877:"BLEND_EQUATION_ALPHA",34921:"MAX_VERTEX_ATTRIBS",34922:"VERTEX_ATTRIB_ARRAY_NORMALIZED",34930:"MAX_TEXTURE_IMAGE_UNITS",34962:"ARRAY_BUFFER",34963:"ELEMENT_ARRAY_BUFFER",34964:"ARRAY_BUFFER_BINDING",34965:"ELEMENT_ARRAY_BUFFER_BINDING",34975:"VERTEX_ATTRIB_ARRAY_BUFFER_BINDING",35040:"STREAM_DRAW",35044:"STATIC_DRAW",35048:"DYNAMIC_DRAW",35632:"FRAGMENT_SHADER",35633:"VERTEX_SHADER",35660:"MAX_VERTEX_TEXTURE_IMAGE_UNITS",35661:"MAX_COMBINED_TEXTURE_IMAGE_UNITS",35663:"SHADER_TYPE",35664:"FLOAT_VEC2",35665:"FLOAT_VEC3",35666:"FLOAT_VEC4",35667:"INT_VEC2",35668:"INT_VEC3",35669:"INT_VEC4",35670:"BOOL",35671:"BOOL_VEC2",35672:"BOOL_VEC3",35673:"BOOL_VEC4",35674:"FLOAT_MAT2",35675:"FLOAT_MAT3",35676:"FLOAT_MAT4",35678:"SAMPLER_2D",35680:"SAMPLER_CUBE",35712:"DELETE_STATUS",35713:"COMPILE_STATUS",35714:"LINK_STATUS",35715:"VALIDATE_STATUS",35716:"INFO_LOG_LENGTH",35717:"ATTACHED_SHADERS",35718:"ACTIVE_UNIFORMS",35719:"ACTIVE_UNIFORM_MAX_LENGTH",35720:"SHADER_SOURCE_LENGTH",35721:"ACTIVE_ATTRIBUTES",35722:"ACTIVE_ATTRIBUTE_MAX_LENGTH",35724:"SHADING_LANGUAGE_VERSION",35725:"CURRENT_PROGRAM",36003:"STENCIL_BACK_REF",36004:"STENCIL_BACK_VALUE_MASK",36005:"STENCIL_BACK_WRITEMASK",36006:"FRAMEBUFFER_BINDING",36007:"RENDERBUFFER_BINDING",36048:"FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE",36049:"FRAMEBUFFER_ATTACHMENT_OBJECT_NAME",36050:"FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL",36051:"FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE",36053:"FRAMEBUFFER_COMPLETE",36054:"FRAMEBUFFER_INCOMPLETE_ATTACHMENT",36055:"FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT",36057:"FRAMEBUFFER_INCOMPLETE_DIMENSIONS",36061:"FRAMEBUFFER_UNSUPPORTED",36064:"COLOR_ATTACHMENT0",36096:"DEPTH_ATTACHMENT",36128:"STENCIL_ATTACHMENT",36160:"FRAMEBUFFER",36161:"RENDERBUFFER",36162:"RENDERBUFFER_WIDTH",36163:"RENDERBUFFER_HEIGHT",36164:"RENDERBUFFER_INTERNAL_FORMAT",36168:"STENCIL_INDEX8",36176:"RENDERBUFFER_RED_SIZE",36177:"RENDERBUFFER_GREEN_SIZE",36178:"RENDERBUFFER_BLUE_SIZE",36179:"RENDERBUFFER_ALPHA_SIZE",36180:"RENDERBUFFER_DEPTH_SIZE",36181:"RENDERBUFFER_STENCIL_SIZE",36194:"RGB565",36336:"LOW_FLOAT",36337:"MEDIUM_FLOAT",36338:"HIGH_FLOAT",36339:"LOW_INT",36340:"MEDIUM_INT",36341:"HIGH_INT",36346:"SHADER_COMPILER",36347:"MAX_VERTEX_UNIFORM_VECTORS",36348:"MAX_VARYING_VECTORS",36349:"MAX_FRAGMENT_UNIFORM_VECTORS",37440:"UNPACK_FLIP_Y_WEBGL",37441:"UNPACK_PREMULTIPLY_ALPHA_WEBGL",37442:"CONTEXT_LOST_WEBGL",37443:"UNPACK_COLORSPACE_CONVERSION_WEBGL",37444:"BROWSER_DEFAULT_WEBGL"}},5171(n,a,o){var s=o(737);n.exports=function(u){return s[u]}},9165(n,a,o){"use strict";n.exports=m;var s=o(2762),l=o(8116),u=o(3436),c=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function f(g,w,b,_){this.gl=g,this.shader=_,this.buffer=w,this.vao=b,this.pixelRatio=1,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.lineWidth=[1,1,1],this.capSize=[10,10,10],this.lineCount=[0,0,0],this.lineOffset=[0,0,0],this.opacity=1,this.hasAlpha=!1}var h=f.prototype;h.isOpaque=function(){return!this.hasAlpha},h.isTransparent=function(){return this.hasAlpha},h.drawTransparent=h.draw=function(g){var w=this.gl,b=this.shader.uniforms;this.shader.bind();var _=b.view=g.view||c,M=b.projection=g.projection||c;b.model=g.model||c,b.clipBounds=this.clipBounds,b.opacity=this.opacity;var x=_[12],T=_[13],A=_[14],y=_[15],E=g._ortho||!1,S=E?2:1,C=S*this.pixelRatio*(M[3]*x+M[7]*T+M[11]*A+M[15]*y)/w.drawingBufferHeight;this.vao.bind();for(var k=0;k<3;++k)w.lineWidth(this.lineWidth[k]*this.pixelRatio),b.capSize=this.capSize[k]*C,this.lineCount[k]&&w.drawArrays(w.LINES,this.lineOffset[k],this.lineCount[k]);this.vao.unbind()};function d(g,w){for(var b=0;b<3;++b)g[0][b]=Math.min(g[0][b],w[b]),g[1][b]=Math.max(g[1][b],w[b])}var p=(function(){for(var g=new Array(3),w=0;w<3;++w){for(var b=[],_=1;_<=2;++_)for(var M=-1;M<=1;M+=2){var x=(_+w)%3,T=[0,0,0];T[x]=M,b.push(T)}g[w]=b}return g})();function v(g,w,b,_){for(var M=p[_],x=0;x0){var D=E.slice();D[A]+=C[1][A],M.push(E[0],E[1],E[2],k[0],k[1],k[2],k[3],0,0,0,D[0],D[1],D[2],k[0],k[1],k[2],k[3],0,0,0),d(this.bounds,D),T+=2+v(M,D,k,A)}}}this.lineCount[A]=T-this.lineOffset[A]}this.buffer.update(M)}},h.dispose=function(){this.shader.dispose(),this.buffer.dispose(),this.vao.dispose()};function m(g){var w=g.gl,b=s(w),_=l(w,[{buffer:b,type:w.FLOAT,size:3,offset:0,stride:40},{buffer:b,type:w.FLOAT,size:4,offset:12,stride:40},{buffer:b,type:w.FLOAT,size:3,offset:28,stride:40}]),M=u(w);M.attributes.position.location=0,M.attributes.color.location=1,M.attributes.offset.location=2;var x=new f(w,b,_,M);return x.update(g),x}},3436(n,a,o){"use strict";var s=o(3236),l=o(9405),u=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position, offset; +attribute vec4 color; +uniform mat4 model, view, projection; +uniform float capSize; +varying vec4 fragColor; +varying vec3 fragPosition; + +void main() { + vec4 worldPosition = model * vec4(position, 1.0); + worldPosition = (worldPosition / worldPosition.w) + vec4(capSize * offset, 0.0); + gl_Position = projection * (view * worldPosition); + fragColor = color; + fragPosition = position; +}`]),c=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float opacity; +varying vec3 fragPosition; +varying vec4 fragColor; + +void main() { + if ( + outOfRange(clipBounds[0], clipBounds[1], fragPosition) || + fragColor.a * opacity == 0. + ) discard; + + gl_FragColor = opacity * fragColor; +}`]);n.exports=function(f){return l(f,u,c,null,[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"offset",type:"vec3"}])}},2260(n,a,o){"use strict";var s=o(7766);n.exports=T;var l=null,u,c,f,h;function d(A){var y=A.getParameter(A.FRAMEBUFFER_BINDING),E=A.getParameter(A.RENDERBUFFER_BINDING),S=A.getParameter(A.TEXTURE_BINDING_2D);return[y,E,S]}function p(A,y){A.bindFramebuffer(A.FRAMEBUFFER,y[0]),A.bindRenderbuffer(A.RENDERBUFFER,y[1]),A.bindTexture(A.TEXTURE_2D,y[2])}function v(A,y){var E=A.getParameter(y.MAX_COLOR_ATTACHMENTS_WEBGL);l=new Array(E+1);for(var S=0;S<=E;++S){for(var C=new Array(E),k=0;k1&&F.drawBuffersWEBGL(l[D]);var B=E.getExtension("WEBGL_depth_texture");B?P?A.depth=g(E,C,k,B.UNSIGNED_INT_24_8_WEBGL,E.DEPTH_STENCIL,E.DEPTH_STENCIL_ATTACHMENT):R&&(A.depth=g(E,C,k,E.UNSIGNED_SHORT,E.DEPTH_COMPONENT,E.DEPTH_ATTACHMENT)):R&&P?A._depth_rb=w(E,C,k,E.DEPTH_STENCIL,E.DEPTH_STENCIL_ATTACHMENT):R?A._depth_rb=w(E,C,k,E.DEPTH_COMPONENT16,E.DEPTH_ATTACHMENT):P&&(A._depth_rb=w(E,C,k,E.STENCIL_INDEX,E.STENCIL_ATTACHMENT));var O=E.checkFramebufferStatus(E.FRAMEBUFFER);if(O!==E.FRAMEBUFFER_COMPLETE){A._destroyed=!0,E.bindFramebuffer(E.FRAMEBUFFER,null),E.deleteFramebuffer(A.handle),A.handle=null,A.depth&&(A.depth.dispose(),A.depth=null),A._depth_rb&&(E.deleteRenderbuffer(A._depth_rb),A._depth_rb=null);for(var I=0;IC||E<0||E>C)throw new Error("gl-fbo: Can't resize FBO, invalid dimensions");A._shape[0]=y,A._shape[1]=E;for(var k=d(S),D=0;Dk||E<0||E>k)throw new Error("gl-fbo: Parameters are too large for FBO");S=S||{};var D=1;if("color"in S){if(D=Math.max(S.color|0,0),D<0)throw new Error("gl-fbo: Must specify a nonnegative number of colors");if(D>1)if(C){if(D>A.getParameter(C.MAX_COLOR_ATTACHMENTS_WEBGL))throw new Error("gl-fbo: Context does not support "+D+" draw buffers")}else throw new Error("gl-fbo: Multiple draw buffer extension not supported")}var F=A.UNSIGNED_BYTE,P=A.getExtension("OES_texture_float");if(S.float&&D>0){if(!P)throw new Error("gl-fbo: Context does not support floating point textures");F=A.FLOAT}else S.preferFloat&&D>0&&P&&(F=A.FLOAT);var R=!0;"depth"in S&&(R=!!S.depth);var L=!1;return"stencil"in S&&(L=!!S.stencil),new _(A,y,E,F,D,R,L,C)}},2992(n,a,o){var s=o(3387).sprintf,l=o(5171),u=o(1848),c=o(1085);n.exports=f;function f(h,d,p){"use strict";var v=u(d)||"of unknown name (see npm glsl-shader-name)",m="unknown type";p!==void 0&&(m=p===l.FRAGMENT_SHADER?"fragment":"vertex");for(var g=s(`Error compiling %s shader %s: +`,m,v),w=s("%s%s",g,h),b=h.split(` +`),_={},M=0;M max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform sampler2D dashTexture; +uniform float dashScale; +uniform float opacity; + +varying vec3 worldPosition; +varying float pixelArcLength; +varying vec4 fragColor; + +void main() { + if ( + outOfRange(clipBounds[0], clipBounds[1], worldPosition) || + fragColor.a * opacity == 0. + ) discard; + + float dashWeight = texture2D(dashTexture, vec2(dashScale * pixelArcLength, 0)).r; + if(dashWeight < 0.5) { + discard; + } + gl_FragColor = fragColor * opacity; +} +`]),f=s([`precision highp float; +#define GLSLIFY 1 + +#define FLOAT_MAX 1.70141184e38 +#define FLOAT_MIN 1.17549435e-38 + +// https://github.com/mikolalysenko/glsl-read-float/blob/master/index.glsl +vec4 packFloat(float v) { + float av = abs(v); + + //Handle special cases + if(av < FLOAT_MIN) { + return vec4(0.0, 0.0, 0.0, 0.0); + } else if(v > FLOAT_MAX) { + return vec4(127.0, 128.0, 0.0, 0.0) / 255.0; + } else if(v < -FLOAT_MAX) { + return vec4(255.0, 128.0, 0.0, 0.0) / 255.0; + } + + vec4 c = vec4(0,0,0,0); + + //Compute exponent and mantissa + float e = floor(log2(av)); + float m = av * pow(2.0, -e) - 1.0; + + //Unpack mantissa + c[1] = floor(128.0 * m); + m -= c[1] / 128.0; + c[2] = floor(32768.0 * m); + m -= c[2] / 32768.0; + c[3] = floor(8388608.0 * m); + + //Unpack exponent + float ebias = e + 127.0; + c[0] = floor(ebias / 2.0); + ebias -= c[0] * 2.0; + c[1] += floor(ebias) * 128.0; + + //Unpack sign bit + c[0] += 128.0 * step(0.0, -v); + + //Scale back to range + return c / 255.0; +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform float pickId; +uniform vec3 clipBounds[2]; + +varying vec3 worldPosition; +varying float pixelArcLength; +varying vec4 fragColor; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], worldPosition)) discard; + + gl_FragColor = vec4(pickId/255.0, packFloat(pixelArcLength).xyz); +}`]),h=[{name:"position",type:"vec3"},{name:"nextPosition",type:"vec3"},{name:"arcLength",type:"float"},{name:"lineWidth",type:"float"},{name:"color",type:"vec4"}];a.createShader=function(d){return l(d,u,c,null,h)},a.createPickShader=function(d){return l(d,u,f,null,h)}},5714(n,a,o){"use strict";n.exports=A;var s=o(2762),l=o(8116),u=o(7766),c=new Uint8Array(4),f=new Float32Array(c.buffer);function h(y,E,S,C){return c[0]=C,c[1]=S,c[2]=E,c[3]=y,f[0]}var d=o(2478),p=o(9618),v=o(7319),m=v.createShader,g=v.createPickShader,w=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function b(y,E){for(var S=0,C=0;C<3;++C){var k=y[C]-E[C];S+=k*k}return Math.sqrt(S)}function _(y){for(var E=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],S=0;S<3;++S)E[0][S]=Math.max(y[0][S],E[0][S]),E[1][S]=Math.min(y[1][S],E[1][S]);return E}function M(y,E,S,C){this.arcLength=y,this.position=E,this.index=S,this.dataCoordinate=C}function x(y,E,S,C,k,D){this.gl=y,this.shader=E,this.pickShader=S,this.buffer=C,this.vao=k,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.points=[],this.arcLength=[],this.vertexCount=0,this.bounds=[[0,0,0],[0,0,0]],this.pickId=0,this.lineWidth=1,this.texture=D,this.dashScale=1,this.opacity=1,this.hasAlpha=!1,this.dirty=!0,this.pixelRatio=1}var T=x.prototype;T.isTransparent=function(){return this.hasAlpha},T.isOpaque=function(){return!this.hasAlpha},T.pickSlots=1,T.setPickBase=function(y){this.pickId=y},T.drawTransparent=T.draw=function(y){if(this.vertexCount){var E=this.gl,S=this.shader,C=this.vao;S.bind(),S.uniforms={model:y.model||w,view:y.view||w,projection:y.projection||w,clipBounds:_(this.clipBounds),dashTexture:this.texture.bind(),dashScale:this.dashScale/this.arcLength[this.arcLength.length-1],opacity:this.opacity,screenShape:[E.drawingBufferWidth,E.drawingBufferHeight],pixelRatio:this.pixelRatio},C.bind(),C.draw(E.TRIANGLE_STRIP,this.vertexCount),C.unbind()}},T.drawPick=function(y){if(this.vertexCount){var E=this.gl,S=this.pickShader,C=this.vao;S.bind(),S.uniforms={model:y.model||w,view:y.view||w,projection:y.projection||w,pickId:this.pickId,clipBounds:_(this.clipBounds),screenShape:[E.drawingBufferWidth,E.drawingBufferHeight],pixelRatio:this.pixelRatio},C.bind(),C.draw(E.TRIANGLE_STRIP,this.vertexCount),C.unbind()}},T.update=function(y){var E,S;this.dirty=!0;var C=!!y.connectGaps;"dashScale"in y&&(this.dashScale=y.dashScale),this.hasAlpha=!1,"opacity"in y&&(this.opacity=+y.opacity,this.opacity<1&&(this.hasAlpha=!0));var k=[],D=[],F=[],P=0,R=0,L=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],I=y.position||y.positions;if(I){var B=y.color||y.colors||[0,0,0,1],O=y.lineWidth||1,$=!1;e:for(E=1;E0){for(var j=0;j<24;++j)k.push(k[k.length-12]);R+=2,$=!0}continue e}L[0][S]=Math.min(L[0][S],Y[S],K[S]),L[1][S]=Math.max(L[1][S],Y[S],K[S])}var q,J;Array.isArray(B[0])?(q=B.length>E-1?B[E-1]:B.length>0?B[B.length-1]:[0,0,0,1],J=B.length>E?B[E]:B.length>0?B[B.length-1]:[0,0,0,1]):q=J=B,q.length===3&&(q=[q[0],q[1],q[2],1]),J.length===3&&(J=[J[0],J[1],J[2],1]),!this.hasAlpha&&q[3]<1&&(this.hasAlpha=!0);var U;Array.isArray(O)?U=O.length>E-1?O[E-1]:O.length>0?O[O.length-1]:[0,0,0,1]:U=O;var V=P;if(P+=b(Y,K),$){for(S=0;S<2;++S)k.push(Y[0],Y[1],Y[2],K[0],K[1],K[2],V,U,q[0],q[1],q[2],q[3]);R+=2,$=!1}k.push(Y[0],Y[1],Y[2],K[0],K[1],K[2],V,U,q[0],q[1],q[2],q[3],Y[0],Y[1],Y[2],K[0],K[1],K[2],V,-U,q[0],q[1],q[2],q[3],K[0],K[1],K[2],Y[0],Y[1],Y[2],P,-U,J[0],J[1],J[2],J[3],K[0],K[1],K[2],Y[0],Y[1],Y[2],P,U,J[0],J[1],J[2],J[3]),R+=4}}if(this.buffer.update(k),D.push(P),F.push(I[I.length-1].slice()),this.bounds=L,this.vertexCount=R,this.points=F,this.arcLength=D,"dashes"in y){var X=y.dashes,H=X.slice();for(H.unshift(0),E=1;E1.0001)return null;S+=E[M]}return Math.abs(S-1)>.001?null:[x,h(p,E),E]}},840(n,a,o){var s=o(3236),l=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position, normal; +attribute vec4 color; +attribute vec2 uv; + +uniform mat4 model + , view + , projection + , inverseModel; +uniform vec3 eyePosition + , lightPosition; + +varying vec3 f_normal + , f_lightDirection + , f_eyeDirection + , f_data; +varying vec4 f_color; +varying vec2 f_uv; + +vec4 project(vec3 p) { + return projection * (view * (model * vec4(p, 1.0))); +} + +void main() { + gl_Position = project(position); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * vec4(position , 1.0); + cameraCoordinate.xyz /= cameraCoordinate.w; + f_lightDirection = lightPosition - cameraCoordinate.xyz; + f_eyeDirection = eyePosition - cameraCoordinate.xyz; + f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz); + + f_color = color; + f_data = position; + f_uv = uv; +} +`]),u=s([`#extension GL_OES_standard_derivatives : enable + +precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float cookTorranceSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness, + float fresnel) { + + float VdotN = max(dot(viewDirection, surfaceNormal), 0.0); + float LdotN = max(dot(lightDirection, surfaceNormal), 0.0); + + //Half angle vector + vec3 H = normalize(lightDirection + viewDirection); + + //Geometric term + float NdotH = max(dot(surfaceNormal, H), 0.0); + float VdotH = max(dot(viewDirection, H), 0.000001); + float LdotH = max(dot(lightDirection, H), 0.000001); + float G1 = (2.0 * NdotH * VdotN) / VdotH; + float G2 = (2.0 * NdotH * LdotN) / LdotH; + float G = min(1.0, min(G1, G2)); + + //Distribution term + float D = beckmannDistribution(NdotH, roughness); + + //Fresnel term + float F = pow(1.0 - VdotN, fresnel); + + //Multiply terms and done + return G * F * D / max(3.14159265 * VdotN, 0.000001); +} + +//#pragma glslify: beckmann = require(glsl-specular-beckmann) // used in gl-surface3d + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float roughness + , fresnel + , kambient + , kdiffuse + , kspecular; +uniform sampler2D texture; + +varying vec3 f_normal + , f_lightDirection + , f_eyeDirection + , f_data; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (f_color.a == 0.0 || + outOfRange(clipBounds[0], clipBounds[1], f_data) + ) discard; + + vec3 N = normalize(f_normal); + vec3 L = normalize(f_lightDirection); + vec3 V = normalize(f_eyeDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel))); + //float specular = max(0.0, beckmann(L, V, N, roughness)); // used in gl-surface3d + + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + vec4 surfaceColor = vec4(f_color.rgb, 1.0) * texture2D(texture, f_uv); + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = litColor * f_color.a; +} +`]),c=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; +attribute vec4 color; +attribute vec2 uv; + +uniform mat4 model, view, projection; + +varying vec4 f_color; +varying vec3 f_data; +varying vec2 f_uv; + +void main() { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + f_color = color; + f_data = position; + f_uv = uv; +}`]),f=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform sampler2D texture; +uniform float opacity; + +varying vec4 f_color; +varying vec3 f_data; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_data)) discard; + + gl_FragColor = f_color * texture2D(texture, f_uv) * opacity; +}`]),h=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 uv; +attribute float pointSize; + +uniform mat4 model, view, projection; +uniform vec3 clipBounds[2]; + +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0.0, 0.0 ,0.0 ,0.0); + } else { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + } + gl_PointSize = pointSize; + f_color = color; + f_uv = uv; +}`]),d=s([`precision highp float; +#define GLSLIFY 1 + +uniform sampler2D texture; +uniform float opacity; + +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + vec2 pointR = gl_PointCoord.xy - vec2(0.5, 0.5); + if(dot(pointR, pointR) > 0.25) { + discard; + } + gl_FragColor = f_color * texture2D(texture, f_uv) * opacity; +}`]),p=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; +attribute vec4 id; + +uniform mat4 model, view, projection; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + f_id = id; + f_position = position; +}`]),v=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + + gl_FragColor = vec4(pickId, f_id.xyz); +}`]),m=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute float pointSize; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform vec3 clipBounds[2]; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0.0, 0.0, 0.0, 0.0); + } else { + gl_Position = projection * (view * (model * vec4(position, 1.0))); + gl_PointSize = pointSize; + } + f_id = id; + f_position = position; +}`]),g=s([`precision highp float; +#define GLSLIFY 1 + +attribute vec3 position; + +uniform mat4 model, view, projection; + +void main() { + gl_Position = projection * (view * (model * vec4(position, 1.0))); +}`]),w=s([`precision highp float; +#define GLSLIFY 1 + +uniform vec3 contourColor; + +void main() { + gl_FragColor = vec4(contourColor, 1.0); +} +`]);a.meshShader={vertex:l,fragment:u,attributes:[{name:"position",type:"vec3"},{name:"normal",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"}]},a.wireShader={vertex:c,fragment:f,attributes:[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"}]},a.pointShader={vertex:h,fragment:d,attributes:[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"pointSize",type:"float"}]},a.pickShader={vertex:p,fragment:v,attributes:[{name:"position",type:"vec3"},{name:"id",type:"vec4"}]},a.pointPickShader={vertex:m,fragment:v,attributes:[{name:"position",type:"vec3"},{name:"pointSize",type:"float"},{name:"id",type:"vec4"}]},a.contourShader={vertex:g,fragment:w,attributes:[{name:"position",type:"vec3"}]}},7201(n,a,o){"use strict";var s=1e-6,l=1e-6,u=o(9405),c=o(2762),f=o(8116),h=o(7766),d=o(8406),p=o(6760),v=o(7608),m=o(9618),g=o(6729),w=o(7765),b=o(1888),_=o(840),M=o(7626),x=_.meshShader,T=_.wireShader,A=_.pointShader,y=_.pickShader,E=_.pointPickShader,S=_.contourShader,C=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function k(j,q,J,U,V,X,H,G,Q,te,ce,ge,Ce,be,he,oe,Ee,ye,ue,ee,ae,xe,re,pe,we,Fe,Se){this.gl=j,this.pixelRatio=1,this.cells=[],this.positions=[],this.intensity=[],this.texture=q,this.dirty=!0,this.triShader=J,this.lineShader=U,this.pointShader=V,this.pickShader=X,this.pointPickShader=H,this.contourShader=G,this.trianglePositions=Q,this.triangleColors=ce,this.triangleNormals=Ce,this.triangleUVs=ge,this.triangleIds=te,this.triangleVAO=be,this.triangleCount=0,this.lineWidth=1,this.edgePositions=he,this.edgeColors=Ee,this.edgeUVs=ye,this.edgeIds=oe,this.edgeVAO=ue,this.edgeCount=0,this.pointPositions=ee,this.pointColors=xe,this.pointUVs=re,this.pointSizes=pe,this.pointIds=ae,this.pointVAO=we,this.pointCount=0,this.contourLineWidth=1,this.contourPositions=Fe,this.contourVAO=Se,this.contourCount=0,this.contourColor=[0,0,0],this.contourEnable=!0,this.pickVertex=!0,this.pickId=1,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.lightPosition=[1e5,1e5,0],this.ambientLight=.8,this.diffuseLight=.8,this.specularLight=2,this.roughness=.5,this.fresnel=1.5,this.opacity=1,this.hasAlpha=!1,this.opacityscale=!1,this._model=C,this._view=C,this._projection=C,this._resolution=[1,1]}var D=k.prototype;D.isOpaque=function(){return!this.hasAlpha},D.isTransparent=function(){return this.hasAlpha},D.pickSlots=1,D.setPickBase=function(j){this.pickId=j};function F(j,q){if(!q||!q.length)return 1;for(var J=0;Jj&&J>0){var U=(q[J][0]-j)/(q[J][0]-q[J-1][0]);return q[J][1]*(1-U)+U*q[J-1][1]}}return 1}function P(j,q){for(var J=g({colormap:j,nshades:256,format:"rgba"}),U=new Uint8Array(256*4),V=0;V<256;++V){for(var X=J[V],H=0;H<3;++H)U[4*V+H]=X[H];q?U[4*V+3]=255*F(V/255,q):U[4*V+3]=255*X[3]}return m(U,[256,256,4],[4,0,1])}function R(j){for(var q=j.length,J=new Array(q),U=0;U0){var Ce=this.triShader;Ce.bind(),Ce.uniforms=G,this.triangleVAO.bind(),q.drawArrays(q.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind()}if(this.edgeCount>0&&this.lineWidth>0){var Ce=this.lineShader;Ce.bind(),Ce.uniforms=G,this.edgeVAO.bind(),q.lineWidth(this.lineWidth*this.pixelRatio),q.drawArrays(q.LINES,0,this.edgeCount*2),this.edgeVAO.unbind()}if(this.pointCount>0){var Ce=this.pointShader;Ce.bind(),Ce.uniforms=G,this.pointVAO.bind(),q.drawArrays(q.POINTS,0,this.pointCount),this.pointVAO.unbind()}if(this.contourEnable&&this.contourCount>0&&this.contourLineWidth>0){var Ce=this.contourShader;Ce.bind(),Ce.uniforms=G,this.contourVAO.bind(),q.drawArrays(q.LINES,0,this.contourCount),this.contourVAO.unbind()}},D.drawPick=function(j){j=j||{};for(var q=this.gl,J=j.model||C,U=j.view||C,V=j.projection||C,X=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],H=0;H<3;++H)X[0][H]=Math.max(X[0][H],this.clipBounds[0][H]),X[1][H]=Math.min(X[1][H],this.clipBounds[1][H]);this._model=[].slice.call(J),this._view=[].slice.call(U),this._projection=[].slice.call(V),this._resolution=[q.drawingBufferWidth,q.drawingBufferHeight];var G={model:J,view:U,projection:V,clipBounds:X,pickId:this.pickId/255},Q=this.pickShader;if(Q.bind(),Q.uniforms=G,this.triangleCount>0&&(this.triangleVAO.bind(),q.drawArrays(q.TRIANGLES,0,this.triangleCount*3),this.triangleVAO.unbind()),this.edgeCount>0&&(this.edgeVAO.bind(),q.lineWidth(this.lineWidth*this.pixelRatio),q.drawArrays(q.LINES,0,this.edgeCount*2),this.edgeVAO.unbind()),this.pointCount>0){var Q=this.pointPickShader;Q.bind(),Q.uniforms=G,this.pointVAO.bind(),q.drawArrays(q.POINTS,0,this.pointCount),this.pointVAO.unbind()}},D.pick=function(j){if(!j||j.id!==this.pickId)return null;for(var q=j.value[0]+256*j.value[1]+65536*j.value[2],J=this.cells[q],U=this.positions,V=new Array(J.length),X=0;XMath.abs(y))g.rotate(C,0,0,-A*E*Math.PI*x.rotateSpeed/window.innerWidth);else if(!x._ortho){var k=-x.zoomSpeed*S*y/window.innerHeight*(C-g.lastT())/20;g.pan(C,0,0,b*(Math.exp(k)-1))}}},!0)},x.enableMouseListeners(),x}},799(n,a,o){var s=o(3236),l=o(9405),u=s([`precision mediump float; +#define GLSLIFY 1 +attribute vec2 position; +varying vec2 uv; +void main() { + uv = position; + gl_Position = vec4(position, 0, 1); +}`]),c=s([`precision mediump float; +#define GLSLIFY 1 + +uniform sampler2D accumBuffer; +varying vec2 uv; + +void main() { + vec4 accum = texture2D(accumBuffer, 0.5 * (uv + 1.0)); + gl_FragColor = min(vec4(1,1,1,1), accum); +}`]);n.exports=function(f){return l(f,u,c,null,[{name:"position",type:"vec2"}])}},4100(n,a,o){"use strict";var s=o(4437),l=o(3837),u=o(5445),c=o(4449),f=o(3589),h=o(2260),d=o(7169),p=o(351),v=o(4772),m=o(4040),g=o(799),w=o(2431)({tablet:!0,featureDetect:!0});n.exports={createScene:T,createCamera:s};function b(){this.mouse=[-1,-1],this.screen=null,this.distance=1/0,this.index=null,this.dataCoordinate=null,this.dataPosition=null,this.object=null,this.data=null}function _(y,E){var S=null;try{S=y.getContext("webgl",E),S||(S=y.getContext("experimental-webgl",E))}catch(C){return null}return S}function M(y){var E=Math.round(Math.log(Math.abs(y))/Math.log(10));if(E<0){var S=Math.round(Math.pow(10,-E));return Math.ceil(y*S)/S}else if(E>0){var S=Math.round(Math.pow(10,E));return Math.ceil(y/S)*S}return Math.ceil(y)}function x(y){return typeof y=="boolean"?y:!0}function T(y){y=y||{},y.camera=y.camera||{};var E=y.canvas;if(!E)if(E=document.createElement("canvas"),y.container){var S=y.container;S.appendChild(E)}else document.body.appendChild(E);var C=y.gl;if(C||(y.glOptions&&(w=!!y.glOptions.preserveDrawingBuffer),C=_(E,y.glOptions||{premultipliedAlpha:!0,antialias:!0,preserveDrawingBuffer:w})),!C)throw new Error("webgl not supported");var k=y.bounds||[[-10,-10,-10],[10,10,10]],D=new b,F=h(C,C.drawingBufferWidth,C.drawingBufferHeight,{preferFloat:!w}),P=g(C),R=y.cameraObject&&y.cameraObject._ortho===!0||y.camera.projection&&y.camera.projection.type==="orthographic"||!1,L={eye:y.camera.eye||[2,0,0],center:y.camera.center||[0,0,0],up:y.camera.up||[0,1,0],zoomMin:y.camera.zoomMax||.1,zoomMax:y.camera.zoomMin||100,mode:y.camera.mode||"turntable",_ortho:R},I=y.axes||{},B=l(C,I);B.enable=!I.disable;var O=y.spikes||{},$=c(C,O),Y=[],K=[],j=[],q=[],J=!0,H=!0,U=new Array(16),V=new Array(16),X={view:null,projection:U,model:V,_ortho:!1},H=!0,G=[C.drawingBufferWidth,C.drawingBufferHeight],Q=y.cameraObject||s(E,L),te={gl:C,contextLost:!1,pixelRatio:y.pixelRatio||1,canvas:E,selection:D,camera:Q,axes:B,axesPixels:null,spikes:$,bounds:k,objects:Y,shape:G,aspect:y.aspectRatio||[1,1,1],pickRadius:y.pickRadius||10,zNear:y.zNear||.01,zFar:y.zFar||1e3,fovy:y.fovy||Math.PI/4,clearColor:y.clearColor||[0,0,0,0],autoResize:x(y.autoResize),autoBounds:x(y.autoBounds),autoScale:!!y.autoScale,autoCenter:x(y.autoCenter),clipToBounds:x(y.clipToBounds),snapToData:!!y.snapToData,onselect:y.onselect||null,onrender:y.onrender||null,onclick:y.onclick||null,cameraParams:X,oncontextloss:null,mouseListener:null,_stopped:!1,getAspectratio:function(){return{x:this.aspect[0],y:this.aspect[1],z:this.aspect[2]}},setAspectratio:function(ee){this.aspect[0]=ee.x,this.aspect[1]=ee.y,this.aspect[2]=ee.z,H=!0},setBounds:function(ee,ae){this.bounds[0][ee]=ae.min,this.bounds[1][ee]=ae.max},setClearColor:function(ee){this.clearColor=ee},clearRGBA:function(){this.gl.clearColor(this.clearColor[0],this.clearColor[1],this.clearColor[2],this.clearColor[3]),this.gl.clear(this.gl.COLOR_BUFFER_BIT|this.gl.DEPTH_BUFFER_BIT)}},ce=[C.drawingBufferWidth/te.pixelRatio|0,C.drawingBufferHeight/te.pixelRatio|0];function ge(){if(!te._stopped&&te.autoResize){var ee=E.parentNode,ae=1,xe=1;ee&&ee!==document.body?(ae=ee.clientWidth,xe=ee.clientHeight):(ae=window.innerWidth,xe=window.innerHeight);var re=Math.ceil(ae*te.pixelRatio)|0,pe=Math.ceil(xe*te.pixelRatio)|0;if(re!==E.width||pe!==E.height){E.width=re,E.height=pe;var we=E.style;we.position=we.position||"absolute",we.left="0px",we.top="0px",we.width=ae+"px",we.height=xe+"px",J=!0}}}te.autoResize&&ge(),window.addEventListener("resize",ge);function Ce(){for(var ee=Y.length,ae=q.length,xe=0;xe0&&j[ae-1]===0;)j.pop(),q.pop().dispose()}te.update=function(ee){te._stopped||(ee=ee||{},J=!0,H=!0)},te.add=function(ee){te._stopped||(ee.axes=B,Y.push(ee),K.push(-1),J=!0,H=!0,Ce())},te.remove=function(ee){if(!te._stopped){var ae=Y.indexOf(ee);ae<0||(Y.splice(ae,1),K.pop(),J=!0,H=!0,Ce())}},te.dispose=function(){if(!te._stopped&&(te._stopped=!0,window.removeEventListener("resize",ge),E.removeEventListener("webglcontextlost",be),te.mouseListener.enabled=!1,!te.contextLost)){B.dispose(),$.dispose();for(var ee=0;eeD.distance)continue;for(var _e=0;_e1e-6?(w=Math.acos(b),_=Math.sin(w),M=Math.sin((1-u)*w)/_,x=Math.sin(u*w)/_):(M=1-u,x=u),o[0]=M*c+x*p,o[1]=M*f+x*v,o[2]=M*h+x*m,o[3]=M*d+x*g,o}},5964(n){"use strict";n.exports=function(a){return!a&&a!==0?"":a.toString()}},9366(n,a,o){"use strict";var s=o(4359);n.exports=u;var l={};function u(c,f,h){var d=[f.style,f.weight,f.variant,f.family].join("_"),p=l[d];if(p||(p=l[d]={}),c in p)return p[c];var v={textAlign:"center",textBaseline:"middle",lineHeight:1,font:f.family,fontStyle:f.style,fontWeight:f.weight,fontVariant:f.variant,lineSpacing:1.25,styletags:{breaklines:!0,bolds:!0,italics:!0,subscripts:!0,superscripts:!0}};v.triangles=!0;var m=s(c,v);v.triangles=!1;var g=s(c,v),w,b;if(h&&h!==1){for(w=0;w max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 glyph; +attribute vec4 id; + +uniform vec4 highlightId; +uniform float highlightScale; +uniform mat4 model, view, projection; +uniform vec3 clipBounds[2]; + +varying vec4 interpColor; +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0,0,0,0); + } else { + float scale = 1.0; + if(distance(highlightId, id) < 0.0001) { + scale = highlightScale; + } + + vec4 worldPosition = model * vec4(position, 1); + vec4 viewPosition = view * worldPosition; + viewPosition = viewPosition / viewPosition.w; + vec4 clipPosition = projection * (viewPosition + scale * vec4(glyph.x, -glyph.y, 0, 0)); + + gl_Position = clipPosition; + interpColor = color; + pickId = id; + dataCoordinate = position; + } +}`]),c=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 glyph; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform vec2 screenSize; +uniform vec3 clipBounds[2]; +uniform float highlightScale, pixelRatio; +uniform vec4 highlightId; + +varying vec4 interpColor; +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0,0,0,0); + } else { + float scale = pixelRatio; + if(distance(highlightId.bgr, id.bgr) < 0.001) { + scale *= highlightScale; + } + + vec4 worldPosition = model * vec4(position, 1.0); + vec4 viewPosition = view * worldPosition; + vec4 clipPosition = projection * viewPosition; + clipPosition /= clipPosition.w; + + gl_Position = clipPosition + vec4(screenSize * scale * vec2(glyph.x, -glyph.y), 0.0, 0.0); + interpColor = color; + pickId = id; + dataCoordinate = position; + } +}`]),f=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +attribute vec3 position; +attribute vec4 color; +attribute vec2 glyph; +attribute vec4 id; + +uniform float highlightScale; +uniform vec4 highlightId; +uniform vec3 axes[2]; +uniform mat4 model, view, projection; +uniform vec2 screenSize; +uniform vec3 clipBounds[2]; +uniform float scale, pixelRatio; + +varying vec4 interpColor; +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], position)) { + + gl_Position = vec4(0,0,0,0); + } else { + float lscale = pixelRatio * scale; + if(distance(highlightId, id) < 0.0001) { + lscale *= highlightScale; + } + + vec4 clipCenter = projection * (view * (model * vec4(position, 1))); + vec3 dataPosition = position + 0.5*lscale*(axes[0] * glyph.x + axes[1] * glyph.y) * clipCenter.w * screenSize.y; + vec4 clipPosition = projection * (view * (model * vec4(dataPosition, 1))); + + gl_Position = clipPosition; + interpColor = color; + pickId = id; + dataCoordinate = dataPosition; + } +} +`]),h=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 fragClipBounds[2]; +uniform float opacity; + +varying vec4 interpColor; +varying vec3 dataCoordinate; + +void main() { + if ( + outOfRange(fragClipBounds[0], fragClipBounds[1], dataCoordinate) || + interpColor.a * opacity == 0. + ) discard; + gl_FragColor = interpColor * opacity; +} +`]),d=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 fragClipBounds[2]; +uniform float pickGroup; + +varying vec4 pickId; +varying vec3 dataCoordinate; + +void main() { + if (outOfRange(fragClipBounds[0], fragClipBounds[1], dataCoordinate)) discard; + + gl_FragColor = vec4(pickGroup, pickId.bgr); +}`]),p=[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"glyph",type:"vec2"},{name:"id",type:"vec4"}],v={vertex:u,fragment:h,attributes:p},m={vertex:c,fragment:h,attributes:p},g={vertex:f,fragment:h,attributes:p},w={vertex:u,fragment:d,attributes:p},b={vertex:c,fragment:d,attributes:p},_={vertex:f,fragment:d,attributes:p};function M(x,T){var A=s(x,T),y=A.attributes;return y.position.location=0,y.color.location=1,y.glyph.location=2,y.id.location=3,A}a.createPerspective=function(x){return M(x,v)},a.createOrtho=function(x){return M(x,m)},a.createProject=function(x){return M(x,g)},a.createPickPerspective=function(x){return M(x,w)},a.createPickOrtho=function(x){return M(x,b)},a.createPickProject=function(x){return M(x,_)}},8418(n,a,o){"use strict";var s=o(5219),l=o(2762),u=o(8116),c=o(1888),f=o(6760),h=o(1283),d=o(9366),p=o(5964),v=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],m=ArrayBuffer,g=DataView;function w(V){return m.isView(V)&&!(V instanceof g)}function b(V){return Array.isArray(V)||w(V)}n.exports=U;function _(V,X){var H=V[0],G=V[1],Q=V[2],te=V[3];return V[0]=X[0]*H+X[4]*G+X[8]*Q+X[12]*te,V[1]=X[1]*H+X[5]*G+X[9]*Q+X[13]*te,V[2]=X[2]*H+X[6]*G+X[10]*Q+X[14]*te,V[3]=X[3]*H+X[7]*G+X[11]*Q+X[15]*te,V}function M(V,X,H,G){return _(G,G,H),_(G,G,X),_(G,G,V)}function x(V,X){this.index=V,this.dataCoordinate=this.position=X}function T(V){return V===!0||V>1?1:V}function A(V,X,H,G,Q,te,ce,ge,Ce,be,he,oe){this.gl=V,this.pixelRatio=1,this.shader=X,this.orthoShader=H,this.projectShader=G,this.pointBuffer=Q,this.colorBuffer=te,this.glyphBuffer=ce,this.idBuffer=ge,this.vao=Ce,this.vertexCount=0,this.lineVertexCount=0,this.opacity=1,this.hasAlpha=!1,this.lineWidth=0,this.projectScale=[.6666666666666666,.6666666666666666,.6666666666666666],this.projectOpacity=[1,1,1],this.projectHasAlpha=!1,this.pickId=0,this.pickPerspectiveShader=be,this.pickOrthoShader=he,this.pickProjectShader=oe,this.points=[],this._selectResult=new x(0,[0,0,0]),this.useOrtho=!0,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.axesProject=[!0,!0,!0],this.axesBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.highlightId=[1,1,1,1],this.highlightScale=2,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.dirty=!0}var y=A.prototype;y.pickSlots=1,y.setPickBase=function(V){this.pickId=V},y.isTransparent=function(){if(this.hasAlpha)return!0;for(var V=0;V<3;++V)if(this.axesProject[V]&&this.projectHasAlpha)return!0;return!1},y.isOpaque=function(){if(!this.hasAlpha)return!0;for(var V=0;V<3;++V)if(this.axesProject[V]&&!this.projectHasAlpha)return!0;return!1};var E=[0,0],S=[0,0,0],C=[0,0,0],k=[0,0,0,1],D=[0,0,0,1],F=v.slice(),P=[0,0,0],R=[[0,0,0],[0,0,0]];function L(V){return V[0]=V[1]=V[2]=0,V}function I(V,X){return V[0]=X[0],V[1]=X[1],V[2]=X[2],V[3]=1,V}function B(V,X,H,G){return V[0]=X[0],V[1]=X[1],V[2]=X[2],V[H]=G,V}function O(V){for(var X=R,H=0;H<2;++H)for(var G=0;G<3;++G)X[H][G]=Math.max(Math.min(V[H][G],1e8),-1e8);return X}function $(V,X,H,G){var Q=X.axesProject,te=X.gl,ce=V.uniforms,ge=H.model||v,Ce=H.view||v,be=H.projection||v,he=X.axesBounds,oe=O(X.clipBounds),Ee;X.axes&&X.axes.lastCubeProps?Ee=X.axes.lastCubeProps.axis:Ee=[1,1,1],E[0]=2/te.drawingBufferWidth,E[1]=2/te.drawingBufferHeight,V.bind(),ce.view=Ce,ce.projection=be,ce.screenSize=E,ce.highlightId=X.highlightId,ce.highlightScale=X.highlightScale,ce.clipBounds=oe,ce.pickGroup=X.pickId/255,ce.pixelRatio=G;for(var ye=0;ye<3;++ye)if(Q[ye]){ce.scale=X.projectScale[ye],ce.opacity=X.projectOpacity[ye];for(var ue=F,ee=0;ee<16;++ee)ue[ee]=0;for(var ee=0;ee<4;++ee)ue[5*ee]=1;ue[5*ye]=0,Ee[ye]<0?ue[12+ye]=he[0][ye]:ue[12+ye]=he[1][ye],f(ue,ge,ue),ce.model=ue;var ae=(ye+1)%3,xe=(ye+2)%3,re=L(S),pe=L(C);re[ae]=1,pe[xe]=1;var we=M(be,Ce,ge,I(k,re)),Fe=M(be,Ce,ge,I(D,pe));if(Math.abs(we[1])>Math.abs(Fe[1])){var Se=we;we=Fe,Fe=Se,Se=re,re=pe,pe=Se;var ke=ae;ae=xe,xe=ke}we[0]<0&&(re[ae]=-1),Fe[1]>0&&(pe[xe]=-1);for(var _e=0,Ie=0,ee=0;ee<4;++ee)_e+=Math.pow(ge[4*ae+ee],2),Ie+=Math.pow(ge[4*xe+ee],2);re[ae]/=Math.sqrt(_e),pe[xe]/=Math.sqrt(Ie),ce.axes[0]=re,ce.axes[1]=pe,ce.fragClipBounds[0]=B(P,oe[0],ye,-1e8),ce.fragClipBounds[1]=B(P,oe[1],ye,1e8),X.vao.bind(),X.vao.draw(te.TRIANGLES,X.vertexCount),X.lineWidth>0&&(te.lineWidth(X.lineWidth*G),X.vao.draw(te.LINES,X.lineVertexCount,X.vertexCount)),X.vao.unbind()}}var Y=[-1e8,-1e8,-1e8],K=[1e8,1e8,1e8],j=[Y,K];function q(V,X,H,G,Q,te,ce){var ge=H.gl;if((te===H.projectHasAlpha||ce)&&$(X,H,G,Q),te===H.hasAlpha||ce){V.bind();var Ce=V.uniforms;Ce.model=G.model||v,Ce.view=G.view||v,Ce.projection=G.projection||v,E[0]=2/ge.drawingBufferWidth,E[1]=2/ge.drawingBufferHeight,Ce.screenSize=E,Ce.highlightId=H.highlightId,Ce.highlightScale=H.highlightScale,Ce.fragClipBounds=j,Ce.clipBounds=H.axes.bounds,Ce.opacity=H.opacity,Ce.pickGroup=H.pickId/255,Ce.pixelRatio=Q,H.vao.bind(),H.vao.draw(ge.TRIANGLES,H.vertexCount),H.lineWidth>0&&(ge.lineWidth(H.lineWidth*Q),H.vao.draw(ge.LINES,H.lineVertexCount,H.vertexCount)),H.vao.unbind()}}y.draw=function(V){var X=this.useOrtho?this.orthoShader:this.shader;q(X,this.projectShader,this,V,this.pixelRatio,!1,!1)},y.drawTransparent=function(V){var X=this.useOrtho?this.orthoShader:this.shader;q(X,this.projectShader,this,V,this.pixelRatio,!0,!1)},y.drawPick=function(V){var X=this.useOrtho?this.pickOrthoShader:this.pickPerspectiveShader;q(X,this.pickProjectShader,this,V,1,!0,!0)},y.pick=function(V){if(!V||V.id!==this.pickId)return null;var X=V.value[2]+(V.value[1]<<8)+(V.value[0]<<16);if(X>=this.pointCount||X<0)return null;var H=this.points[X],G=this._selectResult;G.index=X;for(var Q=0;Q<3;++Q)G.position[Q]=G.dataCoordinate[Q]=H[Q];return G},y.highlight=function(V){if(!V)this.highlightId=[1,1,1,1];else{var X=V.index,H=X&255,G=X>>8&255,Q=X>>16&255;this.highlightId=[H/255,G/255,Q/255,0]}};function J(V,X,H,G){var Q;b(V)?X0){var vt=0,Xe=xe,mt=[0,0,0,1],bt=[0,0,0,1],Ne=b(Ee)&&b(Ee[0]),Ue=b(ee)&&b(ee[0]);e:for(var G=0;G0?1-Ie[0][0]:Xt<0?1+Ie[1][0]:1,Vt*=Vt>0?1-Ie[0][1]:Vt<0?1+Ie[1][1]:1;for(var lr=[Xt,Vt],$e=ke.cells||[],tt=ke.positions||[],Fe=0;Fe<$e.length;++Fe)for(var ur=$e[Fe],Bt=0;Bt<3;++Bt){for(var Zt=0;Zt<3;++Zt)Qe[3*vt+Zt]=we[Zt];for(var Zt=0;Zt<4;++Zt)et[4*vt+Zt]=mt[Zt];ut[vt]=ae;var kr=tt[ur[Bt]];_t[2*vt]=Re*(ct*kr[0]-Tt*kr[1]+lr[0]),_t[2*vt+1]=Re*(Tt*kr[0]+ct*kr[1]+lr[1]),vt+=1}for(var $e=_e.edges,tt=_e.positions,Fe=0;Fe<$e.length;++Fe)for(var ur=$e[Fe],Bt=0;Bt<2;++Bt){for(var Zt=0;Zt<3;++Zt)Qe[3*Xe+Zt]=we[Zt];for(var Zt=0;Zt<4;++Zt)et[4*Xe+Zt]=bt[Zt];ut[Xe]=ae;var kr=tt[ur[Bt]];_t[2*Xe]=Re*(ct*kr[0]-Tt*kr[1]+lr[0]),_t[2*Xe+1]=Re*(Tt*kr[0]+ct*kr[1]+lr[1]),Xe+=1}}}this.bounds=[be,he],this.points=Q,this.pointCount=Q.length,this.vertexCount=xe,this.lineVertexCount=re,this.pointBuffer.update(Qe),this.colorBuffer.update(et),this.glyphBuffer.update(_t),this.idBuffer.update(ut),c.free(Qe),c.free(et),c.free(_t),c.free(ut)},y.dispose=function(){this.shader.dispose(),this.orthoShader.dispose(),this.pickPerspectiveShader.dispose(),this.pickOrthoShader.dispose(),this.vao.dispose(),this.pointBuffer.dispose(),this.colorBuffer.dispose(),this.glyphBuffer.dispose(),this.idBuffer.dispose()};function U(V){var X=V.gl,H=h.createPerspective(X),G=h.createOrtho(X),Q=h.createProject(X),te=h.createPickPerspective(X),ce=h.createPickOrtho(X),ge=h.createPickProject(X),Ce=l(X),be=l(X),he=l(X),oe=l(X),Ee=u(X,[{buffer:Ce,size:3,type:X.FLOAT},{buffer:be,size:4,type:X.FLOAT},{buffer:he,size:2,type:X.FLOAT},{buffer:oe,size:4,type:X.UNSIGNED_BYTE,normalized:!0}]),ye=new A(X,H,G,Q,Ce,be,he,oe,Ee,te,ce,ge);return ye.update(V),ye}},3589(n,a,o){"use strict";n.exports=v;var s=o(2260),l=o(1888),u=o(9618),c=o(8828).nextPow2,f=function(m,g,w){for(var b=1e8,_=-1,M=-1,x=m.shape[0],T=m.shape[1],A=0;Athis.buffer.length){l.free(this.buffer);for(var b=this.buffer=l.mallocUint8(c(w*g*4)),_=0;_b)for(g=b;gw)for(g=w;g=0){for(var R=P.type.charAt(P.type.length-1)|0,L=new Array(R),I=0;I=0;)B+=1;D[F]=B}var O=new Array(b.length);function $(){x.program=c.program(T,x._vref,x._fref,k,D);for(var Y=0;Y=0){var y=T.charCodeAt(T.length-1)-48;if(y<2||y>4)throw new s("","Invalid data type for attribute "+x+": "+T);f(p,v,A[0],g,y,w,x)}else if(T.indexOf("mat")>=0){var y=T.charCodeAt(T.length-1)-48;if(y<2||y>4)throw new s("","Invalid data type for attribute "+x+": "+T);h(p,v,A,g,y,w,x)}else throw new s("","Unknown data type for attribute "+x+": "+T);break}}return w}},3327(n,a,o){"use strict";var s=o(216),l=o(8866);n.exports=f;function u(h){return function(){return h}}function c(h,d){for(var p=new Array(h),v=0;v4)throw new l("","Invalid data type");switch(B.charAt(0)){case"b":case"i":h["uniform"+O+"iv"](v[D],F);break;case"v":h["uniform"+O+"fv"](v[D],F);break;default:throw new l("","Unrecognized data type for vector "+name+": "+B)}}else if(B.indexOf("mat")===0&&B.length===4){if(O=B.charCodeAt(B.length-1)-48,O<2||O>4)throw new l("","Invalid uniform dimension type for matrix "+name+": "+B);h["uniformMatrix"+O+"fv"](v[D],!1,F);break}else throw new l("","Unknown uniform data type for "+name+": "+B)}}}}}function w(T,A){if(typeof A!="object")return[[T,A]];var y=[];for(var E in A){var S=A[E],C=T;parseInt(E)+""===E?C+="["+E+"]":C+="."+E,typeof S=="object"?y.push.apply(y,w(C,S)):y.push([C,S])}return y}function b(T){switch(T){case"bool":return!1;case"int":case"sampler2D":case"samplerCube":return 0;case"float":return 0;default:var A=T.indexOf("vec");if(0<=A&&A<=1&&T.length===4+A){var y=T.charCodeAt(T.length-1)-48;if(y<2||y>4)throw new l("","Invalid data type");return T.charAt(0)==="b"?c(y,!1):c(y,0)}else if(T.indexOf("mat")===0&&T.length===4){var y=T.charCodeAt(T.length-1)-48;if(y<2||y>4)throw new l("","Invalid uniform dimension type for matrix "+name+": "+T);return c(y*y,0)}else throw new l("","Unknown uniform data type for "+name+": "+T)}}function _(T,A,y){if(typeof y=="object"){var E=M(y);Object.defineProperty(T,A,{get:u(E),set:g(y),enumerable:!0,configurable:!1})}else v[y]?Object.defineProperty(T,A,{get:m(y),set:g(y),enumerable:!0,configurable:!1}):T[A]=b(p[y].type)}function M(T){var A;if(Array.isArray(T)){A=new Array(T.length);for(var y=0;y1){p[0]in h||(h[p[0]]=[]),h=h[p[0]];for(var v=1;v1)for(var w=0;w 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the tube vertex and normal at the given index. +// +// The returned vertex is for a tube ring with its center at origin, radius of length(d), pointing in the direction of d. +// +// Each tube segment is made up of a ring of vertices. +// These vertices are used to make up the triangles of the tube by connecting them together in the vertex array. +// The indexes of tube segments run from 0 to 8. +// +vec3 getTubePosition(vec3 d, float index, out vec3 normal) { + float segmentCount = 8.0; + + float angle = 2.0 * 3.14159 * (index / segmentCount); + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d); + vec3 y = v * sin(angle) * length(d); + vec3 v3 = x + y; + + normal = normalize(v3); + + return v3; +} + +attribute vec4 vector; +attribute vec4 color, position; +attribute vec2 uv; + +uniform float vectorScale, tubeScale; +uniform mat4 model, view, projection, inverseModel; +uniform vec3 eyePosition, lightPosition; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + // Scale the vector magnitude to stay constant with + // model & view changes. + vec3 normal; + vec3 XYZ = getTubePosition(mat3(model) * (tubeScale * vector.w * normalize(vector.xyz)), position.w, normal); + vec4 tubePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * tubePosition; + cameraCoordinate.xyz /= cameraCoordinate.w; + f_lightDirection = lightPosition - cameraCoordinate.xyz; + f_eyeDirection = eyePosition - cameraCoordinate.xyz; + f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz); + + // vec4 m_position = model * vec4(tubePosition, 1.0); + vec4 t_position = view * tubePosition; + gl_Position = projection * t_position; + + f_color = color; + f_data = tubePosition.xyz; + f_position = position.xyz; + f_uv = uv; +} +`]),u=s([`#extension GL_OES_standard_derivatives : enable + +precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float cookTorranceSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness, + float fresnel) { + + float VdotN = max(dot(viewDirection, surfaceNormal), 0.0); + float LdotN = max(dot(lightDirection, surfaceNormal), 0.0); + + //Half angle vector + vec3 H = normalize(lightDirection + viewDirection); + + //Geometric term + float NdotH = max(dot(surfaceNormal, H), 0.0); + float VdotH = max(dot(viewDirection, H), 0.000001); + float LdotH = max(dot(lightDirection, H), 0.000001); + float G1 = (2.0 * NdotH * VdotN) / VdotH; + float G2 = (2.0 * NdotH * LdotN) / LdotH; + float G = min(1.0, min(G1, G2)); + + //Distribution term + float D = beckmannDistribution(NdotH, roughness); + + //Fresnel term + float F = pow(1.0 - VdotN, fresnel); + + //Multiply terms and done + return G * F * D / max(3.14159265 * VdotN, 0.000001); +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity; +uniform sampler2D texture; + +varying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position; +varying vec4 f_color; +varying vec2 f_uv; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + vec3 N = normalize(f_normal); + vec3 L = normalize(f_lightDirection); + vec3 V = normalize(f_eyeDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel))); + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + vec4 surfaceColor = f_color * texture2D(texture, f_uv); + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = litColor * opacity; +} +`]),c=s([`precision highp float; + +precision highp float; +#define GLSLIFY 1 + +vec3 getOrthogonalVector(vec3 v) { + // Return up-vector for only-z vector. + // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0). + // From the above if-statement we have ||a|| > 0 U ||b|| > 0. + // Assign z = 0, x = -b, y = a: + // a*-b + b*a + c*0 = -ba + ba + 0 = 0 + if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) { + return normalize(vec3(-v.y, v.x, 0.0)); + } else { + return normalize(vec3(0.0, v.z, -v.y)); + } +} + +// Calculate the tube vertex and normal at the given index. +// +// The returned vertex is for a tube ring with its center at origin, radius of length(d), pointing in the direction of d. +// +// Each tube segment is made up of a ring of vertices. +// These vertices are used to make up the triangles of the tube by connecting them together in the vertex array. +// The indexes of tube segments run from 0 to 8. +// +vec3 getTubePosition(vec3 d, float index, out vec3 normal) { + float segmentCount = 8.0; + + float angle = 2.0 * 3.14159 * (index / segmentCount); + + vec3 u = getOrthogonalVector(d); + vec3 v = normalize(cross(u, d)); + + vec3 x = u * cos(angle) * length(d); + vec3 y = v * sin(angle) * length(d); + vec3 v3 = x + y; + + normal = normalize(v3); + + return v3; +} + +attribute vec4 vector; +attribute vec4 position; +attribute vec4 id; + +uniform mat4 model, view, projection; +uniform float tubeScale; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + vec3 normal; + vec3 XYZ = getTubePosition(mat3(model) * (tubeScale * vector.w * normalize(vector.xyz)), position.w, normal); + vec4 tubePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0); + + gl_Position = projection * (view * tubePosition); + f_id = id; + f_position = position.xyz; +} +`]),f=s([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying vec3 f_position; +varying vec4 f_id; + +void main() { + if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard; + + gl_FragColor = vec4(pickId, f_id.xyz); +}`]);a.meshShader={vertex:l,fragment:u,attributes:[{name:"position",type:"vec4"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"vector",type:"vec4"}]},a.pickShader={vertex:c,fragment:f,attributes:[{name:"position",type:"vec4"},{name:"id",type:"vec4"},{name:"vector",type:"vec4"}]}},7815(n,a,o){"use strict";var s=o(2931),l=o(9970),u=["xyz","xzy","yxz","yzx","zxy","zyx"],c=function(_,M,x,T){for(var A=_.points,y=_.velocities,E=_.divergences,S=[],C=[],k=[],D=[],F=[],P=[],R=0,L=0,I=l.create(),B=l.create(),O=8,$=0;$0)for(var q=0;qM)return T-1}return T},d=function(_,M,x){return _x?x:_},p=function(_,M,x){var T=M.vectors,A=M.meshgrid,y=_[0],E=_[1],S=_[2],C=A[0].length,k=A[1].length,D=A[2].length,F=h(A[0],y),P=h(A[1],E),R=h(A[2],S),L=F+1,I=P+1,B=R+1;if(F=d(F,0,C-1),L=d(L,0,C-1),P=d(P,0,k-1),I=d(I,0,k-1),R=d(R,0,D-1),B=d(B,0,D-1),F<0||P<0||R<0||L>C-1||I>k-1||B>D-1)return s.create();var O=A[0][F],$=A[0][L],Y=A[1][P],K=A[1][I],j=A[2][R],q=A[2][B],J=(y-O)/($-O),U=(E-Y)/(K-Y),V=(S-j)/(q-j);isFinite(J)||(J=.5),isFinite(U)||(U=.5),isFinite(V)||(V=.5);var X,H,G,Q,te,ce;switch(x.reversedX&&(F=C-1-F,L=C-1-L),x.reversedY&&(P=k-1-P,I=k-1-I),x.reversedZ&&(R=D-1-R,B=D-1-B),x.filled){case 5:te=R,ce=B,G=P*D,Q=I*D,X=F*D*k,H=L*D*k;break;case 4:te=R,ce=B,X=F*D,H=L*D,G=P*D*C,Q=I*D*C;break;case 3:G=P,Q=I,te=R*k,ce=B*k,X=F*k*D,H=L*k*D;break;case 2:G=P,Q=I,X=F*k,H=L*k,te=R*k*C,ce=B*k*C;break;case 1:X=F,H=L,te=R*C,ce=B*C,G=P*C*D,Q=I*C*D;break;default:X=F,H=L,G=P*C,Q=I*C,te=R*C*k,ce=B*C*k;break}var ge=T[X+G+te],Ce=T[X+G+ce],be=T[X+Q+te],he=T[X+Q+ce],oe=T[H+G+te],Ee=T[H+G+ce],ye=T[H+Q+te],ue=T[H+Q+ce],ee=s.create(),ae=s.create(),xe=s.create(),re=s.create();s.lerp(ee,ge,oe,J),s.lerp(ae,Ce,Ee,J),s.lerp(xe,be,ye,J),s.lerp(re,he,ue,J);var pe=s.create(),we=s.create();s.lerp(pe,ee,xe,U),s.lerp(we,ae,re,U);var Fe=s.create();return s.lerp(Fe,pe,we,V),Fe},v=function(_,M){var x=M[0],T=M[1],A=M[2];return _[0]=x<0?-x:x,_[1]=T<0?-T:T,_[2]=A<0?-A:A,_},m=function(_){var M=1/0;_.sort(function(y,E){return y-E});for(var x=_.length,T=1;TL||ueI||eeB)},$=s.distance(M[0],M[1]),Y=10*$/T,K=Y*Y,j=1,q=0,J=x.length;J>1&&(j=g(x));for(var U=0;Uq&&(q=ge),te.push(ge),D.push({points:X,velocities:H,divergences:te});for(var Ce=0;CeK&&s.scale(be,be,Y/Math.sqrt(he)),s.add(be,be,V),G=C(be),s.squaredDistance(Q,be)-K>-1e-4*K){X.push(be),Q=be,H.push(G);var ce=k(be,G),ge=s.length(ce);isFinite(ge)&&ge>q&&(q=ge),te.push(ge)}V=be}}var oe=f(D,_.colormap,q,j);return y?oe.tubeScale=y:(q===0&&(q=1),oe.tubeScale=A*.5*j/q),oe};var w=o(6740),b=o(6405).createMesh;n.exports.createTubeMesh=function(_,M){return b(_,M,{shaders:w,traceType:"streamtube"})}},990(n,a,o){var s=o(9405),l=o(3236),u=l([`precision highp float; +#define GLSLIFY 1 + +attribute vec4 uv; +attribute vec3 f; +attribute vec3 normal; + +uniform vec3 objectOffset; +uniform mat4 model, view, projection, inverseModel; +uniform vec3 lightPosition, eyePosition; +uniform sampler2D colormap; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec2 planeCoordinate; +varying vec3 lightDirection, eyeDirection, surfaceNormal; +varying vec4 vColor; + +void main() { + vec3 localCoordinate = vec3(uv.zw, f.x); + worldCoordinate = objectOffset + localCoordinate; + mat4 objectOffsetTranslation = mat4(1.0) + mat4(vec4(0), vec4(0), vec4(0), vec4(objectOffset, 0)); + vec4 worldPosition = (model * objectOffsetTranslation) * vec4(localCoordinate, 1.0); + vec4 clipPosition = projection * (view * worldPosition); + gl_Position = clipPosition; + kill = f.y; + value = f.z; + planeCoordinate = uv.xy; + + vColor = texture2D(colormap, vec2(value, value)); + + //Lighting geometry parameters + vec4 cameraCoordinate = view * worldPosition; + cameraCoordinate.xyz /= cameraCoordinate.w; + lightDirection = lightPosition - cameraCoordinate.xyz; + eyeDirection = eyePosition - cameraCoordinate.xyz; + surfaceNormal = normalize((vec4(normal,0) * inverseModel).xyz); +} +`]),c=l([`precision highp float; +#define GLSLIFY 1 + +float beckmannDistribution(float x, float roughness) { + float NdotH = max(x, 0.0001); + float cos2Alpha = NdotH * NdotH; + float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha; + float roughness2 = roughness * roughness; + float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha; + return exp(tan2Alpha / roughness2) / denom; +} + +float beckmannSpecular( + vec3 lightDirection, + vec3 viewDirection, + vec3 surfaceNormal, + float roughness) { + return beckmannDistribution(dot(surfaceNormal, normalize(lightDirection + viewDirection)), roughness); +} + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec3 lowerBound, upperBound; +uniform float contourTint; +uniform vec4 contourColor; +uniform sampler2D colormap; +uniform vec3 clipBounds[2]; +uniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity; +uniform float vertexColor; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec3 lightDirection, eyeDirection, surfaceNormal; +varying vec4 vColor; + +void main() { + if ( + kill > 0.0 || + vColor.a == 0.0 || + outOfRange(clipBounds[0], clipBounds[1], worldCoordinate) + ) discard; + + vec3 N = normalize(surfaceNormal); + vec3 V = normalize(eyeDirection); + vec3 L = normalize(lightDirection); + + if(gl_FrontFacing) { + N = -N; + } + + float specular = max(beckmannSpecular(L, V, N, roughness), 0.); + float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0); + + //decide how to interpolate color \u2014 in vertex or in fragment + vec4 surfaceColor = + step(vertexColor, .5) * texture2D(colormap, vec2(value, value)) + + step(.5, vertexColor) * vColor; + + vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0); + + gl_FragColor = mix(litColor, contourColor, contourTint) * opacity; +} +`]),f=l([`precision highp float; +#define GLSLIFY 1 + +attribute vec4 uv; +attribute float f; + +uniform vec3 objectOffset; +uniform mat3 permutation; +uniform mat4 model, view, projection; +uniform float height, zOffset; +uniform sampler2D colormap; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec2 planeCoordinate; +varying vec3 lightDirection, eyeDirection, surfaceNormal; +varying vec4 vColor; + +void main() { + vec3 dataCoordinate = permutation * vec3(uv.xy, height); + worldCoordinate = objectOffset + dataCoordinate; + mat4 objectOffsetTranslation = mat4(1.0) + mat4(vec4(0), vec4(0), vec4(0), vec4(objectOffset, 0)); + vec4 worldPosition = (model * objectOffsetTranslation) * vec4(dataCoordinate, 1.0); + + vec4 clipPosition = projection * (view * worldPosition); + clipPosition.z += zOffset; + + gl_Position = clipPosition; + value = f + objectOffset.z; + kill = -1.0; + planeCoordinate = uv.zw; + + vColor = texture2D(colormap, vec2(value, value)); + + //Don't do lighting for contours + surfaceNormal = vec3(1,0,0); + eyeDirection = vec3(0,1,0); + lightDirection = vec3(0,0,1); +} +`]),h=l([`precision highp float; +#define GLSLIFY 1 + +bool outOfRange(float a, float b, float p) { + return ((p > max(a, b)) || + (p < min(a, b))); +} + +bool outOfRange(vec2 a, vec2 b, vec2 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y)); +} + +bool outOfRange(vec3 a, vec3 b, vec3 p) { + return (outOfRange(a.x, b.x, p.x) || + outOfRange(a.y, b.y, p.y) || + outOfRange(a.z, b.z, p.z)); +} + +bool outOfRange(vec4 a, vec4 b, vec4 p) { + return outOfRange(a.xyz, b.xyz, p.xyz); +} + +uniform vec2 shape; +uniform vec3 clipBounds[2]; +uniform float pickId; + +varying float value, kill; +varying vec3 worldCoordinate; +varying vec2 planeCoordinate; +varying vec3 surfaceNormal; + +vec2 splitFloat(float v) { + float vh = 255.0 * v; + float upper = floor(vh); + float lower = fract(vh); + return vec2(upper / 255.0, floor(lower * 16.0) / 16.0); +} + +void main() { + if ((kill > 0.0) || + (outOfRange(clipBounds[0], clipBounds[1], worldCoordinate))) discard; + + vec2 ux = splitFloat(planeCoordinate.x / shape.x); + vec2 uy = splitFloat(planeCoordinate.y / shape.y); + gl_FragColor = vec4(pickId, ux.x, uy.x, ux.y + (uy.y/16.0)); +} +`]);a.createShader=function(d){var p=s(d,u,c,null,[{name:"uv",type:"vec4"},{name:"f",type:"vec3"},{name:"normal",type:"vec3"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p.attributes.normal.location=2,p},a.createPickShader=function(d){var p=s(d,u,h,null,[{name:"uv",type:"vec4"},{name:"f",type:"vec3"},{name:"normal",type:"vec3"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p.attributes.normal.location=2,p},a.createContourShader=function(d){var p=s(d,f,c,null,[{name:"uv",type:"vec4"},{name:"f",type:"float"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p},a.createPickContourShader=function(d){var p=s(d,f,h,null,[{name:"uv",type:"vec4"},{name:"f",type:"float"}]);return p.attributes.uv.location=0,p.attributes.f.location=1,p}},9499(n,a,o){"use strict";n.exports=X;var s=o(8828),l=o(2762),u=o(8116),c=o(7766),f=o(1888),h=o(6729),d=o(5298),p=o(9994),v=o(9618),m=o(3711),g=o(6760),w=o(7608),b=o(2478),_=o(6199),M=o(990),x=M.createShader,T=M.createContourShader,A=M.createPickShader,y=M.createPickContourShader,E=40,S=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],C=[[0,0],[0,1],[1,0],[1,1],[1,0],[0,1]],k=[[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];(function(){for(var H=0;H<3;++H){var G=k[H],Q=(H+1)%3,te=(H+2)%3;G[Q+0]=1,G[te+3]=1,G[H+6]=1}})();function D(H,G,Q,te,ce){this.position=H,this.index=G,this.uv=Q,this.level=te,this.dataCoordinate=ce}var F=256;function P(H,G,Q,te,ce,ge,Ce,be,he,oe,Ee,ye,ue,ee,ae){this.gl=H,this.shape=G,this.bounds=Q,this.objectOffset=ae,this.intensityBounds=[],this._shader=te,this._pickShader=ce,this._coordinateBuffer=ge,this._vao=Ce,this._colorMap=be,this._contourShader=he,this._contourPickShader=oe,this._contourBuffer=Ee,this._contourVAO=ye,this._contourOffsets=[[],[],[]],this._contourCounts=[[],[],[]],this._vertexCount=0,this._pickResult=new D([0,0,0],[0,0],[0,0],[0,0,0],[0,0,0]),this._dynamicBuffer=ue,this._dynamicVAO=ee,this._dynamicOffsets=[0,0,0],this._dynamicCounts=[0,0,0],this.contourWidth=[1,1,1],this.contourLevels=[[1],[1],[1]],this.contourTint=[0,0,0],this.contourColor=[[.5,.5,.5,1],[.5,.5,.5,1],[.5,.5,.5,1]],this.showContour=!0,this.showSurface=!0,this.enableHighlight=[!0,!0,!0],this.highlightColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.highlightTint=[1,1,1],this.highlightLevel=[-1,-1,-1],this.enableDynamic=[!0,!0,!0],this.dynamicLevel=[NaN,NaN,NaN],this.dynamicColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.dynamicTint=[1,1,1],this.dynamicWidth=[1,1,1],this.axesBounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.surfaceProject=[!1,!1,!1],this.contourProject=[[!1,!1,!1],[!1,!1,!1],[!1,!1,!1]],this.colorBounds=[!1,!1],this._field=[v(f.mallocFloat(1024),[0,0]),v(f.mallocFloat(1024),[0,0]),v(f.mallocFloat(1024),[0,0])],this.pickId=1,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.snapToData=!1,this.pixelRatio=1,this.opacity=1,this.lightPosition=[10,1e4,0],this.ambientLight=.8,this.diffuseLight=.8,this.specularLight=2,this.roughness=.5,this.fresnel=1.5,this.vertexColor=0,this.dirty=!0}var R=P.prototype;R.genColormap=function(H,G){var Q=!1,te=p([h({colormap:H,nshades:F,format:"rgba"}).map(function(ce,ge){var Ce=G?L(ge/255,G):ce[3];return Ce<1&&(Q=!0),[ce[0],ce[1],ce[2],255*Ce]})]);return d.divseq(te,255),this.hasAlphaScale=Q,te},R.isTransparent=function(){return this.opacity<1||this.hasAlphaScale},R.isOpaque=function(){return!this.isTransparent()},R.pickSlots=1,R.setPickBase=function(H){this.pickId=H};function L(H,G){if(!G||!G.length)return 1;for(var Q=0;QH&&Q>0){var te=(G[Q][0]-H)/(G[Q][0]-G[Q-1][0]);return G[Q][1]*(1-te)+te*G[Q-1][1]}}return 1}var I=[0,0,0],B={showSurface:!1,showContour:!1,projections:[S.slice(),S.slice(),S.slice()],clipBounds:[[[0,0,0],[0,0,0]],[[0,0,0],[0,0,0]],[[0,0,0],[0,0,0]]]};function O(H,G){var Q,te,ce,ge=G.axes&&G.axes.lastCubeProps.axis||I,Ce=G.showSurface,be=G.showContour;for(Q=0;Q<3;++Q)for(Ce=Ce||G.surfaceProject[Q],te=0;te<3;++te)be=be||G.contourProject[Q][te];for(Q=0;Q<3;++Q){var he=B.projections[Q];for(te=0;te<16;++te)he[te]=0;for(te=0;te<4;++te)he[5*te]=1;he[5*Q]=0,he[12+Q]=G.axesBounds[+(ge[Q]>0)][Q],g(he,H.model,he);var oe=B.clipBounds[Q];for(ce=0;ce<2;++ce)for(te=0;te<3;++te)oe[ce][te]=H.clipBounds[ce][te];oe[0][Q]=-1e8,oe[1][Q]=1e8}return B.showSurface=Ce,B.showContour=be,B}var $={model:S,view:S,projection:S,inverseModel:S.slice(),lowerBound:[0,0,0],upperBound:[0,0,0],colorMap:0,clipBounds:[[0,0,0],[0,0,0]],height:0,contourTint:0,contourColor:[0,0,0,1],permutation:[1,0,0,0,1,0,0,0,1],zOffset:-1e-4,objectOffset:[0,0,0],kambient:1,kdiffuse:1,kspecular:1,lightPosition:[1e3,1e3,1e3],eyePosition:[0,0,0],roughness:1,fresnel:1,opacity:1,vertexColor:0},Y=S.slice(),K=[1,0,0,0,1,0,0,0,1];function j(H,G){H=H||{};var Q=this.gl;Q.disable(Q.CULL_FACE),this._colorMap.bind(0);var te=$;te.model=H.model||S,te.view=H.view||S,te.projection=H.projection||S,te.lowerBound=[this.bounds[0][0],this.bounds[0][1],this.colorBounds[0]||this.bounds[0][2]],te.upperBound=[this.bounds[1][0],this.bounds[1][1],this.colorBounds[1]||this.bounds[1][2]],te.objectOffset=this.objectOffset,te.contourColor=this.contourColor[0],te.inverseModel=w(te.inverseModel,te.model);for(var ce=0;ce<2;++ce)for(var ge=te.clipBounds[ce],Ce=0;Ce<3;++Ce)ge[Ce]=Math.min(Math.max(this.clipBounds[ce][Ce],-1e8),1e8);te.kambient=this.ambientLight,te.kdiffuse=this.diffuseLight,te.kspecular=this.specularLight,te.roughness=this.roughness,te.fresnel=this.fresnel,te.opacity=this.opacity,te.height=0,te.permutation=K,te.vertexColor=this.vertexColor;var be=Y;for(g(be,te.view,te.model),g(be,te.projection,be),w(be,be),ce=0;ce<3;++ce)te.eyePosition[ce]=be[12+ce]/be[15];var he=be[15];for(ce=0;ce<3;++ce)he+=this.lightPosition[ce]*be[4*ce+3];for(ce=0;ce<3;++ce){var oe=be[12+ce];for(Ce=0;Ce<3;++Ce)oe+=be[4*Ce+ce]*this.lightPosition[Ce];te.lightPosition[ce]=oe/he}var Ee=O(te,this);if(Ee.showSurface){for(this._shader.bind(),this._shader.uniforms=te,this._vao.bind(),this.showSurface&&this._vertexCount&&this._vao.draw(Q.TRIANGLES,this._vertexCount),ce=0;ce<3;++ce)!this.surfaceProject[ce]||!this.vertexCount||(this._shader.uniforms.model=Ee.projections[ce],this._shader.uniforms.clipBounds=Ee.clipBounds[ce],this._vao.draw(Q.TRIANGLES,this._vertexCount));this._vao.unbind()}if(Ee.showContour){var ye=this._contourShader;te.kambient=1,te.kdiffuse=0,te.kspecular=0,te.opacity=1,ye.bind(),ye.uniforms=te;var ue=this._contourVAO;for(ue.bind(),ce=0;ce<3;++ce)for(ye.uniforms.permutation=k[ce],Q.lineWidth(this.contourWidth[ce]*this.pixelRatio),Ce=0;Ce>4)/16)/255,ce=Math.floor(te),ge=te-ce,Ce=G[1]*(H.value[1]+(H.value[2]&15)/16)/255,be=Math.floor(Ce),he=Ce-be;ce+=1,be+=1;var oe=Q.position;oe[0]=oe[1]=oe[2]=0;for(var Ee=0;Ee<2;++Ee)for(var ye=Ee?ge:1-ge,ue=0;ue<2;++ue)for(var ee=ue?he:1-he,ae=ce+Ee,xe=be+ue,re=ye*ee,pe=0;pe<3;++pe)oe[pe]+=this._field[pe].get(ae,xe)*re;for(var we=this._pickResult.level,Fe=0;Fe<3;++Fe)if(we[Fe]=b.le(this.contourLevels[Fe],oe[Fe]),we[Fe]<0)this.contourLevels[Fe].length>0&&(we[Fe]=0);else if(we[Fe]Math.abs(ke-oe[Fe])&&(we[Fe]+=1)}for(Q.index[0]=ge<.5?ce:ce+1,Q.index[1]=he<.5?be:be+1,Q.uv[0]=te/G[0],Q.uv[1]=Ce/G[1],pe=0;pe<3;++pe)Q.dataCoordinate[pe]=this._field[pe].get(Q.index[0],Q.index[1]);return Q},R.padField=function(H,G){var Q=G.shape.slice(),te=H.shape.slice();d.assign(H.lo(1,1).hi(Q[0],Q[1]),G),d.assign(H.lo(1).hi(Q[0],1),G.hi(Q[0],1)),d.assign(H.lo(1,te[1]-1).hi(Q[0],1),G.lo(0,Q[1]-1).hi(Q[0],1)),d.assign(H.lo(0,1).hi(1,Q[1]),G.hi(1)),d.assign(H.lo(te[0]-1,1).hi(1,Q[1]),G.lo(Q[0]-1)),H.set(0,0,G.get(0,0)),H.set(0,te[1]-1,G.get(0,Q[1]-1)),H.set(te[0]-1,0,G.get(Q[0]-1,0)),H.set(te[0]-1,te[1]-1,G.get(Q[0]-1,Q[1]-1))};function J(H,G){return Array.isArray(H)?[G(H[0]),G(H[1]),G(H[2])]:[G(H),G(H),G(H)]}function U(H){return Array.isArray(H)?H.length===3?[H[0],H[1],H[2],1]:[H[0],H[1],H[2],H[3]]:[0,0,0,1]}function V(H){if(Array.isArray(H)){if(Array.isArray(H))return[U(H[0]),U(H[1]),U(H[2])];var G=U(H);return[G.slice(),G.slice(),G.slice()]}}R.update=function(H){H=H||{},this.objectOffset=H.objectOffset||this.objectOffset,this.dirty=!0,"contourWidth"in H&&(this.contourWidth=J(H.contourWidth,Number)),"showContour"in H&&(this.showContour=J(H.showContour,Boolean)),"showSurface"in H&&(this.showSurface=!!H.showSurface),"contourTint"in H&&(this.contourTint=J(H.contourTint,Boolean)),"contourColor"in H&&(this.contourColor=V(H.contourColor)),"contourProject"in H&&(this.contourProject=J(H.contourProject,function(ra){return J(ra,Boolean)})),"surfaceProject"in H&&(this.surfaceProject=H.surfaceProject),"dynamicColor"in H&&(this.dynamicColor=V(H.dynamicColor)),"dynamicTint"in H&&(this.dynamicTint=J(H.dynamicTint,Number)),"dynamicWidth"in H&&(this.dynamicWidth=J(H.dynamicWidth,Number)),"opacity"in H&&(this.opacity=H.opacity),"opacityscale"in H&&(this.opacityscale=H.opacityscale),"colorBounds"in H&&(this.colorBounds=H.colorBounds),"vertexColor"in H&&(this.vertexColor=H.vertexColor?1:0),"colormap"in H&&this._colorMap.setPixels(this.genColormap(H.colormap,this.opacityscale));var G=H.field||H.coords&&H.coords[2]||null,Q=!1;if(G||(this._field[2].shape[0]||this._field[2].shape[2]?G=this._field[2].lo(1,1).hi(this._field[2].shape[0]-2,this._field[2].shape[1]-2):G=this._field[2].hi(0,0)),"field"in H||"coords"in H){var te=(G.shape[0]+2)*(G.shape[1]+2);te>this._field[2].data.length&&(f.freeFloat(this._field[2].data),this._field[2].data=f.mallocFloat(s.nextPow2(te))),this._field[2]=v(this._field[2].data,[G.shape[0]+2,G.shape[1]+2]),this.padField(this._field[2],G),this.shape=G.shape.slice();for(var ce=this.shape,ge=0;ge<2;++ge)this._field[2].size>this._field[ge].data.length&&(f.freeFloat(this._field[ge].data),this._field[ge].data=f.mallocFloat(this._field[2].size)),this._field[ge]=v(this._field[ge].data,[ce[0]+2,ce[1]+2]);if(H.coords){var Ce=H.coords;if(!Array.isArray(Ce)||Ce.length!==3)throw new Error("gl-surface: invalid coordinates for x/y");for(ge=0;ge<2;++ge){var be=Ce[ge];for(ue=0;ue<2;++ue)if(be.shape[ue]!==ce[ue])throw new Error("gl-surface: coords have incorrect shape");this.padField(this._field[ge],be)}}else if(H.ticks){var he=H.ticks;if(!Array.isArray(he)||he.length!==2)throw new Error("gl-surface: invalid ticks");for(ge=0;ge<2;++ge){var oe=he[ge];if((Array.isArray(oe)||oe.length)&&(oe=v(oe)),oe.shape[0]!==ce[ge])throw new Error("gl-surface: invalid tick length");var Ee=v(oe.data,ce);Ee.stride[ge]=oe.stride[0],Ee.stride[ge^1]=0,this.padField(this._field[ge],Ee)}}else{for(ge=0;ge<2;++ge){var ye=[0,0];ye[ge]=1,this._field[ge]=v(this._field[ge].data,[ce[0]+2,ce[1]+2],ye,0)}this._field[0].set(0,0,0);for(var ue=0;ue0){for(var dn=0;dn<5;++dn)ur.pop();Ne-=1}continue e}}}$e.push(Ne)}this._contourOffsets[Bt]=kr,this._contourCounts[Bt]=$e}var Vn=f.mallocFloat(ur.length);for(ge=0;geD||C<0||C>D)throw new Error("gl-texture2d: Invalid texture size");return E._shape=[S,C],E.bind(),k.texImage2D(k.TEXTURE_2D,0,E.format,S,C,0,E.format,E.type,null),E._mipLevels=[0],E}function g(E,S,C,k,D,F){this.gl=E,this.handle=S,this.format=D,this.type=F,this._shape=[C,k],this._mipLevels=[0],this._magFilter=E.NEAREST,this._minFilter=E.NEAREST,this._wrapS=E.CLAMP_TO_EDGE,this._wrapT=E.CLAMP_TO_EDGE,this._anisoSamples=1;var P=this,R=[this._wrapS,this._wrapT];Object.defineProperties(R,[{get:function(){return P._wrapS},set:function(I){return P.wrapS=I}},{get:function(){return P._wrapT},set:function(I){return P.wrapT=I}}]),this._wrapVector=R;var L=[this._shape[0],this._shape[1]];Object.defineProperties(L,[{get:function(){return P._shape[0]},set:function(I){return P.width=I}},{get:function(){return P._shape[1]},set:function(I){return P.height=I}}]),this._shapeVector=L}var w=g.prototype;Object.defineProperties(w,{minFilter:{get:function(){return this._minFilter},set:function(E){this.bind();var S=this.gl;if(this.type===S.FLOAT&&c.indexOf(E)>=0&&(S.getExtension("OES_texture_float_linear")||(E=S.NEAREST)),f.indexOf(E)<0)throw new Error("gl-texture2d: Unknown filter mode "+E);return S.texParameteri(S.TEXTURE_2D,S.TEXTURE_MIN_FILTER,E),this._minFilter=E}},magFilter:{get:function(){return this._magFilter},set:function(E){this.bind();var S=this.gl;if(this.type===S.FLOAT&&c.indexOf(E)>=0&&(S.getExtension("OES_texture_float_linear")||(E=S.NEAREST)),f.indexOf(E)<0)throw new Error("gl-texture2d: Unknown filter mode "+E);return S.texParameteri(S.TEXTURE_2D,S.TEXTURE_MAG_FILTER,E),this._magFilter=E}},mipSamples:{get:function(){return this._anisoSamples},set:function(E){var S=this._anisoSamples;if(this._anisoSamples=Math.max(E,1)|0,S!==this._anisoSamples){var C=this.gl.getExtension("EXT_texture_filter_anisotropic");C&&this.gl.texParameterf(this.gl.TEXTURE_2D,C.TEXTURE_MAX_ANISOTROPY_EXT,this._anisoSamples)}return this._anisoSamples}},wrapS:{get:function(){return this._wrapS},set:function(E){if(this.bind(),h.indexOf(E)<0)throw new Error("gl-texture2d: Unknown wrap mode "+E);return this.gl.texParameteri(this.gl.TEXTURE_2D,this.gl.TEXTURE_WRAP_S,E),this._wrapS=E}},wrapT:{get:function(){return this._wrapT},set:function(E){if(this.bind(),h.indexOf(E)<0)throw new Error("gl-texture2d: Unknown wrap mode "+E);return this.gl.texParameteri(this.gl.TEXTURE_2D,this.gl.TEXTURE_WRAP_T,E),this._wrapT=E}},wrap:{get:function(){return this._wrapVector},set:function(E){if(Array.isArray(E)||(E=[E,E]),E.length!==2)throw new Error("gl-texture2d: Must specify wrap mode for rows and columns");for(var S=0;S<2;++S)if(h.indexOf(E[S])<0)throw new Error("gl-texture2d: Unknown wrap mode "+E);this._wrapS=E[0],this._wrapT=E[1];var C=this.gl;return this.bind(),C.texParameteri(C.TEXTURE_2D,C.TEXTURE_WRAP_S,this._wrapS),C.texParameteri(C.TEXTURE_2D,C.TEXTURE_WRAP_T,this._wrapT),E}},shape:{get:function(){return this._shapeVector},set:function(E){if(!Array.isArray(E))E=[E|0,E|0];else if(E.length!==2)throw new Error("gl-texture2d: Invalid texture shape");return m(this,E[0]|0,E[1]|0),[E[0]|0,E[1]|0]}},width:{get:function(){return this._shape[0]},set:function(E){return E=E|0,m(this,E,this._shape[1]),E}},height:{get:function(){return this._shape[1]},set:function(E){return E=E|0,m(this,this._shape[0],E),E}}}),w.bind=function(E){var S=this.gl;return E!==void 0&&S.activeTexture(S.TEXTURE0+(E|0)),S.bindTexture(S.TEXTURE_2D,this.handle),E!==void 0?E|0:S.getParameter(S.ACTIVE_TEXTURE)-S.TEXTURE0},w.dispose=function(){this.gl.deleteTexture(this.handle)},w.generateMipmap=function(){this.bind(),this.gl.generateMipmap(this.gl.TEXTURE_2D);for(var E=Math.min(this._shape[0],this._shape[1]),S=0;E>0;++S,E>>>=1)this._mipLevels.indexOf(S)<0&&this._mipLevels.push(S)},w.setPixels=function(E,S,C,k){var D=this.gl;this.bind(),Array.isArray(S)?(k=C,C=S[1]|0,S=S[0]|0):(S=S||0,C=C||0),k=k||0;var F=p(E)?E:E.raw;if(F){var P=this._mipLevels.indexOf(k)<0;P?(D.texImage2D(D.TEXTURE_2D,0,this.format,this.format,this.type,F),this._mipLevels.push(k)):D.texSubImage2D(D.TEXTURE_2D,k,S,C,this.format,this.type,F)}else if(E.shape&&E.stride&&E.data){if(E.shape.length<2||S+E.shape[1]>this._shape[1]>>>k||C+E.shape[0]>this._shape[0]>>>k||S<0||C<0)throw new Error("gl-texture2d: Texture dimensions are out of bounds");_(D,S,C,k,this.format,this.type,this._mipLevels,E)}else throw new Error("gl-texture2d: Unsupported data type")};function b(E,S){return E.length===3?S[2]===1&&S[1]===E[0]*E[2]&&S[0]===E[2]:S[0]===1&&S[1]===E[0]}function _(E,S,C,k,D,F,P,R){var L=R.dtype,I=R.shape.slice();if(I.length<2||I.length>3)throw new Error("gl-texture2d: Invalid ndarray, must be 2d or 3d");var B=0,O=0,$=b(I,R.stride.slice());L==="float32"?B=E.FLOAT:L==="float64"?(B=E.FLOAT,$=!1,L="float32"):L==="uint8"?B=E.UNSIGNED_BYTE:(B=E.UNSIGNED_BYTE,$=!1,L="uint8");var Y=1;if(I.length===2)O=E.LUMINANCE,I=[I[0],I[1],1],R=s(R.data,I,[R.stride[0],R.stride[1],1],R.offset);else if(I.length===3){if(I[2]===1)O=E.ALPHA;else if(I[2]===2)O=E.LUMINANCE_ALPHA;else if(I[2]===3)O=E.RGB;else if(I[2]===4)O=E.RGBA;else throw new Error("gl-texture2d: Invalid shape for pixel coords");Y=I[2]}else throw new Error("gl-texture2d: Invalid shape for texture");if((O===E.LUMINANCE||O===E.ALPHA)&&(D===E.LUMINANCE||D===E.ALPHA)&&(O=D),O!==D)throw new Error("gl-texture2d: Incompatible texture format for setPixels");var K=R.size,j=P.indexOf(k)<0;if(j&&P.push(k),B===F&&$)R.offset===0&&R.data.length===K?j?E.texImage2D(E.TEXTURE_2D,k,D,I[0],I[1],0,D,F,R.data):E.texSubImage2D(E.TEXTURE_2D,k,S,C,I[0],I[1],D,F,R.data):j?E.texImage2D(E.TEXTURE_2D,k,D,I[0],I[1],0,D,F,R.data.subarray(R.offset,R.offset+K)):E.texSubImage2D(E.TEXTURE_2D,k,S,C,I[0],I[1],D,F,R.data.subarray(R.offset,R.offset+K));else{var q;F===E.FLOAT?q=u.mallocFloat32(K):q=u.mallocUint8(K);var J=s(q,I,[I[2],I[2]*I[0],1]);B===E.FLOAT&&F===E.UNSIGNED_BYTE?v(J,R):l.assign(J,R),j?E.texImage2D(E.TEXTURE_2D,k,D,I[0],I[1],0,D,F,q.subarray(0,K)):E.texSubImage2D(E.TEXTURE_2D,k,S,C,I[0],I[1],D,F,q.subarray(0,K)),F===E.FLOAT?u.freeFloat32(q):u.freeUint8(q)}}function M(E){var S=E.createTexture();return E.bindTexture(E.TEXTURE_2D,S),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_MIN_FILTER,E.NEAREST),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_MAG_FILTER,E.NEAREST),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_WRAP_S,E.CLAMP_TO_EDGE),E.texParameteri(E.TEXTURE_2D,E.TEXTURE_WRAP_T,E.CLAMP_TO_EDGE),S}function x(E,S,C,k,D){var F=E.getParameter(E.MAX_TEXTURE_SIZE);if(S<0||S>F||C<0||C>F)throw new Error("gl-texture2d: Invalid texture shape");if(D===E.FLOAT&&!E.getExtension("OES_texture_float"))throw new Error("gl-texture2d: Floating point textures not supported on this platform");var P=M(E);return E.texImage2D(E.TEXTURE_2D,0,k,S,C,0,k,D,null),new g(E,P,S,C,k,D)}function T(E,S,C,k,D,F){var P=M(E);return E.texImage2D(E.TEXTURE_2D,0,D,D,F,S),new g(E,P,C,k,D,F)}function A(E,S){var C=S.dtype,k=S.shape.slice(),D=E.getParameter(E.MAX_TEXTURE_SIZE);if(k[0]<0||k[0]>D||k[1]<0||k[1]>D)throw new Error("gl-texture2d: Invalid texture size");var F=b(k,S.stride.slice()),P=0;C==="float32"?P=E.FLOAT:C==="float64"?(P=E.FLOAT,F=!1,C="float32"):C==="uint8"?P=E.UNSIGNED_BYTE:(P=E.UNSIGNED_BYTE,F=!1,C="uint8");var R=0;if(k.length===2)R=E.LUMINANCE,k=[k[0],k[1],1],S=s(S.data,k,[S.stride[0],S.stride[1],1],S.offset);else if(k.length===3)if(k[2]===1)R=E.ALPHA;else if(k[2]===2)R=E.LUMINANCE_ALPHA;else if(k[2]===3)R=E.RGB;else if(k[2]===4)R=E.RGBA;else throw new Error("gl-texture2d: Invalid shape for pixel coords");else throw new Error("gl-texture2d: Invalid shape for texture");P===E.FLOAT&&!E.getExtension("OES_texture_float")&&(P=E.UNSIGNED_BYTE,F=!1);var L,I,B=S.size;if(F)S.offset===0&&S.data.length===B?L=S.data:L=S.data.subarray(S.offset,S.offset+B);else{var O=[k[2],k[2]*k[0],1];I=u.malloc(B,C);var $=s(I,k,O,0);(C==="float32"||C==="float64")&&P===E.UNSIGNED_BYTE?v($,S):l.assign($,S),L=I.subarray(0,B)}var Y=M(E);return E.texImage2D(E.TEXTURE_2D,0,R,k[0],k[1],0,R,P,L),F||u.free(I),new g(E,Y,k[0],k[1],R,P)}function y(E){if(arguments.length<=1)throw new Error("gl-texture2d: Missing arguments for texture2d constructor");if(c||d(E),typeof arguments[1]=="number")return x(E,arguments[1],arguments[2],arguments[3]||E.RGBA,arguments[4]||E.UNSIGNED_BYTE);if(Array.isArray(arguments[1]))return x(E,arguments[1][0]|0,arguments[1][1]|0,arguments[2]||E.RGBA,arguments[3]||E.UNSIGNED_BYTE);if(typeof arguments[1]=="object"){var S=arguments[1],C=p(S)?S:S.raw;if(C)return T(E,C,S.width|0,S.height|0,arguments[2]||E.RGBA,arguments[3]||E.UNSIGNED_BYTE);if(S.shape&&S.data&&S.stride)return A(E,S)}throw new Error("gl-texture2d: Invalid arguments for texture2d constructor")}},1433(n){"use strict";function a(o,s,l){s?s.bind():o.bindBuffer(o.ELEMENT_ARRAY_BUFFER,null);var u=o.getParameter(o.MAX_VERTEX_ATTRIBS)|0;if(l){if(l.length>u)throw new Error("gl-vao: Too many vertex attributes");for(var c=0;c1?0:Math.acos(v)}},9226(n){n.exports=a;function a(o,s){return o[0]=Math.ceil(s[0]),o[1]=Math.ceil(s[1]),o[2]=Math.ceil(s[2]),o}},3126(n){n.exports=a;function a(o){var s=new Float32Array(3);return s[0]=o[0],s[1]=o[1],s[2]=o[2],s}},3990(n){n.exports=a;function a(o,s){return o[0]=s[0],o[1]=s[1],o[2]=s[2],o}},1091(n){n.exports=a;function a(){var o=new Float32Array(3);return o[0]=0,o[1]=0,o[2]=0,o}},5911(n){n.exports=a;function a(o,s,l){var u=s[0],c=s[1],f=s[2],h=l[0],d=l[1],p=l[2];return o[0]=c*p-f*d,o[1]=f*h-u*p,o[2]=u*d-c*h,o}},5455(n,a,o){n.exports=o(7056)},7056(n){n.exports=a;function a(o,s){var l=s[0]-o[0],u=s[1]-o[1],c=s[2]-o[2];return Math.sqrt(l*l+u*u+c*c)}},4008(n,a,o){n.exports=o(6690)},6690(n){n.exports=a;function a(o,s,l){return o[0]=s[0]/l[0],o[1]=s[1]/l[1],o[2]=s[2]/l[2],o}},244(n){n.exports=a;function a(o,s){return o[0]*s[0]+o[1]*s[1]+o[2]*s[2]}},2613(n){n.exports=1e-6},9922(n,a,o){n.exports=l;var s=o(2613);function l(u,c){var f=u[0],h=u[1],d=u[2],p=c[0],v=c[1],m=c[2];return Math.abs(f-p)<=s*Math.max(1,Math.abs(f),Math.abs(p))&&Math.abs(h-v)<=s*Math.max(1,Math.abs(h),Math.abs(v))&&Math.abs(d-m)<=s*Math.max(1,Math.abs(d),Math.abs(m))}},9265(n){n.exports=a;function a(o,s){return o[0]===s[0]&&o[1]===s[1]&&o[2]===s[2]}},2681(n){n.exports=a;function a(o,s){return o[0]=Math.floor(s[0]),o[1]=Math.floor(s[1]),o[2]=Math.floor(s[2]),o}},5137(n,a,o){n.exports=l;var s=o(1091)();function l(u,c,f,h,d,p){var v,m;for(c||(c=3),f||(f=0),h?m=Math.min(h*c+f,u.length):m=u.length,v=f;v0&&(f=1/Math.sqrt(f),o[0]=s[0]*f,o[1]=s[1]*f,o[2]=s[2]*f),o}},7636(n){n.exports=a;function a(o,s){s=s||1;var l=Math.random()*2*Math.PI,u=Math.random()*2-1,c=Math.sqrt(1-u*u)*s;return o[0]=Math.cos(l)*c,o[1]=Math.sin(l)*c,o[2]=u*s,o}},6894(n){n.exports=a;function a(o,s,l,u){var c=l[1],f=l[2],h=s[1]-c,d=s[2]-f,p=Math.sin(u),v=Math.cos(u);return o[0]=s[0],o[1]=c+h*v-d*p,o[2]=f+h*p+d*v,o}},109(n){n.exports=a;function a(o,s,l,u){var c=l[0],f=l[2],h=s[0]-c,d=s[2]-f,p=Math.sin(u),v=Math.cos(u);return o[0]=c+d*p+h*v,o[1]=s[1],o[2]=f+d*v-h*p,o}},8692(n){n.exports=a;function a(o,s,l,u){var c=l[0],f=l[1],h=s[0]-c,d=s[1]-f,p=Math.sin(u),v=Math.cos(u);return o[0]=c+h*v-d*p,o[1]=f+h*p+d*v,o[2]=s[2],o}},2447(n){n.exports=a;function a(o,s){return o[0]=Math.round(s[0]),o[1]=Math.round(s[1]),o[2]=Math.round(s[2]),o}},6621(n){n.exports=a;function a(o,s,l){return o[0]=s[0]*l,o[1]=s[1]*l,o[2]=s[2]*l,o}},8489(n){n.exports=a;function a(o,s,l,u){return o[0]=s[0]+l[0]*u,o[1]=s[1]+l[1]*u,o[2]=s[2]+l[2]*u,o}},1463(n){n.exports=a;function a(o,s,l,u){return o[0]=s,o[1]=l,o[2]=u,o}},6141(n,a,o){n.exports=o(2953)},5486(n,a,o){n.exports=o(3066)},2953(n){n.exports=a;function a(o,s){var l=s[0]-o[0],u=s[1]-o[1],c=s[2]-o[2];return l*l+u*u+c*c}},3066(n){n.exports=a;function a(o){var s=o[0],l=o[1],u=o[2];return s*s+l*l+u*u}},2229(n,a,o){n.exports=o(6843)},6843(n){n.exports=a;function a(o,s,l){return o[0]=s[0]-l[0],o[1]=s[1]-l[1],o[2]=s[2]-l[2],o}},492(n){n.exports=a;function a(o,s,l){var u=s[0],c=s[1],f=s[2];return o[0]=u*l[0]+c*l[3]+f*l[6],o[1]=u*l[1]+c*l[4]+f*l[7],o[2]=u*l[2]+c*l[5]+f*l[8],o}},5673(n){n.exports=a;function a(o,s,l){var u=s[0],c=s[1],f=s[2],h=l[3]*u+l[7]*c+l[11]*f+l[15];return h=h||1,o[0]=(l[0]*u+l[4]*c+l[8]*f+l[12])/h,o[1]=(l[1]*u+l[5]*c+l[9]*f+l[13])/h,o[2]=(l[2]*u+l[6]*c+l[10]*f+l[14])/h,o}},264(n){n.exports=a;function a(o,s,l){var u=s[0],c=s[1],f=s[2],h=l[0],d=l[1],p=l[2],v=l[3],m=d*f-p*c,g=p*u-h*f,w=h*c-d*u;return m*=2,g*=2,w*=2,o[0]=u+v*m+d*w-p*g,o[1]=c+v*g+p*m-h*w,o[2]=f+v*w+h*g-d*m,o}},4361(n){n.exports=a;function a(o,s,l){return o[0]=s[0]+l[0],o[1]=s[1]+l[1],o[2]=s[2]+l[2],o[3]=s[3]+l[3],o}},2335(n){n.exports=a;function a(o){var s=new Float32Array(4);return s[0]=o[0],s[1]=o[1],s[2]=o[2],s[3]=o[3],s}},2933(n){n.exports=a;function a(o,s){return o[0]=s[0],o[1]=s[1],o[2]=s[2],o[3]=s[3],o}},7536(n){n.exports=a;function a(){var o=new Float32Array(4);return o[0]=0,o[1]=0,o[2]=0,o[3]=0,o}},4691(n){n.exports=a;function a(o,s){var l=s[0]-o[0],u=s[1]-o[1],c=s[2]-o[2],f=s[3]-o[3];return Math.sqrt(l*l+u*u+c*c+f*f)}},1373(n){n.exports=a;function a(o,s,l){return o[0]=s[0]/l[0],o[1]=s[1]/l[1],o[2]=s[2]/l[2],o[3]=s[3]/l[3],o}},3750(n){n.exports=a;function a(o,s){return o[0]*s[0]+o[1]*s[1]+o[2]*s[2]+o[3]*s[3]}},3390(n){n.exports=a;function a(o,s,l,u){var c=new Float32Array(4);return c[0]=o,c[1]=s,c[2]=l,c[3]=u,c}},9970(n,a,o){n.exports={create:o(7536),clone:o(2335),fromValues:o(3390),copy:o(2933),set:o(4578),add:o(4361),subtract:o(6860),multiply:o(3576),divide:o(1373),min:o(2334),max:o(160),scale:o(9288),scaleAndAdd:o(4844),distance:o(4691),squaredDistance:o(7960),length:o(6808),squaredLength:o(483),negate:o(1498),inverse:o(4494),normalize:o(5177),dot:o(3750),lerp:o(2573),random:o(9131),transformMat4:o(5352),transformQuat:o(4041)}},4494(n){n.exports=a;function a(o,s){return o[0]=1/s[0],o[1]=1/s[1],o[2]=1/s[2],o[3]=1/s[3],o}},6808(n){n.exports=a;function a(o){var s=o[0],l=o[1],u=o[2],c=o[3];return Math.sqrt(s*s+l*l+u*u+c*c)}},2573(n){n.exports=a;function a(o,s,l,u){var c=s[0],f=s[1],h=s[2],d=s[3];return o[0]=c+u*(l[0]-c),o[1]=f+u*(l[1]-f),o[2]=h+u*(l[2]-h),o[3]=d+u*(l[3]-d),o}},160(n){n.exports=a;function a(o,s,l){return o[0]=Math.max(s[0],l[0]),o[1]=Math.max(s[1],l[1]),o[2]=Math.max(s[2],l[2]),o[3]=Math.max(s[3],l[3]),o}},2334(n){n.exports=a;function a(o,s,l){return o[0]=Math.min(s[0],l[0]),o[1]=Math.min(s[1],l[1]),o[2]=Math.min(s[2],l[2]),o[3]=Math.min(s[3],l[3]),o}},3576(n){n.exports=a;function a(o,s,l){return o[0]=s[0]*l[0],o[1]=s[1]*l[1],o[2]=s[2]*l[2],o[3]=s[3]*l[3],o}},1498(n){n.exports=a;function a(o,s){return o[0]=-s[0],o[1]=-s[1],o[2]=-s[2],o[3]=-s[3],o}},5177(n){n.exports=a;function a(o,s){var l=s[0],u=s[1],c=s[2],f=s[3],h=l*l+u*u+c*c+f*f;return h>0&&(h=1/Math.sqrt(h),o[0]=l*h,o[1]=u*h,o[2]=c*h,o[3]=f*h),o}},9131(n,a,o){var s=o(5177),l=o(9288);n.exports=u;function u(c,f){return f=f||1,c[0]=Math.random(),c[1]=Math.random(),c[2]=Math.random(),c[3]=Math.random(),s(c,c),l(c,c,f),c}},9288(n){n.exports=a;function a(o,s,l){return o[0]=s[0]*l,o[1]=s[1]*l,o[2]=s[2]*l,o[3]=s[3]*l,o}},4844(n){n.exports=a;function a(o,s,l,u){return o[0]=s[0]+l[0]*u,o[1]=s[1]+l[1]*u,o[2]=s[2]+l[2]*u,o[3]=s[3]+l[3]*u,o}},4578(n){n.exports=a;function a(o,s,l,u,c){return o[0]=s,o[1]=l,o[2]=u,o[3]=c,o}},7960(n){n.exports=a;function a(o,s){var l=s[0]-o[0],u=s[1]-o[1],c=s[2]-o[2],f=s[3]-o[3];return l*l+u*u+c*c+f*f}},483(n){n.exports=a;function a(o){var s=o[0],l=o[1],u=o[2],c=o[3];return s*s+l*l+u*u+c*c}},6860(n){n.exports=a;function a(o,s,l){return o[0]=s[0]-l[0],o[1]=s[1]-l[1],o[2]=s[2]-l[2],o[3]=s[3]-l[3],o}},5352(n){n.exports=a;function a(o,s,l){var u=s[0],c=s[1],f=s[2],h=s[3];return o[0]=l[0]*u+l[4]*c+l[8]*f+l[12]*h,o[1]=l[1]*u+l[5]*c+l[9]*f+l[13]*h,o[2]=l[2]*u+l[6]*c+l[10]*f+l[14]*h,o[3]=l[3]*u+l[7]*c+l[11]*f+l[15]*h,o}},4041(n){n.exports=a;function a(o,s,l){var u=s[0],c=s[1],f=s[2],h=l[0],d=l[1],p=l[2],v=l[3],m=v*u+d*f-p*c,g=v*c+p*u-h*f,w=v*f+h*c-d*u,b=-h*u-d*c-p*f;return o[0]=m*v+b*-h+g*-p-w*-d,o[1]=g*v+b*-d+w*-h-m*-p,o[2]=w*v+b*-p+m*-d-g*-h,o[3]=s[3],o}},1848(n,a,o){var s=o(4905),l=o(6468);n.exports=u;function u(c){for(var f=Array.isArray(c)?c:s(c),h=0;h0)continue;Fe=re.slice(0,1).join("")}return Q(Fe),K+=Fe.length,L=L.slice(Fe.length),L.length}while(!0)}function ue(){return/[^a-fA-F0-9]/.test(P)?(Q(L.join("")),F=h,k):(L.push(P),R=P,k+1)}function ee(){return P==="."||/[eE]/.test(P)?(L.push(P),F=b,R=P,k+1):P==="x"&&L.length===1&&L[0]==="0"?(F=y,L.push(P),R=P,k+1):/[^\d]/.test(P)?(Q(L.join("")),F=h,k):(L.push(P),R=P,k+1)}function ae(){return P==="f"&&(L.push(P),R=P,k+=1),/[eE]/.test(P)||(P==="-"||P==="+")&&/[eE]/.test(R)?(L.push(P),R=P,k+1):/[^\d]/.test(P)?(Q(L.join("")),F=h,k):(L.push(P),R=P,k+1)}function xe(){if(/[^\d\w_]/.test(P)){var re=L.join("");return G[re]?F=x:H[re]?F=M:F=_,Q(L.join("")),F=h,k}return L.push(P),R=P,k+1}}},3508(n,a,o){var s=o(6852);s=s.slice().filter(function(l){return!/^(gl\_|texture)/.test(l)}),n.exports=s.concat(["gl_VertexID","gl_InstanceID","gl_Position","gl_PointSize","gl_FragCoord","gl_FrontFacing","gl_FragDepth","gl_PointCoord","gl_MaxVertexAttribs","gl_MaxVertexUniformVectors","gl_MaxVertexOutputVectors","gl_MaxFragmentInputVectors","gl_MaxVertexTextureImageUnits","gl_MaxCombinedTextureImageUnits","gl_MaxTextureImageUnits","gl_MaxFragmentUniformVectors","gl_MaxDrawBuffers","gl_MinProgramTexelOffset","gl_MaxProgramTexelOffset","gl_DepthRangeParameters","gl_DepthRange","trunc","round","roundEven","isnan","isinf","floatBitsToInt","floatBitsToUint","intBitsToFloat","uintBitsToFloat","packSnorm2x16","unpackSnorm2x16","packUnorm2x16","unpackUnorm2x16","packHalf2x16","unpackHalf2x16","outerProduct","transpose","determinant","inverse","texture","textureSize","textureProj","textureLod","textureOffset","texelFetch","texelFetchOffset","textureProjOffset","textureLodOffset","textureProjLod","textureProjLodOffset","textureGrad","textureGradOffset","textureProjGrad","textureProjGradOffset"])},6852(n){n.exports=["abs","acos","all","any","asin","atan","ceil","clamp","cos","cross","dFdx","dFdy","degrees","distance","dot","equal","exp","exp2","faceforward","floor","fract","gl_BackColor","gl_BackLightModelProduct","gl_BackLightProduct","gl_BackMaterial","gl_BackSecondaryColor","gl_ClipPlane","gl_ClipVertex","gl_Color","gl_DepthRange","gl_DepthRangeParameters","gl_EyePlaneQ","gl_EyePlaneR","gl_EyePlaneS","gl_EyePlaneT","gl_Fog","gl_FogCoord","gl_FogFragCoord","gl_FogParameters","gl_FragColor","gl_FragCoord","gl_FragData","gl_FragDepth","gl_FragDepthEXT","gl_FrontColor","gl_FrontFacing","gl_FrontLightModelProduct","gl_FrontLightProduct","gl_FrontMaterial","gl_FrontSecondaryColor","gl_LightModel","gl_LightModelParameters","gl_LightModelProducts","gl_LightProducts","gl_LightSource","gl_LightSourceParameters","gl_MaterialParameters","gl_MaxClipPlanes","gl_MaxCombinedTextureImageUnits","gl_MaxDrawBuffers","gl_MaxFragmentUniformComponents","gl_MaxLights","gl_MaxTextureCoords","gl_MaxTextureImageUnits","gl_MaxTextureUnits","gl_MaxVaryingFloats","gl_MaxVertexAttribs","gl_MaxVertexTextureImageUnits","gl_MaxVertexUniformComponents","gl_ModelViewMatrix","gl_ModelViewMatrixInverse","gl_ModelViewMatrixInverseTranspose","gl_ModelViewMatrixTranspose","gl_ModelViewProjectionMatrix","gl_ModelViewProjectionMatrixInverse","gl_ModelViewProjectionMatrixInverseTranspose","gl_ModelViewProjectionMatrixTranspose","gl_MultiTexCoord0","gl_MultiTexCoord1","gl_MultiTexCoord2","gl_MultiTexCoord3","gl_MultiTexCoord4","gl_MultiTexCoord5","gl_MultiTexCoord6","gl_MultiTexCoord7","gl_Normal","gl_NormalMatrix","gl_NormalScale","gl_ObjectPlaneQ","gl_ObjectPlaneR","gl_ObjectPlaneS","gl_ObjectPlaneT","gl_Point","gl_PointCoord","gl_PointParameters","gl_PointSize","gl_Position","gl_ProjectionMatrix","gl_ProjectionMatrixInverse","gl_ProjectionMatrixInverseTranspose","gl_ProjectionMatrixTranspose","gl_SecondaryColor","gl_TexCoord","gl_TextureEnvColor","gl_TextureMatrix","gl_TextureMatrixInverse","gl_TextureMatrixInverseTranspose","gl_TextureMatrixTranspose","gl_Vertex","greaterThan","greaterThanEqual","inversesqrt","length","lessThan","lessThanEqual","log","log2","matrixCompMult","max","min","mix","mod","normalize","not","notEqual","pow","radians","reflect","refract","sign","sin","smoothstep","sqrt","step","tan","texture2D","texture2DLod","texture2DProj","texture2DProjLod","textureCube","textureCubeLod","texture2DLodEXT","texture2DProjLodEXT","textureCubeLodEXT","texture2DGradEXT","texture2DProjGradEXT","textureCubeGradEXT"]},7932(n,a,o){var s=o(620);n.exports=s.slice().concat(["layout","centroid","smooth","case","mat2x2","mat2x3","mat2x4","mat3x2","mat3x3","mat3x4","mat4x2","mat4x3","mat4x4","uvec2","uvec3","uvec4","samplerCubeShadow","sampler2DArray","sampler2DArrayShadow","isampler2D","isampler3D","isamplerCube","isampler2DArray","usampler2D","usampler3D","usamplerCube","usampler2DArray","coherent","restrict","readonly","writeonly","resource","atomic_uint","noperspective","patch","sample","subroutine","common","partition","active","filter","image1D","image2D","image3D","imageCube","iimage1D","iimage2D","iimage3D","iimageCube","uimage1D","uimage2D","uimage3D","uimageCube","image1DArray","image2DArray","iimage1DArray","iimage2DArray","uimage1DArray","uimage2DArray","image1DShadow","image2DShadow","image1DArrayShadow","image2DArrayShadow","imageBuffer","iimageBuffer","uimageBuffer","sampler1DArray","sampler1DArrayShadow","isampler1D","isampler1DArray","usampler1D","usampler1DArray","isampler2DRect","usampler2DRect","samplerBuffer","isamplerBuffer","usamplerBuffer","sampler2DMS","isampler2DMS","usampler2DMS","sampler2DMSArray","isampler2DMSArray","usampler2DMSArray"])},620(n){n.exports=["precision","highp","mediump","lowp","attribute","const","uniform","varying","break","continue","do","for","while","if","else","in","out","inout","float","int","uint","void","bool","true","false","discard","return","mat2","mat3","mat4","vec2","vec3","vec4","ivec2","ivec3","ivec4","bvec2","bvec3","bvec4","sampler1D","sampler2D","sampler3D","samplerCube","sampler1DShadow","sampler2DShadow","struct","asm","class","union","enum","typedef","template","this","packed","goto","switch","default","inline","noinline","volatile","public","static","extern","external","interface","long","short","double","half","fixed","unsigned","input","output","hvec2","hvec3","hvec4","dvec2","dvec3","dvec4","fvec2","fvec3","fvec4","sampler2DRect","sampler3DRect","sampler2DRectShadow","sizeof","cast","namespace","using"]},7827(n){n.exports=["<<=",">>=","++","--","<<",">>","<=",">=","==","!=","&&","||","+=","-=","*=","/=","%=","&=","^^","^=","|=","(",")","[","]",".","!","~","*","/","%","+","-","<",">","&","^","|","?",":","=",",",";","{","}"]},4905(n,a,o){var s=o(5874);n.exports=l;function l(u,c){var f=s(c),h=[];return h=h.concat(f(u)),h=h.concat(f(null)),h}},3236(n){n.exports=function(a){typeof a=="string"&&(a=[a]);for(var o=[].slice.call(arguments,1),s=[],l=0;l>1,m=-7,g=l?c-1:0,w=l?-1:1,b=o[s+g];for(g+=w,f=b&(1<<-m)-1,b>>=-m,m+=d;m>0;f=f*256+o[s+g],g+=w,m-=8);for(h=f&(1<<-m)-1,f>>=-m,m+=u;m>0;h=h*256+o[s+g],g+=w,m-=8);if(f===0)f=1-v;else{if(f===p)return h?NaN:(b?-1:1)*(1/0);h=h+Math.pow(2,u),f=f-v}return(b?-1:1)*h*Math.pow(2,f-u)},a.write=function(o,s,l,u,c,f){var h,d,p,v=f*8-c-1,m=(1<>1,w=c===23?Math.pow(2,-24)-Math.pow(2,-77):0,b=u?0:f-1,_=u?1:-1,M=s<0||s===0&&1/s<0?1:0;for(s=Math.abs(s),isNaN(s)||s===1/0?(d=isNaN(s)?1:0,h=m):(h=Math.floor(Math.log(s)/Math.LN2),s*(p=Math.pow(2,-h))<1&&(h--,p*=2),h+g>=1?s+=w/p:s+=w*Math.pow(2,1-g),s*p>=2&&(h++,p/=2),h+g>=m?(d=0,h=m):h+g>=1?(d=(s*p-1)*Math.pow(2,c),h=h+g):(d=s*Math.pow(2,g-1)*Math.pow(2,c),h=0));c>=8;o[l+b]=d&255,b+=_,d/=256,c-=8);for(h=h<0;o[l+b]=h&255,b+=_,h/=256,v-=8);o[l+b-_]|=M*128}},8954(n,a,o){"use strict";n.exports=g;var s=o(3250),l=o(6803).Fw;function u(w,b,_){this.vertices=w,this.adjacent=b,this.boundary=_,this.lastVisited=-1}u.prototype.flip=function(){var w=this.vertices[0];this.vertices[0]=this.vertices[1],this.vertices[1]=w;var b=this.adjacent[0];this.adjacent[0]=this.adjacent[1],this.adjacent[1]=b};function c(w,b,_){this.vertices=w,this.cell=b,this.index=_}function f(w,b){return l(w.vertices,b.vertices)}function h(w){return function(){var b=this.tuple;return w.apply(this,b)}}function d(w){var b=s[w+1];return b||(b=s),h(b)}var p=[];function v(w,b,_){this.dimension=w,this.vertices=b,this.simplices=_,this.interior=_.filter(function(T){return!T.boundary}),this.tuple=new Array(w+1);for(var M=0;M<=w;++M)this.tuple[M]=this.vertices[M];var x=p[w];x||(x=p[w]=d(w)),this.orient=x}var m=v.prototype;m.handleBoundaryDegeneracy=function(w,b){var _=this.dimension,M=this.vertices.length-1,x=this.tuple,T=this.vertices,A=[w];for(w.lastVisited=-M;A.length>0;){w=A.pop();for(var y=w.adjacent,E=0;E<=_;++E){var S=y[E];if(!(!S.boundary||S.lastVisited<=-M)){for(var C=S.vertices,k=0;k<=_;++k){var D=C[k];D<0?x[k]=b:x[k]=T[D]}var F=this.orient();if(F>0)return S;S.lastVisited=-M,F===0&&A.push(S)}}}return null},m.walk=function(w,b){var _=this.vertices.length-1,M=this.dimension,x=this.vertices,T=this.tuple,A=b?this.interior.length*Math.random()|0:this.interior.length-1,y=this.interior[A];e:for(;!y.boundary;){for(var E=y.vertices,S=y.adjacent,C=0;C<=M;++C)T[C]=x[E[C]];y.lastVisited=_;for(var C=0;C<=M;++C){var k=S[C];if(!(k.lastVisited>=_)){var D=T[C];T[C]=w;var F=this.orient();if(T[C]=D,F<0){y=k;continue e}else k.boundary?k.lastVisited=-_:k.lastVisited=_}}return}return y},m.addPeaks=function(w,b){var _=this.vertices.length-1,M=this.dimension,x=this.vertices,T=this.tuple,A=this.interior,y=this.simplices,E=[b];b.lastVisited=_,b.vertices[b.vertices.indexOf(-1)]=_,b.boundary=!1,A.push(b);for(var S=[];E.length>0;){var b=E.pop(),C=b.vertices,k=b.adjacent,D=C.indexOf(_);if(!(D<0)){for(var F=0;F<=M;++F)if(F!==D){var P=k[F];if(!(!P.boundary||P.lastVisited>=_)){var R=P.vertices;if(P.lastVisited!==-_){for(var L=0,I=0;I<=M;++I)R[I]<0?(L=I,T[I]=w):T[I]=x[R[I]];var B=this.orient();if(B>0){R[L]=_,P.boundary=!1,A.push(P),E.push(P),P.lastVisited=_;continue}else P.lastVisited=-_}var O=P.adjacent,$=C.slice(),Y=k.slice(),K=new u($,Y,!0);y.push(K);var j=O.indexOf(b);if(!(j<0)){O[j]=K,Y[D]=P,$[F]=-1,Y[F]=b,k[F]=K,K.flip();for(var I=0;I<=M;++I){var q=$[I];if(!(q<0||q===_)){for(var J=new Array(M-1),U=0,V=0;V<=M;++V){var X=$[V];X<0||V===I||(J[U++]=X)}S.push(new c(J,K,I))}}}}}}}S.sort(f);for(var F=0;F+1=0?A[E++]=y[C]:S=C&1;if(S===(w&1)){var k=A[0];A[0]=A[1],A[1]=k}b.push(A)}}return b};function g(w,b){var _=w.length;if(_===0)throw new Error("Must have at least d+1 points");var M=w[0].length;if(_<=M)throw new Error("Must input at least d+1 points");var x=w.slice(0,M+1),T=s.apply(void 0,x);if(T===0)throw new Error("Input not in general position");for(var A=new Array(M+1),y=0;y<=M;++y)A[y]=y;T<0&&(A[0]=1,A[1]=0);for(var E=new u(A,new Array(M+1),!1),S=E.adjacent,C=new Array(M+2),y=0;y<=M;++y){for(var k=A.slice(),D=0;D<=M;++D)D===y&&(k[D]=-1);var F=k[0];k[0]=k[1],k[1]=F;var P=new u(k,new Array(M+1),!0);S[y]=P,C[y]=P}C[M+1]=E;for(var y=0;y<=M;++y)for(var k=S[y].vertices,R=S[y].adjacent,D=0;D<=M;++D){var L=k[D];if(L<0){R[D]=E;continue}for(var I=0;I<=M;++I)S[I].vertices.indexOf(L)<0&&(R[D]=S[I])}for(var B=new v(M,x,C),O=!!b,y=M+1;y<_;++y)B.insert(w[y],O);return B.boundary()}},3352(n,a,o){"use strict";var s=o(2478),l=0,u=1,c=2;n.exports=E;function f(S,C,k,D,F){this.mid=S,this.left=C,this.right=k,this.leftPoints=D,this.rightPoints=F,this.count=(C?C.count:0)+(k?k.count:0)+D.length}var h=f.prototype;function d(S,C){S.mid=C.mid,S.left=C.left,S.right=C.right,S.leftPoints=C.leftPoints,S.rightPoints=C.rightPoints,S.count=C.count}function p(S,C){var k=T(C);S.mid=k.mid,S.left=k.left,S.right=k.right,S.leftPoints=k.leftPoints,S.rightPoints=k.rightPoints,S.count=k.count}function v(S,C){var k=S.intervals([]);k.push(C),p(S,k)}function m(S,C){var k=S.intervals([]),D=k.indexOf(C);return D<0?l:(k.splice(D,1),p(S,k),u)}h.intervals=function(S){return S.push.apply(S,this.leftPoints),this.left&&this.left.intervals(S),this.right&&this.right.intervals(S),S},h.insert=function(S){var C=this.count-this.leftPoints.length;if(this.count+=1,S[1]3*(C+1)?v(this,S):this.left.insert(S):this.left=T([S]);else if(S[0]>this.mid)this.right?4*(this.right.count+1)>3*(C+1)?v(this,S):this.right.insert(S):this.right=T([S]);else{var k=s.ge(this.leftPoints,S,M),D=s.ge(this.rightPoints,S,x);this.leftPoints.splice(k,0,S),this.rightPoints.splice(D,0,S)}},h.remove=function(S){var C=this.count-this.leftPoints;if(S[1]3*(C-1))return m(this,S);var D=this.left.remove(S);return D===c?(this.left=null,this.count-=1,u):(D===u&&(this.count-=1),D)}else if(S[0]>this.mid){if(!this.right)return l;var F=this.left?this.left.count:0;if(4*F>3*(C-1))return m(this,S);var D=this.right.remove(S);return D===c?(this.right=null,this.count-=1,u):(D===u&&(this.count-=1),D)}else{if(this.count===1)return this.leftPoints[0]===S?c:l;if(this.leftPoints.length===1&&this.leftPoints[0]===S){if(this.left&&this.right){for(var P=this,R=this.left;R.right;)P=R,R=R.right;if(P===this)R.right=this.right;else{var L=this.left,D=this.right;P.count-=R.count,P.right=R.left,R.left=L,R.right=D}d(this,R),this.count=(this.left?this.left.count:0)+(this.right?this.right.count:0)+this.leftPoints.length}else this.left?d(this,this.left):d(this,this.right);return u}for(var L=s.ge(this.leftPoints,S,M);L=0&&S[D][1]>=C;--D){var F=k(S[D]);if(F)return F}}function b(S,C){for(var k=0;kthis.mid){if(this.right){var k=this.right.queryPoint(S,C);if(k)return k}return w(this.rightPoints,S,C)}else return b(this.leftPoints,C)},h.queryInterval=function(S,C,k){if(Sthis.mid&&this.right){var D=this.right.queryInterval(S,C,k);if(D)return D}return Cthis.mid?w(this.rightPoints,S,k):b(this.leftPoints,k)};function _(S,C){return S-C}function M(S,C){var k=S[0]-C[0];return k||S[1]-C[1]}function x(S,C){var k=S[1]-C[1];return k||S[0]-C[0]}function T(S){if(S.length===0)return null;for(var C=[],k=0;k>1],F=[],P=[],R=[],k=0;k1&&c.indexOf("Macintosh")!==-1&&c.indexOf("Safari")!==-1&&(f=!0),f}},5219(n){"use strict";n.exports=function(a){for(var o=a.length,s,l=0;l13)&&s!==32&&s!==133&&s!==160&&s!==5760&&s!==6158&&(s<8192||s>8205)&&s!==8232&&s!==8233&&s!==8239&&s!==8287&&s!==8288&&s!==12288&&s!==65279)return!1;return!0}},395(n){function a(o,s,l){return o*(1-l)+s*l}n.exports=a},2652(n,a,o){var s=o(4335),l=o(6864),u=o(1903),c=o(9921),f=o(7608),h=o(5665),d={length:o(1387),normalize:o(3536),dot:o(244),cross:o(5911)},p=l(),v=l(),m=[0,0,0,0],g=[[0,0,0],[0,0,0],[0,0,0]],w=[0,0,0];n.exports=function(T,A,y,E,S,C){if(A||(A=[0,0,0]),y||(y=[0,0,0]),E||(E=[0,0,0]),S||(S=[0,0,0,1]),C||(C=[0,0,0,1]),!s(p,T)||(u(v,p),v[3]=0,v[7]=0,v[11]=0,v[15]=1,Math.abs(c(v)<1e-8)))return!1;var k=p[3],D=p[7],F=p[11],P=p[12],R=p[13],L=p[14],I=p[15];if(k!==0||D!==0||F!==0){m[0]=k,m[1]=D,m[2]=F,m[3]=I;var B=f(v,v);if(!B)return!1;h(v,v),b(S,m,v)}else S[0]=S[1]=S[2]=0,S[3]=1;if(A[0]=P,A[1]=R,A[2]=L,_(g,p),y[0]=d.length(g[0]),d.normalize(g[0],g[0]),E[0]=d.dot(g[0],g[1]),M(g[1],g[1],g[0],1,-E[0]),y[1]=d.length(g[1]),d.normalize(g[1],g[1]),E[0]/=y[1],E[1]=d.dot(g[0],g[2]),M(g[2],g[2],g[0],1,-E[1]),E[2]=d.dot(g[1],g[2]),M(g[2],g[2],g[1],1,-E[2]),y[2]=d.length(g[2]),d.normalize(g[2],g[2]),E[1]/=y[2],E[2]/=y[2],d.cross(w,g[1],g[2]),d.dot(g[0],w)<0)for(var O=0;O<3;O++)y[O]*=-1,g[O][0]*=-1,g[O][1]*=-1,g[O][2]*=-1;return C[0]=.5*Math.sqrt(Math.max(1+g[0][0]-g[1][1]-g[2][2],0)),C[1]=.5*Math.sqrt(Math.max(1-g[0][0]+g[1][1]-g[2][2],0)),C[2]=.5*Math.sqrt(Math.max(1-g[0][0]-g[1][1]+g[2][2],0)),C[3]=.5*Math.sqrt(Math.max(1+g[0][0]+g[1][1]+g[2][2],0)),g[2][1]>g[1][2]&&(C[0]=-C[0]),g[0][2]>g[2][0]&&(C[1]=-C[1]),g[1][0]>g[0][1]&&(C[2]=-C[2]),!0};function b(x,T,A){var y=T[0],E=T[1],S=T[2],C=T[3];return x[0]=A[0]*y+A[4]*E+A[8]*S+A[12]*C,x[1]=A[1]*y+A[5]*E+A[9]*S+A[13]*C,x[2]=A[2]*y+A[6]*E+A[10]*S+A[14]*C,x[3]=A[3]*y+A[7]*E+A[11]*S+A[15]*C,x}function _(x,T){x[0][0]=T[0],x[0][1]=T[1],x[0][2]=T[2],x[1][0]=T[4],x[1][1]=T[5],x[1][2]=T[6],x[2][0]=T[8],x[2][1]=T[9],x[2][2]=T[10]}function M(x,T,A,y,E){x[0]=T[0]*y+A[0]*E,x[1]=T[1]*y+A[1]*E,x[2]=T[2]*y+A[2]*E}},4335(n){n.exports=function(o,s){var l=s[15];if(l===0)return!1;for(var u=1/l,c=0;c<16;c++)o[c]=s[c]*u;return!0}},7442(n,a,o){var s=o(6658),l=o(7182),u=o(2652),c=o(9921),f=o(8648),h=m(),d=m(),p=m();n.exports=v;function v(b,_,M,x){if(c(_)===0||c(M)===0)return!1;var T=u(_,h.translate,h.scale,h.skew,h.perspective,h.quaternion),A=u(M,d.translate,d.scale,d.skew,d.perspective,d.quaternion);return!T||!A?!1:(s(p.translate,h.translate,d.translate,x),s(p.skew,h.skew,d.skew,x),s(p.scale,h.scale,d.scale,x),s(p.perspective,h.perspective,d.perspective,x),f(p.quaternion,h.quaternion,d.quaternion,x),l(b,p.translate,p.scale,p.skew,p.perspective,p.quaternion),!0)}function m(){return{translate:g(),scale:g(1),skew:g(),perspective:w(),quaternion:w()}}function g(b){return[b||0,b||0,b||0]}function w(){return[0,0,0,1]}},7182(n,a,o){var s={identity:o(7894),translate:o(7656),multiply:o(6760),create:o(6864),scale:o(2504),fromRotationTranslation:o(6743)},l=s.create(),u=s.create();n.exports=function(f,h,d,p,v,m){return s.identity(f),s.fromRotationTranslation(f,m,h),f[3]=v[0],f[7]=v[1],f[11]=v[2],f[15]=v[3],s.identity(u),p[2]!==0&&(u[9]=p[2],s.multiply(f,f,u)),p[1]!==0&&(u[9]=0,u[8]=p[1],s.multiply(f,f,u)),p[0]!==0&&(u[8]=0,u[4]=p[0],s.multiply(f,f,u)),s.scale(f,f,d),f}},1811(n,a,o){"use strict";var s=o(2478),l=o(7442),u=o(7608),c=o(5567),f=o(2408),h=o(7089),d=o(6582),p=o(7656),v=o(2504),m=o(3536),g=[0,0,0];n.exports=M;function w(x){this._components=x.slice(),this._time=[0],this.prevMatrix=x.slice(),this.nextMatrix=x.slice(),this.computedMatrix=x.slice(),this.computedInverse=x.slice(),this.computedEye=[0,0,0],this.computedUp=[0,0,0],this.computedCenter=[0,0,0],this.computedRadius=[0],this._limits=[-1/0,1/0]}var b=w.prototype;b.recalcMatrix=function(x){var T=this._time,A=s.le(T,x),y=this.computedMatrix;if(!(A<0)){var E=this._components;if(A===T.length-1)for(var S=16*A,C=0;C<16;++C)y[C]=E[S++];else{for(var k=T[A+1]-T[A],S=16*A,D=this.prevMatrix,F=!0,C=0;C<16;++C)D[C]=E[S++];for(var P=this.nextMatrix,C=0;C<16;++C)P[C]=E[S++],F=F&&D[C]===P[C];if(k<1e-6||F)for(var C=0;C<16;++C)y[C]=D[C];else l(y,D,P,(x-T[A])/k)}var R=this.computedUp;R[0]=y[1],R[1]=y[5],R[2]=y[9],m(R,R);var L=this.computedInverse;u(L,y);var I=this.computedEye,B=L[15];I[0]=L[12]/B,I[1]=L[13]/B,I[2]=L[14]/B;for(var O=this.computedCenter,$=Math.exp(this.computedRadius[0]),C=0;C<3;++C)O[C]=I[C]-y[2+4*C]*$}},b.idle=function(x){if(!(x1&&s(u[d[g-2]],u[d[g-1]],m)<=0;)g-=1,d.pop();for(d.push(v),g=p.length;g>1&&s(u[p[g-2]],u[p[g-1]],m)>=0;)g-=1,p.pop();p.push(v)}for(var w=new Array(p.length+d.length-2),b=0,f=0,_=d.length;f<_;++f)w[b++]=d[f];for(var M=p.length-2;M>0;--M)w[b++]=p[M];return w}},351(n,a,o){"use strict";n.exports=l;var s=o(4687);function l(u,c){c||(c=u,u=window);var f=0,h=0,d=0,p={shift:!1,alt:!1,control:!1,meta:!1},v=!1;function m(S){var C=!1;return"altKey"in S&&(C=C||S.altKey!==p.alt,p.alt=!!S.altKey),"shiftKey"in S&&(C=C||S.shiftKey!==p.shift,p.shift=!!S.shiftKey),"ctrlKey"in S&&(C=C||S.ctrlKey!==p.control,p.control=!!S.ctrlKey),"metaKey"in S&&(C=C||S.metaKey!==p.meta,p.meta=!!S.metaKey),C}function g(S,C){var k=s.x(C),D=s.y(C);"buttons"in C&&(S=C.buttons|0),(S!==f||k!==h||D!==d||m(C))&&(f=S|0,h=k||0,d=D||0,c&&c(f,h,d,p))}function w(S){g(0,S)}function b(){(f||h||d||p.shift||p.alt||p.meta||p.control)&&(h=d=0,f=0,p.shift=p.alt=p.control=p.meta=!1,c&&c(0,0,0,p))}function _(S){m(S)&&c&&c(f,h,d,p)}function M(S){s.buttons(S)===0?g(0,S):g(f,S)}function x(S){g(f|s.buttons(S),S)}function T(S){g(f&~s.buttons(S),S)}function A(){v||(v=!0,u.addEventListener("mousemove",M),u.addEventListener("mousedown",x),u.addEventListener("mouseup",T),u.addEventListener("mouseleave",w),u.addEventListener("mouseenter",w),u.addEventListener("mouseout",w),u.addEventListener("mouseover",w),u.addEventListener("blur",b),u.addEventListener("keyup",_),u.addEventListener("keydown",_),u.addEventListener("keypress",_),u!==window&&(window.addEventListener("blur",b),window.addEventListener("keyup",_),window.addEventListener("keydown",_),window.addEventListener("keypress",_)))}function y(){v&&(v=!1,u.removeEventListener("mousemove",M),u.removeEventListener("mousedown",x),u.removeEventListener("mouseup",T),u.removeEventListener("mouseleave",w),u.removeEventListener("mouseenter",w),u.removeEventListener("mouseout",w),u.removeEventListener("mouseover",w),u.removeEventListener("blur",b),u.removeEventListener("keyup",_),u.removeEventListener("keydown",_),u.removeEventListener("keypress",_),u!==window&&(window.removeEventListener("blur",b),window.removeEventListener("keyup",_),window.removeEventListener("keydown",_),window.removeEventListener("keypress",_)))}A();var E={element:u};return Object.defineProperties(E,{enabled:{get:function(){return v},set:function(S){S?A():y()},enumerable:!0},buttons:{get:function(){return f},enumerable:!0},x:{get:function(){return h},enumerable:!0},y:{get:function(){return d},enumerable:!0},mods:{get:function(){return p},enumerable:!0}}),E}},24(n){var a={left:0,top:0};n.exports=o;function o(l,u,c){u=u||l.currentTarget||l.srcElement,Array.isArray(c)||(c=[0,0]);var f=l.clientX||0,h=l.clientY||0,d=s(u);return c[0]=f-d.left,c[1]=h-d.top,c}function s(l){return l===window||l===document||l===document.body?a:l.getBoundingClientRect()}},4687(n,a){"use strict";function o(c){if(typeof c=="object"){if("buttons"in c)return c.buttons;if("which"in c){var f=c.which;if(f===2)return 4;if(f===3)return 2;if(f>0)return 1<=0)return 1<0){if(Y=1,q[U++]=p(A[C],b,_,M),C+=B,x>0)for($=1,k=A[C],V=q[U]=p(k,b,_,M),G=q[U+X],ce=q[U+Q],be=q[U+ge],(V!==G||V!==ce||V!==be)&&(F=A[C+D],R=A[C+P],I=A[C+L],h($,Y,k,F,R,I,V,G,ce,be,b,_,M),he=J[U]=K++),U+=1,C+=B,$=2;$0)for($=1,k=A[C],V=q[U]=p(k,b,_,M),G=q[U+X],ce=q[U+Q],be=q[U+ge],(V!==G||V!==ce||V!==be)&&(F=A[C+D],R=A[C+P],I=A[C+L],h($,Y,k,F,R,I,V,G,ce,be,b,_,M),he=J[U]=K++,be!==ce&&d(J[U+Q],he,R,I,ce,be,b,_,M)),U+=1,C+=B,$=2;$0){if($=1,q[U++]=p(A[C],b,_,M),C+=B,T>0)for(Y=1,k=A[C],V=q[U]=p(k,b,_,M),ce=q[U+Q],G=q[U+X],be=q[U+ge],(V!==ce||V!==G||V!==be)&&(F=A[C+D],R=A[C+P],I=A[C+L],h($,Y,k,F,R,I,V,ce,G,be,b,_,M),he=J[U]=K++),U+=1,C+=B,Y=2;Y0)for(Y=1,k=A[C],V=q[U]=p(k,b,_,M),ce=q[U+Q],G=q[U+X],be=q[U+ge],(V!==ce||V!==G||V!==be)&&(F=A[C+D],R=A[C+P],I=A[C+L],h($,Y,k,F,R,I,V,ce,G,be,b,_,M),he=J[U]=K++,be!==ce&&d(J[U+Q],he,I,F,be,ce,b,_,M)),U+=1,C+=B,Y=2;Y 0"),typeof f.vertex!="function"&&h("Must specify vertex creation function"),typeof f.cell!="function"&&h("Must specify cell creation function"),typeof f.phase!="function"&&h("Must specify phase function");for(var m=f.getters||[],g=new Array(p),w=0;w=0?g[w]=!0:g[w]=!1;return u(f.vertex,f.cell,f.phase,v,d,g)}},6199(n,a,o){"use strict";var s=o(1338),l={zero:function(M,x,T,A){var y=M[0],E=T[0];A|=0;var S=0,C=E;for(S=0;S2&&S[1]>2&&A(E.pick(-1,-1).lo(1,1).hi(S[0]-2,S[1]-2),y.pick(-1,-1,0).lo(1,1).hi(S[0]-2,S[1]-2),y.pick(-1,-1,1).lo(1,1).hi(S[0]-2,S[1]-2)),S[1]>2&&(T(E.pick(0,-1).lo(1).hi(S[1]-2),y.pick(0,-1,1).lo(1).hi(S[1]-2)),x(y.pick(0,-1,0).lo(1).hi(S[1]-2))),S[1]>2&&(T(E.pick(S[0]-1,-1).lo(1).hi(S[1]-2),y.pick(S[0]-1,-1,1).lo(1).hi(S[1]-2)),x(y.pick(S[0]-1,-1,0).lo(1).hi(S[1]-2))),S[0]>2&&(T(E.pick(-1,0).lo(1).hi(S[0]-2),y.pick(-1,0,0).lo(1).hi(S[0]-2)),x(y.pick(-1,0,1).lo(1).hi(S[0]-2))),S[0]>2&&(T(E.pick(-1,S[1]-1).lo(1).hi(S[0]-2),y.pick(-1,S[1]-1,0).lo(1).hi(S[0]-2)),x(y.pick(-1,S[1]-1,1).lo(1).hi(S[0]-2))),y.set(0,0,0,0),y.set(0,0,1,0),y.set(S[0]-1,0,0,0),y.set(S[0]-1,0,1,0),y.set(0,S[1]-1,0,0),y.set(0,S[1]-1,1,0),y.set(S[0]-1,S[1]-1,0,0),y.set(S[0]-1,S[1]-1,1,0),y}}function _(M){var x=M.join(),S=p[x];if(S)return S;for(var T=M.length,A=[m,g],y=1;y<=T;++y)A.push(w(y));var E=b,S=E.apply(void 0,A);return p[x]=S,S}n.exports=function(x,T,A){if(Array.isArray(A)||(typeof A=="string"?A=s(T.dimension,A):A=s(T.dimension,"clamp")),T.size===0)return x;if(T.dimension===0)return x.set(0),x;var y=_(A);return y(x,T)}},4317(n){"use strict";function a(c,f){var h=Math.floor(f),d=f-h,p=0<=h&&h0;){R<64?(x=R,R=0):(x=64,R-=64);for(var L=p[1]|0;L>0;){L<64?(T=L,L=0):(T=64,L-=64),g=F+R*y+L*E,_=P+R*C+L*k;var I=0,B=0,O=0,$=S,Y=y-A*S,K=E-x*y,j=D,q=C-A*D,J=k-x*C;for(O=0;O0;){k<64?(x=k,k=0):(x=64,k-=64);for(var D=p[0]|0;D>0;){D<64?(M=D,D=0):(M=64,D-=64),g=S+k*A+D*T,_=C+k*E+D*y;var F=0,P=0,R=A,L=T-x*A,I=E,B=y-x*E;for(P=0;P0;){P<64?(T=P,P=0):(T=64,P-=64);for(var R=p[0]|0;R>0;){R<64?(M=R,R=0):(M=64,R-=64);for(var L=p[1]|0;L>0;){L<64?(x=L,L=0):(x=64,L-=64),g=D+P*E+R*A+L*y,_=F+P*k+R*S+L*C;var I=0,B=0,O=0,$=E,Y=A-T*E,K=y-M*A,j=k,q=S-T*k,J=C-M*S;for(O=0;Ow;){I=0,B=F-x;t:for(R=0;R$)break t;B+=S,I+=C}for(I=F,B=F-x,R=0;R>1,L=R-D,I=R+D,B=F,O=L,$=R,Y=I,K=P,j=b+1,q=_-1,J=!0,U,V,X,H,G,Q,te,ce,ge,Ce=0,be=0,he=0,oe,Ee,ye,ue,ee,ae,xe,re,pe,we,Fe,Se,ke,_e,Ie,Oe,Qe=E,et=m(Qe),_t=m(Qe);Ee=T*B,ye=T*O,Oe=x;e:for(oe=0;oe0){V=B,B=O,O=V;break e}if(he<0)break e;Oe+=C}Ee=T*Y,ye=T*K,Oe=x;e:for(oe=0;oe0){V=Y,Y=K,K=V;break e}if(he<0)break e;Oe+=C}Ee=T*B,ye=T*$,Oe=x;e:for(oe=0;oe0){V=B,B=$,$=V;break e}if(he<0)break e;Oe+=C}Ee=T*O,ye=T*$,Oe=x;e:for(oe=0;oe0){V=O,O=$,$=V;break e}if(he<0)break e;Oe+=C}Ee=T*B,ye=T*Y,Oe=x;e:for(oe=0;oe0){V=B,B=Y,Y=V;break e}if(he<0)break e;Oe+=C}Ee=T*$,ye=T*Y,Oe=x;e:for(oe=0;oe0){V=$,$=Y,Y=V;break e}if(he<0)break e;Oe+=C}Ee=T*O,ye=T*K,Oe=x;e:for(oe=0;oe0){V=O,O=K,K=V;break e}if(he<0)break e;Oe+=C}Ee=T*O,ye=T*$,Oe=x;e:for(oe=0;oe0){V=O,O=$,$=V;break e}if(he<0)break e;Oe+=C}Ee=T*Y,ye=T*K,Oe=x;e:for(oe=0;oe0){V=Y,Y=K,K=V;break e}if(he<0)break e;Oe+=C}for(Ee=T*B,ye=T*O,ue=T*$,ee=T*Y,ae=T*K,xe=T*F,re=T*R,pe=T*P,Ie=0,Oe=x,oe=0;oe0)q--;else if(he<0){for(Ee=T*Q,ye=T*j,ue=T*q,Oe=x,oe=0;oe0)for(;;){te=x+q*T,Ie=0;e:for(oe=0;oe0){if(--qP){e:for(;;){for(te=x+j*T,Ie=0,Oe=x,oe=0;oe1&&w?_(g,w[0],w[1]):_(g)}var d={"uint32,1,0":function(v,m){return function(g){var w=g.data,b=g.offset|0,_=g.shape,M=g.stride,x=M[0]|0,T=_[0]|0,A=M[1]|0,y=_[1]|0,E=A,S=A,C=1;T<=32?v(0,T-1,w,b,x,A,T,y,E,S,C):m(0,T-1,w,b,x,A,T,y,E,S,C)}}};function p(v,m){var g=[m,v].join(","),w=d[g],b=c(v,m),_=h(v,m,b);return w(b,_)}n.exports=p},446(n,a,o){"use strict";var s=o(7640),l={};function u(c){var f=c.order,h=c.dtype,d=[f,h],p=d.join(":"),v=l[p];return v||(l[p]=v=s(f,h)),v(c),c}n.exports=u},9618(n,a,o){var s=o(7163),l=typeof Float64Array!="undefined";function u(m,g){return m[0]-g[0]}function c(){var m=this.stride,g=new Array(m.length),w;for(w=0;w=0&&(A=x|0,T+=E*A,y-=A),new b(this.data,y,E,T)},_.step=function(x){var T=this.shape[0],A=this.stride[0],y=this.offset,E=0,S=Math.ceil;return typeof x=="number"&&(E=x|0,E<0?(y+=A*(T-1),T=S(-T/E)):T=S(T/E),A*=E),new b(this.data,T,A,y)},_.transpose=function(x){x=x===void 0?0:x|0;var T=this.shape,A=this.stride;return new b(this.data,T[x],A[x],this.offset)},_.pick=function(x){var T=[],A=[],y=this.offset;typeof x=="number"&&x>=0?y=y+this.stride[0]*x|0:(T.push(this.shape[0]),A.push(this.stride[0]));var E=g[T.length+1];return E(this.data,T,A,y)},function(x,T,A,y){return new b(x,T[0],A[0],y)}},2:function(m,g,w){function b(M,x,T,A,y,E){this.data=M,this.shape=[x,T],this.stride=[A,y],this.offset=E|0}var _=b.prototype;return _.dtype=m,_.dimension=2,Object.defineProperty(_,"size",{get:function(){return this.shape[0]*this.shape[1]}}),Object.defineProperty(_,"order",{get:function(){return Math.abs(this.stride[0])>Math.abs(this.stride[1])?[1,0]:[0,1]}}),_.set=function(x,T,A){return m==="generic"?this.data.set(this.offset+this.stride[0]*x+this.stride[1]*T,A):this.data[this.offset+this.stride[0]*x+this.stride[1]*T]=A},_.get=function(x,T){return m==="generic"?this.data.get(this.offset+this.stride[0]*x+this.stride[1]*T):this.data[this.offset+this.stride[0]*x+this.stride[1]*T]},_.index=function(x,T){return this.offset+this.stride[0]*x+this.stride[1]*T},_.hi=function(x,T){return new b(this.data,typeof x!="number"||x<0?this.shape[0]:x|0,typeof T!="number"||T<0?this.shape[1]:T|0,this.stride[0],this.stride[1],this.offset)},_.lo=function(x,T){var A=this.offset,y=0,E=this.shape[0],S=this.shape[1],C=this.stride[0],k=this.stride[1];return typeof x=="number"&&x>=0&&(y=x|0,A+=C*y,E-=y),typeof T=="number"&&T>=0&&(y=T|0,A+=k*y,S-=y),new b(this.data,E,S,C,k,A)},_.step=function(x,T){var A=this.shape[0],y=this.shape[1],E=this.stride[0],S=this.stride[1],C=this.offset,k=0,D=Math.ceil;return typeof x=="number"&&(k=x|0,k<0?(C+=E*(A-1),A=D(-A/k)):A=D(A/k),E*=k),typeof T=="number"&&(k=T|0,k<0?(C+=S*(y-1),y=D(-y/k)):y=D(y/k),S*=k),new b(this.data,A,y,E,S,C)},_.transpose=function(x,T){x=x===void 0?0:x|0,T=T===void 0?1:T|0;var A=this.shape,y=this.stride;return new b(this.data,A[x],A[T],y[x],y[T],this.offset)},_.pick=function(x,T){var A=[],y=[],E=this.offset;typeof x=="number"&&x>=0?E=E+this.stride[0]*x|0:(A.push(this.shape[0]),y.push(this.stride[0])),typeof T=="number"&&T>=0?E=E+this.stride[1]*T|0:(A.push(this.shape[1]),y.push(this.stride[1]));var S=g[A.length+1];return S(this.data,A,y,E)},function(x,T,A,y){return new b(x,T[0],T[1],A[0],A[1],y)}},3:function(m,g,w){function b(M,x,T,A,y,E,S,C){this.data=M,this.shape=[x,T,A],this.stride=[y,E,S],this.offset=C|0}var _=b.prototype;return _.dtype=m,_.dimension=3,Object.defineProperty(_,"size",{get:function(){return this.shape[0]*this.shape[1]*this.shape[2]}}),Object.defineProperty(_,"order",{get:function(){var x=Math.abs(this.stride[0]),T=Math.abs(this.stride[1]),A=Math.abs(this.stride[2]);return x>T?T>A?[2,1,0]:x>A?[1,2,0]:[1,0,2]:x>A?[2,0,1]:A>T?[0,1,2]:[0,2,1]}}),_.set=function(x,T,A,y){return m==="generic"?this.data.set(this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A,y):this.data[this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A]=y},_.get=function(x,T,A){return m==="generic"?this.data.get(this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A):this.data[this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A]},_.index=function(x,T,A){return this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A},_.hi=function(x,T,A){return new b(this.data,typeof x!="number"||x<0?this.shape[0]:x|0,typeof T!="number"||T<0?this.shape[1]:T|0,typeof A!="number"||A<0?this.shape[2]:A|0,this.stride[0],this.stride[1],this.stride[2],this.offset)},_.lo=function(x,T,A){var y=this.offset,E=0,S=this.shape[0],C=this.shape[1],k=this.shape[2],D=this.stride[0],F=this.stride[1],P=this.stride[2];return typeof x=="number"&&x>=0&&(E=x|0,y+=D*E,S-=E),typeof T=="number"&&T>=0&&(E=T|0,y+=F*E,C-=E),typeof A=="number"&&A>=0&&(E=A|0,y+=P*E,k-=E),new b(this.data,S,C,k,D,F,P,y)},_.step=function(x,T,A){var y=this.shape[0],E=this.shape[1],S=this.shape[2],C=this.stride[0],k=this.stride[1],D=this.stride[2],F=this.offset,P=0,R=Math.ceil;return typeof x=="number"&&(P=x|0,P<0?(F+=C*(y-1),y=R(-y/P)):y=R(y/P),C*=P),typeof T=="number"&&(P=T|0,P<0?(F+=k*(E-1),E=R(-E/P)):E=R(E/P),k*=P),typeof A=="number"&&(P=A|0,P<0?(F+=D*(S-1),S=R(-S/P)):S=R(S/P),D*=P),new b(this.data,y,E,S,C,k,D,F)},_.transpose=function(x,T,A){x=x===void 0?0:x|0,T=T===void 0?1:T|0,A=A===void 0?2:A|0;var y=this.shape,E=this.stride;return new b(this.data,y[x],y[T],y[A],E[x],E[T],E[A],this.offset)},_.pick=function(x,T,A){var y=[],E=[],S=this.offset;typeof x=="number"&&x>=0?S=S+this.stride[0]*x|0:(y.push(this.shape[0]),E.push(this.stride[0])),typeof T=="number"&&T>=0?S=S+this.stride[1]*T|0:(y.push(this.shape[1]),E.push(this.stride[1])),typeof A=="number"&&A>=0?S=S+this.stride[2]*A|0:(y.push(this.shape[2]),E.push(this.stride[2]));var C=g[y.length+1];return C(this.data,y,E,S)},function(x,T,A,y){return new b(x,T[0],T[1],T[2],A[0],A[1],A[2],y)}},4:function(m,g,w){function b(M,x,T,A,y,E,S,C,k,D){this.data=M,this.shape=[x,T,A,y],this.stride=[E,S,C,k],this.offset=D|0}var _=b.prototype;return _.dtype=m,_.dimension=4,Object.defineProperty(_,"size",{get:function(){return this.shape[0]*this.shape[1]*this.shape[2]*this.shape[3]}}),Object.defineProperty(_,"order",{get:w}),_.set=function(x,T,A,y,E){return m==="generic"?this.data.set(this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A+this.stride[3]*y,E):this.data[this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A+this.stride[3]*y]=E},_.get=function(x,T,A,y){return m==="generic"?this.data.get(this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A+this.stride[3]*y):this.data[this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A+this.stride[3]*y]},_.index=function(x,T,A,y){return this.offset+this.stride[0]*x+this.stride[1]*T+this.stride[2]*A+this.stride[3]*y},_.hi=function(x,T,A,y){return new b(this.data,typeof x!="number"||x<0?this.shape[0]:x|0,typeof T!="number"||T<0?this.shape[1]:T|0,typeof A!="number"||A<0?this.shape[2]:A|0,typeof y!="number"||y<0?this.shape[3]:y|0,this.stride[0],this.stride[1],this.stride[2],this.stride[3],this.offset)},_.lo=function(x,T,A,y){var E=this.offset,S=0,C=this.shape[0],k=this.shape[1],D=this.shape[2],F=this.shape[3],P=this.stride[0],R=this.stride[1],L=this.stride[2],I=this.stride[3];return typeof x=="number"&&x>=0&&(S=x|0,E+=P*S,C-=S),typeof T=="number"&&T>=0&&(S=T|0,E+=R*S,k-=S),typeof A=="number"&&A>=0&&(S=A|0,E+=L*S,D-=S),typeof y=="number"&&y>=0&&(S=y|0,E+=I*S,F-=S),new b(this.data,C,k,D,F,P,R,L,I,E)},_.step=function(x,T,A,y){var E=this.shape[0],S=this.shape[1],C=this.shape[2],k=this.shape[3],D=this.stride[0],F=this.stride[1],P=this.stride[2],R=this.stride[3],L=this.offset,I=0,B=Math.ceil;return typeof x=="number"&&(I=x|0,I<0?(L+=D*(E-1),E=B(-E/I)):E=B(E/I),D*=I),typeof T=="number"&&(I=T|0,I<0?(L+=F*(S-1),S=B(-S/I)):S=B(S/I),F*=I),typeof A=="number"&&(I=A|0,I<0?(L+=P*(C-1),C=B(-C/I)):C=B(C/I),P*=I),typeof y=="number"&&(I=y|0,I<0?(L+=R*(k-1),k=B(-k/I)):k=B(k/I),R*=I),new b(this.data,E,S,C,k,D,F,P,R,L)},_.transpose=function(x,T,A,y){x=x===void 0?0:x|0,T=T===void 0?1:T|0,A=A===void 0?2:A|0,y=y===void 0?3:y|0;var E=this.shape,S=this.stride;return new b(this.data,E[x],E[T],E[A],E[y],S[x],S[T],S[A],S[y],this.offset)},_.pick=function(x,T,A,y){var E=[],S=[],C=this.offset;typeof x=="number"&&x>=0?C=C+this.stride[0]*x|0:(E.push(this.shape[0]),S.push(this.stride[0])),typeof T=="number"&&T>=0?C=C+this.stride[1]*T|0:(E.push(this.shape[1]),S.push(this.stride[1])),typeof A=="number"&&A>=0?C=C+this.stride[2]*A|0:(E.push(this.shape[2]),S.push(this.stride[2])),typeof y=="number"&&y>=0?C=C+this.stride[3]*y|0:(E.push(this.shape[3]),S.push(this.stride[3]));var k=g[E.length+1];return k(this.data,E,S,C)},function(x,T,A,y){return new b(x,T[0],T[1],T[2],T[3],A[0],A[1],A[2],A[3],y)}},5:function(g,w,b){function _(x,T,A,y,E,S,C,k,D,F,P,R){this.data=x,this.shape=[T,A,y,E,S],this.stride=[C,k,D,F,P],this.offset=R|0}var M=_.prototype;return M.dtype=g,M.dimension=5,Object.defineProperty(M,"size",{get:function(){return this.shape[0]*this.shape[1]*this.shape[2]*this.shape[3]*this.shape[4]}}),Object.defineProperty(M,"order",{get:b}),M.set=function(T,A,y,E,S,C){return g==="generic"?this.data.set(this.offset+this.stride[0]*T+this.stride[1]*A+this.stride[2]*y+this.stride[3]*E+this.stride[4]*S,C):this.data[this.offset+this.stride[0]*T+this.stride[1]*A+this.stride[2]*y+this.stride[3]*E+this.stride[4]*S]=C},M.get=function(T,A,y,E,S){return g==="generic"?this.data.get(this.offset+this.stride[0]*T+this.stride[1]*A+this.stride[2]*y+this.stride[3]*E+this.stride[4]*S):this.data[this.offset+this.stride[0]*T+this.stride[1]*A+this.stride[2]*y+this.stride[3]*E+this.stride[4]*S]},M.index=function(T,A,y,E,S){return this.offset+this.stride[0]*T+this.stride[1]*A+this.stride[2]*y+this.stride[3]*E+this.stride[4]*S},M.hi=function(T,A,y,E,S){return new _(this.data,typeof T!="number"||T<0?this.shape[0]:T|0,typeof A!="number"||A<0?this.shape[1]:A|0,typeof y!="number"||y<0?this.shape[2]:y|0,typeof E!="number"||E<0?this.shape[3]:E|0,typeof S!="number"||S<0?this.shape[4]:S|0,this.stride[0],this.stride[1],this.stride[2],this.stride[3],this.stride[4],this.offset)},M.lo=function(T,A,y,E,S){var C=this.offset,k=0,D=this.shape[0],F=this.shape[1],P=this.shape[2],R=this.shape[3],L=this.shape[4],I=this.stride[0],B=this.stride[1],O=this.stride[2],$=this.stride[3],Y=this.stride[4];return typeof T=="number"&&T>=0&&(k=T|0,C+=I*k,D-=k),typeof A=="number"&&A>=0&&(k=A|0,C+=B*k,F-=k),typeof y=="number"&&y>=0&&(k=y|0,C+=O*k,P-=k),typeof E=="number"&&E>=0&&(k=E|0,C+=$*k,R-=k),typeof S=="number"&&S>=0&&(k=S|0,C+=Y*k,L-=k),new _(this.data,D,F,P,R,L,I,B,O,$,Y,C)},M.step=function(T,A,y,E,S){var C=this.shape[0],k=this.shape[1],D=this.shape[2],F=this.shape[3],P=this.shape[4],R=this.stride[0],L=this.stride[1],I=this.stride[2],B=this.stride[3],O=this.stride[4],$=this.offset,Y=0,K=Math.ceil;return typeof T=="number"&&(Y=T|0,Y<0?($+=R*(C-1),C=K(-C/Y)):C=K(C/Y),R*=Y),typeof A=="number"&&(Y=A|0,Y<0?($+=L*(k-1),k=K(-k/Y)):k=K(k/Y),L*=Y),typeof y=="number"&&(Y=y|0,Y<0?($+=I*(D-1),D=K(-D/Y)):D=K(D/Y),I*=Y),typeof E=="number"&&(Y=E|0,Y<0?($+=B*(F-1),F=K(-F/Y)):F=K(F/Y),B*=Y),typeof S=="number"&&(Y=S|0,Y<0?($+=O*(P-1),P=K(-P/Y)):P=K(P/Y),O*=Y),new _(this.data,C,k,D,F,P,R,L,I,B,O,$)},M.transpose=function(T,A,y,E,S){T=T===void 0?0:T|0,A=A===void 0?1:A|0,y=y===void 0?2:y|0,E=E===void 0?3:E|0,S=S===void 0?4:S|0;var C=this.shape,k=this.stride;return new _(this.data,C[T],C[A],C[y],C[E],C[S],k[T],k[A],k[y],k[E],k[S],this.offset)},M.pick=function(T,A,y,E,S){var C=[],k=[],D=this.offset;typeof T=="number"&&T>=0?D=D+this.stride[0]*T|0:(C.push(this.shape[0]),k.push(this.stride[0])),typeof A=="number"&&A>=0?D=D+this.stride[1]*A|0:(C.push(this.shape[1]),k.push(this.stride[1])),typeof y=="number"&&y>=0?D=D+this.stride[2]*y|0:(C.push(this.shape[2]),k.push(this.stride[2])),typeof E=="number"&&E>=0?D=D+this.stride[3]*E|0:(C.push(this.shape[3]),k.push(this.stride[3])),typeof S=="number"&&S>=0?D=D+this.stride[4]*S|0:(C.push(this.shape[4]),k.push(this.stride[4]));var F=w[C.length+1];return F(this.data,C,k,D)},function(T,A,y,E){return new _(T,A[0],A[1],A[2],A[3],A[4],y[0],y[1],y[2],y[3],y[4],E)}}};function h(m,g){var w=g===-1?"T":String(g),b=f[w];return g===-1?b(m):g===0?b(m,p[m][0]):b(m,p[m],c)}function d(m){if(s(m))return"buffer";if(l)switch(Object.prototype.toString.call(m)){case"[object Float64Array]":return"float64";case"[object Float32Array]":return"float32";case"[object Int8Array]":return"int8";case"[object Int16Array]":return"int16";case"[object Int32Array]":return"int32";case"[object Uint8ClampedArray]":return"uint8_clamped";case"[object Uint8Array]":return"uint8";case"[object Uint16Array]":return"uint16";case"[object Uint32Array]":return"uint32";case"[object BigInt64Array]":return"bigint64";case"[object BigUint64Array]":return"biguint64"}return Array.isArray(m)?"array":"generic"}var p={generic:[],buffer:[],array:[],float32:[],float64:[],int8:[],int16:[],int32:[],uint8_clamped:[],uint8:[],uint16:[],uint32:[],bigint64:[],biguint64:[]};function v(m,g,w,b){if(m===void 0){var y=p.array[0];return y([])}else typeof m=="number"&&(m=[m]);g===void 0&&(g=[m.length]);var _=g.length;if(w===void 0){w=new Array(_);for(var M=_-1,x=1;M>=0;--M)w[M]=x,x*=g[M]}if(b===void 0){b=0;for(var M=0;M<_;++M)w[M]<0&&(b-=(g[M]-1)*w[M])}for(var T=d(m),A=p[T];A.length<=_+1;)A.push(h(T,A.length-1));var y=A[_+1];return y(m,g,w,b)}n.exports=v},1278(n,a,o){"use strict";var s=o(2361),l=Math.pow(2,-1074),u=-1>>>0;n.exports=c;function c(f,h){if(isNaN(f)||isNaN(h))return NaN;if(f===h)return f;if(f===0)return h<0?-l:l;var d=s.hi(f),p=s.lo(f);return h>f==f>0?p===u?(d+=1,p=0):p+=1:p===0?(p=u,d-=1):p-=1,s.pack(p,d)}},8406(n,a){var o=1e-6,s=1e-6;a.vertexNormals=function(l,u,c){for(var f=u.length,h=new Array(f),d=c===void 0?o:c,p=0;pd)for(var C=h[g],k=1/Math.sqrt(A*E),S=0;S<3;++S){var D=(S+1)%3,F=(S+2)%3;C[S]+=k*(y[D]*T[F]-y[F]*T[D])}}for(var p=0;pd)for(var k=1/Math.sqrt(P),S=0;S<3;++S)C[S]*=k;else for(var S=0;S<3;++S)C[S]=0}return h},a.faceNormals=function(l,u,c){for(var f=l.length,h=new Array(f),d=c===void 0?s:c,p=0;pd?M=1/Math.sqrt(M):M=0;for(var g=0;g<3;++g)_[g]*=M;h[p]=_}return h}},4081(n){"use strict";n.exports=a;function a(o,s,l,u,c,f,h,d,p,v){var m=s+f+v;if(g>0){var g=Math.sqrt(m+1);o[0]=.5*(h-p)/g,o[1]=.5*(d-u)/g,o[2]=.5*(l-f)/g,o[3]=.5*g}else{var w=Math.max(s,f,v),g=Math.sqrt(2*w-m+1);s>=w?(o[0]=.5*g,o[1]=.5*(c+l)/g,o[2]=.5*(d+u)/g,o[3]=.5*(h-p)/g):f>=w?(o[0]=.5*(l+c)/g,o[1]=.5*g,o[2]=.5*(p+h)/g,o[3]=.5*(d-u)/g):(o[0]=.5*(u+d)/g,o[1]=.5*(h+p)/g,o[2]=.5*g,o[3]=.5*(l-c)/g)}return o}},9977(n,a,o){"use strict";n.exports=g;var s=o(9215),l=o(6582),u=o(7399),c=o(7608),f=o(4081);function h(w,b,_){return Math.sqrt(Math.pow(w,2)+Math.pow(b,2)+Math.pow(_,2))}function d(w,b,_,M){return Math.sqrt(Math.pow(w,2)+Math.pow(b,2)+Math.pow(_,2)+Math.pow(M,2))}function p(w,b){var _=b[0],M=b[1],x=b[2],T=b[3],A=d(_,M,x,T);A>1e-6?(w[0]=_/A,w[1]=M/A,w[2]=x/A,w[3]=T/A):(w[0]=w[1]=w[2]=0,w[3]=1)}function v(w,b,_){this.radius=s([_]),this.center=s(b),this.rotation=s(w),this.computedRadius=this.radius.curve(0),this.computedCenter=this.center.curve(0),this.computedRotation=this.rotation.curve(0),this.computedUp=[.1,0,0],this.computedEye=[.1,0,0],this.computedMatrix=[.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],this.recalcMatrix(0)}var m=v.prototype;m.lastT=function(){return Math.max(this.radius.lastT(),this.center.lastT(),this.rotation.lastT())},m.recalcMatrix=function(w){this.radius.curve(w),this.center.curve(w),this.rotation.curve(w);var b=this.computedRotation;p(b,b);var _=this.computedMatrix;u(_,b);var M=this.computedCenter,x=this.computedEye,T=this.computedUp,A=Math.exp(this.computedRadius[0]);x[0]=M[0]+A*_[2],x[1]=M[1]+A*_[6],x[2]=M[2]+A*_[10],T[0]=_[1],T[1]=_[5],T[2]=_[9];for(var y=0;y<3;++y){for(var E=0,S=0;S<3;++S)E+=_[y+4*S]*x[S];_[12+y]=-E}},m.getMatrix=function(w,b){this.recalcMatrix(w);var _=this.computedMatrix;if(b){for(var M=0;M<16;++M)b[M]=_[M];return b}return _},m.idle=function(w){this.center.idle(w),this.radius.idle(w),this.rotation.idle(w)},m.flush=function(w){this.center.flush(w),this.radius.flush(w),this.rotation.flush(w)},m.pan=function(w,b,_,M){b=b||0,_=_||0,M=M||0,this.recalcMatrix(w);var x=this.computedMatrix,T=x[1],A=x[5],y=x[9],E=h(T,A,y);T/=E,A/=E,y/=E;var S=x[0],C=x[4],k=x[8],D=S*T+C*A+k*y;S-=T*D,C-=A*D,k-=y*D;var F=h(S,C,k);S/=F,C/=F,k/=F;var P=x[2],R=x[6],L=x[10],I=P*T+R*A+L*y,B=P*S+R*C+L*k;P-=I*T+B*S,R-=I*A+B*C,L-=I*y+B*k;var O=h(P,R,L);P/=O,R/=O,L/=O;var $=S*b+T*_,Y=C*b+A*_,K=k*b+y*_;this.center.move(w,$,Y,K);var j=Math.exp(this.computedRadius[0]);j=Math.max(1e-4,j+M),this.radius.set(w,Math.log(j))},m.rotate=function(w,b,_,M){this.recalcMatrix(w),b=b||0,_=_||0;var x=this.computedMatrix,T=x[0],A=x[4],y=x[8],E=x[1],S=x[5],C=x[9],k=x[2],D=x[6],F=x[10],P=b*T+_*E,R=b*A+_*S,L=b*y+_*C,I=-(D*L-F*R),B=-(F*P-k*L),O=-(k*R-D*P),$=Math.sqrt(Math.max(0,1-Math.pow(I,2)-Math.pow(B,2)-Math.pow(O,2))),Y=d(I,B,O,$);Y>1e-6?(I/=Y,B/=Y,O/=Y,$/=Y):(I=B=O=0,$=1);var K=this.computedRotation,j=K[0],q=K[1],J=K[2],U=K[3],V=j*$+U*I+q*O-J*B,X=q*$+U*B+J*I-j*O,H=J*$+U*O+j*B-q*I,G=U*$-j*I-q*B-J*O;if(M){I=k,B=D,O=F;var Q=Math.sin(M)/h(I,B,O);I*=Q,B*=Q,O*=Q,$=Math.cos(b),V=V*$+G*I+X*O-H*B,X=X*$+G*B+H*I-V*O,H=H*$+G*O+V*B-X*I,G=G*$-V*I-X*B-H*O}var te=d(V,X,H,G);te>1e-6?(V/=te,X/=te,H/=te,G/=te):(V=X=H=0,G=1),this.rotation.set(w,V,X,H,G)},m.lookAt=function(w,b,_,M){this.recalcMatrix(w),_=_||this.computedCenter,b=b||this.computedEye,M=M||this.computedUp;var x=this.computedMatrix;l(x,b,_,M);var T=this.computedRotation;f(T,x[0],x[1],x[2],x[4],x[5],x[6],x[8],x[9],x[10]),p(T,T),this.rotation.set(w,T[0],T[1],T[2],T[3]);for(var A=0,y=0;y<3;++y)A+=Math.pow(_[y]-b[y],2);this.radius.set(w,.5*Math.log(Math.max(A,1e-6))),this.center.set(w,_[0],_[1],_[2])},m.translate=function(w,b,_,M){this.center.move(w,b||0,_||0,M||0)},m.setMatrix=function(w,b){var _=this.computedRotation;f(_,b[0],b[1],b[2],b[4],b[5],b[6],b[8],b[9],b[10]),p(_,_),this.rotation.set(w,_[0],_[1],_[2],_[3]);var M=this.computedMatrix;c(M,b);var x=M[15];if(Math.abs(x)>1e-6){var T=M[12]/x,A=M[13]/x,y=M[14]/x;this.recalcMatrix(w);var E=Math.exp(this.computedRadius[0]);this.center.set(w,T-M[2]*E,A-M[6]*E,y-M[10]*E),this.radius.idle(w)}else this.center.idle(w),this.radius.idle(w)},m.setDistance=function(w,b){b>0&&this.radius.set(w,Math.log(b))},m.setDistanceLimits=function(w,b){w>0?w=Math.log(w):w=-1/0,b>0?b=Math.log(b):b=1/0,b=Math.max(b,w),this.radius.bounds[0][0]=w,this.radius.bounds[1][0]=b},m.getDistanceLimits=function(w){var b=this.radius.bounds;return w?(w[0]=Math.exp(b[0][0]),w[1]=Math.exp(b[1][0]),w):[Math.exp(b[0][0]),Math.exp(b[1][0])]},m.toJSON=function(){return this.recalcMatrix(this.lastT()),{center:this.computedCenter.slice(),rotation:this.computedRotation.slice(),distance:Math.log(this.computedRadius[0]),zoomMin:this.radius.bounds[0][0],zoomMax:this.radius.bounds[1][0]}},m.fromJSON=function(w){var b=this.lastT(),_=w.center;_&&this.center.set(b,_[0],_[1],_[2]);var M=w.rotation;M&&this.rotation.set(b,M[0],M[1],M[2],M[3]);var x=w.distance;x&&x>0&&this.radius.set(b,Math.log(x)),this.setDistanceLimits(w.zoomMin,w.zoomMax)};function g(w){w=w||{};var b=w.center||[0,0,0],_=w.rotation||[0,0,0,1],M=w.radius||1;b=[].slice.call(b,0,3),_=[].slice.call(_,0,4),p(_,_);var x=new v(_,b,Math.log(M));return x.setDistanceLimits(w.zoomMin,w.zoomMax),("eye"in w||"up"in w)&&x.lookAt(0,w.eye,w.center,w.up),x}},1371(n,a,o){"use strict";var s=o(3233);n.exports=function(u,c,f){return f=typeof f!="undefined"?f+"":" ",s(f,c)+u}},3202(n){n.exports=function(o,s){s||(s=[0,""]),o=String(o);var l=parseFloat(o,10);return s[0]=l,s[1]=o.match(/[\d.\-\+]*\s*(.*)/)[1]||"",s}},3088(n,a,o){"use strict";n.exports=l;var s=o(3140);function l(u,c){for(var f=c.length|0,h=u.length,d=[new Array(f),new Array(f)],p=0;p0){C=d[F][E][0],D=F;break}k=C[D^1];for(var P=0;P<2;++P)for(var R=d[P][E],L=0;L0&&(C=I,k=B,D=P)}return S||C&&g(C,D),k}function b(y,E){var S=d[E][y][0],C=[y];g(S,E);for(var k=S[E^1],D=E;;){for(;k!==y;)C.push(k),k=w(C[C.length-2],k,!1);if(d[0][y].length+d[1][y].length===0)break;var F=C[C.length-1],P=y,R=C[1],L=w(F,P,!0);if(s(c[F],c[P],c[R],c[L])<0)break;C.push(y),k=w(F,P)}return C}function _(y,E){return E[1]===E[E.length-1]}for(var p=0;p0;){var T=d[0][p].length,A=b(p,M);_(x,A)?x.push.apply(x,A):(x.length>0&&m.push(x),x=A)}x.length>0&&m.push(x)}return m}},5609(n,a,o){"use strict";n.exports=l;var s=o(3134);function l(u,c){for(var f=s(u,c.length),h=new Array(c.length),d=new Array(c.length),p=[],v=0;v0;){var g=p.pop();h[g]=!1;for(var w=f[g],v=0;v0}T=T.filter(A);for(var y=T.length,E=new Array(y),S=new Array(y),x=0;x0;){var te=H.pop(),ce=Y[te];h(ce,function(oe,Ee){return oe-Ee});var ge=ce.length,Ce=G[te],be;if(Ce===0){var R=T[te];be=[R]}for(var x=0;x=0)&&(G[he]=Ce^1,H.push(he),Ce===0)){var R=T[he];X(R)||(R.reverse(),be.push(R))}}Ce===0&&Q.push(be)}return Q}},5085(n,a,o){n.exports=w;var s=o(3250)[3],l=o(4209),u=o(3352),c=o(2478);function f(){return!0}function h(b){return function(_,M){var x=b[_];return x?!!x.queryPoint(M,f):!1}}function d(b){for(var _={},M=0;M0&&_[x]===M[0])T=b[x-1];else return 1;for(var A=1;T;){var y=T.key,E=s(M,y[0],y[1]);if(y[0][0]0)A=-1,T=T.right;else return 0;else if(E>0)T=T.left;else if(E<0)A=1,T=T.right;else return 0}return A}}function v(b){return 1}function m(b){return function(M){return b(M[0],M[1])?0:1}}function g(b,_){return function(x){return b(x[0],x[1])?0:_(x)}}function w(b){for(var _=b.length,M=[],x=[],T=0,A=0;A<_;++A)for(var y=b[A],E=y.length,S=E-1,C=0;C=v?(y=1,S=v+2*w+_):(y=-w/v,S=w*y+_)):(y=0,b>=0?(E=0,S=_):-b>=g?(E=1,S=g+2*b+_):(E=-b/g,S=b*E+_));else if(E<0)E=0,w>=0?(y=0,S=_):-w>=v?(y=1,S=v+2*w+_):(y=-w/v,S=w*y+_);else{var C=1/A;y*=C,E*=C,S=y*(v*y+m*E+2*w)+E*(m*y+g*E+2*b)+_}else{var k,D,F,P;y<0?(k=m+w,D=g+b,D>k?(F=D-k,P=v-2*m+g,F>=P?(y=1,E=0,S=v+2*w+_):(y=F/P,E=1-y,S=y*(v*y+m*E+2*w)+E*(m*y+g*E+2*b)+_)):(y=0,D<=0?(E=1,S=g+2*b+_):b>=0?(E=0,S=_):(E=-b/g,S=b*E+_))):E<0?(k=m+b,D=v+w,D>k?(F=D-k,P=v-2*m+g,F>=P?(E=1,y=0,S=g+2*b+_):(E=F/P,y=1-E,S=y*(v*y+m*E+2*w)+E*(m*y+g*E+2*b)+_)):(E=0,D<=0?(y=1,S=v+2*w+_):w>=0?(y=0,S=_):(y=-w/v,S=w*y+_))):(F=g+b-m-w,F<=0?(y=0,E=1,S=g+2*b+_):(P=v-2*m+g,F>=P?(y=1,E=0,S=v+2*w+_):(y=F/P,E=1-y,S=y*(v*y+m*E+2*w)+E*(m*y+g*E+2*b)+_)))}for(var R=1-y-E,p=0;p0){var g=f[d-1];if(s(v,g)===0&&u(g)!==m){d-=1;continue}}f[d++]=v}}return f.length=d,f}},3233(n){"use strict";var a="",o;n.exports=s;function s(l,u){if(typeof l!="string")throw new TypeError("expected a string");if(u===1)return l;if(u===2)return l+l;var c=l.length*u;if(o!==l||typeof o=="undefined")o=l,a="";else if(a.length>=c)return a.substr(0,c);for(;c>a.length&&u>1;)u&1&&(a+=l),u>>=1,l+=l;return a+=l,a=a.substr(0,c),a}},3025(n,a,o){n.exports=o.g.performance&&o.g.performance.now?function(){return performance.now()}:Date.now||function(){return+new Date}},7004(n){"use strict";n.exports=a;function a(o){for(var s=o.length,l=o[o.length-1],u=s,c=s-2;c>=0;--c){var f=l,h=o[c];l=f+h;var d=l-f,p=h-d;p&&(o[--u]=l,l=p)}for(var v=0,c=u;c0){if(D<=0)return F;P=k+D}else if(k<0){if(D>=0)return F;P=-(k+D)}else return F;var R=d*P;return F>=R||F<=-R?F:b(E,S,C)},function(E,S,C,k){var D=E[0]-k[0],F=S[0]-k[0],P=C[0]-k[0],R=E[1]-k[1],L=S[1]-k[1],I=C[1]-k[1],B=E[2]-k[2],O=S[2]-k[2],$=C[2]-k[2],Y=F*I,K=P*L,j=P*R,q=D*I,J=D*L,U=F*R,V=B*(Y-K)+O*(j-q)+$*(J-U),X=(Math.abs(Y)+Math.abs(K))*Math.abs(B)+(Math.abs(j)+Math.abs(q))*Math.abs(O)+(Math.abs(J)+Math.abs(U))*Math.abs($),H=p*X;return V>H||-V>H?V:_(E,S,C,k)}];function x(y){var E=M[y.length];return E||(E=M[y.length]=w(y.length)),E.apply(void 0,y)}function T(y,E,S,C,k,D,F){return function(R,L,I,B,O){switch(arguments.length){case 0:case 1:return 0;case 2:return C(R,L);case 3:return k(R,L,I);case 4:return D(R,L,I,B);case 5:return F(R,L,I,B,O)}for(var $=new Array(arguments.length),Y=0;Y0&&v>0||p<0&&v<0)return!1;var m=s(h,c,f),g=s(d,c,f);return m>0&&g>0||m<0&&g<0?!1:p===0&&v===0&&m===0&&g===0?l(c,f,h,d):!0}},8545(n){"use strict";n.exports=o;function a(s,l){var u=s+l,c=u-s,f=u-c,h=l-c,d=s-f,p=d+h;return p?[p,u]:[u]}function o(s,l){var u=s.length|0,c=l.length|0;if(u===1&&c===1)return a(s[0],-l[0]);var f=u+c,h=new Array(f),d=0,p=0,v=0,m=Math.abs,g=s[p],w=m(g),b=-l[v],_=m(b),M,x;w<_?(x=g,p+=1,p=c?(M=g,p+=1,p=c?(M=g,p+=1,p>1,b=f[2*w+1];if(b===v)return w;v>1,b=f[2*w+1];if(b===v)return w;v>1,b=f[2*w+1];if(b===v)return w;v>1,b=f[2*w+1];if(b===v)return w;v>1,P=d(E[F],S);P<=0?(P===0&&(D=F),C=F+1):P>0&&(k=F-1)}return D}s=g;function w(E,S){for(var C=new Array(E.length),k=0,D=C.length;k=E.length||d(E[Y],F)!==0););}return C}s=w;function b(E,S){if(!S)return w(m(M(E,0)),E,0);for(var C=new Array(S),k=0;k>>I&1&&L.push(D[I]);S.push(L)}return v(S)}s=_;function M(E,S){if(S<0)return[];for(var C=[],k=(1<0)-(u<0)},a.abs=function(u){var c=u>>o-1;return(u^c)-c},a.min=function(u,c){return c^(u^c)&-(u65535)<<4,u>>>=c,f=(u>255)<<3,u>>>=f,c|=f,f=(u>15)<<2,u>>>=f,c|=f,f=(u>3)<<1,u>>>=f,c|=f,c|u>>1},a.log10=function(u){return u>=1e9?9:u>=1e8?8:u>=1e7?7:u>=1e6?6:u>=1e5?5:u>=1e4?4:u>=1e3?3:u>=100?2:u>=10?1:0},a.popCount=function(u){return u=u-(u>>>1&1431655765),u=(u&858993459)+(u>>>2&858993459),(u+(u>>>4)&252645135)*16843009>>>24};function s(u){var c=32;return u&=-u,u&&c--,u&65535&&(c-=16),u&16711935&&(c-=8),u&252645135&&(c-=4),u&858993459&&(c-=2),u&1431655765&&(c-=1),c}a.countTrailingZeros=s,a.nextPow2=function(u){return u+=u===0,--u,u|=u>>>1,u|=u>>>2,u|=u>>>4,u|=u>>>8,u|=u>>>16,u+1},a.prevPow2=function(u){return u|=u>>>1,u|=u>>>2,u|=u>>>4,u|=u>>>8,u|=u>>>16,u-(u>>>1)},a.parity=function(u){return u^=u>>>16,u^=u>>>8,u^=u>>>4,u&=15,27030>>>u&1};var l=new Array(256);(function(u){for(var c=0;c<256;++c){var f=c,h=c,d=7;for(f>>>=1;f;f>>>=1)h<<=1,h|=f&1,--d;u[c]=h<>>8&255]<<16|l[u>>>16&255]<<8|l[u>>>24&255]},a.interleave2=function(u,c){return u&=65535,u=(u|u<<8)&16711935,u=(u|u<<4)&252645135,u=(u|u<<2)&858993459,u=(u|u<<1)&1431655765,c&=65535,c=(c|c<<8)&16711935,c=(c|c<<4)&252645135,c=(c|c<<2)&858993459,c=(c|c<<1)&1431655765,u|c<<1},a.deinterleave2=function(u,c){return u=u>>>c&1431655765,u=(u|u>>>1)&858993459,u=(u|u>>>2)&252645135,u=(u|u>>>4)&16711935,u=(u|u>>>16)&65535,u<<16>>16},a.interleave3=function(u,c,f){return u&=1023,u=(u|u<<16)&4278190335,u=(u|u<<8)&251719695,u=(u|u<<4)&3272356035,u=(u|u<<2)&1227133513,c&=1023,c=(c|c<<16)&4278190335,c=(c|c<<8)&251719695,c=(c|c<<4)&3272356035,c=(c|c<<2)&1227133513,u|=c<<1,f&=1023,f=(f|f<<16)&4278190335,f=(f|f<<8)&251719695,f=(f|f<<4)&3272356035,f=(f|f<<2)&1227133513,u|f<<2},a.deinterleave3=function(u,c){return u=u>>>c&1227133513,u=(u|u>>>2)&3272356035,u=(u|u>>>4)&251719695,u=(u|u>>>8)&4278190335,u=(u|u>>>16)&1023,u<<22>>22},a.nextCombination=function(u){var c=u|u-1;return c+1|(~c&-~c)-1>>>s(u)+1}},2014(n,a,o){"use strict";"use restrict";var s=o(3105),l=o(4623);function u(y){for(var E=0,S=Math.max,C=0,k=y.length;C>1,F=h(y[D],E);F<=0?(F===0&&(k=D),S=D+1):F>0&&(C=D-1)}return k}a.findCell=m;function g(y,E){for(var S=new Array(y.length),C=0,k=S.length;C=y.length||h(y[$],D)!==0););}return S}a.incidence=g;function w(y,E){if(!E)return g(v(_(y,0)),y,0);for(var S=new Array(E),C=0;C>>L&1&&R.push(k[L]);E.push(R)}return p(E)}a.explode=b;function _(y,E){if(E<0)return[];for(var S=[],C=(1<>1:(q>>1)-1}function C(q){for(var J=E(q);;){var U=J,V=2*q+1,X=2*(q+1),H=q;if(V0;){var U=S(q);if(U>=0){var V=E(U);if(J0){var q=R[0];return y(0,B-1),B-=1,C(0),q}return-1}function F(q,J){var U=R[q];return w[U]===J?q:(w[U]=-1/0,k(q),D(),w[U]=J,B+=1,k(B-1))}function P(q){if(!b[q]){b[q]=!0;var J=m[q],U=g[q];m[U]>=0&&(m[U]=J),g[J]>=0&&(g[J]=U),L[J]>=0&&F(L[J],A(J)),L[U]>=0&&F(L[U],A(U))}}for(var R=[],L=new Array(p),_=0;_>1;_>=0;--_)C(_);for(;;){var O=D();if(O<0||w[O]>d)break;P(O)}for(var $=[],_=0;_=0&&U>=0&&J!==U){var V=L[J],X=L[U];V!==X&&j.push([V,X])}}),l.unique(l.normalize(j)),{positions:$,edges:j}}},1303(n,a,o){"use strict";n.exports=u;var s=o(3250);function l(c,f){var h,d;if(f[0][0]f[1][0])h=f[1],d=f[0];else{var p=Math.min(c[0][1],c[1][1]),v=Math.max(c[0][1],c[1][1]),m=Math.min(f[0][1],f[1][1]),g=Math.max(f[0][1],f[1][1]);return vg?p-g:v-g}var w,b;c[0][1]f[1][0])h=f[1],d=f[0];else return l(f,c);var p,v;if(c[0][0]c[1][0])p=c[1],v=c[0];else return-l(c,f);var m=s(h,d,v),g=s(h,d,p);if(m<0){if(g<=0)return m}else if(m>0){if(g>=0)return m}else if(g)return g;if(m=s(v,p,d),g=s(v,p,h),m<0){if(g<=0)return m}else if(m>0){if(g>=0)return m}else if(g)return g;return d[0]-v[0]}},4209(n,a,o){"use strict";n.exports=g;var s=o(2478),l=o(3840),u=o(3250),c=o(1303);function f(w,b,_){this.slabs=w,this.coordinates=b,this.horizontal=_}var h=f.prototype;function d(w,b){return w.y-b}function p(w,b){for(var _=null;w;){var M=w.key,x,T;M[0][0]0)if(b[0]!==M[1][0])_=w,w=w.right;else{var y=p(w.right,b);if(y)return y;w=w.left}else{if(b[0]!==M[1][0])return w;var y=p(w.right,b);if(y)return y;w=w.left}}return _}h.castUp=function(w){var b=s.le(this.coordinates,w[0]);if(b<0)return-1;var _=this.slabs[b],M=p(this.slabs[b],w),x=-1;if(M&&(x=M.value),this.coordinates[b]===w[0]){var T=null;if(M&&(T=M.key),b>0){var A=p(this.slabs[b-1],w);A&&(T?c(A.key,T)>0&&(T=A.key,x=A.value):(x=A.value,T=A.key))}var y=this.horizontal[b];if(y.length>0){var E=s.ge(y,w[1],d);if(E=y.length)return x;S=y[E]}}if(S.start)if(T){var C=u(T[0],T[1],[w[0],S.y]);T[0][0]>T[1][0]&&(C=-C),C>0&&(x=S.index)}else x=S.index;else S.y!==w[1]&&(x=S.index)}}}return x};function v(w,b,_,M){this.y=w,this.index=b,this.start=_,this.closed=M}function m(w,b,_,M){this.x=w,this.segment=b,this.create=_,this.index=M}function g(w){for(var b=w.length,_=2*b,M=new Array(_),x=0;x1&&(b=1);for(var _=1-b,M=p.length,x=new Array(M),T=0;T0||w>0&&x<0){var T=c(b,x,_,w);m.push(T),g.push(T.slice())}x<0?g.push(_.slice()):x>0?m.push(_.slice()):(m.push(_.slice()),g.push(_.slice())),w=x}return{positive:m,negative:g}}function h(p,v){for(var m=[],g=u(p[p.length-1],v),w=p[p.length-1],b=p[0],_=0;_0||g>0&&M<0)&&m.push(c(w,M,b,g)),M>=0&&m.push(b.slice()),g=M}return m}function d(p,v){for(var m=[],g=u(p[p.length-1],v),w=p[p.length-1],b=p[0],_=0;_0||g>0&&M<0)&&m.push(c(w,M,b,g)),M<=0&&m.push(b.slice()),g=M}return m}},3387(n,a,o){var s;(function(){"use strict";var l={not_string:/[^s]/,not_bool:/[^t]/,not_type:/[^T]/,not_primitive:/[^v]/,number:/[diefg]/,numeric_arg:/[bcdiefguxX]/,json:/[j]/,not_json:/[^j]/,text:/^[^\x25]+/,modulo:/^\x25{2}/,placeholder:/^\x25(?:([1-9]\d*)\$|\(([^)]+)\))?(\+)?(0|'[^$])?(-)?(\d+)?(?:\.(\d+))?([b-gijostTuvxX])/,key:/^([a-z_][a-z_\d]*)/i,key_access:/^\.([a-z_][a-z_\d]*)/i,index_access:/^\[(\d+)\]/,sign:/^[+-]/};function u(p){return f(d(p),arguments)}function c(p,v){return u.apply(null,[p].concat(v||[]))}function f(p,v){var m=1,g=p.length,w,b="",_,M,x,T,A,y,E,S;for(_=0;_=0),x.type){case"b":w=parseInt(w,10).toString(2);break;case"c":w=String.fromCharCode(parseInt(w,10));break;case"d":case"i":w=parseInt(w,10);break;case"j":w=JSON.stringify(w,null,x.width?parseInt(x.width):0);break;case"e":w=x.precision?parseFloat(w).toExponential(x.precision):parseFloat(w).toExponential();break;case"f":w=x.precision?parseFloat(w).toFixed(x.precision):parseFloat(w);break;case"g":w=x.precision?String(Number(w.toPrecision(x.precision))):parseFloat(w);break;case"o":w=(parseInt(w,10)>>>0).toString(8);break;case"s":w=String(w),w=x.precision?w.substring(0,x.precision):w;break;case"t":w=String(!!w),w=x.precision?w.substring(0,x.precision):w;break;case"T":w=Object.prototype.toString.call(w).slice(8,-1).toLowerCase(),w=x.precision?w.substring(0,x.precision):w;break;case"u":w=parseInt(w,10)>>>0;break;case"v":w=w.valueOf(),w=x.precision?w.substring(0,x.precision):w;break;case"x":w=(parseInt(w,10)>>>0).toString(16);break;case"X":w=(parseInt(w,10)>>>0).toString(16).toUpperCase();break}l.json.test(x.type)?b+=w:(l.number.test(x.type)&&(!E||x.sign)?(S=E?"+":"-",w=w.toString().replace(l.sign,"")):S="",A=x.pad_char?x.pad_char==="0"?"0":x.pad_char.charAt(1):" ",y=x.width-(S+w).length,T=x.width&&y>0?A.repeat(y):"",b+=x.align?S+w+T:A==="0"?S+T+w:T+S+w)}return b}var h=Object.create(null);function d(p){if(h[p])return h[p];for(var v=p,m,g=[],w=0;v;){if((m=l.text.exec(v))!==null)g.push(m[0]);else if((m=l.modulo.exec(v))!==null)g.push("%");else if((m=l.placeholder.exec(v))!==null){if(m[2]){w|=1;var b=[],_=m[2],M=[];if((M=l.key.exec(_))!==null)for(b.push(M[1]);(_=_.substring(M[0].length))!=="";)if((M=l.key_access.exec(_))!==null)b.push(M[1]);else if((M=l.index_access.exec(_))!==null)b.push(M[1]);else throw new SyntaxError("[sprintf] failed to parse named argument key");else throw new SyntaxError("[sprintf] failed to parse named argument key");m[2]=b}else w|=2;if(w===3)throw new Error("[sprintf] mixing positional and named placeholders is not (yet) supported");g.push({placeholder:m[0],param_no:m[1],keys:m[2],sign:m[3],pad_char:m[4],align:m[5],width:m[6],precision:m[7],type:m[8]})}else throw new SyntaxError("[sprintf] unexpected placeholder");v=v.substring(m[0].length)}return h[p]=g}a.sprintf=u,a.vsprintf=c,typeof window!="undefined"&&(window.sprintf=u,window.vsprintf=c,s=(function(){return{sprintf:u,vsprintf:c}}).call(a,o,a,n),s!==void 0&&(n.exports=s))})()},3711(n,a,o){"use strict";n.exports=d;var s=o(2640),l=o(781),u={"2d":function(p,v,m){var g=p({order:v,scalarArguments:3,getters:m==="generic"?[0]:void 0,phase:function(b,_,M,x){return b>x|0},vertex:function(b,_,M,x,T,A,y,E,S,C,k,D,F){var P=(y<<0)+(E<<1)+(S<<2)+(C<<3)|0;if(!(P===0||P===15))switch(P){case 0:k.push([b-.5,_-.5]);break;case 1:k.push([b-.25-.25*(x+M-2*F)/(M-x),_-.25-.25*(T+M-2*F)/(M-T)]);break;case 2:k.push([b-.75-.25*(-x-M+2*F)/(x-M),_-.25-.25*(A+x-2*F)/(x-A)]);break;case 3:k.push([b-.5,_-.5-.5*(T+M+A+x-4*F)/(M-T+x-A)]);break;case 4:k.push([b-.25-.25*(A+T-2*F)/(T-A),_-.75-.25*(-T-M+2*F)/(T-M)]);break;case 5:k.push([b-.5-.5*(x+M+A+T-4*F)/(M-x+T-A),_-.5]);break;case 6:k.push([b-.5-.25*(-x-M+A+T)/(x-M+T-A),_-.5-.25*(-T-M+A+x)/(T-M+x-A)]);break;case 7:k.push([b-.75-.25*(A+T-2*F)/(T-A),_-.75-.25*(A+x-2*F)/(x-A)]);break;case 8:k.push([b-.75-.25*(-A-T+2*F)/(A-T),_-.75-.25*(-A-x+2*F)/(A-x)]);break;case 9:k.push([b-.5-.25*(x+M+-A-T)/(M-x+A-T),_-.5-.25*(T+M+-A-x)/(M-T+A-x)]);break;case 10:k.push([b-.5-.5*(-x-M+-A-T+4*F)/(x-M+A-T),_-.5]);break;case 11:k.push([b-.25-.25*(-A-T+2*F)/(A-T),_-.75-.25*(T+M-2*F)/(M-T)]);break;case 12:k.push([b-.5,_-.5-.5*(-T-M+-A-x+4*F)/(T-M+A-x)]);break;case 13:k.push([b-.75-.25*(x+M-2*F)/(M-x),_-.25-.25*(-A-x+2*F)/(A-x)]);break;case 14:k.push([b-.25-.25*(-x-M+2*F)/(x-M),_-.25-.25*(-T-M+2*F)/(T-M)]);break;case 15:k.push([b-.5,_-.5]);break}},cell:function(b,_,M,x,T,A,y,E,S){T?E.push([b,_]):E.push([_,b])}});return function(w,b){var _=[],M=[];return g(w,_,M,b),{positions:_,cells:M}}}};function c(p,v){var m=p.length+"d",g=u[m];if(g)return g(s,p,v)}function f(p,v){for(var m=l(p,v),g=m.length,w=new Array(g),b=new Array(g),_=0;_Math.max(x,T)?A[2]=1:x>Math.max(M,T)?A[0]=1:A[1]=1;for(var y=0,E=0,S=0;S<3;++S)y+=_[S]*_[S],E+=A[S]*_[S];for(var S=0;S<3;++S)A[S]-=E/y*_[S];return f(A,A),A}function m(_,M,x,T,A,y,E,S){this.center=s(x),this.up=s(T),this.right=s(A),this.radius=s([y]),this.angle=s([E,S]),this.angle.bounds=[[-1/0,-Math.PI/2],[1/0,Math.PI/2]],this.setDistanceLimits(_,M),this.computedCenter=this.center.curve(0),this.computedUp=this.up.curve(0),this.computedRight=this.right.curve(0),this.computedRadius=this.radius.curve(0),this.computedAngle=this.angle.curve(0),this.computedToward=[0,0,0],this.computedEye=[0,0,0],this.computedMatrix=new Array(16);for(var C=0;C<16;++C)this.computedMatrix[C]=.5;this.recalcMatrix(0)}var g=m.prototype;g.setDistanceLimits=function(_,M){_>0?_=Math.log(_):_=-1/0,M>0?M=Math.log(M):M=1/0,M=Math.max(M,_),this.radius.bounds[0][0]=_,this.radius.bounds[1][0]=M},g.getDistanceLimits=function(_){var M=this.radius.bounds[0];return _?(_[0]=Math.exp(M[0][0]),_[1]=Math.exp(M[1][0]),_):[Math.exp(M[0][0]),Math.exp(M[1][0])]},g.recalcMatrix=function(_){this.center.curve(_),this.up.curve(_),this.right.curve(_),this.radius.curve(_),this.angle.curve(_);for(var M=this.computedUp,x=this.computedRight,T=0,A=0,y=0;y<3;++y)A+=M[y]*x[y],T+=M[y]*M[y];for(var E=Math.sqrt(T),S=0,y=0;y<3;++y)x[y]-=M[y]*A/T,S+=x[y]*x[y],M[y]/=E;for(var C=Math.sqrt(S),y=0;y<3;++y)x[y]/=C;var k=this.computedToward;c(k,M,x),f(k,k);for(var D=Math.exp(this.computedRadius[0]),F=this.computedAngle[0],P=this.computedAngle[1],R=Math.cos(F),L=Math.sin(F),I=Math.cos(P),B=Math.sin(P),O=this.computedCenter,$=R*I,Y=L*I,K=B,j=-R*B,q=-L*B,J=I,U=this.computedEye,V=this.computedMatrix,y=0;y<3;++y){var X=$*x[y]+Y*k[y]+K*M[y];V[4*y+1]=j*x[y]+q*k[y]+J*M[y],V[4*y+2]=X,V[4*y+3]=0}var H=V[1],G=V[5],Q=V[9],te=V[2],ce=V[6],ge=V[10],Ce=G*ge-Q*ce,be=Q*te-H*ge,he=H*ce-G*te,oe=d(Ce,be,he);Ce/=oe,be/=oe,he/=oe,V[0]=Ce,V[4]=be,V[8]=he;for(var y=0;y<3;++y)U[y]=O[y]+V[2+4*y]*D;for(var y=0;y<3;++y){for(var S=0,Ee=0;Ee<3;++Ee)S+=V[y+4*Ee]*U[Ee];V[12+y]=-S}V[15]=1},g.getMatrix=function(_,M){this.recalcMatrix(_);var x=this.computedMatrix;if(M){for(var T=0;T<16;++T)M[T]=x[T];return M}return x};var w=[0,0,0];g.rotate=function(_,M,x,T){if(this.angle.move(_,M,x),T){this.recalcMatrix(_);var A=this.computedMatrix;w[0]=A[2],w[1]=A[6],w[2]=A[10];for(var y=this.computedUp,E=this.computedRight,S=this.computedToward,C=0;C<3;++C)A[4*C]=y[C],A[4*C+1]=E[C],A[4*C+2]=S[C];u(A,A,T,w);for(var C=0;C<3;++C)y[C]=A[4*C],E[C]=A[4*C+1];this.up.set(_,y[0],y[1],y[2]),this.right.set(_,E[0],E[1],E[2])}},g.pan=function(_,M,x,T){M=M||0,x=x||0,T=T||0,this.recalcMatrix(_);var A=this.computedMatrix,y=Math.exp(this.computedRadius[0]),E=A[1],S=A[5],C=A[9],k=d(E,S,C);E/=k,S/=k,C/=k;var D=A[0],F=A[4],P=A[8],R=D*E+F*S+P*C;D-=E*R,F-=S*R,P-=C*R;var L=d(D,F,P);D/=L,F/=L,P/=L;var I=D*M+E*x,B=F*M+S*x,O=P*M+C*x;this.center.move(_,I,B,O);var $=Math.exp(this.computedRadius[0]);$=Math.max(1e-4,$+T),this.radius.set(_,Math.log($))},g.translate=function(_,M,x,T){this.center.move(_,M||0,x||0,T||0)},g.setMatrix=function(_,M,x,T){var A=1;typeof x=="number"&&(A=x|0),(A<0||A>3)&&(A=1);var y=(A+2)%3,E=(A+1)%3;M||(this.recalcMatrix(_),M=this.computedMatrix);var S=M[A],C=M[A+4],k=M[A+8];if(T){var F=Math.abs(S),P=Math.abs(C),R=Math.abs(k),L=Math.max(F,P,R);F===L?(S=S<0?-1:1,C=k=0):R===L?(k=k<0?-1:1,S=C=0):(C=C<0?-1:1,S=k=0)}else{var D=d(S,C,k);S/=D,C/=D,k/=D}var I=M[y],B=M[y+4],O=M[y+8],$=I*S+B*C+O*k;I-=S*$,B-=C*$,O-=k*$;var Y=d(I,B,O);I/=Y,B/=Y,O/=Y;var K=C*O-k*B,j=k*I-S*O,q=S*B-C*I,J=d(K,j,q);K/=J,j/=J,q/=J,this.center.jump(_,xe,re,pe),this.radius.idle(_),this.up.jump(_,S,C,k),this.right.jump(_,I,B,O);var U,V;if(A===2){var X=M[1],H=M[5],G=M[9],Q=X*I+H*B+G*O,te=X*K+H*j+G*q;be<0?U=-Math.PI/2:U=Math.PI/2,V=Math.atan2(te,Q)}else{var ce=M[2],ge=M[6],Ce=M[10],be=ce*S+ge*C+Ce*k,he=ce*I+ge*B+Ce*O,oe=ce*K+ge*j+Ce*q;U=Math.asin(p(be)),V=Math.atan2(oe,he)}this.angle.jump(_,V,U),this.recalcMatrix(_);var Ee=M[2],ye=M[6],ue=M[10],ee=this.computedMatrix;l(ee,M);var ae=ee[15],xe=ee[12]/ae,re=ee[13]/ae,pe=ee[14]/ae,we=Math.exp(this.computedRadius[0]);this.center.jump(_,xe-Ee*we,re-ye*we,pe-ue*we)},g.lastT=function(){return Math.max(this.center.lastT(),this.up.lastT(),this.right.lastT(),this.radius.lastT(),this.angle.lastT())},g.idle=function(_){this.center.idle(_),this.up.idle(_),this.right.idle(_),this.radius.idle(_),this.angle.idle(_)},g.flush=function(_){this.center.flush(_),this.up.flush(_),this.right.flush(_),this.radius.flush(_),this.angle.flush(_)},g.setDistance=function(_,M){M>0&&this.radius.set(_,Math.log(M))},g.lookAt=function(_,M,x,T){this.recalcMatrix(_),M=M||this.computedEye,x=x||this.computedCenter,T=T||this.computedUp;var A=T[0],y=T[1],E=T[2],S=d(A,y,E);if(!(S<1e-6)){A/=S,y/=S,E/=S;var C=M[0]-x[0],k=M[1]-x[1],D=M[2]-x[2],F=d(C,k,D);if(!(F<1e-6)){C/=F,k/=F,D/=F;var P=this.computedRight,R=P[0],L=P[1],I=P[2],B=A*R+y*L+E*I;R-=B*A,L-=B*y,I-=B*E;var O=d(R,L,I);if(!(O<.01&&(R=y*D-E*k,L=E*C-A*D,I=A*k-y*C,O=d(R,L,I),O<1e-6))){R/=O,L/=O,I/=O,this.up.set(_,A,y,E),this.right.set(_,R,L,I),this.center.set(_,x[0],x[1],x[2]),this.radius.set(_,Math.log(F));var $=y*I-E*L,Y=E*R-A*I,K=A*L-y*R,j=d($,Y,K);$/=j,Y/=j,K/=j;var q=A*C+y*k+E*D,J=R*C+L*k+I*D,U=$*C+Y*k+K*D,V=Math.asin(p(q)),X=Math.atan2(U,J),H=this.angle._state,G=H[H.length-1],Q=H[H.length-2];G=G%(2*Math.PI);var te=Math.abs(G+2*Math.PI-X),ce=Math.abs(G-X),ge=Math.abs(G-2*Math.PI-X);te0?I.pop():new ArrayBuffer(R)}a.mallocArrayBuffer=w;function b(P){return new Uint8Array(w(P),0,P)}a.mallocUint8=b;function _(P){return new Uint16Array(w(2*P),0,P)}a.mallocUint16=_;function M(P){return new Uint32Array(w(4*P),0,P)}a.mallocUint32=M;function x(P){return new Int8Array(w(P),0,P)}a.mallocInt8=x;function T(P){return new Int16Array(w(2*P),0,P)}a.mallocInt16=T;function A(P){return new Int32Array(w(4*P),0,P)}a.mallocInt32=A;function y(P){return new Float32Array(w(4*P),0,P)}a.mallocFloat32=a.mallocFloat=y;function E(P){return new Float64Array(w(8*P),0,P)}a.mallocFloat64=a.mallocDouble=E;function S(P){return c?new Uint8ClampedArray(w(P),0,P):b(P)}a.mallocUint8Clamped=S;function C(P){return f?new BigUint64Array(w(8*P),0,P):null}a.mallocBigUint64=C;function k(P){return h?new BigInt64Array(w(8*P),0,P):null}a.mallocBigInt64=k;function D(P){return new DataView(w(P),0,P)}a.mallocDataView=D;function F(P){P=s.nextPow2(P);var R=s.log2(P),L=v[R];return L.length>0?L.pop():new u(P)}a.mallocBuffer=F,a.clearCache=function(){for(var R=0;R<32;++R)d.UINT8[R].length=0,d.UINT16[R].length=0,d.UINT32[R].length=0,d.INT8[R].length=0,d.INT16[R].length=0,d.INT32[R].length=0,d.FLOAT[R].length=0,d.DOUBLE[R].length=0,d.BIGUINT64[R].length=0,d.BIGINT64[R].length=0,d.UINT8C[R].length=0,p[R].length=0,v[R].length=0}},1755(n){"use strict";"use restrict";n.exports=a;function a(s){this.roots=new Array(s),this.ranks=new Array(s);for(var l=0;l",I="",B=L.length,O=I.length,$=F[0]===w||F[0]===M,Y=0,K=-O;Y>-1&&(Y=P.indexOf(L,Y),!(Y===-1||(K=P.indexOf(I,Y+B),K===-1)||K<=Y));){for(var j=Y;j=K)R[j]=null,P=P.substr(0,j)+" "+P.substr(j+1);else if(R[j]!==null){var q=R[j].indexOf(F[0]);q===-1?R[j]+=F:$&&(R[j]=R[j].substr(0,q+1)+(1+parseInt(R[j][q+1]))+R[j].substr(q+2))}var J=Y+B,U=P.substr(J,K-J),V=U.indexOf(L);V!==-1?Y=V:Y=K+O}return R}function A(D,F,P){for(var R=F.textAlign||"start",L=F.textBaseline||"alphabetic",I=[1<<30,1<<30],B=[0,0],O=D.length,$=0;$/g,` +`):P=P.replace(/\/g," ");var B="",O=[];for(G=0;G-1?parseInt(re[1+Fe]):0,_e=Se>-1?parseInt(pe[1+Se]):0;ke!==_e&&(we=we.replace(he(),"?px "),ce*=Math.pow(.75,_e-ke),we=we.replace("?px ",he())),te+=.25*q*(_e-ke)}if(I.superscripts===!0){var Ie=re.indexOf(w),Oe=pe.indexOf(w),Qe=Ie>-1?parseInt(re[1+Ie]):0,et=Oe>-1?parseInt(pe[1+Oe]):0;Qe!==et&&(we=we.replace(he(),"?px "),ce*=Math.pow(.75,et-Qe),we=we.replace("?px ",he())),te-=.25*q*(et-Qe)}if(I.bolds===!0){var _t=re.indexOf(p)>-1,ut=pe.indexOf(p)>-1;!_t&&ut&&(vt?we=we.replace("italic ","italic bold "):we="bold "+we),_t&&!ut&&(we=we.replace("bold ",""))}if(I.italics===!0){var vt=re.indexOf(m)>-1,Xe=pe.indexOf(m)>-1;!vt&&Xe&&(we="italic "+we),vt&&!Xe&&(we=we.replace("italic ",""))}F.font=we}for(H=0;H0&&(L=R.size),R.lineSpacing&&R.lineSpacing>0&&(I=R.lineSpacing),R.styletags&&R.styletags.breaklines&&(B.breaklines=!!R.styletags.breaklines),R.styletags&&R.styletags.bolds&&(B.bolds=!!R.styletags.bolds),R.styletags&&R.styletags.italics&&(B.italics=!!R.styletags.italics),R.styletags&&R.styletags.subscripts&&(B.subscripts=!!R.styletags.subscripts),R.styletags&&R.styletags.superscripts&&(B.superscripts=!!R.styletags.superscripts)),P.font=[R.fontStyle,R.fontVariant,R.fontWeight,L+"px",R.font].filter(function($){return $}).join(" "),P.textAlign="start",P.textBaseline="alphabetic",P.direction="ltr";var O=y(F,P,D,L,I,B);return C(O,R,L)}},1538(n){(function(){"use strict";if(typeof ses!="undefined"&&ses.ok&&!ses.ok())return;function o(S){S.permitHostObjects___&&S.permitHostObjects___(o)}typeof ses!="undefined"&&(ses.weakMapPermitHostObjects=o);var s=!1;if(typeof WeakMap=="function"){var l=WeakMap;if(!(typeof navigator!="undefined"&&/Firefox/.test(navigator.userAgent))){var u=new l,c=Object.freeze({});if(u.set(c,1),u.get(c)!==1)s=!0;else{n.exports=WeakMap;return}}}var f=Object.prototype.hasOwnProperty,h=Object.getOwnPropertyNames,d=Object.defineProperty,p=Object.isExtensible,v="weakmap:",m=v+"ident:"+Math.random()+"___";if(typeof crypto!="undefined"&&typeof crypto.getRandomValues=="function"&&typeof ArrayBuffer=="function"&&typeof Uint8Array=="function"){var g=new ArrayBuffer(25),w=new Uint8Array(g);crypto.getRandomValues(w),m=v+"rand:"+Array.prototype.map.call(w,function(S){return(S%36).toString(36)}).join("")+"___"}function b(S){return!(S.substr(0,v.length)==v&&S.substr(S.length-3)==="___")}if(d(Object,"getOwnPropertyNames",{value:function(C){return h(C).filter(b)}}),"getPropertyNames"in Object){var _=Object.getPropertyNames;d(Object,"getPropertyNames",{value:function(C){return _(C).filter(b)}})}function M(S){if(S!==Object(S))throw new TypeError("Not an object: "+S);var C=S[m];if(C&&C.key===S)return C;if(p(S)){C={key:S};try{return d(S,m,{value:C,writable:!1,enumerable:!1,configurable:!1}),C}catch(k){return}}}(function(){var S=Object.freeze;d(Object,"freeze",{value:function(F){return M(F),S(F)}});var C=Object.seal;d(Object,"seal",{value:function(F){return M(F),C(F)}});var k=Object.preventExtensions;d(Object,"preventExtensions",{value:function(F){return M(F),k(F)}})})();function x(S){return S.prototype=null,Object.freeze(S)}var T=!1;function A(){!T&&typeof console!="undefined"&&(T=!0,console.warn("WeakMap should be invoked as new WeakMap(), not WeakMap(). This will be an error in the future."))}var y=0,E=function(){this instanceof E||A();var S=[],C=[],k=y++;function D(L,I){var B,O=M(L);return O?k in O?O[k]:I:(B=S.indexOf(L),B>=0?C[B]:I)}function F(L){var I=M(L);return I?k in I:S.indexOf(L)>=0}function P(L,I){var B,O=M(L);return O?O[k]=I:(B=S.indexOf(L),B>=0?C[B]=I:(B=S.length,C[B]=I,S[B]=L)),this}function R(L){var I=M(L),B,O;return I?k in I&&delete I[k]:(B=S.indexOf(L),B<0?!1:(O=S.length-1,S[B]=void 0,C[B]=C[O],S[B]=S[O],S.length=O,C.length=O,!0))}return Object.create(E.prototype,{get___:{value:x(D)},has___:{value:x(F)},set___:{value:x(P)},delete___:{value:x(R)}})};E.prototype=Object.create(Object.prototype,{get:{value:function(C,k){return this.get___(C,k)},writable:!0,configurable:!0},has:{value:function(C){return this.has___(C)},writable:!0,configurable:!0},set:{value:function(C,k){return this.set___(C,k)},writable:!0,configurable:!0},delete:{value:function(C){return this.delete___(C)},writable:!0,configurable:!0}}),typeof l=="function"?(function(){s&&typeof Proxy!="undefined"&&(Proxy=void 0);function S(){this instanceof E||A();var C=new l,k=void 0,D=!1;function F(I,B){return k?C.has(I)?C.get(I):k.get___(I,B):C.get(I,B)}function P(I){return C.has(I)||(k?k.has___(I):!1)}var R;s?R=function(I,B){return C.set(I,B),C.has(I)||(k||(k=new E),k.set(I,B)),this}:R=function(I,B){if(D)try{C.set(I,B)}catch(O){k||(k=new E),k.set___(I,B)}else C.set(I,B);return this};function L(I){var B=!!C.delete(I);return k&&k.delete___(I)||B}return Object.create(E.prototype,{get___:{value:x(F)},has___:{value:x(P)},set___:{value:x(R)},delete___:{value:x(L)},permitHostObjects___:{value:x(function(I){if(I===o)D=!0;else throw new Error("bogus call to permitHostObjects___")})}})}S.prototype=E.prototype,n.exports=S,Object.defineProperty(WeakMap.prototype,"constructor",{value:WeakMap,enumerable:!1,configurable:!0,writable:!0})})():(typeof Proxy!="undefined"&&(Proxy=void 0),n.exports=E)})()},236(n,a,o){var s=o(8284);n.exports=l;function l(){var u={};return function(c){if((typeof c!="object"||c===null)&&typeof c!="function")throw new Error("Weakmap-shim: Key must be object");var f=c.valueOf(u);return f&&f.identity===u?f:s(c,u)}}},8284(n){n.exports=a;function a(o,s){var l={identity:s},u=o.valueOf;return Object.defineProperty(o,"valueOf",{value:function(c){return c!==s?u.apply(this,arguments):l},writable:!0}),l}},606(n,a,o){var s=o(236);n.exports=l;function l(){var u=s();return{get:function(c,f){var h=u(c);return h.hasOwnProperty("value")?h.value:f},set:function(c,f){return u(c).value=f,this},has:function(c){return"value"in u(c)},delete:function(c){return delete u(c).value}}}},3349(n){"use strict";function a(){return function(f,h,d,p,v,m){var g=f[0],w=d[0],b=[0],_=w;p|=0;var M=0,x=w;for(M=0;M=0!=A>=0&&v.push(b[0]+.5+.5*(T+A)/(T-A))}p+=x,++b[0]}}}function o(){return a()}var s=o;function l(f){var h={};return function(p,v,m){var g=p.dtype,w=p.order,b=[g,w.join()].join(),_=h[b];return _||(h[b]=_=f([g,w])),_(p.shape.slice(0),p.data,p.stride,p.offset|0,v,m)}}function u(f){return l(s.bind(void 0,f))}function c(f){return u({funcName:f.funcName})}n.exports=c({funcName:"zeroCrossings"})},781(n,a,o){"use strict";n.exports=l;var s=o(3349);function l(u,c){var f=[];return c=+c||0,s(u.hi(u.shape[0]-1),f,c),f}},7790(){}};let t={};function r(n){let a=t[n];if(a!==void 0)return a.exports;let o=t[n]={id:n,loaded:!1,exports:{}};return e[n].call(o.exports,o,o.exports,r),o.loaded=!0,o.exports}r.g=(function(){if(typeof globalThis=="object")return globalThis;try{return this||new Function("return this")()}catch(n){if(typeof window=="object")return window}})(),r.nmd=n=>(n.paths=[],n.children||(n.children=[]),n);let i=r(3065);dqe.exports=i})()});var om=W((fHr,pqe)=>{"use strict";var{normalize:oKt}=ni();function sKt(e){return e?oKt(e):[0,0,0,1]}pqe.exports=sKt});var sm=W((hHr,_qe)=>{"use strict";var yqe=sn(),mI=Jo(),M4=ni(),lKt=Vl().defaultLine,vqe=yc().isArrayOrTypedArray,NK=M4.normalize(lKt),xqe=1;function gqe(e,t){return[e[0],e[1],e[2],e[3]*t]}function OK(e){return yqe(e)||!M4.isChannelArray(e)&&!M4.isValid(e)?NK:M4.normalize(e)}function mqe(e){return yqe(e)?e:xqe}function uKt(e,t,r){var i=e.color;i&&i._inputArray&&(i=i._inputArray);var n=vqe(i),a=vqe(t),o=mI.extractOpts(e),s=[],l,u,c,f,h;if(o.colorscale!==void 0?l=mI.makeColorScaleFuncFromTrace(e):l=OK,n?u=(p,v)=>p[v]===void 0?NK:o.colorscale===void 0?l(p[v]):M4.normalize(l(p[v])):u=OK,a?c=function(p,v){return p[v]===void 0?xqe:mqe(p[v])}:c=mqe,n||a)for(var d=0;d{"use strict";bqe.exports={solid:[[],0],dot:[[.5,1],200],dash:[[.5,1],50],longdash:[[.5,1],10],dashdot:[[.5,.625,.875,1],50],longdashdot:[[.5,.7,.8,1],10]}});var yI=W((pHr,wqe)=>{"use strict";wqe.exports={circle:"\u25CF","circle-open":"\u25CB",square:"\u25A0","square-open":"\u25A1",diamond:"\u25C6","diamond-open":"\u25C7",cross:"+",x:"\u274C"}});var Aqe=W((vHr,Tqe)=>{"use strict";var fKt=yi();function VK(e,t,r,i){if(!t||!t.visible)return null;for(var n=fKt.getComponentMethod("errorbars","makeComputeError")(t),a=new Array(e.length),o=0;o0){var f=i.c2l(u);i._lowerLogErrorBound||(i._lowerLogErrorBound=f),i._lowerErrorBound=Math.min(i._lowerLogErrorBound,f)}}else a[o]=[-s[0]*r,s[1]*r]}return a}function hKt(e){for(var t=0;t{"use strict";var pKt=nc().gl_line3d,Mqe=nc().gl_scatter3d,vKt=nc().gl_error3d,gKt=nc().gl_mesh3d,mKt=nc().delaunay_triangulate,lm=it(),Dqe=om(),xI=sm().formatColor,yKt=fA(),GK=UK(),xKt=yI(),_Kt=ji(),bKt=Kf().appendArrayPointValue,wKt=Aqe();function Fqe(e,t){this.scene=e,this.uid=t,this.linePlot=null,this.scatterPlot=null,this.errorBars=null,this.textMarkers=null,this.delaunayMesh=null,this.color=null,this.mode="",this.dataPoints=[],this.axesBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.textLabels=null,this.data=null}var jK=Fqe.prototype;jK.handlePick=function(e){if(e.object&&(e.object===this.linePlot||e.object===this.delaunayMesh||e.object===this.textMarkers||e.object===this.scatterPlot)){var t=e.index=e.data.index;return e.object.highlight&&e.object.highlight(null),this.scatterPlot&&(e.object=this.scatterPlot,this.scatterPlot.highlight(e.data)),e.textLabel="",this.textLabels&&(lm.isArrayOrTypedArray(this.textLabels)?(this.textLabels[t]||this.textLabels[t]===0)&&(e.textLabel=this.textLabels[t]):e.textLabel=this.textLabels),e.traceCoordinate=[this.data.x[t],this.data.y[t],this.data.z[t]],!0}};function TKt(e,t,r){var i=(r+1)%3,n=(r+2)%3,a=[],o=[],s;for(s=0;s-1?-1:e.indexOf("right")>-1?1:0}function Eqe(e){return e==null?0:e.indexOf("top")>-1?-1:e.indexOf("bottom")>-1?1:0}function MKt(e){var t=0,r=0,i=[t,r];if(Array.isArray(e))for(var n=0;n=0){var u=TKt(s.position,s.delaunayColor,s.delaunayAxis);u.opacity=e.opacity,this.delaunayMesh?this.delaunayMesh.update(u):(u.gl=t,this.delaunayMesh=gKt(u),this.delaunayMesh._trace=this,this.scene.glplot.add(this.delaunayMesh))}else this.delaunayMesh&&(this.scene.glplot.remove(this.delaunayMesh),this.delaunayMesh.dispose(),this.delaunayMesh=null)};jK.dispose=function(){this.linePlot&&(this.scene.glplot.remove(this.linePlot),this.linePlot.dispose()),this.scatterPlot&&(this.scene.glplot.remove(this.scatterPlot),this.scatterPlot.dispose()),this.errorBars&&(this.scene.glplot.remove(this.errorBars),this.errorBars.dispose()),this.textMarkers&&(this.scene.glplot.remove(this.textMarkers),this.textMarkers.dispose()),this.delaunayMesh&&(this.scene.glplot.remove(this.delaunayMesh),this.delaunayMesh.dispose())};function CKt(e,t){var r=new Fqe(e,t.uid);return r.update(t),r}Lqe.exports=CKt});var ZK=W((mHr,Bqe)=>{"use strict";var um=Ns(),DKt=Ho(),XK=Eo(),$K=_s().axisHoverFormat,{hovertemplateAttrs:FKt,texttemplateAttrs:LKt,templatefallbackAttrs:Iqe}=Ga(),Rqe=Wa(),PKt=UK(),IKt=yI(),cv=tn().extendFlat,RKt=ls().overrideAll,zqe=(qx(),Go(Bx)).default,zKt=um.line,_b=um.marker,BKt=_b.line,qKt=cv({width:zKt.width,dash:{valType:"enumerated",values:zqe(PKt),dflt:"solid"}},XK("line"));function WK(e){return{show:{valType:"boolean",dflt:!1},opacity:{valType:"number",min:0,max:1,dflt:1},scale:{valType:"number",min:0,max:10,dflt:2/3}}}var YK=Bqe.exports=RKt({x:um.x,y:um.y,z:{valType:"data_array"},text:cv({},um.text,{}),texttemplate:LKt(),texttemplatefallback:Iqe({editType:"calc"}),hovertext:cv({},um.hovertext,{}),hovertemplate:FKt(),hovertemplatefallback:Iqe(),xhoverformat:$K("x"),yhoverformat:$K("y"),zhoverformat:$K("z"),mode:cv({},um.mode,{dflt:"lines+markers"}),surfaceaxis:{valType:"enumerated",values:[-1,0,1,2],dflt:-1},surfacecolor:{valType:"color"},projection:{x:WK("x"),y:WK("y"),z:WK("z")},connectgaps:um.connectgaps,line:qKt,marker:cv({symbol:{valType:"enumerated",values:zqe(IKt),dflt:"circle",arrayOk:!0},size:cv({},_b.size,{dflt:8}),sizeref:_b.sizeref,sizemin:_b.sizemin,sizemode:_b.sizemode,opacity:cv({},_b.opacity,{arrayOk:!1}),colorbar:_b.colorbar,line:cv({width:cv({},BKt.width,{arrayOk:!1})},XK("marker.line"))},XK("marker")),textposition:cv({},um.textposition,{dflt:"top center"}),textfont:DKt({noFontShadow:!0,noFontLineposition:!0,noFontTextcase:!0,editType:"calc",colorEditType:"style",arrayOk:!0,variantValues:["normal","small-caps"]}),opacity:Rqe.opacity,hoverinfo:cv({},Rqe.hoverinfo)},"calc","nested");YK.x.editType=YK.y.editType=YK.z.editType="calc+clearAxisTypes"});var Nqe=W((yHr,Oqe)=>{"use strict";var qqe=yi(),OKt=it(),KK=$o(),NKt=bd(),UKt=jp(),VKt=$p(),GKt=ZK();Oqe.exports=function(t,r,i,n){function a(d,p){return OKt.coerce(t,r,GKt,d,p)}var o=HKt(t,r,a,n);if(!o){r.visible=!1;return}a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("xhoverformat"),a("yhoverformat"),a("zhoverformat"),a("mode"),KK.hasMarkers(r)&&NKt(t,r,i,n,a,{noAngle:!0,noLineDash:!0,noSelect:!0}),KK.hasLines(r)&&(a("connectgaps"),UKt(t,r,i,n,a)),KK.hasText(r)&&(a("texttemplate"),a("texttemplatefallback"),VKt(t,r,n,a,{noSelect:!0,noFontShadow:!0,noFontLineposition:!0,noFontTextcase:!0}));var s=(r.line||{}).color,l=(r.marker||{}).color;a("surfaceaxis")>=0&&a("surfacecolor",s||l);for(var u=["x","y","z"],c=0;c<3;++c){var f="projection."+u[c];a(f+".show")&&(a(f+".opacity"),a(f+".scale"))}var h=qqe.getComponentMethod("errorbars","supplyDefaults");h(t,r,s||l||i,{axis:"z"}),h(t,r,s||l||i,{axis:"y",inherit:"z"}),h(t,r,s||l||i,{axis:"x",inherit:"z"})};function HKt(e,t,r,i){var n=0,a=r("x"),o=r("y"),s=r("z"),l=qqe.getComponentMethod("calendars","handleTraceDefaults");return l(e,t,["x","y","z"],i),a&&o&&s&&(n=Math.min(a.length,o.length,s.length),t._length=t._xlength=t._ylength=t._zlength=n),n}});var Vqe=W((xHr,Uqe)=>{"use strict";var jKt=x1(),$Kt=wd();Uqe.exports=function(t,r){var i=[{x:!1,y:!1,trace:r,t:{}}];return jKt(i,r),$Kt(t,r),i}});var Hqe=W((_Hr,Gqe)=>{Gqe.exports=WKt;function WKt(e,t){if(typeof e!="string")throw new TypeError("must specify type string");if(t=t||{},typeof document=="undefined"&&!t.canvas)return null;var r=t.canvas||document.createElement("canvas");typeof t.width=="number"&&(r.width=t.width),typeof t.height=="number"&&(r.height=t.height);var i=t,n;try{var a=[e];e.indexOf("webgl")===0&&a.push("experimental-"+e);for(var o=0;o{var YKt=Hqe();jqe.exports=function(t){return YKt("webgl",t)}});var JK=W((wHr,Yqe)=>{"use strict";var Wqe=ni(),XKt=function(){};Yqe.exports=function(t){for(var r in t)typeof t[r]=="function"&&(t[r]=XKt);t.destroy=function(){t.container.parentNode.removeChild(t.container)};var i=document.createElement("div");i.className="no-webgl",i.style.cursor="pointer",i.style.fontSize="24px",i.style.color=Wqe.defaults[0],i.style.position="absolute",i.style.left=i.style.top="0px",i.style.width=i.style.height="100%",i.style["background-color"]=Wqe.lightLine,i.style["z-index"]=30;var n=document.createElement("p");return n.textContent="WebGL is not supported by your browser - visit https://get.webgl.org for more info",n.style.position="relative",n.style.top="50%",n.style.left="50%",n.style.height="30%",n.style.width="50%",n.style.margin="-15% 0 0 -25%",i.appendChild(n),t.container.appendChild(i),t.container.style.background="#FFFFFF",t.container.onclick=function(){window.open("https://get.webgl.org")},!1}});var Kqe=W((THr,Zqe)=>{"use strict";var bb=om(),ZKt=it(),KKt=["xaxis","yaxis","zaxis"];function Xqe(){this.bounds=[[-10,-10,-10],[10,10,10]],this.ticks=[[],[],[]],this.tickEnable=[!0,!0,!0],this.tickFont=["sans-serif","sans-serif","sans-serif"],this.tickSize=[12,12,12],this.tickFontWeight=["normal","normal","normal","normal"],this.tickFontStyle=["normal","normal","normal","normal"],this.tickFontVariant=["normal","normal","normal","normal"],this.tickAngle=[0,0,0],this.tickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.tickPad=[18,18,18],this.labels=["x","y","z"],this.labelEnable=[!0,!0,!0],this.labelFont=["Open Sans","Open Sans","Open Sans"],this.labelSize=[20,20,20],this.labelFontWeight=["normal","normal","normal","normal"],this.labelFontStyle=["normal","normal","normal","normal"],this.labelFontVariant=["normal","normal","normal","normal"],this.labelColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.labelPad=[30,30,30],this.lineEnable=[!0,!0,!0],this.lineMirror=[!1,!1,!1],this.lineWidth=[1,1,1],this.lineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.lineTickEnable=[!0,!0,!0],this.lineTickMirror=[!1,!1,!1],this.lineTickLength=[10,10,10],this.lineTickWidth=[1,1,1],this.lineTickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.gridEnable=[!0,!0,!0],this.gridWidth=[1,1,1],this.gridColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroEnable=[!0,!0,!0],this.zeroLineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroLineWidth=[2,2,2],this.backgroundEnable=[!0,!0,!0],this.backgroundColor=[[.8,.8,.8,.5],[.8,.8,.8,.5],[.8,.8,.8,.5]],this._defaultTickPad=this.tickPad.slice(),this._defaultLabelPad=this.labelPad.slice(),this._defaultLineTickLength=this.lineTickLength.slice()}var JKt=Xqe.prototype;JKt.merge=function(e,t){for(var r=this,i=0;i<3;++i){var n=t[KKt[i]];if(!n.visible){r.tickEnable[i]=!1,r.labelEnable[i]=!1,r.lineEnable[i]=!1,r.lineTickEnable[i]=!1,r.gridEnable[i]=!1,r.zeroEnable[i]=!1,r.backgroundEnable[i]=!1;continue}r.labels[i]=e._meta?ZKt.templateString(n.title.text,e._meta):n.title.text,"font"in n.title&&(n.title.font.color&&(r.labelColor[i]=bb(n.title.font.color)),n.title.font.family&&(r.labelFont[i]=n.title.font.family),n.title.font.size&&(r.labelSize[i]=n.title.font.size),n.title.font.weight&&(r.labelFontWeight[i]=n.title.font.weight),n.title.font.style&&(r.labelFontStyle[i]=n.title.font.style),n.title.font.variant&&(r.labelFontVariant[i]=n.title.font.variant)),"showline"in n&&(r.lineEnable[i]=n.showline),"linecolor"in n&&(r.lineColor[i]=bb(n.linecolor)),"linewidth"in n&&(r.lineWidth[i]=n.linewidth),"showgrid"in n&&(r.gridEnable[i]=n.showgrid),"gridcolor"in n&&(r.gridColor[i]=bb(n.gridcolor)),"gridwidth"in n&&(r.gridWidth[i]=n.gridwidth),n.type==="log"?r.zeroEnable[i]=!1:"zeroline"in n&&(r.zeroEnable[i]=n.zeroline),"zerolinecolor"in n&&(r.zeroLineColor[i]=bb(n.zerolinecolor)),"zerolinewidth"in n&&(r.zeroLineWidth[i]=n.zerolinewidth),"ticks"in n&&n.ticks?r.lineTickEnable[i]=!0:r.lineTickEnable[i]=!1,"ticklen"in n&&(r.lineTickLength[i]=r._defaultLineTickLength[i]=n.ticklen),"tickcolor"in n&&(r.lineTickColor[i]=bb(n.tickcolor)),"tickwidth"in n&&(r.lineTickWidth[i]=n.tickwidth),"tickangle"in n&&(r.tickAngle[i]=n.tickangle==="auto"?-3600:Math.PI*-n.tickangle/180),"showticklabels"in n&&(r.tickEnable[i]=n.showticklabels),"tickfont"in n&&(n.tickfont.color&&(r.tickColor[i]=bb(n.tickfont.color)),n.tickfont.family&&(r.tickFont[i]=n.tickfont.family),n.tickfont.size&&(r.tickSize[i]=n.tickfont.size),n.tickfont.weight&&(r.tickFontWeight[i]=n.tickfont.weight),n.tickfont.style&&(r.tickFontStyle[i]=n.tickfont.style),n.tickfont.variant&&(r.tickFontVariant[i]=n.tickfont.variant)),"mirror"in n?["ticks","all","allticks"].indexOf(n.mirror)!==-1?(r.lineTickMirror[i]=!0,r.lineMirror[i]=!0):n.mirror===!0?(r.lineTickMirror[i]=!1,r.lineMirror[i]=!0):(r.lineTickMirror[i]=!1,r.lineMirror[i]=!1):r.lineMirror[i]=!1,"showbackground"in n&&n.showbackground!==!1?(r.backgroundEnable[i]=!0,r.backgroundColor[i]=bb(n.backgroundcolor)):r.backgroundEnable[i]=!1}};function QKt(e,t){var r=new Xqe;return r.merge(e,t),r}Zqe.exports=QKt});var eOe=W((AHr,Qqe)=>{"use strict";var eJt=om(),tJt=["xaxis","yaxis","zaxis"];function Jqe(){this.enabled=[!0,!0,!0],this.colors=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.drawSides=[!0,!0,!0],this.lineWidth=[1,1,1]}var rJt=Jqe.prototype;rJt.merge=function(e){for(var t=0;t<3;++t){var r=e[tJt[t]];if(!r.visible){this.enabled[t]=!1,this.drawSides[t]=!1;continue}this.enabled[t]=r.showspikes,this.colors[t]=eJt(r.spikecolor),this.drawSides[t]=r.spikesides,this.lineWidth[t]=r.spikethickness}};function iJt(e){var t=new Jqe;return t.merge(e),t}Qqe.exports=iJt});var iOe=W((MHr,rOe)=>{"use strict";rOe.exports=lJt;var tOe=ji(),nJt=it(),aJt=["xaxis","yaxis","zaxis"],oJt=[0,0,0];function sJt(e){for(var t=new Array(3),r=0;r<3;++r){for(var i=e[r],n=new Array(i.length),a=0;a/g," "));n[a]=u,o.tickmode=s}}t.ticks=n;for(var a=0;a<3;++a){oJt[a]=.5*(e.glplot.bounds[0][a]+e.glplot.bounds[1][a]);for(var c=0;c<2;++c)t.bounds[c][a]=e.glplot.bounds[c][a]}e.contourLevels=sJt(n)}});var cOe=W((SHr,uOe)=>{"use strict";var oOe=nc().gl_plot3d,uJt=oOe.createCamera,nOe=oOe.createScene,cJt=$qe(),fJt=XD(),wI=yi(),nh=it(),bI=nh.preserveDrawingBuffer(),TI=ji(),fv=Ds(),hJt=om(),dJt=JK(),pJt=d$(),vJt=Kqe(),gJt=eOe(),mJt=iOe(),yJt=Op().applyAutorangeOptions,aE,_I,sOe=!1;function lOe(e,t){var r=document.createElement("div"),i=e.container;this.graphDiv=e.graphDiv;var n=document.createElementNS("http://www.w3.org/2000/svg","svg");n.style.position="absolute",n.style.top=n.style.left="0px",n.style.width=n.style.height="100%",n.style["z-index"]=20,n.style["pointer-events"]="none",r.appendChild(n),this.svgContainer=n,r.id=e.id,r.style.position="absolute",r.style.top=r.style.left="0px",r.style.width=r.style.height="100%",i.appendChild(r),this.fullLayout=t,this.id=e.id||"scene",this.fullSceneLayout=t[this.id],this.plotArgs=[[],{},{}],this.axesOptions=vJt(t,t[this.id]),this.spikeOptions=gJt(t[this.id]),this.container=r,this.staticMode=!!e.staticPlot,this.pixelRatio=this.pixelRatio||e.plotGlPixelRatio||2,this.dataScale=[1,1,1],this.contourLevels=[[],[],[]],this.convertAnnotations=wI.getComponentMethod("annotations3d","convert"),this.drawAnnotations=wI.getComponentMethod("annotations3d","draw"),this.initializeGLPlot()}var af=lOe.prototype;af.prepareOptions=function(){var e=this,t={canvas:e.canvas,gl:e.gl,glOptions:{preserveDrawingBuffer:bI,premultipliedAlpha:!0,antialias:!0},container:e.container,axes:e.axesOptions,spikes:e.spikeOptions,pickRadius:10,snapToData:!0,autoScale:!0,autoBounds:!1,cameraObject:e.camera,pixelRatio:e.pixelRatio};if(e.staticMode){if(!_I&&(aE=document.createElement("canvas"),_I=cJt({canvas:aE,preserveDrawingBuffer:!0,premultipliedAlpha:!0,antialias:!0}),!_I))throw new Error("error creating static canvas/context for image server");t.gl=_I,t.canvas=aE}return t};var aOe=!0;af.tryCreatePlot=function(){var e=this,t=e.prepareOptions(),r=!0;try{e.glplot=nOe(t)}catch(i){if(e.staticMode||!aOe||bI)r=!1;else{nh.warn(["webgl setup failed possibly due to","false preserveDrawingBuffer config.","The mobile/tablet device may not be detected by is-mobile module.","Enabling preserveDrawingBuffer in second attempt to create webgl scene..."].join(" "));try{bI=t.glOptions.preserveDrawingBuffer=!0,e.glplot=nOe(t)}catch(n){bI=t.glOptions.preserveDrawingBuffer=!1,r=!1}}}return aOe=!1,r};af.initializeGLCamera=function(){var e=this,t=e.fullSceneLayout.camera,r=t.projection.type==="orthographic";e.camera=uJt(e.container,{center:[t.center.x,t.center.y,t.center.z],eye:[t.eye.x,t.eye.y,t.eye.z],up:[t.up.x,t.up.y,t.up.z],_ortho:r,zoomMin:.01,zoomMax:100,mode:"orbit"})};af.initializeGLPlot=function(){var e=this;e.initializeGLCamera();var t=e.tryCreatePlot();if(!t)return dJt(e);e.traces={},e.make4thDimension();var r=e.graphDiv,i=r.layout,n=function(){var o={};return e.isCameraChanged(i)&&(o[e.id+".camera"]=e.getCamera()),e.isAspectChanged(i)&&(o[e.id+".aspectratio"]=e.glplot.getAspectratio(),i[e.id].aspectmode!=="manual"&&(e.fullSceneLayout.aspectmode=i[e.id].aspectmode=o[e.id+".aspectmode"]="manual")),o},a=function(o){if(o.fullSceneLayout.dragmode!==!1){var s=n();o.saveLayout(i),o.graphDiv.emit("plotly_relayout",s)}};return e.glplot.canvas&&(e.glplot.canvas.addEventListener("mouseup",function(){a(e)}),e.glplot.canvas.addEventListener("touchstart",function(){sOe=!0}),e.glplot.canvas.addEventListener("wheel",function(o){if(r._context._scrollZoom.gl3d){if(e.camera._ortho){var s=o.deltaX>o.deltaY?1.1:.9090909090909091,l=e.glplot.getAspectratio();e.glplot.setAspectratio({x:s*l.x,y:s*l.y,z:s*l.z})}a(e)}},fJt?{passive:!1}:!1),e.glplot.canvas.addEventListener("mousemove",function(){if(e.fullSceneLayout.dragmode!==!1&&e.camera.mouseListener.buttons!==0){var o=n();e.graphDiv.emit("plotly_relayouting",o)}}),e.staticMode||e.glplot.canvas.addEventListener("webglcontextlost",function(o){r&&r.emit&&r.emit("plotly_webglcontextlost",{event:o,layer:e.id})},!1)),e.glplot.oncontextloss=function(){e.recoverContext()},e.glplot.onrender=function(){e.render()},!0};af.render=function(){var e=this,t=e.graphDiv,r,i=e.svgContainer,n=e.container.getBoundingClientRect();t._fullLayout._calcInverseTransform(t);var a=t._fullLayout._invScaleX,o=t._fullLayout._invScaleY,s=n.width*a,l=n.height*o;i.setAttributeNS(null,"viewBox","0 0 "+s+" "+l),i.setAttributeNS(null,"width",s),i.setAttributeNS(null,"height",l),mJt(e),e.glplot.axes.update(e.axesOptions);for(var u=Object.keys(e.traces),c=null,f=e.glplot.selection,h=0;h")):r.type==="isosurface"||r.type==="volume"?(g.valueLabel=TI.hoverLabelText(e._mockAxis,e._mockAxis.d2l(f.traceCoordinate[3]),r.valuehoverformat),x.push("value: "+g.valueLabel),f.textLabel&&x.push(f.textLabel),M=x.join("
")):M=f.textLabel;var T={x:f.traceCoordinate[0],y:f.traceCoordinate[1],z:f.traceCoordinate[2],data:v._input,fullData:v,curveNumber:v.index,pointNumber:m};fv.appendArrayPointValue(T,v,m),r._module.eventData&&(T=v._module.eventData(T,f,v,{},m));var A={points:[T]};if(e.fullSceneLayout.hovermode){var y=[];fv.loneHover({trace:v,x:(.5+.5*p[0]/p[3])*s,y:(.5-.5*p[1]/p[3])*l,xLabel:g.xLabel,yLabel:g.yLabel,zLabel:g.zLabel,text:M,name:c.name,color:fv.castHoverOption(v,m,"bgcolor")||c.color,borderColor:fv.castHoverOption(v,m,"bordercolor"),fontFamily:fv.castHoverOption(v,m,"font.family"),fontSize:fv.castHoverOption(v,m,"font.size"),fontColor:fv.castHoverOption(v,m,"font.color"),nameLength:fv.castHoverOption(v,m,"namelength"),textAlign:fv.castHoverOption(v,m,"align"),hovertemplate:nh.castOption(v,m,"hovertemplate"),hovertemplateLabels:nh.extendFlat({},T,g),eventData:[T]},{container:i,gd:t,inOut_bbox:y}),T.bbox=y[0]}f.distance<5&&(f.buttons||sOe)?t.emit("plotly_click",A):t.emit("plotly_hover",A),this.oldEventData=A}else fv.loneUnhover(i),this.oldEventData&&t.emit("plotly_unhover",this.oldEventData),this.oldEventData=void 0;e.drawAnnotations(e)};af.recoverContext=function(){var e=this;e.glplot.dispose();var t=function(){if(e.glplot.gl.isContextLost()){requestAnimationFrame(t);return}if(!e.initializeGLPlot()){nh.error("Catastrophic and unrecoverable WebGL error. Context lost.");return}e.plot.apply(e,e.plotArgs)};requestAnimationFrame(t)};var oE=["xaxis","yaxis","zaxis"];function xJt(e,t,r){for(var i=e.fullSceneLayout,n=0;n<3;n++){var a=oE[n],o=a.charAt(0),s=i[a],l=t[o],u=t[o+"calendar"],c=t["_"+o+"length"];if(!nh.isArrayOrTypedArray(l))r[0][n]=Math.min(r[0][n],0),r[1][n]=Math.max(r[1][n],c-1);else for(var f,h=0;h<(c||l.length);h++)if(nh.isArrayOrTypedArray(l[h]))for(var d=0;dv[1][o])v[0][o]=-1,v[1][o]=1;else{var S=v[1][o]-v[0][o];v[0][o]-=S/32,v[1][o]+=S/32}if(w=[v[0][o],v[1][o]],w=yJt(w,l),v[0][o]=w[0],v[1][o]=w[1],l.isReversed()){var C=v[0][o];v[0][o]=v[1][o],v[1][o]=C}}else w=l.range,v[0][o]=l.r2l(w[0]),v[1][o]=l.r2l(w[1]);v[0][o]===v[1][o]&&(v[0][o]-=1,v[1][o]+=1),m[o]=v[1][o]-v[0][o],l.range=[v[0][o],v[1][o]],l.limitRange(),i.glplot.setBounds(o,{min:l.range[0]*d[o],max:l.range[1]*d[o]})}var k,D=c.aspectmode;if(D==="cube")k=[1,1,1];else if(D==="manual"){var F=c.aspectratio;k=[F.x,F.y,F.z]}else if(D==="auto"||D==="data"){var P=[1,1,1];for(o=0;o<3;++o){l=c[oE[o]],u=l.type;var R=g[u];P[o]=Math.pow(R.acc,1/R.count)/d[o]}D==="data"||Math.max.apply(null,P)/Math.min.apply(null,P)<=4?k=P:k=[1,1,1]}else throw new Error("scene.js aspectRatio was not one of the enumerated types");c.aspectratio.x=f.aspectratio.x=k[0],c.aspectratio.y=f.aspectratio.y=k[1],c.aspectratio.z=f.aspectratio.z=k[2],i.glplot.setAspectratio(c.aspectratio),i.viewInitial.aspectratio||(i.viewInitial.aspectratio={x:c.aspectratio.x,y:c.aspectratio.y,z:c.aspectratio.z}),i.viewInitial.aspectmode||(i.viewInitial.aspectmode=c.aspectmode);var L=c.domain||null,I=t._size||null;if(L&&I){var B=i.container.style;B.position="absolute",B.left=I.l+L.x[0]*I.w+"px",B.top=I.t+(1-L.y[1])*I.h+"px",B.width=I.w*(L.x[1]-L.x[0])+"px",B.height=I.h*(L.y[1]-L.y[0])+"px"}i.glplot.redraw()}};af.destroy=function(){var e=this;e.glplot&&(e.camera.mouseListener.enabled=!1,e.container.removeEventListener("wheel",e.camera.wheelListener),e.camera=null,e.glplot.dispose(),e.container.parentNode.removeChild(e.container),e.glplot=null)};function bJt(e){return[[e.eye.x,e.eye.y,e.eye.z],[e.center.x,e.center.y,e.center.z],[e.up.x,e.up.y,e.up.z]]}function wJt(e){return{up:{x:e.up[0],y:e.up[1],z:e.up[2]},center:{x:e.center[0],y:e.center[1],z:e.center[2]},eye:{x:e.eye[0],y:e.eye[1],z:e.eye[2]},projection:{type:e._ortho===!0?"orthographic":"perspective"}}}af.getCamera=function(){var e=this;return e.camera.view.recalcMatrix(e.camera.view.lastT()),wJt(e.camera)};af.setViewport=function(e){var t=this,r=e.camera;t.camera.lookAt.apply(this,bJt(r)),t.glplot.setAspectratio(e.aspectratio);var i=r.projection.type==="orthographic",n=t.camera._ortho;i!==n&&(t.glplot.redraw(),t.glplot.clearRGBA(),t.glplot.dispose(),t.initializeGLPlot())};af.isCameraChanged=function(e){var t=this,r=t.getCamera(),i=nh.nestedProperty(e,t.id+".camera"),n=i.get();function a(u,c,f,h){var d=["up","center","eye"],p=["x","y","z"];return c[d[f]]&&u[d[f]][p[h]]===c[d[f]][p[h]]}var o=!1;if(n===void 0)o=!0;else{for(var s=0;s<3;s++)for(var l=0;l<3;l++)if(!a(r,n,s,l)){o=!0;break}(!n.projection||r.projection&&r.projection.type!==n.projection.type)&&(o=!0)}return o};af.isAspectChanged=function(e){var t=this,r=t.glplot.getAspectratio(),i=nh.nestedProperty(e,t.id+".aspectratio"),n=i.get();return n===void 0||n.x!==r.x||n.y!==r.y||n.z!==r.z};af.saveLayout=function(e){var t=this,r=t.fullLayout,i,n,a,o,s,l,u=t.isCameraChanged(e),c=t.isAspectChanged(e),f=u||c;if(f){var h={};if(u&&(i=t.getCamera(),n=nh.nestedProperty(e,t.id+".camera"),a=n.get(),h[t.id+".camera"]=a),c&&(o=t.glplot.getAspectratio(),s=nh.nestedProperty(e,t.id+".aspectratio"),l=s.get(),h[t.id+".aspectratio"]=l),wI.call("_storeDirectGUIEdit",e,r._preGUI,h),u){n.set(i);var d=nh.nestedProperty(r,t.id+".camera");d.set(i)}if(c){s.set(o);var p=nh.nestedProperty(r,t.id+".aspectratio");p.set(o),t.glplot.redraw()}}return f};af.updateFx=function(e,t){var r=this,i=r.camera;if(i)if(e==="orbit")i.mode="orbit",i.keyBindingMode="rotate";else if(e==="turntable"){i.up=[0,0,1],i.mode="turntable",i.keyBindingMode="rotate";var n=r.graphDiv,a=n._fullLayout,o=r.fullSceneLayout.camera,s=o.up.x,l=o.up.y,u=o.up.z;if(u/Math.sqrt(s*s+l*l+u*u)<.999){var c=r.id+".camera.up",f={x:0,y:0,z:1},h={};h[c]=f;var d=n.layout;wI.call("_storeDirectGUIEdit",d,a._preGUI,h),o.up=f,nh.nestedProperty(d,c).set(f)}}else i.keyBindingMode=e;r.fullSceneLayout.hovermode=t};function TJt(e,t,r){for(var i=0,n=r-1;i0)for(var s=255/o,l=0;l<3;++l)e[a+l]=Math.min(s*e[a+l],255)}}af.toImage=function(e){var t=this;e||(e="png"),t.staticMode&&t.container.appendChild(aE),t.glplot.redraw();var r=t.glplot.gl,i=r.drawingBufferWidth,n=r.drawingBufferHeight;r.bindFramebuffer(r.FRAMEBUFFER,null);var a=new Uint8Array(i*n*4);r.readPixels(0,0,i,n,r.RGBA,r.UNSIGNED_BYTE,a),TJt(a,i,n),AJt(a,i,n);var o=document.createElement("canvas");o.width=i,o.height=n;var s=o.getContext("2d",{willReadFrequently:!0}),l=s.createImageData(i,n);l.data.set(a),s.putImageData(l,0,0);var u;switch(e){case"jpeg":u=o.toDataURL("image/jpeg");break;case"webp":u=o.toDataURL("image/webp");break;default:u=o.toDataURL("image/png")}return t.staticMode&&t.container.removeChild(aE),u};af.setConvert=function(){for(var e=this,t=0;t<3;t++){var r=e.fullSceneLayout[oE[t]];TI.setConvert(r,e.fullLayout),r.setScale=nh.noop}};af.make4thDimension=function(){var e=this,t=e.graphDiv,r=t._fullLayout;e._mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},TI.setConvert(e._mockAxis,r)};uOe.exports=lOe});var hOe=W((EHr,fOe)=>{"use strict";fOe.exports={scene:{valType:"subplotid",dflt:"scene",editType:"calc+clearAxisTypes"}}});var eJ=W((kHr,dOe)=>{"use strict";var MJt=ni(),Xn=ec(),QK=tn().extendFlat,SJt=ls().overrideAll;dOe.exports=SJt({visible:Xn.visible,showspikes:{valType:"boolean",dflt:!0},spikesides:{valType:"boolean",dflt:!0},spikethickness:{valType:"number",min:0,dflt:2},spikecolor:{valType:"color",dflt:MJt.defaultLine},showbackground:{valType:"boolean",dflt:!1},backgroundcolor:{valType:"color",dflt:"rgba(204, 204, 204, 0.5)"},showaxeslabels:{valType:"boolean",dflt:!0},color:Xn.color,categoryorder:Xn.categoryorder,categoryarray:Xn.categoryarray,title:{text:Xn.title.text,font:Xn.title.font},type:QK({},Xn.type,{values:["-","linear","log","date","category"]}),autotypenumbers:Xn.autotypenumbers,autorange:Xn.autorange,autorangeoptions:{minallowed:Xn.autorangeoptions.minallowed,maxallowed:Xn.autorangeoptions.maxallowed,clipmin:Xn.autorangeoptions.clipmin,clipmax:Xn.autorangeoptions.clipmax,include:Xn.autorangeoptions.include,editType:"plot"},rangemode:Xn.rangemode,minallowed:Xn.minallowed,maxallowed:Xn.maxallowed,range:QK({},Xn.range,{items:[{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}},{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}}],anim:!1}),tickmode:Xn.minor.tickmode,nticks:Xn.nticks,tick0:Xn.tick0,dtick:Xn.dtick,tickvals:Xn.tickvals,ticktext:Xn.ticktext,ticks:Xn.ticks,mirror:Xn.mirror,ticklen:Xn.ticklen,tickwidth:Xn.tickwidth,tickcolor:Xn.tickcolor,showticklabels:Xn.showticklabels,labelalias:Xn.labelalias,tickfont:Xn.tickfont,tickangle:Xn.tickangle,tickprefix:Xn.tickprefix,showtickprefix:Xn.showtickprefix,ticksuffix:Xn.ticksuffix,showticksuffix:Xn.showticksuffix,showexponent:Xn.showexponent,exponentformat:Xn.exponentformat,minexponent:Xn.minexponent,separatethousands:Xn.separatethousands,tickformat:Xn.tickformat,tickformatstops:Xn.tickformatstops,hoverformat:Xn.hoverformat,showline:Xn.showline,linecolor:Xn.linecolor,linewidth:Xn.linewidth,showgrid:Xn.showgrid,gridcolor:QK({},Xn.gridcolor,{dflt:"rgb(204, 204, 204)"}),gridwidth:Xn.gridwidth,zeroline:Xn.zeroline,zerolinecolor:Xn.zerolinecolor,zerolinewidth:Xn.zerolinewidth},"plot","from-root")});var nJ=W((CHr,pOe)=>{"use strict";var tJ=eJ(),EJt=us().attributes,rJ=tn().extendFlat,kJt=it().counterRegex;function iJ(e,t,r){return{x:{valType:"number",dflt:e,editType:"camera"},y:{valType:"number",dflt:t,editType:"camera"},z:{valType:"number",dflt:r,editType:"camera"},editType:"camera"}}pOe.exports={_arrayAttrRegexps:[kJt("scene",".annotations",!0)],bgcolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"plot"},camera:{up:rJ(iJ(0,0,1),{}),center:rJ(iJ(0,0,0),{}),eye:rJ(iJ(1.25,1.25,1.25),{}),projection:{type:{valType:"enumerated",values:["perspective","orthographic"],dflt:"perspective",editType:"calc"},editType:"calc"},editType:"camera"},domain:EJt({name:"scene",editType:"plot"}),aspectmode:{valType:"enumerated",values:["auto","cube","data","manual"],dflt:"auto",editType:"plot",impliedEdits:{"aspectratio.x":void 0,"aspectratio.y":void 0,"aspectratio.z":void 0}},aspectratio:{x:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},y:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},z:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},editType:"plot",impliedEdits:{aspectmode:"manual"}},xaxis:tJ,yaxis:tJ,zaxis:tJ,dragmode:{valType:"enumerated",values:["orbit","turntable","zoom","pan",!1],editType:"plot"},hovermode:{valType:"enumerated",values:["closest",!1],dflt:"closest",editType:"modebar"},uirevision:{valType:"any",editType:"none"},editType:"plot"}});var yOe=W((DHr,mOe)=>{"use strict";var CJt=ni(),vOe=it(),DJt=Da(),FJt=eJ(),LJt=Kj(),PJt=mM(),gOe=["xaxis","yaxis","zaxis"],IJt=13600/187;mOe.exports=function(t,r,i){var n,a;function o(u,c){return vOe.coerce(n,a,FJt,u,c)}for(var s=0;s{"use strict";var RJt=it(),zJt=ni(),BJt=yi(),qJt=q_(),OJt=yOe(),xOe=nJ(),NJt=_c().getSubplotData,_Oe="gl3d";bOe.exports=function(t,r,i){var n=r._basePlotModules.length>1;function a(o){if(!n){var s=RJt.validate(t[o],xOe[o]);if(s)return t[o]}}qJt(t,r,i,{type:_Oe,attributes:xOe,handleDefaults:UJt,fullLayout:r,font:r.font,fullData:i,getDfltFromLayout:a,autotypenumbersDflt:r.autotypenumbers,paper_bgcolor:r.paper_bgcolor,calendar:r.calendar})};function UJt(e,t,r,i){for(var n=r("bgcolor"),a=zJt.combine(n,i.paper_bgcolor),o=["up","center","eye"],s=0;s.999)&&(h="turntable")}else h="turntable";r("dragmode",h),r("hovermode",i.getDfltFromLayout("hovermode"))}});var w2=W(ah=>{"use strict";var VJt=ls().overrideAll,GJt=sy(),HJt=cOe(),jJt=_c().getSubplotData,$Jt=it(),WJt=sd(),S4="gl3d",aJ="scene";ah.name=S4;ah.attr=aJ;ah.idRoot=aJ;ah.idRegex=ah.attrRegex=$Jt.counterRegex("scene");ah.attributes=hOe();ah.layoutAttributes=nJ();ah.baseLayoutAttrOverrides=VJt({hoverlabel:GJt.hoverlabel},"plot","nested");ah.supplyLayoutDefaults=wOe();ah.plot=function(t){for(var r=t._fullLayout,i=t._fullData,n=r._subplots[S4],a=0;a{"use strict";TOe.exports={plot:Pqe(),attributes:ZK(),markerSymbols:yI(),supplyDefaults:Nqe(),colorbar:[{container:"marker",min:"cmin",max:"cmax"},{container:"line",min:"cmin",max:"cmax"}],calc:Vqe(),moduleType:"trace",name:"scatter3d",basePlotModule:w2(),categories:["gl3d","symbols","showLegend","scatter-like"],meta:{}}});var SOe=W((IHr,MOe)=>{"use strict";MOe.exports=AOe()});var sE=W((RHr,COe)=>{"use strict";var EOe=ni(),YJt=Eo(),oJ=_s().axisHoverFormat,{hovertemplateAttrs:XJt,templatefallbackAttrs:ZJt}=Ga(),kOe=Wa(),sJ=tn().extendFlat,KJt=ls().overrideAll;function lJ(e){return{valType:"boolean",dflt:!1}}function uJ(e){return{show:{valType:"boolean",dflt:!1},start:{valType:"number",dflt:null,editType:"plot"},end:{valType:"number",dflt:null,editType:"plot"},size:{valType:"number",dflt:null,min:0,editType:"plot"},project:{x:lJ("x"),y:lJ("y"),z:lJ("z")},color:{valType:"color",dflt:EOe.defaultLine},usecolormap:{valType:"boolean",dflt:!1},width:{valType:"number",min:1,max:16,dflt:2},highlight:{valType:"boolean",dflt:!0},highlightcolor:{valType:"color",dflt:EOe.defaultLine},highlightwidth:{valType:"number",min:1,max:16,dflt:2}}}var cJ=COe.exports=KJt(sJ({z:{valType:"data_array"},x:{valType:"data_array"},y:{valType:"data_array"},text:{valType:"string",dflt:"",arrayOk:!0},hovertext:{valType:"string",dflt:"",arrayOk:!0},hovertemplate:XJt(),hovertemplatefallback:ZJt(),xhoverformat:oJ("x"),yhoverformat:oJ("y"),zhoverformat:oJ("z"),connectgaps:{valType:"boolean",dflt:!1,editType:"calc"},surfacecolor:{valType:"data_array"}},YJt("",{colorAttr:"z or surfacecolor",showScaleDflt:!0,autoColorDflt:!1,editTypeOverride:"calc"}),{contours:{x:uJ("x"),y:uJ("y"),z:uJ("z")},hidesurface:{valType:"boolean",dflt:!1},lightposition:{x:{valType:"number",min:-1e5,max:1e5,dflt:10},y:{valType:"number",min:-1e5,max:1e5,dflt:1e4},z:{valType:"number",min:-1e5,max:1e5,dflt:0}},lighting:{ambient:{valType:"number",min:0,max:1,dflt:.8},diffuse:{valType:"number",min:0,max:1,dflt:.8},specular:{valType:"number",min:0,max:2,dflt:.05,description:"Represents the level that incident rays are reflected in a single direction, causing shine."},roughness:{valType:"number",min:0,max:1,dflt:.5,description:"Alters specular reflection; the rougher the surface, the wider and less contrasty the shine."},fresnel:{valType:"number",min:0,max:5,dflt:.2}},opacity:{valType:"number",min:0,max:1,dflt:1},opacityscale:{valType:"any",editType:"calc"},hoverinfo:sJ({},kOe.hoverinfo),showlegend:sJ({},kOe.showlegend,{dflt:!1})}),"calc","nested");cJ.x.editType=cJ.y.editType=cJ.z.editType="calc+clearAxisTypes"});var hJ=W((zHr,LOe)=>{"use strict";var JJt=yi(),DOe=it(),QJt=Fu(),eQt=sE(),fJ=.1;function tQt(e,t){for(var r=[],i=32,n=0;n{"use strict";var POe=Zc();IOe.exports=function(t,r){r.surfacecolor?POe(t,r,{vals:r.surfacecolor,containerStr:"",cLetter:"c"}):POe(t,r,{vals:r.z,containerStr:"",cLetter:"c"})}});var UOe=W((qHr,NOe)=>{"use strict";var nQt=nc().gl_surface3d,E4=nc().ndarray,aQt=nc().ndarray_linear_interpolate.d2,oQt=_L(),sQt=bL(),lE=it().isArrayOrTypedArray,lQt=sm().parseColorScale,zOe=om(),uQt=Jo().extractOpts;function qOe(e,t,r){this.scene=e,this.uid=r,this.surface=t,this.data=null,this.showContour=[!1,!1,!1],this.contourStart=[null,null,null],this.contourEnd=[null,null,null],this.contourSize=[0,0,0],this.minValues=[1/0,1/0,1/0],this.maxValues=[-1/0,-1/0,-1/0],this.dataScaleX=1,this.dataScaleY=1,this.refineData=!0,this.objectOffset=[0,0,0]}var hv=qOe.prototype;hv.getXat=function(e,t,r,i){var n=lE(this.data.x)?lE(this.data.x[0])?this.data.x[t][e]:this.data.x[e]:e;return r===void 0?n:i.d2l(n,0,r)};hv.getYat=function(e,t,r,i){var n=lE(this.data.y)?lE(this.data.y[0])?this.data.y[t][e]:this.data.y[t]:t;return r===void 0?n:i.d2l(n,0,r)};hv.getZat=function(e,t,r,i){var n=this.data.z[t][e];return n===null&&this.data.connectgaps&&this.data._interpolatedZ&&(n=this.data._interpolatedZ[t][e]),r===void 0?n:i.d2l(n,0,r)};hv.handlePick=function(e){if(e.object===this.surface){var t=(e.data.index[0]-1)/this.dataScaleX-1,r=(e.data.index[1]-1)/this.dataScaleY-1,i=Math.max(Math.min(Math.round(t),this.data.z[0].length-1),0),n=Math.max(Math.min(Math.round(r),this.data._ylength-1),0);e.index=[i,n],e.traceCoordinate=[this.getXat(i,n),this.getYat(i,n),this.getZat(i,n)],e.dataCoordinate=[this.getXat(i,n,this.data.xcalendar,this.scene.fullSceneLayout.xaxis),this.getYat(i,n,this.data.ycalendar,this.scene.fullSceneLayout.yaxis),this.getZat(i,n,this.data.zcalendar,this.scene.fullSceneLayout.zaxis)];for(var a=0;a<3;a++){var o=e.dataCoordinate[a];o!=null&&(e.dataCoordinate[a]*=this.scene.dataScale[a])}var s=this.data.hovertext||this.data.text;return lE(s)&&s[n]&&s[n][i]!==void 0?e.textLabel=s[n][i]:s?e.textLabel=s:e.textLabel="",e.data.dataCoordinate=e.dataCoordinate.slice(),this.surface.highlight(e.data),this.scene.glplot.spikes.position=e.dataCoordinate,!0}};function cQt(e){var t=e[0].rgb,r=e[e.length-1].rgb;return t[0]===r[0]&&t[1]===r[1]&&t[2]===r[2]&&t[3]===r[3]}var k4=[2,3,5,7,11,13,17,19,23,29,31,37,41,43,47,53,59,61,67,71,73,79,83,89,97,101,103,107,109,113,127,131,137,139,149,151,157,163,167,173,179,181,191,193,197,199,211,223,227,229,233,239,241,251,257,263,269,271,277,281,283,293,307,311,313,317,331,337,347,349,353,359,367,373,379,383,389,397,401,409,419,421,431,433,439,443,449,457,461,463,467,479,487,491,499,503,509,521,523,541,547,557,563,569,571,577,587,593,599,601,607,613,617,619,631,641,643,647,653,659,661,673,677,683,691,701,709,719,727,733,739,743,751,757,761,769,773,787,797,809,811,821,823,827,829,839,853,857,859,863,877,881,883,887,907,911,919,929,937,941,947,953,967,971,977,983,991,997,1009,1013,1019,1021,1031,1033,1039,1049,1051,1061,1063,1069,1087,1091,1093,1097,1103,1109,1117,1123,1129,1151,1153,1163,1171,1181,1187,1193,1201,1213,1217,1223,1229,1231,1237,1249,1259,1277,1279,1283,1289,1291,1297,1301,1303,1307,1319,1321,1327,1361,1367,1373,1381,1399,1409,1423,1427,1429,1433,1439,1447,1451,1453,1459,1471,1481,1483,1487,1489,1493,1499,1511,1523,1531,1543,1549,1553,1559,1567,1571,1579,1583,1597,1601,1607,1609,1613,1619,1621,1627,1637,1657,1663,1667,1669,1693,1697,1699,1709,1721,1723,1733,1741,1747,1753,1759,1777,1783,1787,1789,1801,1811,1823,1831,1847,1861,1867,1871,1873,1877,1879,1889,1901,1907,1913,1931,1933,1949,1951,1973,1979,1987,1993,1997,1999,2003,2011,2017,2027,2029,2039,2053,2063,2069,2081,2083,2087,2089,2099,2111,2113,2129,2131,2137,2141,2143,2153,2161,2179,2203,2207,2213,2221,2237,2239,2243,2251,2267,2269,2273,2281,2287,2293,2297,2309,2311,2333,2339,2341,2347,2351,2357,2371,2377,2381,2383,2389,2393,2399,2411,2417,2423,2437,2441,2447,2459,2467,2473,2477,2503,2521,2531,2539,2543,2549,2551,2557,2579,2591,2593,2609,2617,2621,2633,2647,2657,2659,2663,2671,2677,2683,2687,2689,2693,2699,2707,2711,2713,2719,2729,2731,2741,2749,2753,2767,2777,2789,2791,2797,2801,2803,2819,2833,2837,2843,2851,2857,2861,2879,2887,2897,2903,2909,2917,2927,2939,2953,2957,2963,2969,2971,2999];function fQt(e,t){if(e0){r=k4[i];break}return r}function dQt(e,t){if(!(e<1||t<1)){for(var r=dJ(e),i=dJ(t),n=1,a=0;aAI;)i--,i/=hQt(i),i++,i1?n:1};function vQt(e,t,r){var i=r[8]+r[2]*t[0]+r[5]*t[1];return e[0]=(r[6]+r[0]*t[0]+r[3]*t[1])/i,e[1]=(r[7]+r[1]*t[0]+r[4]*t[1])/i,e}function gQt(e,t,r){return mQt(e,t,vQt,r),e}function mQt(e,t,r,i){for(var n=[0,0],a=e.shape[0],o=e.shape[1],s=0;s0&&this.contourStart[i]!==null&&this.contourEnd[i]!==null&&this.contourEnd[i]>this.contourStart[i]))for(t[i]=!0,n=this.contourStart[i];nh&&(this.minValues[u]=h),this.maxValues[u]{"use strict";VOe.exports={attributes:sE(),supplyDefaults:hJ().supplyDefaults,colorbar:{min:"cmin",max:"cmax"},calc:ROe(),plot:UOe(),moduleType:"trace",name:"surface",basePlotModule:w2(),categories:["gl3d","2dMap","showLegend"],meta:{}}});var jOe=W((NHr,HOe)=>{"use strict";HOe.exports=GOe()});var C4=W((UHr,WOe)=>{"use strict";var _Qt=Eo(),pJ=_s().axisHoverFormat,{hovertemplateAttrs:bQt,templatefallbackAttrs:wQt}=Ga(),T2=sE(),$Oe=Wa(),A2=tn().extendFlat;WOe.exports=A2({x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},z:{valType:"data_array",editType:"calc+clearAxisTypes"},i:{valType:"data_array",editType:"calc"},j:{valType:"data_array",editType:"calc"},k:{valType:"data_array",editType:"calc"},text:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertemplate:bQt({editType:"calc"}),hovertemplatefallback:wQt({editType:"calc"}),xhoverformat:pJ("x"),yhoverformat:pJ("y"),zhoverformat:pJ("z"),delaunayaxis:{valType:"enumerated",values:["x","y","z"],dflt:"z",editType:"calc"},alphahull:{valType:"number",dflt:-1,editType:"calc"},intensity:{valType:"data_array",editType:"calc"},intensitymode:{valType:"enumerated",values:["vertex","cell"],dflt:"vertex",editType:"calc"},color:{valType:"color",editType:"calc"},vertexcolor:{valType:"data_array",editType:"calc"},facecolor:{valType:"data_array",editType:"calc"}},_Qt("",{colorAttr:"`intensity`",showScaleDflt:!0,editTypeOverride:"calc"}),{opacity:T2.opacity,flatshading:{valType:"boolean",dflt:!1,editType:"calc"},contour:{show:A2({},T2.contours.x.show,{}),color:T2.contours.x.color,width:T2.contours.x.width,editType:"calc"},lightposition:{x:A2({},T2.lightposition.x,{dflt:1e5}),y:A2({},T2.lightposition.y,{dflt:1e5}),z:A2({},T2.lightposition.z,{dflt:0}),editType:"calc"},lighting:A2({vertexnormalsepsilon:{valType:"number",min:0,max:1,dflt:1e-12,editType:"calc",description:"Epsilon for vertex normals calculation avoids math issues arising from degenerate geometry."},facenormalsepsilon:{valType:"number",min:0,max:1,dflt:1e-6,editType:"calc",description:"Epsilon for face normals calculation avoids math issues arising from degenerate geometry."},editType:"calc"},T2.lighting),hoverinfo:A2({},$Oe.hoverinfo,{editType:"calc"}),showlegend:A2({},$Oe.showlegend,{dflt:!1})})});var SI=W((VHr,XOe)=>{"use strict";var TQt=Eo(),MI=_s().axisHoverFormat,{hovertemplateAttrs:AQt,templatefallbackAttrs:MQt}=Ga(),uE=C4(),YOe=Wa(),vJ=tn().extendFlat,SQt=ls().overrideAll;function gJ(e){return{show:{valType:"boolean",dflt:!1},locations:{valType:"data_array",dflt:[]},fill:{valType:"number",min:0,max:1,dflt:1}}}function mJ(e){return{show:{valType:"boolean",dflt:!0},fill:{valType:"number",min:0,max:1,dflt:1}}}var D4=XOe.exports=SQt(vJ({x:{valType:"data_array"},y:{valType:"data_array"},z:{valType:"data_array"},value:{valType:"data_array"},isomin:{valType:"number"},isomax:{valType:"number"},surface:{show:{valType:"boolean",dflt:!0},count:{valType:"integer",dflt:2,min:1},fill:{valType:"number",min:0,max:1,dflt:1},pattern:{valType:"flaglist",flags:["A","B","C","D","E"],extras:["all","odd","even"],dflt:"all"}},spaceframe:{show:{valType:"boolean",dflt:!1},fill:{valType:"number",min:0,max:1,dflt:.15}},slices:{x:gJ("x"),y:gJ("y"),z:gJ("z")},caps:{x:mJ("x"),y:mJ("y"),z:mJ("z")},text:{valType:"string",dflt:"",arrayOk:!0},hovertext:{valType:"string",dflt:"",arrayOk:!0},hovertemplate:AQt(),hovertemplatefallback:MQt(),xhoverformat:MI("x"),yhoverformat:MI("y"),zhoverformat:MI("z"),valuehoverformat:MI("value",1),showlegend:vJ({},YOe.showlegend,{dflt:!1})},TQt("",{colorAttr:"`value`",showScaleDflt:!0,editTypeOverride:"calc"}),{opacity:uE.opacity,lightposition:uE.lightposition,lighting:uE.lighting,flatshading:uE.flatshading,contour:uE.contour,hoverinfo:vJ({},YOe.hoverinfo)}),"calc","nested");D4.flatshading.dflt=!0;D4.lighting.facenormalsepsilon.dflt=0;D4.x.editType=D4.y.editType=D4.z.editType=D4.value.editType="calc+clearAxisTypes"});var yJ=W((GHr,KOe)=>{"use strict";var EQt=it(),kQt=yi(),CQt=SI(),DQt=Fu();function FQt(e,t,r,i){function n(a,o){return EQt.coerce(e,t,CQt,a,o)}ZOe(e,t,r,i,n)}function ZOe(e,t,r,i,n){var a=n("isomin"),o=n("isomax");o!=null&&a!==void 0&&a!==null&&a>o&&(t.isomin=null,t.isomax=null);var s=n("x"),l=n("y"),u=n("z"),c=n("value");if(!s||!s.length||!l||!l.length||!u||!u.length||!c||!c.length){t.visible=!1;return}var f=kQt.getComponentMethod("calendars","handleTraceDefaults");f(e,t,["x","y","z"],i),n("valuehoverformat"),["x","y","z"].forEach(function(v){n(v+"hoverformat");var m="caps."+v,g=n(m+".show");g&&n(m+".fill");var w="slices."+v,b=n(w+".show");b&&(n(w+".fill"),n(w+".locations"))});var h=n("spaceframe.show");h&&n("spaceframe.fill");var d=n("surface.show");d&&(n("surface.count"),n("surface.fill"),n("surface.pattern"));var p=n("contour.show");p&&(n("contour.color"),n("contour.width")),["text","hovertext","hovertemplate","lighting.ambient","lighting.diffuse","lighting.specular","lighting.roughness","lighting.fresnel","lighting.vertexnormalsepsilon","lighting.facenormalsepsilon","lightposition.x","lightposition.y","lightposition.z","flatshading","opacity"].forEach(function(v){n(v)}),DQt(e,t,i,n,{prefix:"",cLetter:"c"}),t._length=null}KOe.exports={supplyDefaults:FQt,supplyIsoDefaults:ZOe}});var EI=W((HHr,QOe)=>{"use strict";var _J=it(),LQt=Zc();function PQt(e,t){t._len=Math.min(t.u.length,t.v.length,t.w.length,t.x.length,t.y.length,t.z.length),t._u=z1(t.u,t._len),t._v=z1(t.v,t._len),t._w=z1(t.w,t._len),t._x=z1(t.x,t._len),t._y=z1(t.y,t._len),t._z=z1(t.z,t._len);var r=JOe(t);t._gridFill=r.fill,t._Xs=r.Xs,t._Ys=r.Ys,t._Zs=r.Zs,t._len=r.len;var i=0,n,a,o;t.starts&&(n=z1(t.starts.x||[]),a=z1(t.starts.y||[]),o=z1(t.starts.z||[]),i=Math.min(n.length,a.length,o.length)),t._startsX=n||[],t._startsY=a||[],t._startsZ=o||[];var s=0,l=1/0,u;for(u=0;u1&&(b=t[n-1],M=r[n-1],T=i[n-1]),a=0;ab?"-":"+")+"x"),p=p.replace("y",(_>M?"-":"+")+"y"),p=p.replace("z",(x>T?"-":"+")+"z");var S=function(){n=0,A=[],y=[],E=[]};(!n||n{"use strict";var IQt=Zc(),RQt=EI().processGrid,kI=EI().filter;eNe.exports=function(t,r){r._len=Math.min(r.x.length,r.y.length,r.z.length,r.value.length),r._x=kI(r.x,r._len),r._y=kI(r.y,r._len),r._z=kI(r.z,r._len),r._value=kI(r.value,r._len);var i=RQt(r);r._gridFill=i.fill,r._Xs=i.Xs,r._Ys=i.Ys,r._Zs=i.Zs,r._len=i.len;for(var n=1/0,a=-1/0,o=0;o{"use strict";tNe.exports=function(t,r,i,n){n=n||t.length;for(var a=new Array(n),o=0;o{"use strict";var zQt=nc().gl_mesh3d,BQt=sm().parseColorScale,qQt=it().isArrayOrTypedArray,OQt=om(),NQt=Jo().extractOpts,rNe=F4(),cE=function(e,t){for(var r=t.length-1;r>0;r--){var i=Math.min(t[r],t[r-1]),n=Math.max(t[r],t[r-1]);if(n>i&&i-1}function O(we,Fe){return we===null?Fe:we}function $(we,Fe,Se){S();var ke=[Fe],_e=[Se];if(R>=1)ke=[Fe],_e=[Se];else if(R>0){var Ie=I(Fe,Se);ke=Ie.xyzv,_e=Ie.abc}for(var Oe=0;Oe-1?Se[et]:E(_t,ut,vt);mt>-1?Qe[et]=mt:Qe[et]=k(_t,ut,vt,O(we,Xe))}D(Qe[0],Qe[1],Qe[2])}}function Y(we,Fe,Se){var ke=function(_e,Ie,Oe){$(we,[Fe[_e],Fe[Ie],Fe[Oe]],[Se[_e],Se[Ie],Se[Oe]])};ke(0,1,2),ke(2,3,0)}function K(we,Fe,Se){var ke=function(_e,Ie,Oe){$(we,[Fe[_e],Fe[Ie],Fe[Oe]],[Se[_e],Se[Ie],Se[Oe]])};ke(0,1,2),ke(3,0,1),ke(2,3,0),ke(1,2,3)}function j(we,Fe,Se,ke){var _e=we[3];_eke&&(_e=ke);for(var Ie=(we[3]-_e)/(we[3]-Fe[3]+1e-9),Oe=[],Qe=0;Qe<4;Qe++)Oe[Qe]=(1-Ie)*we[Qe]+Ie*Fe[Qe];return Oe}function q(we,Fe,Se){return we>=Fe&&we<=Se}function J(we){var Fe=.001*(M-_);return we>=_-Fe&&we<=M+Fe}function U(we){for(var Fe=[],Se=0;Se<4;Se++){var ke=we[Se];Fe.push([e._x[ke],e._y[ke],e._z[ke],e._value[ke]])}return Fe}var V=3;function X(we,Fe,Se,ke,_e,Ie){Ie||(Ie=1),Se=[-1,-1,-1];var Oe=!1,Qe=[q(Fe[0][3],ke,_e),q(Fe[1][3],ke,_e),q(Fe[2][3],ke,_e)];if(!Qe[0]&&!Qe[1]&&!Qe[2])return!1;var et=function(ut,vt,Xe){return J(vt[0][3])&&J(vt[1][3])&&J(vt[2][3])?($(ut,vt,Xe),!0):IeQe?[w,Ie]:[Ie,b];ye(Fe,et[0],et[1])}}var _t=[[Math.min(_,b),Math.max(_,b)],[Math.min(w,M),Math.max(w,M)]];["x","y","z"].forEach(function(ut){for(var vt=[],Xe=0;Xe<_t.length;Xe++){var mt=0,bt=_t[Xe][0],Ne=_t[Xe][1],Ue=e.slices[ut];if(Ue.show&&Ue.fill){L(Ue.fill);var Ge=[],je=[],Re=[];if(Ue.locations.length)for(var Ve=0;Ve0&&(je.push(ct.id),ut==="x"?Re.push([ct.distRatio,0,0]):ut==="y"?Re.push([0,ct.distRatio,0]):Re.push([0,0,ct.distRatio]))}else ut==="x"?Ge=xe(1,d-1):ut==="y"?Ge=xe(1,p-1):Ge=xe(1,v-1);je.length>0&&(ut==="x"?vt[mt]=ue(we,je,bt,Ne,Re,vt[mt]):ut==="y"?vt[mt]=ee(we,je,bt,Ne,Re,vt[mt]):vt[mt]=ae(we,je,bt,Ne,Re,vt[mt]),mt++),Ge.length>0&&(ut==="x"?vt[mt]=Ce(we,Ge,bt,Ne,vt[mt]):ut==="y"?vt[mt]=be(we,Ge,bt,Ne,vt[mt]):vt[mt]=he(we,Ge,bt,Ne,vt[mt]),mt++)}var Tt=e.caps[ut];Tt.show&&Tt.fill&&(L(Tt.fill),ut==="x"?vt[mt]=Ce(we,[0,d-1],bt,Ne,vt[mt]):ut==="y"?vt[mt]=be(we,[0,p-1],bt,Ne,vt[mt]):vt[mt]=he(we,[0,v-1],bt,Ne,vt[mt]),mt++)}}),s===0&&C(),e._meshX=x,e._meshY=T,e._meshZ=A,e._meshIntensity=y,e._Xs=c,e._Ys=f,e._Zs=h}return pe(),e}function VQt(e,t){var r=e.glplot.gl,i=zQt({gl:r}),n=new iNe(e,i,t.uid);return i._trace=n,n.update(t),e.glplot.add(i),n}aNe.exports={findNearestOnAxis:cE,generateIsoMeshes:nNe,createIsosurfaceTrace:VQt}});var sNe=W((YHr,oNe)=>{"use strict";oNe.exports={attributes:SI(),supplyDefaults:yJ().supplyDefaults,calc:bJ(),colorbar:{min:"cmin",max:"cmax"},plot:CI().createIsosurfaceTrace,moduleType:"trace",name:"isosurface",basePlotModule:w2(),categories:["gl3d","showLegend"],meta:{}}});var uNe=W((XHr,lNe)=>{"use strict";lNe.exports=sNe()});var AJ=W((ZHr,fNe)=>{"use strict";var GQt=Eo(),Il=SI(),HQt=sE(),cNe=Wa(),TJ=tn().extendFlat,jQt=ls().overrideAll,DI=fNe.exports=jQt(TJ({x:Il.x,y:Il.y,z:Il.z,value:Il.value,isomin:Il.isomin,isomax:Il.isomax,surface:Il.surface,spaceframe:{show:{valType:"boolean",dflt:!1},fill:{valType:"number",min:0,max:1,dflt:1}},slices:Il.slices,caps:Il.caps,text:Il.text,hovertext:Il.hovertext,xhoverformat:Il.xhoverformat,yhoverformat:Il.yhoverformat,zhoverformat:Il.zhoverformat,valuehoverformat:Il.valuehoverformat,hovertemplate:Il.hovertemplate,hovertemplatefallback:Il.hovertemplatefallback},GQt("",{colorAttr:"`value`",showScaleDflt:!0,editTypeOverride:"calc"}),{colorbar:Il.colorbar,opacity:Il.opacity,opacityscale:HQt.opacityscale,lightposition:Il.lightposition,lighting:Il.lighting,flatshading:Il.flatshading,contour:Il.contour,hoverinfo:TJ({},cNe.hoverinfo),showlegend:TJ({},cNe.showlegend,{dflt:!1})}),"calc","nested");DI.x.editType=DI.y.editType=DI.z.editType=DI.value.editType="calc+clearAxisTypes"});var dNe=W((KHr,hNe)=>{"use strict";var $Qt=it(),WQt=AJ(),YQt=yJ().supplyIsoDefaults,XQt=hJ().opacityscaleDefaults;hNe.exports=function(t,r,i,n){function a(o,s){return $Qt.coerce(t,r,WQt,o,s)}YQt(t,r,i,n,a),XQt(t,r,n,a)}});var mNe=W((JHr,gNe)=>{"use strict";var ZQt=nc().gl_mesh3d,KQt=sm().parseColorScale,JQt=it().isArrayOrTypedArray,QQt=om(),eer=Jo().extractOpts,pNe=F4(),MJ=CI().findNearestOnAxis,ter=CI().generateIsoMeshes;function vNe(e,t,r){this.scene=e,this.uid=r,this.mesh=t,this.name="",this.data=null,this.showContour=!1}var SJ=vNe.prototype;SJ.handlePick=function(e){if(e.object===this.mesh){var t=e.data.index,r=this.data._meshX[t],i=this.data._meshY[t],n=this.data._meshZ[t],a=this.data._Ys.length,o=this.data._Zs.length,s=MJ(r,this.data._Xs).id,l=MJ(i,this.data._Ys).id,u=MJ(n,this.data._Zs).id,c=e.index=u+o*l+o*a*s;e.traceCoordinate=[this.data._meshX[c],this.data._meshY[c],this.data._meshZ[c],this.data._value[c]];var f=this.data.hovertext||this.data.text;return JQt(f)&&f[c]!==void 0?e.textLabel=f[c]:f&&(e.textLabel=f),!0}};SJ.update=function(e){var t=this.scene,r=t.fullSceneLayout;this.data=ter(e);function i(l,u,c,f){return u.map(function(h){return l.d2l(h,0,f)*c})}var n=pNe(i(r.xaxis,e._meshX,t.dataScale[0],e.xcalendar),i(r.yaxis,e._meshY,t.dataScale[1],e.ycalendar),i(r.zaxis,e._meshZ,t.dataScale[2],e.zcalendar)),a=pNe(e._meshI,e._meshJ,e._meshK),o={positions:n,cells:a,lightPosition:[e.lightposition.x,e.lightposition.y,e.lightposition.z],ambient:e.lighting.ambient,diffuse:e.lighting.diffuse,specular:e.lighting.specular,roughness:e.lighting.roughness,fresnel:e.lighting.fresnel,vertexNormalsEpsilon:e.lighting.vertexnormalsepsilon,faceNormalsEpsilon:e.lighting.facenormalsepsilon,opacity:e.opacity,opacityscale:e.opacityscale,contourEnable:e.contour.show,contourColor:QQt(e.contour.color).slice(0,3),contourWidth:e.contour.width,useFacetNormals:e.flatshading},s=eer(e);o.vertexIntensity=e._meshIntensity,o.vertexIntensityBounds=[s.min,s.max],o.colormap=KQt(e),this.mesh.update(o)};SJ.dispose=function(){this.scene.glplot.remove(this.mesh),this.mesh.dispose()};function rer(e,t){var r=e.glplot.gl,i=ZQt({gl:r}),n=new vNe(e,i,t.uid);return i._trace=n,n.update(t),e.glplot.add(i),n}gNe.exports=rer});var xNe=W((QHr,yNe)=>{"use strict";yNe.exports={attributes:AJ(),supplyDefaults:dNe(),calc:bJ(),colorbar:{min:"cmin",max:"cmax"},plot:mNe(),moduleType:"trace",name:"volume",basePlotModule:w2(),categories:["gl3d","showLegend"],meta:{}}});var bNe=W((ejr,_Ne)=>{"use strict";_Ne.exports=xNe()});var ANe=W((tjr,TNe)=>{"use strict";var ier=yi(),wNe=it(),ner=Fu(),aer=C4();TNe.exports=function(t,r,i,n){function a(c,f){return wNe.coerce(t,r,aer,c,f)}function o(c){var f=c.map(function(h){var d=a(h);return d&&wNe.isArrayOrTypedArray(d)?d:null});return f.every(function(h){return h&&h.length===f[0].length})&&f}var s=o(["x","y","z"]);if(!s){r.visible=!1;return}if(o(["i","j","k"]),r.i&&(!r.j||!r.k)||r.j&&(!r.k||!r.i)||r.k&&(!r.i||!r.j)){r.visible=!1;return}var l=ier.getComponentMethod("calendars","handleTraceDefaults");l(t,r,["x","y","z"],n),["lighting.ambient","lighting.diffuse","lighting.specular","lighting.roughness","lighting.fresnel","lighting.vertexnormalsepsilon","lighting.facenormalsepsilon","lightposition.x","lightposition.y","lightposition.z","flatshading","alphahull","delaunayaxis","opacity"].forEach(function(c){a(c)});var u=a("contour.show");u&&(a("contour.color"),a("contour.width")),"intensity"in t?(a("intensity"),a("intensitymode"),ner(t,r,n,a,{prefix:"",cLetter:"c"})):(r.showscale=!1,"facecolor"in t?a("facecolor"):"vertexcolor"in t?a("vertexcolor"):a("color",i)),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("xhoverformat"),a("yhoverformat"),a("zhoverformat"),r._length=null}});var SNe=W((rjr,MNe)=>{"use strict";var oer=Zc();MNe.exports=function(t,r){r.intensity&&oer(t,r,{vals:r.intensity,containerStr:"",cLetter:"c"})}});var FNe=W((ijr,DNe)=>{"use strict";var ser=nc().gl_mesh3d,ler=nc().delaunay_triangulate,uer=nc().alpha_shape,cer=nc().convex_hull,fer=sm().parseColorScale,her=it().isArrayOrTypedArray,DJ=om(),der=Jo().extractOpts,ENe=F4();function CNe(e,t,r){this.scene=e,this.uid=r,this.mesh=t,this.name="",this.color="#fff",this.data=null,this.showContour=!1}var FJ=CNe.prototype;FJ.handlePick=function(e){if(e.object===this.mesh){var t=e.index=e.data.index;e.data._cellCenter?e.traceCoordinate=e.data.dataCoordinate:e.traceCoordinate=[this.data.x[t],this.data.y[t],this.data.z[t]];var r=this.data.hovertext||this.data.text;return her(r)&&r[t]!==void 0?e.textLabel=r[t]:r&&(e.textLabel=r),!0}};function kNe(e){for(var t=[],r=e.length,i=0;i=t-.5)return!1;return!0}FJ.update=function(e){var t=this.scene,r=t.fullSceneLayout;this.data=e;var i=e.x.length,n=ENe(EJ(r.xaxis,e.x,t.dataScale[0],e.xcalendar),EJ(r.yaxis,e.y,t.dataScale[1],e.ycalendar),EJ(r.zaxis,e.z,t.dataScale[2],e.zcalendar)),a;if(e.i&&e.j&&e.k){if(e.i.length!==e.j.length||e.j.length!==e.k.length||!CJ(e.i,i)||!CJ(e.j,i)||!CJ(e.k,i))return;a=ENe(kJ(e.i),kJ(e.j),kJ(e.k))}else e.alphahull===0?a=cer(n):e.alphahull>0?a=uer(e.alphahull,n):a=per(e.delaunayaxis,n);var o={positions:n,cells:a,lightPosition:[e.lightposition.x,e.lightposition.y,e.lightposition.z],ambient:e.lighting.ambient,diffuse:e.lighting.diffuse,specular:e.lighting.specular,roughness:e.lighting.roughness,fresnel:e.lighting.fresnel,vertexNormalsEpsilon:e.lighting.vertexnormalsepsilon,faceNormalsEpsilon:e.lighting.facenormalsepsilon,opacity:e.opacity,contourEnable:e.contour.show,contourColor:DJ(e.contour.color).slice(0,3),contourWidth:e.contour.width,useFacetNormals:e.flatshading};if(e.intensity){var s=der(e);this.color="#fff";var l=e.intensitymode;o[l+"Intensity"]=e.intensity,o[l+"IntensityBounds"]=[s.min,s.max],o.colormap=fer(e)}else e.vertexcolor?(this.color=e.vertexcolor[0],o.vertexColors=kNe(e.vertexcolor)):e.facecolor?(this.color=e.facecolor[0],o.cellColors=kNe(e.facecolor)):(this.color=e.color,o.meshColor=DJ(e.color));this.mesh.update(o)};FJ.dispose=function(){this.scene.glplot.remove(this.mesh),this.mesh.dispose()};function ver(e,t){var r=e.glplot.gl,i=ser({gl:r}),n=new CNe(e,i,t.uid);return i._trace=n,n.update(t),e.glplot.add(i),n}DNe.exports=ver});var PNe=W((njr,LNe)=>{"use strict";LNe.exports={attributes:C4(),supplyDefaults:ANe(),calc:SNe(),colorbar:{min:"cmin",max:"cmax"},plot:FNe(),moduleType:"trace",name:"mesh3d",basePlotModule:w2(),categories:["gl3d","showLegend"],meta:{}}});var RNe=W((ajr,INe)=>{"use strict";INe.exports=PNe()});var PJ=W((ojr,BNe)=>{"use strict";var ger=Eo(),L4=_s().axisHoverFormat,{hovertemplateAttrs:mer,templatefallbackAttrs:yer}=Ga(),xer=C4(),zNe=Wa(),LJ=tn().extendFlat,FI={x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},z:{valType:"data_array",editType:"calc+clearAxisTypes"},u:{valType:"data_array",editType:"calc"},v:{valType:"data_array",editType:"calc"},w:{valType:"data_array",editType:"calc"},sizemode:{valType:"enumerated",values:["scaled","absolute","raw"],editType:"calc",dflt:"scaled"},sizeref:{valType:"number",editType:"calc",min:0},anchor:{valType:"enumerated",editType:"calc",values:["tip","tail","cm","center"],dflt:"cm"},text:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertemplate:mer({editType:"calc"},{keys:["norm"]}),hovertemplatefallback:yer({editType:"calc"}),uhoverformat:L4("u",1),vhoverformat:L4("v",1),whoverformat:L4("w",1),xhoverformat:L4("x"),yhoverformat:L4("y"),zhoverformat:L4("z"),showlegend:LJ({},zNe.showlegend,{dflt:!1})};LJ(FI,ger("",{colorAttr:"u/v/w norm",showScaleDflt:!0,editTypeOverride:"calc"}));var _er=["opacity","lightposition","lighting"];_er.forEach(function(e){FI[e]=xer[e]});FI.hoverinfo=LJ({},zNe.hoverinfo,{editType:"calc",flags:["x","y","z","u","v","w","norm","text","name"],dflt:"x+y+z+norm+text+name"});BNe.exports=FI});var ONe=W((sjr,qNe)=>{"use strict";var ber=it(),wer=Fu(),Ter=PJ();qNe.exports=function(t,r,i,n){function a(d,p){return ber.coerce(t,r,Ter,d,p)}var o=a("u"),s=a("v"),l=a("w"),u=a("x"),c=a("y"),f=a("z");if(!o||!o.length||!s||!s.length||!l||!l.length||!u||!u.length||!c||!c.length||!f||!f.length){r.visible=!1;return}var h=a("sizemode");a("sizeref",h==="raw"?1:.5),a("anchor"),a("lighting.ambient"),a("lighting.diffuse"),a("lighting.specular"),a("lighting.roughness"),a("lighting.fresnel"),a("lightposition.x"),a("lightposition.y"),a("lightposition.z"),wer(t,r,n,a,{prefix:"",cLetter:"c"}),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("uhoverformat"),a("vhoverformat"),a("whoverformat"),a("xhoverformat"),a("yhoverformat"),a("zhoverformat"),r._length=null}});var UNe=W((ljr,NNe)=>{"use strict";var Aer=Zc();NNe.exports=function(t,r){for(var i=r.u,n=r.v,a=r.w,o=Math.min(r.x.length,r.y.length,r.z.length,i.length,n.length,a.length),s=-1/0,l=1/0,u=0;u{"use strict";var Mer=nc().gl_cone3d,Ser=nc().gl_cone3d.createConeMesh,Eer=it().simpleMap,ker=sm().parseColorScale,Cer=Jo().extractOpts,Der=it().isArrayOrTypedArray,VNe=F4();function GNe(e,t){this.scene=e,this.uid=t,this.mesh=null,this.data=null}var IJ=GNe.prototype;IJ.handlePick=function(e){if(e.object===this.mesh){var t=e.index=e.data.index,r=this.data.x[t],i=this.data.y[t],n=this.data.z[t],a=this.data.u[t],o=this.data.v[t],s=this.data.w[t];e.traceCoordinate=[r,i,n,a,o,s,Math.sqrt(a*a+o*o+s*s)];var l=this.data.hovertext||this.data.text;return Der(l)&&l[t]!==void 0?e.textLabel=l[t]:l&&(e.textLabel=l),!0}};var Fer={xaxis:0,yaxis:1,zaxis:2},Ler={tip:1,tail:0,cm:.25,center:.5},Per={tip:1,tail:1,cm:.75,center:.5};function HNe(e,t){var r=e.fullSceneLayout,i=e.dataScale,n={};function a(c,f){var h=r[f],d=i[Fer[f]];return Eer(c,function(p){return h.d2l(p)*d})}n.vectors=VNe(a(t.u,"xaxis"),a(t.v,"yaxis"),a(t.w,"zaxis"),t._len),n.positions=VNe(a(t.x,"xaxis"),a(t.y,"yaxis"),a(t.z,"zaxis"),t._len);var o=Cer(t);n.colormap=ker(t),n.vertexIntensityBounds=[o.min/t._normMax,o.max/t._normMax],n.coneOffset=Ler[t.anchor];var s=t.sizemode;s==="scaled"?n.coneSize=t.sizeref||.5:s==="absolute"?n.coneSize=t.sizeref&&t._normMax?t.sizeref/t._normMax:.5:s==="raw"&&(n.coneSize=t.sizeref),n.coneSizemode=s;var l=Mer(n),u=t.lightposition;return l.lightPosition=[u.x,u.y,u.z],l.ambient=t.lighting.ambient,l.diffuse=t.lighting.diffuse,l.specular=t.lighting.specular,l.roughness=t.lighting.roughness,l.fresnel=t.lighting.fresnel,l.opacity=t.opacity,t._pad=Per[t.anchor]*l.vectorScale*l.coneScale*t._normMax,l}IJ.update=function(e){this.data=e;var t=HNe(this.scene,e);this.mesh.update(t)};IJ.dispose=function(){this.scene.glplot.remove(this.mesh),this.mesh.dispose()};function Ier(e,t){var r=e.glplot.gl,i=HNe(e,t),n=Ser(r,i),a=new GNe(e,t.uid);return a.mesh=n,a.data=t,n._trace=a,e.glplot.add(n),a}jNe.exports=Ier});var YNe=W((cjr,WNe)=>{"use strict";WNe.exports={moduleType:"trace",name:"cone",basePlotModule:w2(),categories:["gl3d","showLegend"],attributes:PJ(),supplyDefaults:ONe(),colorbar:{min:"cmin",max:"cmax"},calc:UNe(),plot:$Ne(),eventData:function(e,t){return e.norm=t.traceCoordinate[6],e},meta:{}}});var ZNe=W((fjr,XNe)=>{"use strict";XNe.exports=YNe()});var zJ=W((hjr,JNe)=>{"use strict";var Rer=Eo(),P4=_s().axisHoverFormat,{hovertemplateAttrs:zer,templatefallbackAttrs:Ber}=Ga(),qer=C4(),KNe=Wa(),RJ=tn().extendFlat,LI={x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},z:{valType:"data_array",editType:"calc+clearAxisTypes"},u:{valType:"data_array",editType:"calc"},v:{valType:"data_array",editType:"calc"},w:{valType:"data_array",editType:"calc"},starts:{x:{valType:"data_array",editType:"calc"},y:{valType:"data_array",editType:"calc"},z:{valType:"data_array",editType:"calc"},editType:"calc"},maxdisplayed:{valType:"integer",min:0,dflt:1e3,editType:"calc"},sizeref:{valType:"number",editType:"calc",min:0,dflt:1},text:{valType:"string",dflt:"",editType:"calc"},hovertext:{valType:"string",dflt:"",editType:"calc"},hovertemplate:zer({editType:"calc"},{keys:["tubex","tubey","tubez","tubeu","tubev","tubew","norm","divergence"]}),hovertemplatefallback:Ber({editType:"calc"}),uhoverformat:P4("u",1),vhoverformat:P4("v",1),whoverformat:P4("w",1),xhoverformat:P4("x"),yhoverformat:P4("y"),zhoverformat:P4("z"),showlegend:RJ({},KNe.showlegend,{dflt:!1})};RJ(LI,Rer("",{colorAttr:"u/v/w norm",showScaleDflt:!0,editTypeOverride:"calc"}));var Oer=["opacity","lightposition","lighting"];Oer.forEach(function(e){LI[e]=qer[e]});LI.hoverinfo=RJ({},KNe.hoverinfo,{editType:"calc",flags:["x","y","z","u","v","w","norm","divergence","text","name"],dflt:"x+y+z+norm+text+name"});JNe.exports=LI});var eUe=W((djr,QNe)=>{"use strict";var Ner=it(),Uer=Fu(),Ver=zJ();QNe.exports=function(t,r,i,n){function a(h,d){return Ner.coerce(t,r,Ver,h,d)}var o=a("u"),s=a("v"),l=a("w"),u=a("x"),c=a("y"),f=a("z");if(!o||!o.length||!s||!s.length||!l||!l.length||!u||!u.length||!c||!c.length||!f||!f.length){r.visible=!1;return}a("starts.x"),a("starts.y"),a("starts.z"),a("maxdisplayed"),a("sizeref"),a("lighting.ambient"),a("lighting.diffuse"),a("lighting.specular"),a("lighting.roughness"),a("lighting.fresnel"),a("lightposition.x"),a("lightposition.y"),a("lightposition.z"),Uer(t,r,n,a,{prefix:"",cLetter:"c"}),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("uhoverformat"),a("vhoverformat"),a("whoverformat"),a("xhoverformat"),a("yhoverformat"),a("zhoverformat"),r._length=null}});var lUe=W((pjr,sUe)=>{"use strict";var iUe=nc().gl_streamtube3d,Ger=iUe.createTubeMesh,Her=it(),jer=sm().parseColorScale,$er=Jo().extractOpts,tUe=F4(),nUe={xaxis:0,yaxis:1,zaxis:2};function aUe(e,t){this.scene=e,this.uid=t,this.mesh=null,this.data=null}var qJ=aUe.prototype;qJ.handlePick=function(e){var t=this.scene.fullSceneLayout,r=this.scene.dataScale;function i(o,s){var l=t[s],u=r[nUe[s]];return l.l2c(o)/u}if(e.object===this.mesh){var n=e.data.position,a=e.data.velocity;return e.traceCoordinate=[i(n[0],"xaxis"),i(n[1],"yaxis"),i(n[2],"zaxis"),i(a[0],"xaxis"),i(a[1],"yaxis"),i(a[2],"zaxis"),e.data.intensity*this.data._normMax,e.data.divergence],e.textLabel=this.data.hovertext||this.data.text,!0}};function rUe(e){var t=e.length,r;return t>2?r=e.slice(1,t-1):t===2?r=[(e[0]+e[1])/2]:r=e,r}function BJ(e){var t=e.length;return t===1?[.5,.5]:[e[1]-e[0],e[t-1]-e[t-2]]}function oUe(e,t){var r=e.fullSceneLayout,i=e.dataScale,n=t._len,a={};function o(C,k){var D=r[k],F=i[nUe[k]];return Her.simpleMap(C,function(P){return D.d2l(P)*F})}if(a.vectors=tUe(o(t._u,"xaxis"),o(t._v,"yaxis"),o(t._w,"zaxis"),n),!n)return{positions:[],cells:[]};var s=o(t._Xs,"xaxis"),l=o(t._Ys,"yaxis"),u=o(t._Zs,"zaxis");a.meshgrid=[s,l,u],a.gridFill=t._gridFill;var c=t._slen;if(c)a.startingPositions=tUe(o(t._startsX,"xaxis"),o(t._startsY,"yaxis"),o(t._startsZ,"zaxis"));else{for(var f=l[0],h=rUe(s),d=rUe(u),p=new Array(h.length*d.length),v=0,m=0;m{"use strict";uUe.exports={moduleType:"trace",name:"streamtube",basePlotModule:w2(),categories:["gl3d","showLegend"],attributes:zJ(),supplyDefaults:eUe(),colorbar:{min:"cmin",max:"cmax"},calc:EI().calc,plot:lUe(),eventData:function(e,t){return e.tubex=e.x,e.tubey=e.y,e.tubez=e.z,e.tubeu=t.traceCoordinate[3],e.tubev=t.traceCoordinate[4],e.tubew=t.traceCoordinate[5],e.norm=t.traceCoordinate[6],e.divergence=t.traceCoordinate[7],delete e.x,delete e.y,delete e.z,e},meta:{}}});var hUe=W((gjr,fUe)=>{"use strict";fUe.exports=cUe()});var I4=W((mjr,mUe)=>{"use strict";var{hovertemplateAttrs:Yer,texttemplateAttrs:Xer,templatefallbackAttrs:dUe}=Ga(),Zer=g1(),B1=Ns(),Ker=Wa(),pUe=Eo(),Jer=Du().dash,wb=tn().extendFlat,Qer=ls().overrideAll,Ud=B1.marker,vUe=B1.line,gUe=Ud.line;mUe.exports=Qer({lon:{valType:"data_array"},lat:{valType:"data_array"},locations:{valType:"data_array"},locationmode:{valType:"enumerated",values:["ISO-3","USA-states","country names","geojson-id"],dflt:"ISO-3"},geojson:{valType:"any",editType:"calc"},featureidkey:{valType:"string",editType:"calc",dflt:"id"},mode:wb({},B1.mode,{dflt:"markers"}),text:wb({},B1.text,{}),texttemplate:Xer({editType:"plot"},{keys:["lat","lon","location","text"]}),texttemplatefallback:dUe({editType:"plot"}),hovertext:wb({},B1.hovertext,{}),textfont:B1.textfont,textposition:B1.textposition,line:{color:vUe.color,width:vUe.width,dash:Jer},connectgaps:B1.connectgaps,marker:wb({symbol:Ud.symbol,opacity:Ud.opacity,angle:Ud.angle,angleref:wb({},Ud.angleref,{values:["previous","up","north"]}),standoff:Ud.standoff,size:Ud.size,sizeref:Ud.sizeref,sizemin:Ud.sizemin,sizemode:Ud.sizemode,colorbar:Ud.colorbar,line:wb({width:gUe.width,dash:gUe.dash},pUe("marker.line")),gradient:Ud.gradient},pUe("marker")),fill:{valType:"enumerated",values:["none","toself"],dflt:"none"},fillcolor:Zer(),selected:B1.selected,unselected:B1.unselected,hoverinfo:wb({},Ker.hoverinfo,{flags:["lon","lat","location","text","name"]}),hovertemplate:Yer(),hovertemplatefallback:dUe()},"calc","nested")});var xUe=W((yjr,yUe)=>{"use strict";var OJ=it(),NJ=$o(),etr=bd(),ttr=jp(),rtr=$p(),itr=y1(),ntr=I4();yUe.exports=function(t,r,i,n){function a(d,p){return OJ.coerce(t,r,ntr,d,p)}var o=a("locations"),s;if(o&&o.length){var l=a("geojson"),u;(typeof l=="string"&&l!==""||OJ.isPlainObject(l))&&(u="geojson-id");var c=a("locationmode",u);c==="geojson-id"&&a("featureidkey"),s=o.length}else{var f=a("lon")||[],h=a("lat")||[];s=Math.min(f.length,h.length)}if(!s){r.visible=!1;return}r._length=s,a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("mode"),NJ.hasMarkers(r)&&etr(t,r,i,n,a,{gradient:!0}),NJ.hasLines(r)&&(ttr(t,r,i,n,a),a("connectgaps")),NJ.hasText(r)&&(a("texttemplate"),a("texttemplatefallback"),rtr(t,r,n,a)),a("fill"),r.fill!=="none"&&itr(t,r,i,a),OJ.coerceSelectionMarkerOpacity(r,a)}});var wUe=W((xjr,bUe)=>{"use strict";var _Ue=ji();bUe.exports=function(t,r,i){var n={},a=i[r.geo]._subplot,o=a.mockAxis,s=t.lonlat;return n.lonLabel=_Ue.tickText(o,o.c2l(s[0]),!0).text,n.latLabel=_Ue.tickText(o,o.c2l(s[1]),!0).text,n}});var VJ=W((_jr,SUe)=>{"use strict";var UJ=sn(),TUe=Kn().BADNUM,atr=wd(),otr=x1(),str=w0(),ltr=it().isArrayOrTypedArray,AUe=it()._;function MUe(e){return e&&typeof e=="string"}SUe.exports=function(t,r){var i=ltr(r.locations),n=i?r.locations.length:r._length,a=new Array(n),o;r.geojson?o=function(h){return MUe(h)||UJ(h)}:o=MUe;for(var s=0;s{"use strict";Dc.projNames={airy:"airy",aitoff:"aitoff","albers usa":"albersUsa",albers:"albers",august:"august","azimuthal equal area":"azimuthalEqualArea","azimuthal equidistant":"azimuthalEquidistant",baker:"baker",bertin1953:"bertin1953",boggs:"boggs",bonne:"bonne",bottomley:"bottomley",bromley:"bromley",collignon:"collignon","conic conformal":"conicConformal","conic equal area":"conicEqualArea","conic equidistant":"conicEquidistant",craig:"craig",craster:"craster","cylindrical equal area":"cylindricalEqualArea","cylindrical stereographic":"cylindricalStereographic",eckert1:"eckert1",eckert2:"eckert2",eckert3:"eckert3",eckert4:"eckert4",eckert5:"eckert5",eckert6:"eckert6",eisenlohr:"eisenlohr","equal earth":"equalEarth",equirectangular:"equirectangular",fahey:"fahey","foucaut sinusoidal":"foucautSinusoidal",foucaut:"foucaut",ginzburg4:"ginzburg4",ginzburg5:"ginzburg5",ginzburg6:"ginzburg6",ginzburg8:"ginzburg8",ginzburg9:"ginzburg9",gnomonic:"gnomonic","gringorten quincuncial":"gringortenQuincuncial",gringorten:"gringorten",guyou:"guyou",hammer:"hammer",hill:"hill",homolosine:"homolosine",hufnagel:"hufnagel",hyperelliptical:"hyperelliptical",kavrayskiy7:"kavrayskiy7",lagrange:"lagrange",larrivee:"larrivee",laskowski:"laskowski",loximuthal:"loximuthal",mercator:"mercator",miller:"miller",mollweide:"mollweide","mt flat polar parabolic":"mtFlatPolarParabolic","mt flat polar quartic":"mtFlatPolarQuartic","mt flat polar sinusoidal":"mtFlatPolarSinusoidal","natural earth":"naturalEarth","natural earth1":"naturalEarth1","natural earth2":"naturalEarth2","nell hammer":"nellHammer",nicolosi:"nicolosi",orthographic:"orthographic",patterson:"patterson","peirce quincuncial":"peirceQuincuncial",polyconic:"polyconic","rectangular polyconic":"rectangularPolyconic",robinson:"robinson",satellite:"satellite","sinu mollweide":"sinuMollweide",sinusoidal:"sinusoidal",stereographic:"stereographic",times:"times","transverse mercator":"transverseMercator","van der grinten":"vanDerGrinten","van der grinten2":"vanDerGrinten2","van der grinten3":"vanDerGrinten3","van der grinten4":"vanDerGrinten4",wagner4:"wagner4",wagner6:"wagner6",wiechel:"wiechel","winkel tripel":"winkel3",winkel3:"winkel3"};Dc.axesNames=["lonaxis","lataxis"];Dc.lonaxisSpan={orthographic:180,"azimuthal equal area":360,"azimuthal equidistant":360,"conic conformal":180,gnomonic:160,stereographic:180,"transverse mercator":180,"*":360};Dc.lataxisSpan={"conic conformal":150,stereographic:179.5,"*":180};Dc.fitboundsIncompatible=new Set(["albers usa","craig","peirce quincuncial","satellite"]);Dc.scopeDefaults={world:{lonaxisRange:[-180,180],lataxisRange:[-90,90],projType:"equirectangular",projRotate:[0,0,0]},usa:{lonaxisRange:[-180,-50],lataxisRange:[15,80],projType:"albers usa"},europe:{lonaxisRange:[-30,60],lataxisRange:[30,85],projType:"conic conformal",projRotate:[15,0,0],projParallels:[0,60]},asia:{lonaxisRange:[22,160],lataxisRange:[-15,55],projType:"mercator",projRotate:[0,0,0]},africa:{lonaxisRange:[-30,60],lataxisRange:[-40,40],projType:"mercator",projRotate:[0,0,0]},"north america":{lonaxisRange:[-180,-45],lataxisRange:[5,85],projType:"conic conformal",projRotate:[-100,0,0],projParallels:[29.5,45.5]},"south america":{lonaxisRange:[-100,-30],lataxisRange:[-60,15],projType:"mercator",projRotate:[0,0,0]},antarctica:{lonaxisRange:[-180,180],lataxisRange:[-90,-60],projType:"equirectangular",projRotate:[0,0,0]},oceania:{lonaxisRange:[-180,180],lataxisRange:[-50,25],projType:"equirectangular",projRotate:[0,0,0]}};Dc.clipPad=.001;Dc.precision=.1;Dc.landColor="#F0DC82";Dc.waterColor="#3399FF";Dc.locationmodeToLayer={"ISO-3":"countries","USA-states":"subunits","country names":"countries"};Dc.sphereSVG={type:"Sphere"};Dc.fillLayers={ocean:1,land:1,lakes:1};Dc.lineLayers={subunits:1,countries:1,coastlines:1,rivers:1,frame:1};Dc.layers=["bg","ocean","land","lakes","subunits","countries","coastlines","rivers","lataxis","lonaxis","frame","backplot","frontplot"];Dc.layersForChoropleth=["bg","ocean","land","subunits","countries","coastlines","lataxis","lonaxis","frame","backplot","rivers","lakes","frontplot"];Dc.layerNameToAdjective={ocean:"ocean",land:"land",lakes:"lake",subunits:"subunit",countries:"country",coastlines:"coastline",rivers:"river",frame:"frame"}});var GJ=W((PI,EUe)=>{(function(e,t){typeof PI=="object"&&typeof EUe!="undefined"?t(PI):(e=e||self,t(e.topojson=e.topojson||{}))})(PI,function(e){"use strict";function t(b){return b}function r(b){if(b==null)return t;var _,M,x=b.scale[0],T=b.scale[1],A=b.translate[0],y=b.translate[1];return function(E,S){S||(_=M=0);var C=2,k=E.length,D=new Array(k);for(D[0]=(_+=E[0])*x+A,D[1]=(M+=E[1])*T+y;CA&&(A=C[0]),C[1]y&&(y=C[1])}function S(C){switch(C.type){case"GeometryCollection":C.geometries.forEach(S);break;case"Point":E(C.coordinates);break;case"MultiPoint":C.coordinates.forEach(E);break}}b.arcs.forEach(function(C){for(var k=-1,D=C.length,F;++kA&&(A=F[0]),F[1]y&&(y=F[1])});for(M in b.objects)S(b.objects[M]);return[x,T,A,y]}function n(b,_){for(var M,x=b.length,T=x-_;T<--x;)M=b[T],b[T++]=b[x],b[x]=M}function a(b,_){return typeof _=="string"&&(_=b.objects[_]),_.type==="GeometryCollection"?{type:"FeatureCollection",features:_.geometries.map(function(M){return o(b,M)})}:o(b,_)}function o(b,_){var M=_.id,x=_.bbox,T=_.properties==null?{}:_.properties,A=s(b,_);return M==null&&x==null?{type:"Feature",properties:T,geometry:A}:x==null?{type:"Feature",id:M,properties:T,geometry:A}:{type:"Feature",id:M,bbox:x,properties:T,geometry:A}}function s(b,_){var M=r(b.transform),x=b.arcs;function T(k,D){D.length&&D.pop();for(var F=x[k<0?~k:k],P=0,R=F.length;P1)x=f(b,_,M);else for(T=0,x=new Array(A=b.arcs.length);T1)for(var D=1,F=E(C[0]),P,R;DF&&(R=C[0],C[0]=C[D],C[D]=R,F=P);return C}).filter(function(S){return S.length>0})}}function v(b,_){for(var M=0,x=b.length;M>>1;b[T]<_?M=T+1:x=T}return M}function m(b){var _={},M=b.map(function(){return[]});function x(L,I){L.forEach(function(B){B<0&&(B=~B);var O=_[B];O?O.push(I):_[B]=[I]})}function T(L,I){L.forEach(function(B){x(B,I)})}function A(L,I){L.type==="GeometryCollection"?L.geometries.forEach(function(B){A(B,I)}):L.type in y&&y[L.type](L.arcs,I)}var y={LineString:x,MultiLineString:T,Polygon:T,MultiPolygon:function(L,I){L.forEach(function(B){T(B,I)})}};b.forEach(A);for(var E in _)for(var S=_[E],C=S.length,k=0;k=2))throw new Error("n must be \u22652");S=b.bbox||i(b);var M=S[0],x=S[1],T=S[2],A=S[3],y;_={scale:[T-M?(T-M)/(y-1):1,A-x?(A-x)/(y-1):1],translate:[M,x]}}else S=b.bbox;var E=g(_),S,C,k=b.objects,D={};function F(L){return E(L)}function P(L){var I;switch(L.type){case"GeometryCollection":I={type:"GeometryCollection",geometries:L.geometries.map(P)};break;case"Point":I={type:"Point",coordinates:F(L.coordinates)};break;case"MultiPoint":I={type:"MultiPoint",coordinates:L.coordinates.map(F)};break;default:return L}return L.id!=null&&(I.id=L.id),L.bbox!=null&&(I.bbox=L.bbox),L.properties!=null&&(I.properties=L.properties),I}function R(L){var I=0,B=1,O=L.length,$,Y=new Array(O);for(Y[0]=E(L[0],0);++I{"use strict";var HJ=kUe.exports={},utr=fE().locationmodeToLayer,ctr=GJ().feature;HJ.getTopojsonName=function(e){return[e.scope.replace(/ /g,"-"),"_",e.resolution.toString(),"m"].join("")};HJ.getTopojsonPath=function(e,t){return e+=e.endsWith("/")?"":"/",`${e}${t}.json`};HJ.getTopojsonFeatures=function(e,t){var r=utr[e.locationmode],i=t.objects[r];return ctr(t,i).features}});var dE=W(hE=>{"use strict";var ftr=Kn().BADNUM;hE.calcTraceToLineCoords=function(e){for(var t=e[0].trace,r=t.connectgaps,i=[],n=[],a=0;a0&&(i.push(n),n=[])}return n.length>0&&i.push(n),i};hE.makeLine=function(e){return e.length===1?{type:"LineString",coordinates:e[0]}:{type:"MultiLineString",coordinates:e}};hE.makePolygon=function(e){if(e.length===1)return{type:"Polygon",coordinates:e};for(var t=new Array(e.length),r=0;r{"use strict";var $J=Object.defineProperty,htr=Object.getOwnPropertyDescriptor,dtr=Object.getOwnPropertyNames,ptr=Object.prototype.hasOwnProperty,vtr=(e,t)=>{for(var r in t)$J(e,r,{get:t[r],enumerable:!0})},gtr=(e,t,r,i)=>{if(t&&typeof t=="object"||typeof t=="function")for(let n of dtr(t))!ptr.call(e,n)&&n!==r&&$J(e,n,{get:()=>t[n],enumerable:!(i=htr(t,n))||i.enumerable});return e},mtr=e=>gtr($J({},"__esModule",{value:!0}),e),CUe={};vtr(CUe,{COUNTRIES:()=>DUe,byAlpha2:()=>btr,byAlpha3:()=>_tr,byM49:()=>wtr,createLookup:()=>FUe,lookup:()=>ytr,lookupAlpha3:()=>xtr,sanitize:()=>jJ});LUe.exports=mtr(CUe);var DUe=[{iso3:"ABW",iso2:"AW",m49:"533",name:"Aruba",aliases:["\u{1F1E6}\u{1F1FC}","country of aruba","land aruba","pais aruba"]},{iso3:"AFG",iso2:"AF",m49:"004",name:"Afghanistan",aliases:["\u{1F1E6}\u{1F1EB}","affghanistan","affghanisthan","affghaunistan","afghania","afghanisthan","afghaunistan","afghaunistaun","afgoniston","de afghanistan islami jumhuriyat","owganystan","\u0430\u0444\u0493\u043E\u043D\u0438\u0441\u0442\u043E\u043D","\u0623\u0641\u063A\u0627\u0646\u0633\u062A\u0627\u0646","\u0627\u0641\u063A\u0627\u0646\u0633\u062A\u0627\u0646","\u062F \u0627\u0641\u063A\u0627\u0646\u0633\u062A\u0627\u0646 \u0627\u0633\u0644\u0627\u0645\u06CC \u062C\u0645\u0647\u0648\u0631\u06CC\u062A"]},{iso3:"AGO",iso2:"AO",m49:"024",name:"Angola",aliases:["\u{1F1E6}\u{1F1F4}","republic of angola","republica de angola"]},{iso3:"AIA",iso2:"AI",m49:"660",name:"Anguilla",aliases:["\u{1F1E6}\u{1F1EE}","malliouhana"]},{iso3:"ALA",iso2:"AX",m49:"248",name:"\xC5land Islands",aliases:["\u{1F1E6}\u{1F1FD}","aaland","aaland islands","ahvenanmaa","aland","aland isles","aland region","alands lan","landskapet aland"]},{iso3:"ALB",iso2:"AL",m49:"008",name:"Albania",aliases:["\u{1F1E6}\u{1F1F1}","peoples republic of albania","peoples socialist republic of albania","republic of albania","republika e shqiperise","shqiperi","shqiperia","shqiperise","socialist republic of albania"]},{iso3:"AND",iso2:"AD",m49:"020",name:"Andorra",aliases:["\u{1F1E6}\u{1F1E9}","el pais dels pirineus","les valls dandorra","principality of andorra","principality of the valleys of andorra","principat dandorra","valls dandorra"]},{iso3:"ARE",iso2:"AE",m49:"784",name:"United Arab Emirates",aliases:["\u{1F1E6}\u{1F1EA}","emirates","uae","\u0627\u0644\u0625\u0645\u0627\u0631\u0627\u062A","\u0627\u0644\u0625\u0645\u0627\u0631\u0627\u062A \u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0645\u062A\u062D\u062F\u0629","\u0627\u0644\u0627\u0645\u0627\u0631\u0627\u062A","\u0627\u0644\u0627\u0645\u0627\u0631\u0627\u062A \u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0645\u062A\u062D\u062F\u0629","\u062F\u0648\u0644\u0629 \u0627\u0644\u0625\u0645\u0627\u0631\u0627\u062A \u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0645\u062A\u062D\u062F\u0629"]},{iso3:"ARG",iso2:"AR",m49:"032",name:"Argentina",aliases:["\u{1F1E6}\u{1F1F7}","argentine republic","nacion argentina","republic of argentina","republica argentina"]},{iso3:"ARM",iso2:"AM",m49:"051",name:"Armenia",aliases:["\u{1F1E6}\u{1F1F2}","hayastan","hayastani hanrapetutyun","republic of armenia","\u0570\u0561\u0575\u0561\u057D\u057F\u0561\u0576","\u0570\u0561\u0575\u0561\u057D\u057F\u0561\u0576\u056B \u0570\u0561\u0576\u0580\u0561\u057A\u0565\u057F\u0578\u0582\u0569\u0575\u0578\u0582\u0576","\u0570\u0561\u0575\u0584","\u0570\u0570"]},{iso3:"ASM",iso2:"AS",m49:"016",name:"American Samoa",aliases:["\u{1F1E6}\u{1F1F8}","amerika samoa","east samoa","samoa american","samoa united states","territory of american samoa","us samoa"]},{iso3:"ATA",iso2:"AQ",m49:"010",name:"Antarctica",aliases:["\u{1F1E6}\u{1F1F6}","antarctica treaty area"]},{iso3:"ATF",iso2:"TF",m49:"260",name:"French Southern Territories",aliases:["\u{1F1F9}\u{1F1EB}","taaf","terres australes et antarctiques francaises","terres australes francaises","terres australes francaises les","territoire des terres australes et antarctiques francaises"]},{iso3:"ATG",iso2:"AG",m49:"028",name:"Antigua and Barbuda",aliases:["\u{1F1E6}\u{1F1EC}","antigua","antigua barbuda","barbuda"]},{iso3:"AUS",iso2:"AU",m49:"036",name:"Australia",aliases:["\u{1F1E6}\u{1F1FA}","commonwealth of australia","new holland","new hollandia","nova hollandia"]},{iso3:"AUT",iso2:"AT",m49:"040",name:"Austria",aliases:["\u{1F1E6}\u{1F1F9}","osterreich","republic of austria","republik osterreich","zweite republik"]},{iso3:"AZE",iso2:"AZ",m49:"031",name:"Azerbaijan",aliases:["\u{1F1E6}\u{1F1FF}","az\u0259rbaycan","az\u0259rbaycan respublikas\u0131","republic of azerbaijan"]},{iso3:"BDI",iso2:"BI",m49:"108",name:"Burundi",aliases:["\u{1F1E7}\u{1F1EE}","gouvernement du burundi","la republique du burundi","republic of burundi","republika yu burundi","republika yuburundi","republique du burundi","repuburika yuburundi","uburundi"]},{iso3:"BEL",iso2:"BE",m49:"056",name:"Belgium",aliases:["\u{1F1E7}\u{1F1EA}","belg","belgie","belgien","belgique","kingdom of belgium","konigreich belgien","koninkrijk belgie","royaume de belgique"]},{iso3:"BEN",iso2:"BJ",m49:"204",name:"Benin",aliases:["\u{1F1E7}\u{1F1EF}","dahomey","la republique du benin","republic of benin","republique du benin"]},{iso3:"BES",iso2:"BQ",m49:"535",name:"Bonaire, Sint Eustatius and Saba",aliases:["\u{1F1E7}\u{1F1F6}","bes eilanden","bes islands","bijzondere gemeente","bonaire","bonaire saint eustatius and saba","bonaire sint eustatius en saba","caraibisch nederland","caribbean netherlands","caribisch nederland","hulanda karibense","islanan bes","netherlands antilles","saba","sint eustatius"]},{iso3:"BFA",iso2:"BF",m49:"854",name:"Burkina Faso",aliases:["\u{1F1E7}\u{1F1EB}","republic of burkina faso","republic of upper volta"]},{iso3:"BGD",iso2:"BD",m49:"050",name:"Bangladesh",aliases:["\u{1F1E7}\u{1F1E9}","bangla desh","east pakistan","gonaoprojatontri bangladesh","peoples republic of bangladesh","\u0997\u09A3\u09AA\u09CD\u09B0\u099C\u09BE\u09A4\u09A8\u09CD\u09A4\u09CD\u09B0\u09C0 \u09AC\u09BE\u0982\u09B2\u09BE\u09A6\u09C7\u09B6","\u09AC\u09BE\u0982\u09B2\u09BE \u09A6\u09C7\u09B6","\u09AC\u09BE\u0982\u09B2\u09BE\u09A6\u09C7\u09B6","\u09AC\u09BF\u09A1\u09BF"]},{iso3:"BGR",iso2:"BG",m49:"100",name:"Bulgaria",aliases:["\u{1F1E7}\u{1F1EC}","bulgarian republic","republic of bulgaria","republika bulgaria","republika bulgariya","\u0431\u0433","\u0431\u044A\u043B\u0433\u0430\u0440\u0438\u044F","\u0440\u0435\u043F\u0443\u0431\u043B\u0438\u043A\u0430 \u0431\u044A\u043B\u0433\u0430\u0440\u0438\u044F"]},{iso3:"BHR",iso2:"BH",m49:"048",name:"Bahrain",aliases:["\u{1F1E7}\u{1F1ED}","bahrein islands","kingdom of bahrain","\u0627\u0644\u0628\u062D\u0631\u064A\u0646","\u062F\u0648\u0644\u0629 \u0627\u0644\u0628\u062D\u0631\u064A\u0646","\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0628\u062D\u0631\u064A\u0646"]},{iso3:"BHS",iso2:"BS",m49:"044",name:"Bahamas",aliases:["\u{1F1E7}\u{1F1F8}","bahama islands","bahamas the","commonwealth of the bahamas"]},{iso3:"BIH",iso2:"BA",m49:"070",name:"Bosnia and Herzegovina",aliases:["\u{1F1E7}\u{1F1E6}","bosna","bosna i hercegovina","bosnia","bosnia and hercegovina","bosnia herzegovina","hercegovina","herzegovina","\u0431\u0438\u0445","\u0431\u043E\u0441\u043D\u0430","\u0431\u043E\u0441\u043D\u0430 \u0438 \u0445\u0435\u0440\u0446\u0435\u0433\u043E\u0432\u0438\u043D\u0430","\u0431\u0445"]},{iso3:"BLM",iso2:"BL",m49:"652",name:"Saint Barth\xE9lemy",aliases:["\u{1F1E7}\u{1F1F1}","collectivite doutre mer de saint barthelemy","collectivite territoriale de saint barthelemy","collectivity of saint barthelemy","saint barth","saint barths","saint barts","saint bartz"]},{iso3:"BLR",iso2:"BY",m49:"112",name:"Belarus",aliases:["\u{1F1E7}\u{1F1FE}","republic of belarus","respublika belarus","respublika byelarus","\u0431\u0435\u043B\u0430\u0440\u0443\u0441\u043A\u0430\u044F \u0440\u044D\u0441\u043F\u0443\u0431\u043B\u0456\u043A\u0430","\u0431\u0435\u043B\u0430\u0440\u0443\u0441\u044C","\u0431\u0435\u043B\u0430\u044F \u0440\u0443\u0441\u044C","\u0431\u0435\u043B\u043E\u0440\u0443\u0441\u0441\u0438\u044F","\u0440\u0431","\u0440\u0435\u0441\u043F\u0443\u0431\u043B\u0438\u043A\u0430 \u0431\u0435\u043B\u0430\u0440\u0443\u0441\u044C","\u0440\u044D\u0441\u043F\u0443\u0431\u043B\u0456\u043A\u0430 \u0431\u0435\u043B\u0430\u0440\u0443\u0441\u044C"]},{iso3:"BLZ",iso2:"BZ",m49:"084",name:"Belize",aliases:["\u{1F1E7}\u{1F1FF}"]},{iso3:"BMU",iso2:"BM",m49:"060",name:"Bermuda",aliases:["\u{1F1E7}\u{1F1F2}","barmuda","barmuda i","barmuda isl","barmuda islands","barmudas","bermoothes","bermuda islands","bermudas","bermudian islands","colony of bermuda","devils isles","isle of devils","somers islands","somers isles","summers isles","territory of bermuda","virgineola"]},{iso3:"BOL",iso2:"BO",m49:"068",name:"Bolivia (Plurinational State of)",aliases:["\u{1F1E7}\u{1F1F4}","bolivia","bulibiya","estado plurinacional de bolivia","plurinational state of bolivia","puliwya","republic of bolivia","republica de bolivia","volivia","wuliwiya","wuliwya"]},{iso3:"BRA",iso2:"BR",m49:"076",name:"Brazil",aliases:["\u{1F1E7}\u{1F1F7}","brasil","federative republic of brazil","pindorama","republica federativa do brasil"]},{iso3:"BRB",iso2:"BB",m49:"052",name:"Barbados",aliases:["\u{1F1E7}\u{1F1E7}","barbadoes"]},{iso3:"BRN",iso2:"BN",m49:"096",name:"Brunei Darussalam",aliases:["\u{1F1E7}\u{1F1F3}","brunei","nation of brunei the abode of peace","negara brunei darussalam"]},{iso3:"BTN",iso2:"BT",m49:"064",name:"Bhutan",aliases:["\u{1F1E7}\u{1F1F9}","kingdom of bhutan","\u0F60\u0F56\u0FB2\u0F74\u0F42","\u0F60\u0F56\u0FB2\u0F74\u0F42\u0F0B\u0F61\u0F74\u0F63\u0F0B","\u0F60\u0F56\u0FB2\u0F74\u0F42\u0F61\u0F74\u0F63\u0F0B\u0F0B"]},{iso3:"BVT",iso2:"BV",m49:"074",name:"Bouvet Island",aliases:["\u{1F1E7}\u{1F1FB}"]},{iso3:"BWA",iso2:"BW",m49:"072",name:"Botswana",aliases:["\u{1F1E7}\u{1F1FC}","lefatshe la botswana","republic of botswana"]},{iso3:"CAF",iso2:"CF",m49:"140",name:"Central African Republic",aliases:["\u{1F1E8}\u{1F1EB}","centrafricaine republique","centrafrique","central africa","kodorosese ti beafrika","la republique","rep centrafrique","republique centrafricaine"]},{iso3:"CAN",iso2:"CA",m49:"124",name:"Canada",aliases:["\u{1F1E8}\u{1F1E6}","le canada"]},{iso3:"CCK",iso2:"CC",m49:"166",name:"Cocos (Keeling) Islands",aliases:["\u{1F1E8}\u{1F1E8}","cocos islands","keeling islands","territory of the cocos keeling islands"]},{iso3:"CHE",iso2:"CH",m49:"756",name:"Switzerland",aliases:["\u{1F1E8}\u{1F1ED}","confederation helvetique","confederation suisse","confederazione elvetica","confederazione svizzera","confederaziun svizra","confoederatio helvetica","conf\u0153deratio helvetica","eidgenossenschaft","elvezia","helvetie","la confederation suisse","schweiz","schweizerische eidgenossenschaft","suisse","svizra","svizzera","swiss","swiss confederation"]},{iso3:"CHL",iso2:"CL",m49:"152",name:"Chile",aliases:["\u{1F1E8}\u{1F1F1}","republic of chile","republica de chile"]},{iso3:"CHN",iso2:"CN",m49:"156",name:"China",aliases:["\u{1F1E8}\u{1F1F3}","china pr","peoples republic of china","pr china","prc","\u4E2D\u534E\u4EBA\u6C11\u5171\u548C\u56FD","\u4E2D\u56FD"]},{iso3:"CIV",iso2:"CI",m49:"384",name:"C\xF4te d'Ivoire",aliases:["\u{1F1E8}\u{1F1EE}","cote ivoire","ivory coast","republic of cote divoire","republic of ivory coast","republic of the ivory coast","republique de cote divoire"]},{iso3:"CMR",iso2:"CM",m49:"120",name:"Cameroon",aliases:["\u{1F1E8}\u{1F1F2}","cameroun","la republique du cameroun","republic of cameroon","republique du cameroun"]},{iso3:"COD",iso2:"CD",m49:"180",name:"Democratic Republic of the Congo",aliases:["\u{1F1E8}\u{1F1E9}","congo belge","congo democratic republic of the","congo kinshasa","dem rep congo","dem republic of congo","dem republic of the congo","democratic republic of congo","dr congo","drc","rd congo","rep demcongo","republic of the congo","republique democratique du congo","republique du zaire","zaire"]},{iso3:"COG",iso2:"CG",m49:"178",name:"Congo",aliases:["\u{1F1E8}\u{1F1EC}","congo brazza","congo brazzaville","congo republic","rep congo","republic of congo","republique du congo"]},{iso3:"COK",iso2:"CK",m49:"184",name:"Cook Islands",aliases:["\u{1F1E8}\u{1F1F0}","cook group","hervey islands"]},{iso3:"COL",iso2:"CO",m49:"170",name:"Colombia",aliases:["\u{1F1E8}\u{1F1F4}","republic of colombia","republica de colombia"]},{iso3:"COM",iso2:"KM",m49:"174",name:"Comoros",aliases:["\u{1F1F0}\u{1F1F2}","comores","comores archipel","etat comorien","lunion des comores","republique des comores","republique federale et islamique des comores","republique federale islamique des comores","territoire des comores","union des comores","union of the comoros","\u0625\u062A\u062D\u0627\u062F \u0627\u0644\u0642\u0645\u0631","\u0627\u062A\u062D\u0627\u062F \u062C\u0632\u0631 \u0627\u0644\u0642\u0645\u0631","\u0627\u0644\u0627\u062A\u062D\u0627\u062F \u0627\u0644\u0642\u0645\u0631\u064A","\u0627\u0644\u0642\u0645\u0631","\u062C\u0632\u0631 \u0627\u0644\u0642\u0645\u0631","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0642\u0645\u0631 \u0627\u0644\u0645\u062A\u062D\u062F\u0629","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u062C\u0632\u0631 \u0627\u0644\u0642\u0645\u0631 \u0627\u0644\u0627\u062A\u062D\u0627\u062F\u064A\u0629 \u0627\u0644\u0625\u0633\u0644\u0627\u0645\u064A\u0629","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u062C\u0632\u0631\u0627\u0644\u0642\u0645\u0631 \u0627\u0644\u0645\u062A\u062D\u062F\u0629"]},{iso3:"CPV",iso2:"CV",m49:"132",name:"Cabo Verde",aliases:["\u{1F1E8}\u{1F1FB}","cape verde","cape verde islands","kab verd","kabu verdi","kauberdi","republic of cabo verde","republic of cape verde","republica de cabo verde"]},{iso3:"CRI",iso2:"CR",m49:"188",name:"Costa Rica",aliases:["\u{1F1E8}\u{1F1F7}","republic of costa rica","republica de costa rica"]},{iso3:"CUB",iso2:"CU",m49:"192",name:"Cuba",aliases:["\u{1F1E8}\u{1F1FA}","isla juana","republic of cuba","republica de cuba"]},{iso3:"CUW",iso2:"CW",m49:"531",name:"Cura\xE7ao",aliases:["\u{1F1E8}\u{1F1FC}","corsou","corsouw","corsow","country of curacao","curacau","curacoa","curazao","cura\u03C2ao","curocao","island territory of curacao","korsou","land curacao","pais korsou"]},{iso3:"CXR",iso2:"CX",m49:"162",name:"Christmas Island",aliases:["\u{1F1E8}\u{1F1FD}","christmas island other territories","christmas island other territories australia","territory of christmas island"]},{iso3:"CYM",iso2:"KY",m49:"136",name:"Cayman Islands",aliases:["\u{1F1F0}\u{1F1FE}","caymans"]},{iso3:"CYP",iso2:"CY",m49:"196",name:"Cyprus",aliases:["\u{1F1E8}\u{1F1FE}","greek administration of southern cyprus","greek cypriot state","guney k\u0131br\u0131s","guney k\u0131br\u0131s rum cumhuriyeti","guney k\u0131br\u0131s rum kesimi","guney k\u0131br\u0131s rum yonetimi","kipriaki dhimokratia","k\u0131br\u0131s","k\u0131br\u0131s cumhuriyeti","k\u0131br\u0131s rum kesimi","kypriaki dimokratia","kypros","republic of cyprus","\u03BA\u03C5\u03C0\u03C1\u03B9\u03B1\u03BA\u03B7 \u03B4\u03B7\u03BC\u03BF\u03BA\u03C1\u03B1\u03C4\u03B9\u03B1","\u03BA\u03C5\u03C0\u03C1\u03BF\u03C2"]},{iso3:"CZE",iso2:"CZ",m49:"203",name:"Czechia",aliases:["\u{1F1E8}\u{1F1FF}","ceska republika","ceske kraje","ceske uzemi","ceske zeme","cesko","cr","czech republic"]},{iso3:"DEU",iso2:"DE",m49:"276",name:"Germany",aliases:["\u{1F1E9}\u{1F1EA}","br deutschland","bundesrepublik","bundesrepublik deutschland","deutschland","federal republic of germany"]},{iso3:"DJI",iso2:"DJ",m49:"262",name:"Djibouti",aliases:["\u{1F1E9}\u{1F1EF}","la republique de djibouti","republic of djibouti","republique de djibouti","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u062C\u064A\u0628\u0648\u062A\u064A","\u062C\u064A\u0628\u0648\u062A\u064A"]},{iso3:"DMA",iso2:"DM",m49:"212",name:"Dominica",aliases:["\u{1F1E9}\u{1F1F2}","commonwealth of dominica","island of dominica","waitu kubuli"]},{iso3:"DNK",iso2:"DK",m49:"208",name:"Denmark",aliases:["\u{1F1E9}\u{1F1F0}","dania","danmark","denmark proper","kongeriget danmark","metropolitan denmark"]},{iso3:"DOM",iso2:"DO",m49:"214",name:"Dominican Republic",aliases:["\u{1F1E9}\u{1F1F4}","dominicana","domrep","haiti espanol","quisqueya","republica de santo domingo","republica dominicana","santo domingo"]},{iso3:"DZA",iso2:"DZ",m49:"012",name:"Algeria",aliases:["\u{1F1E9}\u{1F1FF}","peoples democratic republic of algeria","\u0627\u0644\u062C\u0632\u0627\u0626\u0631","\u0627\u0644\u062C\u0632\u0627\u064A\u0631","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u062C\u0632\u0627\u0626\u0631\u064A\u0629 \u0627\u0644\u062F\u064A\u0645\u0642\u0631\u0627\u0637\u064A\u0629 \u0627\u0644\u0634\u0639\u0628\u064A\u0629","\u0627\u0644\u062F\u0632\u0627\u064A\u0631","\u062F\u0632\u0627\u064A\u0631"]},{iso3:"ECU",iso2:"EC",m49:"218",name:"Ecuador",aliases:["\u{1F1EA}\u{1F1E8}","ecuadorian state","el ecuador","estado ecuatoriano","republic of ecuador","republic of equator","republic of the equator","republica del ecuador"]},{iso3:"EGY",iso2:"EG",m49:"818",name:"Egypt",aliases:["\u{1F1EA}\u{1F1EC}","arab rep egypt","arab republic of egypt","rep egypt","republic of egypt","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0645\u0635\u0631 \u0627\u0644\u0639\u0631\u0628\u064A\u0629","\u0645\u0635\u0631"]},{iso3:"ERI",iso2:"ER",m49:"232",name:"Eritrea",aliases:["\u{1F1EA}\u{1F1F7}","ertra","hagere ertra","hagere iertra","iertra","iritriya","state of eritrea","\u0625\u0631\u062A\u0631\u064A\u0627","\u0625\u0631\u064A\u062A\u0631\u064A\u0627","\u0627\u0631\u062A\u0631\u064A\u0627","\u0627\u0631\u062A\u064A\u0631\u064A\u0627","\u0627\u0631\u064A\u062A\u0631\u064A\u0627","\u062F\u0648\u0644\u0629 \u0625\u0631\u062A\u0631\u064A\u0627","\u062F\u0648\u0644\u0629 \u0625\u0631\u064A\u062A\u0631\u064A\u0627","\u1203\u1308\u1228 \u12A4\u122D\u1275\u122B","\u12A4\u122D\u1275\u122B"]},{iso3:"ESH",iso2:"EH",m49:"732",name:"Western Sahara",aliases:["\u{1F1EA}\u{1F1ED}","southern provinces","spanish sahara","west sahara"]},{iso3:"ESP",iso2:"ES",m49:"724",name:"Spain",aliases:["\u{1F1EA}\u{1F1F8}","espana","estado espanol","kingdom of spain","reino de espana"]},{iso3:"EST",iso2:"EE",m49:"233",name:"Estonia",aliases:["\u{1F1EA}\u{1F1EA}","eesti","eesti noukogude sotsialistlik vabariik","eesti vabariik","estland","republic of estonia"]},{iso3:"ETH",iso2:"ET",m49:"231",name:"Ethiopia",aliases:["\u{1F1EA}\u{1F1F9}","federal democratic republic of ethiopia","ityopiya","yeityopiya federalawi demokrasiyawi ripeblik","yeityopiya hizbawi dimokrasiyawi ripublik","\u12A2\u1275\u12EE\u1335\u12EB","\u12E8\u12A2\u1275\u12EE\u1335\u12EB \u134C\u12F4\u122B\u120B\u12CA \u12F4\u121E\u12AD\u122B\u1232\u12EB\u12CA \u122A\u1350\u1265\u120A\u12AD"]},{iso3:"FIN",iso2:"FI",m49:"246",name:"Finland",aliases:["\u{1F1EB}\u{1F1EE}","republic of finland","republiken finland","suomen tasavalta","suomi"]},{iso3:"FJI",iso2:"FJ",m49:"242",name:"Fiji",aliases:["\u{1F1EB}\u{1F1EF}","fiji ganarajya","matanitu ko viti","matanitu tugalala o viti","republic of fiji","republic of the fiji islands","viti"]},{iso3:"FLK",iso2:"FK",m49:"238",name:"Falkland Islands (Malvinas)",aliases:["\u{1F1EB}\u{1F1F0}","colony of the falkland islands","falkland islands","falklands","islas malvinas","malvinas","malvinas islands"]},{iso3:"FRA",iso2:"FR",m49:"250",name:"France",aliases:["\u{1F1EB}\u{1F1F7}","fr","french republic","la france","la republique francaise","lhexagone","republique francaise"]},{iso3:"FRO",iso2:"FO",m49:"234",name:"Faroe Islands",aliases:["\u{1F1EB}\u{1F1F4}","faer oer","f\xE6r\xF8","faeroe is","faeroe islands","faeroe isles","f\xE6r\xF8erne","faeroes","far oer","faroe island","faroe isles","faroes","faroese islands","f\xF8roya","f\xF8royar","f\xF8royum"]},{iso3:"FSM",iso2:"FM",m49:"583",name:"Micronesia (Federated States of)",aliases:["\u{1F1EB}\u{1F1F2}","fed sts micronesia","fed sts of micronesia","federated states of micronesia","federated states of micronesia fsm","micronesia"]},{iso3:"GAB",iso2:"GA",m49:"266",name:"Gabon",aliases:["\u{1F1EC}\u{1F1E6}","gabonese republic","la republique gabonaise","le gabon","republique du gabon","republique gabonaise"]},{iso3:"GBR",iso2:"GB",m49:"826",name:"United Kingdom of Great Britain and Northern Ireland",aliases:["\u{1F1EC}\u{1F1E7}","britain","england","great britain","great britain and northern ireland","northern ireland","scotland","uk","united kingdom","wales"]},{iso3:"GEO",iso2:"GE",m49:"268",name:"Georgia",aliases:["\u{1F1EC}\u{1F1EA}","georgia country","republic of georgia","sakartvelo","\u049B\u044B\u0440\u04AD\u0442\u04D9\u044B\u043B\u0430","\u10E1\u10D0\u10E5\u10D0\u10E0\u10D7\u10D5\u10D4\u10DA\u10DD","\u10E1\u10D0\u10E5\u10D0\u10E0\u10D7\u10D5\u10D4\u10DA\u10DD\u10E1 \u10E0\u10D4\u10E1\u10DE\u10E3\u10D1\u10DA\u10D8\u10D9\u10D0"]},{iso3:"GGY",iso2:"GG",m49:"831",name:"Guernsey",aliases:["\u{1F1EC}\u{1F1EC}","bailiwick of guernsey","bailliage de guernesey","bailliage de guernesi","giernesi","great britain guernsey","guernesey","lisia"]},{iso3:"GHA",iso2:"GH",m49:"288",name:"Ghana",aliases:["\u{1F1EC}\u{1F1ED}","republic of ghana"]},{iso3:"GIB",iso2:"GI",m49:"292",name:"Gibraltar",aliases:["\u{1F1EC}\u{1F1EE}","rock of gibraltar"]},{iso3:"GIN",iso2:"GN",m49:"324",name:"Guinea",aliases:["\u{1F1EC}\u{1F1F3}","guinee","guinee conakry","republic of guinea","republique de guinee"]},{iso3:"GLP",iso2:"GP",m49:"312",name:"Guadeloupe",aliases:["\u{1F1EC}\u{1F1F5}"]},{iso3:"GMB",iso2:"GM",m49:"270",name:"Gambia",aliases:["\u{1F1EC}\u{1F1F2}","islamic republic of the gambia","republic of the gambia"]},{iso3:"GNB",iso2:"GW",m49:"624",name:"Guinea-Bissau",aliases:["\u{1F1EC}\u{1F1FC}","guine bissau","republic of guinea bissau","republica da guine bissau"]},{iso3:"GNQ",iso2:"GQ",m49:"226",name:"Equatorial Guinea",aliases:["\u{1F1EC}\u{1F1F6}","guine equatorial","guinea ecuatorial","guinea espanola","guinee equat","guinee equatoriale","la republique de guinee equatoriale","posesiones espanolas del golfo de guinea","provincia de la guinea ecuatorial","republic of equatorial guinea","republica da guine equatorial","republica de guinea ecuatorial","territorios espanoles del golfo de guinea"]},{iso3:"GRC",iso2:"GR",m49:"300",name:"Greece",aliases:["\u{1F1EC}\u{1F1F7}","ellada","ellas","elliniki dhimokratia","elliniki dimokratia","greek republic","hellas","hellas greece","hellenic republic","vasilion tis ellados","\u03B4\u03B7\u03BC\u03BF\u03BA\u03C1\u03B1\u03C4\u03B9\u03B1 \u03C4\u03B7\u03C2 \u03B5\u03BB\u03BB\u03B1\u03B4\u03B1\u03C2","\u03B4\u03B7\u03BC\u03BF\u03BA\u03C1\u03B1\u03C4\u03B9\u03B1 \u03C4\u03B7\u03C2 \u03B5\u03BB\u03BB\u03B1\u03B4\u03BF\u03C2","\u03B5\u03BB\u03BB\u03B1\u03B4\u03B1","\u03B5\u03BB\u03BB\u03B1\u03C2","\u03B5\u03BB\u03BB\u03B1\u03C2 \u03B5\u03BB\u03BB\u03B1\u03B4\u03B1","\u03B5\u03BB\u03BB\u03B7\u03BD\u03B9\u03BA\u03B7 \u03B4\u03B7\u03BC\u03BF\u03BA\u03C1\u03B1\u03C4\u03B9\u03B1"]},{iso3:"GRD",iso2:"GD",m49:"308",name:"Grenada",aliases:["\u{1F1EC}\u{1F1E9}"]},{iso3:"GRL",iso2:"GL",m49:"304",name:"Greenland",aliases:["\u{1F1EC}\u{1F1F1}","kalaallit nunaat"]},{iso3:"GTM",iso2:"GT",m49:"320",name:"Guatemala",aliases:["\u{1F1EC}\u{1F1F9}","republic of guatemala","republica de guatemala"]},{iso3:"GUF",iso2:"GF",m49:"254",name:"French Guiana",aliases:["\u{1F1EC}\u{1F1EB}","fr 973","guiana","guiana france","guyane","guyane francaise","gwiyann","gwiyann franse","lagwiyann"]},{iso3:"GUM",iso2:"GU",m49:"316",name:"Guam",aliases:["\u{1F1EC}\u{1F1FA}","guahan","guam usa","islan guahan","island of guam","territory of guam"]},{iso3:"GUY",iso2:"GY",m49:"328",name:"Guyana",aliases:["\u{1F1EC}\u{1F1FE}","co operative republic of guyana","republic of guyana"]},{iso3:"HKG",iso2:"HK",m49:"344",name:"Hong Kong",aliases:["\u{1F1ED}\u{1F1F0}","hksar","hong kong sar","hong kong special administrative region","hong kong special administrative region of the peoples republic of china","hongkong"]},{iso3:"HMD",iso2:"HM",m49:"334",name:"Heard Island and McDonald Islands",aliases:["\u{1F1ED}\u{1F1F2}","heard","heard & mcdonald islands","heard and macdonald islands","heard island","himi","mcdonald","mcdonald island","territory of heard island and mcdonald islands"]},{iso3:"HND",iso2:"HN",m49:"340",name:"Honduras",aliases:["\u{1F1ED}\u{1F1F3}","guaymuras","higueras","honduran republic","republic of honduras","republica de honduras"]},{iso3:"HRV",iso2:"HR",m49:"191",name:"Croatia",aliases:["\u{1F1ED}\u{1F1F7}","hrvatska","republic of croatia","republika hrvatska"]},{iso3:"HTI",iso2:"HT",m49:"332",name:"Haiti",aliases:["\u{1F1ED}\u{1F1F9}","ayiti","haitian republic","la republique dhaiti","repiblik d ayiti","republic of haiti","republique dhaiti"]},{iso3:"HUN",iso2:"HU",m49:"348",name:"Hungary",aliases:["\u{1F1ED}\u{1F1FA}","a magyar koztarsasag","a magyar nepkoztarsasag","harmadik magyar koztarsasag","magyar koztarsasag","magyar nepkoztarsasag","magyarorszag","mo"]},{iso3:"IDN",iso2:"ID",m49:"360",name:"Indonesia",aliases:["\u{1F1EE}\u{1F1E9}","negara kesatuan republik indonesia","nkri","republic of indonesia","republik indonesia"]},{iso3:"IMN",iso2:"IM",m49:"833",name:"Isle of Man",aliases:["\u{1F1EE}\u{1F1F2}","ellan vannin","i man","i mann","i mannin","isle of mann","mann","mannin","manx"]},{iso3:"IND",iso2:"IN",m49:"356",name:"India",aliases:["\u{1F1EE}\u{1F1F3}","al hind","bharat","bharat ganarajya","bharata","bharatvarsh","hindoostan","hindustan","indostan","republic of india","tenjiku","tianzhu","\u0906\u0930\u094D\u092F\u0935\u0930\u094D\u0924","\u0907\u0902\u0921\u093F\u092F\u093E","\u0907\u0923\u094D\u0921\u093F\u092F\u093E","\u092D\u093E\u0930\u0924","\u092D\u093E\u0930\u0924 \u0917\u0923\u0930\u093E\u091C\u094D\u092F","\u092D\u093E\u0930\u0924\u0935\u0930\u094D\u0937","\u0939\u093F\u0902\u0926\u0941\u0938\u094D\u0924\u093E\u0928","\u0939\u093F\u0928\u094D\u0926\u0941\u0938\u094D\u0924\u093E\u0928","\u0939\u093F\u0928\u094D\u0926\u094B\u0938\u094D\u0924\u093E\u0928"]},{iso3:"IOT",iso2:"IO",m49:"086",name:"British Indian Ocean Territory",aliases:["\u{1F1EE}\u{1F1F4}","biot"]},{iso3:"IRL",iso2:"IE",m49:"372",name:"Ireland",aliases:["\u{1F1EE}\u{1F1EA}","eire","hibernia","irish republic","poblacht na heireann","republic of ireland","southern ireland"]},{iso3:"IRN",iso2:"IR",m49:"364",name:"Iran (Islamic Republic of)",aliases:["\u{1F1EE}\u{1F1F7}","iran","islamic rep iran","islamic republic of iran","persia","\u0627\u06CC\u0631\u0627\u0646","\u0627\u06CC\u0631\u0627\u0646\u0632\u0645\u06CC\u0646","\u067E\u0627\u0631\u0633","\u062C\u0645\u0647\u0648\u0631\u06CC \u0627\u0633\u0644\u0627\u0645\u06CC \u0627\u064A\u0631\u0627\u0646","\u062C\u0645\u0647\u0648\u0631\u06CC \u0627\u0633\u0644\u0627\u0645\u06CC \u0627\u06CC\u0631\u0627\u0646","\u0643\u0634\u0648\u0631 \u0634\u0627\u0647\u0646\u0634\u0627\u0647\u06CC \u0627\u064A\u0631\u0627\u0646"]},{iso3:"IRQ",iso2:"IQ",m49:"368",name:"Iraq",aliases:["\u{1F1EE}\u{1F1F6}","eraq","iraqe","komar i eraq","republic of iraq","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0639\u0631\u0627\u0642\u064A\u0629","\u0627\u0644\u0639\u0631\u0627\u0642","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0639\u0631\u0627\u0642","\u0639\u0631\u0627\u0642","\u0639\u06CE\u0631\u0627\u0642"]},{iso3:"ISL",iso2:"IS",m49:"352",name:"Iceland",aliases:["\u{1F1EE}\u{1F1F8}","icelandic republic","island","ly\xF0veldi\xF0 island","republic of iceland","ysland"]},{iso3:"ISR",iso2:"IL",m49:"376",name:"Israel",aliases:["\u{1F1EE}\u{1F1F1}","erez yisrael","medinat yisrael","state of israel","yisrael","\u05D9\u05E9\u05E8\u05D0\u05DC","\u05DE\u05D3\u05D9\u05E0\u05EA \u05D9\u05E9\u05E8\u05D0\u05DC"]},{iso3:"ITA",iso2:"IT",m49:"380",name:"Italy",aliases:["\u{1F1EE}\u{1F1F9}","il bel paese","italia","italian republic","repubblica italiana","republic of italy"]},{iso3:"JAM",iso2:"JM",m49:"388",name:"Jamaica",aliases:["\u{1F1EF}\u{1F1F2}","commonwealth of jamaica","jamieka","jomieka","jumieka"]},{iso3:"JEY",iso2:"JE",m49:"832",name:"Jersey",aliases:["\u{1F1EF}\u{1F1EA}","bailliage de jerri","bailliage de jersey","balliwick of jersey","i iersey","i jersey","iersey","iersey i","isle of jersey","jerri","jersey i","jersey island"]},{iso3:"JOR",iso2:"JO",m49:"400",name:"Jordan",aliases:["\u{1F1EF}\u{1F1F4}","giordania","hashemite kingdom of jordan","kingdom of jordan","state of jordan","yarden","\u0627\u0644\u0623\u0631\u062F\u0646","\u0627\u0644\u0627\u0631\u062F\u0646","\u0627\u0644\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0623\u0631\u062F\u0646\u064A\u0629 \u0627\u0644\u0647\u0627\u0634\u0645\u064A\u0629","\u0627\u0644\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0627\u0631\u062F\u0646\u064A\u0629 \u0627\u0644\u0647\u0627\u0634\u0645\u064A\u0629"]},{iso3:"JPN",iso2:"JP",m49:"392",name:"Japan",aliases:["\u{1F1EF}\u{1F1F5}","state of japan","\u3042\u304D\u3064\u3057\u307E","\u304A\u304A\u3084\u3057\u307E","\u3057\u304D\u3057\u307E","\u30B8\u30E3\u30D1\u30F3","\u3057\u3093\u3057\u3085\u3046","\u306B\u3063\u307D\u3093","\u306B\u3063\u307D\u3093\u3053\u304F","\u306B\u307B\u3093","\u306B\u307B\u3093\u3053\u304F","\u3072\u3044\u305A\u308B\u304F\u306B","\u3075\u305D\u3046","\u5927\u516B\u5DDE","\u6276\u6728\u4E4B\u5730","\u6276\u6851","\u6276\u6851\u56FD","\u6577\u5CF6","\u65E5\u51FA\u308B\u56FD","\u65E5\u672C","\u6991\u6728\u4E4B\u5730","\u745E\u7A42\u56FD","\u795E\u5DDE","\u79CB\u6D25\u5CF6","\u8466\u539F\u4E2D\u56FD"]},{iso3:"KAZ",iso2:"KZ",m49:"398",name:"Kazakhstan",aliases:["\u{1F1F0}\u{1F1FF}","qazaqstan","qazaqstan respublikasy","republic of kazakhstan","\u043A\u0430\u0437\u0430\u0445\u0441\u0442\u0430\u043D","\u049B\u0430\u0437\u0430\u049B\u0441\u0442\u0430\u043D","\u049B\u0430\u0437\u0430\u049B\u0441\u0442\u0430\u043D \u0440\u0435\u0441\u043F\u0443\u0431\u043B\u0438\u043A\u0430\u0441\u044B","\u0440\u0435\u0441\u043F\u0443\u0431\u043B\u0438\u043A\u0430 \u043A\u0430\u0437\u0430\u0445\u0441\u0442\u0430\u043D","\u0440\u043A"]},{iso3:"KEN",iso2:"KE",m49:"404",name:"Kenya",aliases:["\u{1F1F0}\u{1F1EA}","jamhuri ya kenya","republic of kenya"]},{iso3:"KGZ",iso2:"KG",m49:"417",name:"Kyrgyzstan",aliases:["\u{1F1F0}\u{1F1EC}","kyrgyz republic","kyrgyz respublikasy","kyrgyzstan respublikasy","\u043A\u0440","\u043A\u044B\u0440\u0433\u044B\u0437 \u0440\u0435\u0441\u043F\u0443\u0431\u043B\u0438\u043A\u0430\u0441\u044B","\u043A\u044B\u0440\u0433\u044B\u0437\u0441\u0442\u0430\u043D"]},{iso3:"KHM",iso2:"KH",m49:"116",name:"Cambodia",aliases:["\u{1F1F0}\u{1F1ED}","camboya","campuchia","kambodzha","kamboja","kampuchea","kingdom of cambodia","\u1780\u1798\u17D2\u1796\u17BB\u1787\u17B6","\u1796\u17D2\u179A\u17C7\u179A\u17B6\u1787\u17B6\u178E\u17B6\u1785\u1780\u17D2\u179A\u1780\u1798\u17D2\u1796\u17BB\u1787\u17B6"]},{iso3:"KIR",iso2:"KI",m49:"296",name:"Kiribati",aliases:["\u{1F1F0}\u{1F1EE}","republic of kiribati"]},{iso3:"KNA",iso2:"KN",m49:"659",name:"Saint Kitts and Nevis",aliases:["\u{1F1F0}\u{1F1F3}","federation of saint christopher and nevis","federation of saint kitts and nevis","kitts & nevis","nevis","saint christopher","saint christopher and nevis","saint kitts"]},{iso3:"KOR",iso2:"KR",m49:"410",name:"Republic of Korea",aliases:["\u{1F1F0}\u{1F1F7}","korea","korea republic","korea republic of","korea south","rep korea","s korea","south korea","taehan minguk","\uB0A8\uC870\uC120","\uB0A8\uD55C","\uB300\uD55C","\uB300\uD55C\uBBFC\uAD6D","\uCF54\uB9AC\uC544","\uD55C\uAD6D"]},{iso3:"KWT",iso2:"KW",m49:"414",name:"Kuwait",aliases:["\u{1F1F0}\u{1F1FC}","state of kuwait","\u0627\u0644\u0643\u0648\u064A\u062A","\u062F\u0648\u0644\u0629 \u0627\u0644\u0643\u0648\u064A\u062A"]},{iso3:"LAO",iso2:"LA",m49:"418",name:"Lao People's Democratic Republic",aliases:["\u{1F1F1}\u{1F1E6}","laos","sathalanalat paxathipatai paxaxon lao","\u0EAA\u0EB2\u0E97\u0EB2\u0EA5\u0EB0\u0E99\u0EB0\u0EA5\u0EB1\u0E94 \u0E9B\u0EB0\u0E8A\u0EB2\u0E97\u0EB4\u0E9B\u0EB0\u0EC4\u0E95 \u0E9B\u0EB0\u0E8A\u0EB2\u0E8A\u0EBB\u0E99\u0EA5\u0EB2\u0EA7","\u0E9B\u0EB0\u0EC0\u0E97\u0E94\u0EA5\u0EB2\u0EA7","\u0EA5\u0EB2\u0EA7"]},{iso3:"LBN",iso2:"LB",m49:"422",name:"Lebanon",aliases:["\u{1F1F1}\u{1F1E7}","lebanese republic","republic of lebanon","state of lebanon","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0644\u0628\u0646\u0627\u0646\u064A\u0629","\u0644\u0628\u0646\u0627\u0646"]},{iso3:"LBR",iso2:"LR",m49:"430",name:"Liberia",aliases:["\u{1F1F1}\u{1F1F7}","liber","republic of liberia"]},{iso3:"LBY",iso2:"LY",m49:"434",name:"Libya",aliases:["\u{1F1F1}\u{1F1FE}","state of libya","\u0627\u0644\u062C\u0645\u0627\u0647\u064A\u0631\u064A\u0629 \u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0644\u064A\u0628\u064A\u0629 \u0627\u0644\u0634\u0639\u0628\u064A\u0629 \u0627\u0644\u0625\u0634\u062A\u0631\u0627\u0643\u064A\u0629","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0644\u064A\u0628\u064A\u0629","\u0627\u0644\u0644\u064A\u0628\u064A","\u0627\u0644\u0644\u064A\u0628\u064A\u0629","\u0627\u0644\u0644\u064A\u0628\u064A\u0646","\u062F\u0648\u0644\u0629 \u0644\u064A\u0628\u064A\u0627","\u0644\u064A\u0628\u0628\u064A\u0627","\u0644\u064A\u0628\u064A","\u0644\u064A\u0628\u064A\u0627","\u0644\u064A\u0628\u064A\u0629"]},{iso3:"LCA",iso2:"LC",m49:"662",name:"Saint Lucia",aliases:["\u{1F1F1}\u{1F1E8}","hewanorra","iyonola"]},{iso3:"LIE",iso2:"LI",m49:"438",name:"Liechtenstein",aliases:["\u{1F1F1}\u{1F1EE}","furstentum lichtenstein","furstentum liechtenstein","principality of liechtenstein"]},{iso3:"LKA",iso2:"LK",m49:"144",name:"Sri Lanka",aliases:["\u{1F1F1}\u{1F1F0}","ceylan","ceylon","democratic socialist republic of sri lanka","ilankaic cananayaka cocalicak kutiyarcu","lankava","prajatantravadi samajavadi janarajaya sri lanka","serendib","srilanka","taprobane","\u0B87\u0BB2\u0B99\u0BCD\u0B95\u0BC8","\u0B87\u0BB2\u0B99\u0BCD\u0B95\u0BC8 \u0B9A\u0BA9\u0BA8\u0BBE\u0BAF\u0B95 \u0B9A\u0BCB\u0B9A\u0BB2\u0BBF\u0B9A\u0B95\u0BCD \u0B95\u0BC1\u0B9F\u0BBF\u0BAF\u0BB0\u0B9A\u0BC1","\u0B87\u0BB2\u0B99\u0BCD\u0B95\u0BC8 \u0B9A\u0BA9\u0BA8\u0BBE\u0BAF\u0B95 \u0B9A\u0BCB\u0BB7\u0BB2\u0BBF\u0B9A\u0B95\u0BCD \u0B95\u0BC1\u0B9F\u0BBF\u0BAF\u0BB0\u0B9A\u0BC1","\u0B88\u0BB4\u0BAE\u0BCD","\u0B9A\u0BBF\u0BB2\u0BCB\u0BA9\u0BCD","\u0DBD\u0D82\u0D9A\u0DCF\u0DC0","\u0DC1\u0DCA\u0DBB\u0DD3 \u0DBD\u0D82\u0D9A\u0DCF \u0DB4\u0DCA\u0DBB\u0DA2\u0DCF\u0DAD\u0DB1\u0DCA\u0DAD\u0DCA\u0DBB\u0DC0\u0DCF\u0DAF\u0DD3 \u0DC3\u0DB8\u0DCF\u0DA2\u0DC0\u0DCF\u0DAF\u0DD3 \u0DA2\u0DB1\u0DBB\u0DA2\u0DBA","\u0DC1\u0DCA\u0DBB\u0DD3 \u0DBD\u0D82\u0D9A\u0DCF\u0DC0","\u0DC1\u0DCA\u200D\u0DBB\u0DD3 \u0DBD\u0D82\u0D9A\u0DCF\u0DC0"]},{iso3:"LSO",iso2:"LS",m49:"426",name:"Lesotho",aliases:["\u{1F1F1}\u{1F1F8}","kingdom of lesotho","mmuso wa lesotho","mountain kingdom"]},{iso3:"LTU",iso2:"LT",m49:"440",name:"Lithuania",aliases:["\u{1F1F1}\u{1F1F9}","lietuva","lietuvos respublika","republic of lithuania"]},{iso3:"LUX",iso2:"LU",m49:"442",name:"Luxembourg",aliases:["\u{1F1F1}\u{1F1FA}","grand duche","grand duche de luxembourg","grand duchy of luxembourg","gro\xDFherzogtum luxemburg","groussherzogtum letzebuerg","le grand duche de luxembourg","letzebuerg","letzebuerger land","lux","luxemburg"]},{iso3:"LVA",iso2:"LV",m49:"428",name:"Latvia",aliases:["\u{1F1F1}\u{1F1FB}","latveja","latvejas republika","latvian republic","latvija","latvijas republika","letm\u043E","letm\u043E vabam\u043E","republic of latvia"]},{iso3:"MAC",iso2:"MO",m49:"446",name:"Macao",aliases:["\u{1F1F2}\u{1F1F4}","aomen","macao sar","macao special administrative region","macao special administrative region of the peoples republic of china","macau","macau rae da china","macau sar","macau special administrative region","macau special administrative region of the peoples republic of china","raem","regiao administrativa especial de macau","regiao administrativa especial de macau da republica popular da china","\u4E2D\u570B\u6FB3\u9580\u7279\u5225\u884C\u653F\u5340","\u6FB3\u9580"]},{iso3:"MAF",iso2:"MF",m49:"663",name:"Saint Martin (French Part)",aliases:["\u{1F1F2}\u{1F1EB}","collectivite de saint martin","collectivity of saint martin","saint martin","saint martin antilles francaises","saint martin france"]},{iso3:"MAR",iso2:"MA",m49:"504",name:"Morocco",aliases:["\u{1F1F2}\u{1F1E6}","kingdom of morocco","\u0627\u0644\u0645\u063A\u0631\u0628","\u0627\u0644\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0645\u063A\u0631\u0628\u064A\u0629","\u2D30\u2D4E\u2D53\u2D54 \u2D4F \u2D61\u2D30\u2D3D\u2D53\u2D5B","\u2D30\u2D4E\u2D55\u2D55\u2D53\u2D3D","\u2D4D\u2D4E\u2D55\u2D55\u2D53\u2D3D","\u2D4D\u2D4E\u2D56\u2D54\u2D49\u2D31","\u2D5C\u2D30\u2D33\u2D4D\u2D37\u2D49\u2D5C \u2D4F \u2D4D\u2D4E\u2D56\u2D54\u2D49\u2D31"]},{iso3:"MCO",iso2:"MC",m49:"492",name:"Monaco",aliases:["\u{1F1F2}\u{1F1E8}","fort hercule","la principaute de monaco","monaco rattachee au district de menton en 1793","munegu","principality and diocese of monaco","principality of monaco","principatu de munegu","principaute de monaco"]},{iso3:"MDA",iso2:"MD",m49:"498",name:"Republic of Moldova",aliases:["\u{1F1F2}\u{1F1E9}","moldavia","moldova","moldova republic of","moldova republica","r moldova","rep moldova","republica moldova","\u043C\u043E\u043B\u0434\u043E\u0432\u0430"]},{iso3:"MDG",iso2:"MG",m49:"450",name:"Madagascar",aliases:["\u{1F1F2}\u{1F1EC}","la republique de madagascar","madagasikara","repoblikani madagasikara","republic of madagascar","republique de madagascar"]},{iso3:"MDV",iso2:"MV",m49:"462",name:"Maldives",aliases:["\u{1F1F2}\u{1F1FB}","dhivehi raajjeyge jumhooriyyaa","republic of maldives","\u078B\u07A8\u0788\u07AC\u0780\u07A8 \u0783\u07A7\u0787\u07B0\u0796\u07AC","\u078B\u07A8\u0788\u07AC\u0780\u07A8\u0783\u07A7\u0787\u07B0\u0796\u07AC","\u078B\u07A8\u0788\u07AC\u0780\u07A8\u0783\u07A7\u0787\u07B0\u0796\u07AD\u078E\u07AC \u0796\u07AA\u0789\u07AA\u0780\u07AB\u0783\u07A8\u0787\u07B0\u0794\u07A7","\u078B\u07A8\u0788\u07AC\u0780\u07A8\u0783\u07A7\u0787\u07B0\u0796\u07AD\u078E\u07AC \u0796\u07AA\u0789\u07B0\u0780\u07AB\u0783\u07A8\u0787\u07B0\u0794\u07A7"]},{iso3:"MEX",iso2:"MX",m49:"484",name:"Mexico",aliases:["\u{1F1F2}\u{1F1FD}","estados unidos mejicanos","estados unidos mexicanos","mejico","mexican republic","mexican united states","mexihco","mexihko","mexika sentik wexteyowalko","mexiko","mexko","mexko axkayotl","mexko tlalli","nueva espana","republica mejicana","republica mexicana","united mexican states","united states of mexico"]},{iso3:"MHL",iso2:"MH",m49:"584",name:"Marshall Islands",aliases:["\u{1F1F2}\u{1F1ED}","aelon kein ad","aolepan aorokin majel","jolet jen anij","majel","majol","republic of the marshall islands"]},{iso3:"MKD",iso2:"MK",m49:"807",name:"North Macedonia",aliases:["\u{1F1F2}\u{1F1F0}","former yugoslav republic of macedonia","fyr macedonia","fyrom","irjm","ish republika jugosllave e maqedonise","macedonia","macedonia former yugoslav republic of","macedonia fyr","maqedoni","maqedonia","maqedonia e veriut","republic of macedonia","republic of north macedonia","republika e maqedonise","republika e maqedonise se veriut","\u043C\u0430\u043A\u0435\u0434\u043E\u043D\u0438\u0458\u0430","\u0440\u0435\u043F\u0443\u0431\u043B\u0438\u043A\u0430 \u043C\u0430\u043A\u0435\u0434\u043E\u043D\u0438\u0458\u0430","\u0440\u0435\u043F\u0443\u0431\u043B\u0438\u043A\u0430 \u0441\u0435\u0432\u0435\u0440\u043D\u0430 \u043C\u0430\u043A\u0435\u0434\u043E\u043D\u0438\u0458\u0430","\u0440\u043C","\u0440\u0441\u043C","\u0441\u0435\u0432\u0435\u0440\u043D\u0430 \u043C\u0430\u043A\u0435\u0434\u043E\u043D\u0438\u0458\u0430"]},{iso3:"MLI",iso2:"ML",m49:"466",name:"Mali",aliases:["\u{1F1F2}\u{1F1F1}","maali","republic of mali"]},{iso3:"MLT",iso2:"MT",m49:"470",name:"Malta",aliases:["\u{1F1F2}\u{1F1F9}","malta island","repubblika ta malta","republic of malta"]},{iso3:"MMR",iso2:"MM",m49:"104",name:"Myanmar",aliases:["\u{1F1F2}\u{1F1F2}","burma","pyidaungzu myanma naingngandaw","pyidaungzu thammada myanma naingngandaw","republic of the union of myanmar","union of burma","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F \u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F \u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036\u1010\u1031\u102C\u103A","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F \u101E\u1019\u1039\u1019\u1010 \u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F \u101E\u1019\u1039\u1019\u1010 \u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036\u1010\u1031\u102C\u103A","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F\u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036\u1010\u1031\u102C\u103A","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F\u101E\u1019\u1039\u1019\u1010\u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036","\u1015\u103C\u200C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F\u101E\u1019\u1039\u1019\u1010\u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036","\u1015\u103C\u100A\u103A\u1011\u1031\u102C\u1004\u103A\u1005\u102F\u101E\u1019\u1039\u1019\u1010\u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036\u1010\u1031\u102C\u103A","\u1017\u1019\u102C\u1015\u103C\u100A\u103A","\u1019\u103C\u1014\u103A\u1019\u102C","\u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036","\u1019\u103C\u1014\u103A\u1019\u102C\u1014\u102D\u102F\u1004\u103A\u1004\u1036\u1010\u1031\u102C\u103A","\u1019\u103C\u1014\u103A\u1019\u102C\u1015\u103C\u100A\u103A"]},{iso3:"MNE",iso2:"ME",m49:"499",name:"Montenegro",aliases:["\u{1F1F2}\u{1F1EA}","crna cora","\u0446\u0440\u043D\u0430 \u0433\u043E\u0440\u0430"]},{iso3:"MNG",iso2:"MN",m49:"496",name:"Mongolia",aliases:["\u{1F1F2}\u{1F1F3}","bugd nayramdah mongol ard uls","mongol uls","state of mongolia","\u043C\u043E\u043D\u0433\u043E\u043B","\u043C\u043E\u043D\u0433\u043E\u043B \u0443\u043B\u0441","\u182E\u1824\u1829\u182D\u1824\u182F \u1824\u182F\u1824\u1830"]},{iso3:"MNP",iso2:"MP",m49:"580",name:"Northern Mariana Islands",aliases:["\u{1F1F2}\u{1F1F5}","cnmi","commonwealth of the northern maria islands","commonwealth of the northern mariana islands","northern marianas","notte marianas","sankattan siha na islas marianas"]},{iso3:"MOZ",iso2:"MZ",m49:"508",name:"Mozambique",aliases:["\u{1F1F2}\u{1F1FF}","mocambique","republic of mozambique","republica de mocambique"]},{iso3:"MRT",iso2:"MR",m49:"478",name:"Mauritania",aliases:["\u{1F1F2}\u{1F1F7}","islamic republic of mauritania","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0625\u0633\u0644\u0627\u0645\u064A\u0629 \u0627\u0644\u0645\u0648\u0631\u064A\u062A\u0627\u0646\u064A\u0629","\u0645\u0648\u0631\u064A\u062A\u0627\u0646\u064A\u0627"]},{iso3:"MSR",iso2:"MS",m49:"500",name:"Montserrat",aliases:["\u{1F1F2}\u{1F1F8}","island of montserrat"]},{iso3:"MTQ",iso2:"MQ",m49:"474",name:"Martinique",aliases:["\u{1F1F2}\u{1F1F6}","territorial collectivity of martinique"]},{iso3:"MUS",iso2:"MU",m49:"480",name:"Mauritius",aliases:["\u{1F1F2}\u{1F1FA}","ile maurice","la republique de maurice","maurice","moris","republic of mauritius","republique de maurice"]},{iso3:"MWI",iso2:"MW",m49:"454",name:"Malawi",aliases:["\u{1F1F2}\u{1F1FC}","republic of malawi"]},{iso3:"MYS",iso2:"MY",m49:"458",name:"Malaysia",aliases:["\u{1F1F2}\u{1F1FE}","federation of malaysia","malaysia federation","negara seberang tambak","persekutuan malaysia"]},{iso3:"MYT",iso2:"YT",m49:"175",name:"Mayotte",aliases:["\u{1F1FE}\u{1F1F9}","departement de mayotte","departement region de mayotte","department of mayotte"]},{iso3:"NAM",iso2:"NA",m49:"516",name:"Namibia",aliases:["\u{1F1F3}\u{1F1E6}","republic of namibia"]},{iso3:"NCL",iso2:"NC",m49:"540",name:"New Caledonia",aliases:["\u{1F1F3}\u{1F1E8}","caledonie","kanaky","kanaky nouvelle caledonie","nouvelle caledonie","territoire de la nouvelle caledonie et dependances","territoire des nouvelle caledonie et dependances","territory of new caledonia and dependencies"]},{iso3:"NER",iso2:"NE",m49:"562",name:"Niger",aliases:["\u{1F1F3}\u{1F1EA}","jamhuriyar nijar","nijar","republic niger","republic of niger","republic of the niger"]},{iso3:"NFK",iso2:"NF",m49:"574",name:"Norfolk Island",aliases:["\u{1F1F3}\u{1F1EB}","norfolk island australia","norfolk island other territories","norfolk island other territories australia","territory of norfolk island"]},{iso3:"NGA",iso2:"NG",m49:"566",name:"Nigeria",aliases:["\u{1F1F3}\u{1F1EC}","federal republic of nigeria","naija"]},{iso3:"NIC",iso2:"NI",m49:"558",name:"Nicaragua",aliases:["\u{1F1F3}\u{1F1EE}","republic of nicaragua","republica de nicaragua"]},{iso3:"NIU",iso2:"NU",m49:"570",name:"Niue",aliases:["\u{1F1F3}\u{1F1FA}"]},{iso3:"NLD",iso2:"NL",m49:"528",name:"Kingdom of the Netherlands",aliases:["\u{1F1F3}\u{1F1F1}","hollandt","kingdom of netherlands","koninkrijk der nederlanden","nederland","nederlanden","nederlandt","netherlands","netherlands kingdom of the"]},{iso3:"NOR",iso2:"NO",m49:"578",name:"Norway",aliases:["\u{1F1F3}\u{1F1F4}","kingdom of norway","kongeriket noreg","kongeriket norge","noreg","norge"]},{iso3:"NPL",iso2:"NP",m49:"524",name:"Nepal",aliases:["\u{1F1F3}\u{1F1F5}","bal bo","bal poi yul","bal yul","balbo","balpo","balpo yul","nipal","sanghiya loktantrik ganatantra nepal","\u0928\u0947\u092A\u093E\u0932","\u0938\u0902\u0918\u093F\u092F \u0932\u094B\u0915\u0924\u093E\u0928\u094D\u0924\u094D\u0930\u093F\u0915 \u0917\u0923\u0924\u0928\u094D\u0924\u094D\u0930 \u0928\u0947\u092A\u093E\u0932","\u0938\u0902\u0918\u093F\u092F \u0932\u094B\u0915\u0924\u093E\u0928\u094D\u0924\u094D\u0930\u093F\u0915 \u0917\u0923\u0924\u0928\u094D\u0924\u094D\u0930\u093E\u0924\u094D\u092E\u0915 \u0928\u0947\u092A\u093E\u0932","\u0938\u0902\u0918\u0940\u092F \u0932\u094B\u0915\u0924\u093E\u0928\u094D\u0924\u094D\u0930\u093F\u0915 \u0917\u0923\u0924\u0928\u094D\u0924\u094D\u0930 \u0928\u0947\u092A\u093E\u0932"]},{iso3:"NRU",iso2:"NR",m49:"520",name:"Naoero",aliases:["\u{1F1F3}\u{1F1F7}","nauru","pleasant island","republic of naoero","republic of nauru"]},{iso3:"NZL",iso2:"NZ",m49:"554",name:"New Zealand",aliases:["\u{1F1F3}\u{1F1FF}","aotearoa","aotearoa new zealand","dominion of new zealand"]},{iso3:"OMN",iso2:"OM",m49:"512",name:"Oman",aliases:["\u{1F1F4}\u{1F1F2}","sultanate of oman","uman","\u0633\u0644\u0637\u0646\u0629 \u0639\u0645\u0627\u0646","\u0639\u0645\u0627\u0646"]},{iso3:"PAK",iso2:"PK",m49:"586",name:"Pakistan",aliases:["\u{1F1F5}\u{1F1F0}","hoi quoc","islamic republic of pakistan","republic of pakistan","tay hoi","\u0627\u0633\u0644\u0627\u0645\u06CC \u062C\u0645\u06C1\u0648\u0631\u06CC\u06C1 \u067E\u0627\u06A9\u0633\u062A\u0627\u0646","\u0628\u0627\u06A9\u0633\u062A\u0627\u0646","\u067E\u0627\u06A9\u0633\u062A\u0627\u0646"]},{iso3:"PAN",iso2:"PA",m49:"591",name:"Panama",aliases:["\u{1F1F5}\u{1F1E6}","republic of panama","republica de panama"]},{iso3:"PCN",iso2:"PN",m49:"612",name:"Pitcairn",aliases:["\u{1F1F5}\u{1F1F3}","occas island","pisskern ali\u0435n","pitcairn henderson ducie and oeno islands","pitcairn island","pitcairn islands","pitkern ailen"]},{iso3:"PER",iso2:"PE",m49:"604",name:"Peru",aliases:["\u{1F1F5}\u{1F1EA}","piruw","piruw ripuwlika","republic of peru","republica del peru"]},{iso3:"PHL",iso2:"PH",m49:"608",name:"Philippines",aliases:["\u{1F1F5}\u{1F1ED}","philippine islands","republic of the philippines"]},{iso3:"PLW",iso2:"PW",m49:"585",name:"Palau",aliases:["\u{1F1F5}\u{1F1FC}","belau","peeloo","pelew","pelew islands","pellew","republic of belau","republic of palau","\u30D1\u30E9\u30AA","\u30D1\u30E9\u30AA\u5171\u548C\u56FD"]},{iso3:"PNG",iso2:"PG",m49:"598",name:"Papua New Guinea",aliases:["\u{1F1F5}\u{1F1EC}","independent state of papua new guinea","papua niugini"]},{iso3:"POL",iso2:"PL",m49:"616",name:"Poland",aliases:["\u{1F1F5}\u{1F1F1}","polska","republic of poland","rzeczpospolita polska"]},{iso3:"PRI",iso2:"PR",m49:"630",name:"Puerto Rico",aliases:["\u{1F1F5}\u{1F1F7}","boriken","borinquen","boriquen","commonwealth of puerto rico","estado libre asociado de puerto rico","free associated state of puerto rico","isla del encanto","island of enchantment","isle of enchantment","mancomunidad de puerto rico","porto rico","territorio de puerto rico","territorio estadounidense de puerto rico","territory of porto rico","territory of puerto rico"]},{iso3:"PRK",iso2:"KP",m49:"408",name:"Democratic People's Republic of Korea",aliases:["\u{1F1F0}\u{1F1F5}","choson minjujuui inmin konghwaguk","dpr korea","dprk","korea democratic peoples republic of","n korea","north korea","\uACF5\uD654\uAD6D","\uBD81\uC870\uC120","\uBD81\uD55C","\uC870\uC120","\uC870\uC120\uBBFC\uC8FC\uC8FC\uC758\uC778\uBBFC\uACF5\uD654\uAD6D"]},{iso3:"PRT",iso2:"PT",m49:"620",name:"Portugal",aliases:["\u{1F1F5}\u{1F1F9}","republica portuguesa"]},{iso3:"PRY",iso2:"PY",m49:"600",name:"Paraguay",aliases:["\u{1F1F5}\u{1F1FE}","paraguai","republic of paraguay","republica del paraguay","teta paraguai"]},{iso3:"PSE",iso2:"PS",m49:"275",name:"State of Palestine",aliases:["\u{1F1F5}\u{1F1F8}","palestine","palestine state of","palestinian authority","palestinian national authority","palestinian territory","west bank and gaza","\u0623\u0631\u0627\u0636\u064A \u0641\u0644\u0633\u0637\u064A\u0646\u064A\u0629","\u0627\u0644\u0623\u0631\u0627\u0636\u064A \u0627\u0644\u0641\u0644\u0633\u0637\u064A\u0646\u064A\u0629","\u0627\u0644\u062F\u0648\u0644\u0629 \u0627\u0644\u0641\u0644\u0633\u0637\u064A\u0646\u064A\u0629","\u0627\u0644\u0633\u0644\u0637\u0629 \u0627\u0644\u0641\u0644\u0633\u0637\u064A\u0646\u064A\u0629","\u0627\u0644\u0633\u0644\u0637\u0629 \u0627\u0644\u0648\u0637\u0646\u064A\u0629 \u0627\u0644\u0641\u0644\u0633\u0637\u064A\u0646\u064A\u0629","\u0627\u0644\u0636\u0641\u0629 \u0627\u0644\u063A\u0631\u0628\u064A\u0629 \u0648\u0642\u0637\u0627\u0639 \u063A\u0632\u0629","\u062F\u0648\u0644\u0629 \u0641\u0644\u0633\u0637\u064A\u0646","\u0641\u0644\u0633\u0637\u064A\u0646"]},{iso3:"PYF",iso2:"PF",m49:"258",name:"French Polynesia",aliases:["\u{1F1F5}\u{1F1EB}","f oh","french establishments in oceania","french oceania","french settlements in oceania","polynesie francaise","territoire de la polynesie francaise","territory of french polynesia"]},{iso3:"QAT",iso2:"QA",m49:"634",name:"Qatar",aliases:["\u{1F1F6}\u{1F1E6}","state of qatar","\u0625\u0645\u0627\u0631\u0629 \u0642\u0637\u0631","\u062F\u0648\u0644\u0629 \u0642\u0637\u0631","\u0642\u0637\u0631"]},{iso3:"REU",iso2:"RE",m49:"638",name:"R\xE9union",aliases:["\u{1F1F7}\u{1F1EA}","ile bourbon","ile de la reunion","la reunion","re","region reunion","reunion island"]},{iso3:"ROU",iso2:"RO",m49:"642",name:"Romania",aliases:["\u{1F1F7}\u{1F1F4}"]},{iso3:"RUS",iso2:"RU",m49:"643",name:"Russian Federation",aliases:["\u{1F1F7}\u{1F1FA}","federation of russia","russia","\u0440\u043E\u0441\u0441\u0438\u0438\u0441\u043A\u0430\u044F \u0444\u0435\u0434\u0435\u0440\u0430\u0446\u0438\u044F","\u0440\u043E\u0441\u0441\u0438\u044F","\u0440\u0444"]},{iso3:"RWA",iso2:"RW",m49:"646",name:"Rwanda",aliases:["\u{1F1F7}\u{1F1FC}","igihugu cyimisozi igihumbi","jamhuri ya rwanda","la republique du rwanda","land of a thousand hills","republic of rwanda","republika yu rwanda","republique du rwanda","republique rwandaise","repubulika yu rwanda","u rwanda"]},{iso3:"SAU",iso2:"SA",m49:"682",name:"Saudi Arabia",aliases:["\u{1F1F8}\u{1F1E6}","kingdom of saudi arabia","\u0627\u0644\u062F\u0648\u0644\u0629 \u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0629","\u0627\u0644\u062F\u0648\u0644\u0647 \u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0647","\u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0629","\u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0647","\u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0629","\u0627\u0644\u0645\u0645\u0644\u0643\u0629","\u0627\u0644\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0629","\u0627\u0644\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0639\u0631\u0628\u064A\u0629","\u0627\u0644\u0645\u0645\u0644\u0643\u0629 \u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0629","\u0627\u0644\u0645\u0645\u0644\u0643\u0647","\u0627\u0644\u0645\u0645\u0644\u0643\u0647 \u0627\u0644\u0639\u0631\u0628\u064A\u0647 \u0627\u0644\u0633\u0639\u0648\u062F\u064A\u0647","\u0628\u0644\u0627\u062F \u0627\u0644\u062D\u0631\u0645\u064A\u0646 \u0627\u0644\u0634\u0631\u064A\u0641\u064A\u0646","\u062F\u0648\u0644\u0629 \u0622\u0644 \u0633\u0639\u0648\u062F","\u0633\u0639\u0648\u062F\u064A\u0629","\u0633\u0639\u0648\u062F\u064A\u0647","\u0645\u0646\u0628\u0639 \u0627\u0644\u0631\u0633\u0627\u0644\u0629","\u0645\u0647\u0628\u0637 \u0627\u0644\u0648\u062D\u064A"]},{iso3:"SDN",iso2:"SD",m49:"729",name:"Sudan",aliases:["\u{1F1F8}\u{1F1E9}","al sudan","as sudan","north sudan","republic of sudan","republic of the sudan","soudan","\u0627\u0644\u0633\u0648\u062F\u0627\u0646","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0633\u0648\u062F\u0627\u0646"]},{iso3:"SEN",iso2:"SN",m49:"686",name:"Senegal",aliases:["\u{1F1F8}\u{1F1F3}","la republique du senegal","republic of senegal","republique du senegal","sen","senegaal"]},{iso3:"SGP",iso2:"SG",m49:"702",name:"Singapore",aliases:["\u{1F1F8}\u{1F1EC}","garden city","lion city","republic of singapore","republik singapura","singapore city","singapura","spore","\u0B9A\u0BBF\u0B99\u0BCD\u0B95\u0BAA\u0BCD\u0BAA\u0BC2\u0BB0\u0BCD","\u0B9A\u0BBF\u0B99\u0BCD\u0B95\u0BAA\u0BCD\u0BAA\u0BC2\u0BB0\u0BCD \u0B95\u0BC1\u0B9F\u0BBF\u0BAF\u0BB0\u0B9A\u0BC1","\u0B9A\u0BBF\u0B99\u0BCD\u0B95\u0BC8","\u0BB8\u0BBF\u0B99\u0BCD\u0B95\u0BAA\u0BC2\u0BB0\u0BCD"]},{iso3:"SGS",iso2:"GS",m49:"239",name:"South Georgia and the South Sandwich Islands",aliases:["\u{1F1EC}\u{1F1F8}","falkland islands dependencies","sgssi","south georgia","south georgia & south sandwich islands","south sandwich islands"]},{iso3:"SHN",iso2:"SH",m49:"654",name:"Saint Helena",aliases:["\u{1F1F8}\u{1F1ED}","ascension","saint helena and dependencies","saint helena ascension and tristan da cunha","tristan da cunha"]},{iso3:"SJM",iso2:"SJ",m49:"744",name:"Svalbard and Jan Mayen Islands",aliases:["\u{1F1F8}\u{1F1EF}","jan mayen","svalbard","svalbard and jan mayen","svalbard og jan mayen"]},{iso3:"SLB",iso2:"SB",m49:"090",name:"Solomon Islands",aliases:["\u{1F1F8}\u{1F1E7}"]},{iso3:"SLE",iso2:"SL",m49:"694",name:"Sierra Leone",aliases:["\u{1F1F8}\u{1F1F1}","republic of sierra leone"]},{iso3:"SLV",iso2:"SV",m49:"222",name:"El Salvador",aliases:["\u{1F1F8}\u{1F1FB}","republic of el salvador","republica de el salvador","salvador"]},{iso3:"SMR",iso2:"SM",m49:"674",name:"San Marino",aliases:["\u{1F1F8}\u{1F1F2}","most serene republic of san marino","repubblica di san marino","serenissima repubblica di san marino"]},{iso3:"SOM",iso2:"SO",m49:"706",name:"Somalia",aliases:["\u{1F1F8}\u{1F1F4}","as sumal","federal republic of somalia","jamhuuriyadda federaalka soomaaliya","jamhuuriyadda soomaaliyeed","soomaaliya","soomaaliyeey toosoo","\u0627\u0644\u0635\u0648\u0645\u0627\u0644","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0635\u0648\u0645\u0627\u0644","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0635\u0648\u0645\u0627\u0644 \u0627\u0644\u062F\u064A\u0645\u0648\u0642\u0631\u0627\u0637\u064A\u0629","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0635\u0648\u0645\u0627\u0644 \u0627\u0644\u0641\u064A\u062F\u0631\u0627\u0644\u064A\u0629","\u0635\u0648\u0645\u0627\u0644"]},{iso3:"SPM",iso2:"PM",m49:"666",name:"Saint Pierre and Miquelon",aliases:["\u{1F1F5}\u{1F1F2}","collectivite territoriale de saint pierre et miquelon","miquelon","saint pierre","saint pierre et miquelon","territorial collectivity of saint pierre and miquelon"]},{iso3:"SRB",iso2:"RS",m49:"688",name:"Serbia",aliases:["\u{1F1F7}\u{1F1F8}","republic of serbia","republika srbija","\u0440\u0435\u043F\u0443\u0431\u043B\u0438\u043A\u0430 \u0441\u0440\u0431\u0438\u0458\u0430","\u0441\u0440\u0431\u0438\u0458\u0430"]},{iso3:"SSD",iso2:"SS",m49:"728",name:"South Sudan",aliases:["\u{1F1F8}\u{1F1F8}","republic of south sudan","southern sudan"]},{iso3:"STP",iso2:"ST",m49:"678",name:"Sao Tome and Principe",aliases:["\u{1F1F8}\u{1F1F9}","democratic republic of sao tome and principe","principe","republica democratica de sao tome e principe","sao tome","sao tome e principe","sao tome og principe"]},{iso3:"SUR",iso2:"SR",m49:"740",name:"Suriname",aliases:["\u{1F1F8}\u{1F1F7}","dutch guiana","republic of surinam","republic of suriname","republiek suriname","surinam","surrinam"]},{iso3:"SVK",iso2:"SK",m49:"703",name:"Slovakia",aliases:["\u{1F1F8}\u{1F1F0}","slovak republic","slovenska republika","slovensko"]},{iso3:"SVN",iso2:"SI",m49:"705",name:"Slovenia",aliases:["\u{1F1F8}\u{1F1EE}","republic of slovenia","republika slovenija","slovenija"]},{iso3:"SWE",iso2:"SE",m49:"752",name:"Sweden",aliases:["\u{1F1F8}\u{1F1EA}","kingdom of sweden","konungadomet sverige","konungariket sverige","kungadomet sverige","kungariket sverige","sverige","swedish kingdom"]},{iso3:"SWZ",iso2:"SZ",m49:"748",name:"Eswatini",aliases:["\u{1F1F8}\u{1F1FF}","kingdom of eswatini","kingdom of swaziland","swaziland","umbuso weswatini"]},{iso3:"SXM",iso2:"SX",m49:"534",name:"Sint Maarten (Dutch part)",aliases:["\u{1F1F8}\u{1F1FD}","country of sint maarten","eilandgebied sint maarten","land sint maarten","saint maarten","saint martin dutch part","sint maarten","sint martin"]},{iso3:"SYC",iso2:"SC",m49:"690",name:"Seychelles",aliases:["\u{1F1F8}\u{1F1E8}","la republique des seychelles","repiblik sesel","republic of seychelles","republique des seychelles"]},{iso3:"SYR",iso2:"SY",m49:"760",name:"Syrian Arab Republic",aliases:["\u{1F1F8}\u{1F1FE}","surya","syria","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u0639\u0631\u0628\u064A\u0629 \u0627\u0644\u0633\u0648\u0631\u064A\u0629","\u0627\u0644\u0634\u0627\u0645","\u0633\u0648\u0631\u064A\u0627","\u0633\u0648\u0631\u064A\u0629"]},{iso3:"TCA",iso2:"TC",m49:"796",name:"Turks and Caicos Islands",aliases:["\u{1F1F9}\u{1F1E8}","caicos","caicos islands","turks","turks & caicos","turks islands"]},{iso3:"TCD",iso2:"TD",m49:"148",name:"Chad",aliases:["\u{1F1F9}\u{1F1E9}","la republique du tchad","republic of chad","republique du tchad","tchad","\u062A\u0634\u0627\u062F","\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u062A\u0634\u0627\u062F"]},{iso3:"TGO",iso2:"TG",m49:"768",name:"Togo",aliases:["\u{1F1F9}\u{1F1EC}","la republique togolaise","republique togolaise","togolese republic"]},{iso3:"THA",iso2:"TH",m49:"764",name:"Thailand",aliases:["\u{1F1F9}\u{1F1ED}","kingdom of siam","kingdom of thailand","siam","thai","\u0E44\u0E17\u0E22","\u0E1B\u0E23\u0E30\u0E40\u0E17\u0E28\u0E44\u0E17\u0E22","\u0E1B\u0E23\u0E30\u0E40\u0E17\u0E28\u0E2A\u0E22\u0E32\u0E21","\u0E40\u0E21\u0E37\u0E2D\u0E07\u0E44\u0E17\u0E22","\u0E23\u0E32\u0E0A\u0E2D\u0E32\u0E13\u0E32\u0E08\u0E31\u0E01\u0E23\u0E44\u0E17\u0E22","\u0E23\u0E32\u0E0A\u0E2D\u0E32\u0E13\u0E32\u0E08\u0E31\u0E01\u0E23\u0E2A\u0E22\u0E32\u0E21","\u0E2A\u0E22\u0E32\u0E21"]},{iso3:"TJK",iso2:"TJ",m49:"762",name:"Tajikistan",aliases:["\u{1F1F9}\u{1F1EF}","jumhurii tojikiston","republic of tajikistan","\u0442\u043E\u04B7\u0438\u043A\u0438\u0441\u0442\u043E\u043D","\u0442\u04B7","\u0442\u04B7\u043A","\u04B7\u0442","\u04B7\u0443\u043C\u04B3\u0443\u0440\u0438\u0438 \u0442\u043E\u04B7\u0438\u043A\u0438\u0441\u0442\u043E\u043D"]},{iso3:"TKL",iso2:"TK",m49:"772",name:"Tokelau",aliases:["\u{1F1F9}\u{1F1F0}","tokelau islands","union islands"]},{iso3:"TKM",iso2:"TM",m49:"795",name:"Turkmenistan",aliases:["\u{1F1F9}\u{1F1F2}"]},{iso3:"TLS",iso2:"TL",m49:"626",name:"Timor-Leste",aliases:["\u{1F1F9}\u{1F1F1}","democratic republic of timor leste","east timor","republica democratica de timor leste","republika demokratika timor lorosae","timor loro sae","timor lorosae"]},{iso3:"TON",iso2:"TO",m49:"776",name:"Tonga",aliases:["\u{1F1F9}\u{1F1F4}","friendly islands","kingdom of tonga","puleanga fakatui o tonga","tonga islands"]},{iso3:"TTO",iso2:"TT",m49:"780",name:"Trinidad and Tobago",aliases:["\u{1F1F9}\u{1F1F9}","republic of trinidad and tobago","tobago","trinidad"]},{iso3:"TUN",iso2:"TN",m49:"788",name:"Tunisia",aliases:["\u{1F1F9}\u{1F1F3}","republic of tunisia","tunisian republic","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u062A\u0648\u0646\u0633\u064A\u0629","\u062A\u0648\u0646\u0633","\u062A\u0648\u0646\u0633 \u0627\u0644\u062E\u0636\u0631\u0627\u0621"]},{iso3:"TUR",iso2:"TR",m49:"792",name:"T\xFCrkiye",aliases:["\u{1F1F9}\u{1F1F7}","republic of turkey","republic of turkiye","turkey","turkiye cumhuriyeti"]},{iso3:"TUV",iso2:"TV",m49:"798",name:"Tuvalu",aliases:["\u{1F1F9}\u{1F1FB}","ellice islands"]},{iso3:"TWN",iso2:"TW",m49:"158",name:"Taiwan",aliases:["\u{1F1F9}\u{1F1FC}","chinese republic","chinese taipei","chunghwa minkuo","chunghwa minkwo","conghwaminku","cunghwa minkwo","cyukamingkok","formosa","nanasian","nationalist china","republic of china","republic of china taiwan","roc","taivang","taiwan province of china","taiwan roc","taywan","taywang","teywan","\u4E2D\u83EF\u6C11\u570B","\u4E2D\u83EF\u6C11\u570B\uFF08\u81FA\u7063\uFF09","\u4E2D\u83EF\u81FA\u5317","\u53F0\u7063","\u81FA\u6F8E\u91D1\u99AC","\u81FA\u7063"]},{iso3:"TZA",iso2:"TZ",m49:"834",name:"United Republic of Tanzania",aliases:["\u{1F1F9}\u{1F1FF}","jamhuri ya muungano wa tanganyika na zanzibar","jamhuri ya muungano wa tanzania","tanzania","tanzania jamhuri ya muungano wa","tanzania united republic of","united republic of tanganyika and zanzibar"]},{iso3:"UGA",iso2:"UG",m49:"800",name:"Uganda",aliases:["\u{1F1FA}\u{1F1EC}","jamhuri ya uganda","lulu ya afrika","ouganda","pearl of africa","republic of uganda","ugandah"]},{iso3:"UKR",iso2:"UA",m49:"804",name:"Ukraine",aliases:["\u{1F1FA}\u{1F1E6}","ukr","ukraina","ukrainia","ukrayina","\u0432\u043A\u0440\u0430\u0456\u043D\u0430","\u0443\u043A\u0440\u0430\u0456\u043D\u0430"]},{iso3:"UMI",iso2:"UM",m49:"581",name:"United States Minor Outlying Islands",aliases:["\u{1F1FA}\u{1F1F2}","us minor outlying islands","us outlying islands","usmoi"]},{iso3:"URY",iso2:"UY",m49:"858",name:"Uruguay",aliases:["\u{1F1FA}\u{1F1FE}","eastern republic of uruguay","oriental republic of uruguay"]},{iso3:"USA",iso2:"US",m49:"840",name:"United States of America",aliases:["\u{1F1FA}\u{1F1F8}","amelika","amelika hui pu ia","amelika huipuia","amelika mokuaina hui pu ia","america","eeuu","eeuu de america","estados unidos","estados unidos de america","los estados","los estados unidos","los estados unidos de america","mokuaina hui pu ia","union americana","united states","us","us of a","us of america","usa"]},{iso3:"UZB",iso2:"UZ",m49:"860",name:"Uzbekistan",aliases:["\u{1F1FA}\u{1F1FF}","ozbek","ozbekiston","ozbekiston respublikasi","republic of uzbekistan","uzbekiston respublikasi"]},{iso3:"VAT",iso2:"VA",m49:"336",name:"Holy See",aliases:["\u{1F1FB}\u{1F1E6}","citta del vaticano","civitas vaticana","colle vaticano","papal state","santa sede citta del vaticano","state of vatican city","stato della citta del vaticano","status civitatis vaticanae","status civitatis vatican\xE6","vatican","vatican city","vatican city state","vaticano"]},{iso3:"VCT",iso2:"VC",m49:"670",name:"Saint Vincent and the Grenadines",aliases:["\u{1F1FB}\u{1F1E8}","grenadines","saint vincent","saint vincent and grenadines"]},{iso3:"VEN",iso2:"VE",m49:"862",name:"Venezuela (Bolivarian Republic of)",aliases:["\u{1F1FB}\u{1F1EA}","bolivarian republic of venezuela","br venezuela","estados unidos de venezuela","rb venezuela","republic of venezuela","republica bolivariana de venezuela","republica de venezuela","venezuela"]},{iso3:"VGB",iso2:"VG",m49:"092",name:"British Virgin Islands",aliases:["\u{1F1FB}\u{1F1EC}","bvi","virgin islands british","virgin islands of the united kingdom","virgin islands united kingdom"]},{iso3:"VIR",iso2:"VI",m49:"850",name:"United States Virgin Islands",aliases:["\u{1F1FB}\u{1F1EE}","american virgin islands","us virgin islands","virgin islands of the united states","virgin islands us"]},{iso3:"VNM",iso2:"VN",m49:"704",name:"Viet Nam",aliases:["\u{1F1FB}\u{1F1F3}","chxhcn viet nam","chxhcnvn","cong hoa xa hoi chu nghia viet nam","socialist republic of viet nam","socialist republic of vietnam","vietnam"]},{iso3:"VUT",iso2:"VU",m49:"548",name:"Vanuatu",aliases:["\u{1F1FB}\u{1F1FA}","la republique du vanuatu","republic of vanuatu","republique de vanuatu","ripablik blong vanuatu"]},{iso3:"WLF",iso2:"WF",m49:"876",name:"Wallis and Futuna Islands",aliases:["\u{1F1FC}\u{1F1EB}","collectivite des iles wallis et futuna","emeni simete","futuna","iles wallis et futuna","makape papilio","territoire de wallis et futuna","territoire des iles wallis et futuna","wallis","wallis & futuna","wallis et futuna"]},{iso3:"WSM",iso2:"WS",m49:"882",name:"Samoa",aliases:["\u{1F1FC}\u{1F1F8}","independent state of samoa","malo saoloto tutoatasi o samoa","samoa i sisifo","western samoa"]},{iso3:"YEM",iso2:"YE",m49:"887",name:"Yemen",aliases:["\u{1F1FE}\u{1F1EA}","rep yemen","republic of yemen","\u0627\u0644\u062C\u0645\u0647\u0648\u0631\u064A\u0629 \u0627\u0644\u064A\u0645\u0646\u064A\u0629","\u0627\u0644\u064A\u0645\u0646","\u062F\u0648\u0644\u0629 \u0627\u0644\u064A\u0645\u0646"]},{iso3:"ZAF",iso2:"ZA",m49:"710",name:"South Africa",aliases:["\u{1F1FF}\u{1F1E6}","aferika borwa","aforika borwa","afrika boroa","afrika borwa","afrika dzonga","afurika tshipembe","emzantsi afrika","iningizimu afrika","iriphabhulikhi ye ningizimu afrika","iriphabhulikhi yeningizimu afrika","iriphabhuliki yase ningizimu afrika","iriphabliki yasemzantsi afrika","iriphabliki yaseningizimu afrika","iriphabliki yom zantsi afrika","isewula afrika","repabliki ya afrika borwa","rephaboliki ya aforika borwa","rephaboliki ya afrika borwa","republic of south africa","republiek van suid afrika","riphabliki ra afrika dzonga","rsa","suid afrika","umzansi","umzantsi afrika","unie van suid afrika","union of south africa"]},{iso3:"ZMB",iso2:"ZM",m49:"894",name:"Zambia",aliases:["\u{1F1FF}\u{1F1F2}","northern rhodesia","republic of zambia"]},{iso3:"ZWE",iso2:"ZW",m49:"716",name:"Zimbabwe",aliases:["\u{1F1FF}\u{1F1FC}","ezimbabwe","izimbabwe","republic of zimbabwe","rhodesia","southern rhodesia","zimbabwe rhodesia","zimbagwe"]}];function jJ(e){return e.normalize("NFD").replace(/[\u0300-\u036F]/g,"").normalize("NFC").toLowerCase().replace(/[\u064B-\u065F]/g,"").replace(/['\u2018\u2019\u02BB\u02BC\u02BD\u02C8\u2032`]/g,"").replace(/&/g," and ").replace(/([,(])\s*the\b/g,"$1").replace(/[.(),[\]]/g,"").replace(/[-\u2013\u2014]/g," ").replace(/\bst\b/g,"saint").trim().replace(/\s+/g," ").replace(/^the\s+/,"")}function FUe(e){let t=new Map,r=new Map,i=new Map;for(let s of e)t.set(s.iso3,s),s.iso2&&r.set(s.iso2,s),s.m49&&i.set(s.m49,s);let n=new Map;for(let s of e)for(let l of[s.name,...s.aliases]){let u=jJ(l),c=n.get(u);if(c!==void 0&&c!==s.iso3)throw new Error(`Duplicate name/alias "${u}": ${c} vs ${s.iso3}`);n.set(u,s.iso3)}function a(s){if(s==null)return;let l=String(s).trim();if(!l)return;if(/^\d+$/.test(l)){let c=i.get(String(parseInt(l,10)).padStart(3,"0"));if(c)return c}if(/^[A-Za-z]{2}$/.test(l)){let c=r.get(l.toUpperCase());if(c)return c}if(/^[A-Za-z]{3}$/.test(l)){let c=t.get(l.toUpperCase());if(c)return c}let u=n.get(jJ(l));return u===void 0?void 0:t.get(u)}function o(s){var l;return(l=a(s))==null?void 0:l.iso3}return{lookup:a,lookupAlpha3:o,byAlpha3:t,byAlpha2:r,byM49:i}}var pE=FUe(DUe),ytr=pE.lookup,xtr=pE.lookupAlpha3,_tr=pE.byAlpha3,btr=pE.byAlpha2,wtr=pE.byM49});var BI=W(zo=>{"use strict";Object.defineProperty(zo,"__esModule",{value:!0});var Wh=63710088e-1,YJ={centimeters:Wh*100,centimetres:Wh*100,degrees:360/(2*Math.PI),feet:Wh*3.28084,inches:Wh*39.37,kilometers:Wh/1e3,kilometres:Wh/1e3,meters:Wh,metres:Wh,miles:Wh/1609.344,millimeters:Wh*1e3,millimetres:Wh*1e3,nauticalmiles:Wh/1852,radians:1,yards:Wh*1.0936},WJ={acres:247105e-9,centimeters:1e4,centimetres:1e4,feet:10.763910417,hectares:1e-4,inches:1550.003100006,kilometers:1e-6,kilometres:1e-6,meters:1,metres:1,miles:386e-9,nauticalmiles:29155334959812285e-23,millimeters:1e6,millimetres:1e6,yards:1.195990046};function M2(e,t,r={}){let i={type:"Feature"};return(r.id===0||r.id)&&(i.id=r.id),r.bbox&&(i.bbox=r.bbox),i.properties=t||{},i.geometry=e,i}function Ttr(e,t,r={}){switch(e){case"Point":return XJ(t).geometry;case"LineString":return KJ(t).geometry;case"Polygon":return ZJ(t).geometry;case"MultiPoint":return RUe(t).geometry;case"MultiLineString":return IUe(t).geometry;case"MultiPolygon":return zUe(t).geometry;default:throw new Error(e+" is invalid")}}function XJ(e,t,r={}){if(!e)throw new Error("coordinates is required");if(!Array.isArray(e))throw new Error("coordinates must be an Array");if(e.length<2)throw new Error("coordinates must be at least 2 numbers long");if(!RI(e[0])||!RI(e[1]))throw new Error("coordinates must contain numbers");return M2({type:"Point",coordinates:e},t,r)}function Atr(e,t,r={}){return zI(e.map(i=>XJ(i,t)),r)}function ZJ(e,t,r={}){for(let n of e){if(n.length<4)throw new Error("Each LinearRing of a Polygon must have 4 or more Positions.");if(n[n.length-1].length!==n[0].length)throw new Error("First and last Position are not equivalent.");for(let a=0;aZJ(i,t)),r)}function KJ(e,t,r={}){if(e.length<2)throw new Error("coordinates must be an array of two or more positions");return M2({type:"LineString",coordinates:e},t,r)}function Str(e,t,r={}){return zI(e.map(i=>KJ(i,t)),r)}function zI(e,t={}){let r={type:"FeatureCollection"};return t.id&&(r.id=t.id),t.bbox&&(r.bbox=t.bbox),r.features=e,r}function IUe(e,t,r={}){return M2({type:"MultiLineString",coordinates:e},t,r)}function RUe(e,t,r={}){return M2({type:"MultiPoint",coordinates:e},t,r)}function zUe(e,t,r={}){return M2({type:"MultiPolygon",coordinates:e},t,r)}function Etr(e,t,r={}){return M2({type:"GeometryCollection",geometries:e},t,r)}function ktr(e,t=0){if(t&&!(t>=0))throw new Error("precision must be a positive number");let r=Math.pow(10,t||0);return Math.round(e*r)/r}function BUe(e,t="kilometers"){let r=YJ[t];if(!r)throw new Error(t+" units is invalid");return e*r}function JJ(e,t="kilometers"){let r=YJ[t];if(!r)throw new Error(t+" units is invalid");return e/r}function Ctr(e,t){return qUe(JJ(e,t))}function Dtr(e){let t=e%360;return t<0&&(t+=360),t}function Ftr(e){return e=e%360,e>180?e-360:e<-180?e+360:e}function qUe(e){return e%(2*Math.PI)*180/Math.PI}function Ltr(e){return e%360*Math.PI/180}function Ptr(e,t="kilometers",r="kilometers"){if(!(e>=0))throw new Error("length must be a positive number");return BUe(JJ(e,t),r)}function Itr(e,t="meters",r="kilometers"){if(!(e>=0))throw new Error("area must be a positive number");let i=WJ[t];if(!i)throw new Error("invalid original units");let n=WJ[r];if(!n)throw new Error("invalid final units");return e/i*n}function RI(e){return!isNaN(e)&&e!==null&&!Array.isArray(e)}function Rtr(e){return e!==null&&typeof e=="object"&&!Array.isArray(e)}function ztr(e){if(!e)throw new Error("bbox is required");if(!Array.isArray(e))throw new Error("bbox must be an Array");if(e.length!==4&&e.length!==6)throw new Error("bbox must be an Array of 4 or 6 numbers");e.forEach(t=>{if(!RI(t))throw new Error("bbox must only contain numbers")})}function Btr(e){if(!e)throw new Error("id is required");if(["string","number"].indexOf(typeof e)===-1)throw new Error("id must be a number or a string")}zo.areaFactors=WJ;zo.azimuthToBearing=Ftr;zo.bearingToAzimuth=Dtr;zo.convertArea=Itr;zo.convertLength=Ptr;zo.degreesToRadians=Ltr;zo.earthRadius=Wh;zo.factors=YJ;zo.feature=M2;zo.featureCollection=zI;zo.geometry=Ttr;zo.geometryCollection=Etr;zo.isNumber=RI;zo.isObject=Rtr;zo.lengthToDegrees=Ctr;zo.lengthToRadians=JJ;zo.lineString=KJ;zo.lineStrings=Str;zo.multiLineString=IUe;zo.multiPoint=RUe;zo.multiPolygon=zUe;zo.point=XJ;zo.points=Atr;zo.polygon=ZJ;zo.polygons=Mtr;zo.radiansToDegrees=qUe;zo.radiansToLength=BUe;zo.round=ktr;zo.validateBBox=ztr;zo.validateId=Btr});var OI=W(ac=>{"use strict";Object.defineProperty(ac,"__esModule",{value:!0});var Df=BI();function vE(e,t,r){if(e!==null)for(var i,n,a,o,s,l,u,c=0,f=0,h,d=e.type,p=d==="FeatureCollection",v=d==="Feature",m=p?e.features.length:1,g=0;gl||p>u||v>c){s=f,l=i,u=p,c=v,a=0;return}var m=Df.lineString.call(void 0,[s,f],r.properties);if(t(m,i,n,v,a)===!1)return!1;a++,s=f})===!1)return!1}}})}function Htr(e,t,r){var i=r,n=!1;return UUe(e,function(a,o,s,l,u){n===!1&&r===void 0?i=a:i=t(i,a,o,s,l,u),n=!0}),i}function VUe(e,t){if(!e)throw new Error("geojson is required");qI(e,function(r,i,n){if(r.geometry!==null){var a=r.geometry.type,o=r.geometry.coordinates;switch(a){case"LineString":if(t(r,i,n,0,0)===!1)return!1;break;case"Polygon":for(var s=0;s{"use strict";Object.defineProperty(NI,"__esModule",{value:!0});var GUe=BI(),Ytr=OI();function $Ue(e){return Ytr.geomReduce.call(void 0,e,(t,r)=>t+Xtr(r),0)}function Xtr(e){let t=0,r;switch(e.type){case"Polygon":return HUe(e.coordinates);case"MultiPolygon":for(r=0;r0){t+=Math.abs(jUe(e[0]));for(let r=1;r=t?(i+2)%t:i+2],s=n[0]*eQ,l=a[1]*eQ,u=o[0]*eQ;r+=(u-s)*Math.sin(l),i++}return r*Ztr}var Ktr=$Ue;NI.area=$Ue;NI.default=Ktr});var XUe=W(UI=>{"use strict";Object.defineProperty(UI,"__esModule",{value:!0});var Jtr=BI(),Qtr=OI();function YUe(e,t={}){let r=0,i=0,n=0;return Qtr.coordEach.call(void 0,e,function(a){r+=a[0],i+=a[1],n++},!0),Jtr.point.call(void 0,[r/n,i/n],t.properties)}var err=YUe;UI.centroid=YUe;UI.default=err});var KUe=W((VI,ZUe)=>{(function(e,t){t(typeof VI=="object"&&typeof ZUe!="undefined"?VI:e.d3=e.d3||{})})(VI,(function(e){"use strict";function t(U,V){return UV?1:U>=V?0:NaN}function r(U){return U.length===1&&(U=i(U)),{left:function(V,X,H,G){for(H==null&&(H=0),G==null&&(G=V.length);H>>1;U(V[Q],X)<0?H=Q+1:G=Q}return H},right:function(V,X,H,G){for(H==null&&(H=0),G==null&&(G=V.length);H>>1;U(V[Q],X)>0?G=Q:H=Q+1}return H}}}function i(U){return function(V,X){return t(U(V),X)}}var n=r(t),a=n.right,o=n.left;function s(U,V){V==null&&(V=l);for(var X=0,H=U.length-1,G=U[0],Q=new Array(H<0?0:H);XU?1:V>=U?0:NaN}function f(U){return U===null?NaN:+U}function h(U,V){var X=U.length,H=0,G=-1,Q=0,te,ce,ge=0;if(V==null)for(;++G1)return ge/(H-1)}function d(U,V){var X=h(U,V);return X&&Math.sqrt(X)}function p(U,V){var X=U.length,H=-1,G,Q,te;if(V==null){for(;++H=G)for(Q=te=G;++HG&&(Q=G),te=G)for(Q=te=G;++HG&&(Q=G),te0)return[U];if((H=V0)for(U=Math.ceil(U/ce),V=Math.floor(V/ce),te=new Array(Q=Math.ceil(V-U+1));++G=0?(Q>=M?10:Q>=x?5:Q>=T?2:1)*Math.pow(10,G):-Math.pow(10,-G)/(Q>=M?10:Q>=x?5:Q>=T?2:1)}function E(U,V,X){var H=Math.abs(V-U)/Math.max(0,X),G=Math.pow(10,Math.floor(Math.log(H)/Math.LN10)),Q=H/G;return Q>=M?G*=10:Q>=x?G*=5:Q>=T&&(G*=2),Vhe;)oe.pop(),--Ee;var ye=new Array(Ee+1),ue;for(Q=0;Q<=Ee;++Q)ue=ye[Q]=[],ue.x0=Q>0?oe[Q-1]:be,ue.x1=Q=1)return+X(U[H-1],H-1,U);var H,G=(H-1)*V,Q=Math.floor(G),te=+X(U[Q],Q,U),ce=+X(U[Q+1],Q+1,U);return te+(ce-te)*(G-Q)}}function D(U,V,X){return U=g.call(U,f).sort(t),Math.ceil((X-V)/(2*(k(U,.75)-k(U,.25))*Math.pow(U.length,-1/3)))}function F(U,V,X){return Math.ceil((X-V)/(3.5*d(U)*Math.pow(U.length,-1/3)))}function P(U,V){var X=U.length,H=-1,G,Q;if(V==null){for(;++H=G)for(Q=G;++HQ&&(Q=G)}else for(;++H=G)for(Q=G;++HQ&&(Q=G);return Q}function R(U,V){var X=U.length,H=X,G=-1,Q,te=0;if(V==null)for(;++G=0;)for(te=U[V],X=te.length;--X>=0;)Q[--G]=te[X];return Q}function B(U,V){var X=U.length,H=-1,G,Q;if(V==null){for(;++H=G)for(Q=G;++HG&&(Q=G)}else for(;++H=G)for(Q=G;++HG&&(Q=G);return Q}function O(U,V){for(var X=V.length,H=new Array(X);X--;)H[X]=U[V[X]];return H}function $(U,V){if(X=U.length){var X,H=0,G=0,Q,te=U[G];for(V==null&&(V=t);++H{(function(e,t){typeof GI=="object"&&typeof JUe!="undefined"?t(GI,KUe()):(e=e||self,t(e.d3=e.d3||{},e.d3))})(GI,(function(e,t){"use strict";function r(){return new i}function i(){this.reset()}i.prototype={constructor:i,reset:function(){this.s=this.t=0},add:function(Te){a(n,Te,this.t),a(this,n.s,this.s),this.s?this.t+=n.t:this.s=n.t},valueOf:function(){return this.s}};var n=new i;function a(Te,qe,rt){var Ye=Te.s=qe+rt,At=Ye-qe,Gt=Ye-At;Te.t=qe-Gt+(rt-At)}var o=1e-6,s=1e-12,l=Math.PI,u=l/2,c=l/4,f=l*2,h=180/l,d=l/180,p=Math.abs,v=Math.atan,m=Math.atan2,g=Math.cos,w=Math.ceil,b=Math.exp,_=Math.log,M=Math.pow,x=Math.sin,T=Math.sign||function(Te){return Te>0?1:Te<0?-1:0},A=Math.sqrt,y=Math.tan;function E(Te){return Te>1?0:Te<-1?l:Math.acos(Te)}function S(Te){return Te>1?u:Te<-1?-u:Math.asin(Te)}function C(Te){return(Te=x(Te/2))*Te}function k(){}function D(Te,qe){Te&&P.hasOwnProperty(Te.type)&&P[Te.type](Te,qe)}var F={Feature:function(Te,qe){D(Te.geometry,qe)},FeatureCollection:function(Te,qe){for(var rt=Te.features,Ye=-1,At=rt.length;++Ye=0?1:-1,At=Ye*rt,Gt=g(qe),Kt=x(qe),cr=q*Kt,mr=j*Gt+cr*g(At),Pr=cr*Ye*x(At);B.add(m(Pr,mr)),K=Te,j=Gt,q=Kt}function G(Te){return O.reset(),I(Te,J),O*2}function Q(Te){return[m(Te[1],Te[0]),S(Te[2])]}function te(Te){var qe=Te[0],rt=Te[1],Ye=g(rt);return[Ye*g(qe),Ye*x(qe),x(rt)]}function ce(Te,qe){return Te[0]*qe[0]+Te[1]*qe[1]+Te[2]*qe[2]}function ge(Te,qe){return[Te[1]*qe[2]-Te[2]*qe[1],Te[2]*qe[0]-Te[0]*qe[2],Te[0]*qe[1]-Te[1]*qe[0]]}function Ce(Te,qe){Te[0]+=qe[0],Te[1]+=qe[1],Te[2]+=qe[2]}function be(Te,qe){return[Te[0]*qe,Te[1]*qe,Te[2]*qe]}function he(Te){var qe=A(Te[0]*Te[0]+Te[1]*Te[1]+Te[2]*Te[2]);Te[0]/=qe,Te[1]/=qe,Te[2]/=qe}var oe,Ee,ye,ue,ee,ae,xe,re,pe=r(),we,Fe,Se={point:ke,lineStart:Ie,lineEnd:Oe,polygonStart:function(){Se.point=Qe,Se.lineStart=et,Se.lineEnd=_t,pe.reset(),J.polygonStart()},polygonEnd:function(){J.polygonEnd(),Se.point=ke,Se.lineStart=Ie,Se.lineEnd=Oe,B<0?(oe=-(ye=180),Ee=-(ue=90)):pe>o?ue=90:pe<-o&&(Ee=-90),Fe[0]=oe,Fe[1]=ye},sphere:function(){oe=-(ye=180),Ee=-(ue=90)}};function ke(Te,qe){we.push(Fe=[oe=Te,ye=Te]),qeue&&(ue=qe)}function _e(Te,qe){var rt=te([Te*d,qe*d]);if(re){var Ye=ge(re,rt),At=[Ye[1],-Ye[0],0],Gt=ge(At,Ye);he(Gt),Gt=Q(Gt);var Kt=Te-ee,cr=Kt>0?1:-1,mr=Gt[0]*h*cr,Pr,rr=p(Kt)>180;rr^(cr*eeue&&(ue=Pr)):(mr=(mr+360)%360-180,rr^(cr*eeue&&(ue=qe))),rr?Teut(oe,ye)&&(ye=Te):ut(Te,ye)>ut(oe,ye)&&(oe=Te):ye>=oe?(Teye&&(ye=Te)):Te>ee?ut(oe,Te)>ut(oe,ye)&&(ye=Te):ut(Te,ye)>ut(oe,ye)&&(oe=Te)}else we.push(Fe=[oe=Te,ye=Te]);qeue&&(ue=qe),re=rt,ee=Te}function Ie(){Se.point=_e}function Oe(){Fe[0]=oe,Fe[1]=ye,Se.point=ke,re=null}function Qe(Te,qe){if(re){var rt=Te-ee;pe.add(p(rt)>180?rt+(rt>0?360:-360):rt)}else ae=Te,xe=qe;J.point(Te,qe),_e(Te,qe)}function et(){J.lineStart()}function _t(){Qe(ae,xe),J.lineEnd(),p(pe)>o&&(oe=-(ye=180)),Fe[0]=oe,Fe[1]=ye,re=null}function ut(Te,qe){return(qe-=Te)<0?qe+360:qe}function vt(Te,qe){return Te[0]-qe[0]}function Xe(Te,qe){return Te[0]<=Te[1]?Te[0]<=qe&&qe<=Te[1]:qeut(Ye[0],Ye[1])&&(Ye[1]=At[1]),ut(At[0],Ye[1])>ut(Ye[0],Ye[1])&&(Ye[0]=At[0])):Gt.push(Ye=At);for(Kt=-1/0,rt=Gt.length-1,qe=0,Ye=Gt[rt];qe<=rt;Ye=At,++qe)At=Gt[qe],(cr=ut(Ye[1],At[0]))>Kt&&(Kt=cr,oe=At[0],ye=Ye[1])}return we=Fe=null,oe===1/0||Ee===1/0?[[NaN,NaN],[NaN,NaN]]:[[oe,Ee],[ye,ue]]}var bt,Ne,Ue,Ge,je,Re,Ve,ct,Tt,Xt,Vt,lr,ur,Bt,Zt,kr,$e={sphere:k,point:tt,lineStart:xt,lineEnd:ir,polygonStart:function(){$e.lineStart=hr,$e.lineEnd=Ur},polygonEnd:function(){$e.lineStart=xt,$e.lineEnd=ir}};function tt(Te,qe){Te*=d,qe*=d;var rt=g(qe);st(rt*g(Te),rt*x(Te),x(qe))}function st(Te,qe,rt){++bt,Ue+=(Te-Ue)/bt,Ge+=(qe-Ge)/bt,je+=(rt-je)/bt}function xt(){$e.point=Je}function Je(Te,qe){Te*=d,qe*=d;var rt=g(qe);Bt=rt*g(Te),Zt=rt*x(Te),kr=x(qe),$e.point=Ct,st(Bt,Zt,kr)}function Ct(Te,qe){Te*=d,qe*=d;var rt=g(qe),Ye=rt*g(Te),At=rt*x(Te),Gt=x(qe),Kt=m(A((Kt=Zt*Gt-kr*At)*Kt+(Kt=kr*Ye-Bt*Gt)*Kt+(Kt=Bt*At-Zt*Ye)*Kt),Bt*Ye+Zt*At+kr*Gt);Ne+=Kt,Re+=Kt*(Bt+(Bt=Ye)),Ve+=Kt*(Zt+(Zt=At)),ct+=Kt*(kr+(kr=Gt)),st(Bt,Zt,kr)}function ir(){$e.point=tt}function hr(){$e.point=si}function Ur(){ei(lr,ur),$e.point=tt}function si(Te,qe){lr=Te,ur=qe,Te*=d,qe*=d,$e.point=ei;var rt=g(qe);Bt=rt*g(Te),Zt=rt*x(Te),kr=x(qe),st(Bt,Zt,kr)}function ei(Te,qe){Te*=d,qe*=d;var rt=g(qe),Ye=rt*g(Te),At=rt*x(Te),Gt=x(qe),Kt=Zt*Gt-kr*At,cr=kr*Ye-Bt*Gt,mr=Bt*At-Zt*Ye,Pr=A(Kt*Kt+cr*cr+mr*mr),rr=S(Pr),fr=Pr&&-rr/Pr;Tt+=fr*Kt,Xt+=fr*cr,Vt+=fr*mr,Ne+=rr,Re+=rr*(Bt+(Bt=Ye)),Ve+=rr*(Zt+(Zt=At)),ct+=rr*(kr+(kr=Gt)),st(Bt,Zt,kr)}function Lr(Te){bt=Ne=Ue=Ge=je=Re=Ve=ct=Tt=Xt=Vt=0,I(Te,$e);var qe=Tt,rt=Xt,Ye=Vt,At=qe*qe+rt*rt+Ye*Ye;return Atl?Te+Math.round(-Te/f)*f:Te,qe]}hn.invert=hn;function ta(Te,qe,rt){return(Te%=f)?qe||rt?Tn(dn(Te),Vn(qe,rt)):dn(Te):qe||rt?Vn(qe,rt):hn}function ca(Te){return function(qe,rt){return qe+=Te,[qe>l?qe-f:qe<-l?qe+f:qe,rt]}}function dn(Te){var qe=ca(Te);return qe.invert=ca(-Te),qe}function Vn(Te,qe){var rt=g(Te),Ye=x(Te),At=g(qe),Gt=x(qe);function Kt(cr,mr){var Pr=g(mr),rr=g(cr)*Pr,fr=x(cr)*Pr,pr=x(mr),Dr=pr*rt+rr*Ye;return[m(fr*At-Dr*Gt,rr*rt-pr*Ye),S(Dr*At+fr*Gt)]}return Kt.invert=function(cr,mr){var Pr=g(mr),rr=g(cr)*Pr,fr=x(cr)*Pr,pr=x(mr),Dr=pr*At-fr*Gt;return[m(fr*At+pr*Gt,rr*rt+Dr*Ye),S(Dr*rt-rr*Ye)]},Kt}function ra(Te){Te=ta(Te[0]*d,Te[1]*d,Te.length>2?Te[2]*d:0);function qe(rt){return rt=Te(rt[0]*d,rt[1]*d),rt[0]*=h,rt[1]*=h,rt}return qe.invert=function(rt){return rt=Te.invert(rt[0]*d,rt[1]*d),rt[0]*=h,rt[1]*=h,rt},qe}function ds(Te,qe,rt,Ye,At,Gt){if(rt){var Kt=g(qe),cr=x(qe),mr=Ye*rt;At==null?(At=qe+Ye*f,Gt=qe-mr/2):(At=mo(Kt,At),Gt=mo(Kt,Gt),(Ye>0?AtGt)&&(At+=Ye*f));for(var Pr,rr=At;Ye>0?rr>Gt:rr1&&Te.push(Te.pop().concat(Te.shift()))},result:function(){var rt=Te;return Te=[],qe=null,rt}}}function ka(Te,qe){return p(Te[0]-qe[0])=0;--cr)At.point((fr=rr[cr])[0],fr[1]);else Ye(pr.x,pr.p.x,-1,At);pr=pr.p}pr=pr.o,rr=pr.z,Dr=!Dr}while(!pr.v);At.lineEnd()}}}function _a(Te){if(qe=Te.length){for(var qe,rt=0,Ye=Te[0],At;++rt=0?1:-1,Ca=$a*ga,xo=Ca>l,aa=zi*on;if(Xs.add(m(aa*$a*x(Ca),ki*En+aa*g(Ca))),Kt+=xo?ga+$a*f:ga,xo^Dr>=rt^Yr>=rt){var fl=ge(te(pr),te(Xi));he(fl);var ns=ge(Gt,fl);he(ns);var po=(xo^ga>=0?-1:1)*S(ns[2]);(Ye>po||Ye===po&&(fl[0]||fl[1]))&&(cr+=xo^ga>=0?1:-1)}}return(Kt<-o||Kt0){for(mr||(At.polygonStart(),mr=!0),At.lineStart(),En=0;En<$a;++En)At.point((xo=Ca[En])[0],xo[1]);At.lineEnd()}return}ga>1&&ai&2&&on.push(on.pop().concat(on.shift())),rr.push(on.filter(Le))}}return pr}}function Le(Te){return Te.length>1}function ot(Te,qe){return((Te=Te.x)[0]<0?Te[1]-u-o:u-Te[1])-((qe=qe.x)[0]<0?qe[1]-u-o:u-qe[1])}var lt=ul(function(){return!0},kt,Rt,[-l,-u]);function kt(Te){var qe=NaN,rt=NaN,Ye=NaN,At;return{lineStart:function(){Te.lineStart(),At=1},point:function(Gt,Kt){var cr=Gt>0?l:-l,mr=p(Gt-qe);p(mr-l)0?u:-u),Te.point(Ye,rt),Te.lineEnd(),Te.lineStart(),Te.point(cr,rt),Te.point(Gt,rt),At=0):Ye!==cr&&mr>=l&&(p(qe-Ye)o?v((x(qe)*(Gt=g(Ye))*x(rt)-x(Ye)*(At=g(qe))*x(Te))/(At*Gt*Kt)):(qe+Ye)/2}function Rt(Te,qe,rt,Ye){var At;if(Te==null)At=rt*u,Ye.point(-l,At),Ye.point(0,At),Ye.point(l,At),Ye.point(l,0),Ye.point(l,-At),Ye.point(0,-At),Ye.point(-l,-At),Ye.point(-l,0),Ye.point(-l,At);else if(p(Te[0]-qe[0])>o){var Gt=Te[0]0,At=p(qe)>o;function Gt(rr,fr,pr,Dr){ds(Dr,Te,rt,pr,rr,fr)}function Kt(rr,fr){return g(rr)*g(fr)>qe}function cr(rr){var fr,pr,Dr,Hr,zi;return{lineStart:function(){Hr=Dr=!1,zi=1},point:function(ki,Vi){var Xi=[ki,Vi],Yr,ai=Kt(ki,Vi),on=Ye?ai?0:Pr(ki,Vi):ai?Pr(ki+(ki<0?l:-l),Vi):0;if(!fr&&(Hr=Dr=ai)&&rr.lineStart(),ai!==Dr&&(Yr=mr(fr,Xi),(!Yr||ka(fr,Yr)||ka(Xi,Yr))&&(Xi[2]=1)),ai!==Dr)zi=0,ai?(rr.lineStart(),Yr=mr(Xi,fr),rr.point(Yr[0],Yr[1])):(Yr=mr(fr,Xi),rr.point(Yr[0],Yr[1],2),rr.lineEnd()),fr=Yr;else if(At&&fr&&Ye^ai){var En;!(on&pr)&&(En=mr(Xi,fr,!0))&&(zi=0,Ye?(rr.lineStart(),rr.point(En[0][0],En[0][1]),rr.point(En[1][0],En[1][1]),rr.lineEnd()):(rr.point(En[1][0],En[1][1]),rr.lineEnd(),rr.lineStart(),rr.point(En[0][0],En[0][1],3)))}ai&&(!fr||!ka(fr,Xi))&&rr.point(Xi[0],Xi[1]),fr=Xi,Dr=ai,pr=on},lineEnd:function(){Dr&&rr.lineEnd(),fr=null},clean:function(){return zi|(Hr&&Dr)<<1}}}function mr(rr,fr,pr){var Dr=te(rr),Hr=te(fr),zi=[1,0,0],ki=ge(Dr,Hr),Vi=ce(ki,ki),Xi=ki[0],Yr=Vi-Xi*Xi;if(!Yr)return!pr&&rr;var ai=qe*Vi/Yr,on=-qe*Xi/Yr,En=ge(zi,ki),ga=be(zi,ai),$a=be(ki,on);Ce(ga,$a);var Ca=En,xo=ce(ga,Ca),aa=ce(Ca,Ca),fl=xo*xo-aa*(ce(ga,ga)-1);if(!(fl<0)){var ns=A(fl),po=be(Ca,(-xo-ns)/aa);if(Ce(po,ga),po=Q(po),!pr)return po;var di=rr[0],Sa=fr[0],ks=rr[1],bl=fr[1],Au;Sa0^po[1]<(p(po[0]-di)l^(di<=po[0]&&po[0]<=Sa)){var Yu=be(Ca,(-xo+ns)/aa);return Ce(Yu,ga),[po,Q(Yu)]}}}function Pr(rr,fr){var pr=Ye?Te:l-Te,Dr=0;return rr<-pr?Dr|=1:rr>pr&&(Dr|=2),fr<-pr?Dr|=4:fr>pr&&(Dr|=8),Dr}return ul(Kt,cr,Gt,Ye?[0,-Te]:[-l,Te-l])}function Wt(Te,qe,rt,Ye,At,Gt){var Kt=Te[0],cr=Te[1],mr=qe[0],Pr=qe[1],rr=0,fr=1,pr=mr-Kt,Dr=Pr-cr,Hr;if(Hr=rt-Kt,!(!pr&&Hr>0)){if(Hr/=pr,pr<0){if(Hr0){if(Hr>fr)return;Hr>rr&&(rr=Hr)}if(Hr=At-Kt,!(!pr&&Hr<0)){if(Hr/=pr,pr<0){if(Hr>fr)return;Hr>rr&&(rr=Hr)}else if(pr>0){if(Hr0)){if(Hr/=Dr,Dr<0){if(Hr0){if(Hr>fr)return;Hr>rr&&(rr=Hr)}if(Hr=Gt-cr,!(!Dr&&Hr<0)){if(Hr/=Dr,Dr<0){if(Hr>fr)return;Hr>rr&&(rr=Hr)}else if(Dr>0){if(Hr0&&(Te[0]=Kt+rr*pr,Te[1]=cr+rr*Dr),fr<1&&(qe[0]=Kt+fr*pr,qe[1]=cr+fr*Dr),!0}}}}}var br=1e9,Xr=-br;function ti(Te,qe,rt,Ye){function At(Pr,rr){return Te<=Pr&&Pr<=rt&&qe<=rr&&rr<=Ye}function Gt(Pr,rr,fr,pr){var Dr=0,Hr=0;if(Pr==null||(Dr=Kt(Pr,fr))!==(Hr=Kt(rr,fr))||mr(Pr,rr)<0^fr>0)do pr.point(Dr===0||Dr===3?Te:rt,Dr>1?Ye:qe);while((Dr=(Dr+fr+4)%4)!==Hr);else pr.point(rr[0],rr[1])}function Kt(Pr,rr){return p(Pr[0]-Te)0?0:3:p(Pr[0]-rt)0?2:1:p(Pr[1]-qe)0?1:0:rr>0?3:2}function cr(Pr,rr){return mr(Pr.x,rr.x)}function mr(Pr,rr){var fr=Kt(Pr,1),pr=Kt(rr,1);return fr!==pr?fr-pr:fr===0?rr[1]-Pr[1]:fr===1?Pr[0]-rr[0]:fr===2?Pr[1]-rr[1]:rr[0]-Pr[0]}return function(Pr){var rr=Pr,fr=ho(),pr,Dr,Hr,zi,ki,Vi,Xi,Yr,ai,on,En,ga={point:$a,lineStart:fl,lineEnd:ns,polygonStart:xo,polygonEnd:aa};function $a(di,Sa){At(di,Sa)&&rr.point(di,Sa)}function Ca(){for(var di=0,Sa=0,ks=Dr.length;SaYe&&(Th-Hf)*(Ye-Yu)>(Ah-Yu)*(Te-Hf)&&++di:Ah<=Ye&&(Th-Hf)*(Ye-Yu)<(Ah-Yu)*(Te-Hf)&&--di;return di}function xo(){rr=fr,pr=[],Dr=[],En=!0}function aa(){var di=Ca(),Sa=En&&di,ks=(pr=t.merge(pr)).length;(Sa||ks)&&(Pr.polygonStart(),Sa&&(Pr.lineStart(),Gt(null,null,1,Pr),Pr.lineEnd()),ks&&zs(pr,cr,di,Gt,Pr),Pr.polygonEnd()),rr=Pr,pr=Dr=Hr=null}function fl(){ga.point=po,Dr&&Dr.push(Hr=[]),on=!0,ai=!1,Xi=Yr=NaN}function ns(){pr&&(po(zi,ki),Vi&&ai&&fr.rejoin(),pr.push(fr.result())),ga.point=$a,ai&&rr.lineEnd()}function po(di,Sa){var ks=At(di,Sa);if(Dr&&Hr.push([di,Sa]),on)zi=di,ki=Sa,Vi=ks,on=!1,ks&&(rr.lineStart(),rr.point(di,Sa));else if(ks&&ai)rr.point(di,Sa);else{var bl=[Xi=Math.max(Xr,Math.min(br,Xi)),Yr=Math.max(Xr,Math.min(br,Yr))],Au=[di=Math.max(Xr,Math.min(br,di)),Sa=Math.max(Xr,Math.min(br,Sa))];Wt(bl,Au,Te,qe,rt,Ye)?(ai||(rr.lineStart(),rr.point(bl[0],bl[1])),rr.point(Au[0],Au[1]),ks||rr.lineEnd(),En=!1):ks&&(rr.lineStart(),rr.point(di,Sa),En=!1)}Xi=di,Yr=Sa,ai=ks}return ga}}function Mi(){var Te=0,qe=0,rt=960,Ye=500,At,Gt,Kt;return Kt={stream:function(cr){return At&&Gt===cr?At:At=ti(Te,qe,rt,Ye)(Gt=cr)},extent:function(cr){return arguments.length?(Te=+cr[0][0],qe=+cr[0][1],rt=+cr[1][0],Ye=+cr[1][1],At=Gt=null,Kt):[[Te,qe],[rt,Ye]]}}}var an=r(),Gn,yn,fa,Wn={sphere:k,point:k,lineStart:Ja,lineEnd:k,polygonStart:k,polygonEnd:k};function Ja(){Wn.point=Ao,Wn.lineEnd=oo}function oo(){Wn.point=Wn.lineEnd=k}function Ao(Te,qe){Te*=d,qe*=d,Gn=Te,yn=x(qe),fa=g(qe),Wn.point=Io}function Io(Te,qe){Te*=d,qe*=d;var rt=x(qe),Ye=g(qe),At=p(Te-Gn),Gt=g(At),Kt=x(At),cr=Ye*Kt,mr=fa*rt-yn*Ye*Gt,Pr=yn*rt+fa*Ye*Gt;an.add(m(A(cr*cr+mr*mr),Pr)),Gn=Te,yn=rt,fa=Ye}function ps(Te){return an.reset(),I(Te,Wn),+an}var rs=[null,null],Mo={type:"LineString",coordinates:rs};function is(Te,qe){return rs[0]=Te,rs[1]=qe,ps(Mo)}var Ro={Feature:function(Te,qe){return so(Te.geometry,qe)},FeatureCollection:function(Te,qe){for(var rt=Te.features,Ye=-1,At=rt.length;++Ye0&&(At=is(Te[Gt],Te[Gt-1]),At>0&&rt<=At&&Ye<=At&&(rt+Ye-At)*(1-Math.pow((rt-Ye)/At,2))o}).map(pr)).concat(t.range(w(Gt/Pr)*Pr,At,Pr).filter(function(Yr){return p(Yr%fr)>o}).map(Dr))}return Vi.lines=function(){return Xi().map(function(Yr){return{type:"LineString",coordinates:Yr}})},Vi.outline=function(){return{type:"Polygon",coordinates:[Hr(Ye).concat(zi(Kt).slice(1),Hr(rt).reverse().slice(1),zi(cr).reverse().slice(1))]}},Vi.extent=function(Yr){return arguments.length?Vi.extentMajor(Yr).extentMinor(Yr):Vi.extentMinor()},Vi.extentMajor=function(Yr){return arguments.length?(Ye=+Yr[0][0],rt=+Yr[1][0],cr=+Yr[0][1],Kt=+Yr[1][1],Ye>rt&&(Yr=Ye,Ye=rt,rt=Yr),cr>Kt&&(Yr=cr,cr=Kt,Kt=Yr),Vi.precision(ki)):[[Ye,cr],[rt,Kt]]},Vi.extentMinor=function(Yr){return arguments.length?(qe=+Yr[0][0],Te=+Yr[1][0],Gt=+Yr[0][1],At=+Yr[1][1],qe>Te&&(Yr=qe,qe=Te,Te=Yr),Gt>At&&(Yr=Gt,Gt=At,At=Yr),Vi.precision(ki)):[[qe,Gt],[Te,At]]},Vi.step=function(Yr){return arguments.length?Vi.stepMajor(Yr).stepMinor(Yr):Vi.stepMinor()},Vi.stepMajor=function(Yr){return arguments.length?(rr=+Yr[0],fr=+Yr[1],Vi):[rr,fr]},Vi.stepMinor=function(Yr){return arguments.length?(mr=+Yr[0],Pr=+Yr[1],Vi):[mr,Pr]},Vi.precision=function(Yr){return arguments.length?(ki=+Yr,pr=Js(Gt,At,90),Dr=ru(qe,Te,ki),Hr=Js(cr,Kt,90),zi=ru(Ye,rt,ki),Vi):ki},Vi.extentMajor([[-180,-90+o],[180,90-o]]).extentMinor([[-180,-80-o],[180,80+o]])}function _u(){return xu()()}function dc(Te,qe){var rt=Te[0]*d,Ye=Te[1]*d,At=qe[0]*d,Gt=qe[1]*d,Kt=g(Ye),cr=x(Ye),mr=g(Gt),Pr=x(Gt),rr=Kt*g(rt),fr=Kt*x(rt),pr=mr*g(At),Dr=mr*x(At),Hr=2*S(A(C(Gt-Ye)+Kt*mr*C(At-rt))),zi=x(Hr),ki=Hr?function(Vi){var Xi=x(Vi*=Hr)/zi,Yr=x(Hr-Vi)/zi,ai=Yr*rr+Xi*pr,on=Yr*fr+Xi*Dr,En=Yr*cr+Xi*Pr;return[m(on,ai)*h,m(En,A(ai*ai+on*on))*h]}:function(){return[rt*h,Ye*h]};return ki.distance=Hr,ki}function Nl(Te){return Te}var ja=r(),bu=r(),Hu,Ss,iu,ph,yo={point:k,lineStart:k,lineEnd:k,polygonStart:function(){yo.lineStart=nu,yo.lineEnd=Cv},polygonEnd:function(){yo.lineStart=yo.lineEnd=yo.point=k,ja.add(p(bu)),bu.reset()},result:function(){var Te=ja/2;return ja.reset(),Te}};function nu(){yo.point=Zo}function Zo(Te,qe){yo.point=au,Hu=iu=Te,Ss=ph=qe}function au(Te,qe){bu.add(ph*Te-iu*qe),iu=Te,ph=qe}function Cv(){au(Hu,Ss)}var Nc=1/0,r0=Nc,Of=-Nc,vh=Of,Nf={point:i0,lineStart:k,lineEnd:k,polygonStart:k,polygonEnd:k,result:function(){var Te=[[Nc,r0],[Of,vh]];return Of=vh=-(r0=Nc=1/0),Te}};function i0(Te,qe){TeOf&&(Of=Te),qevh&&(vh=qe)}var Dv=0,gh=0,up=0,n0=0,j0=0,$0=0,Fv=0,Lv=0,Uc=0,cp,mh,ju,Es,Vo={point:wu,lineStart:W0,lineEnd:Pv,polygonStart:function(){Vo.lineStart=ug,Vo.lineEnd=Wm},polygonEnd:function(){Vo.point=wu,Vo.lineStart=W0,Vo.lineEnd=Pv},result:function(){var Te=Uc?[Fv/Uc,Lv/Uc]:$0?[n0/$0,j0/$0]:up?[Dv/up,gh/up]:[NaN,NaN];return Dv=gh=up=n0=j0=$0=Fv=Lv=Uc=0,Te}};function wu(Te,qe){Dv+=Te,gh+=qe,++up}function W0(){Vo.point=yh}function yh(Te,qe){Vo.point=a0,wu(ju=Te,Es=qe)}function a0(Te,qe){var rt=Te-ju,Ye=qe-Es,At=A(rt*rt+Ye*Ye);n0+=At*(ju+Te)/2,j0+=At*(Es+qe)/2,$0+=At,wu(ju=Te,Es=qe)}function Pv(){Vo.point=wu}function ug(){Vo.point=Tx}function Wm(){xh(cp,mh)}function Tx(Te,qe){Vo.point=xh,wu(cp=ju=Te,mh=Es=qe)}function xh(Te,qe){var rt=Te-ju,Ye=qe-Es,At=A(rt*rt+Ye*Ye);n0+=At*(ju+Te)/2,j0+=At*(Es+qe)/2,$0+=At,At=Es*Te-ju*qe,Fv+=At*(ju+Te),Lv+=At*(Es+qe),Uc+=At*3,wu(ju=Te,Es=qe)}function Bs(Te){this._context=Te}Bs.prototype={_radius:4.5,pointRadius:function(Te){return this._radius=Te,this},polygonStart:function(){this._line=0},polygonEnd:function(){this._line=NaN},lineStart:function(){this._point=0},lineEnd:function(){this._line===0&&this._context.closePath(),this._point=NaN},point:function(Te,qe){switch(this._point){case 0:{this._context.moveTo(Te,qe),this._point=1;break}case 1:{this._context.lineTo(Te,qe);break}default:{this._context.moveTo(Te+this._radius,qe),this._context.arc(Te,qe,this._radius,0,f);break}}},result:k};var Iv=r(),Rv,_h,cg,Y0,fp,hf={point:k,lineStart:function(){hf.point=zv},lineEnd:function(){Rv&&hp(_h,cg),hf.point=k},polygonStart:function(){Rv=!0},polygonEnd:function(){Rv=null},result:function(){var Te=+Iv;return Iv.reset(),Te}};function zv(Te,qe){hf.point=hp,_h=Y0=Te,cg=fp=qe}function hp(Te,qe){Y0-=Te,fp-=qe,Iv.add(A(Y0*Y0+fp*fp)),Y0=Te,fp=qe}function X0(){this._string=[]}X0.prototype={_radius:4.5,_circle:fg(4.5),pointRadius:function(Te){return(Te=+Te)!==this._radius&&(this._radius=Te,this._circle=null),this},polygonStart:function(){this._line=0},polygonEnd:function(){this._line=NaN},lineStart:function(){this._point=0},lineEnd:function(){this._line===0&&this._string.push("Z"),this._point=NaN},point:function(Te,qe){switch(this._point){case 0:{this._string.push("M",Te,",",qe),this._point=1;break}case 1:{this._string.push("L",Te,",",qe);break}default:{this._circle==null&&(this._circle=fg(this._radius)),this._string.push("M",Te,",",qe,this._circle);break}}},result:function(){if(this._string.length){var Te=this._string.join("");return this._string=[],Te}else return null}};function fg(Te){return"m0,"+Te+"a"+Te+","+Te+" 0 1,1 0,"+-2*Te+"a"+Te+","+Te+" 0 1,1 0,"+2*Te+"z"}function hg(Te,qe){var rt=4.5,Ye,At;function Gt(Kt){return Kt&&(typeof rt=="function"&&At.pointRadius(+rt.apply(this,arguments)),I(Kt,Ye(At))),At.result()}return Gt.area=function(Kt){return I(Kt,Ye(yo)),yo.result()},Gt.measure=function(Kt){return I(Kt,Ye(hf)),hf.result()},Gt.bounds=function(Kt){return I(Kt,Ye(Nf)),Nf.result()},Gt.centroid=function(Kt){return I(Kt,Ye(Vo)),Vo.result()},Gt.projection=function(Kt){return arguments.length?(Ye=Kt==null?(Te=null,Nl):(Te=Kt).stream,Gt):Te},Gt.context=function(Kt){return arguments.length?(At=Kt==null?(qe=null,new X0):new Bs(qe=Kt),typeof rt!="function"&&At.pointRadius(rt),Gt):qe},Gt.pointRadius=function(Kt){return arguments.length?(rt=typeof Kt=="function"?Kt:(At.pointRadius(+Kt),+Kt),Gt):rt},Gt.projection(Te).context(qe)}function Ym(Te){return{stream:Uf(Te)}}function Uf(Te){return function(qe){var rt=new Bv;for(var Ye in Te)rt[Ye]=Te[Ye];return rt.stream=qe,rt}}function Bv(){}Bv.prototype={constructor:Bv,point:function(Te,qe){this.stream.point(Te,qe)},sphere:function(){this.stream.sphere()},lineStart:function(){this.stream.lineStart()},lineEnd:function(){this.stream.lineEnd()},polygonStart:function(){this.stream.polygonStart()},polygonEnd:function(){this.stream.polygonEnd()}};function Vf(Te,qe,rt){var Ye=Te.clipExtent&&Te.clipExtent();return Te.scale(150).translate([0,0]),Ye!=null&&Te.clipExtent(null),I(rt,Te.stream(Nf)),qe(Nf.result()),Ye!=null&&Te.clipExtent(Ye),Te}function dp(Te,qe,rt){return Vf(Te,function(Ye){var At=qe[1][0]-qe[0][0],Gt=qe[1][1]-qe[0][1],Kt=Math.min(At/(Ye[1][0]-Ye[0][0]),Gt/(Ye[1][1]-Ye[0][1])),cr=+qe[0][0]+(At-Kt*(Ye[1][0]+Ye[0][0]))/2,mr=+qe[0][1]+(Gt-Kt*(Ye[1][1]+Ye[0][1]))/2;Te.scale(150*Kt).translate([cr,mr])},rt)}function pc(Te,qe,rt){return dp(Te,[[0,0],qe],rt)}function Z0(Te,qe,rt){return Vf(Te,function(Ye){var At=+qe,Gt=At/(Ye[1][0]-Ye[0][0]),Kt=(At-Gt*(Ye[1][0]+Ye[0][0]))/2,cr=-Gt*Ye[0][1];Te.scale(150*Gt).translate([Kt,cr])},rt)}function Gf(Te,qe,rt){return Vf(Te,function(Ye){var At=+qe,Gt=At/(Ye[1][1]-Ye[0][1]),Kt=-Gt*Ye[0][0],cr=(At-Gt*(Ye[1][1]+Ye[0][1]))/2;Te.scale(150*Gt).translate([Kt,cr])},rt)}var dg=16,qv=g(30*d);function pg(Te,qe){return+qe?pp(Te,qe):Ov(Te)}function Ov(Te){return Uf({point:function(qe,rt){qe=Te(qe,rt),this.stream.point(qe[0],qe[1])}})}function pp(Te,qe){function rt(Ye,At,Gt,Kt,cr,mr,Pr,rr,fr,pr,Dr,Hr,zi,ki){var Vi=Pr-Ye,Xi=rr-At,Yr=Vi*Vi+Xi*Xi;if(Yr>4*qe&&zi--){var ai=Kt+pr,on=cr+Dr,En=mr+Hr,ga=A(ai*ai+on*on+En*En),$a=S(En/=ga),Ca=p(p(En)-1)qe||p((Vi*ns+Xi*po)/Yr-.5)>.3||Kt*pr+cr*Dr+mr*Hr2?di[2]%360*d:0,ns()):[cr*h,mr*h,Pr*h]},aa.angle=function(di){return arguments.length?(fr=di%360*d,ns()):fr*h},aa.reflectX=function(di){return arguments.length?(pr=di?-1:1,ns()):pr<0},aa.reflectY=function(di){return arguments.length?(Dr=di?-1:1,ns()):Dr<0},aa.precision=function(di){return arguments.length?(En=pg(ga,on=di*di),po()):A(on)},aa.fitExtent=function(di,Sa){return dp(aa,di,Sa)},aa.fitSize=function(di,Sa){return pc(aa,di,Sa)},aa.fitWidth=function(di,Sa){return Z0(aa,di,Sa)},aa.fitHeight=function(di,Sa){return Gf(aa,di,Sa)};function ns(){var di=$u(rt,0,0,pr,Dr,fr).apply(null,qe(Gt,Kt)),Sa=(fr?$u:Xm)(rt,Ye-di[0],At-di[1],pr,Dr,fr);return rr=ta(cr,mr,Pr),ga=Tn(qe,Sa),$a=Tn(rr,ga),En=pg(ga,on),po()}function po(){return Ca=xo=null,aa}return function(){return qe=Te.apply(this,arguments),aa.invert=qe.invert&&fl,ns()}}function Tu(Te){var qe=0,rt=l/3,Ye=vg(Te),At=Ye(qe,rt);return At.parallels=function(Gt){return arguments.length?Ye(qe=Gt[0]*d,rt=Gt[1]*d):[qe*h,rt*h]},At}function vp(Te){var qe=g(Te);function rt(Ye,At){return[Ye*qe,x(At)/qe]}return rt.invert=function(Ye,At){return[Ye/qe,S(At*qe)]},rt}function o0(Te,qe){var rt=x(Te),Ye=(rt+x(qe))/2;if(p(Ye)=.12&&ki<.234&&zi>=-.425&&zi<-.214?At:ki>=.166&&ki<.234&&zi>=-.214&&zi<-.115?Kt:rt).invert(pr)},rr.stream=function(pr){return Te&&qe===pr?Te:Te=Zm([rt.stream(qe=pr),At.stream(pr),Kt.stream(pr)])},rr.precision=function(pr){return arguments.length?(rt.precision(pr),At.precision(pr),Kt.precision(pr),fr()):rt.precision()},rr.scale=function(pr){return arguments.length?(rt.scale(pr),At.scale(pr*.35),Kt.scale(pr),rr.translate(rt.translate())):rt.scale()},rr.translate=function(pr){if(!arguments.length)return rt.translate();var Dr=rt.scale(),Hr=+pr[0],zi=+pr[1];return Ye=rt.translate(pr).clipExtent([[Hr-.455*Dr,zi-.238*Dr],[Hr+.455*Dr,zi+.238*Dr]]).stream(Pr),Gt=At.translate([Hr-.307*Dr,zi+.201*Dr]).clipExtent([[Hr-.425*Dr+o,zi+.12*Dr+o],[Hr-.214*Dr-o,zi+.234*Dr-o]]).stream(Pr),cr=Kt.translate([Hr-.205*Dr,zi+.212*Dr]).clipExtent([[Hr-.214*Dr+o,zi+.166*Dr+o],[Hr-.115*Dr-o,zi+.234*Dr-o]]).stream(Pr),fr()},rr.fitExtent=function(pr,Dr){return dp(rr,pr,Dr)},rr.fitSize=function(pr,Dr){return pc(rr,pr,Dr)},rr.fitWidth=function(pr,Dr){return Z0(rr,pr,Dr)},rr.fitHeight=function(pr,Dr){return Gf(rr,pr,Dr)};function fr(){return Te=qe=null,rr}return rr.scale(1070)}function df(Te){return function(qe,rt){var Ye=g(qe),At=g(rt),Gt=Te(Ye*At);return[Gt*At*x(qe),Gt*x(rt)]}}function pf(Te){return function(qe,rt){var Ye=A(qe*qe+rt*rt),At=Te(Ye),Gt=x(At),Kt=g(At);return[m(qe*Gt,Ye*Kt),S(Ye&&rt*Gt/Ye)]}}var Wu=df(function(Te){return A(2/(1+Te))});Wu.invert=pf(function(Te){return 2*S(Te/2)});function Ax(){return Vc(Wu).scale(124.75).clipAngle(180-.001)}var K0=df(function(Te){return(Te=E(Te))&&Te/x(Te)});K0.invert=pf(function(Te){return Te});function Jm(){return Vc(K0).scale(79.4188).clipAngle(180-.001)}function vc(Te,qe){return[Te,_(y((u+qe)/2))]}vc.invert=function(Te,qe){return[Te,2*v(b(qe))-u]};function Vv(){return gp(vc).scale(961/f)}function gp(Te){var qe=Vc(Te),rt=qe.center,Ye=qe.scale,At=qe.translate,Gt=qe.clipExtent,Kt=null,cr,mr,Pr;qe.scale=function(fr){return arguments.length?(Ye(fr),rr()):Ye()},qe.translate=function(fr){return arguments.length?(At(fr),rr()):At()},qe.center=function(fr){return arguments.length?(rt(fr),rr()):rt()},qe.clipExtent=function(fr){return arguments.length?(fr==null?Kt=cr=mr=Pr=null:(Kt=+fr[0][0],cr=+fr[0][1],mr=+fr[1][0],Pr=+fr[1][1]),rr()):Kt==null?null:[[Kt,cr],[mr,Pr]]};function rr(){var fr=l*Ye(),pr=qe(ra(qe.rotate()).invert([0,0]));return Gt(Kt==null?[[pr[0]-fr,pr[1]-fr],[pr[0]+fr,pr[1]+fr]]:Te===vc?[[Math.max(pr[0]-fr,Kt),cr],[Math.min(pr[0]+fr,mr),Pr]]:[[Kt,Math.max(pr[1]-fr,cr)],[mr,Math.min(pr[1]+fr,Pr)]])}return rr()}function mp(Te){return y((u+Te)/2)}function Qm(Te,qe){var rt=g(Te),Ye=Te===qe?x(Te):_(rt/g(qe))/_(mp(qe)/mp(Te)),At=rt*M(mp(Te),Ye)/Ye;if(!Ye)return vc;function Gt(Kt,cr){At>0?cr<-u+o&&(cr=-u+o):cr>u-o&&(cr=u-o);var mr=At/M(mp(cr),Ye);return[mr*x(Ye*Kt),At-mr*g(Ye*Kt)]}return Gt.invert=function(Kt,cr){var mr=At-cr,Pr=T(Ye)*A(Kt*Kt+mr*mr),rr=m(Kt,p(mr))*T(mr);return mr*Ye<0&&(rr-=l*T(Kt)*T(mr)),[rr/Ye,2*v(M(At/Pr,1/Ye))-u]},Gt}function yp(){return Tu(Qm).scale(109.5).parallels([30,30])}function wh(Te,qe){return[Te,qe]}wh.invert=wh;function J0(){return Vc(wh).scale(152.63)}function xp(Te,qe){var rt=g(Te),Ye=Te===qe?x(Te):(rt-g(qe))/(qe-Te),At=rt/Ye+Te;if(p(Ye)o&&--Ye>0);return[Te/(.8707+(Gt=rt*rt)*(-.131979+Gt*(-.013791+Gt*Gt*Gt*(.003971-.001529*Gt)))),rt]};function Hv(){return Vc(yg).scale(175.295)}function cl(Te,qe){return[g(qe)*x(Te),x(qe)]}cl.invert=pf(S);function Gc(){return Vc(cl).scale(249.5).clipAngle(90+o)}function Tp(Te,qe){var rt=g(qe),Ye=1+g(Te)*rt;return[rt*x(Te)/Ye,x(qe)/Ye]}Tp.invert=pf(function(Te){return 2*v(Te)});function xg(){return Vc(Tp).scale(250).clipAngle(142)}function Ap(Te,qe){return[_(y((u+qe)/2)),-Te]}Ap.invert=function(Te,qe){return[-qe,2*v(b(Te))-u]};function Mp(){var Te=gp(Ap),qe=Te.center,rt=Te.rotate;return Te.center=function(Ye){return arguments.length?qe([-Ye[1],Ye[0]]):(Ye=qe(),[Ye[1],-Ye[0]])},Te.rotate=function(Ye){return arguments.length?rt([Ye[0],Ye[1],Ye.length>2?Ye[2]+90:90]):(Ye=rt(),[Ye[0],Ye[1],Ye[2]-90])},rt([0,0,90]).scale(159.155)}e.geoAlbers=gg,e.geoAlbersUsa=Km,e.geoArea=G,e.geoAzimuthalEqualArea=Ax,e.geoAzimuthalEqualAreaRaw=Wu,e.geoAzimuthalEquidistant=Jm,e.geoAzimuthalEquidistantRaw=K0,e.geoBounds=mt,e.geoCentroid=Lr,e.geoCircle=Rs,e.geoClipAntimeridian=lt,e.geoClipCircle=Tr,e.geoClipExtent=Mi,e.geoClipRectangle=ti,e.geoConicConformal=yp,e.geoConicConformalRaw=Qm,e.geoConicEqualArea=bh,e.geoConicEqualAreaRaw=o0,e.geoConicEquidistant=ey,e.geoConicEquidistantRaw=xp,e.geoContains=Ol,e.geoDistance=is,e.geoEqualEarth=mg,e.geoEqualEarthRaw=wp,e.geoEquirectangular=J0,e.geoEquirectangularRaw=wh,e.geoGnomonic=ty,e.geoGnomonicRaw=Gv,e.geoGraticule=xu,e.geoGraticule10=_u,e.geoIdentity=ry,e.geoInterpolate=dc,e.geoLength=ps,e.geoMercator=Vv,e.geoMercatorRaw=vc,e.geoNaturalEarth1=Hv,e.geoNaturalEarth1Raw=yg,e.geoOrthographic=Gc,e.geoOrthographicRaw=cl,e.geoPath=hg,e.geoProjection=Vc,e.geoProjectionMutator=vg,e.geoRotation=ra,e.geoStereographic=xg,e.geoStereographicRaw=Tp,e.geoStream=I,e.geoTransform=Ym,e.geoTransverseMercator=Mp,e.geoTransverseMercatorRaw=Ap,Object.defineProperty(e,"__esModule",{value:!0})}))});var tVe=W((Cjr,eVe)=>{"use strict";var QUe={alabama:"AL",alaska:"AK",arizona:"AZ",arkansas:"AR",california:"CA",colorado:"CO",connecticut:"CT",delaware:"DE","district of columbia":"DC",florida:"FL",georgia:"GA",hawaii:"HI",idaho:"ID",illinois:"IL",indiana:"IN",iowa:"IA",kansas:"KS",kentucky:"KY",louisiana:"LA",maine:"ME",maryland:"MD",massachusetts:"MA",michigan:"MI",minnesota:"MN",mississippi:"MS",missouri:"MO",montana:"MT",nebraska:"NE",nevada:"NV","new hampshire":"NH","new jersey":"NJ","new mexico":"NM","new york":"NY","north carolina":"NC","north dakota":"ND",ohio:"OH",oklahoma:"OK",oregon:"OR",pennsylvania:"PA","rhode island":"RI","south carolina":"SC","south dakota":"SD",tennessee:"TN",texas:"TX",utah:"UT",vermont:"VT",virginia:"VA",washington:"WA","washington dc":"DC","washington d.c.":"DC","west virginia":"WV",wisconsin:"WI",wyoming:"WY"},trr=new Set(Object.values(QUe));eVe.exports={usaLocationAbbreviations:trr,usaLocationList:QUe}});var rVe={};Fp(rVe,{COUNTRIES_X:()=>rrr});var rrr,iVe=Ea(()=>{"use strict";rrr=[{iso3:"XAC",iso2:"",m49:"",name:"Aksai Chin",aliases:[]},{iso3:"XAP",iso2:"",m49:"",name:"Arunachal Pradesh",aliases:[]},{iso3:"XBT",iso2:"",m49:"",name:"Bir Tawil",aliases:[]},{iso3:"XHT",iso2:"",m49:"",name:"Halaib Triangle",aliases:[]},{iso3:"XIT",iso2:"",m49:"",name:"Ilemi Triangle",aliases:[]},{iso3:"XJK",iso2:"",m49:"",name:"Jammu and Kashmir",aliases:[]}]});var cm=W((Djr,oVe)=>{"use strict";var irr=vi(),{COUNTRIES:nrr,createLookup:arr}=PUe(),{area:orr}=WUe(),{centroid:srr}=XUe(),{coordAll:lrr}=OI(),{geoBounds:urr}=HI(),crr=tA(),S2=Eg(),frr=oy(),hrr=k6(),jI=GA(),{usaLocationAbbreviations:drr,usaLocationList:prr}=tVe(),{COUNTRIES_X:vrr}=(iVe(),Go(rVe)),{lookupAlpha3:grr}=arr([...nrr,...vrr]),mrr={"ISO-3":crr,"USA-states":xrr,"country names":yrr};function yrr(e){let t=grr(e);return t||(S2.log("Unrecognized country name: "+e+"."),!1)}function xrr(e){e=e.trim();let t=drr.has(e.toUpperCase())?e.toUpperCase():prr[e.toLowerCase()];return t||(S2.log("Unrecognized US location: "+e+"."),!1)}function _rr(e,t,r){var n;if(!t||typeof t!="string")return!1;let i=mrr[e](t);if(i){let a;if(e==="USA-states"){a=[];for(let o of r)((n=o==null?void 0:o.properties)==null?void 0:n.gu)==="USA"&&a.push(o)}else a=r;for(let o of a)if(o.id===i)return o;S2.log(`Location with id ${i} does not have a matching topojson feature at this resolution.`)}return!1}var $I=360;function tQ(e){for(let t=0;t0&&e[t+1][0]<0)return t;return null}function brr(e){var t=e.geometry,r=t.coordinates,i=e.id,n=[],a,o,s,l;switch(i==="RUS"||i==="FJI"?a=function(u){var c;if(tQ(u)===null)c=u;else for(c=new Array(u.length),l=0;lc?f[h++]=[u[l][0]+$I,u[l][1]]:l===c?(f[h++]=u[l],f[h++]=[u[l][0],-90]):f[h++]=u[l];var d=jI.tester(f);d.pts.pop(),n.push(d)}:a=function(u){n.push(jI.tester(u))},t.type){case"MultiPolygon":for(o=0;on&&(n=s,r=o)}else r=t;return!r||!r.coordinates.some(l=>l.length>0)?[NaN,NaN]:srr(r).geometry.coordinates}function Arr(e){var t=window.PlotlyGeoAssets||{},r=[];function i(l){return new Promise(function(u,c){irr.json(l,function(f,h){if(f){delete t[l];var d=f.status===404?'GeoJSON at URL "'+l+'" does not exist.':"Unexpected error while fetching from "+l;return c(new Error(d))}return t[l]=h,u(h)})})}function n(l){return new Promise(function(u,c){var f=0,h=setInterval(function(){if(t[l]&&t[l]!=="pending")return clearInterval(h),u(t[l]);if(f>100)return clearInterval(h),c("Unexpected error while fetching from "+l);f++},50)})}for(var a=0;anQ(iQ(e));function iQ(e){try{return lrr(e)}catch(t){return[]}}function nQ(e){if(e.length===0)return null;if(e.length===1){let[a,o]=e[0];return[a,o,a,o]}let[[t,r],[i,n]]=urr({type:"MultiPoint",coordinates:e});return[t,r,aVe([t,i])[1],n]}var Srr=(e,t)=>t.fitbounds==="geojson"&&e.locationmode==="geojson-id",nVe=(e,t)=>Srr(e,t)?iQ(rQ(e)):[],Err=(e,t)=>nQ(nVe(e,t));function aVe([e,t]){return[e,e>t?t+$I:t]}oVe.exports={locationToFeature:_rr,feature2polygons:brr,getTraceGeojson:rQ,extractTraceFeature:wrr,fetchTraceGeoData:Arr,boundsOfCoords:nQ,computeBbox:Mrr,coordsOf:iQ,doesCrossAntiMeridian:tQ,fitGeojsonBbox:Err,fitGeojsonCoords:nVe,unwrapLonRange:aVe,ANTIMERIDIAN_LON_SHIFT:$I}});var aQ=W((Fjr,uVe)=>{"use strict";var krr=vi(),Crr=Ji(),sVe=ni(),lVe=th(),Drr=lVe.stylePoints,Frr=lVe.styleText;uVe.exports=function(t,r){r&&Lrr(t,r)};function Lrr(e,t){var r=t[0].trace,i=t[0].node3;i.style("opacity",t[0].trace.opacity),Drr(i,r,e),Frr(i,r,e),i.selectAll("path.js-line").style("fill","none").each(function(n){var a=krr.select(this),o=n.trace,s=o.line||{};a.call(sVe.stroke,s.color).call(Crr.dashLine,s.dash||"",s.width||0),o.fill!=="none"&&a.call(sVe.fill,o.fillcolor)})}});var XI=W((Ljr,hVe)=>{"use strict";var cVe=vi(),WI=it(),Prr=II().getTopojsonFeatures,oQ=dE(),YI=cm(),fVe=Op().findExtremes,lQ=Kn().BADNUM,Irr=Td().calcMarkerSize,sQ=$o(),Rrr=aQ();function zrr(e,t,r){var i=t.layers.frontplot.select(".scatterlayer"),n=WI.makeTraceGroups(i,r,"trace scattergeo");function a(o,s){o.lonlat[0]===lQ&&cVe.select(s).remove()}n.selectAll("*").remove(),n.each(function(o){var s=cVe.select(this),l=o[0].trace;if(sQ.hasLines(l)||l.fill!=="none"){var u=oQ.calcTraceToLineCoords(o),c=l.fill!=="none"?oQ.makePolygon(u):oQ.makeLine(u);s.selectAll("path.js-line").data([{geojson:c,trace:l}]).enter().append("path").classed("js-line",!0).style("stroke-miterlimit",2)}sQ.hasMarkers(l)&&s.selectAll("path.point").data(WI.identity).enter().append("path").classed("point",!0).each(function(f){a(f,this)}),sQ.hasText(l)&&s.selectAll("g").data(WI.identity).enter().append("g").append("text").each(function(f){a(f,this)}),Rrr(e,o)})}function Brr(e,t){var r=e[0].trace,i=t[r.geo],n=i._subplot,a=r._length,o,s;if(WI.isArrayOrTypedArray(r.locations)){var l=r.locationmode,u=l==="geojson-id"?YI.extractTraceFeature(e):Prr(r,n.topojson);for(o=0;o{"use strict";var Orr=Ds(),Nrr=Kn().BADNUM,Urr=Xw(),Vrr=it().fillText,Grr=I4();dVe.exports=function(t,r,i){var n=t.cd,a=n[0].trace,o=t.xa,s=t.ya,l=t.subplot,u=l.projection.isLonLatOverEdges,c=l.project;function f(w){var b=w.lonlat;if(b[0]===Nrr||u(b))return 1/0;var _=c(b),M=c([r,i]),x=Math.abs(_[0]-M[0]),T=Math.abs(_[1]-M[1]),A=Math.max(3,w.mrc||0);return Math.max(Math.sqrt(x*x+T*T)-A,1-3/A)}if(Orr.getClosest(n,f,t),t.index!==!1){var h=n[t.index],d=h.lonlat,p=[o.c2p(d),s.c2p(d)],v=h.mrc||1;t.x0=p[0]-v,t.x1=p[0]+v,t.y0=p[1]-v,t.y1=p[1]+v,t.loc=h.loc,t.lon=d[0],t.lat=d[1];var m={};m[a.geo]={_subplot:l};var g=a._module.formatLabels(h,a,m);return t.lonLabel=g.lonLabel,t.latLabel=g.latLabel,t.color=Urr(a,h),t.extraText=Hrr(a,h,t,n[0].t.labels),t.hovertemplate=a.hovertemplate,[t]}};function Hrr(e,t,r,i){if(e.hovertemplate)return;var n=t.hi||e.hoverinfo,a=n==="all"?Grr.hoverinfo.flags:n.split("+"),o=a.indexOf("location")!==-1&&Array.isArray(e.locations),s=a.indexOf("lon")!==-1,l=a.indexOf("lat")!==-1,u=a.indexOf("text")!==-1,c=[];function f(h){return h+"\xB0"}return o?c.push(t.loc):s&&l?c.push("("+f(r.latLabel)+", "+f(r.lonLabel)+")"):s?c.push(i.lon+f(r.lonLabel)):l&&c.push(i.lat+f(r.latLabel)),u&&Vrr(t,e,c),c.join("
")}});var gVe=W((Ijr,vVe)=>{"use strict";vVe.exports=function(t,r,i,n,a){t.lon=r.lon,t.lat=r.lat,t.location=r.loc?r.loc:null;var o=n[a];return o.fIn&&o.fIn.properties&&(t.properties=o.fIn.properties),t}});var xVe=W((Rjr,yVe)=>{"use strict";var mVe=$o(),jrr=Kn().BADNUM;yVe.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=[],s=i[0].trace,l,u,c,f,h,d=!mVe.hasMarkers(s)&&!mVe.hasText(s);if(d)return[];if(r===!1)for(h=0;h{(function(e,t){t(typeof ZI=="object"&&typeof _Ve!="undefined"?ZI:e.d3=e.d3||{})})(ZI,(function(e){"use strict";function t(U,V){return UV?1:U>=V?0:NaN}function r(U){return U.length===1&&(U=i(U)),{left:function(V,X,H,G){for(H==null&&(H=0),G==null&&(G=V.length);H>>1;U(V[Q],X)<0?H=Q+1:G=Q}return H},right:function(V,X,H,G){for(H==null&&(H=0),G==null&&(G=V.length);H>>1;U(V[Q],X)>0?G=Q:H=Q+1}return H}}}function i(U){return function(V,X){return t(U(V),X)}}var n=r(t),a=n.right,o=n.left;function s(U,V){V==null&&(V=l);for(var X=0,H=U.length-1,G=U[0],Q=new Array(H<0?0:H);XU?1:V>=U?0:NaN}function f(U){return U===null?NaN:+U}function h(U,V){var X=U.length,H=0,G=-1,Q=0,te,ce,ge=0;if(V==null)for(;++G1)return ge/(H-1)}function d(U,V){var X=h(U,V);return X&&Math.sqrt(X)}function p(U,V){var X=U.length,H=-1,G,Q,te;if(V==null){for(;++H=G)for(Q=te=G;++HG&&(Q=G),te=G)for(Q=te=G;++HG&&(Q=G),te0)return[U];if((H=V0)for(U=Math.ceil(U/ce),V=Math.floor(V/ce),te=new Array(Q=Math.ceil(V-U+1));++G=0?(Q>=M?10:Q>=x?5:Q>=T?2:1)*Math.pow(10,G):-Math.pow(10,-G)/(Q>=M?10:Q>=x?5:Q>=T?2:1)}function E(U,V,X){var H=Math.abs(V-U)/Math.max(0,X),G=Math.pow(10,Math.floor(Math.log(H)/Math.LN10)),Q=H/G;return Q>=M?G*=10:Q>=x?G*=5:Q>=T&&(G*=2),Vhe;)oe.pop(),--Ee;var ye=new Array(Ee+1),ue;for(Q=0;Q<=Ee;++Q)ue=ye[Q]=[],ue.x0=Q>0?oe[Q-1]:be,ue.x1=Q=1)return+X(U[H-1],H-1,U);var H,G=(H-1)*V,Q=Math.floor(G),te=+X(U[Q],Q,U),ce=+X(U[Q+1],Q+1,U);return te+(ce-te)*(G-Q)}}function D(U,V,X){return U=g.call(U,f).sort(t),Math.ceil((X-V)/(2*(k(U,.75)-k(U,.25))*Math.pow(U.length,-1/3)))}function F(U,V,X){return Math.ceil((X-V)/(3.5*d(U)*Math.pow(U.length,-1/3)))}function P(U,V){var X=U.length,H=-1,G,Q;if(V==null){for(;++H=G)for(Q=G;++HQ&&(Q=G)}else for(;++H=G)for(Q=G;++HQ&&(Q=G);return Q}function R(U,V){var X=U.length,H=X,G=-1,Q,te=0;if(V==null)for(;++G=0;)for(te=U[V],X=te.length;--X>=0;)Q[--G]=te[X];return Q}function B(U,V){var X=U.length,H=-1,G,Q;if(V==null){for(;++H=G)for(Q=G;++HG&&(Q=G)}else for(;++H=G)for(Q=G;++HG&&(Q=G);return Q}function O(U,V){for(var X=V.length,H=new Array(X);X--;)H[X]=U[V[X]];return H}function $(U,V){if(X=U.length){var X,H=0,G=0,Q,te=U[G];for(V==null&&(V=t);++H{(function(e,t){typeof KI=="object"&&typeof wVe!="undefined"?t(KI,HI(),bVe()):t(e.d3=e.d3||{},e.d3,e.d3)})(KI,(function(e,t,r){"use strict";var i=Math.abs,n=Math.atan,a=Math.atan2,o=Math.cos,s=Math.exp,l=Math.floor,u=Math.log,c=Math.max,f=Math.min,h=Math.pow,d=Math.round,p=Math.sign||function(ie){return ie>0?1:ie<0?-1:0},v=Math.sin,m=Math.tan,g=1e-6,w=1e-12,b=Math.PI,_=b/2,M=b/4,x=Math.SQRT1_2,T=F(2),A=F(b),y=b*2,E=180/b,S=b/180;function C(ie){return ie?ie/Math.sin(ie):1}function k(ie){return ie>1?_:ie<-1?-_:Math.asin(ie)}function D(ie){return ie>1?0:ie<-1?b:Math.acos(ie)}function F(ie){return ie>0?Math.sqrt(ie):0}function P(ie){return ie=s(2*ie),(ie-1)/(ie+1)}function R(ie){return(s(ie)-s(-ie))/2}function L(ie){return(s(ie)+s(-ie))/2}function I(ie){return u(ie+F(ie*ie+1))}function B(ie){return u(ie+F(ie*ie-1))}function O(ie){var se=m(ie/2),de=2*u(o(ie/2))/(se*se);function ve(Me,Ae){var Pe=o(Me),Ke=o(Ae),nt=v(Ae),Ze=Ke*Pe,at=-((1-Ze?u((1+Ze)/2)/(1-Ze):-.5)+de/(1+Ze));return[at*Ke*v(Me),at*nt]}return ve.invert=function(Me,Ae){var Pe=F(Me*Me+Ae*Ae),Ke=-ie/2,nt=50,Ze;if(!Pe)return[0,0];do{var at=Ke/2,yt=o(at),Pt=v(at),Ut=Pt/yt,ar=-u(i(yt));Ke-=Ze=(2/Ut*ar-de*Ut-Pe)/(-ar/(Pt*Pt)+1-de/(2*yt*yt))*(yt<0?.7:1)}while(i(Ze)>g&&--nt>0);var Ar=v(Ke);return[a(Me*Ar,Pe*o(Ke)),k(Ae*Ar/Pe)]},ve}function $(){var ie=_,se=t.geoProjectionMutator(O),de=se(ie);return de.radius=function(ve){return arguments.length?se(ie=ve*S):ie*E},de.scale(179.976).clipAngle(147)}function Y(ie,se){var de=o(se),ve=C(D(de*o(ie/=2)));return[2*de*v(ie)*ve,v(se)*ve]}Y.invert=function(ie,se){if(!(ie*ie+4*se*se>b*b+g)){var de=ie,ve=se,Me=25;do{var Ae=v(de),Pe=v(de/2),Ke=o(de/2),nt=v(ve),Ze=o(ve),at=v(2*ve),yt=nt*nt,Pt=Ze*Ze,Ut=Pe*Pe,ar=1-Pt*Ke*Ke,Ar=ar?D(Ze*Ke)*F(Vr=1/ar):Vr=0,Vr,_i=2*Ar*Ze*Pe-ie,rn=Ar*nt-se,cn=Vr*(Pt*Ut+Ar*Ze*Ke*yt),xn=Vr*(.5*Ae*at-Ar*2*nt*Pe),Dn=Vr*.25*(at*Pe-Ar*nt*Pt*Ae),Qa=Vr*(yt*Ke+Ar*Ut*Ze),So=xn*Dn-Qa*cn;if(!So)break;var oa=(rn*xn-_i*Qa)/So,as=(_i*Dn-rn*cn)/So;de-=oa,ve-=as}while((i(oa)>g||i(as)>g)&&--Me>0);return[de,ve]}};function K(){return t.geoProjection(Y).scale(152.63)}function j(ie){var se=v(ie),de=o(ie),ve=ie>=0?1:-1,Me=m(ve*ie),Ae=(1+se-de)/2;function Pe(Ke,nt){var Ze=o(nt),at=o(Ke/=2);return[(1+Ze)*v(Ke),(ve*nt>-a(at,Me)-.001?0:-ve*10)+Ae+v(nt)*de-(1+Ze)*se*at]}return Pe.invert=function(Ke,nt){var Ze=0,at=0,yt=50;do{var Pt=o(Ze),Ut=v(Ze),ar=o(at),Ar=v(at),Vr=1+ar,_i=Vr*Ut-Ke,rn=Ae+Ar*de-Vr*se*Pt-nt,cn=Vr*Pt/2,xn=-Ut*Ar,Dn=se*Vr*Ut/2,Qa=de*ar+se*Pt*Ar,So=xn*Dn-Qa*cn,oa=(rn*xn-_i*Qa)/So/2,as=(_i*Dn-rn*cn)/So;i(as)>2&&(as/=2),Ze-=oa,at-=as}while((i(oa)>g||i(as)>g)&&--yt>0);return ve*at>-a(o(Ze),Me)-.001?[Ze*2,at]:null},Pe}function q(){var ie=20*S,se=ie>=0?1:-1,de=m(se*ie),ve=t.geoProjectionMutator(j),Me=ve(ie),Ae=Me.stream;return Me.parallel=function(Pe){return arguments.length?(de=m((se=(ie=Pe*S)>=0?1:-1)*ie),ve(ie)):ie*E},Me.stream=function(Pe){var Ke=Me.rotate(),nt=Ae(Pe),Ze=(Me.rotate([0,0]),Ae(Pe)),at=Me.precision();return Me.rotate(Ke),nt.sphere=function(){Ze.polygonStart(),Ze.lineStart();for(var yt=se*-180;se*yt<180;yt+=se*90)Ze.point(yt,se*90);if(ie)for(;se*(yt-=3*se*at)>=-180;)Ze.point(yt,se*-a(o(yt*S/2),de)*E);Ze.lineEnd(),Ze.polygonEnd()},nt},Me.scale(218.695).center([0,28.0974])}function J(ie,se){var de=m(se/2),ve=F(1-de*de),Me=1+ve*o(ie/=2),Ae=v(ie)*ve/Me,Pe=de/Me,Ke=Ae*Ae,nt=Pe*Pe;return[4/3*Ae*(3+Ke-3*nt),4/3*Pe*(3+3*Ke-nt)]}J.invert=function(ie,se){if(ie*=3/8,se*=3/8,!ie&&i(se)>1)return null;var de=ie*ie,ve=se*se,Me=1+de+ve,Ae=F((Me-F(Me*Me-4*se*se))/2),Pe=k(Ae)/3,Ke=Ae?B(i(se/Ae))/3:I(i(ie))/3,nt=o(Pe),Ze=L(Ke),at=Ze*Ze-nt*nt;return[p(ie)*2*a(R(Ke)*nt,.25-at),p(se)*2*a(Ze*v(Pe),.25+at)]};function U(){return t.geoProjection(J).scale(66.1603)}var V=F(8),X=u(1+T);function H(ie,se){var de=i(se);return dew&&--ve>0);return[ie/(o(de)*(V-1/v(de))),p(se)*de]};function G(){return t.geoProjection(H).scale(112.314)}function Q(ie){var se=2*b/ie;function de(ve,Me){var Ae=t.geoAzimuthalEquidistantRaw(ve,Me);if(i(ve)>_){var Pe=a(Ae[1],Ae[0]),Ke=F(Ae[0]*Ae[0]+Ae[1]*Ae[1]),nt=se*d((Pe-_)/se)+_,Ze=a(v(Pe-=nt),2-o(Pe));Pe=nt+k(b/Ke*v(Ze))-Ze,Ae[0]=Ke*o(Pe),Ae[1]=Ke*v(Pe)}return Ae}return de.invert=function(ve,Me){var Ae=F(ve*ve+Me*Me);if(Ae>_){var Pe=a(Me,ve),Ke=se*d((Pe-_)/se)+_,nt=Pe>Ke?-1:1,Ze=Ae*o(Ke-Pe),at=1/m(nt*D((Ze-b)/F(b*(b-2*Ze)+Ae*Ae)));Pe=Ke+2*n((at+nt*F(at*at-3))/3),ve=Ae*o(Pe),Me=Ae*v(Pe)}return t.geoAzimuthalEquidistantRaw.invert(ve,Me)},de}function te(){var ie=5,se=t.geoProjectionMutator(Q),de=se(ie),ve=de.stream,Me=.01,Ae=-o(Me*S),Pe=v(Me*S);return de.lobes=function(Ke){return arguments.length?se(ie=+Ke):ie},de.stream=function(Ke){var nt=de.rotate(),Ze=ve(Ke),at=(de.rotate([0,0]),ve(Ke));return de.rotate(nt),Ze.sphere=function(){at.polygonStart(),at.lineStart();for(var yt=0,Pt=360/ie,Ut=2*b/ie,ar=90-180/ie,Ar=_;yt0&&i(Me)>g);return ve<0?NaN:de}function he(ie,se,de){return se===void 0&&(se=40),de===void 0&&(de=w),function(ve,Me,Ae,Pe){var Ke,nt,Ze;Ae=Ae===void 0?0:+Ae,Pe=Pe===void 0?0:+Pe;for(var at=0;atKe){Ae-=nt/=2,Pe-=Ze/=2;continue}Ke=ar;var Ar=(Ae>0?-1:1)*de,Vr=(Pe>0?-1:1)*de,_i=ie(Ae+Ar,Pe),rn=ie(Ae,Pe+Vr),cn=(_i[0]-yt[0])/Ar,xn=(_i[1]-yt[1])/Ar,Dn=(rn[0]-yt[0])/Vr,Qa=(rn[1]-yt[1])/Vr,So=Qa*cn-xn*Dn,oa=(i(So)<.5?.5:1)/So;if(nt=(Ut*Dn-Pt*Qa)*oa,Ze=(Pt*xn-Ut*cn)*oa,Ae+=nt,Pe+=Ze,i(nt)0&&(Ke[1]*=1+nt/1.5*Ke[0]*Ke[0]),Ke}return ve.invert=he(ve),ve}function Ee(){return t.geoProjection(oe()).rotate([-16.5,-42]).scale(176.57).center([7.93,.09])}function ye(ie,se){var de=ie*v(se),ve=30,Me;do se-=Me=(se+v(se)-de)/(1+o(se));while(i(Me)>g&&--ve>0);return se/2}function ue(ie,se,de){function ve(Me,Ae){return[ie*Me*o(Ae=ye(de,Ae)),se*v(Ae)]}return ve.invert=function(Me,Ae){return Ae=k(Ae/se),[Me/(ie*o(Ae)),k((2*Ae+v(2*Ae))/de)]},ve}var ee=ue(T/_,T,b);function ae(){return t.geoProjection(ee).scale(169.529)}var xe=2.00276,re=1.11072;function pe(ie,se){var de=ye(b,se);return[xe*ie/(1/o(se)+re/o(de)),(se+T*v(de))/xe]}pe.invert=function(ie,se){var de=xe*se,ve=se<0?-M:M,Me=25,Ae,Pe;do Pe=de-T*v(ve),ve-=Ae=(v(2*ve)+2*ve-b*v(Pe))/(2*o(2*ve)+2+b*o(Pe)*T*o(ve));while(i(Ae)>g&&--Me>0);return Pe=de-T*v(ve),[ie*(1/o(Pe)+re/o(ve))/xe,Pe]};function we(){return t.geoProjection(pe).scale(160.857)}function Fe(ie){var se=0,de=t.geoProjectionMutator(ie),ve=de(se);return ve.parallel=function(Me){return arguments.length?de(se=Me*S):se*E},ve}function Se(ie,se){return[ie*o(se),se]}Se.invert=function(ie,se){return[ie/o(se),se]};function ke(){return t.geoProjection(Se).scale(152.63)}function _e(ie){if(!ie)return Se;var se=1/m(ie);function de(ve,Me){var Ae=se+ie-Me,Pe=Ae&&ve*o(Me)/Ae;return[Ae*v(Pe),se-Ae*o(Pe)]}return de.invert=function(ve,Me){var Ae=F(ve*ve+(Me=se-Me)*Me),Pe=se+ie-Ae;return[Ae/o(Pe)*a(ve,Me),Pe]},de}function Ie(){return Fe(_e).scale(123.082).center([0,26.1441]).parallel(45)}function Oe(ie){function se(de,ve){var Me=_-ve,Ae=Me&&de*ie*v(Me)/Me;return[Me*v(Ae)/ie,_-Me*o(Ae)]}return se.invert=function(de,ve){var Me=de*ie,Ae=_-ve,Pe=F(Me*Me+Ae*Ae),Ke=a(Me,Ae);return[(Pe?Pe/v(Pe):1)*Ke/ie,_-Pe]},se}function Qe(){var ie=.5,se=t.geoProjectionMutator(Oe),de=se(ie);return de.fraction=function(ve){return arguments.length?se(ie=+ve):ie},de.scale(158.837)}var et=ue(1,4/b,b);function _t(){return t.geoProjection(et).scale(152.63)}function ut(ie,se,de,ve,Me,Ae){var Pe=o(Ae),Ke;if(i(ie)>1||i(Ae)>1)Ke=D(de*Me+se*ve*Pe);else{var nt=v(ie/2),Ze=v(Ae/2);Ke=2*k(F(nt*nt+se*ve*Ze*Ze))}return i(Ke)>g?[Ke,a(ve*v(Ae),se*Me-de*ve*Pe)]:[0,0]}function vt(ie,se,de){return D((ie*ie+se*se-de*de)/(2*ie*se))}function Xe(ie){return ie-2*b*l((ie+b)/(2*b))}function mt(ie,se,de){for(var ve=[[ie[0],ie[1],v(ie[1]),o(ie[1])],[se[0],se[1],v(se[1]),o(se[1])],[de[0],de[1],v(de[1]),o(de[1])]],Me=ve[2],Ae,Pe=0;Pe<3;++Pe,Me=Ae)Ae=ve[Pe],Me.v=ut(Ae[1]-Me[1],Me[3],Me[2],Ae[3],Ae[2],Ae[0]-Me[0]),Me.point=[0,0];var Ke=vt(ve[0].v[0],ve[2].v[0],ve[1].v[0]),nt=vt(ve[0].v[0],ve[1].v[0],ve[2].v[0]),Ze=b-Ke;ve[2].point[1]=0,ve[0].point[0]=-(ve[1].point[0]=ve[0].v[0]/2);var at=[ve[2].point[0]=ve[0].point[0]+ve[2].v[0]*o(Ke),2*(ve[0].point[1]=ve[1].point[1]=ve[2].v[0]*v(Ke))];function yt(Pt,Ut){var ar=v(Ut),Ar=o(Ut),Vr=new Array(3),_i;for(_i=0;_i<3;++_i){var rn=ve[_i];if(Vr[_i]=ut(Ut-rn[1],rn[3],rn[2],Ar,ar,Pt-rn[0]),!Vr[_i][0])return rn.point;Vr[_i][1]=Xe(Vr[_i][1]-rn.v[1])}var cn=at.slice();for(_i=0;_i<3;++_i){var xn=_i==2?0:_i+1,Dn=vt(ve[_i].v[0],Vr[_i][0],Vr[xn][0]);Vr[_i][1]<0&&(Dn=-Dn),_i?_i==1?(Dn=nt-Dn,cn[0]-=Vr[_i][0]*o(Dn),cn[1]-=Vr[_i][0]*v(Dn)):(Dn=Ze-Dn,cn[0]+=Vr[_i][0]*o(Dn),cn[1]+=Vr[_i][0]*v(Dn)):(cn[0]+=Vr[_i][0]*o(Dn),cn[1]-=Vr[_i][0]*v(Dn))}return cn[0]/=3,cn[1]/=3,cn}return yt}function bt(ie){return ie[0]*=S,ie[1]*=S,ie}function Ne(){return Ue([0,22],[45,22],[22.5,-22]).scale(380).center([22.5,2])}function Ue(ie,se,de){var ve=t.geoCentroid({type:"MultiPoint",coordinates:[ie,se,de]}),Me=[-ve[0],-ve[1]],Ae=t.geoRotation(Me),Pe=mt(bt(Ae(ie)),bt(Ae(se)),bt(Ae(de)));Pe.invert=he(Pe);var Ke=t.geoProjection(Pe).rotate(Me),nt=Ke.center;return delete Ke.rotate,Ke.center=function(Ze){return arguments.length?nt(Ae(Ze)):Ae.invert(nt())},Ke.clipAngle(90)}function Ge(ie,se){var de=F(1-v(se));return[2/A*ie*de,A*(1-de)]}Ge.invert=function(ie,se){var de=(de=se/A-1)*de;return[de>0?ie*F(b/de)/2:0,k(1-de)]};function je(){return t.geoProjection(Ge).scale(95.6464).center([0,30])}function Re(ie){var se=m(ie);function de(ve,Me){return[ve,(ve?ve/v(ve):1)*(v(Me)*o(ve)-se*o(Me))]}return de.invert=se?function(ve,Me){ve&&(Me*=v(ve)/ve);var Ae=o(ve);return[ve,2*a(F(Ae*Ae+se*se-Me*Me)-Ae,se-Me)]}:function(ve,Me){return[ve,k(ve?Me*m(ve)/ve:Me)]},de}function Ve(){return Fe(Re).scale(249.828).clipAngle(90)}var ct=F(3);function Tt(ie,se){return[ct*ie*(2*o(2*se/3)-1)/A,ct*A*v(se/3)]}Tt.invert=function(ie,se){var de=3*k(se/(ct*A));return[A*ie/(ct*(2*o(2*de/3)-1)),de]};function Xt(){return t.geoProjection(Tt).scale(156.19)}function Vt(ie){var se=o(ie);function de(ve,Me){return[ve*se,v(Me)/se]}return de.invert=function(ve,Me){return[ve/se,k(Me*se)]},de}function lr(){return Fe(Vt).parallel(38.58).scale(195.044)}function ur(ie){var se=o(ie);function de(ve,Me){return[ve*se,(1+se)*m(Me/2)]}return de.invert=function(ve,Me){return[ve/se,n(Me/(1+se))*2]},de}function Bt(){return Fe(ur).scale(124.75)}function Zt(ie,se){var de=F(8/(3*b));return[de*ie*(1-i(se)/b),de*se]}Zt.invert=function(ie,se){var de=F(8/(3*b)),ve=se/de;return[ie/(de*(1-i(ve)/b)),ve]};function kr(){return t.geoProjection(Zt).scale(165.664)}function $e(ie,se){var de=F(4-3*v(i(se)));return[2/F(6*b)*ie*de,p(se)*F(2*b/3)*(2-de)]}$e.invert=function(ie,se){var de=2-i(se)/F(2*b/3);return[ie*F(6*b)/(2*de),p(se)*k((4-de*de)/3)]};function tt(){return t.geoProjection($e).scale(165.664)}function st(ie,se){var de=F(b*(4+b));return[2/de*ie*(1+F(1-4*se*se/(b*b))),4/de*se]}st.invert=function(ie,se){var de=F(b*(4+b))/2;return[ie*de/(1+F(1-se*se*(4+b)/(4*b))),se*de/2]};function xt(){return t.geoProjection(st).scale(180.739)}function Je(ie,se){var de=(2+_)*v(se);se/=2;for(var ve=0,Me=1/0;ve<10&&i(Me)>g;ve++){var Ae=o(se);se-=Me=(se+v(se)*(Ae+2)-de)/(2*Ae*(1+Ae))}return[2/F(b*(4+b))*ie*(1+o(se)),2*F(b/(4+b))*v(se)]}Je.invert=function(ie,se){var de=se*F((4+b)/b)/2,ve=k(de),Me=o(ve);return[ie/(2/F(b*(4+b))*(1+Me)),k((ve+de*(Me+2))/(2+_))]};function Ct(){return t.geoProjection(Je).scale(180.739)}function ir(ie,se){return[ie*(1+o(se))/F(2+b),2*se/F(2+b)]}ir.invert=function(ie,se){var de=F(2+b),ve=se*de/2;return[de*ie/(1+o(ve)),ve]};function hr(){return t.geoProjection(ir).scale(173.044)}function Ur(ie,se){for(var de=(1+_)*v(se),ve=0,Me=1/0;ve<10&&i(Me)>g;ve++)se-=Me=(se+v(se)-de)/(1+o(se));return de=F(2+b),[ie*(1+o(se))/de,2*se/de]}Ur.invert=function(ie,se){var de=1+_,ve=F(de/2);return[ie*2*ve/(1+o(se*=ve)),k((se+v(se))/de)]};function si(){return t.geoProjection(Ur).scale(173.044)}var ei=3+2*T;function Lr(ie,se){var de=v(ie/=2),ve=o(ie),Me=F(o(se)),Ae=o(se/=2),Pe=v(se)/(Ae+T*ve*Me),Ke=F(2/(1+Pe*Pe)),nt=F((T*Ae+(ve+de)*Me)/(T*Ae+(ve-de)*Me));return[ei*(Ke*(nt-1/nt)-2*u(nt)),ei*(Ke*Pe*(nt+1/nt)-2*n(Pe))]}Lr.invert=function(ie,se){if(!(Ae=J.invert(ie/1.2,se*1.065)))return null;var de=Ae[0],ve=Ae[1],Me=20,Ae;ie/=ei,se/=ei;do{var Pe=de/2,Ke=ve/2,nt=v(Pe),Ze=o(Pe),at=v(Ke),yt=o(Ke),Pt=o(ve),Ut=F(Pt),ar=at/(yt+T*Ze*Ut),Ar=ar*ar,Vr=F(2/(1+Ar)),_i=T*yt+(Ze+nt)*Ut,rn=T*yt+(Ze-nt)*Ut,cn=_i/rn,xn=F(cn),Dn=xn-1/xn,Qa=xn+1/xn,So=Vr*Dn-2*u(xn)-ie,oa=Vr*ar*Qa-2*n(ar)-se,as=at&&x*Ut*nt*Ar/at,wl=(T*Ze*yt+Ut)/(2*(yt+T*Ze*Ut)*(yt+T*Ze*Ut)*Ut),Xu=-.5*ar*Vr*Vr*Vr,jf=Xu*as,u0=Xu*wl,ou=(ou=2*yt+T*Ut*(Ze-nt))*ou*xn,Ul=(T*Ze*yt*Ut+Pt)/ou,$c=-(T*nt*at)/(Ut*ou),$f=Dn*jf-2*Ul/xn+Vr*(Ul+Ul/cn),Wf=Dn*u0-2*$c/xn+Vr*($c+$c/cn),Yf=ar*Qa*jf-2*as/(1+Ar)+Vr*Qa*as+Vr*ar*(Ul-Ul/cn),Sh=ar*Qa*u0-2*wl/(1+Ar)+Vr*Qa*wl+Vr*ar*($c-$c/cn),gf=Wf*Yf-Sh*$f;if(!gf)break;var c0=(oa*Wf-So*Sh)/gf,Dp=(So*Yf-oa*$f)/gf;de-=c0,ve=c(-_,f(_,ve-Dp))}while((i(c0)>g||i(Dp)>g)&&--Me>0);return i(i(ve)-_)ve){var yt=F(at),Pt=a(Ze,nt),Ut=de*d(Pt/de),ar=Pt-Ut,Ar=ie*o(ar),Vr=(ie*v(ar)-ar*v(Ar))/(_-Ar),_i=ka(ar,Vr),rn=(b-ie)/ao(_i,Ar,b);nt=yt;var cn=50,xn;do nt-=xn=(ie+ao(_i,Ar,nt)*rn-yt)/(_i(nt)*rn);while(i(xn)>g&&--cn>0);Ze=ar*v(nt),nt<_&&(Ze-=Vr*(nt-_));var Dn=v(Ut),Qa=o(Ut);Ke[0]=nt*Qa-Ze*Dn,Ke[1]=nt*Dn+Ze*Qa}return Ke}return Me.invert=function(Ae,Pe){var Ke=Ae*Ae+Pe*Pe;if(Ke>ve){var nt=F(Ke),Ze=a(Pe,Ae),at=de*d(Ze/de),yt=Ze-at;Ae=nt*o(yt),Pe=nt*v(yt);for(var Pt=Ae-_,Ut=v(Ae),ar=Pe/Ut,Ar=Ae<_?1/0:0,Vr=10;;){var _i=ie*v(ar),rn=ie*o(ar),cn=v(rn),xn=_-rn,Dn=(_i-ar*cn)/xn,Qa=ka(ar,Dn);if(i(Ar)g||i(ar)>g)&&--Ar>0);return[yt,Pt]},nt}var Xs=_a(2.8284,-1.6988,.75432,-.18071,1.76003,-.38914,.042555);function _l(){return t.geoProjection(Xs).scale(149.995)}var yu=_a(2.583819,-.835827,.170354,-.038094,1.543313,-.411435,.082742);function ul(){return t.geoProjection(yu).scale(153.93)}var Le=_a(5/6*b,-.62636,-.0344,0,1.3493,-.05524,0,.045);function ot(){return t.geoProjection(Le).scale(130.945)}function lt(ie,se){var de=ie*ie,ve=se*se;return[ie*(1-.162388*ve)*(.87-952426e-9*de*de),se*(1+ve/12)]}lt.invert=function(ie,se){var de=ie,ve=se,Me=50,Ae;do{var Pe=ve*ve;ve-=Ae=(ve*(1+Pe/12)-se)/(1+Pe/4)}while(i(Ae)>g&&--Me>0);Me=50,ie/=1-.162388*Pe;do{var Ke=(Ke=de*de)*Ke;de-=Ae=(de*(.87-952426e-9*Ke)-ie)/(.87-.00476213*Ke)}while(i(Ae)>g&&--Me>0);return[de,ve]};function kt(){return t.geoProjection(lt).scale(131.747)}var Jt=_a(2.6516,-.76534,.19123,-.047094,1.36289,-.13965,.031762);function Rt(){return t.geoProjection(Jt).scale(131.087)}function Tr(ie){var se=ie(_,0)[0]-ie(-_,0)[0];function de(ve,Me){var Ae=ve>0?-.5:.5,Pe=ie(ve+Ae*b,Me);return Pe[0]-=Ae*se,Pe}return ie.invert&&(de.invert=function(ve,Me){var Ae=ve>0?-.5:.5,Pe=ie.invert(ve+Ae*se,Me),Ke=Pe[0]-Ae*b;return Ke<-b?Ke+=2*b:Ke>b&&(Ke-=2*b),Pe[0]=Ke,Pe}),de}function Wt(ie,se){var de=p(ie),ve=p(se),Me=o(se),Ae=o(ie)*Me,Pe=v(ie)*Me,Ke=v(ve*se);ie=i(a(Pe,Ke)),se=k(Ae),i(ie-_)>g&&(ie%=_);var nt=br(ie>b/4?_-ie:ie,se);return ie>b/4&&(Ke=nt[0],nt[0]=-nt[1],nt[1]=-Ke),nt[0]*=de,nt[1]*=-ve,nt}Wt.invert=function(ie,se){i(ie)>1&&(ie=p(ie)*2-ie),i(se)>1&&(se=p(se)*2-se);var de=p(ie),ve=p(se),Me=-de*ie,Ae=-ve*se,Pe=Ae/Me<1,Ke=Xr(Pe?Ae:Me,Pe?Me:Ae),nt=Ke[0],Ze=Ke[1],at=o(Ze);return Pe&&(nt=-_-nt),[de*(a(v(nt)*at,-v(Ze))+b),ve*k(o(nt)*at)]};function br(ie,se){if(se===_)return[0,0];var de=v(se),ve=de*de,Me=ve*ve,Ae=1+Me,Pe=1+3*Me,Ke=1-Me,nt=k(1/F(Ae)),Ze=Ke+ve*Ae*nt,at=(1-de)/Ze,yt=F(at),Pt=at*Ae,Ut=F(Pt),ar=yt*Ke,Ar,Vr;if(ie===0)return[0,-(ar+ve*Ut)];var _i=o(se),rn=1/_i,cn=2*de*_i,xn=(-3*ve+nt*Pe)*cn,Dn=(-Ze*_i-(1-de)*xn)/(Ze*Ze),Qa=.5*Dn/yt,So=Ke*Qa-2*ve*yt*cn,oa=ve*Ae*Dn+at*Pe*cn,as=-rn*cn,wl=-rn*oa,Xu=-2*rn*So,jf=4*ie/b,u0;if(ie>.222*b||se.175*b){if(Ar=(ar+ve*F(Pt*(1+Me)-ar*ar))/(1+Me),ie>b/4)return[Ar,Ar];var ou=Ar,Ul=.5*Ar;Ar=.5*(Ul+ou),Vr=50;do{var $c=F(Pt-Ar*Ar),$f=Ar*(Xu+as*$c)+wl*k(Ar/Ut)-jf;if(!$f)break;$f<0?Ul=Ar:ou=Ar,Ar=.5*(Ul+ou)}while(i(ou-Ul)>g&&--Vr>0)}else{Ar=g,Vr=25;do{var Wf=Ar*Ar,Yf=F(Pt-Wf),Sh=Xu+as*Yf,gf=Ar*Sh+wl*k(Ar/Ut)-jf,c0=Sh+(wl-as*Wf)/Yf;Ar-=u0=Yf?gf/c0:0}while(i(u0)>g&&--Vr>0)}return[Ar,-ar-ve*F(Pt-Ar*Ar)]}function Xr(ie,se){for(var de=0,ve=1,Me=.5,Ae=50;;){var Pe=Me*Me,Ke=F(Me),nt=k(1/F(1+Pe)),Ze=1-Pe+Me*(1+Pe)*nt,at=(1-Ke)/Ze,yt=F(at),Pt=at*(1+Pe),Ut=yt*(1-Pe),ar=Pt-ie*ie,Ar=F(ar),Vr=se+Ut+Me*Ar;if(i(ve-de)0?de=Me:ve=Me,Me=.5*(de+ve)}if(!Ae)return null;var _i=k(Ke),rn=o(_i),cn=1/rn,xn=2*Ke*rn,Dn=(-3*Me+nt*(1+3*Pe))*xn,Qa=(-Ze*rn-(1-Ke)*Dn)/(Ze*Ze),So=.5*Qa/yt,oa=(1-Pe)*So-2*Me*yt*xn,as=-2*cn*oa,wl=-cn*xn,Xu=-cn*(Me*(1+Pe)*Qa+at*(1+3*Pe)*xn);return[b/4*(ie*(as+wl*Ar)+Xu*k(ie/F(Pt))),_i]}function ti(){return t.geoProjection(Tr(Wt)).scale(239.75)}function Mi(ie,se,de){var ve,Me,Ae;return ie?(ve=an(ie,de),se?(Me=an(se,1-de),Ae=Me[1]*Me[1]+de*ve[0]*ve[0]*Me[0]*Me[0],[[ve[0]*Me[2]/Ae,ve[1]*ve[2]*Me[0]*Me[1]/Ae],[ve[1]*Me[1]/Ae,-ve[0]*ve[2]*Me[0]*Me[2]/Ae],[ve[2]*Me[1]*Me[2]/Ae,-de*ve[0]*ve[1]*Me[0]/Ae]]):[[ve[0],0],[ve[1],0],[ve[2],0]]):(Me=an(se,1-de),[[0,Me[0]/Me[1]],[1/Me[1],0],[Me[2]/Me[1],0]])}function an(ie,se){var de,ve,Me,Ae,Pe;if(se=1-g)return de=(1-se)/4,ve=L(ie),Ae=P(ie),Me=1/ve,Pe=ve*R(ie),[Ae+de*(Pe-ie)/(ve*ve),Me-de*Ae*Me*(Pe-ie),Me+de*Ae*Me*(Pe+ie),2*n(s(ie))-_+de*(Pe-ie)/ve];var Ke=[1,0,0,0,0,0,0,0,0],nt=[F(se),0,0,0,0,0,0,0,0],Ze=0;for(ve=F(1-se),Pe=1;i(nt[Ze]/Ke[Ze])>g&&Ze<8;)de=Ke[Ze++],nt[Ze]=(de-ve)/2,Ke[Ze]=(de+ve)/2,ve=F(de*ve),Pe*=2;Me=Pe*Ke[Ze]*ie;do Ae=nt[Ze]*v(ve=Me)/Ke[Ze],Me=(k(Ae)+Me)/2;while(--Ze);return[v(Me),Ae=o(Me),Ae/o(Me-ve),Me]}function Gn(ie,se,de){var ve=i(ie),Me=i(se),Ae=R(Me);if(ve){var Pe=1/v(ve),Ke=1/(m(ve)*m(ve)),nt=-(Ke+de*(Ae*Ae*Pe*Pe)-1+de),Ze=(de-1)*Ke,at=(-nt+F(nt*nt-4*Ze))/2;return[yn(n(1/F(at)),de)*p(ie),yn(n(F((at/Ke-1)/de)),1-de)*p(se)]}return[0,yn(n(Ae),1-de)*p(se)]}function yn(ie,se){if(!se)return ie;if(se===1)return u(m(ie/2+M));for(var de=1,ve=F(1-se),Me=F(se),Ae=0;i(Me)>g;Ae++){if(ie%b){var Pe=n(ve*m(ie)/de);Pe<0&&(Pe+=b),ie+=Pe+~~(ie/b)*b}else ie+=ie;Me=(de+ve)/2,ve=F(de*ve),Me=((de=Me)-ve)/2}return ie/(h(2,Ae)*de)}function fa(ie,se){var de=(T-1)/(T+1),ve=F(1-de*de),Me=yn(_,ve*ve),Ae=-1,Pe=u(m(b/4+i(se)/2)),Ke=s(Ae*Pe)/F(de),nt=Wn(Ke*o(Ae*ie),Ke*v(Ae*ie)),Ze=Gn(nt[0],nt[1],ve*ve);return[-Ze[1],(se>=0?1:-1)*(.5*Me-Ze[0])]}function Wn(ie,se){var de=ie*ie,ve=se+1,Me=1-de-se*se;return[.5*((ie>=0?_:-_)-a(Me,2*ie)),-.25*u(Me*Me+4*de)+.5*u(ve*ve+de)]}function Ja(ie,se){var de=se[0]*se[0]+se[1]*se[1];return[(ie[0]*se[0]+ie[1]*se[1])/de,(ie[1]*se[0]-ie[0]*se[1])/de]}fa.invert=function(ie,se){var de=(T-1)/(T+1),ve=F(1-de*de),Me=yn(_,ve*ve),Ae=-1,Pe=Mi(.5*Me-se,-ie,ve*ve),Ke=Ja(Pe[0],Pe[1]),nt=a(Ke[1],Ke[0])/Ae;return[nt,2*n(s(.5/Ae*u(de*Ke[0]*Ke[0]+de*Ke[1]*Ke[1])))-_]};function oo(){return t.geoProjection(Tr(fa)).scale(151.496)}function Ao(ie){var se=v(ie),de=o(ie),ve=Io(ie);ve.invert=Io(-ie);function Me(Ae,Pe){var Ke=ve(Ae,Pe);Ae=Ke[0],Pe=Ke[1];var nt=v(Pe),Ze=o(Pe),at=o(Ae),yt=D(se*nt+de*Ze*at),Pt=v(yt),Ut=i(Pt)>g?yt/Pt:1;return[Ut*de*v(Ae),(i(Ae)>_?Ut:-Ut)*(se*Ze-de*nt*at)]}return Me.invert=function(Ae,Pe){var Ke=F(Ae*Ae+Pe*Pe),nt=-v(Ke),Ze=o(Ke),at=Ke*Ze,yt=-Pe*nt,Pt=Ke*se,Ut=F(at*at+yt*yt-Pt*Pt),ar=a(at*Pt+yt*Ut,yt*Pt-at*Ut),Ar=(Ke>_?-1:1)*a(Ae*nt,Ke*o(ar)*Ze+Pe*v(ar)*nt);return ve.invert(Ar,ar)},Me}function Io(ie){var se=v(ie),de=o(ie);return function(ve,Me){var Ae=o(Me),Pe=o(ve)*Ae,Ke=v(ve)*Ae,nt=v(Me);return[a(Ke,Pe*de-nt*se),k(nt*de+Pe*se)]}}function ps(){var ie=0,se=t.geoProjectionMutator(Ao),de=se(ie),ve=de.rotate,Me=de.stream,Ae=t.geoCircle();return de.parallel=function(Pe){if(!arguments.length)return ie*E;var Ke=de.rotate();return se(ie=Pe*S).rotate(Ke)},de.rotate=function(Pe){return arguments.length?(ve.call(de,[Pe[0],Pe[1]-ie*E]),Ae.center([-Pe[0],-Pe[1]]),de):(Pe=ve.call(de),Pe[1]+=ie*E,Pe)},de.stream=function(Pe){return Pe=Me(Pe),Pe.sphere=function(){Pe.polygonStart();var Ke=.01,nt=Ae.radius(90-Ke)().coordinates[0],Ze=nt.length-1,at=-1,yt;for(Pe.lineStart();++at=0;)Pe.point((yt=nt[at])[0],yt[1]);Pe.lineEnd(),Pe.polygonEnd()},Pe},de.scale(79.4187).parallel(45).clipAngle(180-.001)}var rs=3,Mo=k(1-1/rs)*E,is=Vt(0);function Ro(ie){var se=Mo*S,de=Ge(b,se)[0]-Ge(-b,se)[0],ve=is(0,se)[1],Me=Ge(0,se)[1],Ae=A-Me,Pe=y/ie,Ke=4/y,nt=ve+Ae*Ae*4/y;function Ze(at,yt){var Pt,Ut=i(yt);if(Ut>se){var ar=f(ie-1,c(0,l((at+b)/Pe)));at+=b*(ie-1)/ie-ar*Pe,Pt=Ge(at,Ut),Pt[0]=Pt[0]*y/de-y*(ie-1)/(2*ie)+ar*y/ie,Pt[1]=ve+(Pt[1]-Me)*4*Ae/y,yt<0&&(Pt[1]=-Pt[1])}else Pt=is(at,yt);return Pt[0]*=Ke,Pt[1]/=nt,Pt}return Ze.invert=function(at,yt){at/=Ke,yt*=nt;var Pt=i(yt);if(Pt>ve){var Ut=f(ie-1,c(0,l((at+b)/Pe)));at=(at+b*(ie-1)/ie-Ut*Pe)*de/y;var ar=Ge.invert(at,.25*(Pt-ve)*y/Ae+Me);return ar[0]-=b*(ie-1)/ie-Ut*Pe,yt<0&&(ar[1]=-ar[1]),ar}return is.invert(at,yt)},Ze}function Uo(ie,se){return[ie,se&1?90-g:Mo]}function so(ie,se){return[ie,se&1?-90+g:-Mo]}function In(ie){return[ie[0]*(1-g),ie[1]]}function va(ie){var se=[].concat(r.range(-180,180+ie/2,ie).map(Uo),r.range(180,-180-ie/2,-ie).map(so));return{type:"Polygon",coordinates:[ie===180?se.map(In):se]}}function vs(){var ie=4,se=t.geoProjectionMutator(Ro),de=se(ie),ve=de.stream;return de.lobes=function(Me){return arguments.length?se(ie=+Me):ie},de.stream=function(Me){var Ae=de.rotate(),Pe=ve(Me),Ke=(de.rotate([0,0]),ve(Me));return de.rotate(Ae),Pe.sphere=function(){t.geoStream(va(180/ie),Ke)},Pe},de.scale(239.75)}function Zs(ie){var se=1+ie,de=v(1/se),ve=k(de),Me=2*F(b/(Ae=b+4*ve*se)),Ae,Pe=.5*Me*(se+F(ie*(2+ie))),Ke=ie*ie,nt=se*se;function Ze(at,yt){var Pt=1-v(yt),Ut,ar;if(Pt&&Pt<2){var Ar=_-yt,Vr=25,_i;do{var rn=v(Ar),cn=o(Ar),xn=ve+a(rn,se-cn),Dn=1+nt-2*se*cn;Ar-=_i=(Ar-Ke*ve-se*rn+Dn*xn-.5*Pt*Ae)/(2*se*rn*xn)}while(i(_i)>w&&--Vr>0);Ut=Me*F(Dn),ar=at*xn/b}else Ut=Me*(ie+Pt),ar=at*ve/b;return[Ut*v(ar),Pe-Ut*o(ar)]}return Ze.invert=function(at,yt){var Pt=at*at+(yt-=Pe)*yt,Ut=(1+nt-Pt/(Me*Me))/(2*se),ar=D(Ut),Ar=v(ar),Vr=ve+a(Ar,se-Ut);return[k(at/F(Pt))*b/Vr,k(1-2*(ar-Ke*ve-se*Ar+(1+nt-2*se*Ut)*Vr)/Ae)]},Ze}function Ks(){var ie=1,se=t.geoProjectionMutator(Zs),de=se(ie);return de.ratio=function(ve){return arguments.length?se(ie=+ve):ie},de.scale(167.774).center([0,18.67])}var Ol=.7109889596207567,Js=.0528035274542;function ru(ie,se){return se>-Ol?(ie=ee(ie,se),ie[1]+=Js,ie):Se(ie,se)}ru.invert=function(ie,se){return se>-Ol?ee.invert(ie,se-Js):Se.invert(ie,se)};function xu(){return t.geoProjection(ru).rotate([-20,-55]).scale(164.263).center([0,-5.4036])}function _u(ie,se){return i(se)>Ol?(ie=ee(ie,se),ie[1]-=se>0?Js:-Js,ie):Se(ie,se)}_u.invert=function(ie,se){return i(se)>Ol?ee.invert(ie,se+(se>0?Js:-Js)):Se.invert(ie,se)};function dc(){return t.geoProjection(_u).scale(152.63)}function Nl(ie,se,de,ve){var Me=F(4*b/(2*de+(1+ie-se/2)*v(2*de)+(ie+se)/2*v(4*de)+se/2*v(6*de))),Ae=F(ve*v(de)*F((1+ie*o(2*de)+se*o(4*de))/(1+ie+se))),Pe=de*nt(1);function Ke(yt){return F(1+ie*o(2*yt)+se*o(4*yt))}function nt(yt){var Pt=yt*de;return(2*Pt+(1+ie-se/2)*v(2*Pt)+(ie+se)/2*v(4*Pt)+se/2*v(6*Pt))/de}function Ze(yt){return Ke(yt)*v(yt)}var at=function(yt,Pt){var Ut=de*be(nt,Pe*v(Pt)/de,Pt/b);isNaN(Ut)&&(Ut=de*p(Pt));var ar=Me*Ke(Ut);return[ar*Ae*yt/b*o(Ut),ar/Ae*v(Ut)]};return at.invert=function(yt,Pt){var Ut=be(Ze,Pt*Ae/Me);return[yt*b/(o(Ut)*Me*Ae*Ke(Ut)),k(de*nt(Ut/de)/Pe)]},de===0&&(Me=F(ve/b),at=function(yt,Pt){return[yt*Me,v(Pt)/Me]},at.invert=function(yt,Pt){return[yt/Me,k(Pt*Me)]}),at}function ja(){var ie=1,se=0,de=45*S,ve=2,Me=t.geoProjectionMutator(Nl),Ae=Me(ie,se,de,ve);return Ae.a=function(Pe){return arguments.length?Me(ie=+Pe,se,de,ve):ie},Ae.b=function(Pe){return arguments.length?Me(ie,se=+Pe,de,ve):se},Ae.psiMax=function(Pe){return arguments.length?Me(ie,se,de=+Pe*S,ve):de*E},Ae.ratio=function(Pe){return arguments.length?Me(ie,se,de,ve=+Pe):ve},Ae.scale(180.739)}function bu(ie,se,de,ve,Me,Ae,Pe,Ke,nt,Ze,at){if(at.nanEncountered)return NaN;var yt,Pt,Ut,ar,Ar,Vr,_i,rn,cn,xn;if(yt=de-se,Pt=ie(se+yt*.25),Ut=ie(de-yt*.25),isNaN(Pt)){at.nanEncountered=!0;return}if(isNaN(Ut)){at.nanEncountered=!0;return}return ar=yt*(ve+4*Pt+Me)/12,Ar=yt*(Me+4*Ut+Ae)/12,Vr=ar+Ar,xn=(Vr-Pe)/15,Ze>nt?(at.maxDepthCount++,Vr+xn):Math.abs(xn)>1;do nt[Vr]>Ut?Ar=Vr:ar=Vr,Vr=ar+Ar>>1;while(Vr>ar);var _i=nt[Vr+1]-nt[Vr];return _i&&(_i=(Ut-nt[Vr+1])/_i),(Vr+1+_i)/Pe}var yt=2*at(1)/b*Ae/de,Pt=function(Ut,ar){var Ar=at(i(v(ar))),Vr=ve(Ar)*Ut;return Ar/=yt,[Vr,ar>=0?Ar:-Ar]};return Pt.invert=function(Ut,ar){var Ar;return ar*=yt,i(ar)<1&&(Ar=p(ar)*k(Me(i(ar))*Ae)),[Ut/ve(i(ar)),Ar]},Pt}function iu(){var ie=0,se=2.5,de=1.183136,ve=t.geoProjectionMutator(Ss),Me=ve(ie,se,de);return Me.alpha=function(Ae){return arguments.length?ve(ie=+Ae,se,de):ie},Me.k=function(Ae){return arguments.length?ve(ie,se=+Ae,de):se},Me.gamma=function(Ae){return arguments.length?ve(ie,se,de=+Ae):de},Me.scale(152.63)}function ph(ie,se){return i(ie[0]-se[0])=0;--nt)de=ie[1][nt],ve=de[0][0],Me=de[0][1],Ae=de[1][1],Pe=de[2][0],Ke=de[2][1],se.push(yo([[Pe-g,Ke-g],[Pe-g,Ae+g],[ve+g,Ae+g],[ve+g,Me-g]],30));return{type:"Polygon",coordinates:[r.merge(se)]}}function Zo(ie,se,de){var ve,Me;function Ae(nt,Ze){for(var at=Ze<0?-1:1,yt=se[+(Ze<0)],Pt=0,Ut=yt.length-1;Ptyt[Pt][2][0];++Pt);var ar=ie(nt-yt[Pt][1][0],Ze);return ar[0]+=ie(yt[Pt][1][0],at*Ze>at*yt[Pt][0][1]?yt[Pt][0][1]:Ze)[0],ar}de?Ae.invert=de(Ae):ie.invert&&(Ae.invert=function(nt,Ze){for(var at=Me[+(Ze<0)],yt=se[+(Ze<0)],Pt=0,Ut=at.length;Ptar&&(Ar=Ut,Ut=ar,ar=Ar),[[yt,Ut],[Pt,ar]]})}),Pe):se.map(function(Ze){return Ze.map(function(at){return[[at[0][0]*E,at[0][1]*E],[at[1][0]*E,at[1][1]*E],[at[2][0]*E,at[2][1]*E]]})})},se!=null&&Pe.lobes(se),Pe}var au=[[[[-180,0],[-100,90],[-40,0]],[[-40,0],[30,90],[180,0]]],[[[-180,0],[-160,-90],[-100,0]],[[-100,0],[-60,-90],[-20,0]],[[-20,0],[20,-90],[80,0]],[[80,0],[140,-90],[180,0]]]];function Cv(){return Zo(pe,au).scale(160.857)}var Nc=[[[[-180,0],[-100,90],[-40,0]],[[-40,0],[30,90],[180,0]]],[[[-180,0],[-160,-90],[-100,0]],[[-100,0],[-60,-90],[-20,0]],[[-20,0],[20,-90],[80,0]],[[80,0],[140,-90],[180,0]]]];function r0(){return Zo(_u,Nc).scale(152.63)}var Of=[[[[-180,0],[-100,90],[-40,0]],[[-40,0],[30,90],[180,0]]],[[[-180,0],[-160,-90],[-100,0]],[[-100,0],[-60,-90],[-20,0]],[[-20,0],[20,-90],[80,0]],[[80,0],[140,-90],[180,0]]]];function vh(){return Zo(ee,Of).scale(169.529)}var Nf=[[[[-180,0],[-90,90],[0,0]],[[0,0],[90,90],[180,0]]],[[[-180,0],[-90,-90],[0,0]],[[0,0],[90,-90],[180,0]]]];function i0(){return Zo(ee,Nf).scale(169.529).rotate([20,0])}var Dv=[[[[-180,35],[-30,90],[0,35]],[[0,35],[30,90],[180,35]]],[[[-180,-10],[-102,-90],[-65,-10]],[[-65,-10],[5,-90],[77,-10]],[[77,-10],[103,-90],[180,-10]]]];function gh(){return Zo(ru,Dv,he).rotate([-20,-55]).scale(164.263).center([0,-5.4036])}var up=[[[[-180,0],[-110,90],[-40,0]],[[-40,0],[0,90],[40,0]],[[40,0],[110,90],[180,0]]],[[[-180,0],[-110,-90],[-40,0]],[[-40,0],[0,-90],[40,0]],[[40,0],[110,-90],[180,0]]]];function n0(){return Zo(Se,up).scale(152.63).rotate([-20,0])}function j0(ie,se){return[3/y*ie*F(b*b/3-se*se),se]}j0.invert=function(ie,se){return[y/3*ie/F(b*b/3-se*se),se]};function $0(){return t.geoProjection(j0).scale(158.837)}function Fv(ie){function se(de,ve){if(i(i(ve)-_)2)return null;de/=2,ve/=2;var Ae=de*de,Pe=ve*ve,Ke=2*ve/(1+Ae+Pe);return Ke=h((1+Ke)/(1-Ke),1/ie),[a(2*de,1-Ae-Pe)/ie,k((Ke-1)/(Ke+1))]},se}function Lv(){var ie=.5,se=t.geoProjectionMutator(Fv),de=se(ie);return de.spacing=function(ve){return arguments.length?se(ie=+ve):ie},de.scale(124.75)}var Uc=b/T;function cp(ie,se){return[ie*(1+F(o(se)))/2,se/(o(se/2)*o(ie/6))]}cp.invert=function(ie,se){var de=i(ie),ve=i(se),Me=g,Ae=_;veg||i(Vr)>g)&&--Me>0);return Me&&[de,ve]};function Es(){return t.geoProjection(ju).scale(139.98)}function Vo(ie,se){return[v(ie)/o(se),m(se)*o(ie)]}Vo.invert=function(ie,se){var de=ie*ie,ve=se*se,Me=ve+1,Ae=de+Me,Pe=ie?x*F((Ae-F(Ae*Ae-4*de))/de):1/F(Me);return[k(ie*Pe),p(se)*D(Pe)]};function wu(){return t.geoProjection(Vo).scale(144.049).clipAngle(90-.001)}function W0(ie){var se=o(ie),de=m(M+ie/2);function ve(Me,Ae){var Pe=Ae-ie,Ke=i(Pe)=0;)at=ie[Ze],yt=at[0]+Ke*(Ut=yt)-nt*Pt,Pt=at[1]+Ke*Pt+nt*Ut;return yt=Ke*(Ut=yt)-nt*Pt,Pt=Ke*Pt+nt*Ut,[yt,Pt]}return de.invert=function(ve,Me){var Ae=20,Pe=ve,Ke=Me;do{for(var nt=se,Ze=ie[nt],at=Ze[0],yt=Ze[1],Pt=0,Ut=0,ar;--nt>=0;)Ze=ie[nt],Pt=at+Pe*(ar=Pt)-Ke*Ut,Ut=yt+Pe*Ut+Ke*ar,at=Ze[0]+Pe*(ar=at)-Ke*yt,yt=Ze[1]+Pe*yt+Ke*ar;Pt=at+Pe*(ar=Pt)-Ke*Ut,Ut=yt+Pe*Ut+Ke*ar,at=Pe*(ar=at)-Ke*yt-ve,yt=Pe*yt+Ke*ar-Me;var Ar=Pt*Pt+Ut*Ut,Vr,_i;Pe-=Vr=(at*Pt+yt*Ut)/Ar,Ke-=_i=(yt*Pt-at*Ut)/Ar}while(i(Vr)+i(_i)>g*g&&--Ae>0);if(Ae){var rn=F(Pe*Pe+Ke*Ke),cn=2*n(rn*.5),xn=v(cn);return[a(Pe*xn,rn*o(cn)),rn?k(Ke*xn/rn):0]}},de}var Wm=[[.9972523,0],[.0052513,-.0041175],[.0074606,.0048125],[-.0153783,-.1968253],[.0636871,-.1408027],[.3660976,-.2937382]],Tx=[[.98879,0],[0,0],[-.050909,0],[0,0],[.075528,0]],xh=[[.984299,0],[.0211642,.0037608],[-.1036018,-.0575102],[-.0329095,-.0320119],[.0499471,.1223335],[.026046,.0899805],[7388e-7,-.1435792],[.0075848,-.1334108],[-.0216473,.0776645],[-.0225161,.0853673]],Bs=[[.9245,0],[0,0],[.01943,0]],Iv=[[.721316,0],[0,0],[-.00881625,-.00617325]];function Rv(){return hf(Wm,[152,-64]).scale(1400).center([-160.908,62.4864]).clipAngle(30).angle(7.8)}function _h(){return hf(Tx,[95,-38]).scale(1e3).clipAngle(55).center([-96.5563,38.8675])}function cg(){return hf(xh,[120,-45]).scale(359.513).clipAngle(55).center([-117.474,53.0628])}function Y0(){return hf(Bs,[-20,-18]).scale(209.091).center([20,16.7214]).clipAngle(82)}function fp(){return hf(Iv,[165,10]).scale(250).clipAngle(130).center([-165,-10])}function hf(ie,se){var de=t.geoProjection(ug(ie)).rotate(se).clipAngle(90),ve=t.geoRotation(se),Me=de.center;return delete de.rotate,de.center=function(Ae){return arguments.length?Me(ve(Ae)):ve.invert(Me())},de}var zv=F(6),hp=F(7);function X0(ie,se){var de=k(7*v(se)/(3*zv));return[zv*ie*(2*o(2*de/3)-1)/hp,9*v(de/3)/hp]}X0.invert=function(ie,se){var de=3*k(se*hp/9);return[ie*hp/(zv*(2*o(2*de/3)-1)),k(v(de)*3*zv/7)]};function fg(){return t.geoProjection(X0).scale(164.859)}function hg(ie,se){for(var de=(1+x)*v(se),ve=se,Me=0,Ae;Me<25&&(ve-=Ae=(v(ve/2)+v(ve)-de)/(.5*o(ve/2)+o(ve)),!(i(Ae)w&&--ve>0);return Ae=de*de,Pe=Ae*Ae,Ke=Ae*Pe,[ie/(.84719-.13063*Ae+Ke*Ke*(-.04515+.05494*Ae-.02326*Pe+.00331*Ke)),de]};function dp(){return t.geoProjection(Vf).scale(175.295)}function pc(ie,se){return[ie*(1+o(se))/2,2*(se-m(se/2))]}pc.invert=function(ie,se){for(var de=se/2,ve=0,Me=1/0;ve<10&&i(Me)>g;++ve){var Ae=o(se/2);se-=Me=(se-m(se/2)-de)/(1-.5/(Ae*Ae))}return[2*ie/(1+o(se)),se]};function Z0(){return t.geoProjection(pc).scale(152.63)}var Gf=[[[[-180,0],[-90,90],[0,0]],[[0,0],[90,90],[180,0]]],[[[-180,0],[-90,-90],[0,0]],[[0,0],[90,-90],[180,0]]]];function dg(){return Zo(ce(1/0),Gf).rotate([20,0]).scale(152.63)}function qv(ie,se){var de=v(se),ve=o(se),Me=p(ie);if(ie===0||i(se)===_)return[0,se];if(se===0)return[ie,0];if(i(ie)===_)return[ie*ve,_*de];var Ae=b/(2*ie)-2*ie/b,Pe=2*se/b,Ke=(1-Pe*Pe)/(de-Pe),nt=Ae*Ae,Ze=Ke*Ke,at=1+nt/Ze,yt=1+Ze/nt,Pt=(Ae*de/Ke-Ae/2)/at,Ut=(Ze*de/nt+Ke/2)/yt,ar=Pt*Pt+ve*ve/at,Ar=Ut*Ut-(Ze*de*de/nt+Ke*de-1)/yt;return[_*(Pt+F(ar)*Me),_*(Ut+F(Ar<0?0:Ar)*p(-se*Ae)*Me)]}qv.invert=function(ie,se){ie/=_,se/=_;var de=ie*ie,ve=se*se,Me=de+ve,Ae=b*b;return[ie?(Me-1+F((1-Me)*(1-Me)+4*de))/(2*ie)*_:0,be(function(Pe){return Me*(b*v(Pe)-2*Pe)*b+4*Pe*Pe*(se-v(Pe))+2*b*Pe-Ae*se},0)]};function pg(){return t.geoProjection(qv).scale(127.267)}var Ov=1.0148,pp=.23185,Nv=-.14499,Uv=.02406,Xm=Ov,$u=5*pp,Vc=7*Nv,vg=9*Uv,Tu=1.790857183;function vp(ie,se){var de=se*se;return[ie,se*(Ov+de*de*(pp+de*(Nv+Uv*de)))]}vp.invert=function(ie,se){se>Tu?se=Tu:se<-Tu&&(se=-Tu);var de=se,ve;do{var Me=de*de;de-=ve=(de*(Ov+Me*Me*(pp+Me*(Nv+Uv*Me)))-se)/(Xm+Me*Me*($u+Me*(Vc+vg*Me)))}while(i(ve)>g);return[ie,de]};function o0(){return t.geoProjection(vp).scale(139.319)}function bh(ie,se){if(i(se)g&&--Me>0);return Pe=m(ve),[(i(se)=0;)if(ve=se[Ke],de[0]===ve[0]&&de[1]===ve[1]){if(Ae)return[Ae,de];Ae=de}}}function gp(ie){for(var se=ie.length,de=[],ve=ie[se-1],Me=0;Me0?[-ve[0],0]:[180-ve[0],180])};var se=yp.map(function(de){return{face:de,project:ie(de)}});return[-1,0,0,1,0,1,4,5].forEach(function(de,ve){var Me=se[de];Me&&(Me.children||(Me.children=[])).push(se[ve])}),K0(se[0],function(de,ve){return se[de<-b/2?ve<0?6:4:de<0?ve<0?2:0:deve^Ut>ve&&de<(Pt-Ze)*(ve-at)/(Ut-at)+Ze&&(Me=!Me)}return Me}function Gv(ie,se){var de=se.stream,ve;if(!de)throw new Error("invalid projection");switch(ie&&ie.type){case"Feature":ve=ry;break;case"FeatureCollection":ve=ty;break;default:ve=Hv;break}return ve(ie,de)}function ty(ie,se){return{type:"FeatureCollection",features:ie.features.map(function(de){return ry(de,se)})}}function ry(ie,se){return{type:"Feature",id:ie.id,properties:ie.properties,geometry:Hv(ie.geometry,se)}}function yg(ie,se){return{type:"GeometryCollection",geometries:ie.geometries.map(function(de){return Hv(de,se)})}}function Hv(ie,se){if(!ie)return null;if(ie.type==="GeometryCollection")return yg(ie,se);var de;switch(ie.type){case"Point":de=Tp;break;case"MultiPoint":de=Tp;break;case"LineString":de=xg;break;case"MultiLineString":de=xg;break;case"Polygon":de=Ap;break;case"MultiPolygon":de=Ap;break;case"Sphere":de=Ap;break;default:return null}return t.geoStream(ie,se(de)),de.result()}var cl=[],Gc=[],Tp={point:function(ie,se){cl.push([ie,se])},result:function(){var ie=cl.length?cl.length<2?{type:"Point",coordinates:cl[0]}:{type:"MultiPoint",coordinates:cl}:null;return cl=[],ie}},xg={lineStart:ed,point:function(ie,se){cl.push([ie,se])},lineEnd:function(){cl.length&&(Gc.push(cl),cl=[])},result:function(){var ie=Gc.length?Gc.length<2?{type:"LineString",coordinates:Gc[0]}:{type:"MultiLineString",coordinates:Gc}:null;return Gc=[],ie}},Ap={polygonStart:ed,lineStart:ed,point:function(ie,se){cl.push([ie,se])},lineEnd:function(){var ie=cl.length;if(ie){do cl.push(cl[0].slice());while(++ie<4);Gc.push(cl),cl=[]}},polygonEnd:ed,result:function(){if(!Gc.length)return null;var ie=[],se=[];return Gc.forEach(function(de){wp(de)?ie.push([de]):se.push(de)}),se.forEach(function(de){var ve=de[0];ie.some(function(Me){if(mg(Me[0],ve))return Me.push(de),!0})||ie.push([de])}),Gc=[],ie.length?ie.length>1?{type:"MultiPolygon",coordinates:ie}:{type:"Polygon",coordinates:ie[0]}:null}};function Mp(ie){var se=ie(_,0)[0]-ie(-_,0)[0];function de(ve,Me){var Ae=i(ve)<_,Pe=ie(Ae?ve:ve>0?ve-b:ve+b,Me),Ke=(Pe[0]-Pe[1])*x,nt=(Pe[0]+Pe[1])*x;if(Ae)return[Ke,nt];var Ze=se*x,at=Ke>0^nt>0?-1:1;return[at*Ke-p(nt)*Ze,at*nt-p(Ke)*Ze]}return ie.invert&&(de.invert=function(ve,Me){var Ae=(ve+Me)*x,Pe=(Me-ve)*x,Ke=i(Ae)<.5*se&&i(Pe)<.5*se;if(!Ke){var nt=se*x,Ze=Ae>0^Pe>0?-1:1,at=-Ze*ve+(Pe>0?1:-1)*nt,yt=-Ze*Me+(Ae>0?1:-1)*nt;Ae=(-at-yt)*x,Pe=(at-yt)*x}var Pt=ie.invert(Ae,Pe);return Ke||(Pt[0]+=Ae>0?b:-b),Pt}),t.geoProjection(de).rotate([-90,-90,45]).clipAngle(180-.001)}function Te(){return Mp(Wt).scale(176.423)}function qe(){return Mp(fa).scale(111.48)}function rt(ie,se){if(!(0<=(se=+se)&&se<=20))throw new Error("invalid digits");function de(Ze){var at=Ze.length,yt=2,Pt=new Array(at);for(Pt[0]=+Ze[0].toFixed(se),Pt[1]=+Ze[1].toFixed(se);yt2||Ut[0]!=at[0]||Ut[1]!=at[1])&&(yt.push(Ut),at=Ut)}return yt.length===1&&Ze.length>1&&yt.push(de(Ze[Ze.length-1])),yt}function Ae(Ze){return Ze.map(Me)}function Pe(Ze){if(Ze==null)return Ze;var at;switch(Ze.type){case"GeometryCollection":at={type:"GeometryCollection",geometries:Ze.geometries.map(Pe)};break;case"Point":at={type:"Point",coordinates:de(Ze.coordinates)};break;case"MultiPoint":at={type:Ze.type,coordinates:ve(Ze.coordinates)};break;case"LineString":at={type:Ze.type,coordinates:Me(Ze.coordinates)};break;case"MultiLineString":case"Polygon":at={type:Ze.type,coordinates:Ae(Ze.coordinates)};break;case"MultiPolygon":at={type:"MultiPolygon",coordinates:Ze.coordinates.map(Ae)};break;default:return Ze}return Ze.bbox!=null&&(at.bbox=Ze.bbox),at}function Ke(Ze){var at={type:"Feature",properties:Ze.properties,geometry:Pe(Ze.geometry)};return Ze.id!=null&&(at.id=Ze.id),Ze.bbox!=null&&(at.bbox=Ze.bbox),at}if(ie!=null)switch(ie.type){case"Feature":return Ke(ie);case"FeatureCollection":{var nt={type:"FeatureCollection",features:ie.features.map(Ke)};return ie.bbox!=null&&(nt.bbox=ie.bbox),nt}default:return Pe(ie)}return ie}function Ye(ie){var se=v(ie);function de(ve,Me){var Ae=se?m(ve*se/2)/se:ve/2;if(!Me)return[2*Ae,-ie];var Pe=2*n(Ae*v(Me)),Ke=1/m(Me);return[v(Pe)*Ke,Me+(1-o(Pe))*Ke-ie]}return de.invert=function(ve,Me){if(i(Me+=ie)g&&--Ke>0);var Pt=ve*(Ze=m(Pe)),Ut=m(i(Me)0?_:-_)*(nt+Me*(at-Pe)/2+Me*Me*(at-2*nt+Pe)/2)]}Kt.invert=function(ie,se){var de=se/_,ve=de*90,Me=f(18,i(ve/5)),Ae=c(0,l(Me));do{var Pe=Gt[Ae][1],Ke=Gt[Ae+1][1],nt=Gt[f(19,Ae+2)][1],Ze=nt-Pe,at=nt-2*Ke+Pe,yt=2*(i(de)-Ke)/Ze,Pt=at/Ze,Ut=yt*(1-Pt*yt*(1-2*Pt*yt));if(Ut>=0||Ae===1){ve=(se>=0?5:-5)*(Ut+Me);var ar=50,Ar;do Me=f(18,i(ve)/5),Ae=l(Me),Ut=Me-Ae,Pe=Gt[Ae][1],Ke=Gt[Ae+1][1],nt=Gt[f(19,Ae+2)][1],ve-=(Ar=(se>=0?_:-_)*(Ke+Ut*(nt-Pe)/2+Ut*Ut*(nt-2*Ke+Pe)/2)-se)*E;while(i(Ar)>w&&--ar>0);break}}while(--Ae>=0);var Vr=Gt[Ae][0],_i=Gt[Ae+1][0],rn=Gt[f(19,Ae+2)][0];return[ie/(_i+Ut*(rn-Vr)/2+Ut*Ut*(rn-2*_i+Vr)/2),ve*S]};function cr(){return t.geoProjection(Kt).scale(152.63)}function mr(ie){function se(de,ve){var Me=o(ve),Ae=(ie-1)/(ie-Me*o(de));return[Ae*Me*v(de),Ae*v(ve)]}return se.invert=function(de,ve){var Me=de*de+ve*ve,Ae=F(Me),Pe=(ie-F(1-Me*(ie+1)/(ie-1)))/((ie-1)/Ae+Ae/(ie-1));return[a(de*Pe,Ae*F(1-Pe*Pe)),Ae?k(ve*Pe/Ae):0]},se}function Pr(ie,se){var de=mr(ie);if(!se)return de;var ve=o(se),Me=v(se);function Ae(Pe,Ke){var nt=de(Pe,Ke),Ze=nt[1],at=Ze*Me/(ie-1)+ve;return[nt[0]*ve/at,Ze/at]}return Ae.invert=function(Pe,Ke){var nt=(ie-1)/(ie-1-Ke*Me);return de.invert(nt*Pe,nt*Ke*ve)},Ae}function rr(){var ie=2,se=0,de=t.geoProjectionMutator(Pr),ve=de(ie,se);return ve.distance=function(Me){return arguments.length?de(ie=+Me,se):ie},ve.tilt=function(Me){return arguments.length?de(ie,se=Me*S):se*E},ve.scale(432.147).clipAngle(D(1/ie)*E-1e-6)}var fr=1e-4,pr=1e4,Dr=-180,Hr=Dr+fr,zi=180,ki=zi-fr,Vi=-90,Xi=Vi+fr,Yr=90,ai=Yr-fr;function on(ie){return ie.length>0}function En(ie){return Math.floor(ie*pr)/pr}function ga(ie){return ie===Vi||ie===Yr?[0,ie]:[Dr,En(ie)]}function $a(ie){var se=ie[0],de=ie[1],ve=!1;return se<=Hr?(se=Dr,ve=!0):se>=ki&&(se=zi,ve=!0),de<=Xi?(de=Vi,ve=!0):de>=ai&&(de=Yr,ve=!0),ve?[se,de]:ie}function Ca(ie){return ie.map($a)}function xo(ie,se,de){for(var ve=0,Me=ie.length;ve=ki||at<=Xi||at>=ai){Ae[Pe]=$a(nt);for(var yt=Pe+1;ytHr&&UtXi&&ar=Ke)break;de.push({index:-1,polygon:se,ring:Ae=Ae.slice(yt-1)}),Ae[0]=ga(Ae[0][1]),Pe=-1,Ke=Ae.length}}}}function aa(ie){var se,de=ie.length,ve={},Me={},Ae,Pe,Ke,nt,Ze;for(se=0;se0?b-Ke:Ke)*E],Ze=t.geoProjection(ie(Pe)).rotate(nt),at=t.geoRotation(nt),yt=Ze.center;return delete Ze.rotate,Ze.center=function(Pt){return arguments.length?yt(at(Pt)):at.invert(yt())},Ze.clipAngle(90)}function bl(ie){var se=o(ie);function de(ve,Me){var Ae=t.geoGnomonicRaw(ve,Me);return Ae[0]*=se,Ae}return de.invert=function(ve,Me){return t.geoGnomonicRaw.invert(ve/se,Me)},de}function Au(){return vf([-158,21.5],[-77,39]).clipAngle(60).scale(400)}function vf(ie,se){return ks(bl,ie,se)}function Hc(ie){if(!(ie*=2))return t.geoAzimuthalEquidistantRaw;var se=-ie/2,de=-se,ve=ie*ie,Me=m(de),Ae=.5/v(de);function Pe(Ke,nt){var Ze=D(o(nt)*o(Ke-se)),at=D(o(nt)*o(Ke-de)),yt=nt<0?-1:1;return Ze*=Ze,at*=at,[(Ze-at)/(2*ie),yt*F(4*ve*at-(ve-Ze+at)*(ve-Ze+at))/(2*ie)]}return Pe.invert=function(Ke,nt){var Ze=nt*nt,at=o(F(Ze+(Pt=Ke+se)*Pt)),yt=o(F(Ze+(Pt=Ke+de)*Pt)),Pt,Ut;return[a(Ut=at-yt,Pt=(at+yt)*Me),(nt<0?-1:1)*D(F(Pt*Pt+Ut*Ut)*Ae)]},Pe}function Hf(){return Yu([-158,21.5],[-77,39]).clipAngle(130).scale(122.571)}function Yu(ie,se){return ks(Hc,ie,se)}function Th(ie,se){if(i(se)g&&--Ke>0);return[p(ie)*(F(Me*Me+4)+Me)*b/4,_*Pe]};function jc(){return t.geoProjection($v).scale(127.16)}function iy(ie,se,de,ve,Me){function Ae(Pe,Ke){var nt=de*v(ve*Ke),Ze=F(1-nt*nt),at=F(2/(1+Ze*o(Pe*=Me)));return[ie*Ze*at*v(Pe),se*nt*at]}return Ae.invert=function(Pe,Ke){var nt=Pe/ie,Ze=Ke/se,at=F(nt*nt+Ze*Ze),yt=2*k(at/2);return[a(Pe*m(yt),ie*at)/Me,at&&k(Ke*v(yt)/(se*de*at))/ve]},Ae}function Wv(ie,se,de,ve){var Me=b/3;ie=c(ie,g),se=c(se,g),ie=f(ie,_),se=f(se,b-g),de=c(de,0),de=f(de,100-g),ve=c(ve,g);var Ae=de/100+1,Pe=ve/100,Ke=D(Ae*o(Me))/Me,nt=v(ie)/v(Ke*_),Ze=se/b,at=F(Pe*v(ie/2)/v(se/2)),yt=at/F(Ze*nt*Ke),Pt=1/(at*F(Ze*nt*Ke));return iy(yt,Pt,nt,Ke,Ze)}function bg(){var ie=65*S,se=60*S,de=20,ve=200,Me=t.geoProjectionMutator(Wv),Ae=Me(ie,se,de,ve);return Ae.poleline=function(Pe){return arguments.length?Me(ie=+Pe*S,se,de,ve):ie*E},Ae.parallels=function(Pe){return arguments.length?Me(ie,se=+Pe*S,de,ve):se*E},Ae.inflation=function(Pe){return arguments.length?Me(ie,se,de=+Pe,ve):de},Ae.ratio=function(Pe){return arguments.length?Me(ie,se,de,ve=+Pe):ve},Ae.scale(163.775)}function Yv(){return bg().poleline(65).parallels(60).inflation(0).ratio(200).scale(172.633)}var Mh=4*b+3*F(3),wg=2*F(2*b*F(3)/Mh),Ep=ue(wg*F(3)/b,wg,Mh/6);function kp(){return t.geoProjection(Ep).scale(176.84)}function td(ie,se){return[ie*F(1-3*se*se/(b*b)),se]}td.invert=function(ie,se){return[ie/F(1-3*se*se/(b*b)),se]};function Cp(){return t.geoProjection(td).scale(152.63)}function rd(ie,se){var de=o(se),ve=o(ie)*de,Me=1-ve,Ae=o(ie=a(v(ie)*de,-v(se))),Pe=v(ie);return de=F(1-ve*ve),[Pe*de-Ae*Me,-Ae*de-Pe*Me]}rd.invert=function(ie,se){var de=(ie*ie+se*se)/-2,ve=F(-de*(2+de)),Me=se*de+ie*ve,Ae=ie*de-se*ve,Pe=F(Ae*Ae+Me*Me);return[a(ve*Me,Pe*(1+de)),Pe?-k(ve*Ae/Pe):0]};function Xv(){return t.geoProjection(rd).rotate([0,-90,45]).scale(124.75).clipAngle(180-.001)}function Tg(ie,se){var de=Y(ie,se);return[(de[0]+ie/_)/2,(de[1]+se)/2]}Tg.invert=function(ie,se){var de=ie,ve=se,Me=25;do{var Ae=o(ve),Pe=v(ve),Ke=v(2*ve),nt=Pe*Pe,Ze=Ae*Ae,at=v(de),yt=o(de/2),Pt=v(de/2),Ut=Pt*Pt,ar=1-Ze*yt*yt,Ar=ar?D(Ae*yt)*F(Vr=1/ar):Vr=0,Vr,_i=.5*(2*Ar*Ae*Pt+de/_)-ie,rn=.5*(Ar*Pe+ve)-se,cn=.5*Vr*(Ze*Ut+Ar*Ae*yt*nt)+.5/_,xn=Vr*(at*Ke/4-Ar*Pe*Pt),Dn=.125*Vr*(Ke*Pt-Ar*Pe*Ze*at),Qa=.5*Vr*(nt*yt+Ar*Ut*Ae)+.5,So=xn*Dn-Qa*cn,oa=(rn*xn-_i*Qa)/So,as=(_i*Dn-rn*cn)/So;de-=oa,ve-=as}while((i(oa)>g||i(as)>g)&&--Me>0);return[de,ve]};function gc(){return t.geoProjection(Tg).scale(158.837)}e.geoNaturalEarth=t.geoNaturalEarth1,e.geoNaturalEarthRaw=t.geoNaturalEarth1Raw,e.geoAiry=$,e.geoAiryRaw=O,e.geoAitoff=K,e.geoAitoffRaw=Y,e.geoArmadillo=q,e.geoArmadilloRaw=j,e.geoAugust=U,e.geoAugustRaw=J,e.geoBaker=G,e.geoBakerRaw=H,e.geoBerghaus=te,e.geoBerghausRaw=Q,e.geoBertin1953=Ee,e.geoBertin1953Raw=oe,e.geoBoggs=we,e.geoBoggsRaw=pe,e.geoBonne=Ie,e.geoBonneRaw=_e,e.geoBottomley=Qe,e.geoBottomleyRaw=Oe,e.geoBromley=_t,e.geoBromleyRaw=et,e.geoChamberlin=Ue,e.geoChamberlinRaw=mt,e.geoChamberlinAfrica=Ne,e.geoCollignon=je,e.geoCollignonRaw=Ge,e.geoCraig=Ve,e.geoCraigRaw=Re,e.geoCraster=Xt,e.geoCrasterRaw=Tt,e.geoCylindricalEqualArea=lr,e.geoCylindricalEqualAreaRaw=Vt,e.geoCylindricalStereographic=Bt,e.geoCylindricalStereographicRaw=ur,e.geoEckert1=kr,e.geoEckert1Raw=Zt,e.geoEckert2=tt,e.geoEckert2Raw=$e,e.geoEckert3=xt,e.geoEckert3Raw=st,e.geoEckert4=Ct,e.geoEckert4Raw=Je,e.geoEckert5=hr,e.geoEckert5Raw=ir,e.geoEckert6=si,e.geoEckert6Raw=Ur,e.geoEisenlohr=$i,e.geoEisenlohrRaw=Lr,e.geoFahey=ta,e.geoFaheyRaw=hn,e.geoFoucaut=dn,e.geoFoucautRaw=ca,e.geoFoucautSinusoidal=ra,e.geoFoucautSinusoidalRaw=Vn,e.geoGilbert=Rs,e.geoGingery=zs,e.geoGingeryRaw=ho,e.geoGinzburg4=_l,e.geoGinzburg4Raw=Xs,e.geoGinzburg5=ul,e.geoGinzburg5Raw=yu,e.geoGinzburg6=ot,e.geoGinzburg6Raw=Le,e.geoGinzburg8=kt,e.geoGinzburg8Raw=lt,e.geoGinzburg9=Rt,e.geoGinzburg9Raw=Jt,e.geoGringorten=ti,e.geoGringortenRaw=Wt,e.geoGuyou=oo,e.geoGuyouRaw=fa,e.geoHammer=Ce,e.geoHammerRaw=ce,e.geoHammerRetroazimuthal=ps,e.geoHammerRetroazimuthalRaw=Ao,e.geoHealpix=vs,e.geoHealpixRaw=Ro,e.geoHill=Ks,e.geoHillRaw=Zs,e.geoHomolosine=dc,e.geoHomolosineRaw=_u,e.geoHufnagel=ja,e.geoHufnagelRaw=Nl,e.geoHyperelliptical=iu,e.geoHyperellipticalRaw=Ss,e.geoInterrupt=Zo,e.geoInterruptedBoggs=Cv,e.geoInterruptedHomolosine=r0,e.geoInterruptedMollweide=vh,e.geoInterruptedMollweideHemispheres=i0,e.geoInterruptedSinuMollweide=gh,e.geoInterruptedSinusoidal=n0,e.geoKavrayskiy7=$0,e.geoKavrayskiy7Raw=j0,e.geoLagrange=Lv,e.geoLagrangeRaw=Fv,e.geoLarrivee=mh,e.geoLarriveeRaw=cp,e.geoLaskowski=Es,e.geoLaskowskiRaw=ju,e.geoLittrow=wu,e.geoLittrowRaw=Vo,e.geoLoximuthal=yh,e.geoLoximuthalRaw=W0,e.geoMiller=Pv,e.geoMillerRaw=a0,e.geoModifiedStereographic=hf,e.geoModifiedStereographicRaw=ug,e.geoModifiedStereographicAlaska=Rv,e.geoModifiedStereographicGs48=_h,e.geoModifiedStereographicGs50=cg,e.geoModifiedStereographicMiller=Y0,e.geoModifiedStereographicLee=fp,e.geoMollweide=ae,e.geoMollweideRaw=ee,e.geoMtFlatPolarParabolic=fg,e.geoMtFlatPolarParabolicRaw=X0,e.geoMtFlatPolarQuartic=Ym,e.geoMtFlatPolarQuarticRaw=hg,e.geoMtFlatPolarSinusoidal=Bv,e.geoMtFlatPolarSinusoidalRaw=Uf,e.geoNaturalEarth2=dp,e.geoNaturalEarth2Raw=Vf,e.geoNellHammer=Z0,e.geoNellHammerRaw=pc,e.geoInterruptedQuarticAuthalic=dg,e.geoNicolosi=pg,e.geoNicolosiRaw=qv,e.geoPatterson=o0,e.geoPattersonRaw=vp,e.geoPolyconic=gg,e.geoPolyconicRaw=bh,e.geoPolyhedral=K0,e.geoPolyhedralButterfly=wh,e.geoPolyhedralCollignon=ey,e.geoPolyhedralWaterman=_p,e.geoProject=Gv,e.geoGringortenQuincuncial=Te,e.geoPeirceQuincuncial=qe,e.geoPierceQuincuncial=qe,e.geoQuantize=rt,e.geoQuincuncial=Mp,e.geoRectangularPolyconic=At,e.geoRectangularPolyconicRaw=Ye,e.geoRobinson=cr,e.geoRobinsonRaw=Kt,e.geoSatellite=rr,e.geoSatelliteRaw=Pr,e.geoSinuMollweide=xu,e.geoSinuMollweideRaw=ru,e.geoSinusoidal=ke,e.geoSinusoidalRaw=Se,e.geoStitch=po,e.geoTimes=Sa,e.geoTimesRaw=di,e.geoTwoPointAzimuthal=vf,e.geoTwoPointAzimuthalRaw=bl,e.geoTwoPointAzimuthalUsa=Au,e.geoTwoPointEquidistant=Yu,e.geoTwoPointEquidistantRaw=Hc,e.geoTwoPointEquidistantUsa=Hf,e.geoVanDerGrinten=Ah,e.geoVanDerGrintenRaw=Th,e.geoVanDerGrinten2=_g,e.geoVanDerGrinten2Raw=Sp,e.geoVanDerGrinten3=Mx,e.geoVanDerGrinten3Raw=jv,e.geoVanDerGrinten4=jc,e.geoVanDerGrinten4Raw=$v,e.geoWagner=bg,e.geoWagner7=Yv,e.geoWagnerRaw=Wv,e.geoWagner4=kp,e.geoWagner4Raw=Ep,e.geoWagner6=Cp,e.geoWagner6Raw=td,e.geoWiechel=Xv,e.geoWiechelRaw=rd,e.geoWinkel3=gc,e.geoWinkel3Raw=Tg,Object.defineProperty(e,"__esModule",{value:!0})}))});var kVe=W((zjr,EVe)=>{"use strict";var nl=vi(),uQ=it(),$rr=yi(),R4=Math.PI/180,Tb=180/Math.PI,fQ={cursor:"pointer"},hQ={cursor:"auto"};function Wrr(e,t){var r=e.projection,i;return t._isScoped?i=Yrr:t._isClipped?i=Zrr:i=Xrr,i(e,r)}EVe.exports=Wrr;function dQ(e,t){return nl.behavior.zoom().translate(t.translate()).scaleExtent(t.scaleExtent()).scale(t.scale())}function pQ(e,t,r){var i=e.id,n=e.graphDiv,a=n.layout,o=a[i],s=n._fullLayout,l=s[i],u={},c={};function f(h,d){u[i+"."+h]=uQ.nestedProperty(o,h).get(),$rr.call("_storeDirectGUIEdit",a,s._preGUI,u);var p=uQ.nestedProperty(l,h);p.get()!==d&&(p.set(d),uQ.nestedProperty(o,h).set(d),c[i+"."+h]=d)}r(f),f("projection.scale",t.scale()/e.fitScale),f("fitbounds",!1),n.emit("plotly_relayout",c)}function Yrr(e,t){var r=dQ(e,t);function i(){nl.select(this).style(fQ)}function n(){t.scale(nl.event.scale).translate(nl.event.translate),e.render(!0);var s=t.invert(e.midPt);e.graphDiv.emit("plotly_relayouting",{"geo.projection.scale":t.scale()/e.fitScale,"geo.center.lon":s[0],"geo.center.lat":s[1]})}function a(s){var l=t.invert(e.midPt);s("center.lon",l[0]),s("center.lat",l[1])}function o(){nl.select(this).style(hQ),pQ(e,t,a)}return r.on("zoomstart",i).on("zoom",n).on("zoomend",o),r}function Xrr(e,t){var r=dQ(e,t),i=2,n,a,o,s,l,u,c,f,h;function d(b){return t.invert(b)}function p(b){var _=d(b);if(!_)return!0;var M=t(_);return Math.abs(M[0]-b[0])>i||Math.abs(M[1]-b[1])>i}function v(){nl.select(this).style(fQ);let{x:b,y:_,width:M,height:x}=this.getBBox();n=nl.event.sourceEvent?nl.mouse(this):[b+M/2,_+x/2],a=t.rotate(),o=t.translate(),s=a,l=d(n)}function m(){let{x:b,y:_,width:M,height:x}=this.getBBox();if(u=nl.event.sourceEvent?nl.mouse(this):[b+M/2,_+x/2],p(n)){r.scale(t.scale()),r.translate(t.translate());return}t.scale(nl.event.scale),t.translate([o[0],nl.event.translate[1]]),l?d(u)&&(f=d(u),c=[s[0]+(f[0]-l[0]),a[1],a[2]],t.rotate(c),s=c):(n=u,l=d(n)),h=!0,e.render(!0);var T=t.rotate(),A=t.invert(e.midPt);e.graphDiv.emit("plotly_relayouting",{"geo.projection.scale":t.scale()/e.fitScale,"geo.center.lon":A[0],"geo.center.lat":A[1],"geo.projection.rotation.lon":-T[0]})}function g(){nl.select(this).style(hQ),h&&pQ(e,t,w)}function w(b){var _=t.rotate(),M=t.invert(e.midPt);b("projection.rotation.lon",-_[0]),b("center.lon",M[0]),b("center.lat",M[1])}return r.on("zoomstart",v).on("zoom",m).on("zoomend",g),r}function Zrr(e,t){var r={r:t.rotate(),k:t.scale()},i=dQ(e,t),n=nir(i,"zoomstart","zoom","zoomend"),a=0,o=i.on,s;i.on("zoomstart",function(){nl.select(this).style(fQ);let{x:h,y:d,width:p,height:v}=this.getBBox(),m=nl.event.sourceEvent?nl.mouse(this):[h+p/2,d+v/2],g=t.rotate(),w=g,b=t.translate(),_=Krr(g);s=JI(t,m),o.call(i,"zoom",function(){let{x:M,y:x,width:T,height:A}=this.getBBox(),y=nl.event.sourceEvent?nl.mouse(this):[M+T/2,x+A/2];if(t.scale(r.k=nl.event.scale),!s)m=y,s=JI(t,m);else if(JI(t,y)){t.rotate(g).translate(b);var E=JI(t,y),S=Qrr(s,E),C=tir(Jrr(_,S)),k=r.r=eir(C,s,w);(!isFinite(k[0])||!isFinite(k[1])||!isFinite(k[2]))&&(k=w),t.rotate(k),w=k}u(n.of(this,arguments))}),l(n.of(this,arguments))}).on("zoomend",function(){nl.select(this).style(hQ),o.call(i,"zoom",null),c(n.of(this,arguments)),pQ(e,t,f)}).on("zoom.redraw",function(){e.render(!0);var h=t.rotate();e.graphDiv.emit("plotly_relayouting",{"geo.projection.scale":t.scale()/e.fitScale,"geo.projection.rotation.lon":-h[0],"geo.projection.rotation.lat":-h[1]})});function l(h){a++||h({type:"zoomstart"})}function u(h){h({type:"zoom"})}function c(h){--a||h({type:"zoomend"})}function f(h){var d=t.rotate();h("projection.rotation.lon",-d[0]),h("projection.rotation.lat",-d[1])}return nl.rebind(i,n,"on")}function JI(e,t){var r=e.invert(t);return r&&isFinite(r[0])&&isFinite(r[1])&&rir(r)}function Krr(e){var t=.5*e[0]*R4,r=.5*e[1]*R4,i=.5*e[2]*R4,n=Math.sin(t),a=Math.cos(t),o=Math.sin(r),s=Math.cos(r),l=Math.sin(i),u=Math.cos(i);return[a*s*u+n*o*l,n*s*u-a*o*l,a*o*u+n*s*l,a*s*l-n*o*u]}function Jrr(e,t){var r=e[0],i=e[1],n=e[2],a=e[3],o=t[0],s=t[1],l=t[2],u=t[3];return[r*o-i*s-n*l-a*u,r*s+i*o+n*u-a*l,r*l-i*u+n*o+a*s,r*u+i*l-n*s+a*o]}function Qrr(e,t){if(!(!e||!t)){var r=iir(e,t),i=Math.sqrt(SVe(r,r)),n=.5*Math.acos(Math.max(-1,Math.min(1,SVe(e,t)))),a=Math.sin(n)/i;return i&&[Math.cos(n),r[2]*a,-r[1]*a,r[0]*a]}}function eir(e,t,r){var i=cQ(t,2,e[0]);i=cQ(i,1,e[1]),i=cQ(i,0,e[2]-r[2]);var n=t[0],a=t[1],o=t[2],s=i[0],l=i[1],u=i[2],c=Math.atan2(a,n)*Tb,f=Math.sqrt(n*n+a*a),h,d;Math.abs(l)>f?(d=(l>0?90:-90)-c,h=0):(d=Math.asin(l/f)*Tb-c,h=Math.sqrt(f*f-l*l));var p=180-d-2*c,v=(Math.atan2(u,s)-Math.atan2(o,h))*Tb,m=(Math.atan2(u,s)-Math.atan2(o,-h))*Tb,g=AVe(r[0],r[1],d,v),w=AVe(r[0],r[1],p,m);return g<=w?[d,v,r[2]]:[p,m,r[2]]}function AVe(e,t,r,i){var n=MVe(r-e),a=MVe(i-t);return Math.sqrt(n*n+a*a)}function MVe(e){return(e%360+540)%360-180}function cQ(e,t,r){var i=r*R4,n=e.slice(),a=t===0?1:0,o=t===2?1:2,s=Math.cos(i),l=Math.sin(i);return n[a]=e[a]*s-e[o]*l,n[o]=e[o]*s+e[a]*l,n}function tir(e){return[Math.atan2(2*(e[0]*e[1]+e[2]*e[3]),1-2*(e[1]*e[1]+e[2]*e[2]))*Tb,Math.asin(Math.max(-1,Math.min(1,2*(e[0]*e[2]-e[3]*e[1]))))*Tb,Math.atan2(2*(e[0]*e[3]+e[1]*e[2]),1-2*(e[2]*e[2]+e[3]*e[3]))*Tb]}function rir(e){var t=e[0]*R4,r=e[1]*R4,i=Math.cos(r);return[i*Math.cos(t),i*Math.sin(t),Math.sin(r)]}function SVe(e,t){for(var r=0,i=0,n=e.length;i{"use strict";var q1=vi(),mQ=HI(),air=mQ.geoPath,oir=mQ.geoDistance,sir=TVe(),lir=yi(),mE=it(),uir=mE.strTranslate,QI=ni(),gE=Ji(),CVe=Ds(),cir=Ko(),gQ=ji(),{concatExtremes:fir,getAutoRange:DVe,makePadFn:FVe}=Op(),vQ=bf(),hir=cu().prepSelect,dir=cu().clearOutline,pir=cu().selectOnClick,vir=kVe(),oh=fE(),yQ=cm(),{unwrapLonRange:gir}=yQ,PVe=II(),mir=GJ().feature;function IVe(e){this.id=e.id,this.graphDiv=e.graphDiv,this.container=e.container,this.topojsonURL=e.topojsonURL,this.isStatic=e.staticPlot,this.topojsonName=null,this.topojson=null,this.projection=null,this.scope=null,this.viewInitial=null,this.fitScale=null,this.bounds=null,this.midPt=null,this.hasChoropleth=!1,this.traceHash={},this.layers={},this.basePaths={},this.dataPaths={},this.dataPoints={},this.clipDef=null,this.clipRect=null,this.bgRect=null,this.makeFramework()}var dv=IVe.prototype;RVe.exports=function(t){return new IVe(t)};dv.plot=function(e,t,r,i){var n=this;if(i)return n.update(e,t,!0);n._geoCalcData=e,n._fullLayout=t;var a=t[this.id],o=[],s=!1;for(var l in oh.layerNameToAdjective)if(l!=="frame"&&a["show"+l]){s=!0;break}for(var u=!1,c=0;c0&&o._module.calcGeoJSON(a,t)}if(!r){var s=this.updateProjection(e,t);if(s)return;(!this.viewInitial||this.scope!==i.scope)&&this.saveViewInitial(i)}this.scope=i.scope,this.updateBaseLayers(t,i),this.updateDims(t,i),this.updateFx(t,i),cir.generalUpdatePerTraceModule(this.graphDiv,this,e,i);var l=this.layers.frontplot.select(".scatterlayer");this.dataPoints.point=l.selectAll(".point"),this.dataPoints.text=l.selectAll("text"),this.dataPaths.line=l.selectAll(".js-line");var u=this.layers.backplot.select(".choroplethlayer");this.dataPaths.choropleth=u.selectAll("path"),this._render()};dv.updateProjection=function(e,t){var r=this.graphDiv,i=t[this.id],n=t._size,a=i.domain,o=i.projection,s=i.lonaxis,l=i.lataxis,u=s._ax,c=l._ax,f=this.projection=yir(i),h=[[n.l+n.w*a.x[0],n.t+n.h*(1-a.y[1])],[n.l+n.w*a.x[1],n.t+n.h*(1-a.y[0])]],d=i.center||{},p=o.rotation||{},v=s.range||[],m=l.range||[];if(i.fitbounds){u._length=h[1][0]-h[0][0],c._length=h[1][1]-h[0][1],u.range=DVe(r,u),c.range=DVe(r,c);let F=[];for(let j of e){let q=j[0].trace;q.visible===!0&&q._module.fitCoords&&F.push(q._module.fitCoords(j,i))}let P=fir(r,u),R=P.min.reduce((j,{val:q})=>Math.min(j,q),1/0),I=P.max.reduce((j,{val:q})=>Math.max(j,q),-1/0)-R,B=yQ.boundsOfCoords(F.flat()),[O,,$]=B||[],Y=$-O;if(!!B&&(I>360||I<360&&YMath.max(G,j(Q)),0),U=P.max.reduce((G,Q)=>Math.max(G,q(Q)),0),V=u._length-J-U,X=V>u._length/10?Y*u._length/V:Y,H=(O+$)/2;u.range=[H-X/2,H+X/2]}var g=(u.range[0]+u.range[1])/2,w=(c.range[0]+c.range[1])/2;if(i._isScoped)d={lon:g,lat:w};else if(i._isClipped){d={lon:g,lat:w},p={lon:g,lat:w,roll:p.roll};var b=o.type,_=oh.lonaxisSpan[b]/2||180,M=oh.lataxisSpan[b]/2||90;v=[g-_,g+_],m=[w-M,w+M]}else d={lon:g,lat:w},p={lon:g,lat:p.lat,roll:p.roll}}f.center([d.lon-p.lon,d.lat-p.lat]).rotate([-p.lon,-p.lat,p.roll]).parallels(o.parallels);var x=LVe(v,m);f.fitExtent(h,x);var T=this.bounds=f.getBounds(x),A=this.fitScale=f.scale(),y=f.translate();if(f.scaleExtent=()=>{var R;let{minscale:F}=o,P=(R=o.maxscale)!=null?R:1/0;return[A*Math.min(F,P),A*Math.max(F,P)]},i.fitbounds){var E=f.getBounds(LVe(u.range,c.range)),S=Math.min((T[1][0]-T[0][0])/(E[1][0]-E[0][0]),(T[1][1]-T[0][1])/(E[1][1]-E[0][1]));isFinite(S)?f.scale(S*A):mE.warn("Something went wrong during"+this.id+"fitbounds computations.")}else f.scale(o.scale*A);var C=this.midPt=[(T[0][0]+T[1][0])/2,(T[0][1]+T[1][1])/2];if(f.translate([y[0]+(C[0]-y[0]),y[1]+(C[1]-y[1])]).clipExtent(T),i._isAlbersUsa){var k=f([d.lon,d.lat]);if(k){var D=f.translate();f.translate([D[0]-(k[0]-D[0]),D[1]-(k[1]-D[1])])}}};dv.updateBaseLayers=function(e,t){var r=this,i=r.topojson,n=r.layers,a=r.basePaths;function o(h){return h==="lonaxis"||h==="lataxis"}function s(h){return!!oh.lineLayers[h]}function l(h){return!!oh.fillLayers[h]}var u=this.hasChoropleth?oh.layersForChoropleth:oh.layers,c=u.filter(function(h){return s(h)||l(h)?t["show"+h]:o(h)?t[h].showgrid:!0}),f=r.framework.selectAll(".layer").data(c,String);f.exit().each(function(h){delete n[h],delete a[h],q1.select(this).remove()}),f.enter().append("g").attr("class",function(h){return"layer "+h}).each(function(h){var d=n[h]=q1.select(this);h==="bg"?r.bgRect=d.append("rect").style("pointer-events","all"):o(h)?a[h]=d.append("path").style("fill","none"):h==="backplot"?d.append("g").classed("choroplethlayer",!0):h==="frontplot"?d.append("g").classed("scatterlayer",!0):s(h)?a[h]=d.append("path").style("fill","none").style("stroke-miterlimit",2):l(h)&&(a[h]=d.append("path").style("stroke","none"))}),f.order(),f.each(function(h){var d=a[h],p=oh.layerNameToAdjective[h];h==="frame"?d.datum(oh.sphereSVG):s(h)||l(h)?d.datum(mir(i,i.objects[h])):o(h)&&d.datum(xir(h,t,e)).call(QI.stroke,t[h].gridcolor).call(gE.dashLine,t[h].griddash,t[h].gridwidth),s(h)?d.call(QI.stroke,t[p+"color"]).call(gE.dashLine,"",t[p+"width"]):l(h)&&d.call(QI.fill,t[p+"color"])})};dv.updateDims=function(e,t){var r=this.bounds,i=(t.framewidth||0)/2,n=r[0][0]-i,a=r[0][1]-i,o=r[1][0]-n+i,s=r[1][1]-a+i;gE.setRect(this.clipRect,n,a,o,s),this.bgRect.call(gE.setRect,n,a,o,s).call(QI.fill,t.bgcolor),this.xaxis._offset=n,this.xaxis._length=o,this.yaxis._offset=a,this.yaxis._length=s};dv.updateFx=function(e,t){var r=this,i=r.graphDiv,n=r.bgRect,a=e.dragmode,o=e.clickmode;if(r.isStatic)return;function s(){var f=r.viewInitial,h={};for(var d in f)h[r.id+"."+d]=f[d];lir.call("_guiRelayout",i,h),i.emit("plotly_doubleclick",null)}function l(f){return r.projection.invert([f[0]+r.xaxis._offset,f[1]+r.yaxis._offset])}var u=function(f,h){if(h.isRect){var d=f.range={};d[r.id]=[l([h.xmin,h.ymin]),l([h.xmax,h.ymax])]}else{var p=f.lassoPoints={};p[r.id]=h.map(l)}},c={element:r.bgRect.node(),gd:i,plotinfo:{id:r.id,xaxis:r.xaxis,yaxis:r.yaxis,fillRangeItems:u},xaxes:[r.xaxis],yaxes:[r.yaxis],subplot:r.id,clickFn:function(f){f===2&&dir(i)}};if(a==="pan"){n.node().onmousedown=null;let f=vir(r,t);if(n.call(f),!q1.event){let h=r.projection.scale(),[d,p]=r.projection.scaleExtent();(hp)&&f.event(n)}n.on("dblclick.zoom",s),i._context._scrollZoom.geo||n.on("wheel.zoom",null)}else(a==="select"||a==="lasso")&&(n.on(".zoom",null),c.prepFn=function(f,h,d){hir(f,h,d,c,a)},vQ.init(c));n.on("mousemove",function(){var f=r.projection.invert(mE.getPositionFromD3Event());if(!f)return vQ.unhover(i,q1.event);r.xaxis.p2c=function(){return f[0]},r.yaxis.p2c=function(){return f[1]},CVe.hover(i,q1.event,r.id)}),n.on("mouseout",function(){i._dragging||vQ.unhover(i,q1.event)}),n.on("click",function(){a!=="select"&&a!=="lasso"&&(o.indexOf("select")>-1&&pir(q1.event,i,[r.xaxis],[r.yaxis],r.id,c),o.indexOf("event")>-1&&CVe.click(i,q1.event))})};dv.makeFramework=function(){var e=this,t=e.graphDiv,r=t._fullLayout,i="clip"+r._uid+e.id;e.clipDef=r._clips.append("clipPath").attr("id",i),e.clipRect=e.clipDef.append("rect"),e.framework=q1.select(e.container).append("g").attr("class","geo "+e.id).call(gE.setClipUrl,i,t),e.project=function(n){var a=e.projection(n);return a?[a[0]-e.xaxis._offset,a[1]-e.yaxis._offset]:[null,null]},e.xaxis={_id:"x",c2p:function(n){return e.project(n)[0]}},e.yaxis={_id:"y",c2p:function(n){return e.project(n)[1]}},e.mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},gQ.setConvert(e.mockAxis,r)};dv.saveViewInitial=function(e){var t=e.center||{},r=e.projection,i=r.rotation||{};this.viewInitial={fitbounds:e.fitbounds,"projection.scale":r.scale};var n;e._isScoped?n={"center.lon":t.lon,"center.lat":t.lat}:e._isClipped?n={"projection.rotation.lon":i.lon,"projection.rotation.lat":i.lat,"center.lon":t.lon,"center.lat":t.lat}:n={"center.lon":t.lon,"center.lat":t.lat,"projection.rotation.lon":i.lon},mE.extendFlat(this.viewInitial,n)};dv.render=function(e){this._hasMarkerAngles&&e?this.plot(this._geoCalcData,this._fullLayout,[],!0):this._render()};dv._render=function(){var e=this.projection,t=e.getPath(),r;function i(a){var o=e(a.lonlat);return o?uir(o[0],o[1]):null}function n(a){return e.isLonLatOverEdges(a.lonlat)?"none":null}for(r in this.basePaths)this.basePaths[r].attr("d",t);for(r in this.dataPaths)this.dataPaths[r].attr("d",function(a){return t(a.geojson)});for(r in this.dataPoints)this.dataPoints[r].attr("display",n).attr("transform",i)};function yir(e){var t=e.projection,r=t.type,i=oh.projNames[r];i="geo"+mE.titleCase(i);for(var n=mQ[i]||sir[i],a=n(),o=e._isSatellite?Math.acos(1/t.distance)*180/Math.PI:e._isClipped?oh.lonaxisSpan[r]/2:null,s=["center","rotate","parallels","clipExtent"],l=function(f){return f?a:[]},u=0;up}else return!1},a.getPath=function(){return air().projection(a)},a.getBounds=function(f){return a.getPath().bounds(f)},a.precision(oh.precision),e._isSatellite&&a.tilt(t.tilt).distance(t.distance),o&&a.clipAngle(o-oh.clipPad),a}function xir(e,t,r){var i=1e-6,n=2.5,a=t[e],o=oh.scopeDefaults[t.scope],s,l,u;e==="lonaxis"?(s=o.lonaxisRange,l=o.lataxisRange,u=function(w,b){return[w,b]}):e==="lataxis"&&(s=o.lataxisRange,l=o.lonaxisRange,u=function(w,b){return[b,w]});var c={type:"linear",range:[s[0],s[1]-i],tick0:a.tick0,dtick:a.dtick};gQ.setConvert(c,r);var f=gQ.calcTicks(c);!t.isScoped&&e==="lonaxis"&&f.pop();for(var h=f.length,d=new Array(h),p=0;p{"use strict";var B4=Vl(),_ir=us().attributes,bir=Du().dash,z4=fE(),wir=ls().overrideAll,BVe=(qx(),Go(Bx)).default,qVe={range:{valType:"info_array",items:[{valType:"number"},{valType:"number"}]},showgrid:{valType:"boolean",dflt:!1},tick0:{valType:"number",dflt:0},dtick:{valType:"number"},gridcolor:{valType:"color",dflt:B4.lightLine},gridwidth:{valType:"number",min:0,dflt:1},griddash:bir},Tir=OVe.exports=wir({domain:_ir({name:"geo"},{}),fitbounds:{valType:"enumerated",values:[!1,"locations","geojson"],dflt:"locations",editType:"plot"},resolution:{valType:"enumerated",values:[110,50],dflt:110,coerceNumber:!0},scope:{valType:"enumerated",values:BVe(z4.scopeDefaults),dflt:"world"},projection:{type:{valType:"enumerated",values:BVe(z4.projNames)},rotation:{lon:{valType:"number"},lat:{valType:"number"},roll:{valType:"number"}},tilt:{valType:"number",dflt:0},distance:{valType:"number",min:1.001,dflt:2},parallels:{valType:"info_array",items:[{valType:"number"},{valType:"number"}]},scale:{valType:"number",min:0,dflt:1},minscale:{valType:"number",min:0,dflt:0},maxscale:{valType:"number",min:0,dflt:null}},center:{lon:{valType:"number"},lat:{valType:"number"}},visible:{valType:"boolean",dflt:!0},showcoastlines:{valType:"boolean"},coastlinecolor:{valType:"color",dflt:B4.defaultLine},coastlinewidth:{valType:"number",min:0,dflt:1},showland:{valType:"boolean",dflt:!1},landcolor:{valType:"color",dflt:z4.landColor},showocean:{valType:"boolean",dflt:!1},oceancolor:{valType:"color",dflt:z4.waterColor},showlakes:{valType:"boolean",dflt:!1},lakecolor:{valType:"color",dflt:z4.waterColor},showrivers:{valType:"boolean",dflt:!1},rivercolor:{valType:"color",dflt:z4.waterColor},riverwidth:{valType:"number",min:0,dflt:1},showcountries:{valType:"boolean"},countrycolor:{valType:"color",dflt:B4.defaultLine},countrywidth:{valType:"number",min:0,dflt:1},showsubunits:{valType:"boolean"},subunitcolor:{valType:"color",dflt:B4.defaultLine},subunitwidth:{valType:"number",min:0,dflt:1},showframe:{valType:"boolean"},framecolor:{valType:"color",dflt:B4.defaultLine},framewidth:{valType:"number",min:0,dflt:1},bgcolor:{valType:"color",dflt:B4.background},lonaxis:qVe,lataxis:qVe},"plot","from-root");Tir.uirevision={valType:"any",editType:"none"}});var VVe=W((Ojr,UVe)=>{"use strict";var eR=it(),Air=q_(),Mir=_c().getSubplotData,{unwrapLonRange:Sir}=cm(),yE=fE(),Eir=xQ(),NVe=yE.axesNames;UVe.exports=function(t,r,i){Air(t,r,i,{type:"geo",attributes:Eir,handleDefaults:kir,fullData:i,partition:"y"})};function kir(e,t,r,i){var n=Mir(i.fullData,"geo",i.id),a=n.map(function(B){return B.index}),o=r("resolution"),s=r("scope"),l=yE.scopeDefaults[s],u=r("projection.type",l.projType),c=t._isAlbersUsa=u==="albers usa";c&&(s=t.scope="usa");var f=t._isScoped=s!=="world",h=t._isSatellite=u==="satellite",d=t._isConic=u.indexOf("conic")!==-1||u==="albers",p=t._isClipped=!!yE.lonaxisSpan[u];if(e.visible===!1){var v=eR.extendDeep({},t._template);v.showcoastlines=!1,v.showcountries=!1,v.showframe=!1,v.showlakes=!1,v.showland=!1,v.showocean=!1,v.showrivers=!1,v.showsubunits=!1,v.lonaxis&&(v.lonaxis.showgrid=!1),v.lataxis&&(v.lataxis.showgrid=!1),t._template=v}for(var m=r("visible"),g,w=0;wJ[U]!=null)||yE.fitboundsIncompatible.has(u)?t.fitbounds=!1:j.forEach(({dst:J,key:U})=>J&&(J[U]=null))}}});var _Q=W((Njr,jVe)=>{"use strict";var Cir=_c().getSubplotCalcData,Dir=it().counterRegex,Fir=zVe(),O1="geo",GVe=Dir(O1),HVe={};HVe[O1]={valType:"subplotid",dflt:O1,editType:"calc"};function Lir(e){for(var t=e._fullLayout,r=e.calcdata,i=t._subplots[O1],n=0;n{"use strict";$Ve.exports={attributes:I4(),supplyDefaults:xUe(),colorbar:Ac(),formatLabels:wUe(),calc:VJ(),calcGeoJSON:XI().calcGeoJSON,fitCoords:XI().fitCoords,plot:XI().plot,style:aQ(),styleOnSelect:th().styleOnSelect,hoverPoints:pVe(),eventData:gVe(),selectPoints:xVe(),moduleType:"trace",name:"scattergeo",basePlotModule:_Q(),categories:["geo","symbols","showLegend","scatter-like"],meta:{}}});var XVe=W((Vjr,YVe)=>{"use strict";YVe.exports=WVe()});var xE=W((Gjr,JVe)=>{"use strict";var{hovertemplateAttrs:Rir,templatefallbackAttrs:zir}=Ga(),k2=I4(),Bir=Eo(),ZVe=Wa(),qir=Vl().defaultLine,E2=tn().extendFlat,KVe=k2.marker.line;JVe.exports=E2({locations:{valType:"data_array",editType:"calc"},locationmode:k2.locationmode,z:{valType:"data_array",editType:"calc"},geojson:E2({},k2.geojson,{}),featureidkey:k2.featureidkey,text:E2({},k2.text,{}),hovertext:E2({},k2.hovertext,{}),marker:{line:{color:E2({},KVe.color,{dflt:qir}),width:E2({},KVe.width,{dflt:1}),editType:"calc"},opacity:{valType:"number",arrayOk:!0,min:0,max:1,dflt:1,editType:"style"},editType:"calc"},selected:{marker:{opacity:k2.selected.marker.opacity,editType:"plot"},editType:"plot"},unselected:{marker:{opacity:k2.unselected.marker.opacity,editType:"plot"},editType:"plot"},hoverinfo:E2({},ZVe.hoverinfo,{editType:"calc",flags:["location","z","text","name"]}),hovertemplate:Rir(),hovertemplatefallback:zir(),showlegend:E2({},ZVe.showlegend,{dflt:!1})},Bir("",{cLetter:"z",editTypeOverride:"calc"}))});var eGe=W((Hjr,QVe)=>{"use strict";var tR=it(),Oir=Fu(),Nir=xE();QVe.exports=function(t,r,i,n){function a(h,d){return tR.coerce(t,r,Nir,h,d)}var o=a("locations"),s=a("z");if(!(o&&o.length&&tR.isArrayOrTypedArray(s)&&s.length)){r.visible=!1;return}r._length=Math.min(o.length,s.length);var l=a("geojson"),u;(typeof l=="string"&&l!==""||tR.isPlainObject(l))&&(u="geojson-id");var c=a("locationmode",u);c==="geojson-id"&&a("featureidkey"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var f=a("marker.line.width");f&&a("marker.line.color"),a("marker.opacity"),Oir(t,r,n,a,{prefix:"",cLetter:"z"}),tR.coerceSelectionMarkerOpacity(r,a)}});var bQ=W((jjr,iGe)=>{"use strict";var tGe=sn(),Uir=Kn().BADNUM,Vir=Zc(),Gir=x1(),Hir=w0();function rGe(e){return e&&typeof e=="string"}iGe.exports=function(t,r){var i=r._length,n=new Array(i),a;r.geojson?a=function(c){return rGe(c)||tGe(c)}:a=rGe;for(var o=0;o{"use strict";var jir=vi(),$ir=ni(),wQ=Ji(),Wir=Jo();function Yir(e,t){t&&nGe(e,t)}function nGe(e,t){var r=t[0].trace,i=t[0].node3,n=i.selectAll(".choroplethlocation"),a=r.marker||{},o=a.line||{},s=Wir.makeColorScaleFuncFromTrace(r);n.each(function(l){jir.select(this).attr("fill",s(l.z)).call($ir.stroke,l.mlc||o.color).call(wQ.dashLine,"",l.mlw||o.width||0).style("opacity",a.opacity)}),wQ.selectedPointStyle(n,r)}function Xir(e,t){var r=t[0].node3,i=t[0].trace;i.selectedpoints?wQ.selectedPointStyle(r.selectAll(".choroplethlocation"),i):nGe(e,t)}aGe.exports={style:Yir,styleOnSelect:Xir}});var iR=W((Wjr,lGe)=>{"use strict";var Zir=vi(),oGe=it(),Ab=cm(),Kir=II().getTopojsonFeatures,sGe=Op().findExtremes,Jir=rR().style;function Qir(e,t,r){var i=t.layers.backplot.select(".choroplethlayer");oGe.makeTraceGroups(i,r,"trace choropleth").each(function(n){var a=Zir.select(this),o=a.selectAll("path.choroplethlocation").data(oGe.identity);o.enter().append("path").classed("choroplethlocation",!0),o.exit().remove(),Jir(e,n)})}function enr(e,t){var r=e[0].trace,i=t[r.geo],n=i._subplot,a=r.locationmode,o=r._length,s=a==="geojson-id"?Ab.extractTraceFeature(e):Kir(r,n.topojson);let l=Ab.fitGeojsonBbox(r,i);for(var u=[],c=[],f=0;f{"use strict";var rnr=ji(),inr=xE(),nnr=it().fillText,{ANTIMERIDIAN_LON_SHIFT:anr}=cm();uGe.exports=function(t,r,i){var n=t.cd,a=n[0].trace,o=t.subplot,s,l,u,c,f=[r,i];let h=[r+anr,i];for(l=0;l")}}});var AQ=W((Xjr,cGe)=>{"use strict";cGe.exports=function(t,r,i,n,a){t.location=r.location,t.z=r.z;var o=n[a];return o.fIn&&o.fIn.properties&&(t.properties=o.fIn.properties),t.ct=o.ct,t}});var MQ=W((Zjr,fGe)=>{"use strict";fGe.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=[],s,l,u,c,f;if(r===!1)for(s=0;s{"use strict";hGe.exports={attributes:xE(),supplyDefaults:eGe(),colorbar:x5(),calc:bQ(),calcGeoJSON:iR().calcGeoJSON,fitCoords:iR().fitCoords,plot:iR().plot,style:rR().style,styleOnSelect:rR().styleOnSelect,hoverPoints:TQ(),eventData:AQ(),selectPoints:MQ(),moduleType:"trace",name:"choropleth",basePlotModule:_Q(),categories:["geo","noOpacity","showLegend"],meta:{}}});var vGe=W((Jjr,pGe)=>{"use strict";pGe.exports=dGe()});var nR=W((Qjr,mGe)=>{"use strict";var snr=yi(),L0=it(),lnr=Xw(),unr=Ji();function cnr(e,t,r,i){var n=e.cd,a=n[0].t,o=n[0].trace,s=e.xa,l=e.ya,u=a.x,c=a.y,f=s.c2p(t),h=l.c2p(r),d=e.distance,p;if(a.tree){var v=s.p2c(f-d),m=s.p2c(f+d),g=l.p2c(h-d),w=l.p2c(h+d);i==="x"?p=a.tree.range(Math.min(v,m),Math.min(l._rl[0],l._rl[1]),Math.max(v,m),Math.max(l._rl[0],l._rl[1])):p=a.tree.range(Math.min(v,m),Math.min(g,w),Math.max(v,m),Math.max(g,w))}else p=a.ids;var b,_,M,x,T,A,y,E,S,C=d;if(i==="x"){var k=!!o.xperiodalignment,D=!!o.yperiodalignment;for(T=0;T=Math.min(F,P)&&f<=Math.max(F,P)?0:1/0}if(A=Math.min(R,L)&&h<=Math.max(R,L)?0:1/0}S=Math.sqrt(A*A+y*y),_=p[T]}}}else for(T=p.length-1;T>-1;T--)b=p[T],M=u[b],x=c[b],A=s.c2p(M)-f,y=l.c2p(x)-h,E=Math.sqrt(A*A+y*y),E{"use strict";var yGe=20;xGe.exports={TOO_MANY_POINTS:1e5,SYMBOL_SDF_SIZE:200,SYMBOL_SIZE:yGe,SYMBOL_STROKE:yGe/20,DOT_RE:/-dot/,OPEN_RE:/-open/,DASHES:{solid:[1],dot:[1,1],dash:[4,1],longdash:[8,1],dashdot:[4,1,1,1],longdashdot:[8,1,1,1]}}});var _E=W((t$r,TGe)=>{"use strict";var fnr=Wa(),hnr=Ho(),dnr=g1(),Ls=Ns(),_Ge=_s().axisHoverFormat,bGe=Eo(),pnr=(qx(),Go(Bx)).default,SQ=tn().extendFlat,vnr=ls().overrideAll,gnr=C2().DASHES,wGe=Ls.line,fm=Ls.marker,mnr=fm.line,D2=TGe.exports=vnr({x:Ls.x,x0:Ls.x0,dx:Ls.dx,y:Ls.y,y0:Ls.y0,dy:Ls.dy,xperiod:Ls.xperiod,yperiod:Ls.yperiod,xperiod0:Ls.xperiod0,yperiod0:Ls.yperiod0,xperiodalignment:Ls.xperiodalignment,yperiodalignment:Ls.yperiodalignment,xhoverformat:_Ge("x"),yhoverformat:_Ge("y"),text:Ls.text,hovertext:Ls.hovertext,textposition:Ls.textposition,textfont:hnr({noFontShadow:!0,noFontLineposition:!0,noFontTextcase:!0,editType:"calc",colorEditType:"style",arrayOk:!0,noNumericWeightValues:!0,variantValues:["normal","small-caps"]}),mode:{valType:"flaglist",flags:["lines","markers","text"],extras:["none"]},line:{color:wGe.color,width:wGe.width,shape:{valType:"enumerated",values:["linear","hv","vh","hvh","vhv"],dflt:"linear",editType:"plot"},dash:{valType:"enumerated",values:pnr(gnr),dflt:"solid"}},marker:SQ({},bGe("marker"),{symbol:fm.symbol,angle:fm.angle,size:fm.size,sizeref:fm.sizeref,sizemin:fm.sizemin,sizemode:fm.sizemode,opacity:fm.opacity,colorbar:fm.colorbar,line:SQ({},bGe("marker.line"),{width:mnr.width})}),connectgaps:Ls.connectgaps,fill:SQ({},Ls.fill,{dflt:"none"}),fillcolor:dnr(),selected:{marker:Ls.selected.marker,textfont:Ls.selected.textfont},unselected:{marker:Ls.unselected.marker,textfont:Ls.unselected.textfont},opacity:fnr.opacity},"calc","nested");D2.x.editType=D2.y.editType=D2.x0.editType=D2.y0.editType="calc+clearAxisTypes";D2.hovertemplate=Ls.hovertemplate;D2.hovertemplatefallback=Ls.hovertemplatefallback;D2.texttemplate=Ls.texttemplate;D2.texttemplatefallback=Ls.texttemplatefallback});var aR=W(EQ=>{"use strict";var AGe=C2();EQ.isOpenSymbol=function(e){return typeof e=="string"?AGe.OPEN_RE.test(e):e%200>100};EQ.isDotSymbol=function(e){return typeof e=="string"?AGe.DOT_RE.test(e):e>200}});var EGe=W((i$r,SGe)=>{"use strict";var MGe=it(),ynr=yi(),xnr=aR(),_nr=_E(),bnr=v1(),oR=$o(),wnr=x_(),Tnr=Hp(),Anr=bd(),Mnr=jp(),Snr=y1(),Enr=$p();SGe.exports=function(t,r,i,n){function a(d,p){return MGe.coerce(t,r,_nr,d,p)}var o=t.marker?xnr.isOpenSymbol(t.marker.symbol):!1,s=oR.isBubble(t),l=wnr(t,r,n,a);if(!l){r.visible=!1;return}Tnr(t,r,n,a),a("xhoverformat"),a("yhoverformat");var u=l{"use strict";var knr=mF();kGe.exports=function(t,r,i){var n=t.i;return"x"in t||(t.x=r._x[n]),"y"in t||(t.y=r._y[n]),knr(t,r,i)}});var FGe=W((a$r,DGe)=>{"use strict";function Cnr(e,t,r,i,n){for(var a=n+1;i<=n;){var o=i+n>>>1,s=e[o],l=r!==void 0?r(s,t):s-t;l>=0?(a=o,n=o-1):i=o+1}return a}function Dnr(e,t,r,i,n){for(var a=n+1;i<=n;){var o=i+n>>>1,s=e[o],l=r!==void 0?r(s,t):s-t;l>0?(a=o,n=o-1):i=o+1}return a}function Fnr(e,t,r,i,n){for(var a=i-1;i<=n;){var o=i+n>>>1,s=e[o],l=r!==void 0?r(s,t):s-t;l<0?(a=o,i=o+1):n=o-1}return a}function Lnr(e,t,r,i,n){for(var a=i-1;i<=n;){var o=i+n>>>1,s=e[o],l=r!==void 0?r(s,t):s-t;l<=0?(a=o,i=o+1):n=o-1}return a}function Pnr(e,t,r,i,n){for(;i<=n;){var a=i+n>>>1,o=e[a],s=r!==void 0?r(o,t):o-t;if(s===0)return a;s<=0?i=a+1:n=a-1}return-1}function bE(e,t,r,i,n,a){return typeof r=="function"?a(e,t,r,i===void 0?0:i|0,n===void 0?e.length-1:n|0):a(e,t,void 0,r===void 0?0:r|0,i===void 0?e.length-1:i|0)}DGe.exports={ge:function(e,t,r,i,n){return bE(e,t,r,i,n,Cnr)},gt:function(e,t,r,i,n){return bE(e,t,r,i,n,Dnr)},lt:function(e,t,r,i,n){return bE(e,t,r,i,n,Fnr)},le:function(e,t,r,i,n){return bE(e,t,r,i,n,Lnr)},eq:function(e,t,r,i,n){return bE(e,t,r,i,n,Pnr)}}});var kQ=W((o$r,LGe)=>{LGe.exports=Inr;function Inr(e,t,r){return tr?r:e:et?t:e}});var N1=W((s$r,IGe)=>{"use strict";IGe.exports=function(t,r,i){var n={},a,o;if(typeof r=="string"&&(r=PGe(r)),Array.isArray(r)){var s={};for(o=0;o{"use strict";var Rnr=N1();RGe.exports=znr;function znr(e){var t;return arguments.length>1&&(e=arguments),typeof e=="string"?e=e.split(/\s/).map(parseFloat):typeof e=="number"&&(e=[e]),e.length&&typeof e[0]=="number"?e.length===1?t={width:e[0],height:e[0],x:0,y:0}:e.length===2?t={width:e[0],height:e[1],x:0,y:0}:t={x:e[0],y:e[1],width:e[2]-e[0]||0,height:e[3]-e[1]||0}:e&&(e=Rnr(e,{left:"x l left Left",top:"y t top Top",width:"w width W Width",height:"h height W Width",bottom:"b bottom Bottom",right:"r right Right"}),t={x:e.left||0,y:e.top||0},e.width==null?e.right?t.width=e.right-t.x:t.width=0:t.width=e.width,e.height==null?e.bottom?t.height=e.bottom-t.y:t.height=0:t.height=e.height),t}});var Mb=W((u$r,zGe)=>{"use strict";zGe.exports=Bnr;function Bnr(e,t){if(!e||e.length==null)throw Error("Argument should be an array");t==null?t=1:t=Math.floor(t);for(var r=Array(t*2),i=0;in&&(n=e[o]),e[o]{"use strict";BGe.exports=function(){for(var t=0;t{OGe.exports=function(e){switch(e){case"int8":return Int8Array;case"int16":return Int16Array;case"int32":return Int32Array;case"uint8":return Uint8Array;case"uint16":return Uint16Array;case"uint32":return Uint32Array;case"float32":return Float32Array;case"float64":return Float64Array;case"array":return Array;case"uint8_clamped":return Uint8ClampedArray}}});var Sb=W((h$r,UGe)=>{var NGe=sR();UGe.exports=qnr;function qnr(e,t,r){if(!e)throw new TypeError("must specify data as first parameter");if(r=+(r||0)|0,Array.isArray(e)&&e[0]&&typeof e[0][0]=="number"){var i=e[0].length,n=e.length*i,a,o,s,l;(!t||typeof t=="string")&&(t=new(NGe(t||"float32"))(n+r));var u=t.length-r;if(n!==u)throw new Error("source length "+n+" ("+i+"x"+e.length+") does not match destination length "+u);for(a=0,s=r;a{"use strict";VGe.exports=function(e){var t=typeof e;return e!==null&&(t==="object"||t==="function")}});var jGe=W((p$r,HGe)=>{"use strict";HGe.exports=Math.log2||function(e){return Math.log(e)*Math.LOG2E}});var JGe=W((v$r,KGe)=>{"use strict";var $Ge=FGe(),WGe=kQ(),Onr=q4(),Nnr=Mb(),YGe=N1(),DQ=qGe(),Unr=Sb(),Vnr=GGe(),Gnr=sR(),XGe=jGe(),Hnr=1073741824;KGe.exports=function(t,r){r||(r={}),t=Unr(t,"float64"),r=YGe(r,{bounds:"range bounds dataBox databox",maxDepth:"depth maxDepth maxdepth level maxLevel maxlevel levels",dtype:"type dtype format out dst output destination"});let i=DQ(r.maxDepth,255),n=DQ(r.bounds,Nnr(t,2));n[0]===n[2]&&n[2]++,n[1]===n[3]&&n[3]++;let a=ZGe(t,n),o=t.length>>>1,s;r.dtype||(r.dtype="array"),typeof r.dtype=="string"?s=new(Gnr(r.dtype))(o):r.dtype&&(s=r.dtype,Array.isArray(s)&&(s.length=o));for(let g=0;gi||x>Hnr){for(let L=0;L<_.length;L++)T.push(_[L]),A.push(x),y.push(null,null,null,null);return E}if(T.push(_[0]),A.push(x),_.length<=1)return y.push(null,null,null,null),E;let S=b*.5,C=g+S,k=w+S,D=[],F=[],P=[],R=[];for(let L=1,I=_.length;L$||y>Y||E=C||B===O)return;let K=l[I];O===void 0&&(O=K.length);for(let Q=B;Q=_&&ce<=x&&ge>=M&&ge<=T&&k.push(te)}let j=u[I],q=j[B*4+0],J=j[B*4+1],U=j[B*4+2],V=j[B*4+3],X=F(j,B+1),H=L*.5,G=I+1;D(P,R,H,G,q,J||U||V||X),D(P,R+H,H,G,J,U||V||X),D(P+H,R,H,G,U,V||X),D(P+H,R+H,H,G,V,X)}function F(P,R){let L=null,I=0;for(;L===null;)if(L=P[R*4+I],I++,I>P.length)return null;return L}return k}function v(g,w,b,_,M){let x=[];for(let T=0;T{"use strict";QGe.exports=JGe()});var tHe=W((m$r,eHe)=>{eHe.exports=$nr;var FQ={a:7,c:6,h:1,l:2,m:2,q:4,s:4,t:2,v:1,z:0},jnr=/([astvzqmhlc])([^astvzqmhlc]*)/ig;function $nr(e){var t=[];return e.replace(jnr,function(r,i,n){var a=i.toLowerCase();for(n=Ynr(n),a=="m"&&n.length>2&&(t.push([i].concat(n.splice(0,2))),a="l",i=i=="m"?"l":"L");;){if(n.length==FQ[a])return n.unshift(i),t.push(n);if(n.length{rHe.exports=Xnr;function Xnr(e){var t=0,r=0,i=0,n=0;return e.map(function(a){a=a.slice();var o=a[0],s=o.toUpperCase();if(o!=s)switch(a[0]=s,o){case"a":a[6]+=i,a[7]+=n;break;case"v":a[1]+=n;break;case"h":a[1]+=i;break;default:for(var l=1;l{"use strict";Object.defineProperty(uR,"__esModule",{value:!0});var Znr=(function(){function e(t,r){var i=[],n=!0,a=!1,o=void 0;try{for(var s=t[Symbol.iterator](),l;!(n=(l=s.next()).done)&&(i.push(l.value),!(r&&i.length===r));n=!0);}catch(u){a=!0,o=u}finally{try{!n&&s.return&&s.return()}finally{if(a)throw o}}return i}return function(t,r){if(Array.isArray(t))return t;if(Symbol.iterator in Object(t))return e(t,r);throw new TypeError("Invalid attempt to destructure non-iterable instance")}})(),wE=Math.PI*2,LQ=function(t,r,i,n,a,o,s){var l=t.x,u=t.y;l*=r,u*=i;var c=n*l-a*u,f=a*l+n*u;return{x:c+o,y:f+s}},Knr=function(t,r){var i=r===1.5707963267948966?.551915024494:r===-1.5707963267948966?-.551915024494:1.3333333333333333*Math.tan(r/4),n=Math.cos(t),a=Math.sin(t),o=Math.cos(t+r),s=Math.sin(t+r);return[{x:n-a*i,y:a+n*i},{x:o+s*i,y:s-o*i},{x:o,y:s}]},nHe=function(t,r,i,n){var a=t*n-r*i<0?-1:1,o=t*i+r*n;return o>1&&(o=1),o<-1&&(o=-1),a*Math.acos(o)},Jnr=function(t,r,i,n,a,o,s,l,u,c,f,h){var d=Math.pow(a,2),p=Math.pow(o,2),v=Math.pow(f,2),m=Math.pow(h,2),g=d*p-d*m-p*v;g<0&&(g=0),g/=d*m+p*v,g=Math.sqrt(g)*(s===l?-1:1);var w=g*a/o*h,b=g*-o/a*f,_=c*w-u*b+(t+i)/2,M=u*w+c*b+(r+n)/2,x=(f-w)/a,T=(h-b)/o,A=(-f-w)/a,y=(-h-b)/o,E=nHe(1,0,x,T),S=nHe(x,T,A,y);return l===0&&S>0&&(S-=wE),l===1&&S<0&&(S+=wE),[_,M,E,S]},Qnr=function(t){var r=t.px,i=t.py,n=t.cx,a=t.cy,o=t.rx,s=t.ry,l=t.xAxisRotation,u=l===void 0?0:l,c=t.largeArcFlag,f=c===void 0?0:c,h=t.sweepFlag,d=h===void 0?0:h,p=[];if(o===0||s===0)return[];var v=Math.sin(u*wE/360),m=Math.cos(u*wE/360),g=m*(r-n)/2+v*(i-a)/2,w=-v*(r-n)/2+m*(i-a)/2;if(g===0&&w===0)return[];o=Math.abs(o),s=Math.abs(s);var b=Math.pow(g,2)/Math.pow(o,2)+Math.pow(w,2)/Math.pow(s,2);b>1&&(o*=Math.sqrt(b),s*=Math.sqrt(b));var _=Jnr(r,i,n,a,o,s,f,d,v,m,g,w),M=Znr(_,4),x=M[0],T=M[1],A=M[2],y=M[3],E=Math.abs(y)/(wE/4);Math.abs(1-E)<1e-7&&(E=1);var S=Math.max(Math.ceil(E),1);y/=S;for(var C=0;C{"use strict";lHe.exports=tar;var ear=oHe();function tar(e){for(var t,r=[],i=0,n=0,a=0,o=0,s=null,l=null,u=0,c=0,f=0,h=e.length;f4?(i=d[d.length-4],n=d[d.length-3]):(i=u,n=c),r.push(d)}return r}function cR(e,t,r,i){return["C",e,t,r,i,r,i]}function sHe(e,t,r,i,n,a){return["C",e/3+2/3*r,t/3+2/3*i,n/3+2/3*r,a/3+2/3*i,n,a]}});var PQ=W((_$r,cHe)=>{"use strict";cHe.exports=function(t){return typeof t!="string"?!1:(t=t.trim(),!!(/^[mzlhvcsqta]\s*[-+.0-9][^mlhvzcsqta]+/i.test(t)&&/[\dz]$/i.test(t)&&t.length>4))}});var hHe=W((b$r,fHe)=>{"use strict";var rar=tHe(),iar=iHe(),nar=uHe(),aar=PQ();fHe.exports=oar;function oar(e){if(Array.isArray(e)&&e.length===1&&typeof e[0]=="string"&&(e=e[0]),typeof e=="string"){if(!aar(e))throw Error("String is not an SVG path.");e=rar(e)}if(!Array.isArray(e))throw Error("Argument should be a string or an array of path segments.");if(e=iar(e),e=nar(e),!e.length)return[0,0,0,0];for(var t=[1/0,1/0,-1/0,-1/0],r=0,i=e.length;rt[2]&&(t[2]=n[a+0]),n[a+1]>t[3]&&(t[3]=n[a+1]);return t}});var gHe=W((w$r,vHe)=>{"use strict";vHe.exports=sar;var TE=1e20;function sar(e,t){t||(t={});var r=t.cutoff==null?.25:t.cutoff,i=t.radius==null?8:t.radius,n=t.channel||0,a,o,s,l,u,c,f,h,d,p,v;if(ArrayBuffer.isView(e)||Array.isArray(e)){if(!t.width||!t.height)throw Error("For raw data width and height should be provided by options");a=t.width,o=t.height,l=e,t.stride?c=t.stride:c=Math.floor(e.length/a/o)}else window.HTMLCanvasElement&&e instanceof window.HTMLCanvasElement?(h=e,f=h.getContext("2d"),a=h.width,o=h.height,d=f.getImageData(0,0,a,o),l=d.data,c=4):window.CanvasRenderingContext2D&&e instanceof window.CanvasRenderingContext2D?(h=e.canvas,f=e,a=h.width,o=h.height,d=f.getImageData(0,0,a,o),l=d.data,c=4):window.ImageData&&e instanceof window.ImageData&&(d=e,a=e.width,o=e.height,l=d.data,c=4);if(s=Math.max(a,o),window.Uint8ClampedArray&&l instanceof window.Uint8ClampedArray||window.Uint8Array&&l instanceof window.Uint8Array)for(u=l,l=Array(a*o),p=0,v=Math.floor(u.length/c);p_He});function _He(e,t={}){if(!(0,yHe.default)(e))throw Error("Invalid SVG path");let r,i;t.shape||Array.isArray(t)?[r,i]=t.shape||t:(r=IQ.width=t.width||t.w||200,i=IQ.height=t.height||t.h||200);let n=Math.min(r,i),a=t.stroke||0,o=t.viewbox||t.viewBox||(0,mHe.default)(e),s=[r/(o[2]-o[0]),i/(o[3]-o[1])],l=Math.min(s[0]||0,s[1]||0)/2;pv.fillStyle="black",pv.fillRect(0,0,r,i),pv.fillStyle="white",a&&(typeof a!="number"&&(a=1),pv.strokeStyle=a>0?"white":"black",pv.lineWidth=Math.abs(a)),pv.translate(r*.5,i*.5),pv.scale(l,l);let u=new Path2D(e);return pv.fill(u),a&&pv.stroke(u),pv.setTransform(1,0,0,1,0,0),(0,xHe.default)(pv,{cutoff:t.cutoff!=null?t.cutoff:.5,radius:t.radius!=null?t.radius:n*.5})}var mHe,yHe,xHe,IQ,pv,wHe=Ea(()=>{mHe=nd(hHe()),yHe=nd(PQ()),xHe=nd(gHe()),IQ=document.createElement("canvas"),pv=IQ.getContext("2d",{willReadFrequently:!0})});var kb=W((T$r,PHe)=>{"use strict";var hR=sn(),lar=(wHe(),Go(bHe)).default,{normalize:fR}=ni(),uar=yi(),U4=it(),Rl=U4.isArrayOrTypedArray,O4=Ji(),THe=Cs(),AHe=sm().formatColor,N4=$o(),car=fA(),zQ=aR(),AE=C2(),far=kg().DESELECTDIM,MHe={start:1,left:1,end:-1,right:-1,middle:0,center:0,bottom:1,top:-1},har=Kf().appendArrayPointValue;function dar(e,t){var r,i={marker:void 0,markerSel:void 0,markerUnsel:void 0,line:void 0,fill:void 0,errorX:void 0,errorY:void 0,text:void 0,textSel:void 0,textUnsel:void 0},n=e._context.plotGlPixelRatio;if(t.visible!==!0)return i;if(N4.hasText(t)&&(i.text=LHe(e,t),i.textSel=EHe(e,t,t.selected),i.textUnsel=EHe(e,t,t.unselected)),N4.hasMarkers(t)&&(i.marker=qQ(e,t),i.markerSel=BQ(e,t,t.selected),i.markerUnsel=BQ(e,t,t.unselected),!t.unselected&&Rl(t.marker.opacity))){var a=t.marker.opacity;for(i.markerUnsel.opacity=new Array(a.length),r=0;r500?"bold":"normal":e}function qQ(e,t){var r=t._length,i=t.marker,n={},a,o=Rl(i.symbol),s=Rl(i.angle),l=Rl(i.color),u=Rl(i.line.color),c=Rl(i.opacity),f=Rl(i.size),h=Rl(i.line.width),d;if(o||(d=zQ.isOpenSymbol(i.symbol)),o||l||u||c||s){n.symbols=new Array(r),n.angles=new Array(r),n.colors=new Array(r),n.borderColors=new Array(r);var p=i.symbol,v=i.angle,m=AHe(i,i.opacity,r),g=AHe(i.line,i.opacity,r);if(!Rl(g[0])){var w=g;for(g=Array(r),a=0;aAE.TOO_MANY_POINTS||N4.hasMarkers(t)?"rect":"round";if(u&&t.connectgaps){var f=a[0],h=a[1];for(o=0;o1?l[o]:l[0]:l,d=Rl(u)?u.length>1?u[o]:u[0]:u,p=MHe[h],v=MHe[d],m=c?c/.8+1:0,g=-v*m-v*.5;a.offset[o]=[p*m/f,g/f]}}return a}PHe.exports={style:dar,markerStyle:qQ,markerSelection:BQ,linePositions:gar,errorBarPositions:mar,textPosition:yar}});var OQ=W((A$r,IHe)=>{"use strict";var dR=it();IHe.exports=function(t,r){var i=r._scene,n={count:0,dirty:!0,lineOptions:[],fillOptions:[],markerOptions:[],markerSelectedOptions:[],markerUnselectedOptions:[],errorXOptions:[],errorYOptions:[],textOptions:[],textSelectedOptions:[],textUnselectedOptions:[],selectBatch:[],unselectBatch:[]},a={fill2d:!1,scatter2d:!1,error2d:!1,line2d:!1,glText:!1,select2d:!1};return r._scene||(i=r._scene={},i.init=function(){dR.extendFlat(i,a,n)},i.init(),i.update=function(s){var l=dR.repeat(s,i.count);if(i.fill2d&&i.fill2d.update(l),i.scatter2d&&i.scatter2d.update(l),i.line2d&&i.line2d.update(l),i.error2d&&i.error2d.update(l.concat(l)),i.select2d&&i.select2d.update(l),i.glText)for(var u=0;u{"use strict";var xar=lR(),V4=it(),RHe=Cs(),_ar=Op().findExtremes,zHe=Wp(),NQ=Td(),bar=NQ.calcMarkerSize,war=NQ.calcAxisExpansion,Tar=NQ.setFirstScatter,Aar=wd(),G4=kb(),Mar=OQ(),BHe=Kn().BADNUM,Sar=C2().TOO_MANY_POINTS;OHe.exports=function(t,r){var i=t._fullLayout,n=r._xA=RHe.getFromId(t,r.xaxis,"x"),a=r._yA=RHe.getFromId(t,r.yaxis,"y"),o=i._plots[r.xaxis+r.yaxis],s=r._length,l=s>=Sar,u=s*2,c={},f,h=n.makeCalcdata(r,"x"),d=a.makeCalcdata(r,"y"),p=zHe(r,n,"x",h),v=zHe(r,a,"y",d),m=p.vals,g=v.vals;r._x=m,r._y=g,r.xperiodalignment&&(r._origX=h,r._xStarts=p.starts,r._xEnds=p.ends),r.yperiodalignment&&(r._origY=d,r._yStarts=v.starts,r._yEnds=v.ends);var w=new Array(u),b=new Array(s);for(f=0;f1&&V4.extendFlat(o.line,G4.linePositions(e,r,i)),o.errorX||o.errorY){var s=G4.errorBarPositions(e,r,i,n,a);o.errorX&&V4.extendFlat(o.errorX,s.x),o.errorY&&V4.extendFlat(o.errorY,s.y)}return o.text&&(V4.extendFlat(o.text,{positions:i},G4.textPosition(e,r,o.text,o.marker)),V4.extendFlat(o.textSel,{positions:i},G4.textPosition(e,r,o.text,o.markerSel)),V4.extendFlat(o.textUnsel,{positions:i},G4.textPosition(e,r,o.text,o.markerUnsel))),o}});var UQ=W((S$r,VHe)=>{"use strict";var UHe=it(),kar=ni(),Car=kg().DESELECTDIM;function Dar(e){var t=e[0],r=t.trace,i=t.t,n=i._scene,a=i.index,o=n.selectBatch[a],s=n.unselectBatch[a],l=n.textOptions[a],u=n.textSelectedOptions[a]||{},c=n.textUnselectedOptions[a]||{},f=UHe.extendFlat({},l),h,d;if(o.length||s.length){var p=u.color,v=c.color,m=l.color,g=UHe.isArrayOrTypedArray(m);for(f.color=new Array(r._length),h=0;h{"use strict";var GHe=$o(),Far=UQ().styleTextSelection;HHe.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=[],s=i[0].trace,l=i[0].t,u=s._length,c=l.x,f=l.y,h=l._scene,d=l.index;if(!h)return o;var p=GHe.hasText(s),v=GHe.hasMarkers(s),m=!v&&!p;if(s.visible!==!0||m)return o;var g=[],w=[];if(r!==!1&&!r.degenerate)for(var b=0;b{"use strict";var Lar=nR();jHe.exports={moduleType:"trace",name:"scattergl",basePlotModule:dl(),categories:["gl","regl","cartesian","symbols","errorBarsOK","showLegend","scatter-like"],attributes:_E(),supplyDefaults:EGe(),crossTraceDefaults:Dj(),colorbar:Ac(),formatLabels:CGe(),calc:NHe(),hoverPoints:Lar.hoverPoints,selectPoints:VQ(),meta:{}}});var YHe=W((C$r,WHe)=>{"use strict";WHe.exports={aliceblue:[240,248,255],antiquewhite:[250,235,215],aqua:[0,255,255],aquamarine:[127,255,212],azure:[240,255,255],beige:[245,245,220],bisque:[255,228,196],black:[0,0,0],blanchedalmond:[255,235,205],blue:[0,0,255],blueviolet:[138,43,226],brown:[165,42,42],burlywood:[222,184,135],cadetblue:[95,158,160],chartreuse:[127,255,0],chocolate:[210,105,30],coral:[255,127,80],cornflowerblue:[100,149,237],cornsilk:[255,248,220],crimson:[220,20,60],cyan:[0,255,255],darkblue:[0,0,139],darkcyan:[0,139,139],darkgoldenrod:[184,134,11],darkgray:[169,169,169],darkgreen:[0,100,0],darkgrey:[169,169,169],darkkhaki:[189,183,107],darkmagenta:[139,0,139],darkolivegreen:[85,107,47],darkorange:[255,140,0],darkorchid:[153,50,204],darkred:[139,0,0],darksalmon:[233,150,122],darkseagreen:[143,188,143],darkslateblue:[72,61,139],darkslategray:[47,79,79],darkslategrey:[47,79,79],darkturquoise:[0,206,209],darkviolet:[148,0,211],deeppink:[255,20,147],deepskyblue:[0,191,255],dimgray:[105,105,105],dimgrey:[105,105,105],dodgerblue:[30,144,255],firebrick:[178,34,34],floralwhite:[255,250,240],forestgreen:[34,139,34],fuchsia:[255,0,255],gainsboro:[220,220,220],ghostwhite:[248,248,255],gold:[255,215,0],goldenrod:[218,165,32],gray:[128,128,128],green:[0,128,0],greenyellow:[173,255,47],grey:[128,128,128],honeydew:[240,255,240],hotpink:[255,105,180],indianred:[205,92,92],indigo:[75,0,130],ivory:[255,255,240],khaki:[240,230,140],lavender:[230,230,250],lavenderblush:[255,240,245],lawngreen:[124,252,0],lemonchiffon:[255,250,205],lightblue:[173,216,230],lightcoral:[240,128,128],lightcyan:[224,255,255],lightgoldenrodyellow:[250,250,210],lightgray:[211,211,211],lightgreen:[144,238,144],lightgrey:[211,211,211],lightpink:[255,182,193],lightsalmon:[255,160,122],lightseagreen:[32,178,170],lightskyblue:[135,206,250],lightslategray:[119,136,153],lightslategrey:[119,136,153],lightsteelblue:[176,196,222],lightyellow:[255,255,224],lime:[0,255,0],limegreen:[50,205,50],linen:[250,240,230],magenta:[255,0,255],maroon:[128,0,0],mediumaquamarine:[102,205,170],mediumblue:[0,0,205],mediumorchid:[186,85,211],mediumpurple:[147,112,219],mediumseagreen:[60,179,113],mediumslateblue:[123,104,238],mediumspringgreen:[0,250,154],mediumturquoise:[72,209,204],mediumvioletred:[199,21,133],midnightblue:[25,25,112],mintcream:[245,255,250],mistyrose:[255,228,225],moccasin:[255,228,181],navajowhite:[255,222,173],navy:[0,0,128],oldlace:[253,245,230],olive:[128,128,0],olivedrab:[107,142,35],orange:[255,165,0],orangered:[255,69,0],orchid:[218,112,214],palegoldenrod:[238,232,170],palegreen:[152,251,152],paleturquoise:[175,238,238],palevioletred:[219,112,147],papayawhip:[255,239,213],peachpuff:[255,218,185],peru:[205,133,63],pink:[255,192,203],plum:[221,160,221],powderblue:[176,224,230],purple:[128,0,128],rebeccapurple:[102,51,153],red:[255,0,0],rosybrown:[188,143,143],royalblue:[65,105,225],saddlebrown:[139,69,19],salmon:[250,128,114],sandybrown:[244,164,96],seagreen:[46,139,87],seashell:[255,245,238],sienna:[160,82,45],silver:[192,192,192],skyblue:[135,206,235],slateblue:[106,90,205],slategray:[112,128,144],slategrey:[112,128,144],snow:[255,250,250],springgreen:[0,255,127],steelblue:[70,130,180],tan:[210,180,140],teal:[0,128,128],thistle:[216,191,216],tomato:[255,99,71],turquoise:[64,224,208],violet:[238,130,238],wheat:[245,222,179],white:[255,255,255],whitesmoke:[245,245,245],yellow:[255,255,0],yellowgreen:[154,205,50]}});var JHe=W((D$r,KHe)=>{"use strict";var XHe=YHe();KHe.exports=Par;var ZHe={red:0,orange:60,yellow:120,green:180,blue:240,purple:300};function Par(e){var t,r=[],i=1,n;if(typeof e=="string")if(e=e.toLowerCase(),XHe[e])r=XHe[e].slice(),n="rgb";else if(e==="transparent")i=0,n="rgb",r=[0,0,0];else if(/^#[A-Fa-f0-9]+$/.test(e)){var a=e.slice(1),o=a.length,s=o<=4;i=1,s?(r=[parseInt(a[0]+a[0],16),parseInt(a[1]+a[1],16),parseInt(a[2]+a[2],16)],o===4&&(i=parseInt(a[3]+a[3],16)/255)):(r=[parseInt(a[0]+a[1],16),parseInt(a[2]+a[3],16),parseInt(a[4]+a[5],16)],o===8&&(i=parseInt(a[6]+a[7],16)/255)),r[0]||(r[0]=0),r[1]||(r[1]=0),r[2]||(r[2]=0),n="rgb"}else if(t=/^((?:rgb|hs[lvb]|hwb|cmyk?|xy[zy]|gray|lab|lchu?v?|[ly]uv|lms)a?)\s*\(([^\)]*)\)/.exec(e)){var l=t[1],u=l==="rgb",a=l.replace(/a$/,"");n=a;var o=a==="cmyk"?4:a==="gray"?1:3;r=t[2].trim().split(/\s*[,\/]\s*|\s+/).map(function(h,d){if(/%$/.test(h))return d===o?parseFloat(h)/100:a==="rgb"?parseFloat(h)*255/100:parseFloat(h);if(a[d]==="h"){if(/deg$/.test(h))return parseFloat(h);if(ZHe[h]!==void 0)return ZHe[h]}return parseFloat(h)}),l===a&&r.push(1),i=u||r[o]===void 0?1:r[o],r=r.slice(0,o)}else e.length>10&&/[0-9](?:\s|\/)/.test(e)&&(r=e.match(/([0-9]+)/g).map(function(c){return parseFloat(c)}),n=e.match(/([a-z])/ig).join("").toLowerCase());else isNaN(e)?Array.isArray(e)||e.length?(r=[e[0],e[1],e[2]],n="rgb",i=e.length===4?e[3]:1):e instanceof Object&&(e.r!=null||e.red!=null||e.R!=null?(n="rgb",r=[e.r||e.red||e.R||0,e.g||e.green||e.G||0,e.b||e.blue||e.B||0]):(n="hsl",r=[e.h||e.hue||e.H||0,e.s||e.saturation||e.S||0,e.l||e.lightness||e.L||e.b||e.brightness]),i=e.a||e.alpha||e.opacity||1,e.opacity!=null&&(i/=100)):(n="rgb",r=[e>>>16,(e&65280)>>>8,e&255]);return{space:n,values:r,alpha:i}}});var eje=W((F$r,QHe)=>{"use strict";var Iar=JHe();QHe.exports=function(t){Array.isArray(t)&&t.raw&&(t=String.raw.apply(null,arguments));var r,i,n,a=Iar(t);if(!a.space)return[];var o=[0,0,0],s=a.space[0]==="h"?[360,100,100]:[255,255,255];return r=Array(3),r[0]=Math.min(Math.max(a.values[0],o[0]),s[0]),r[1]=Math.min(Math.max(a.values[1],o[1]),s[1]),r[2]=Math.min(Math.max(a.values[2],o[2]),s[2]),a.space[0]==="h"&&(r=Rar(r)),r.push(Math.min(Math.max(a.alpha,0),1)),r};function Rar(e){var t=e[0]/360,r=e[1]/100,i=e[2]/100,n,a,o,s,l,u=0;if(r===0)return l=i*255,[l,l,l];for(a=i<.5?i*(1+r):i+r-i*r,n=2*i-a,s=[0,0,0];u<3;)o=t+1/3*-(u-1),o<0?o++:o>1&&o--,l=6*o<1?n+(a-n)*6*o:2*o<1?a:3*o<2?n+(a-n)*(2/3-o)*6:n,s[u++]=l*255;return s}});var ME=W((L$r,tje)=>{"use strict";var zar=eje(),Bar=sR();tje.exports=function(t,r){(r==="float"||!r)&&(r="array"),r==="uint"&&(r="uint8"),r==="uint_clamped"&&(r="uint8_clamped");var i=Bar(r),n=new i(4),a=r!=="uint8"&&r!=="uint8_clamped";return(!t.length||typeof t=="string")&&(t=zar(t),t[0]/=255,t[1]/=255,t[2]/=255),qar(t)?(n[0]=t[0],n[1]=t[1],n[2]=t[2],n[3]=t[3]!=null?t[3]:255,a&&(n[0]/=255,n[1]/=255,n[2]/=255,n[3]/=255),n):(a?(n[0]=t[0],n[1]=t[1],n[2]=t[2],n[3]=t[3]!=null?t[3]:1):(n[0]=Math.min(Math.max(Math.floor(t[0]*255),0),255),n[1]=Math.min(Math.max(Math.floor(t[1]*255),0),255),n[2]=Math.min(Math.max(Math.floor(t[2]*255),0),255),n[3]=t[3]==null?255:Math.min(Math.max(Math.floor(t[3]*255),0),255)),n)};function qar(e){return!!(e instanceof Uint8Array||e instanceof Uint8ClampedArray||Array.isArray(e)&&(e[0]>1||e[0]===0)&&(e[1]>1||e[1]===0)&&(e[2]>1||e[2]===0)&&(!e[3]||e[3]>1))}});var ije=W((P$r,vR)=>{"use strict";var pR=kQ();vR.exports=rje;vR.exports.to=rje;vR.exports.from=Oar;function rje(e,t){t==null&&(t=!0);var r=e[0],i=e[1],n=e[2],a=e[3];a==null&&(a=t?1:255),t&&(r*=255,i*=255,n*=255,a*=255),r=pR(r,0,255)&255,i=pR(i,0,255)&255,n=pR(n,0,255)&255,a=pR(a,0,255)&255;var o=r*16777216+(i<<16)+(n<<8)+a;return o}function Oar(e,t){e=+e;var r=e>>>24,i=(e&16711680)>>>16,n=(e&65280)>>>8,a=e&255;return t===!1?[r,i,n,a]:[r/255,i/255,n/255,a/255]}});var aje=W((I$r,nje)=>{nje.exports=function(e){typeof e=="string"&&(e=[e]);for(var t=[].slice.call(arguments,1),r=[],i=0;i{"use strict";oje.exports=function(t,r,i){Array.isArray(i)||(i=[].slice.call(arguments,2));for(var n=0,a=i.length;n{"use strict";H4.exports=SE;H4.exports.float32=H4.exports.float=SE;H4.exports.fract32=H4.exports.fract=Nar;var sje=new Float32Array(1);function Nar(e,t){if(e.length){if(e instanceof Float32Array)return new Float32Array(e.length);t instanceof Float32Array||(t=SE(e));for(var r=0,i=t.length;r{"use strict";var Uar=ME(),Var=Mb(),Gar=ije(),Har=lR(),mR=aje(),jar=N1(),$ar=GQ(),War=Sb(),yR=gR(),Yar=q4(),Xar=Fc;function Fc(e,t){if(!(this instanceof Fc))return new Fc(e,t);typeof e=="function"?(t||(t={}),t.regl=e):(t=e,e=null),t&&t.length&&(t.positions=t),e=t.regl;let r=e._gl,i,n=[],a={},o=[],s=[null],l=[null],u=255,c=100;this.tooManyColors=!1,i=e.texture({data:new Uint8Array(u*4),width:u,height:1,type:"uint8",format:"rgba",wrapS:"clamp",wrapT:"clamp",mag:"nearest",min:"nearest"}),Object.assign(this,{regl:e,gl:r,groups:o,markerCache:l,markerTextures:s,palette:n,paletteIds:a,paletteTexture:i,maxColors:u,maxSize:c,canvas:r.canvas}),this.update(t);let f={uniforms:{constPointSize:!!t.constPointSize,opacity:e.prop("opacity"),paletteSize:(p,v)=>[this.tooManyColors?0:u,i.height],pixelRatio:e.context("pixelRatio"),scale:e.prop("scale"),scaleFract:e.prop("scaleFract"),translate:e.prop("translate"),translateFract:e.prop("translateFract"),markerTexture:e.prop("markerTexture"),paletteTexture:i},attributes:{x:(p,v)=>v.xAttr||{buffer:v.positionBuffer,stride:8,offset:0},y:(p,v)=>v.yAttr||{buffer:v.positionBuffer,stride:8,offset:4},xFract:(p,v)=>v.xAttr?{constant:[0,0]}:{buffer:v.positionFractBuffer,stride:8,offset:0},yFract:(p,v)=>v.yAttr?{constant:[0,0]}:{buffer:v.positionFractBuffer,stride:8,offset:4},size:(p,v)=>v.size.length?{buffer:v.sizeBuffer,stride:2,offset:0}:{constant:[Math.round(v.size*255/this.maxSize)]},borderSize:(p,v)=>v.borderSize.length?{buffer:v.sizeBuffer,stride:2,offset:1}:{constant:[Math.round(v.borderSize*255/this.maxSize)]},colorId:(p,v)=>v.color.length?{buffer:v.colorBuffer,stride:this.tooManyColors?8:4,offset:0}:{constant:this.tooManyColors?n.slice(v.color*4,v.color*4+4):[v.color]},borderColorId:(p,v)=>v.borderColor.length?{buffer:v.colorBuffer,stride:this.tooManyColors?8:4,offset:this.tooManyColors?4:2}:{constant:this.tooManyColors?n.slice(v.borderColor*4,v.borderColor*4+4):[v.borderColor]},isActive:(p,v)=>v.activation===!0?{constant:[1]}:v.activation?v.activation:{constant:[0]}},blend:{enable:!0,color:[0,0,0,1],func:{srcRGB:"src alpha",dstRGB:"one minus src alpha",srcAlpha:"one minus dst alpha",dstAlpha:"one"}},scissor:{enable:!0,box:e.prop("viewport")},viewport:e.prop("viewport"),stencil:{enable:!1},depth:{enable:!1},elements:e.prop("elements"),count:e.prop("count"),offset:e.prop("offset"),primitive:"points"},h=Object.assign({},f);h.frag=mR([`precision highp float; +#define GLSLIFY 1 + +uniform float opacity; +uniform sampler2D markerTexture; + +varying vec4 fragColor, fragBorderColor; +varying float fragWidth, fragBorderColorLevel, fragColorLevel; + +float smoothStep(float x, float y) { + return 1.0 / (1.0 + exp(50.0*(x - y))); +} + +void main() { + float dist = texture2D(markerTexture, gl_PointCoord).r, delta = fragWidth; + + // max-distance alpha + if (dist < 0.003) discard; + + // null-border case + if (fragBorderColorLevel == fragColorLevel || fragBorderColor.a == 0.) { + float colorAmt = smoothstep(.5 - delta, .5 + delta, dist); + gl_FragColor = vec4(fragColor.rgb, colorAmt * fragColor.a * opacity); + } + else { + float borderColorAmt = smoothstep(fragBorderColorLevel - delta, fragBorderColorLevel + delta, dist); + float colorAmt = smoothstep(fragColorLevel - delta, fragColorLevel + delta, dist); + + vec4 color = fragBorderColor; + color.a *= borderColorAmt; + color = mix(color, fragColor, colorAmt); + color.a *= opacity; + + gl_FragColor = color; + } + +} +`]),h.vert=mR([`precision highp float; +#define GLSLIFY 1 + +attribute float x, y, xFract, yFract; +attribute float size, borderSize; +attribute vec4 colorId, borderColorId; +attribute float isActive; + +// \`invariant\` effectively turns off optimizations for the position. +// We need this because -fast-math on M1 Macs is re-ordering +// floating point operations in a way that causes floating point +// precision limits to put points in the wrong locations. +invariant gl_Position; + +uniform bool constPointSize; +uniform float pixelRatio; +uniform vec2 scale, scaleFract, translate, translateFract, paletteSize; +uniform sampler2D paletteTexture; + +const float maxSize = 100.; +const float borderLevel = .5; + +varying vec4 fragColor, fragBorderColor; +varying float fragPointSize, fragBorderRadius, fragWidth, fragBorderColorLevel, fragColorLevel; + +float pointSizeScale = (constPointSize) ? 2. : pixelRatio; + +bool isDirect = (paletteSize.x < 1.); + +vec4 getColor(vec4 id) { + return isDirect ? id / 255. : texture2D(paletteTexture, + vec2( + (id.x + .5) / paletteSize.x, + (id.y + .5) / paletteSize.y + ) + ); +} + +void main() { + // ignore inactive points + if (isActive == 0.) return; + + vec2 position = vec2(x, y); + vec2 positionFract = vec2(xFract, yFract); + + vec4 color = getColor(colorId); + vec4 borderColor = getColor(borderColorId); + + float size = size * maxSize / 255.; + float borderSize = borderSize * maxSize / 255.; + + gl_PointSize = 2. * size * pointSizeScale; + fragPointSize = size * pixelRatio; + + vec2 pos = (position + translate) * scale + + (positionFract + translateFract) * scale + + (position + translate) * scaleFract + + (positionFract + translateFract) * scaleFract; + + gl_Position = vec4(pos * 2. - 1., 0., 1.); + + fragColor = color; + fragBorderColor = borderColor; + fragWidth = 1. / gl_PointSize; + + fragBorderColorLevel = clamp(borderLevel - borderLevel * borderSize / size, 0., 1.); + fragColorLevel = clamp(borderLevel + (1. - borderLevel) * borderSize / size, 0., 1.); +} +`]),this.drawMarker=e(h);let d=Object.assign({},f);d.frag=mR([`precision highp float; +#define GLSLIFY 1 + +varying vec4 fragColor, fragBorderColor; +varying float fragBorderRadius, fragWidth; + +uniform float opacity; + +float smoothStep(float edge0, float edge1, float x) { + float t; + t = clamp((x - edge0) / (edge1 - edge0), 0.0, 1.0); + return t * t * (3.0 - 2.0 * t); +} + +void main() { + float radius, alpha = 1.0, delta = fragWidth; + + radius = length(2.0 * gl_PointCoord.xy - 1.0); + + if (radius > 1.0 + delta) { + discard; + } + + alpha -= smoothstep(1.0 - delta, 1.0 + delta, radius); + + float borderRadius = fragBorderRadius; + float ratio = smoothstep(borderRadius - delta, borderRadius + delta, radius); + vec4 color = mix(fragColor, fragBorderColor, ratio); + color.a *= alpha * opacity; + gl_FragColor = color; +} +`]),d.vert=mR([`precision highp float; +#define GLSLIFY 1 + +attribute float x, y, xFract, yFract; +attribute float size, borderSize; +attribute vec4 colorId, borderColorId; +attribute float isActive; + +// \`invariant\` effectively turns off optimizations for the position. +// We need this because -fast-math on M1 Macs is re-ordering +// floating point operations in a way that causes floating point +// precision limits to put points in the wrong locations. +invariant gl_Position; + +uniform bool constPointSize; +uniform float pixelRatio; +uniform vec2 paletteSize, scale, scaleFract, translate, translateFract; +uniform sampler2D paletteTexture; + +const float maxSize = 100.; + +varying vec4 fragColor, fragBorderColor; +varying float fragBorderRadius, fragWidth; + +float pointSizeScale = (constPointSize) ? 2. : pixelRatio; + +bool isDirect = (paletteSize.x < 1.); + +vec4 getColor(vec4 id) { + return isDirect ? id / 255. : texture2D(paletteTexture, + vec2( + (id.x + .5) / paletteSize.x, + (id.y + .5) / paletteSize.y + ) + ); +} + +void main() { + // ignore inactive points + if (isActive == 0.) return; + + vec2 position = vec2(x, y); + vec2 positionFract = vec2(xFract, yFract); + + vec4 color = getColor(colorId); + vec4 borderColor = getColor(borderColorId); + + float size = size * maxSize / 255.; + float borderSize = borderSize * maxSize / 255.; + + gl_PointSize = (size + borderSize) * pointSizeScale; + + vec2 pos = (position + translate) * scale + + (positionFract + translateFract) * scale + + (position + translate) * scaleFract + + (positionFract + translateFract) * scaleFract; + + gl_Position = vec4(pos * 2. - 1., 0., 1.); + + fragBorderRadius = 1. - 2. * borderSize / (size + borderSize); + fragColor = color; + fragBorderColor = borderColor.a == 0. || borderSize == 0. ? vec4(color.rgb, 0.) : borderColor; + fragWidth = 1. / gl_PointSize; +} +`]),this.drawCircle=e(d)}Fc.defaults={color:"black",borderColor:"transparent",borderSize:0,size:12,opacity:1,marker:void 0,viewport:null,range:null,pixelSize:null,count:0,offset:0,bounds:null,positions:[],snap:1e4};Fc.prototype.render=function(){return arguments.length&&this.update(...arguments),this.draw(),this};Fc.prototype.draw=function(){for(var e=arguments.length,t=new Array(e),r=0;r{this.drawItem(a)});return this};Fc.prototype.drawItem=function(e,t){let{groups:r}=this,i=r[e];if(typeof t=="number"&&(e=t,i=r[t],t=null),!(i&&i.count&&i.opacity))return;i.activation[0]&&this.drawCircle(this.getMarkerDrawOptions(0,i,t));let n=[];for(let a=1;a{let f=i[c];if(u===void 0)return f;u===null?u={positions:null}:typeof u=="function"?u={ondraw:u}:typeof u[0]=="number"&&(u={positions:u}),u=jar(u,{positions:"positions data points",snap:"snap cluster lod tree",size:"sizes size radius",borderSize:"borderSizes borderSize border-size bordersize borderWidth borderWidths border-width borderwidth stroke-width strokeWidth strokewidth outline",color:"colors color fill fill-color fillColor",borderColor:"borderColors borderColor stroke stroke-color strokeColor",marker:"markers marker shape",range:"range dataBox databox",viewport:"viewport viewPort viewBox viewbox",opacity:"opacity alpha transparency",bounds:"bound bounds boundaries limits",tooManyColors:"tooManyColors palette paletteMode optimizePalette enablePalette"}),u.positions===null&&(u.positions=[]),u.tooManyColors!=null&&(this.tooManyColors=u.tooManyColors),f||(i[c]=f={id:c,scale:null,translate:null,scaleFract:null,translateFract:null,activation:[],selectionBuffer:a.buffer({data:new Uint8Array(0),usage:"stream",type:"uint8"}),sizeBuffer:a.buffer({data:new Uint8Array(0),usage:"dynamic",type:"uint8"}),colorBuffer:a.buffer({data:new Uint8Array(0),usage:"dynamic",type:"uint8"}),positionBuffer:a.buffer({data:new Uint8Array(0),usage:"dynamic",type:"float"}),positionFractBuffer:a.buffer({data:new Uint8Array(0),usage:"dynamic",type:"float"})},u=Object.assign({},Fc.defaults,u)),u.positions&&!("marker"in u)&&(u.marker=f.marker,delete f.marker),u.marker&&!("positions"in u)&&(u.positions=f.positions,delete f.positions);let h=0,d=0;if($ar(f,u,[{snap:!0,size:(p,v)=>(p==null&&(p=Fc.defaults.size),h+=p&&p.length?1:0,p),borderSize:(p,v)=>(p==null&&(p=Fc.defaults.borderSize),h+=p&&p.length?1:0,p),opacity:parseFloat,color:(p,v)=>(p==null&&(p=Fc.defaults.color),p=this.updateColor(p),d++,p),borderColor:(p,v)=>(p==null&&(p=Fc.defaults.borderColor),p=this.updateColor(p),d++,p),bounds:(p,v,m)=>("range"in m||(m.range=null),p),positions:(p,v,m)=>{let{snap:g}=v,{positionBuffer:w,positionFractBuffer:b,selectionBuffer:_}=v;if(p.x||p.y)return p.x.length?v.xAttr={buffer:a.buffer(p.x),offset:0,stride:4,count:p.x.length}:v.xAttr={buffer:p.x.buffer,offset:p.x.offset*4||0,stride:(p.x.stride||1)*4,count:p.x.count},p.y.length?v.yAttr={buffer:a.buffer(p.y),offset:0,stride:4,count:p.y.length}:v.yAttr={buffer:p.y.buffer,offset:p.y.offset*4||0,stride:(p.y.stride||1)*4,count:p.y.count},v.count=Math.max(v.xAttr.count,v.yAttr.count),p;p=War(p,"float64");let M=v.count=Math.floor(p.length/2),x=v.bounds=M?Var(p,2):null;if(!m.range&&!v.range&&(delete v.range,m.range=x),!m.marker&&!v.marker&&(delete v.marker,m.marker=null),g&&(g===!0||M>g)?v.tree=Har(p,{bounds:x}):g&&g.length&&(v.tree=g),v.tree){let y={primitive:"points",usage:"static",data:v.tree,type:"uint32"};v.elements?v.elements(y):v.elements=a.elements(y)}var T=yR.float32(p);w({data:T,usage:"dynamic"});var A=yR.fract32(p,T);return b({data:A,usage:"dynamic"}),_({data:new Uint8Array(M),type:"uint8",usage:"stream"}),p}},{marker:(p,v,m)=>{let{activation:g}=v;if(g.forEach(w=>w&&w.destroy&&w.destroy()),g.length=0,!p||typeof p[0]=="number"){let w=this.addMarker(p);g[w]=!0}else{let w=[];for(let b=0,_=Math.min(p.length,v.count);b<_;b++){let M=this.addMarker(p[b]);w[M]||(w[M]=new Uint8Array(v.count)),w[M][b]=1}for(let b=0;b{let g=v.bounds;if(g)return p||(p=g),v.scale=[1/(p[2]-p[0]),1/(p[3]-p[1])],v.translate=[-p[0],-p[1]],v.scaleFract=yR.fract(v.scale),v.translateFract=yR.fract(v.translate),p},viewport:p=>Yar(p||[n.drawingBufferWidth,n.drawingBufferHeight])}]),h){let{count:p,size:v,borderSize:m,sizeBuffer:g}=f,w=new Uint8Array(p*2);if(v.length||m.length)for(let b=0;b=0)return n;let a;if(e instanceof Uint8Array||e instanceof Uint8ClampedArray)a=e;else{a=new Uint8Array(e.length);for(let s=0,l=e.length;si*4&&(this.tooManyColors=!0),this.updatePalette(r),n.length===1?n[0]:n};Fc.prototype.updatePalette=function(e){if(this.tooManyColors)return;let{maxColors:t,paletteTexture:r}=this,i=Math.ceil(e.length*.25/t);if(i>1){e=e.slice();for(let n=e.length*.25%t;n{e.sizeBuffer.destroy(),e.positionBuffer.destroy(),e.positionFractBuffer.destroy(),e.colorBuffer.destroy(),e.activation.forEach(t=>t&&t.destroy&&t.destroy()),e.selectionBuffer.destroy(),e.elements&&e.elements.destroy()}),this.groups.length=0,this.paletteTexture.destroy(),this.markerTextures.forEach(e=>e&&e.destroy&&e.destroy()),this};var Zar=function(e,t){var r=new Xar(e,t),i=r.render.bind(r);return Object.assign(i,{render:i,update:r.update.bind(r),draw:r.draw.bind(r),destroy:r.destroy.bind(r),regl:r.regl,gl:r.gl,canvas:r.gl.canvas,groups:r.groups,markers:r.markerCache,palette:r.palette}),i};lje.exports=Zar});var qu=W((q$r,cje)=>{"use strict";var uje=Object.getOwnPropertySymbols,Kar=Object.prototype.hasOwnProperty,Jar=Object.prototype.propertyIsEnumerable;function Qar(e){if(e==null)throw new TypeError("Object.assign cannot be called with null or undefined");return Object(e)}function eor(){try{if(!Object.assign)return!1;var e=new String("abc");if(e[5]="de",Object.getOwnPropertyNames(e)[0]==="5")return!1;for(var t={},r=0;r<10;r++)t["_"+String.fromCharCode(r)]=r;var i=Object.getOwnPropertyNames(t).map(function(a){return t[a]});if(i.join("")!=="0123456789")return!1;var n={};return"abcdefghijklmnopqrst".split("").forEach(function(a){n[a]=a}),Object.keys(Object.assign({},n)).join("")==="abcdefghijklmnopqrst"}catch(a){return!1}}cje.exports=eor()?Object.assign:function(e,t){for(var r,i=Qar(e),n,a=1;a{"use strict";YQ.exports=bR;YQ.exports.default=bR;function bR(e,t,r){r=r||2;var i=t&&t.length,n=i?t[0]*r:e.length,a=hje(e,0,n,r,!0),o=[];if(!a||a.next===a.prev)return o;var s,l,u,c,f,h,d;if(i&&(a=aor(e,t,a,r)),e.length>80*r){s=u=e[0],l=c=e[1];for(var p=r;pu&&(u=f),h>c&&(c=h);d=Math.max(u-s,c-l),d=d!==0?32767/d:0}return EE(a,o,r,s,l,d,0),o}function hje(e,t,r,i,n){var a,o;if(n===WQ(e,t,r,i)>0)for(a=t;a=t;a-=i)o=fje(a,e[a],e[a+1],o);return o&&wR(o,o.next)&&(CE(o),o=o.next),o}function Cb(e,t){if(!e)return e;t||(t=e);var r=e,i;do if(i=!1,!r.steiner&&(wR(r,r.next)||zl(r.prev,r,r.next)===0)){if(CE(r),r=t=r.prev,r===r.next)break;i=!0}else r=r.next;while(i||r!==t);return t}function EE(e,t,r,i,n,a,o){if(e){!o&&a&&cor(e,i,n,a);for(var s=e,l,u;e.prev!==e.next;){if(l=e.prev,u=e.next,a?ror(e,i,n,a):tor(e)){t.push(l.i/r|0),t.push(e.i/r|0),t.push(u.i/r|0),CE(e),e=u.next,s=u.next;continue}if(e=u,e===s){o?o===1?(e=ior(Cb(e),t,r),EE(e,t,r,i,n,a,2)):o===2&&nor(e,t,r,i,n,a):EE(Cb(e),t,r,i,n,a,1);break}}}}function tor(e){var t=e.prev,r=e,i=e.next;if(zl(t,r,i)>=0)return!1;for(var n=t.x,a=r.x,o=i.x,s=t.y,l=r.y,u=i.y,c=na?n>o?n:o:a>o?a:o,d=s>l?s>u?s:u:l>u?l:u,p=i.next;p!==t;){if(p.x>=c&&p.x<=h&&p.y>=f&&p.y<=d&&j4(n,s,a,l,o,u,p.x,p.y)&&zl(p.prev,p,p.next)>=0)return!1;p=p.next}return!0}function ror(e,t,r,i){var n=e.prev,a=e,o=e.next;if(zl(n,a,o)>=0)return!1;for(var s=n.x,l=a.x,u=o.x,c=n.y,f=a.y,h=o.y,d=sl?s>u?s:u:l>u?l:u,m=c>f?c>h?c:h:f>h?f:h,g=jQ(d,p,t,r,i),w=jQ(v,m,t,r,i),b=e.prevZ,_=e.nextZ;b&&b.z>=g&&_&&_.z<=w;){if(b.x>=d&&b.x<=v&&b.y>=p&&b.y<=m&&b!==n&&b!==o&&j4(s,c,l,f,u,h,b.x,b.y)&&zl(b.prev,b,b.next)>=0||(b=b.prevZ,_.x>=d&&_.x<=v&&_.y>=p&&_.y<=m&&_!==n&&_!==o&&j4(s,c,l,f,u,h,_.x,_.y)&&zl(_.prev,_,_.next)>=0))return!1;_=_.nextZ}for(;b&&b.z>=g;){if(b.x>=d&&b.x<=v&&b.y>=p&&b.y<=m&&b!==n&&b!==o&&j4(s,c,l,f,u,h,b.x,b.y)&&zl(b.prev,b,b.next)>=0)return!1;b=b.prevZ}for(;_&&_.z<=w;){if(_.x>=d&&_.x<=v&&_.y>=p&&_.y<=m&&_!==n&&_!==o&&j4(s,c,l,f,u,h,_.x,_.y)&&zl(_.prev,_,_.next)>=0)return!1;_=_.nextZ}return!0}function ior(e,t,r){var i=e;do{var n=i.prev,a=i.next.next;!wR(n,a)&&dje(n,i,i.next,a)&&kE(n,a)&&kE(a,n)&&(t.push(n.i/r|0),t.push(i.i/r|0),t.push(a.i/r|0),CE(i),CE(i.next),i=e=a),i=i.next}while(i!==e);return Cb(i)}function nor(e,t,r,i,n,a){var o=e;do{for(var s=o.next.next;s!==o.prev;){if(o.i!==s.i&&por(o,s)){var l=pje(o,s);o=Cb(o,o.next),l=Cb(l,l.next),EE(o,t,r,i,n,a,0),EE(l,t,r,i,n,a,0);return}s=s.next}o=o.next}while(o!==e)}function aor(e,t,r,i){var n=[],a,o,s,l,u;for(a=0,o=t.length;a=r.next.y&&r.next.y!==r.y){var s=r.x+(n-r.y)*(r.next.x-r.x)/(r.next.y-r.y);if(s<=i&&s>a&&(a=s,o=r.x=r.x&&r.x>=u&&i!==r.x&&j4(no.x||r.x===o.x&&uor(o,r)))&&(o=r,f=h)),r=r.next;while(r!==l);return o}function uor(e,t){return zl(e.prev,e,t.prev)<0&&zl(t.next,e,e.next)<0}function cor(e,t,r,i){var n=e;do n.z===0&&(n.z=jQ(n.x,n.y,t,r,i)),n.prevZ=n.prev,n.nextZ=n.next,n=n.next;while(n!==e);n.prevZ.nextZ=null,n.prevZ=null,hor(n)}function hor(e){var t,r,i,n,a,o,s,l,u=1;do{for(r=e,e=null,a=null,o=0;r;){for(o++,i=r,s=0,t=0;t0||l>0&&i;)s!==0&&(l===0||!i||r.z<=i.z)?(n=r,r=r.nextZ,s--):(n=i,i=i.nextZ,l--),a?a.nextZ=n:e=n,n.prevZ=a,a=n;r=i}a.nextZ=null,u*=2}while(o>1);return e}function jQ(e,t,r,i,n){return e=(e-r)*n|0,t=(t-i)*n|0,e=(e|e<<8)&16711935,e=(e|e<<4)&252645135,e=(e|e<<2)&858993459,e=(e|e<<1)&1431655765,t=(t|t<<8)&16711935,t=(t|t<<4)&252645135,t=(t|t<<2)&858993459,t=(t|t<<1)&1431655765,e|t<<1}function dor(e){var t=e,r=e;do(t.x=(e-o)*(a-s)&&(e-o)*(i-s)>=(r-o)*(t-s)&&(r-o)*(a-s)>=(n-o)*(i-s)}function por(e,t){return e.next.i!==t.i&&e.prev.i!==t.i&&!vor(e,t)&&(kE(e,t)&&kE(t,e)&&gor(e,t)&&(zl(e.prev,e,t.prev)||zl(e,t.prev,t))||wR(e,t)&&zl(e.prev,e,e.next)>0&&zl(t.prev,t,t.next)>0)}function zl(e,t,r){return(t.y-e.y)*(r.x-t.x)-(t.x-e.x)*(r.y-t.y)}function wR(e,t){return e.x===t.x&&e.y===t.y}function dje(e,t,r,i){var n=_R(zl(e,t,r)),a=_R(zl(e,t,i)),o=_R(zl(r,i,e)),s=_R(zl(r,i,t));return!!(n!==a&&o!==s||n===0&&xR(e,r,t)||a===0&&xR(e,i,t)||o===0&&xR(r,e,i)||s===0&&xR(r,t,i))}function xR(e,t,r){return t.x<=Math.max(e.x,r.x)&&t.x>=Math.min(e.x,r.x)&&t.y<=Math.max(e.y,r.y)&&t.y>=Math.min(e.y,r.y)}function _R(e){return e>0?1:e<0?-1:0}function vor(e,t){var r=e;do{if(r.i!==e.i&&r.next.i!==e.i&&r.i!==t.i&&r.next.i!==t.i&&dje(r,r.next,e,t))return!0;r=r.next}while(r!==e);return!1}function kE(e,t){return zl(e.prev,e,e.next)<0?zl(e,t,e.next)>=0&&zl(e,e.prev,t)>=0:zl(e,t,e.prev)<0||zl(e,e.next,t)<0}function gor(e,t){var r=e,i=!1,n=(e.x+t.x)/2,a=(e.y+t.y)/2;do r.y>a!=r.next.y>a&&r.next.y!==r.y&&n<(r.next.x-r.x)*(a-r.y)/(r.next.y-r.y)+r.x&&(i=!i),r=r.next;while(r!==e);return i}function pje(e,t){var r=new $Q(e.i,e.x,e.y),i=new $Q(t.i,t.x,t.y),n=e.next,a=t.prev;return e.next=t,t.prev=e,r.next=n,n.prev=r,i.next=r,r.prev=i,a.next=i,i.prev=a,i}function fje(e,t,r,i){var n=new $Q(e,t,r);return i?(n.next=i.next,n.prev=i,i.next.prev=n,i.next=n):(n.prev=n,n.next=n),n}function CE(e){e.next.prev=e.prev,e.prev.next=e.next,e.prevZ&&(e.prevZ.nextZ=e.nextZ),e.nextZ&&(e.nextZ.prevZ=e.prevZ)}function $Q(e,t,r){this.i=e,this.x=t,this.y=r,this.prev=null,this.next=null,this.z=0,this.prevZ=null,this.nextZ=null,this.steiner=!1}bR.deviation=function(e,t,r,i){var n=t&&t.length,a=n?t[0]*r:e.length,o=Math.abs(WQ(e,0,a,r));if(n)for(var s=0,l=t.length;s0&&(i+=e[n-1].length,r.holes.push(i))}return r}});var mje=W((N$r,gje)=>{"use strict";var mor=Mb();gje.exports=yor;function yor(e,t,r){if(!e||e.length==null)throw Error("Argument should be an array");t==null&&(t=1),r==null&&(r=mor(e,t));for(var i=0;i{"use strict";yje.exports=function(){var e,t;if(typeof WeakMap!="function")return!1;try{e=new WeakMap([[t={},"one"],[{},"two"],[{},"three"]])}catch(r){return!1}return!(String(e)!=="[object WeakMap]"||typeof e.set!="function"||e.set({},1)!==e||typeof e.delete!="function"||typeof e.has!="function"||e.get(t)!=="one")}});var bje=W((V$r,_je)=>{"use strict";_je.exports=function(){}});var F2=W((G$r,wje)=>{"use strict";var xor=bje()();wje.exports=function(e){return e!==xor&&e!==null}});var XQ=W((H$r,Aje)=>{"use strict";var _or=Object.create,bor=Object.getPrototypeOf,Tje={};Aje.exports=function(){var e=Object.setPrototypeOf,t=arguments[0]||_or;return typeof e!="function"?!1:bor(e(t(null),Tje))===Tje}});var ZQ=W((j$r,Mje)=>{"use strict";var wor=F2(),Tor={function:!0,object:!0};Mje.exports=function(e){return wor(e)&&Tor[typeof e]||!1}});var hm=W(($$r,Sje)=>{"use strict";var Aor=F2();Sje.exports=function(e){if(!Aor(e))throw new TypeError("Cannot use null or undefined");return e}});var kje=W((W$r,Eje)=>{"use strict";var KQ=Object.create,TR;XQ()()||(TR=JQ());Eje.exports=(function(){var e,t,r;return!TR||TR.level!==1?KQ:(e={},t={},r={configurable:!1,enumerable:!1,writable:!0,value:void 0},Object.getOwnPropertyNames(Object.prototype).forEach(function(i){if(i==="__proto__"){t[i]={configurable:!0,enumerable:!1,writable:!0,value:void 0};return}t[i]=r}),Object.defineProperties(e,t),Object.defineProperty(TR,"nullPolyfill",{configurable:!1,enumerable:!1,writable:!1,value:e}),function(i,n){return KQ(i===null?e:i,n)})})()});var JQ=W((Y$r,Cje)=>{"use strict";var Mor=ZQ(),Sor=hm(),Eor=Object.prototype.isPrototypeOf,kor=Object.defineProperty,Cor={configurable:!0,enumerable:!1,writable:!0,value:void 0},AR;AR=function(e,t){if(Sor(e),t===null||Mor(t))return e;throw new TypeError("Prototype must be null or an object")};Cje.exports=(function(e){var t,r;return e?(e.level===2?e.set?(r=e.set,t=function(i,n){return r.call(AR(i,n),n),i}):t=function(i,n){return AR(i,n).__proto__=n,i}:t=function i(n,a){var o;return AR(n,a),o=Eor.call(i.nullPolyfill,n),o&&delete i.nullPolyfill.__proto__,a===null&&(a=i.nullPolyfill),n.__proto__=a,o&&kor(i.nullPolyfill,"__proto__",Cor),n},Object.defineProperty(t,"level",{configurable:!1,enumerable:!1,writable:!1,value:e.level})):null})((function(){var e=Object.create(null),t={},r,i=Object.getOwnPropertyDescriptor(Object.prototype,"__proto__");if(i){try{r=i.set,r.call(e,t)}catch(n){}if(Object.getPrototypeOf(e)===t)return{set:r,level:2}}return e.__proto__=t,Object.getPrototypeOf(e)===t?{level:2}:(e={},e.__proto__=t,Object.getPrototypeOf(e)===t?{level:1}:!1)})());kje()});var MR=W((X$r,Dje)=>{"use strict";Dje.exports=XQ()()?Object.setPrototypeOf:JQ()});var Lje=W((Z$r,Fje)=>{"use strict";var Dor=ZQ();Fje.exports=function(e){if(!Dor(e))throw new TypeError(e+" is not an Object");return e}});var Ije=W((K$r,Pje)=>{"use strict";var For=Object.create(null),Lor=Math.random;Pje.exports=function(){var e;do e=Lor().toString(36).slice(2);while(For[e]);return e}});var Db=W((J$r,Rje)=>{"use strict";var Por=void 0;Rje.exports=function(e){return e!==Por&&e!==null}});var QQ=W((Q$r,zje)=>{"use strict";var Ior=Db(),Ror={object:!0,function:!0,undefined:!0};zje.exports=function(e){return Ior(e)?hasOwnProperty.call(Ror,typeof e):!1}});var qje=W((eWr,Bje)=>{"use strict";var zor=QQ();Bje.exports=function(e){if(!zor(e))return!1;try{return e.constructor?e.constructor.prototype===e:!1}catch(t){return!1}}});var Nje=W((tWr,Oje)=>{"use strict";var Bor=qje();Oje.exports=function(e){if(typeof e!="function"||!hasOwnProperty.call(e,"length"))return!1;try{if(typeof e.length!="number"||typeof e.call!="function"||typeof e.apply!="function")return!1}catch(t){return!1}return!Bor(e)}});var eee=W((rWr,Uje)=>{"use strict";var qor=Nje(),Oor=/^\s*class[\s{/}]/,Nor=Function.prototype.toString;Uje.exports=function(e){return!(!qor(e)||Oor.test(Nor.call(e)))}});var Gje=W((iWr,Vje)=>{"use strict";Vje.exports=function(){var e=Object.assign,t;return typeof e!="function"?!1:(t={foo:"raz"},e(t,{bar:"dwa"},{trzy:"trzy"}),t.foo+t.bar+t.trzy==="razdwatrzy")}});var jje=W((nWr,Hje)=>{"use strict";Hje.exports=function(){try{return Object.keys("primitive"),!0}catch(e){return!1}}});var Wje=W((aWr,$je)=>{"use strict";var Uor=F2(),Vor=Object.keys;$je.exports=function(e){return Vor(Uor(e)?Object(e):e)}});var Xje=W((oWr,Yje)=>{"use strict";Yje.exports=jje()()?Object.keys:Wje()});var Kje=W((sWr,Zje)=>{"use strict";var Gor=Xje(),Hor=hm(),jor=Math.max;Zje.exports=function(e,t){var r,i,n=jor(arguments.length,2),a;for(e=Object(Hor(e)),a=function(o){try{e[o]=t[o]}catch(s){r||(r=s)}},i=1;i{"use strict";Jje.exports=Gje()()?Object.assign:Kje()});var tee=W((uWr,Qje)=>{"use strict";var $or=F2(),Wor=Array.prototype.forEach,Yor=Object.create,Xor=function(e,t){var r;for(r in e)t[r]=e[r]};Qje.exports=function(e){var t=Yor(null);return Wor.call(arguments,function(r){$or(r)&&Xor(Object(r),t)}),t}});var t$e=W((cWr,e$e)=>{"use strict";var ree="razdwatrzy";e$e.exports=function(){return typeof ree.contains!="function"?!1:ree.contains("dwa")===!0&&ree.contains("foo")===!1}});var i$e=W((fWr,r$e)=>{"use strict";var Zor=String.prototype.indexOf;r$e.exports=function(e){return Zor.call(this,e,arguments[1])>-1}});var iee=W((hWr,n$e)=>{"use strict";n$e.exports=t$e()()?String.prototype.contains:i$e()});var dm=W((dWr,l$e)=>{"use strict";var ER=Db(),a$e=eee(),o$e=SR(),s$e=tee(),DE=iee(),Kor=l$e.exports=function(e,t){var r,i,n,a,o;return arguments.length<2||typeof e!="string"?(a=t,t=e,e=null):a=arguments[2],ER(e)?(r=DE.call(e,"c"),i=DE.call(e,"e"),n=DE.call(e,"w")):(r=n=!0,i=!1),o={value:t,configurable:r,enumerable:i,writable:n},a?o$e(s$e(a),o):o};Kor.gs=function(e,t,r){var i,n,a,o;return typeof e!="string"?(a=r,r=t,t=e,e=null):a=arguments[3],ER(t)?a$e(t)?ER(r)?a$e(r)||(a=r,r=void 0):r=void 0:(a=t,t=r=void 0):t=void 0,ER(e)?(i=DE.call(e,"c"),n=DE.call(e,"e")):(i=!0,n=!1),o={get:t,set:r,configurable:i,enumerable:n},a?o$e(s$e(a),o):o}});var FE=W((pWr,c$e)=>{"use strict";var u$e=Object.prototype.toString,Jor=u$e.call((function(){return arguments})());c$e.exports=function(e){return u$e.call(e)===Jor}});var LE=W((vWr,h$e)=>{"use strict";var f$e=Object.prototype.toString,Qor=f$e.call("");h$e.exports=function(e){return typeof e=="string"||e&&typeof e=="object"&&(e instanceof String||f$e.call(e)===Qor)||!1}});var p$e=W((gWr,d$e)=>{"use strict";d$e.exports=function(){return typeof globalThis!="object"||!globalThis?!1:globalThis.Array===Array}});var m$e=W((mWr,g$e)=>{var v$e=function(){if(typeof self=="object"&&self)return self;if(typeof window=="object"&&window)return window;throw new Error("Unable to resolve global `this`")};g$e.exports=(function(){if(this)return this;try{Object.defineProperty(Object.prototype,"__global__",{get:function(){return this},configurable:!0})}catch(e){return v$e()}try{return __global__||v$e()}finally{delete Object.prototype.__global__}})()});var PE=W((yWr,y$e)=>{"use strict";y$e.exports=p$e()()?globalThis:m$e()});var _$e=W((xWr,x$e)=>{"use strict";var esr=PE(),nee={object:!0,symbol:!0};x$e.exports=function(){var e=esr.Symbol,t;if(typeof e!="function")return!1;t=e("test symbol");try{String(t)}catch(r){return!1}return!(!nee[typeof e.iterator]||!nee[typeof e.toPrimitive]||!nee[typeof e.toStringTag])}});var w$e=W((_Wr,b$e)=>{"use strict";b$e.exports=function(e){return e?typeof e=="symbol"?!0:!e.constructor||e.constructor.name!=="Symbol"?!1:e[e.constructor.toStringTag]==="Symbol":!1}});var aee=W((bWr,T$e)=>{"use strict";var tsr=w$e();T$e.exports=function(e){if(!tsr(e))throw new TypeError(e+" is not a symbol");return e}});var k$e=W((wWr,E$e)=>{"use strict";var A$e=dm(),rsr=Object.create,M$e=Object.defineProperty,isr=Object.prototype,S$e=rsr(null);E$e.exports=function(e){for(var t=0,r,i;S$e[e+(t||"")];)++t;return e+=t||"",S$e[e]=!0,r="@@"+e,M$e(isr,r,A$e.gs(null,function(n){i||(i=!0,M$e(this,r,A$e(n)),i=!1)})),r}});var D$e=W((TWr,C$e)=>{"use strict";var vv=dm(),Xl=PE().Symbol;C$e.exports=function(e){return Object.defineProperties(e,{hasInstance:vv("",Xl&&Xl.hasInstance||e("hasInstance")),isConcatSpreadable:vv("",Xl&&Xl.isConcatSpreadable||e("isConcatSpreadable")),iterator:vv("",Xl&&Xl.iterator||e("iterator")),match:vv("",Xl&&Xl.match||e("match")),replace:vv("",Xl&&Xl.replace||e("replace")),search:vv("",Xl&&Xl.search||e("search")),species:vv("",Xl&&Xl.species||e("species")),split:vv("",Xl&&Xl.split||e("split")),toPrimitive:vv("",Xl&&Xl.toPrimitive||e("toPrimitive")),toStringTag:vv("",Xl&&Xl.toStringTag||e("toStringTag")),unscopables:vv("",Xl&&Xl.unscopables||e("unscopables"))})}});var P$e=W((AWr,L$e)=>{"use strict";var F$e=dm(),nsr=aee(),IE=Object.create(null);L$e.exports=function(e){return Object.defineProperties(e,{for:F$e(function(t){return IE[t]?IE[t]:IE[t]=e(String(t))}),keyFor:F$e(function(t){var r;nsr(t);for(r in IE)if(IE[r]===t)return r})})}});var z$e=W((MWr,R$e)=>{"use strict";var U1=dm(),oee=aee(),kR=PE().Symbol,asr=k$e(),osr=D$e(),ssr=P$e(),lsr=Object.create,see=Object.defineProperties,CR=Object.defineProperty,Ff,$4,I$e;if(typeof kR=="function")try{String(kR()),I$e=!0}catch(e){}else kR=null;$4=function(t){if(this instanceof $4)throw new TypeError("Symbol is not a constructor");return Ff(t)};R$e.exports=Ff=function e(t){var r;if(this instanceof e)throw new TypeError("Symbol is not a constructor");return I$e?kR(t):(r=lsr($4.prototype),t=t===void 0?"":String(t),see(r,{__description__:U1("",t),__name__:U1("",asr(t))}))};osr(Ff);ssr(Ff);see($4.prototype,{constructor:U1(Ff),toString:U1("",function(){return this.__name__})});see(Ff.prototype,{toString:U1(function(){return"Symbol ("+oee(this).__description__+")"}),valueOf:U1(function(){return oee(this)})});CR(Ff.prototype,Ff.toPrimitive,U1("",function(){var e=oee(this);return typeof e=="symbol"?e:e.toString()}));CR(Ff.prototype,Ff.toStringTag,U1("c","Symbol"));CR($4.prototype,Ff.toStringTag,U1("c",Ff.prototype[Ff.toStringTag]));CR($4.prototype,Ff.toPrimitive,U1("c",Ff.prototype[Ff.toPrimitive]))});var L2=W((SWr,B$e)=>{"use strict";B$e.exports=_$e()()?PE().Symbol:z$e()});var O$e=W((EWr,q$e)=>{"use strict";var usr=hm();q$e.exports=function(){return usr(this).length=0,this}});var W4=W((kWr,N$e)=>{"use strict";N$e.exports=function(e){if(typeof e!="function")throw new TypeError(e+" is not a function");return e}});var V$e=W((CWr,U$e)=>{"use strict";var csr=Db(),fsr=QQ(),hsr=Object.prototype.toString;U$e.exports=function(e){if(!csr(e))return null;if(fsr(e)){var t=e.toString;if(typeof t!="function"||t===hsr)return null}try{return""+e}catch(r){return null}}});var H$e=W((DWr,G$e)=>{"use strict";G$e.exports=function(e){try{return e.toString()}catch(t){try{return String(e)}catch(r){return null}}}});var $$e=W((FWr,j$e)=>{"use strict";var dsr=H$e(),psr=/[\n\r\u2028\u2029]/g;j$e.exports=function(e){var t=dsr(e);return t===null?"":(t.length>100&&(t=t.slice(0,99)+"\u2026"),t=t.replace(psr,function(r){switch(r){case` +`:return"\\n";case"\r":return"\\r";case"\u2028":return"\\u2028";case"\u2029":return"\\u2029";default:throw new Error("Unexpected character")}}),t)}});var Y$e=W((LWr,W$e)=>{"use strict";var vsr=V$e(),gsr=$$e();W$e.exports=function(e,t,r){r&&r.errorMessage&&(e=vsr(r.errorMessage));var i=e.indexOf("%v"),n=i>-1?gsr(t):null;if(r&&r.name){var a=e.indexOf("%n");if(a>-1){if(i>-1){var o,s,l,u;return a>i?(o=n,l=i,s=r.name,u=a):(o=r.name,l=a,s=n,u=i),e.slice(0,l)+o+e.slice(l+2,u)+s+e.slice(u+2)}return e.slice(0,a)+r.name+e.slice(a+2)}}return i>-1?e.slice(0,i)+n+e.slice(i+2):e}});var lee=W((PWr,X$e)=>{"use strict";var msr=Db(),ysr=Y$e();X$e.exports=function(e,t,r){if(r&&!msr(e)){if("default"in r)return r.default;if(r.isOptional)return null}var i=r&&r.Error||TypeError,n=new i(ysr(t,e,r));throw r&&r.errorCode&&(n.code=r.errorCode),n}});var K$e=W((IWr,Z$e)=>{"use strict";var xsr=lee(),_sr=Db();Z$e.exports=function(e){if(_sr(e))return e;var t=arguments[1],r=t&&t.name?"Expected a value for %n, received %v":"Cannot use %v";return xsr(e,r,t)}});var Q$e=W((RWr,J$e)=>{"use strict";var bsr=lee(),wsr=eee();J$e.exports=function(e){if(wsr(e))return e;var t=arguments[1],r=t&&t.name?"Expected a plain function for %n, received %v":"%v is not a plain function";return bsr(e,r,t)}});var tWe=W((zWr,eWe)=>{"use strict";eWe.exports=function(){var e=Array.from,t,r;return typeof e!="function"?!1:(t=["raz","dwa"],r=e(t),!!(r&&r!==t&&r[1]==="dwa"))}});var iWe=W((BWr,rWe)=>{"use strict";var Tsr=Object.prototype.toString,Asr=RegExp.prototype.test.bind(/^[object [A-Za-z0-9]*Function]$/);rWe.exports=function(e){return typeof e=="function"&&Asr(Tsr.call(e))}});var aWe=W((qWr,nWe)=>{"use strict";nWe.exports=function(){var e=Math.sign;return typeof e!="function"?!1:e(10)===1&&e(-20)===-1}});var sWe=W((OWr,oWe)=>{"use strict";oWe.exports=function(e){return e=Number(e),isNaN(e)||e===0?e:e>0?1:-1}});var uWe=W((NWr,lWe)=>{"use strict";lWe.exports=aWe()()?Math.sign:sWe()});var fWe=W((UWr,cWe)=>{"use strict";var Msr=uWe(),Ssr=Math.abs,Esr=Math.floor;cWe.exports=function(e){return isNaN(e)?0:(e=Number(e),e===0||!isFinite(e)?e:Msr(e)*Esr(Ssr(e)))}});var dWe=W((VWr,hWe)=>{"use strict";var ksr=fWe(),Csr=Math.max;hWe.exports=function(e){return Csr(0,ksr(e))}});var mWe=W((GWr,gWe)=>{"use strict";var Dsr=L2().iterator,Fsr=FE(),Lsr=iWe(),Psr=dWe(),pWe=W4(),Isr=hm(),Rsr=F2(),zsr=LE(),vWe=Array.isArray,uee=Function.prototype.call,Fb={configurable:!0,enumerable:!0,writable:!0,value:null},cee=Object.defineProperty;gWe.exports=function(e){var t=arguments[1],r=arguments[2],i,n,a,o,s,l,u,c,f,h;if(e=Object(Isr(e)),Rsr(t)&&pWe(t),!this||this===Array||!Lsr(this)){if(!t){if(Fsr(e))return s=e.length,s!==1?Array.apply(null,e):(o=new Array(1),o[0]=e[0],o);if(vWe(e)){for(o=new Array(s=e.length),n=0;n=55296&&l<=56319&&(h+=e[++n])),h=t?uee.call(t,r,h,a):h,i?(Fb.value=h,cee(o,a,Fb)):o[a]=h,++a;s=a}}if(s===void 0)for(s=Psr(e.length),i&&(o=new i(s)),n=0;n{"use strict";yWe.exports=tWe()()?Array.from:mWe()});var bWe=W((jWr,_We)=>{"use strict";var Bsr=xWe(),qsr=SR(),Osr=hm();_We.exports=function(e){var t=Object(Osr(e)),r=arguments[1],i=Object(arguments[2]);if(t!==e&&!r)return t;var n={};return r?Bsr(r,function(a){(i.ensure||a in e)&&(n[a]=e[a])}):qsr(n,e),n}});var AWe=W(($Wr,TWe)=>{"use strict";var Nsr=W4(),Usr=hm(),Vsr=Function.prototype.bind,wWe=Function.prototype.call,Gsr=Object.keys,Hsr=Object.prototype.propertyIsEnumerable;TWe.exports=function(e,t){return function(r,i){var n,a=arguments[2],o=arguments[3];return r=Object(Usr(r)),Nsr(i),n=Gsr(r),o&&n.sort(typeof o=="function"?Vsr.call(o,r):void 0),typeof e!="function"&&(e=n[e]),wWe.call(e,n,function(s,l){return Hsr.call(r,s)?wWe.call(i,a,r[s],s,r,l):t})}}});var SWe=W((WWr,MWe)=>{"use strict";MWe.exports=AWe()("forEach")});var kWe=W((YWr,EWe)=>{"use strict";var jsr=W4(),$sr=SWe(),Wsr=Function.prototype.call;EWe.exports=function(e,t){var r={},i=arguments[2];return jsr(t),$sr(e,function(n,a,o,s){r[a]=Wsr.call(t,i,n,a,o,s)}),r}});var LWe=W((XWr,FWe)=>{"use strict";var Ysr=Db(),Xsr=K$e(),CWe=Q$e(),Zsr=bWe(),Ksr=tee(),Jsr=kWe(),Qsr=Function.prototype.bind,elr=Object.defineProperty,tlr=Object.prototype.hasOwnProperty,DWe;DWe=function(e,t,r){var i=Xsr(t)&&CWe(t.value),n;return n=Zsr(t),delete n.writable,delete n.value,n.get=function(){return!r.overwriteDefinition&&tlr.call(this,e)?i:(t.value=Qsr.call(i,r.resolveContext?r.resolveContext(this):this),elr(this,e,t),this[e])},n};FWe.exports=function(e){var t=Ksr(arguments[1]);return Ysr(t.resolveContext)&&CWe(t.resolveContext),Jsr(e,function(r,i){return DWe(i,r,t)})}});var fee=W((ZWr,zWe)=>{"use strict";var rlr=O$e(),ilr=SR(),nlr=W4(),alr=hm(),Yh=dm(),olr=LWe(),PWe=L2(),IWe=Object.defineProperty,RWe=Object.defineProperties,RE;zWe.exports=RE=function(e,t){if(!(this instanceof RE))throw new TypeError("Constructor requires 'new'");RWe(this,{__list__:Yh("w",alr(e)),__context__:Yh("w",t),__nextIndex__:Yh("w",0)}),t&&(nlr(t.on),t.on("_add",this._onAdd),t.on("_delete",this._onDelete),t.on("_clear",this._onClear))};delete RE.prototype.constructor;RWe(RE.prototype,ilr({_next:Yh(function(){var e;if(this.__list__){if(this.__redo__&&(e=this.__redo__.shift(),e!==void 0))return e;if(this.__nextIndex__=this.__nextIndex__)){if(++this.__nextIndex__,!this.__redo__){IWe(this,"__redo__",Yh("c",[e]));return}this.__redo__.forEach(function(t,r){t>=e&&(this.__redo__[r]=++t)},this),this.__redo__.push(e)}}),_onDelete:Yh(function(e){var t;e>=this.__nextIndex__||(--this.__nextIndex__,this.__redo__&&(t=this.__redo__.indexOf(e),t!==-1&&this.__redo__.splice(t,1),this.__redo__.forEach(function(r,i){r>e&&(this.__redo__[i]=--r)},this)))}),_onClear:Yh(function(){this.__redo__&&rlr.call(this.__redo__),this.__nextIndex__=0})})));IWe(RE.prototype,PWe.iterator,Yh(function(){return this}))});var UWe=W((KWr,NWe)=>{"use strict";var BWe=MR(),qWe=iee(),hee=dm(),slr=L2(),dee=fee(),OWe=Object.defineProperty,Y4;Y4=NWe.exports=function(e,t){if(!(this instanceof Y4))throw new TypeError("Constructor requires 'new'");dee.call(this,e),t?qWe.call(t,"key+value")?t="key+value":qWe.call(t,"key")?t="key":t="value":t="value",OWe(this,"__kind__",hee("",t))};BWe&&BWe(Y4,dee);delete Y4.prototype.constructor;Y4.prototype=Object.create(dee.prototype,{_resolve:hee(function(e){return this.__kind__==="value"?this.__list__[e]:this.__kind__==="key+value"?[e,this.__list__[e]]:e})});OWe(Y4.prototype,slr.toStringTag,hee("c","Array Iterator"))});var jWe=W((JWr,HWe)=>{"use strict";var VWe=MR(),DR=dm(),llr=L2(),pee=fee(),GWe=Object.defineProperty,X4;X4=HWe.exports=function(e){if(!(this instanceof X4))throw new TypeError("Constructor requires 'new'");e=String(e),pee.call(this,e),GWe(this,"__length__",DR("",e.length))};VWe&&VWe(X4,pee);delete X4.prototype.constructor;X4.prototype=Object.create(pee.prototype,{_next:DR(function(){if(this.__list__){if(this.__nextIndex__=55296&&r<=56319?t+this.__list__[this.__nextIndex__++]:t)})});GWe(X4.prototype,llr.toStringTag,DR("c","String Iterator"))});var WWe=W((QWr,$We)=>{"use strict";var ulr=FE(),clr=F2(),flr=LE(),hlr=L2().iterator,dlr=Array.isArray;$We.exports=function(e){return clr(e)?dlr(e)||flr(e)||ulr(e)?!0:typeof e[hlr]=="function":!1}});var XWe=W((eYr,YWe)=>{"use strict";var plr=WWe();YWe.exports=function(e){if(!plr(e))throw new TypeError(e+" is not iterable");return e}});var vee=W((tYr,JWe)=>{"use strict";var vlr=FE(),glr=LE(),ZWe=UWe(),mlr=jWe(),ylr=XWe(),KWe=L2().iterator;JWe.exports=function(e){return typeof ylr(e)[KWe]=="function"?e[KWe]():vlr(e)?new ZWe(e):glr(e)?new mlr(e):new ZWe(e)}});var eYe=W((rYr,QWe)=>{"use strict";var xlr=FE(),_lr=W4(),blr=LE(),wlr=vee(),Tlr=Array.isArray,gee=Function.prototype.call,Alr=Array.prototype.some;QWe.exports=function(e,t){var r,i=arguments[2],n,a,o,s,l,u,c;if(Tlr(e)||xlr(e)?r="array":blr(e)?r="string":e=wlr(e),_lr(t),a=function(){o=!0},r==="array"){Alr.call(e,function(f){return gee.call(t,i,f,a),o});return}if(r==="string"){for(l=e.length,s=0;s=55296&&c<=56319&&(u+=e[++s])),gee.call(t,i,u,a),!o);++s);return}for(n=e.next();!n.done;){if(gee.call(t,i,n.value,a),o)return;n=e.next()}}});var rYe=W((iYr,tYe)=>{"use strict";tYe.exports=(function(){return typeof WeakMap!="function"?!1:Object.prototype.toString.call(new WeakMap)==="[object WeakMap]"})()});var aYe=W((nYr,nYe)=>{"use strict";var Mlr=F2(),LR=MR(),FR=Lje(),Slr=hm(),Elr=Ije(),pm=dm(),klr=vee(),Clr=eYe(),Dlr=L2().toStringTag,iYe=rYe(),Flr=Array.isArray,yee=Object.defineProperty,mee=Object.prototype.hasOwnProperty,Llr=Object.getPrototypeOf,P2;nYe.exports=P2=function(){var e=arguments[0],t;if(!(this instanceof P2))throw new TypeError("Constructor requires 'new'");return t=iYe&&LR&&WeakMap!==P2?LR(new WeakMap,Llr(this)):this,Mlr(e)&&(Flr(e)||(e=klr(e))),yee(t,"__weakMapData__",pm("c","$weakMap$"+Elr())),e&&Clr(e,function(r){Slr(r),t.set(r[0],r[1])}),t};iYe&&(LR&&LR(P2,WeakMap),P2.prototype=Object.create(WeakMap.prototype,{constructor:pm(P2)}));Object.defineProperties(P2.prototype,{delete:pm(function(e){return mee.call(FR(e),this.__weakMapData__)?(delete e[this.__weakMapData__],!0):!1}),get:pm(function(e){if(mee.call(FR(e),this.__weakMapData__))return e[this.__weakMapData__]}),has:pm(function(e){return mee.call(FR(e),this.__weakMapData__)}),set:pm(function(e,t){return yee(FR(e),this.__weakMapData__,pm("c",t)),this}),toString:pm(function(){return"[object WeakMap]"})});yee(P2.prototype,Dlr,pm("c","WeakMap"))});var xee=W((aYr,oYe)=>{"use strict";oYe.exports=xje()()?WeakMap:aYe()});var lYe=W((oYr,sYe)=>{"use strict";sYe.exports=function(e,t,r){if(typeof Array.prototype.findIndex=="function")return e.findIndex(t,r);if(typeof t!="function")throw new TypeError("predicate must be a function");var i=Object(e),n=i.length;if(n===0)return-1;for(var a=0;a{"use strict";var PR=ME(),Plr=Mb(),bee=qu(),Ilr=N1(),Rlr=Sb(),uYe=vje(),zlr=mje(),{float32:Blr,fract32:_ee}=gR(),qlr=xee(),cYe=q4(),Olr=lYe(),Nlr=` +precision highp float; + +attribute vec2 aCoord, bCoord, aCoordFract, bCoordFract; +attribute vec4 color; +attribute float lineEnd, lineTop; + +uniform vec2 scale, scaleFract, translate, translateFract; +uniform float thickness, pixelRatio, id, depth; +uniform vec4 viewport; + +varying vec4 fragColor; +varying vec2 tangent; + +vec2 project(vec2 position, vec2 positionFract, vec2 scale, vec2 scaleFract, vec2 translate, vec2 translateFract) { + // the order is important + return position * scale + translate + + positionFract * scale + translateFract + + position * scaleFract + + positionFract * scaleFract; +} + +void main() { + float lineStart = 1. - lineEnd; + float lineOffset = lineTop * 2. - 1.; + + vec2 diff = (bCoord + bCoordFract - aCoord - aCoordFract); + tangent = normalize(diff * scale * viewport.zw); + vec2 normal = vec2(-tangent.y, tangent.x); + + vec2 position = project(aCoord, aCoordFract, scale, scaleFract, translate, translateFract) * lineStart + + project(bCoord, bCoordFract, scale, scaleFract, translate, translateFract) * lineEnd + + + thickness * normal * .5 * lineOffset / viewport.zw; + + gl_Position = vec4(position * 2.0 - 1.0, depth, 1); + + fragColor = color / 255.; +} +`,Ulr=` +precision highp float; + +uniform float dashLength, pixelRatio, thickness, opacity, id; +uniform sampler2D dashTexture; + +varying vec4 fragColor; +varying vec2 tangent; + +void main() { + float alpha = 1.; + + float t = fract(dot(tangent, gl_FragCoord.xy) / dashLength) * .5 + .25; + float dash = texture2D(dashTexture, vec2(t, .5)).r; + + gl_FragColor = fragColor; + gl_FragColor.a *= alpha * opacity * dash; +} +`,Vlr=` +precision highp float; + +attribute vec2 position, positionFract; + +uniform vec4 color; +uniform vec2 scale, scaleFract, translate, translateFract; +uniform float pixelRatio, id; +uniform vec4 viewport; +uniform float opacity; + +varying vec4 fragColor; + +const float MAX_LINES = 256.; + +void main() { + float depth = (MAX_LINES - 4. - id) / (MAX_LINES); + + vec2 position = position * scale + translate + + positionFract * scale + translateFract + + position * scaleFract + + positionFract * scaleFract; + + gl_Position = vec4(position * 2.0 - 1.0, depth, 1); + + fragColor = color / 255.; + fragColor.a *= opacity; +} +`,Glr=` +precision highp float; +varying vec4 fragColor; + +void main() { + gl_FragColor = fragColor; +} +`,Hlr=` +precision highp float; + +attribute vec2 aCoord, bCoord, nextCoord, prevCoord; +attribute vec4 aColor, bColor; +attribute float lineEnd, lineTop; + +uniform vec2 scale, translate; +uniform float thickness, pixelRatio, id, depth; +uniform vec4 viewport; +uniform float miterLimit, miterMode; + +varying vec4 fragColor; +varying vec4 startCutoff, endCutoff; +varying vec2 tangent; +varying vec2 startCoord, endCoord; +varying float enableStartMiter, enableEndMiter; + +const float REVERSE_THRESHOLD = -.875; +const float MIN_DIFF = 1e-6; + +// TODO: possible optimizations: avoid overcalculating all for vertices and calc just one instead +// TODO: precalculate dot products, normalize things beforehead etc. +// TODO: refactor to rectangular algorithm + +float distToLine(vec2 p, vec2 a, vec2 b) { + vec2 diff = b - a; + vec2 perp = normalize(vec2(-diff.y, diff.x)); + return dot(p - a, perp); +} + +bool isNaN( float val ){ + return ( val < 0.0 || 0.0 < val || val == 0.0 ) ? false : true; +} + +void main() { + vec2 aCoord = aCoord, bCoord = bCoord, prevCoord = prevCoord, nextCoord = nextCoord; + + vec2 adjustedScale; + adjustedScale.x = (abs(scale.x) < MIN_DIFF) ? MIN_DIFF : scale.x; + adjustedScale.y = (abs(scale.y) < MIN_DIFF) ? MIN_DIFF : scale.y; + + vec2 scaleRatio = adjustedScale * viewport.zw; + vec2 normalWidth = thickness / scaleRatio; + + float lineStart = 1. - lineEnd; + float lineBot = 1. - lineTop; + + fragColor = (lineStart * aColor + lineEnd * bColor) / 255.; + + if (isNaN(aCoord.x) || isNaN(aCoord.y) || isNaN(bCoord.x) || isNaN(bCoord.y)) return; + + if (aCoord == prevCoord) prevCoord = aCoord + normalize(bCoord - aCoord); + if (bCoord == nextCoord) nextCoord = bCoord - normalize(bCoord - aCoord); + + + vec2 prevDiff = aCoord - prevCoord; + vec2 currDiff = bCoord - aCoord; + vec2 nextDiff = nextCoord - bCoord; + + vec2 prevTangent = normalize(prevDiff * scaleRatio); + vec2 currTangent = normalize(currDiff * scaleRatio); + vec2 nextTangent = normalize(nextDiff * scaleRatio); + + vec2 prevNormal = vec2(-prevTangent.y, prevTangent.x); + vec2 currNormal = vec2(-currTangent.y, currTangent.x); + vec2 nextNormal = vec2(-nextTangent.y, nextTangent.x); + + vec2 startJoinDirection = normalize(prevTangent - currTangent); + vec2 endJoinDirection = normalize(currTangent - nextTangent); + + // collapsed/unidirectional segment cases + // FIXME: there should be more elegant solution + vec2 prevTanDiff = abs(prevTangent - currTangent); + vec2 nextTanDiff = abs(nextTangent - currTangent); + if (max(prevTanDiff.x, prevTanDiff.y) < MIN_DIFF) { + startJoinDirection = currNormal; + } + if (max(nextTanDiff.x, nextTanDiff.y) < MIN_DIFF) { + endJoinDirection = currNormal; + } + if (aCoord == bCoord) { + endJoinDirection = startJoinDirection; + currNormal = prevNormal; + currTangent = prevTangent; + } + + tangent = currTangent; + + //calculate join shifts relative to normals + float startJoinShift = dot(currNormal, startJoinDirection); + float endJoinShift = dot(currNormal, endJoinDirection); + + float startMiterRatio = abs(1. / startJoinShift); + float endMiterRatio = abs(1. / endJoinShift); + + vec2 startJoin = startJoinDirection * startMiterRatio; + vec2 endJoin = endJoinDirection * endMiterRatio; + + vec2 startTopJoin, startBotJoin, endTopJoin, endBotJoin; + startTopJoin = sign(startJoinShift) * startJoin * .5; + startBotJoin = -startTopJoin; + + endTopJoin = sign(endJoinShift) * endJoin * .5; + endBotJoin = -endTopJoin; + + vec2 aTopCoord = aCoord + normalWidth * startTopJoin; + vec2 bTopCoord = bCoord + normalWidth * endTopJoin; + vec2 aBotCoord = aCoord + normalWidth * startBotJoin; + vec2 bBotCoord = bCoord + normalWidth * endBotJoin; + + //miter anti-clipping + float baClipping = distToLine(bCoord, aCoord, aBotCoord) / dot(normalize(normalWidth * endBotJoin), normalize(normalWidth.yx * vec2(-startBotJoin.y, startBotJoin.x))); + float abClipping = distToLine(aCoord, bCoord, bTopCoord) / dot(normalize(normalWidth * startBotJoin), normalize(normalWidth.yx * vec2(-endBotJoin.y, endBotJoin.x))); + + //prevent close to reverse direction switch + bool prevReverse = dot(currTangent, prevTangent) <= REVERSE_THRESHOLD && abs(dot(currTangent, prevNormal)) * min(length(prevDiff), length(currDiff)) < length(normalWidth * currNormal); + bool nextReverse = dot(currTangent, nextTangent) <= REVERSE_THRESHOLD && abs(dot(currTangent, nextNormal)) * min(length(nextDiff), length(currDiff)) < length(normalWidth * currNormal); + + if (prevReverse) { + //make join rectangular + vec2 miterShift = normalWidth * startJoinDirection * miterLimit * .5; + float normalAdjust = 1. - min(miterLimit / startMiterRatio, 1.); + aBotCoord = aCoord + miterShift - normalAdjust * normalWidth * currNormal * .5; + aTopCoord = aCoord + miterShift + normalAdjust * normalWidth * currNormal * .5; + } + else if (!nextReverse && baClipping > 0. && baClipping < length(normalWidth * endBotJoin)) { + //handle miter clipping + bTopCoord -= normalWidth * endTopJoin; + bTopCoord += normalize(endTopJoin * normalWidth) * baClipping; + } + + if (nextReverse) { + //make join rectangular + vec2 miterShift = normalWidth * endJoinDirection * miterLimit * .5; + float normalAdjust = 1. - min(miterLimit / endMiterRatio, 1.); + bBotCoord = bCoord + miterShift - normalAdjust * normalWidth * currNormal * .5; + bTopCoord = bCoord + miterShift + normalAdjust * normalWidth * currNormal * .5; + } + else if (!prevReverse && abClipping > 0. && abClipping < length(normalWidth * startBotJoin)) { + //handle miter clipping + aBotCoord -= normalWidth * startBotJoin; + aBotCoord += normalize(startBotJoin * normalWidth) * abClipping; + } + + vec2 aTopPosition = (aTopCoord) * adjustedScale + translate; + vec2 aBotPosition = (aBotCoord) * adjustedScale + translate; + + vec2 bTopPosition = (bTopCoord) * adjustedScale + translate; + vec2 bBotPosition = (bBotCoord) * adjustedScale + translate; + + //position is normalized 0..1 coord on the screen + vec2 position = (aTopPosition * lineTop + aBotPosition * lineBot) * lineStart + (bTopPosition * lineTop + bBotPosition * lineBot) * lineEnd; + + startCoord = aCoord * scaleRatio + translate * viewport.zw + viewport.xy; + endCoord = bCoord * scaleRatio + translate * viewport.zw + viewport.xy; + + gl_Position = vec4(position * 2.0 - 1.0, depth, 1); + + enableStartMiter = step(dot(currTangent, prevTangent), .5); + enableEndMiter = step(dot(currTangent, nextTangent), .5); + + //bevel miter cutoffs + if (miterMode == 1.) { + if (enableStartMiter == 1.) { + vec2 startMiterWidth = vec2(startJoinDirection) * thickness * miterLimit * .5; + startCutoff = vec4(aCoord, aCoord); + startCutoff.zw += vec2(-startJoinDirection.y, startJoinDirection.x) / scaleRatio; + startCutoff = startCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + startCutoff += viewport.xyxy; + startCutoff += startMiterWidth.xyxy; + } + + if (enableEndMiter == 1.) { + vec2 endMiterWidth = vec2(endJoinDirection) * thickness * miterLimit * .5; + endCutoff = vec4(bCoord, bCoord); + endCutoff.zw += vec2(-endJoinDirection.y, endJoinDirection.x) / scaleRatio; + endCutoff = endCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + endCutoff += viewport.xyxy; + endCutoff += endMiterWidth.xyxy; + } + } + + //round miter cutoffs + else if (miterMode == 2.) { + if (enableStartMiter == 1.) { + vec2 startMiterWidth = vec2(startJoinDirection) * thickness * abs(dot(startJoinDirection, currNormal)) * .5; + startCutoff = vec4(aCoord, aCoord); + startCutoff.zw += vec2(-startJoinDirection.y, startJoinDirection.x) / scaleRatio; + startCutoff = startCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + startCutoff += viewport.xyxy; + startCutoff += startMiterWidth.xyxy; + } + + if (enableEndMiter == 1.) { + vec2 endMiterWidth = vec2(endJoinDirection) * thickness * abs(dot(endJoinDirection, currNormal)) * .5; + endCutoff = vec4(bCoord, bCoord); + endCutoff.zw += vec2(-endJoinDirection.y, endJoinDirection.x) / scaleRatio; + endCutoff = endCutoff * scaleRatio.xyxy + translate.xyxy * viewport.zwzw; + endCutoff += viewport.xyxy; + endCutoff += endMiterWidth.xyxy; + } + } +} +`,jlr=` +precision highp float; + +uniform float dashLength, pixelRatio, thickness, opacity, id, miterMode; +uniform sampler2D dashTexture; + +varying vec4 fragColor; +varying vec2 tangent; +varying vec4 startCutoff, endCutoff; +varying vec2 startCoord, endCoord; +varying float enableStartMiter, enableEndMiter; + +float distToLine(vec2 p, vec2 a, vec2 b) { + vec2 diff = b - a; + vec2 perp = normalize(vec2(-diff.y, diff.x)); + return dot(p - a, perp); +} + +void main() { + float alpha = 1., distToStart, distToEnd; + float cutoff = thickness * .5; + + //bevel miter + if (miterMode == 1.) { + if (enableStartMiter == 1.) { + distToStart = distToLine(gl_FragCoord.xy, startCutoff.xy, startCutoff.zw); + if (distToStart < -1.) { + discard; + return; + } + alpha *= min(max(distToStart + 1., 0.), 1.); + } + + if (enableEndMiter == 1.) { + distToEnd = distToLine(gl_FragCoord.xy, endCutoff.xy, endCutoff.zw); + if (distToEnd < -1.) { + discard; + return; + } + alpha *= min(max(distToEnd + 1., 0.), 1.); + } + } + + // round miter + else if (miterMode == 2.) { + if (enableStartMiter == 1.) { + distToStart = distToLine(gl_FragCoord.xy, startCutoff.xy, startCutoff.zw); + if (distToStart < 0.) { + float radius = length(gl_FragCoord.xy - startCoord); + + if(radius > cutoff + .5) { + discard; + return; + } + + alpha -= smoothstep(cutoff - .5, cutoff + .5, radius); + } + } + + if (enableEndMiter == 1.) { + distToEnd = distToLine(gl_FragCoord.xy, endCutoff.xy, endCutoff.zw); + if (distToEnd < 0.) { + float radius = length(gl_FragCoord.xy - endCoord); + + if(radius > cutoff + .5) { + discard; + return; + } + + alpha -= smoothstep(cutoff - .5, cutoff + .5, radius); + } + } + } + + float t = fract(dot(tangent, gl_FragCoord.xy) / dashLength) * .5 + .25; + float dash = texture2D(dashTexture, vec2(t, .5)).r; + + gl_FragColor = fragColor; + gl_FragColor.a *= alpha * opacity * dash; +} +`;fYe.exports=fs;function fs(e,t){if(!(this instanceof fs))return new fs(e,t);if(typeof e=="function"?(t||(t={}),t.regl=e):t=e,t.length&&(t.positions=t),e=t.regl,!e.hasExtension("ANGLE_instanced_arrays"))throw Error("regl-error2d: `ANGLE_instanced_arrays` extension should be enabled");this.gl=e._gl,this.regl=e,this.passes=[],this.shaders=fs.shaders.has(e)?fs.shaders.get(e):fs.shaders.set(e,fs.createShaders(e)).get(e),this.update(t)}fs.dashMult=2;fs.maxPatternLength=256;fs.precisionThreshold=3e6;fs.maxPoints=1e4;fs.maxLines=2048;fs.shaders=new qlr;fs.createShaders=function(e){let t=e.buffer({usage:"static",type:"float",data:[0,1,0,0,1,1,1,0]}),r={primitive:"triangle strip",instances:e.prop("count"),count:4,offset:0,uniforms:{miterMode:(o,s)=>s.join==="round"?2:1,miterLimit:e.prop("miterLimit"),scale:e.prop("scale"),scaleFract:e.prop("scaleFract"),translateFract:e.prop("translateFract"),translate:e.prop("translate"),thickness:e.prop("thickness"),dashTexture:e.prop("dashTexture"),opacity:e.prop("opacity"),pixelRatio:e.context("pixelRatio"),id:e.prop("id"),dashLength:e.prop("dashLength"),viewport:(o,s)=>[s.viewport.x,s.viewport.y,o.viewportWidth,o.viewportHeight],depth:e.prop("depth")},blend:{enable:!0,color:[0,0,0,0],equation:{rgb:"add",alpha:"add"},func:{srcRGB:"src alpha",dstRGB:"one minus src alpha",srcAlpha:"one minus dst alpha",dstAlpha:"one"}},depth:{enable:(o,s)=>!s.overlay},stencil:{enable:!1},scissor:{enable:!0,box:e.prop("viewport")},viewport:e.prop("viewport")},i=e(bee({vert:Nlr,frag:Ulr,attributes:{lineEnd:{buffer:t,divisor:0,stride:8,offset:0},lineTop:{buffer:t,divisor:0,stride:8,offset:4},aCoord:{buffer:e.prop("positionBuffer"),stride:8,offset:8,divisor:1},bCoord:{buffer:e.prop("positionBuffer"),stride:8,offset:16,divisor:1},aCoordFract:{buffer:e.prop("positionFractBuffer"),stride:8,offset:8,divisor:1},bCoordFract:{buffer:e.prop("positionFractBuffer"),stride:8,offset:16,divisor:1},color:{buffer:e.prop("colorBuffer"),stride:4,offset:0,divisor:1}}},r)),n;try{n=e(bee({cull:{enable:!0,face:"back"},vert:Hlr,frag:jlr,attributes:{lineEnd:{buffer:t,divisor:0,stride:8,offset:0},lineTop:{buffer:t,divisor:0,stride:8,offset:4},aColor:{buffer:e.prop("colorBuffer"),stride:4,offset:0,divisor:1},bColor:{buffer:e.prop("colorBuffer"),stride:4,offset:4,divisor:1},prevCoord:{buffer:e.prop("positionBuffer"),stride:8,offset:0,divisor:1},aCoord:{buffer:e.prop("positionBuffer"),stride:8,offset:8,divisor:1},bCoord:{buffer:e.prop("positionBuffer"),stride:8,offset:16,divisor:1},nextCoord:{buffer:e.prop("positionBuffer"),stride:8,offset:24,divisor:1}}},r))}catch(o){n=i}return{fill:e({primitive:"triangle",elements:(o,s)=>s.triangles,offset:0,vert:Vlr,frag:Glr,uniforms:{scale:e.prop("scale"),color:e.prop("fill"),scaleFract:e.prop("scaleFract"),translateFract:e.prop("translateFract"),translate:e.prop("translate"),opacity:e.prop("opacity"),pixelRatio:e.context("pixelRatio"),id:e.prop("id"),viewport:(o,s)=>[s.viewport.x,s.viewport.y,o.viewportWidth,o.viewportHeight]},attributes:{position:{buffer:e.prop("positionBuffer"),stride:8,offset:8},positionFract:{buffer:e.prop("positionFractBuffer"),stride:8,offset:8}},blend:r.blend,depth:{enable:!1},scissor:r.scissor,stencil:r.stencil,viewport:r.viewport}),rect:i,miter:n}};fs.defaults={dashes:null,join:"miter",miterLimit:1,thickness:10,cap:"square",color:"black",opacity:1,overlay:!1,viewport:null,range:null,close:!1,fill:null};fs.prototype.render=function(...e){e.length&&this.update(...e),this.draw()};fs.prototype.draw=function(...e){return(e.length?e:this.passes).forEach((t,r)=>{if(t&&Array.isArray(t))return this.draw(...t);typeof t=="number"&&(t=this.passes[t]),t&&t.count>1&&t.opacity&&(this.regl._refresh(),t.fill&&t.triangles&&t.triangles.length>2&&this.shaders.fill(t),t.thickness&&(t.scale[0]*t.viewport.width>fs.precisionThreshold||t.scale[1]*t.viewport.height>fs.precisionThreshold?this.shaders.rect(t):t.join==="rect"||!t.join&&(t.thickness<=2||t.count>=fs.maxPoints)?this.shaders.rect(t):this.shaders.miter(t)))}),this};fs.prototype.update=function(e){if(!e)return;e.length!=null?typeof e[0]=="number"&&(e=[{positions:e}]):Array.isArray(e)||(e=[e]);let{regl:t,gl:r}=this;if(e.forEach((n,a)=>{let o=this.passes[a];if(n!==void 0){if(n===null){this.passes[a]=null;return}if(typeof n[0]=="number"&&(n={positions:n}),n=Ilr(n,{positions:"positions points data coords",thickness:"thickness lineWidth lineWidths line-width linewidth width stroke-width strokewidth strokeWidth",join:"lineJoin linejoin join type mode",miterLimit:"miterlimit miterLimit",dashes:"dash dashes dasharray dash-array dashArray",color:"color colour stroke colors colours stroke-color strokeColor",fill:"fill fill-color fillColor",opacity:"alpha opacity",overlay:"overlay crease overlap intersect",close:"closed close closed-path closePath",range:"range dataBox",viewport:"viewport viewBox",hole:"holes hole hollow",splitNull:"splitNull"}),o||(this.passes[a]=o={id:a,scale:null,scaleFract:null,translate:null,translateFract:null,count:0,hole:[],depth:0,dashLength:1,dashTexture:t.texture({channels:1,data:new Uint8Array([255]),width:1,height:1,mag:"linear",min:"linear"}),colorBuffer:t.buffer({usage:"dynamic",type:"uint8",data:new Uint8Array}),positionBuffer:t.buffer({usage:"dynamic",type:"float",data:new Uint8Array}),positionFractBuffer:t.buffer({usage:"dynamic",type:"float",data:new Uint8Array})},n=bee({},fs.defaults,n)),n.thickness!=null&&(o.thickness=parseFloat(n.thickness)),n.opacity!=null&&(o.opacity=parseFloat(n.opacity)),n.miterLimit!=null&&(o.miterLimit=parseFloat(n.miterLimit)),n.overlay!=null&&(o.overlay=!!n.overlay,aM-x),w=[],b=0,_=o.hole!=null?o.hole[0]:null;if(_!=null){let M=Olr(g,x=>x>=_);g=g.slice(0,M),g.push(_)}for(let M=0;My-_+(g[M]-b)),A=uYe(x,T);A=A.map(y=>y+b+(y+b{e.colorBuffer.destroy(),e.positionBuffer.destroy(),e.dashTexture.destroy()}),this.passes.length=0,this}});var gYe=W((lYr,vYe)=>{"use strict";var $lr=Mb(),Wlr=ME(),Ylr=GQ(),Xlr=N1(),hYe=qu(),dYe=Sb(),{float32:Zlr,fract32:Tee}=gR();vYe.exports=Klr;var pYe=[[1,0,0,1,0,0],[1,0,0,-1,0,0],[-1,0,0,-1,0,0],[-1,0,0,-1,0,0],[-1,0,0,1,0,0],[1,0,0,1,0,0],[1,0,-1,0,0,1],[1,0,-1,0,0,-1],[1,0,1,0,0,-1],[1,0,1,0,0,-1],[1,0,1,0,0,1],[1,0,-1,0,0,1],[-1,0,-1,0,0,1],[-1,0,-1,0,0,-1],[-1,0,1,0,0,-1],[-1,0,1,0,0,-1],[-1,0,1,0,0,1],[-1,0,-1,0,0,1],[0,1,1,0,0,0],[0,1,-1,0,0,0],[0,-1,-1,0,0,0],[0,-1,-1,0,0,0],[0,1,1,0,0,0],[0,-1,1,0,0,0],[0,1,0,-1,1,0],[0,1,0,-1,-1,0],[0,1,0,1,-1,0],[0,1,0,1,1,0],[0,1,0,-1,1,0],[0,1,0,1,-1,0],[0,-1,0,-1,1,0],[0,-1,0,-1,-1,0],[0,-1,0,1,-1,0],[0,-1,0,1,1,0],[0,-1,0,-1,1,0],[0,-1,0,1,-1,0]];function Klr(e,t){if(typeof e=="function"?(t||(t={}),t.regl=e):t=e,t.length&&(t.positions=t),e=t.regl,!e.hasExtension("ANGLE_instanced_arrays"))throw Error("regl-error2d: `ANGLE_instanced_arrays` extension should be enabled");let r=e._gl,i,n,a,o,s,l,u={color:"black",capSize:5,lineWidth:1,opacity:1,viewport:null,range:null,offset:0,count:0,bounds:null,positions:[],errors:[]},c=[];return o=e.buffer({usage:"dynamic",type:"uint8",data:new Uint8Array(0)}),n=e.buffer({usage:"dynamic",type:"float",data:new Uint8Array(0)}),a=e.buffer({usage:"dynamic",type:"float",data:new Uint8Array(0)}),s=e.buffer({usage:"dynamic",type:"float",data:new Uint8Array(0)}),l=e.buffer({usage:"static",type:"float",data:pYe}),p(t),i=e({vert:` + precision highp float; + + attribute vec2 position, positionFract; + attribute vec4 error; + attribute vec4 color; + + attribute vec2 direction, lineOffset, capOffset; + + uniform vec4 viewport; + uniform float lineWidth, capSize; + uniform vec2 scale, scaleFract, translate, translateFract; + + varying vec4 fragColor; + + void main() { + fragColor = color / 255.; + + vec2 pixelOffset = lineWidth * lineOffset + (capSize + lineWidth) * capOffset; + + vec2 dxy = -step(.5, direction.xy) * error.xz + step(direction.xy, vec2(-.5)) * error.yw; + + vec2 position = position + dxy; + + vec2 pos = (position + translate) * scale + + (positionFract + translateFract) * scale + + (position + translate) * scaleFract + + (positionFract + translateFract) * scaleFract; + + pos += pixelOffset / viewport.zw; + + gl_Position = vec4(pos * 2. - 1., 0, 1); + } + `,frag:` + precision highp float; + + varying vec4 fragColor; + + uniform float opacity; + + void main() { + gl_FragColor = fragColor; + gl_FragColor.a *= opacity; + } + `,uniforms:{range:e.prop("range"),lineWidth:e.prop("lineWidth"),capSize:e.prop("capSize"),opacity:e.prop("opacity"),scale:e.prop("scale"),translate:e.prop("translate"),scaleFract:e.prop("scaleFract"),translateFract:e.prop("translateFract"),viewport:(m,g)=>[g.viewport.x,g.viewport.y,m.viewportWidth,m.viewportHeight]},attributes:{color:{buffer:o,offset:(m,g)=>g.offset*4,divisor:1},position:{buffer:n,offset:(m,g)=>g.offset*8,divisor:1},positionFract:{buffer:a,offset:(m,g)=>g.offset*8,divisor:1},error:{buffer:s,offset:(m,g)=>g.offset*16,divisor:1},direction:{buffer:l,stride:24,offset:0},lineOffset:{buffer:l,stride:24,offset:8},capOffset:{buffer:l,stride:24,offset:16}},primitive:"triangles",blend:{enable:!0,color:[0,0,0,0],equation:{rgb:"add",alpha:"add"},func:{srcRGB:"src alpha",dstRGB:"one minus src alpha",srcAlpha:"one minus dst alpha",dstAlpha:"one"}},depth:{enable:!1},scissor:{enable:!0,box:e.prop("viewport")},viewport:e.prop("viewport"),stencil:!1,instances:e.prop("count"),count:pYe.length}),hYe(f,{update:p,draw:h,destroy:v,regl:e,gl:r,canvas:r.canvas,groups:c}),f;function f(m){m?p(m):m===null&&v(),h()}function h(m){if(typeof m=="number")return d(m);m&&!Array.isArray(m)&&(m=[m]),e._refresh(),c.forEach((g,w)=>{if(g){if(m&&(m[w]?g.draw=!0:g.draw=!1),!g.draw){g.draw=!0;return}d(w)}})}function d(m){typeof m=="number"&&(m=c[m]),m!=null&&m&&m.count&&m.color&&m.opacity&&m.positions&&m.positions.length>1&&(m.scaleRatio=[m.scale[0]*m.viewport.width,m.scale[1]*m.viewport.height],i(m),m.after&&m.after(m))}function p(m){if(!m)return;m.length!=null?typeof m[0]=="number"&&(m=[{positions:m}]):Array.isArray(m)||(m=[m]);let g=0,w=0;if(f.groups=c=m.map((M,x)=>{let T=c[x];if(M)typeof M=="function"?M={after:M}:typeof M[0]=="number"&&(M={positions:M});else return T;return M=Xlr(M,{color:"color colors fill",capSize:"capSize cap capsize cap-size",lineWidth:"lineWidth line-width width line thickness",opacity:"opacity alpha",range:"range dataBox",viewport:"viewport viewBox",errors:"errors error",positions:"positions position data points"}),T||(c[x]=T={id:x,scale:null,translate:null,scaleFract:null,translateFract:null,draw:!0},M=hYe({},u,M)),Ylr(T,M,[{lineWidth:A=>+A*.5,capSize:A=>+A*.5,opacity:parseFloat,errors:A=>(A=dYe(A),w+=A.length,A),positions:(A,y)=>(A=dYe(A,"float64"),y.count=Math.floor(A.length/2),y.bounds=$lr(A,2),y.offset=g,g+=y.count,A)},{color:(A,y)=>{let E=y.count;if(A||(A="transparent"),!Array.isArray(A)||typeof A[0]=="number"){let C=A;A=Array(E);for(let k=0;k{let S=y.bounds;return A||(A=S),y.scale=[1/(A[2]-A[0]),1/(A[3]-A[1])],y.translate=[-A[0],-A[1]],y.scaleFract=Tee(y.scale),y.translateFract=Tee(y.translate),A},viewport:A=>{let y;return Array.isArray(A)?y={x:A[0],y:A[1],width:A[2]-A[0],height:A[3]-A[1]}:A?(y={x:A.x||A.left||0,y:A.y||A.top||0},A.right?y.width=A.right-y.x:y.width=A.w||A.width||0,A.bottom?y.height=A.bottom-y.y:y.height=A.h||A.height||0):y={x:0,y:0,width:r.drawingBufferWidth,height:r.drawingBufferHeight},y}}]),T}),g||w){let M=c.reduce((y,E,S)=>y+(E?E.count:0),0),x=new Float64Array(M*2),T=new Uint8Array(M*4),A=new Float32Array(M*4);c.forEach((y,E)=>{if(!y)return;let{positions:S,count:C,offset:k,color:D,errors:F}=y;C&&(T.set(D,k*4),A.set(F,k*4),x.set(S,k*2))});var b=Zlr(x);n(b);var _=Tee(x,b);a(_),o(T),s(A)}}function v(){n.destroy(),a.destroy(),o.destroy(),s.destroy(),l.destroy()}}});var xYe=W((uYr,yYe)=>{var mYe=/[\'\"]/;yYe.exports=function(t){return t?(mYe.test(t.charAt(0))&&(t=t.substr(1)),mYe.test(t.charAt(t.length-1))&&(t=t.substr(0,t.length-1)),t):""}});var Aee=W((cYr,Jlr)=>{Jlr.exports=["inherit","initial","unset"]});var Mee=W((fYr,Qlr)=>{Qlr.exports=["caption","icon","menu","message-box","small-caption","status-bar"]});var See=W((hYr,eur)=>{eur.exports=["normal","bold","bolder","lighter","100","200","300","400","500","600","700","800","900"]});var Eee=W((dYr,tur)=>{tur.exports=["normal","italic","oblique"]});var kee=W((pYr,rur)=>{rur.exports=["normal","condensed","semi-condensed","extra-condensed","ultra-condensed","expanded","semi-expanded","extra-expanded","ultra-expanded"]});var TYe=W((vYr,wYe)=>{"use strict";function _Ye(e,t){if(typeof e!="string")return[e];var r=[e];typeof t=="string"||Array.isArray(t)?t={brackets:t}:t||(t={});var i=t.brackets?Array.isArray(t.brackets)?t.brackets:[t.brackets]:["{}","[]","()"],n=t.escape||"___",a=!!t.flat;i.forEach(function(l){var u=new RegExp(["\\",l[0],"[^\\",l[0],"\\",l[1],"]*\\",l[1]].join("")),c=[];function f(h,d,p){var v=r.push(h.slice(l[0].length,-l[1].length))-1;return c.push(v),n+v+n}r.forEach(function(h,d){for(var p,v=0;h!=p;)if(p=h,h=h.replace(u,f),v++>1e4)throw Error("References have circular dependency. Please, check them.");r[d]=h}),c=c.reverse(),r=r.map(function(h){return c.forEach(function(d){h=h.replace(new RegExp("(\\"+n+d+"\\"+n+")","g"),l[0]+"$1"+l[1])}),h})});var o=new RegExp("\\"+n+"([0-9]+)\\"+n);function s(l,u,c){for(var f=[],h,d=0;h=o.exec(l);){if(d++>1e4)throw Error("Circular references in parenthesis");f.push(l.slice(0,h.index)),f.push(s(u[h[1]],u)),l=l.slice(h.index+h[0].length)}return f.push(l),f}return a?r:s(r[0],r)}function bYe(e,t){if(t&&t.flat){var r=t&&t.escape||"___",i=e[0],n;if(!i)return"";for(var a=new RegExp("\\"+r+"([0-9]+)\\"+r),o=0;i!=n;){if(o++>1e4)throw Error("Circular references in "+e);n=i,i=i.replace(a,s)}return i}return e.reduce(function l(u,c){return Array.isArray(c)&&(c=c.reduce(l,"")),u+c},"");function s(l,u){if(e[u]==null)throw Error("Reference "+u+"is undefined");return e[u]}}function Cee(e,t){return Array.isArray(e)?bYe(e,t):_Ye(e,t)}Cee.parse=_Ye;Cee.stringify=bYe;wYe.exports=Cee});var SYe=W((gYr,MYe)=>{"use strict";var AYe=TYe();MYe.exports=function(t,r,i){if(t==null)throw Error("First argument should be a string");if(r==null)throw Error("Separator should be a string or a RegExp");i?(typeof i=="string"||Array.isArray(i))&&(i={ignore:i}):i={},i.escape==null&&(i.escape=!0),i.ignore==null?i.ignore=["[]","()","{}","<>",'""',"''","``","\u201C\u201D","\xAB\xBB"]:(typeof i.ignore=="string"&&(i.ignore=[i.ignore]),i.ignore=i.ignore.map(function(f){return f.length===1&&(f=f+f),f}));var n=AYe.parse(t,{flat:!0,brackets:i.ignore}),a=n[0],o=a.split(r);if(i.escape){for(var s=[],l=0;l{iur.exports=["xx-small","x-small","small","medium","large","x-large","xx-large","larger","smaller"]});var Dee=W((yYr,kYe)=>{"use strict";var nur=EYe();kYe.exports={isSize:function(t){return/^[\d\.]/.test(t)||t.indexOf("/")!==-1||nur.indexOf(t)!==-1}}});var LYe=W((xYr,FYe)=>{"use strict";var aur=xYe(),our=Aee(),sur=Mee(),lur=See(),uur=Eee(),cur=kee(),Fee=SYe(),fur=Dee().isSize;FYe.exports=DYe;var zE=DYe.cache={};function DYe(e){if(typeof e!="string")throw new Error("Font argument must be a string.");if(zE[e])return zE[e];if(e==="")throw new Error("Cannot parse an empty string.");if(sur.indexOf(e)!==-1)return zE[e]={system:e};for(var t={style:"normal",variant:"normal",weight:"normal",stretch:"normal",lineHeight:"normal",size:"1rem",family:["serif"]},r=Fee(e,/\s+/),i;i=r.shift();){if(our.indexOf(i)!==-1)return["style","variant","weight","stretch"].forEach(function(a){t[a]=i}),zE[e]=t;if(uur.indexOf(i)!==-1){t.style=i;continue}if(i==="normal"||i==="small-caps"){t.variant=i;continue}if(cur.indexOf(i)!==-1){t.stretch=i;continue}if(lur.indexOf(i)!==-1){t.weight=i;continue}if(fur(i)){var n=Fee(i,"/");if(t.size=n[0],n[1]!=null?t.lineHeight=CYe(n[1]):r[0]==="/"&&(r.shift(),t.lineHeight=CYe(r.shift())),!r.length)throw new Error("Missing required font-family.");return t.family=Fee(r.join(" "),/\s*,\s*/).map(aur),zE[e]=t}throw new Error("Unknown or unsupported font token: "+i)}throw new Error("Missing required font-size.")}function CYe(e){var t=parseFloat(e);return t.toString()===e?t:e}});var Pee=W((_Yr,PYe)=>{"use strict";var hur=N1(),dur=Dee().isSize,pur=qE(Aee()),vur=qE(Mee()),gur=qE(See()),mur=qE(Eee()),yur=qE(kee()),xur={normal:1,"small-caps":1},_ur={serif:1,"sans-serif":1,monospace:1,cursive:1,fantasy:1,"system-ui":1},Lee={style:"normal",variant:"normal",weight:"normal",stretch:"normal",size:"1rem",lineHeight:"normal",family:"serif"};PYe.exports=function(t){if(t=hur(t,{style:"style fontstyle fontStyle font-style slope distinction",variant:"variant font-variant fontVariant fontvariant var capitalization",weight:"weight w font-weight fontWeight fontweight",stretch:"stretch font-stretch fontStretch fontstretch width",size:"size s font-size fontSize fontsize height em emSize",lineHeight:"lh line-height lineHeight lineheight leading",family:"font family fontFamily font-family fontfamily type typeface face",system:"system reserved default global"}),t.system)return t.system&&BE(t.system,vur),t.system;if(BE(t.style,mur),BE(t.variant,xur),BE(t.weight,gur),BE(t.stretch,yur),t.size==null&&(t.size=Lee.size),typeof t.size=="number"&&(t.size+="px"),!dur)throw Error("Bad size value `"+t.size+"`");t.family||(t.family=Lee.family),Array.isArray(t.family)&&(t.family.length||(t.family=[Lee.family]),t.family=t.family.map(function(i){return _ur[i]?i:'"'+i+'"'}).join(", "));var r=[];return r.push(t.style),t.variant!==t.style&&r.push(t.variant),t.weight!==t.variant&&t.weight!==t.style&&r.push(t.weight),t.stretch!==t.weight&&t.stretch!==t.variant&&t.stretch!==t.style&&r.push(t.stretch),r.push(t.size+(t.lineHeight==null||t.lineHeight==="normal"||t.lineHeight+""=="1"?"":"/"+t.lineHeight)),r.push(t.family),r.filter(Boolean).join(" ")};function BE(e,t){if(e&&!t[e]&&!pur[e])throw Error("Unknown keyword `"+e+"`");return e}function qE(e){for(var t={},r=0;r{"use strict";IYe.exports={parse:LYe(),stringify:Pee()}});var zee=W((Iee,Ree)=>{(function(e,t){typeof Iee=="object"&&typeof Ree!="undefined"?Ree.exports=t():e.createREGL=t()})(Iee,(function(){"use strict";var e=function(Be,gt){for(var Mt=Object.keys(gt),or=0;or1&>===Mt&&(gt==='"'||gt==="'"))return['"'+o(Be.substr(1,Be.length-2))+'"'];var or=/\[(false|true|null|\d+|'[^']*'|"[^"]*")\]/.exec(Be);if(or)return s(Be.substr(0,or.index)).concat(s(or[1])).concat(s(Be.substr(or.index+or[0].length)));var vr=Be.split(".");if(vr.length===1)return['"'+o(Be)+'"'];for(var wr=[],dr=0;dr65535)<<4,Be>>>=gt,Mt=(Be>255)<<3,Be>>>=Mt,gt|=Mt,Mt=(Be>15)<<2,Be>>>=Mt,gt|=Mt,Mt=(Be>3)<<1,Be>>>=Mt,gt|=Mt,gt|Be>>1}function L(){var Be=A(8,function(){return[]});function gt(wr){var dr=P(wr),Br=Be[R(dr)>>2];return Br.length>0?Br.pop():new ArrayBuffer(dr)}function Mt(wr){Be[R(wr.byteLength)>>2].push(wr)}function or(wr,dr){var Br=null;switch(wr){case y:Br=new Int8Array(gt(dr),0,dr);break;case E:Br=new Uint8Array(gt(dr),0,dr);break;case S:Br=new Int16Array(gt(2*dr),0,dr);break;case C:Br=new Uint16Array(gt(2*dr),0,dr);break;case k:Br=new Int32Array(gt(4*dr),0,dr);break;case D:Br=new Uint32Array(gt(4*dr),0,dr);break;case F:Br=new Float32Array(gt(4*dr),0,dr);break;default:return null}return Br.length!==dr?Br.subarray(0,dr):Br}function vr(wr){Mt(wr.buffer)}return{alloc:gt,free:Mt,allocType:or,freeType:vr}}var I=L();I.zero=L();var B=3408,O=3410,$=3411,Y=3412,K=3413,j=3414,q=3415,J=33901,U=33902,V=3379,X=3386,H=34921,G=36347,Q=36348,te=35661,ce=35660,ge=34930,Ce=36349,be=34076,he=34024,oe=7936,Ee=7937,ye=7938,ue=35724,ee=34047,ae=36063,xe=34852,re=3553,pe=34067,we=34069,Fe=33984,Se=6408,ke=5126,_e=5121,Ie=36160,Oe=36053,Qe=36064,et=16384,_t=function(Be,gt){var Mt=1;gt.ext_texture_filter_anisotropic&&(Mt=Be.getParameter(ee));var or=1,vr=1;gt.webgl_draw_buffers&&(or=Be.getParameter(xe),vr=Be.getParameter(ae));var wr=!!gt.oes_texture_float;if(wr){var dr=Be.createTexture();Be.bindTexture(re,dr),Be.texImage2D(re,0,Se,1,1,0,Se,ke,null);var Br=Be.createFramebuffer();if(Be.bindFramebuffer(Ie,Br),Be.framebufferTexture2D(Ie,Qe,re,dr,0),Be.bindTexture(re,null),Be.checkFramebufferStatus(Ie)!==Oe)wr=!1;else{Be.viewport(0,0,1,1),Be.clearColor(1,0,0,1),Be.clear(et);var Zr=I.allocType(ke,4);Be.readPixels(0,0,1,1,Se,ke,Zr),Be.getError()?wr=!1:(Be.deleteFramebuffer(Br),Be.deleteTexture(dr),wr=Zr[0]===1),I.freeType(Zr)}}var Kr=typeof navigator!="undefined"&&(/MSIE/.test(navigator.userAgent)||/Trident\//.test(navigator.appVersion)||/Edge/.test(navigator.userAgent)),Jr=!0;if(!Kr){var un=Be.createTexture(),Oi=I.allocType(_e,36);Be.activeTexture(Fe),Be.bindTexture(pe,un),Be.texImage2D(we,0,Se,3,3,0,Se,_e,Oi),I.freeType(Oi),Be.bindTexture(pe,null),Be.deleteTexture(un),Jr=!Be.getError()}return{colorBits:[Be.getParameter(O),Be.getParameter($),Be.getParameter(Y),Be.getParameter(K)],depthBits:Be.getParameter(j),stencilBits:Be.getParameter(q),subpixelBits:Be.getParameter(B),extensions:Object.keys(gt).filter(function(mi){return!!gt[mi]}),maxAnisotropic:Mt,maxDrawbuffers:or,maxColorAttachments:vr,pointSizeDims:Be.getParameter(J),lineWidthDims:Be.getParameter(U),maxViewportDims:Be.getParameter(X),maxCombinedTextureUnits:Be.getParameter(te),maxCubeMapSize:Be.getParameter(be),maxRenderbufferSize:Be.getParameter(he),maxTextureUnits:Be.getParameter(ge),maxTextureSize:Be.getParameter(V),maxAttributes:Be.getParameter(H),maxVertexUniforms:Be.getParameter(G),maxVertexTextureUnits:Be.getParameter(ce),maxVaryingVectors:Be.getParameter(Q),maxFragmentUniforms:Be.getParameter(Ce),glsl:Be.getParameter(ue),renderer:Be.getParameter(Ee),vendor:Be.getParameter(oe),version:Be.getParameter(ye),readFloat:wr,npotTextureCube:Jr}},ut=function(Be){return Be instanceof Uint8Array||Be instanceof Uint16Array||Be instanceof Uint32Array||Be instanceof Int8Array||Be instanceof Int16Array||Be instanceof Int32Array||Be instanceof Float32Array||Be instanceof Float64Array||Be instanceof Uint8ClampedArray};function vt(Be){return!!Be&&typeof Be=="object"&&Array.isArray(Be.shape)&&Array.isArray(Be.stride)&&typeof Be.offset=="number"&&Be.shape.length===Be.stride.length&&(Array.isArray(Be.data)||ut(Be.data))}var Xe=function(Be){return Object.keys(Be).map(function(gt){return Be[gt]})},mt={shape:Re,flatten:je};function bt(Be,gt,Mt){for(var or=0;or0){var pn;if(Array.isArray(Sr[0])){xi=Je(Sr);for(var qr=1,Ir=1;Ir0){if(typeof qr[0]=="number"){var li=I.allocType(Nr.dtype,qr.length);Lr(li,qr),xi(li,Ii),I.freeType(li)}else if(Array.isArray(qr[0])||ut(qr[0])){gi=Je(qr);var hi=xt(qr,gi,Nr.dtype);xi(hi,Ii),I.freeType(hi)}}}else if(vt(qr)){gi=qr.shape;var Ri=qr.stride,vn=0,Hn=0,wi=0,Hi=0;gi.length===1?(vn=gi[0],Hn=1,wi=Ri[0],Hi=0):gi.length===2&&(vn=gi[0],Hn=gi[1],wi=Ri[0],Hi=Ri[1]);var Bn=Array.isArray(qr.data)?Nr.dtype:ei(qr.data),qn=I.allocType(Bn,vn*Hn);$i(qn,qr.data,vn,Hn,wi,Hi,qr.offset),xi(qn,Ii),I.freeType(qn)}return Ai}return jr||Ai(Qt),Ai._reglType="buffer",Ai._buffer=Nr,Ai.subdata=pn,Mt.profile&&(Ai.stats=Nr.stats),Ai.destroy=function(){Oi(Nr)},Ai}function Fr(){Xe(wr).forEach(function(Qt){Qt.buffer=Be.createBuffer(),Be.bindBuffer(Qt.type,Qt.buffer),Be.bufferData(Qt.type,Qt.persistentData||Qt.byteLength,Qt.usage)})}return Mt.profile&&(gt.getTotalBufferSize=function(){var Qt=0;return Object.keys(wr).forEach(function(Sr){Qt+=wr[Sr].stats.size}),Qt}),{create:mi,createStream:Zr,destroyStream:Kr,clear:function(){Xe(wr).forEach(Oi),Br.forEach(Oi)},getBuffer:function(Qt){return Qt&&Qt._buffer instanceof dr?Qt._buffer:null},restore:Fr,_initBuffer:un}}var hn=0,ta=0,ca=1,dn=1,Vn=4,ra=4,ds={points:hn,point:ta,lines:ca,line:dn,triangles:Vn,triangle:ra,"line loop":2,"line strip":3,"triangle strip":5,"triangle fan":6},mo=0,Rs=1,ho=4,ka=5120,ao=5121,zs=5122,_a=5123,Xs=5124,_l=5125,yu=34963,ul=35040,Le=35044;function ot(Be,gt,Mt,or){var vr={},wr=0,dr={uint8:ao,uint16:_a};gt.oes_element_index_uint&&(dr.uint32=_l);function Br(Fr){this.id=wr++,vr[this.id]=this,this.buffer=Fr,this.primType=ho,this.vertCount=0,this.type=0}Br.prototype.bind=function(){this.buffer.bind()};var Zr=[];function Kr(Fr){var Qt=Zr.pop();return Qt||(Qt=new Br(Mt.create(null,yu,!0,!1)._buffer)),un(Qt,Fr,ul,-1,-1,0,0),Qt}function Jr(Fr){Zr.push(Fr)}function un(Fr,Qt,Sr,jr,ii,Nr,Ai){Fr.buffer.bind();var xi;if(Qt){var pn=Ai;!Ai&&(!ut(Qt)||vt(Qt)&&!ut(Qt.data))&&(pn=gt.oes_element_index_uint?_l:_a),Mt._initBuffer(Fr.buffer,Qt,Sr,pn,3)}else Be.bufferData(yu,Nr,Sr),Fr.buffer.dtype=xi||ao,Fr.buffer.usage=Sr,Fr.buffer.dimension=3,Fr.buffer.byteLength=Nr;if(xi=Ai,!Ai){switch(Fr.buffer.dtype){case ao:case ka:xi=ao;break;case _a:case zs:xi=_a;break;case _l:case Xs:xi=_l;break;default:}Fr.buffer.dtype=xi}Fr.type=xi;var qr=ii;qr<0&&(qr=Fr.buffer.byteLength,xi===_a?qr>>=1:xi===_l&&(qr>>=2)),Fr.vertCount=qr;var Ir=jr;if(jr<0){Ir=ho;var Ii=Fr.buffer.dimension;Ii===1&&(Ir=mo),Ii===2&&(Ir=Rs),Ii===3&&(Ir=ho)}Fr.primType=Ir}function Oi(Fr){or.elementsCount--,delete vr[Fr.id],Fr.buffer.destroy(),Fr.buffer=null}function mi(Fr,Qt){var Sr=Mt.create(null,yu,!0),jr=new Br(Sr._buffer);or.elementsCount++;function ii(Nr){if(!Nr)Sr(),jr.primType=ho,jr.vertCount=0,jr.type=ao;else if(typeof Nr=="number")Sr(Nr),jr.primType=ho,jr.vertCount=Nr|0,jr.type=ao;else{var Ai=null,xi=Le,pn=-1,qr=-1,Ir=0,Ii=0;Array.isArray(Nr)||ut(Nr)||vt(Nr)?Ai=Nr:("data"in Nr&&(Ai=Nr.data),"usage"in Nr&&(xi=st[Nr.usage]),"primitive"in Nr&&(pn=ds[Nr.primitive]),"count"in Nr&&(qr=Nr.count|0),"type"in Nr&&(Ii=dr[Nr.type]),"length"in Nr?Ir=Nr.length|0:(Ir=qr,Ii===_a||Ii===zs?Ir*=2:(Ii===_l||Ii===Xs)&&(Ir*=4))),un(jr,Ai,xi,pn,qr,Ir,Ii)}return ii}return ii(Fr),ii._reglType="elements",ii._elements=jr,ii.subdata=function(Nr,Ai){return Sr.subdata(Nr,Ai),ii},ii.destroy=function(){Oi(jr)},ii}return{create:mi,createStream:Kr,destroyStream:Jr,getElements:function(Fr){return typeof Fr=="function"&&Fr._elements instanceof Br?Fr._elements:null},clear:function(){Xe(vr).forEach(Oi)}}}var lt=new Float32Array(1),kt=new Uint32Array(lt.buffer),Jt=5123;function Rt(Be){for(var gt=I.allocType(Jt,Be.length),Mt=0;Mt>>31<<15,wr=(or<<1>>>24)-127,dr=or>>13&1023;if(wr<-24)gt[Mt]=vr;else if(wr<-14){var Br=-14-wr;gt[Mt]=vr+(dr+1024>>Br)}else wr>15?gt[Mt]=vr+31744:gt[Mt]=vr+(wr+15<<10)+dr}return gt}function Tr(Be){return Array.isArray(Be)||ut(Be)}var Wt=34467,br=3553,Xr=34067,ti=34069,Mi=6408,an=6406,Gn=6407,yn=6409,fa=6410,Wn=32854,Ja=32855,oo=36194,Ao=32819,Io=32820,ps=33635,rs=34042,Mo=6402,is=34041,Ro=35904,Uo=35906,so=36193,In=33776,va=33777,vs=33778,Zs=33779,Ks=35986,Ol=35987,Js=34798,ru=35840,xu=35841,_u=35842,dc=35843,Nl=36196,ja=5121,bu=5123,Hu=5125,Ss=5126,iu=10242,ph=10243,yo=10497,nu=33071,Zo=33648,au=10240,Cv=10241,Nc=9728,r0=9729,Of=9984,vh=9985,Nf=9986,i0=9987,Dv=33170,gh=4352,up=4353,n0=4354,j0=34046,$0=3317,Fv=37440,Lv=37441,Uc=37443,cp=37444,mh=33984,ju=[Of,Nf,vh,i0],Es=[0,yn,fa,Gn,Mi],Vo={};Vo[yn]=Vo[an]=Vo[Mo]=1,Vo[is]=Vo[fa]=2,Vo[Gn]=Vo[Ro]=3,Vo[Mi]=Vo[Uo]=4;function wu(Be){return"[object "+Be+"]"}var W0=wu("HTMLCanvasElement"),yh=wu("OffscreenCanvas"),a0=wu("CanvasRenderingContext2D"),Pv=wu("ImageBitmap"),ug=wu("HTMLImageElement"),Wm=wu("HTMLVideoElement"),Tx=Object.keys(Ve).concat([W0,yh,a0,Pv,ug,Wm]),xh=[];xh[ja]=1,xh[Ss]=4,xh[so]=2,xh[bu]=2,xh[Hu]=4;var Bs=[];Bs[Wn]=2,Bs[Ja]=2,Bs[oo]=2,Bs[is]=4,Bs[In]=.5,Bs[va]=.5,Bs[vs]=1,Bs[Zs]=1,Bs[Ks]=.5,Bs[Ol]=1,Bs[Js]=1,Bs[ru]=.5,Bs[xu]=.25,Bs[_u]=.5,Bs[dc]=.25,Bs[Nl]=.5;function Iv(Be){return Array.isArray(Be)&&(Be.length===0||typeof Be[0]=="number")}function Rv(Be){if(!Array.isArray(Be))return!1;var gt=Be.length;return!(gt===0||!Tr(Be[0]))}function _h(Be){return Object.prototype.toString.call(Be)}function cg(Be){return _h(Be)===W0}function Y0(Be){return _h(Be)===yh}function fp(Be){return _h(Be)===a0}function hf(Be){return _h(Be)===Pv}function zv(Be){return _h(Be)===ug}function hp(Be){return _h(Be)===Wm}function X0(Be){if(!Be)return!1;var gt=_h(Be);return Tx.indexOf(gt)>=0?!0:Iv(Be)||Rv(Be)||vt(Be)}function fg(Be){return Ve[Object.prototype.toString.call(Be)]|0}function hg(Be,gt){var Mt=gt.length;switch(Be.type){case ja:case bu:case Hu:case Ss:var or=I.allocType(Be.type,Mt);or.set(gt),Be.data=or;break;case so:Be.data=Rt(gt);break;default:}}function Ym(Be,gt){return I.allocType(Be.type===so?Ss:Be.type,gt)}function Uf(Be,gt){Be.type===so?(Be.data=Rt(gt),I.freeType(gt)):Be.data=gt}function Bv(Be,gt,Mt,or,vr,wr){for(var dr=Be.width,Br=Be.height,Zr=Be.channels,Kr=dr*Br*Zr,Jr=Ym(Be,Kr),un=0,Oi=0;Oi=1;)Br+=dr*Zr*Zr,Zr/=2;return Br}else return dr*Mt*or}function dp(Be,gt,Mt,or,vr,wr,dr){var Br={"don't care":gh,"dont care":gh,nice:n0,fast:up},Zr={repeat:yo,clamp:nu,mirror:Zo},Kr={nearest:Nc,linear:r0},Jr=e({mipmap:i0,"nearest mipmap nearest":Of,"linear mipmap nearest":vh,"nearest mipmap linear":Nf,"linear mipmap linear":i0},Kr),un={none:0,browser:cp},Oi={uint8:ja,rgba4:Ao,rgb565:ps,"rgb5 a1":Io},mi={alpha:an,luminance:yn,"luminance alpha":fa,rgb:Gn,rgba:Mi,rgba4:Wn,"rgb5 a1":Ja,rgb565:oo},Fr={};gt.ext_srgb&&(mi.srgb=Ro,mi.srgba=Uo),gt.oes_texture_float&&(Oi.float32=Oi.float=Ss),gt.oes_texture_half_float&&(Oi.float16=Oi["half float"]=so),gt.webgl_depth_texture&&(e(mi,{depth:Mo,"depth stencil":is}),e(Oi,{uint16:bu,uint32:Hu,"depth stencil":rs})),gt.webgl_compressed_texture_s3tc&&e(Fr,{"rgb s3tc dxt1":In,"rgba s3tc dxt1":va,"rgba s3tc dxt3":vs,"rgba s3tc dxt5":Zs}),gt.webgl_compressed_texture_atc&&e(Fr,{"rgb atc":Ks,"rgba atc explicit alpha":Ol,"rgba atc interpolated alpha":Js}),gt.webgl_compressed_texture_pvrtc&&e(Fr,{"rgb pvrtc 4bppv1":ru,"rgb pvrtc 2bppv1":xu,"rgba pvrtc 4bppv1":_u,"rgba pvrtc 2bppv1":dc}),gt.webgl_compressed_texture_etc1&&(Fr["rgb etc1"]=Nl);var Qt=Array.prototype.slice.call(Be.getParameter(Wt));Object.keys(Fr).forEach(function(wt){var yr=Fr[wt];Qt.indexOf(yr)>=0&&(mi[wt]=yr)});var Sr=Object.keys(mi);Mt.textureFormats=Sr;var jr=[];Object.keys(mi).forEach(function(wt){var yr=mi[wt];jr[yr]=wt});var ii=[];Object.keys(Oi).forEach(function(wt){var yr=Oi[wt];ii[yr]=wt});var Nr=[];Object.keys(Kr).forEach(function(wt){var yr=Kr[wt];Nr[yr]=wt});var Ai=[];Object.keys(Jr).forEach(function(wt){var yr=Jr[wt];Ai[yr]=wt});var xi=[];Object.keys(Zr).forEach(function(wt){var yr=Zr[wt];xi[yr]=wt});var pn=Sr.reduce(function(wt,yr){var xr=mi[yr];return xr===yn||xr===an||xr===yn||xr===fa||xr===Mo||xr===is||gt.ext_srgb&&(xr===Ro||xr===Uo)?wt[xr]=xr:xr===Ja||yr.indexOf("rgba")>=0?wt[xr]=Mi:wt[xr]=Gn,wt},{});function qr(){this.internalformat=Mi,this.format=Mi,this.type=ja,this.compressed=!1,this.premultiplyAlpha=!1,this.flipY=!1,this.unpackAlignment=1,this.colorSpace=cp,this.width=0,this.height=0,this.channels=0}function Ir(wt,yr){wt.internalformat=yr.internalformat,wt.format=yr.format,wt.type=yr.type,wt.compressed=yr.compressed,wt.premultiplyAlpha=yr.premultiplyAlpha,wt.flipY=yr.flipY,wt.unpackAlignment=yr.unpackAlignment,wt.colorSpace=yr.colorSpace,wt.width=yr.width,wt.height=yr.height,wt.channels=yr.channels}function Ii(wt,yr){if(!(typeof yr!="object"||!yr)){if("premultiplyAlpha"in yr&&(wt.premultiplyAlpha=yr.premultiplyAlpha),"flipY"in yr&&(wt.flipY=yr.flipY),"alignment"in yr&&(wt.unpackAlignment=yr.alignment),"colorSpace"in yr&&(wt.colorSpace=un[yr.colorSpace]),"type"in yr){var xr=yr.type;wt.type=Oi[xr]}var Zi=wt.width,Oa=wt.height,ss=wt.channels,Wi=!1;"shape"in yr?(Zi=yr.shape[0],Oa=yr.shape[1],yr.shape.length===3&&(ss=yr.shape[2],Wi=!0)):("radius"in yr&&(Zi=Oa=yr.radius),"width"in yr&&(Zi=yr.width),"height"in yr&&(Oa=yr.height),"channels"in yr&&(ss=yr.channels,Wi=!0)),wt.width=Zi|0,wt.height=Oa|0,wt.channels=ss|0;var dt=!1;if("format"in yr){var St=yr.format,It=wt.internalformat=mi[St];wt.format=pn[It],St in Oi&&("type"in yr||(wt.type=Oi[St])),St in Fr&&(wt.compressed=!0),dt=!0}!Wi&&dt?wt.channels=Vo[wt.format]:Wi&&!dt&&wt.channels!==Es[wt.format]&&(wt.format=wt.internalformat=Es[wt.channels])}}function gi(wt){Be.pixelStorei(Fv,wt.flipY),Be.pixelStorei(Lv,wt.premultiplyAlpha),Be.pixelStorei(Uc,wt.colorSpace),Be.pixelStorei($0,wt.unpackAlignment)}function li(){qr.call(this),this.xOffset=0,this.yOffset=0,this.data=null,this.needsFree=!1,this.element=null,this.needsCopy=!1}function hi(wt,yr){var xr=null;if(X0(yr)?xr=yr:yr&&(Ii(wt,yr),"x"in yr&&(wt.xOffset=yr.x|0),"y"in yr&&(wt.yOffset=yr.y|0),X0(yr.data)&&(xr=yr.data)),yr.copy){var Zi=vr.viewportWidth,Oa=vr.viewportHeight;wt.width=wt.width||Zi-wt.xOffset,wt.height=wt.height||Oa-wt.yOffset,wt.needsCopy=!0}else if(!xr)wt.width=wt.width||1,wt.height=wt.height||1,wt.channels=wt.channels||4;else if(ut(xr))wt.channels=wt.channels||4,wt.data=xr,!("type"in yr)&&wt.type===ja&&(wt.type=fg(xr));else if(Iv(xr))wt.channels=wt.channels||4,hg(wt,xr),wt.alignment=1,wt.needsFree=!0;else if(vt(xr)){var ss=xr.data;!Array.isArray(ss)&&wt.type===ja&&(wt.type=fg(ss));var Wi=xr.shape,dt=xr.stride,St,It,gr,Mr,nr,er;Wi.length===3?(gr=Wi[2],er=dt[2]):(gr=1,er=1),St=Wi[0],It=Wi[1],Mr=dt[0],nr=dt[1],wt.alignment=1,wt.width=St,wt.height=It,wt.channels=gr,wt.format=wt.internalformat=Es[gr],wt.needsFree=!0,Bv(wt,ss,Mr,nr,er,xr.offset)}else if(cg(xr)||Y0(xr)||fp(xr))cg(xr)||Y0(xr)?wt.element=xr:wt.element=xr.canvas,wt.width=wt.element.width,wt.height=wt.element.height,wt.channels=4;else if(hf(xr))wt.element=xr,wt.width=xr.width,wt.height=xr.height,wt.channels=4;else if(zv(xr))wt.element=xr,wt.width=xr.naturalWidth,wt.height=xr.naturalHeight,wt.channels=4;else if(hp(xr))wt.element=xr,wt.width=xr.videoWidth,wt.height=xr.videoHeight,wt.channels=4;else if(Rv(xr)){var Ht=wt.width||xr[0].length,Ft=wt.height||xr.length,Nt=wt.channels;Tr(xr[0][0])?Nt=Nt||xr[0][0].length:Nt=Nt||1;for(var Et=mt.shape(xr),sr=1,Er=0;Er>=Oa,xr.height>>=Oa,hi(xr,Zi[Oa]),wt.mipmask|=1<=0&&!("faces"in yr)&&(wt.genMipmaps=!0)}if("mag"in yr){var Zi=yr.mag;wt.magFilter=Kr[Zi]}var Oa=wt.wrapS,ss=wt.wrapT;if("wrap"in yr){var Wi=yr.wrap;typeof Wi=="string"?Oa=ss=Zr[Wi]:Array.isArray(Wi)&&(Oa=Zr[Wi[0]],ss=Zr[Wi[1]])}else{if("wrapS"in yr){var dt=yr.wrapS;Oa=Zr[dt]}if("wrapT"in yr){var St=yr.wrapT;ss=Zr[St]}}if(wt.wrapS=Oa,wt.wrapT=ss,"anisotropic"in yr){var It=yr.anisotropic;wt.anisotropic=yr.anisotropic}if("mipmap"in yr){var gr=!1;switch(typeof yr.mipmap){case"string":wt.mipmapHint=Br[yr.mipmap],wt.genMipmaps=!0,gr=!0;break;case"boolean":gr=wt.genMipmaps=yr.mipmap;break;case"object":wt.genMipmaps=!1,gr=!0;break;default:}gr&&!("min"in yr)&&(wt.minFilter=Of)}}function Xf(wt,yr){Be.texParameteri(yr,Cv,wt.minFilter),Be.texParameteri(yr,au,wt.magFilter),Be.texParameteri(yr,iu,wt.wrapS),Be.texParameteri(yr,ph,wt.wrapT),gt.ext_texture_filter_anisotropic&&Be.texParameteri(yr,j0,wt.anisotropic),wt.genMipmaps&&(Be.hint(Dv,wt.mipmapHint),Be.generateMipmap(yr))}var kh=0,Su={},Eu=Mt.maxTextureUnits,Ju=Array(Eu).map(function(){return null});function sa(wt){qr.call(this),this.mipmask=0,this.internalformat=Mi,this.id=kh++,this.refCount=1,this.target=wt,this.texture=Be.createTexture(),this.unit=-1,this.bindCount=0,this.texInfo=new os,dr.profile&&(this.stats={size:0})}function mc(wt){Be.activeTexture(mh),Be.bindTexture(wt.target,wt.texture)}function ms(){var wt=Ju[0];wt?Be.bindTexture(wt.target,wt.texture):Be.bindTexture(br,null)}function Zf(wt){var yr=wt.texture,xr=wt.unit,Zi=wt.target;xr>=0&&(Be.activeTexture(mh+xr),Be.bindTexture(Zi,null),Ju[xr]=null),Be.deleteTexture(yr),wt.texture=null,wt.params=null,wt.pixels=null,wt.refCount=0,delete Su[wt.id],wr.textureCount--}e(sa.prototype,{bind:function(){var wt=this;wt.bindCount+=1;var yr=wt.unit;if(yr<0){for(var xr=0;xr0)continue;Zi.unit=-1}Ju[xr]=wt,yr=xr;break}yr>=Eu,dr.profile&&wr.maxTextureUnits>nr)-gr,er.height=er.height||(xr.height>>nr)-Mr,mc(xr),vn(er,br,gr,Mr,nr),ms(),Hi(er),Zi}function ss(Wi,dt){var St=Wi|0,It=dt|0||St;if(St===xr.width&&It===xr.height)return Zi;Zi.width=xr.width=St,Zi.height=xr.height=It,mc(xr);for(var gr=0;xr.mipmask>>gr;++gr){var Mr=St>>gr,nr=It>>gr;if(!Mr||!nr)break;Be.texImage2D(br,gr,xr.format,Mr,nr,0,xr.format,xr.type,null)}return ms(),dr.profile&&(xr.stats.size=Vf(xr.internalformat,xr.type,St,It,!1,!1)),Zi}return Zi(wt,yr),Zi.subimage=Oa,Zi.resize=ss,Zi._reglType="texture2d",Zi._texture=xr,dr.profile&&(Zi.stats=xr.stats),Zi.destroy=function(){xr.decRef()},Zi}function Dh(wt,yr,xr,Zi,Oa,ss){var Wi=new sa(Xr);Su[Wi.id]=Wi,wr.cubeCount++;var dt=new Array(6);function St(Mr,nr,er,Ht,Ft,Nt){var Et,sr=Wi.texInfo;for(os.call(sr),Et=0;Et<6;++Et)dt[Et]=Pa();if(typeof Mr=="number"||!Mr){var Er=Mr|0||1;for(Et=0;Et<6;++Et)qn(dt[Et],Er,Er)}else if(typeof Mr=="object")if(nr)ba(dt[0],Mr),ba(dt[1],nr),ba(dt[2],er),ba(dt[3],Ht),ba(dt[4],Ft),ba(dt[5],Nt);else if(mf(sr,Mr),Ii(Wi,Mr),"faces"in Mr){var Wr=Mr.faces;for(Et=0;Et<6;++Et)Ir(dt[Et],Wi),ba(dt[Et],Wr[Et])}else for(Et=0;Et<6;++Et)ba(dt[Et],Mr);for(Ir(Wi,dt[0]),sr.genMipmaps?Wi.mipmask=(dt[0].width<<1)-1:Wi.mipmask=dt[0].mipmask,Wi.internalformat=dt[0].internalformat,St.width=dt[0].width,St.height=dt[0].height,mc(Wi),Et=0;Et<6;++Et)Al(dt[Et],ti+Et);for(Xf(sr,Xr),ms(),dr.profile&&(Wi.stats.size=Vf(Wi.internalformat,Wi.type,St.width,St.height,sr.genMipmaps,!0)),St.format=jr[Wi.internalformat],St.type=ii[Wi.type],St.mag=Nr[sr.magFilter],St.min=Ai[sr.minFilter],St.wrapS=xi[sr.wrapS],St.wrapT=xi[sr.wrapT],Et=0;Et<6;++Et)Eh(dt[Et]);return St}function It(Mr,nr,er,Ht,Ft){var Nt=er|0,Et=Ht|0,sr=Ft|0,Er=wi();return Ir(Er,Wi),Er.width=0,Er.height=0,hi(Er,nr),Er.width=Er.width||(Wi.width>>sr)-Nt,Er.height=Er.height||(Wi.height>>sr)-Et,mc(Wi),vn(Er,ti+Mr,Nt,Et,sr),ms(),Hi(Er),St}function gr(Mr){var nr=Mr|0;if(nr!==Wi.width){St.width=Wi.width=nr,St.height=Wi.height=nr,mc(Wi);for(var er=0;er<6;++er)for(var Ht=0;Wi.mipmask>>Ht;++Ht)Be.texImage2D(ti+er,Ht,Wi.format,nr>>Ht,nr>>Ht,0,Wi.format,Wi.type,null);return ms(),dr.profile&&(Wi.stats.size=Vf(Wi.internalformat,Wi.type,St.width,St.height,!1,!0)),St}}return St(wt,yr,xr,Zi,Oa,ss),St.subimage=It,St.resize=gr,St._reglType="textureCube",St._texture=Wi,dr.profile&&(St.stats=Wi.stats),St.destroy=function(){Wi.decRef()},St}function Zn(){for(var wt=0;wt>Zi,xr.height>>Zi,0,xr.internalformat,xr.type,null);else for(var Oa=0;Oa<6;++Oa)Be.texImage2D(ti+Oa,Zi,xr.internalformat,xr.width>>Zi,xr.height>>Zi,0,xr.internalformat,xr.type,null);Xf(xr.texInfo,xr.target)})}function qs(){for(var wt=0;wt=0?Eh=!0:Zr.indexOf(os)>=0&&(Eh=!1))),("depthTexture"in sa||"depthStencilTexture"in sa)&&(Ju=!!(sa.depthTexture||sa.depthStencilTexture)),"depth"in sa&&(typeof sa.depth=="boolean"?Al=sa.depth:(kh=sa.depth,Ku=!1)),"stencil"in sa&&(typeof sa.stencil=="boolean"?Ku=sa.stencil:(Su=sa.stencil,Al=!1)),"depthStencil"in sa&&(typeof sa.depthStencil=="boolean"?Al=Ku=sa.depthStencil:(Eu=sa.depthStencil,Al=!1,Ku=!1))}var ms=null,Zf=null,Ch=null,Dh=null;if(Array.isArray(Pa))ms=Pa.map(Fr);else if(Pa)ms=[Fr(Pa)];else for(ms=new Array(Xf),Bn=0;Bn0&&(Hi.depth=hi[0].depth,Hi.stencil=hi[0].stencil,Hi.depthStencil=hi[0].depthStencil),hi[wi]?hi[wi](Hi):hi[wi]=Ir(Hi)}return e(Ri,{width:Bn,height:Bn,color:os})}function vn(Hn){var wi,Hi=Hn|0;if(Hi===Ri.width)return Ri;var Bn=Ri.color;for(wi=0;wi=Bn.byteLength?qn.subdata(Bn):(qn.destroy(),Ir.buffers[Hn]=null)),Ir.buffers[Hn]||(qn=Ir.buffers[Hn]=vr.create(wi,yp,!1,!0)),Hi.buffer=vr.getBuffer(qn),Hi.size=Hi.buffer.dimension|0,Hi.normalized=!1,Hi.type=Hi.buffer.dtype,Hi.offset=0,Hi.stride=0,Hi.divisor=0,Hi.state=1,Ri[Hn]=1}else vr.getBuffer(wi)?(Hi.buffer=vr.getBuffer(wi),Hi.size=Hi.buffer.dimension|0,Hi.normalized=!1,Hi.type=Hi.buffer.dtype,Hi.offset=0,Hi.stride=0,Hi.divisor=0,Hi.state=1):vr.getBuffer(wi.buffer)?(Hi.buffer=vr.getBuffer(wi.buffer),Hi.size=(+wi.size||Hi.buffer.dimension)|0,Hi.normalized=!!wi.normalized||!1,"type"in wi?Hi.type=kr[wi.type]:Hi.type=Hi.buffer.dtype,Hi.offset=(wi.offset||0)|0,Hi.stride=(wi.stride||0)|0,Hi.divisor=(wi.divisor||0)|0,Hi.state=1):"x"in wi&&(Hi.x=+wi.x||0,Hi.y=+wi.y||0,Hi.z=+wi.z||0,Hi.w=+wi.w||0,Hi.state=2)}for(var ba=0;ba1)for(var gi=0;giQt&&(Qt=Sr.stats.uniformsCount)}),Qt},Mt.getMaxAttributesCount=function(){var Qt=0;return Jr.forEach(function(Sr){Sr.stats.attributesCount>Qt&&(Qt=Sr.stats.attributesCount)}),Qt});function Fr(){vr={},wr={};for(var Qt=0;Qt16&&(Mt=rr(Mt,Be.length*8));for(var or=Array(16),vr=Array(16),wr=0;wr<16;wr++)or[wr]=Mt[wr]^909522486,vr[wr]=Mt[wr]^1549556828;var dr=rr(or.concat(Mp(gt)),512+gt.length*8);return Te(rr(vr.concat(dr),768))}function Gc(Be){for(var gt=ty?"0123456789ABCDEF":"0123456789abcdef",Mt="",or,vr=0;vr>>4&15)+gt.charAt(or&15);return Mt}function Tp(Be){for(var gt="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",Mt="",or=Be.length,vr=0;vrBe.length*8?Mt+=ry:Mt+=gt.charAt(wr>>>6*(3-dr)&63);return Mt}function xg(Be,gt){var Mt=gt.length,or=Array(),vr,wr,dr,Br,Zr=Array(Math.ceil(Be.length/2));for(vr=0;vr0;){for(Br=Array(),dr=0,vr=0;vr0||wr>0)&&(Br[Br.length]=wr);or[or.length]=dr,Zr=Br}var Kr="";for(vr=or.length-1;vr>=0;vr--)Kr+=gt.charAt(or[vr]);var Jr=Math.ceil(Be.length*8/(Math.log(gt.length)/Math.log(2)));for(vr=Kr.length;vr>>6&31,128|or&63):or<=65535?gt+=String.fromCharCode(224|or>>>12&15,128|or>>>6&63,128|or&63):or<=2097151&&(gt+=String.fromCharCode(240|or>>>18&7,128|or>>>12&63,128|or>>>6&63,128|or&63));return gt}function Mp(Be){for(var gt=Array(Be.length>>2),Mt=0;Mt>5]|=(Be.charCodeAt(Mt/8)&255)<<24-Mt%32;return gt}function Te(Be){for(var gt="",Mt=0;Mt>5]>>>24-Mt%32&255);return gt}function qe(Be,gt){return Be>>>gt|Be<<32-gt}function rt(Be,gt){return Be>>>gt}function Ye(Be,gt,Mt){return Be>^~Be&Mt}function At(Be,gt,Mt){return Be>^Be&Mt^gt&Mt}function Gt(Be){return qe(Be,2)^qe(Be,13)^qe(Be,22)}function Kt(Be){return qe(Be,6)^qe(Be,11)^qe(Be,25)}function cr(Be){return qe(Be,7)^qe(Be,18)^rt(Be,3)}function mr(Be){return qe(Be,17)^qe(Be,19)^rt(Be,10)}var Pr=new Array(1116352408,1899447441,-1245643825,-373957723,961987163,1508970993,-1841331548,-1424204075,-670586216,310598401,607225278,1426881987,1925078388,-2132889090,-1680079193,-1046744716,-459576895,-272742522,264347078,604807628,770255983,1249150122,1555081692,1996064986,-1740746414,-1473132947,-1341970488,-1084653625,-958395405,-710438585,113926993,338241895,666307205,773529912,1294757372,1396182291,1695183700,1986661051,-2117940946,-1838011259,-1564481375,-1474664885,-1035236496,-949202525,-778901479,-694614492,-200395387,275423344,430227734,506948616,659060556,883997877,958139571,1322822218,1537002063,1747873779,1955562222,2024104815,-2067236844,-1933114872,-1866530822,-1538233109,-1090935817,-965641998);function rr(Be,gt){var Mt=new Array(1779033703,-1150833019,1013904242,-1521486534,1359893119,-1694144372,528734635,1541459225),or=new Array(64),vr,wr,dr,Br,Zr,Kr,Jr,un,Oi,mi,Fr,Qt;for(Be[gt>>5]|=128<<24-gt%32,Be[(gt+64>>9<<4)+15]=gt,Oi=0;Oi>16)+(gt>>16)+(Mt>>16);return or<<16|Mt&65535}function pr(Be){return Array.prototype.slice.call(Be)}function Dr(Be){return pr(Be).join("")}function Hr(Be){var gt=Be&&Be.cache,Mt=0,or=[],vr=[],wr=[];function dr(Fr,Qt){var Sr=Qt&&Qt.stable;if(!Sr){for(var jr=0;jr0&&(Fr.push(ii,"="),Fr.push.apply(Fr,pr(arguments)),Fr.push(";")),ii}return e(Qt,{def:jr,toString:function(){return Dr([Sr.length>0?"var "+Sr.join(",")+";":"",Dr(Fr)])}})}function Zr(){var Fr=Br(),Qt=Br(),Sr=Fr.toString,jr=Qt.toString;function ii(Nr,Ai){Qt(Nr,Ai,"=",Fr.def(Nr,Ai),";")}return e(function(){Fr.apply(Fr,pr(arguments))},{def:Fr.def,entry:Fr,exit:Qt,save:ii,set:function(Nr,Ai,xi){ii(Nr,Ai),Fr(Nr,Ai,"=",xi,";")},toString:function(){return Sr()+jr()}})}function Kr(){var Fr=Dr(arguments),Qt=Zr(),Sr=Zr(),jr=Qt.toString,ii=Sr.toString;return e(Qt,{then:function(){return Qt.apply(Qt,pr(arguments)),this},else:function(){return Sr.apply(Sr,pr(arguments)),this},toString:function(){var Nr=ii();return Nr&&(Nr="else{"+Nr+"}"),Dr(["if(",Fr,"){",jr(),"}",Nr])}})}var Jr=Br(),un={};function Oi(Fr,Qt){var Sr=[];function jr(){var pn="a"+Sr.length;return Sr.push(pn),pn}Qt=Qt||0;for(var ii=0;ii":516,notequal:517,"!=":517,"!==":517,gequal:518,">=":518,always:519},Dt={0:0,zero:0,keep:7680,replace:7681,increment:7682,decrement:7683,"increment wrap":34055,"decrement wrap":34056,invert:5386},zt={cw:Z,ccw:ne};function $t(Be){return Array.isArray(Be)||ut(Be)||vt(Be)}function Yt(Be){return Be.sort(function(gt,Mt){return gt===Mh?-1:Mt===Mh?1:gt=1,or>=2,gt)}else if(Mt===ga){var vr=Be.data;return new Lt(vr.thisDep,vr.contextDep,vr.propDep,gt)}else{if(Mt===$a)return new Lt(!1,!1,!1,gt);if(Mt===Ca){for(var wr=!1,dr=!1,Br=!1,Zr=0;Zr=1&&(dr=!0),Jr>=2&&(Br=!0)}else Kr.type===ga&&(wr=wr||Kr.data.thisDep,dr=dr||Kr.data.contextDep,Br=Br||Kr.data.propDep)}return new Lt(wr,dr,Br,gt)}else return new Lt(Mt===En,Mt===on,Mt===ai,gt)}}var pi=new Lt(!1,!1,!1,function(){});function Li(Be,gt,Mt,or,vr,wr,dr,Br,Zr,Kr,Jr,un,Oi,mi,Fr,Qt){var Sr=Kr.Record,jr={add:32774,subtract:32778,"reverse subtract":32779};Mt.ext_blend_minmax&&(jr.min=le,jr.max=fe);var ii=Mt.angle_instanced_arrays,Nr=Mt.webgl_draw_buffers,Ai=Mt.oes_vertex_array_object,xi={dirty:!0,profile:Qt.profile},pn={},qr=[],Ir={},Ii={};function gi(dt){return dt.replace(".","_")}function li(dt,St,It){var gr=gi(dt);qr.push(dt),pn[gr]=xi[gr]=!!It,Ir[gr]=St}function hi(dt,St,It){var gr=gi(dt);qr.push(dt),Array.isArray(It)?(xi[gr]=It.slice(),pn[gr]=It.slice()):xi[gr]=pn[gr]=It,Ii[gr]=St}function Ri(dt){return!!isNaN(dt)}li(xo,Ar),li(aa,ar),hi(fl,"blendColor",[0,0,0,0]),hi(ns,"blendEquationSeparate",[We,We]),hi(po,"blendFuncSeparate",[He,ze,He,ze]),li(di,_i,!0),hi(Sa,"depthFunc",ft),hi(ks,"depthRange",[0,1]),hi(bl,"depthMask",!0),hi(Au,Au,[!0,!0,!0,!0]),li(vf,Ut),hi(Hc,"cullFace",N),hi(Hf,Hf,ne),hi(Yu,Yu,1),li(Th,cn),hi(Ah,"polygonOffset",[0,0]),li(Sp,xn),li(_g,Dn),hi(jv,"sampleCoverage",[1,!1]),li(Mx,Vr),hi($v,"stencilMask",-1),hi(jc,"stencilFunc",[De,0,-1]),hi(iy,"stencilOpSeparate",[z,me,me,me]),hi(Wv,"stencilOpSeparate",[N,me,me,me]),li(bg,rn),hi(Yv,"scissor",[0,0,Be.drawingBufferWidth,Be.drawingBufferHeight]),hi(Mh,Mh,[0,0,Be.drawingBufferWidth,Be.drawingBufferHeight]);var vn={gl:Be,context:Oi,strings:gt,next:pn,current:xi,draw:un,elements:wr,buffer:vr,shader:Jr,attributes:Kr.state,vao:Kr,uniforms:Zr,framebuffer:Br,extensions:Mt,timer:mi,isBufferArgs:$t},Hn={primTypes:ds,compareFuncs:pt,blendFuncs:jt,blendEquations:jr,stencilOps:Dt,glTypes:kr,orientationType:zt};Nr&&(Hn.backBuffer=[N],Hn.drawBuffer=A(or.maxDrawbuffers,function(dt){return dt===0?[0]:A(dt,function(St){return Ot+St})}));var wi=0;function Hi(){var dt=Hr({cache:Fr}),St=dt.link,It=dt.global;dt.id=wi++,dt.batchId="0";var gr=St(vn),Mr=dt.shared={props:"a0"};Object.keys(vn).forEach(function(Nt){Mr[Nt]=It.def(gr,".",Nt)});var nr=dt.next={},er=dt.current={};Object.keys(Ii).forEach(function(Nt){Array.isArray(xi[Nt])&&(nr[Nt]=It.def(Mr.next,".",Nt),er[Nt]=It.def(Mr.current,".",Nt))});var Ht=dt.constants={};Object.keys(Hn).forEach(function(Nt){Ht[Nt]=It.def(JSON.stringify(Hn[Nt]))}),dt.invoke=function(Nt,Et){switch(Et.type){case Yr:var sr=["this",Mr.context,Mr.props,dt.batchId];return Nt.def(St(Et.data),".call(",sr.slice(0,Math.max(Et.data.length+1,4)),")");case ai:return Nt.def(Mr.props,Et.data);case on:return Nt.def(Mr.context,Et.data);case En:return Nt.def("this",Et.data);case ga:return Et.data.append(dt,Nt),Et.data.ref;case $a:return Et.data.toString();case Ca:return Et.data.map(function(Er){return dt.invoke(Nt,Er)})}},dt.attribCache={};var Ft={};return dt.scopeAttrib=function(Nt){var Et=gt.id(Nt);if(Et in Ft)return Ft[Et];var sr=Kr.scope[Et];sr||(sr=Kr.scope[Et]=new Sr);var Er=Ft[Et]=St(sr);return Er},dt}function Bn(dt){var St=dt.static,It=dt.dynamic,gr;if(wg in St){var Mr=!!St[wg];gr=Gr(function(er,Ht){return Mr}),gr.enable=Mr}else if(wg in It){var nr=It[wg];gr=ri(nr,function(er,Ht){return er.invoke(Ht,nr)})}return gr}function qn(dt,St){var It=dt.static,gr=dt.dynamic;if(Ep in It){var Mr=It[Ep];return Mr?(Mr=Br.getFramebuffer(Mr),Gr(function(er,Ht){var Ft=er.link(Mr),Nt=er.shared;Ht.set(Nt.framebuffer,".next",Ft);var Et=Nt.context;return Ht.set(Et,"."+ve,Ft+".width"),Ht.set(Et,"."+Me,Ft+".height"),Ft})):Gr(function(er,Ht){var Ft=er.shared;Ht.set(Ft.framebuffer,".next","null");var Nt=Ft.context;return Ht.set(Nt,"."+ve,Nt+"."+nt),Ht.set(Nt,"."+Me,Nt+"."+Ze),"null"})}else if(Ep in gr){var nr=gr[Ep];return ri(nr,function(er,Ht){var Ft=er.invoke(Ht,nr),Nt=er.shared,Et=Nt.framebuffer,sr=Ht.def(Et,".getFramebuffer(",Ft,")");Ht.set(Et,".next",sr);var Er=Nt.context;return Ht.set(Er,"."+ve,sr+"?"+sr+".width:"+Er+"."+nt),Ht.set(Er,"."+Me,sr+"?"+sr+".height:"+Er+"."+Ze),sr})}else return null}function ba(dt,St,It){var gr=dt.static,Mr=dt.dynamic;function nr(Ft){if(Ft in gr){var Nt=gr[Ft],Et=!0,sr=Nt.x|0,Er=Nt.y|0,Wr,_n;return"width"in Nt?Wr=Nt.width|0:Et=!1,"height"in Nt?_n=Nt.height|0:Et=!1,new Lt(!Et&&St&&St.thisDep,!Et&&St&&St.contextDep,!Et&&St&&St.propDep,function(gn,nn){var en=gn.shared.context,Di=Wr;"width"in Nt||(Di=nn.def(en,".",ve,"-",sr));var Yi=_n;return"height"in Nt||(Yi=nn.def(en,".",Me,"-",Er)),[sr,Er,Di,Yi]})}else if(Ft in Mr){var Bi=Mr[Ft],Ci=ri(Bi,function(gn,nn){var en=gn.invoke(nn,Bi),Di=gn.shared.context,Yi=nn.def(en,".x|0"),Qi=nn.def(en,".y|0"),jn=nn.def('"width" in ',en,"?",en,".width|0:","(",Di,".",ve,"-",Yi,")"),Os=nn.def('"height" in ',en,"?",en,".height|0:","(",Di,".",Me,"-",Qi,")");return[Yi,Qi,jn,Os]});return St&&(Ci.thisDep=Ci.thisDep||St.thisDep,Ci.contextDep=Ci.contextDep||St.contextDep,Ci.propDep=Ci.propDep||St.propDep),Ci}else return St?new Lt(St.thisDep,St.contextDep,St.propDep,function(gn,nn){var en=gn.shared.context;return[0,0,nn.def(en,".",ve),nn.def(en,".",Me)]}):null}var er=nr(Mh);if(er){var Ht=er;er=new Lt(er.thisDep,er.contextDep,er.propDep,function(Ft,Nt){var Et=Ht.append(Ft,Nt),sr=Ft.shared.context;return Nt.set(sr,"."+Ae,Et[2]),Nt.set(sr,"."+Pe,Et[3]),Et})}return{viewport:er,scissor_box:nr(Yv)}}function Al(dt,St){var It=dt.static,gr=typeof It[td]=="string"&&typeof It[kp]=="string";if(gr){if(Object.keys(St.dynamic).length>0)return null;var Mr=St.static,nr=Object.keys(Mr);if(nr.length>0&&typeof Mr[nr[0]]=="number"){for(var er=[],Ht=0;Ht"+Yi+"?"+Et+".constant["+Yi+"]:0;"}).join(""),"}}else{","if(",Wr,"(",Et,".buffer)){",gn,"=",_n,".createStream(",yt,",",Et,".buffer);","}else{",gn,"=",_n,".getBuffer(",Et,".buffer);","}",nn,'="type" in ',Et,"?",Er.glTypes,"[",Et,".type]:",gn,".dtype;",Bi.normalized,"=!!",Et,".normalized;");function en(Di){Nt(Bi[Di],"=",Et,".",Di,"|0;")}return en("size"),en("offset"),en("stride"),en("divisor"),Nt("}}"),Nt.exit("if(",Bi.isStream,"){",_n,".destroyStream(",gn,");","}"),Bi}Mr[nr]=ri(er,Ht)}),Mr}function Xf(dt){var St=dt.static,It=dt.dynamic,gr={};return Object.keys(St).forEach(function(Mr){var nr=St[Mr];gr[Mr]=Gr(function(er,Ht){return typeof nr=="number"||typeof nr=="boolean"?""+nr:er.link(nr)})}),Object.keys(It).forEach(function(Mr){var nr=It[Mr];gr[Mr]=ri(nr,function(er,Ht){return er.invoke(Ht,nr)})}),gr}function kh(dt,St,It,gr,Mr){var nr=dt.static,er=dt.dynamic,Ht=Al(dt,St),Ft=qn(dt,Mr),Nt=ba(dt,Ft,Mr),Et=Pa(dt,Mr),sr=Eh(dt,Mr),Er=Ku(dt,Mr,Ht);function Wr(en){var Di=Nt[en];Di&&(sr[en]=Di)}Wr(Mh),Wr(gi(Yv));var _n=Object.keys(sr).length>0,Bi={framebuffer:Ft,draw:Et,shader:Er,state:sr,dirty:_n,scopeVAO:null,drawVAO:null,useVAO:!1,attributes:{}};if(Bi.profile=Bn(dt,Mr),Bi.uniforms=os(It,Mr),Bi.drawVAO=Bi.scopeVAO=Et.vao,!Bi.drawVAO&&Er.program&&!Ht&&Mt.angle_instanced_arrays&&Et.static.elements){var Ci=!0,gn=Er.program.attributes.map(function(en){var Di=St.static[en];return Ci=Ci&&!!Di,Di});if(Ci&&gn.length>0){var nn=Kr.getVAO(Kr.createVAO({attributes:gn,elements:Et.static.elements}));Bi.drawVAO=new Lt(null,null,null,function(en,Di){return en.link(nn)}),Bi.useVAO=!0}}return Ht?Bi.useVAO=!0:Bi.attributes=mf(St,Mr),Bi.context=Xf(gr,Mr),Bi}function Su(dt,St,It){var gr=dt.shared,Mr=gr.context,nr=dt.scope();Object.keys(It).forEach(function(er){St.save(Mr,"."+er);var Ht=It[er],Ft=Ht.append(dt,St);Array.isArray(Ft)?nr(Mr,".",er,"=[",Ft.join(),"];"):nr(Mr,".",er,"=",Ft,";")}),St(nr)}function Eu(dt,St,It,gr){var Mr=dt.shared,nr=Mr.gl,er=Mr.framebuffer,Ht;Nr&&(Ht=St.def(Mr.extensions,".webgl_draw_buffers"));var Ft=dt.constants,Nt=Ft.drawBuffer,Et=Ft.backBuffer,sr;It?sr=It.append(dt,St):sr=St.def(er,".next"),gr||St("if(",sr,"!==",er,".cur){"),St("if(",sr,"){",nr,".bindFramebuffer(",ht,",",sr,".framebuffer);"),Nr&&St(Ht,".drawBuffersWEBGL(",Nt,"[",sr,".colorAttachments.length]);"),St("}else{",nr,".bindFramebuffer(",ht,",null);"),Nr&&St(Ht,".drawBuffersWEBGL(",Et,");"),St("}",er,".cur=",sr,";"),gr||St("}")}function Ju(dt,St,It){var gr=dt.shared,Mr=gr.gl,nr=dt.current,er=dt.next,Ht=gr.current,Ft=gr.next,Nt=dt.cond(Ht,".dirty");qr.forEach(function(Et){var sr=gi(Et);if(!(sr in It.state)){var Er,Wr;if(sr in er){Er=er[sr],Wr=nr[sr];var _n=A(xi[sr].length,function(Ci){return Nt.def(Er,"[",Ci,"]")});Nt(dt.cond(_n.map(function(Ci,gn){return Ci+"!=="+Wr+"["+gn+"]"}).join("||")).then(Mr,".",Ii[sr],"(",_n,");",_n.map(function(Ci,gn){return Wr+"["+gn+"]="+Ci}).join(";"),";"))}else{Er=Nt.def(Ft,".",sr);var Bi=dt.cond(Er,"!==",Ht,".",sr);Nt(Bi),sr in Ir?Bi(dt.cond(Er).then(Mr,".enable(",Ir[sr],");").else(Mr,".disable(",Ir[sr],");"),Ht,".",sr,"=",Er,";"):Bi(Mr,".",Ii[sr],"(",Er,");",Ht,".",sr,"=",Er,";")}}}),Object.keys(It.state).length===0&&Nt(Ht,".dirty=false;"),St(Nt)}function sa(dt,St,It,gr){var Mr=dt.shared,nr=dt.current,er=Mr.current,Ht=Mr.gl,Ft;Yt(Object.keys(It)).forEach(function(Nt){var Et=It[Nt];if(!(gr&&!gr(Et))){var sr=Et.append(dt,St);if(Ir[Nt]){var Er=Ir[Nt];Cr(Et)?(Ft=dt.link(sr,{stable:!0}),St(dt.cond(Ft).then(Ht,".enable(",Er,");").else(Ht,".disable(",Er,");")),St(er,".",Nt,"=",Ft,";")):(St(dt.cond(sr).then(Ht,".enable(",Er,");").else(Ht,".disable(",Er,");")),St(er,".",Nt,"=",sr,";"))}else if(Tr(sr)){var Wr=nr[Nt];St(Ht,".",Ii[Nt],"(",sr,");",sr.map(function(_n,Bi){return Wr+"["+Bi+"]="+_n}).join(";"),";")}else Cr(Et)?(Ft=dt.link(sr,{stable:!0}),St(Ht,".",Ii[Nt],"(",Ft,");",er,".",Nt,"=",Ft,";")):St(Ht,".",Ii[Nt],"(",sr,");",er,".",Nt,"=",sr,";")}})}function mc(dt,St){ii&&(dt.instancing=St.def(dt.shared.extensions,".angle_instanced_arrays"))}function ms(dt,St,It,gr,Mr){var nr=dt.shared,er=dt.stats,Ht=nr.current,Ft=nr.timer,Nt=It.profile;function Et(){return typeof performance=="undefined"?"Date.now()":"performance.now()"}var sr,Er;function Wr(en){sr=St.def(),en(sr,"=",Et(),";"),typeof Mr=="string"?en(er,".count+=",Mr,";"):en(er,".count++;"),mi&&(gr?(Er=St.def(),en(Er,"=",Ft,".getNumPendingQueries();")):en(Ft,".beginQuery(",er,");"))}function _n(en){en(er,".cpuTime+=",Et(),"-",sr,";"),mi&&(gr?en(Ft,".pushScopeStats(",Er,",",Ft,".getNumPendingQueries(),",er,");"):en(Ft,".endQuery();"))}function Bi(en){var Di=St.def(Ht,".profile");St(Ht,".profile=",en,";"),St.exit(Ht,".profile=",Di,";")}var Ci;if(Nt){if(Cr(Nt)){Nt.enable?(Wr(St),_n(St.exit),Bi("true")):Bi("false");return}Ci=Nt.append(dt,St),Bi(Ci)}else Ci=St.def(Ht,".profile");var gn=dt.block();Wr(gn),St("if(",Ci,"){",gn,"}");var nn=dt.block();_n(nn),St.exit("if(",Ci,"){",nn,"}")}function Zf(dt,St,It,gr,Mr){var nr=dt.shared;function er(Ft){switch(Ft){case So:case Xu:case Ul:return 2;case oa:case jf:case $c:return 3;case as:case u0:case $f:return 4;default:return 1}}function Ht(Ft,Nt,Et){var sr=nr.gl,Er=St.def(Ft,".location"),Wr=St.def(nr.attributes,"[",Er,"]"),_n=Et.state,Bi=Et.buffer,Ci=[Et.x,Et.y,Et.z,Et.w],gn=["buffer","normalized","offset","stride"];function nn(){St("if(!",Wr,".buffer){",sr,".enableVertexAttribArray(",Er,");}");var Di=Et.type,Yi;if(Et.size?Yi=St.def(Et.size,"||",Nt):Yi=Nt,St("if(",Wr,".type!==",Di,"||",Wr,".size!==",Yi,"||",gn.map(function(jn){return Wr+"."+jn+"!=="+Et[jn]}).join("||"),"){",sr,".bindBuffer(",yt,",",Bi,".buffer);",sr,".vertexAttribPointer(",[Er,Yi,Di,Et.normalized,Et.stride,Et.offset],");",Wr,".type=",Di,";",Wr,".size=",Yi,";",gn.map(function(jn){return Wr+"."+jn+"="+Et[jn]+";"}).join(""),"}"),ii){var Qi=Et.divisor;St("if(",Wr,".divisor!==",Qi,"){",dt.instancing,".vertexAttribDivisorANGLE(",[Er,Qi],");",Wr,".divisor=",Qi,";}")}}function en(){St("if(",Wr,".buffer){",sr,".disableVertexAttribArray(",Er,");",Wr,".buffer=null;","}if(",zi.map(function(Di,Yi){return Wr+"."+Di+"!=="+Ci[Yi]}).join("||"),"){",sr,".vertexAttrib4f(",Er,",",Ci,");",zi.map(function(Di,Yi){return Wr+"."+Di+"="+Ci[Yi]+";"}).join(""),"}")}_n===Vi?nn():_n===Xi?en():(St("if(",_n,"===",Vi,"){"),nn(),St("}else{"),en(),St("}"))}gr.forEach(function(Ft){var Nt=Ft.name,Et=It.attributes[Nt],sr;if(Et){if(!Mr(Et))return;sr=Et.append(dt,St)}else{if(!Mr(pi))return;var Er=dt.scopeAttrib(Nt);sr={},Object.keys(new Sr).forEach(function(Wr){sr[Wr]=St.def(Er,".",Wr)})}Ht(dt.link(Ft),er(Ft.info.type),sr)})}function Ch(dt,St,It,gr,Mr,nr){for(var er=dt.shared,Ht=er.gl,Ft,Nt=0;Nt1){for(var Fh=[],Ag=[],ny=0;ny>1)",Bi],");")}function Qi(){It(Ci,".drawArraysInstancedANGLE(",[Er,Wr,_n,Bi],");")}Et&&Et!=="null"?nn?Yi():(It("if(",Et,"){"),Yi(),It("}else{"),Qi(),It("}")):Qi()}function Di(){function Yi(){It(nr+".drawElements("+[Er,_n,gn,Wr+"<<(("+gn+"-"+ki+")>>1)"]+");")}function Qi(){It(nr+".drawArrays("+[Er,Wr,_n]+");")}Et&&Et!=="null"?nn?Yi():(It("if(",Et,"){"),Yi(),It("}else{"),Qi(),It("}")):Qi()}ii&&(typeof Bi!="number"||Bi>=0)?typeof Bi=="string"?(It("if(",Bi,">0){"),en(),It("}else if(",Bi,"<0){"),Di(),It("}")):en():Di()}function Zn(dt,St,It,gr,Mr){var nr=Hi(),er=nr.proc("body",Mr);return ii&&(nr.instancing=er.def(nr.shared.extensions,".angle_instanced_arrays")),dt(nr,er,It,gr),nr.compile().body}function Va(dt,St,It,gr){mc(dt,St),It.useVAO?It.drawVAO?St(dt.shared.vao,".setVAO(",It.drawVAO.append(dt,St),");"):St(dt.shared.vao,".setVAO(",dt.shared.vao,".targetVAO);"):(St(dt.shared.vao,".setVAO(null);"),Zf(dt,St,It,gr.attributes,function(){return!0})),Ch(dt,St,It,gr.uniforms,function(){return!0},!1),Dh(dt,St,St,It)}function qs(dt,St){var It=dt.proc("draw",1);mc(dt,It),Su(dt,It,St.context),Eu(dt,It,St.framebuffer),Ju(dt,It,St),sa(dt,It,St.state),ms(dt,It,St,!1,!0);var gr=St.shader.progVar.append(dt,It);if(It(dt.shared.gl,".useProgram(",gr,".program);"),St.shader.program)Va(dt,It,St,St.shader.program);else{It(dt.shared.vao,".setVAO(null);");var Mr=dt.global.def("{}"),nr=It.def(gr,".id"),er=It.def(Mr,"[",nr,"]");It(dt.cond(er).then(er,".call(this,a0);").else(er,"=",Mr,"[",nr,"]=",dt.link(function(Ht){return Zn(Va,dt,St,Ht,1)}),"(",gr,");",er,".call(this,a0);"))}Object.keys(St.state).length>0&&It(dt.shared.current,".dirty=true;"),dt.shared.vao&&It(dt.shared.vao,".setVAO(null);")}function wt(dt,St,It,gr){dt.batchId="a1",mc(dt,St);function Mr(){return!0}Zf(dt,St,It,gr.attributes,Mr),Ch(dt,St,It,gr.uniforms,Mr,!1),Dh(dt,St,St,It)}function yr(dt,St,It,gr){mc(dt,St);var Mr=It.contextDep,nr=St.def(),er="a0",Ht="a1",Ft=St.def();dt.shared.props=Ft,dt.batchId=nr;var Nt=dt.scope(),Et=dt.scope();St(Nt.entry,"for(",nr,"=0;",nr,"<",Ht,";++",nr,"){",Ft,"=",er,"[",nr,"];",Et,"}",Nt.exit);function sr(gn){return gn.contextDep&&Mr||gn.propDep}function Er(gn){return!sr(gn)}if(It.needsContext&&Su(dt,Et,It.context),It.needsFramebuffer&&Eu(dt,Et,It.framebuffer),sa(dt,Et,It.state,sr),It.profile&&sr(It.profile)&&ms(dt,Et,It,!1,!0),gr)It.useVAO?It.drawVAO?sr(It.drawVAO)?Et(dt.shared.vao,".setVAO(",It.drawVAO.append(dt,Et),");"):Nt(dt.shared.vao,".setVAO(",It.drawVAO.append(dt,Nt),");"):Nt(dt.shared.vao,".setVAO(",dt.shared.vao,".targetVAO);"):(Nt(dt.shared.vao,".setVAO(null);"),Zf(dt,Nt,It,gr.attributes,Er),Zf(dt,Et,It,gr.attributes,sr)),Ch(dt,Nt,It,gr.uniforms,Er,!1),Ch(dt,Et,It,gr.uniforms,sr,!0),Dh(dt,Nt,Et,It);else{var Wr=dt.global.def("{}"),_n=It.shader.progVar.append(dt,Et),Bi=Et.def(_n,".id"),Ci=Et.def(Wr,"[",Bi,"]");Et(dt.shared.gl,".useProgram(",_n,".program);","if(!",Ci,"){",Ci,"=",Wr,"[",Bi,"]=",dt.link(function(gn){return Zn(wt,dt,It,gn,2)}),"(",_n,");}",Ci,".call(this,a0[",nr,"],",nr,");")}}function xr(dt,St){var It=dt.proc("batch",2);dt.batchId="0",mc(dt,It);var gr=!1,Mr=!0;Object.keys(St.context).forEach(function(Wr){gr=gr||St.context[Wr].propDep}),gr||(Su(dt,It,St.context),Mr=!1);var nr=St.framebuffer,er=!1;nr?(nr.propDep?gr=er=!0:nr.contextDep&&gr&&(er=!0),er||Eu(dt,It,nr)):Eu(dt,It,null),St.state.viewport&&St.state.viewport.propDep&&(gr=!0);function Ht(Wr){return Wr.contextDep&&gr||Wr.propDep}Ju(dt,It,St),sa(dt,It,St.state,function(Wr){return!Ht(Wr)}),(!St.profile||!Ht(St.profile))&&ms(dt,It,St,!1,"a1"),St.contextDep=gr,St.needsContext=Mr,St.needsFramebuffer=er;var Ft=St.shader.progVar;if(Ft.contextDep&&gr||Ft.propDep)yr(dt,It,St,null);else{var Nt=Ft.append(dt,It);if(It(dt.shared.gl,".useProgram(",Nt,".program);"),St.shader.program)yr(dt,It,St,St.shader.program);else{It(dt.shared.vao,".setVAO(null);");var Et=dt.global.def("{}"),sr=It.def(Nt,".id"),Er=It.def(Et,"[",sr,"]");It(dt.cond(Er).then(Er,".call(this,a0,a1);").else(Er,"=",Et,"[",sr,"]=",dt.link(function(Wr){return Zn(yr,dt,St,Wr,2)}),"(",Nt,");",Er,".call(this,a0,a1);"))}}Object.keys(St.state).length>0&&It(dt.shared.current,".dirty=true;"),dt.shared.vao&&It(dt.shared.vao,".setVAO(null);")}function Zi(dt,St){var It=dt.proc("scope",3);dt.batchId="a2";var gr=dt.shared,Mr=gr.current;if(Su(dt,It,St.context),St.framebuffer&&St.framebuffer.append(dt,It),Yt(Object.keys(St.state)).forEach(function(Ht){var Ft=St.state[Ht],Nt=Ft.append(dt,It);Tr(Nt)?Nt.forEach(function(Et,sr){Ri(Et)?It.set(dt.next[Ht],"["+sr+"]",Et):It.set(dt.next[Ht],"["+sr+"]",dt.link(Et,{stable:!0}))}):Cr(Ft)?It.set(gr.next,"."+Ht,dt.link(Nt,{stable:!0})):It.set(gr.next,"."+Ht,Nt)}),ms(dt,It,St,!0,!0),[Cp,Tg,Xv,gc,rd].forEach(function(Ht){var Ft=St.draw[Ht];if(Ft){var Nt=Ft.append(dt,It);Ri(Nt)?It.set(gr.draw,"."+Ht,Nt):It.set(gr.draw,"."+Ht,dt.link(Nt),{stable:!0})}}),Object.keys(St.uniforms).forEach(function(Ht){var Ft=St.uniforms[Ht].append(dt,It);Array.isArray(Ft)&&(Ft="["+Ft.map(function(Nt){return Ri(Nt)?Nt:dt.link(Nt,{stable:!0})})+"]"),It.set(gr.uniforms,"["+dt.link(gt.id(Ht),{stable:!0})+"]",Ft)}),Object.keys(St.attributes).forEach(function(Ht){var Ft=St.attributes[Ht].append(dt,It),Nt=dt.scopeAttrib(Ht);Object.keys(new Sr).forEach(function(Et){It.set(Nt,"."+Et,Ft[Et])})}),St.scopeVAO){var nr=St.scopeVAO.append(dt,It);Ri(nr)?It.set(gr.vao,".targetVAO",nr):It.set(gr.vao,".targetVAO",dt.link(nr,{stable:!0}))}function er(Ht){var Ft=St.shader[Ht];if(Ft){var Nt=Ft.append(dt,It);Ri(Nt)?It.set(gr.shader,"."+Ht,Nt):It.set(gr.shader,"."+Ht,dt.link(Nt,{stable:!0}))}}er(kp),er(td),Object.keys(St.state).length>0&&(It(Mr,".dirty=true;"),It.exit(Mr,".dirty=true;")),It("a1(",dt.shared.context,",a0,",dt.batchId,");")}function Oa(dt){if(!(typeof dt!="object"||Tr(dt))){for(var St=Object.keys(dt),It=0;It=0;--Zn){var Va=vn[Zn];Va&&Va(Fr,null,0)}Mt.flush(),Jr&&Jr.update()}function ba(){!Bn&&vn.length>0&&(Bn=d.next(qn))}function Al(){Bn&&(d.cancel(qn),Bn=null)}function Ku(Zn){Zn.preventDefault(),vr=!0,Al(),Hn.forEach(function(Va){Va()})}function Pa(Zn){Mt.getError(),vr=!1,wr.restore(),pn.restore(),ii.restore(),qr.restore(),Ir.restore(),Ii.restore(),Ai.restore(),Jr&&Jr.restore(),gi.procs.refresh(),ba(),wi.forEach(function(Va){Va()})}Ri&&(Ri.addEventListener(Yn,Ku,!1),Ri.addEventListener(qa,Pa,!1));function Eh(){vn.length=0,Al(),Ri&&(Ri.removeEventListener(Yn,Ku),Ri.removeEventListener(qa,Pa)),pn.clear(),Ii.clear(),Ir.clear(),Ai.clear(),qr.clear(),Nr.clear(),ii.clear(),Jr&&Jr.clear(),Hi.forEach(function(Zn){Zn()})}function os(Zn){function Va(nr){var er=e({},nr);delete er.uniforms,delete er.attributes,delete er.context,delete er.vao,"stencil"in er&&er.stencil.op&&(er.stencil.opBack=er.stencil.opFront=er.stencil.op,delete er.stencil.op);function Ht(Ft){if(Ft in er){var Nt=er[Ft];delete er[Ft],Object.keys(Nt).forEach(function(Et){er[Ft+"."+Et]=Nt[Et]})}}return Ht("blend"),Ht("depth"),Ht("cull"),Ht("stencil"),Ht("polygonOffset"),Ht("scissor"),Ht("sample"),"vao"in nr&&(er.vao=nr.vao),er}function qs(nr,er){var Ht={},Ft={};return Object.keys(nr).forEach(function(Nt){var Et=nr[Nt];if(h.isDynamic(Et)){Ft[Nt]=h.unbox(Et,Nt);return}else if(er&&Array.isArray(Et)){for(var sr=0;sr0)return dt.call(this,gr(nr|0),nr|0)}else if(Array.isArray(nr)){if(nr.length)return dt.call(this,nr,nr.length)}else return Wi.call(this,nr)}return e(Mr,{stats:Oa,destroy:function(){ss.destroy()}})}var mf=Ii.setFBO=os({framebuffer:h.define.call(null,gs,"framebuffer")});function Xf(Zn,Va){var qs=0;gi.procs.poll();var wt=Va.color;wt&&(Mt.clearColor(+wt[0]||0,+wt[1]||0,+wt[2]||0,+wt[3]||0),qs|=Qs),"depth"in Va&&(Mt.clearDepth(+Va.depth),qs|=lo),"stencil"in Va&&(Mt.clearStencil(Va.stencil|0),qs|=oi),Mt.clear(qs)}function kh(Zn){if("framebuffer"in Zn)if(Zn.framebuffer&&Zn.framebuffer_reglType==="framebufferCube")for(var Va=0;Va<6;++Va)mf(e({framebuffer:Zn.framebuffer.faces[Va]},Zn),Xf);else mf(Zn,Xf);else Xf(null,Zn)}function Su(Zn){vn.push(Zn);function Va(){var qs=Zu(vn,Zn);function wt(){var yr=Zu(vn,wt);vn[yr]=vn[vn.length-1],vn.length-=1,vn.length<=0&&Al()}vn[qs]=wt}return ba(),{cancel:Va}}function Eu(){var Zn=hi.viewport,Va=hi.scissor_box;Zn[0]=Zn[1]=Va[0]=Va[1]=0,Fr.viewportWidth=Fr.framebufferWidth=Fr.drawingBufferWidth=Zn[2]=Va[2]=Mt.drawingBufferWidth,Fr.viewportHeight=Fr.framebufferHeight=Fr.drawingBufferHeight=Zn[3]=Va[3]=Mt.drawingBufferHeight}function Ju(){Fr.tick+=1,Fr.time=mc(),Eu(),gi.procs.poll()}function sa(){qr.refresh(),Eu(),gi.procs.refresh(),Jr&&Jr.update()}function mc(){return(p()-un)/1e3}sa();function ms(Zn,Va){var qs;switch(Zn){case"frame":return Su(Va);case"lost":qs=Hn;break;case"restore":qs=wi;break;case"destroy":qs=Hi;break;default:}return qs.push(Va),{cancel:function(){for(var wt=0;wt=0},read:li,destroy:Eh,_gl:Mt,_refresh:sa,poll:function(){Ju(),Jr&&Jr.update()},now:mc,stats:Br,getCachedCode:Zf,preloadCachedCode:Ch});return gt.onDone(null,Dh),Dh}return Wc}))});var NYe=W((wYr,OYe)=>{"use strict";var bur=N1();OYe.exports=function(t){if(t?typeof t=="string"&&(t={container:t}):t={},BYe(t)?t={container:t}:wur(t)?t={container:t}:Tur(t)?t={gl:t}:t=bur(t,{container:"container target element el canvas holder parent parentNode wrapper use ref root node",gl:"gl context webgl glContext",attrs:"attributes attrs contextAttributes",pixelRatio:"pixelRatio pxRatio px ratio pxratio pixelratio",width:"w width",height:"h height"},!0),t.pixelRatio||(t.pixelRatio=window.pixelRatio||1),t.gl)return t.gl;if(t.canvas&&(t.container=t.canvas.parentNode),t.container){if(typeof t.container=="string"){var r=document.querySelector(t.container);if(!r)throw Error("Element "+t.container+" is not found");t.container=r}BYe(t.container)?(t.canvas=t.container,t.container=t.canvas.parentNode):t.canvas||(t.canvas=qYe(),t.container.appendChild(t.canvas),zYe(t))}else if(!t.canvas)if(typeof document!="undefined")t.container=document.body||document.documentElement,t.canvas=qYe(),t.container.appendChild(t.canvas),zYe(t);else throw Error("Not DOM environment. Use headless-gl.");return t.gl||["webgl","experimental-webgl","webgl-experimental"].some(function(i){try{t.gl=t.canvas.getContext(i,t.attrs)}catch(n){}return t.gl}),t.gl};function zYe(e){if(e.container)if(e.container==document.body)document.body.style.width||(e.canvas.width=e.width||e.pixelRatio*window.innerWidth),document.body.style.height||(e.canvas.height=e.height||e.pixelRatio*window.innerHeight);else{var t=e.container.getBoundingClientRect();e.canvas.width=e.width||t.right-t.left,e.canvas.height=e.height||t.bottom-t.top}}function BYe(e){return typeof e.getContext=="function"&&"width"in e&&"height"in e}function wur(e){return typeof e.nodeName=="string"&&typeof e.appendChild=="function"&&typeof e.getBoundingClientRect=="function"}function Tur(e){return typeof e.drawArrays=="function"||typeof e.drawElements=="function"}function qYe(){var e=document.createElement("canvas");return e.style.position="absolute",e.style.top=0,e.style.left=0,e}});var VYe=W((TYr,UYe)=>{"use strict";var Aur=Pee(),Mur=[32,126];UYe.exports=Sur;function Sur(e){e=e||{};var t=e.shape?e.shape:e.canvas?[e.canvas.width,e.canvas.height]:[512,512],r=e.canvas||document.createElement("canvas"),i=e.font,n=typeof e.step=="number"?[e.step,e.step]:e.step||[32,32],a=e.chars||Mur;if(i&&typeof i!="string"&&(i=Aur(i)),!Array.isArray(a))a=String(a).split("");else if(a.length===2&&typeof a[0]=="number"&&typeof a[1]=="number"){for(var o=[],s=a[0],l=0;s<=a[1];s++)o[l++]=String.fromCharCode(s);a=o}t=t.slice(),r.width=t[0],r.height=t[1];var u=r.getContext("2d");u.fillStyle="#000",u.fillRect(0,0,r.width,r.height),u.font=i,u.textAlign="center",u.textBaseline="middle",u.fillStyle="#fff";for(var c=n[0]/2,f=n[1]/2,s=0;st[0]-n[0]/2&&(c=n[0]/2,f+=n[1]);return r}});var qee=W(Zl=>{"use strict";"use restrict";var Bee=32;Zl.INT_BITS=Bee;Zl.INT_MAX=2147483647;Zl.INT_MIN=-1<0)-(e<0)};Zl.abs=function(e){var t=e>>Bee-1;return(e^t)-t};Zl.min=function(e,t){return t^(e^t)&-(e65535)<<4,e>>>=t,r=(e>255)<<3,e>>>=r,t|=r,r=(e>15)<<2,e>>>=r,t|=r,r=(e>3)<<1,e>>>=r,t|=r,t|e>>1};Zl.log10=function(e){return e>=1e9?9:e>=1e8?8:e>=1e7?7:e>=1e6?6:e>=1e5?5:e>=1e4?4:e>=1e3?3:e>=100?2:e>=10?1:0};Zl.popCount=function(e){return e=e-(e>>>1&1431655765),e=(e&858993459)+(e>>>2&858993459),(e+(e>>>4)&252645135)*16843009>>>24};function GYe(e){var t=32;return e&=-e,e&&t--,e&65535&&(t-=16),e&16711935&&(t-=8),e&252645135&&(t-=4),e&858993459&&(t-=2),e&1431655765&&(t-=1),t}Zl.countTrailingZeros=GYe;Zl.nextPow2=function(e){return e+=e===0,--e,e|=e>>>1,e|=e>>>2,e|=e>>>4,e|=e>>>8,e|=e>>>16,e+1};Zl.prevPow2=function(e){return e|=e>>>1,e|=e>>>2,e|=e>>>4,e|=e>>>8,e|=e>>>16,e-(e>>>1)};Zl.parity=function(e){return e^=e>>>16,e^=e>>>8,e^=e>>>4,e&=15,27030>>>e&1};var OE=new Array(256);(function(e){for(var t=0;t<256;++t){var r=t,i=t,n=7;for(r>>>=1;r;r>>>=1)i<<=1,i|=r&1,--n;e[t]=i<>>8&255]<<16|OE[e>>>16&255]<<8|OE[e>>>24&255]};Zl.interleave2=function(e,t){return e&=65535,e=(e|e<<8)&16711935,e=(e|e<<4)&252645135,e=(e|e<<2)&858993459,e=(e|e<<1)&1431655765,t&=65535,t=(t|t<<8)&16711935,t=(t|t<<4)&252645135,t=(t|t<<2)&858993459,t=(t|t<<1)&1431655765,e|t<<1};Zl.deinterleave2=function(e,t){return e=e>>>t&1431655765,e=(e|e>>>1)&858993459,e=(e|e>>>2)&252645135,e=(e|e>>>4)&16711935,e=(e|e>>>16)&65535,e<<16>>16};Zl.interleave3=function(e,t,r){return e&=1023,e=(e|e<<16)&4278190335,e=(e|e<<8)&251719695,e=(e|e<<4)&3272356035,e=(e|e<<2)&1227133513,t&=1023,t=(t|t<<16)&4278190335,t=(t|t<<8)&251719695,t=(t|t<<4)&3272356035,t=(t|t<<2)&1227133513,e|=t<<1,r&=1023,r=(r|r<<16)&4278190335,r=(r|r<<8)&251719695,r=(r|r<<4)&3272356035,r=(r|r<<2)&1227133513,e|r<<2};Zl.deinterleave3=function(e,t){return e=e>>>t&1227133513,e=(e|e>>>2)&3272356035,e=(e|e>>>4)&251719695,e=(e|e>>>8)&4278190335,e=(e|e>>>16)&1023,e<<22>>22};Zl.nextCombination=function(e){var t=e|e-1;return t+1|(~t&-~t)-1>>>GYe(e)+1}});var $Ye=W((MYr,jYe)=>{"use strict";function HYe(e,t,r){var i=e[r]|0;if(i<=0)return[];var n=new Array(i),a;if(r===e.length-1)for(a=0;a0)return Eur(e|0,t);break;case"object":if(typeof e.length=="number")return HYe(e,t,0);break}return[]}jYe.exports=kur});var sXe=W(co=>{"use strict";var I2=qee(),of=$Ye(),WYe=V_().Buffer;window.__TYPEDARRAY_POOL||(window.__TYPEDARRAY_POOL={UINT8:of([32,0]),UINT16:of([32,0]),UINT32:of([32,0]),BIGUINT64:of([32,0]),INT8:of([32,0]),INT16:of([32,0]),INT32:of([32,0]),BIGINT64:of([32,0]),FLOAT:of([32,0]),DOUBLE:of([32,0]),DATA:of([32,0]),UINT8C:of([32,0]),BUFFER:of([32,0])});var Cur=typeof Uint8ClampedArray!="undefined",Dur=typeof BigUint64Array!="undefined",Fur=typeof BigInt64Array!="undefined",du=window.__TYPEDARRAY_POOL;du.UINT8C||(du.UINT8C=of([32,0]));du.BIGUINT64||(du.BIGUINT64=of([32,0]));du.BIGINT64||(du.BIGINT64=of([32,0]));du.BUFFER||(du.BUFFER=of([32,0]));var IR=du.DATA,RR=du.BUFFER;co.free=function(t){if(WYe.isBuffer(t))RR[I2.log2(t.length)].push(t);else{if(Object.prototype.toString.call(t)!=="[object ArrayBuffer]"&&(t=t.buffer),!t)return;var r=t.length||t.byteLength,i=I2.log2(r)|0;IR[i].push(t)}};function YYe(e){if(e){var t=e.length||e.byteLength,r=I2.log2(t);IR[r].push(e)}}function Lur(e){YYe(e.buffer)}co.freeUint8=co.freeUint16=co.freeUint32=co.freeBigUint64=co.freeInt8=co.freeInt16=co.freeInt32=co.freeBigInt64=co.freeFloat32=co.freeFloat=co.freeFloat64=co.freeDouble=co.freeUint8Clamped=co.freeDataView=Lur;co.freeArrayBuffer=YYe;co.freeBuffer=function(t){RR[I2.log2(t.length)].push(t)};co.malloc=function(t,r){if(r===void 0||r==="arraybuffer")return Xh(t);switch(r){case"uint8":return Oee(t);case"uint16":return XYe(t);case"uint32":return ZYe(t);case"int8":return KYe(t);case"int16":return JYe(t);case"int32":return QYe(t);case"float":case"float32":return eXe(t);case"double":case"float64":return tXe(t);case"uint8_clamped":return rXe(t);case"bigint64":return nXe(t);case"biguint64":return iXe(t);case"buffer":return oXe(t);case"data":case"dataview":return aXe(t);default:return null}return null};function Xh(t){var t=I2.nextPow2(t),r=I2.log2(t),i=IR[r];return i.length>0?i.pop():new ArrayBuffer(t)}co.mallocArrayBuffer=Xh;function Oee(e){return new Uint8Array(Xh(e),0,e)}co.mallocUint8=Oee;function XYe(e){return new Uint16Array(Xh(2*e),0,e)}co.mallocUint16=XYe;function ZYe(e){return new Uint32Array(Xh(4*e),0,e)}co.mallocUint32=ZYe;function KYe(e){return new Int8Array(Xh(e),0,e)}co.mallocInt8=KYe;function JYe(e){return new Int16Array(Xh(2*e),0,e)}co.mallocInt16=JYe;function QYe(e){return new Int32Array(Xh(4*e),0,e)}co.mallocInt32=QYe;function eXe(e){return new Float32Array(Xh(4*e),0,e)}co.mallocFloat32=co.mallocFloat=eXe;function tXe(e){return new Float64Array(Xh(8*e),0,e)}co.mallocFloat64=co.mallocDouble=tXe;function rXe(e){return Cur?new Uint8ClampedArray(Xh(e),0,e):Oee(e)}co.mallocUint8Clamped=rXe;function iXe(e){return Dur?new BigUint64Array(Xh(8*e),0,e):null}co.mallocBigUint64=iXe;function nXe(e){return Fur?new BigInt64Array(Xh(8*e),0,e):null}co.mallocBigInt64=nXe;function aXe(e){return new DataView(Xh(e),0,e)}co.mallocDataView=aXe;function oXe(e){e=I2.nextPow2(e);var t=I2.log2(e),r=RR[t];return r.length>0?r.pop():new WYe(e)}co.mallocBuffer=oXe;co.clearCache=function(){for(var t=0;t<32;++t)du.UINT8[t].length=0,du.UINT16[t].length=0,du.UINT32[t].length=0,du.INT8[t].length=0,du.INT16[t].length=0,du.INT32[t].length=0,du.FLOAT[t].length=0,du.DOUBLE[t].length=0,du.BIGUINT64[t].length=0,du.BIGINT64[t].length=0,du.UINT8C[t].length=0,IR[t].length=0,RR[t].length=0}});var uXe=W((EYr,lXe)=>{"use strict";var Pur=Object.prototype.toString;lXe.exports=function(e){var t;return Pur.call(e)==="[object Object]"&&(t=Object.getPrototypeOf(e),t===null||t===Object.getPrototypeOf({}))}});var Nee=W((kYr,cXe)=>{cXe.exports=function(t,r){r||(r=[0,""]),t=String(t);var i=parseFloat(t,10);return r[0]=i,r[1]=t.match(/[\d.\-\+]*\s*(.*)/)[1]||"",r}});var dXe=W((CYr,hXe)=>{"use strict";var Iur=Nee();hXe.exports=fXe;var NE=96;function Uee(e,t){var r=Iur(getComputedStyle(e).getPropertyValue(t));return r[0]*fXe(r[1],e)}function Rur(e,t){var r=document.createElement("div");r.style["font-size"]="128"+e,t.appendChild(r);var i=Uee(r,"font-size")/128;return t.removeChild(r),i}function fXe(e,t){switch(t=t||document.body,e=(e||"px").trim().toLowerCase(),(t===window||t===document)&&(t=document.body),e){case"%":return t.clientHeight/100;case"ch":case"ex":return Rur(e,t);case"em":return Uee(t,"font-size");case"rem":return Uee(document.body,"font-size");case"vw":return window.innerWidth/100;case"vh":return window.innerHeight/100;case"vmin":return Math.min(window.innerWidth,window.innerHeight)/100;case"vmax":return Math.max(window.innerWidth,window.innerHeight)/100;case"in":return NE;case"cm":return NE/2.54;case"mm":return NE/25.4;case"pt":return NE/72;case"pc":return NE/6}return 1}});var gXe=W((DYr,vXe)=>{"use strict";vXe.exports=qR;var zur=qR.canvas=document.createElement("canvas"),zR=zur.getContext("2d"),pXe=BR([32,126]);qR.createPairs=BR;qR.ascii=pXe;function qR(e,t){Array.isArray(e)&&(e=e.join(", "));var r={},i,n=16,a=.05;t&&(t.length===2&&typeof t[0]=="number"?i=BR(t):Array.isArray(t)?i=t:(t.o?i=BR(t.o):t.pairs&&(i=t.pairs),t.fontSize&&(n=t.fontSize),t.threshold!=null&&(a=t.threshold))),i||(i=pXe),zR.font=n+"px "+e;for(var o=0;on*a){var c=(u-l)/n;r[s]=c*1e3}}return r}function BR(e){for(var t=[],r=e[0];r<=e[1];r++)for(var i=String.fromCharCode(r),n=e[0];n{"use strict";xXe.exports=R2;R2.canvas=document.createElement("canvas");R2.cache={};function R2(o,t){t||(t={}),(typeof o=="string"||Array.isArray(o))&&(t.family=o);var r=Array.isArray(t.family)?t.family.join(", "):t.family;if(!r)throw Error("`family` must be defined");var i=t.size||t.fontSize||t.em||48,n=t.weight||t.fontWeight||"",a=t.style||t.fontStyle||"",o=[a,n,i].join(" ")+"px "+r,s=t.origin||"top";if(R2.cache[r]&&i<=R2.cache[r].em)return mXe(R2.cache[r],s);var l=t.canvas||R2.canvas,u=l.getContext("2d"),c={upper:t.upper!==void 0?t.upper:"H",lower:t.lower!==void 0?t.lower:"x",descent:t.descent!==void 0?t.descent:"p",ascent:t.ascent!==void 0?t.ascent:"h",tittle:t.tittle!==void 0?t.tittle:"i",overshoot:t.overshoot!==void 0?t.overshoot:"O"},f=Math.ceil(i*1.5);l.height=f,l.width=f*.5,u.font=o;var h="H",d={top:0};u.clearRect(0,0,f,f),u.textBaseline="top",u.fillStyle="black",u.fillText(h,0,0);var p=V1(u.getImageData(0,0,f,f));u.clearRect(0,0,f,f),u.textBaseline="bottom",u.fillText(h,0,f);var v=V1(u.getImageData(0,0,f,f));d.lineHeight=d.bottom=f-v+p,u.clearRect(0,0,f,f),u.textBaseline="alphabetic",u.fillText(h,0,f);var m=V1(u.getImageData(0,0,f,f)),g=f-m-1+p;d.baseline=d.alphabetic=g,u.clearRect(0,0,f,f),u.textBaseline="middle",u.fillText(h,0,f*.5);var w=V1(u.getImageData(0,0,f,f));d.median=d.middle=f-w-1+p-f*.5,u.clearRect(0,0,f,f),u.textBaseline="hanging",u.fillText(h,0,f*.5);var b=V1(u.getImageData(0,0,f,f));d.hanging=f-b-1+p-f*.5,u.clearRect(0,0,f,f),u.textBaseline="ideographic",u.fillText(h,0,f);var _=V1(u.getImageData(0,0,f,f));if(d.ideographic=f-_-1+p,c.upper&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.upper,0,0),d.upper=V1(u.getImageData(0,0,f,f)),d.capHeight=d.baseline-d.upper),c.lower&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.lower,0,0),d.lower=V1(u.getImageData(0,0,f,f)),d.xHeight=d.baseline-d.lower),c.tittle&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.tittle,0,0),d.tittle=V1(u.getImageData(0,0,f,f))),c.ascent&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.ascent,0,0),d.ascent=V1(u.getImageData(0,0,f,f))),c.descent&&(u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.descent,0,0),d.descent=yXe(u.getImageData(0,0,f,f))),c.overshoot){u.clearRect(0,0,f,f),u.textBaseline="top",u.fillText(c.overshoot,0,0);var M=yXe(u.getImageData(0,0,f,f));d.overshoot=M-g}for(var x in d)d[x]/=i;return d.em=i,R2.cache[r]=d,mXe(d,s)}function mXe(e,t){var r={};typeof t=="string"&&(t=e[t]);for(var i in e)i!=="em"&&(r[i]=e[i]-t);return r}function V1(e){for(var t=e.height,r=e.data,i=3;i0;i-=4)if(r[i]!==0)return Math.floor((i-3)*.25/t)}});var AXe=W((LYr,TXe)=>{"use strict";var Z4=RYe(),Bur=N1(),qur=zee(),Our=NYe(),Nur=xee(),Vee=ME(),Uur=VYe(),z2=sXe(),Vur=q4(),Gur=uXe(),Hur=Nee(),jur=dXe(),$ur=gXe(),Wur=qu(),Yur=_Xe(),Xur=Sb(),Zur=qee(),bXe=Zur.nextPow2,wXe=new Nur,NR=!1;document.body&&(OR=document.body.appendChild(document.createElement("div")),OR.style.font="italic small-caps bold condensed 16px/2 cursive",getComputedStyle(OR).fontStretch&&(NR=!0),document.body.removeChild(OR));var OR,Xo=function(t){Kur(t)?(t={regl:t},this.gl=t.regl._gl):this.gl=Our(t),this.shader=wXe.get(this.gl),this.shader?this.regl=this.shader.regl:this.regl=t.regl||qur({gl:this.gl}),this.charBuffer=this.regl.buffer({type:"uint8",usage:"stream"}),this.sizeBuffer=this.regl.buffer({type:"float",usage:"stream"}),this.shader||(this.shader=this.createShader(),wXe.set(this.gl,this.shader)),this.batch=[],this.fontSize=[],this.font=[],this.fontAtlas=[],this.draw=this.shader.draw.bind(this),this.render=function(){this.regl._refresh(),this.draw(this.batch)},this.canvas=this.gl.canvas,this.update(Gur(t)?t:{})};Xo.prototype.createShader=function(){var t=this.regl,r=t({blend:{enable:!0,color:[0,0,0,1],func:{srcRGB:"src alpha",dstRGB:"one minus src alpha",srcAlpha:"one minus dst alpha",dstAlpha:"one"}},stencil:{enable:!1},depth:{enable:!1},count:t.prop("count"),offset:t.prop("offset"),attributes:{charOffset:{offset:4,stride:8,buffer:t.this("sizeBuffer")},width:{offset:0,stride:8,buffer:t.this("sizeBuffer")},char:t.this("charBuffer"),position:t.this("position")},uniforms:{atlasSize:function(n,a){return[a.atlas.width,a.atlas.height]},atlasDim:function(n,a){return[a.atlas.cols,a.atlas.rows]},atlas:function(n,a){return a.atlas.texture},charStep:function(n,a){return a.atlas.step},em:function(n,a){return a.atlas.em},color:t.prop("color"),opacity:t.prop("opacity"),viewport:t.this("viewportArray"),scale:t.this("scale"),align:t.prop("align"),baseline:t.prop("baseline"),translate:t.this("translate"),positionOffset:t.prop("positionOffset")},primitive:"points",viewport:t.this("viewport"),vert:` + precision highp float; + attribute float width, charOffset, char; + attribute vec2 position; + uniform float fontSize, charStep, em, align, baseline; + uniform vec4 viewport; + uniform vec4 color; + uniform vec2 atlasSize, atlasDim, scale, translate, positionOffset; + varying vec2 charCoord, charId; + varying float charWidth; + varying vec4 fontColor; + void main () { + vec2 offset = floor(em * (vec2(align + charOffset, baseline) + + vec2(positionOffset.x, -positionOffset.y))) + / (viewport.zw * scale.xy); + + vec2 position = (position + translate) * scale; + position += offset * scale; + + charCoord = position * viewport.zw + viewport.xy; + + gl_Position = vec4(position * 2. - 1., 0, 1); + + gl_PointSize = charStep; + + charId.x = mod(char, atlasDim.x); + charId.y = floor(char / atlasDim.x); + + charWidth = width * em; + + fontColor = color / 255.; + }`,frag:` + precision highp float; + uniform float fontSize, charStep, opacity; + uniform vec2 atlasSize; + uniform vec4 viewport; + uniform sampler2D atlas; + varying vec4 fontColor; + varying vec2 charCoord, charId; + varying float charWidth; + + float lightness(vec4 color) { + return color.r * 0.299 + color.g * 0.587 + color.b * 0.114; + } + + void main () { + vec2 uv = gl_FragCoord.xy - charCoord + charStep * .5; + float halfCharStep = floor(charStep * .5 + .5); + + // invert y and shift by 1px (FF expecially needs that) + uv.y = charStep - uv.y; + + // ignore points outside of character bounding box + float halfCharWidth = ceil(charWidth * .5); + if (floor(uv.x) > halfCharStep + halfCharWidth || + floor(uv.x) < halfCharStep - halfCharWidth) return; + + uv += charId * charStep; + uv = uv / atlasSize; + + vec4 color = fontColor; + vec4 mask = texture2D(atlas, uv); + + float maskY = lightness(mask); + // float colorY = lightness(color); + color.a *= maskY; + color.a *= opacity; + + // color.a += .1; + + // antialiasing, see yiq color space y-channel formula + // color.rgb += (1. - color.rgb) * (1. - mask.rgb); + + gl_FragColor = color; + }`}),i={};return{regl:t,draw:r,atlas:i}};Xo.prototype.update=function(t){var r=this;if(typeof t=="string")t={text:t};else if(!t)return;t=Bur(t,{position:"position positions coord coords coordinates",font:"font fontFace fontface typeface cssFont css-font family fontFamily",fontSize:"fontSize fontsize size font-size",text:"text texts chars characters value values symbols",align:"align alignment textAlign textbaseline",baseline:"baseline textBaseline textbaseline",direction:"dir direction textDirection",color:"color colour fill fill-color fillColor textColor textcolor",kerning:"kerning kern",range:"range dataBox",viewport:"vp viewport viewBox viewbox viewPort",opacity:"opacity alpha transparency visible visibility opaque",offset:"offset positionOffset padding shift indent indentation"},!0),t.opacity!=null&&(Array.isArray(t.opacity)?this.opacity=t.opacity.map(function(K){return parseFloat(K)}):this.opacity=parseFloat(t.opacity)),t.viewport!=null&&(this.viewport=Vur(t.viewport),this.viewportArray=[this.viewport.x,this.viewport.y,this.viewport.width,this.viewport.height]),this.viewport==null&&(this.viewport={x:0,y:0,width:this.gl.drawingBufferWidth,height:this.gl.drawingBufferHeight},this.viewportArray=[this.viewport.x,this.viewport.y,this.viewport.width,this.viewport.height]),t.kerning!=null&&(this.kerning=t.kerning),t.offset!=null&&(typeof t.offset=="number"&&(t.offset=[t.offset,0]),this.positionOffset=Xur(t.offset)),t.direction&&(this.direction=t.direction),t.range&&(this.range=t.range,this.scale=[1/(t.range[2]-t.range[0]),1/(t.range[3]-t.range[1])],this.translate=[-t.range[0],-t.range[1]]),t.scale&&(this.scale=t.scale),t.translate&&(this.translate=t.translate),this.scale||(this.scale=[1/this.viewport.width,1/this.viewport.height]),this.translate||(this.translate=[0,0]),!this.font.length&&!t.font&&(t.font=Xo.baseFontSize+"px sans-serif");var i=!1,n=!1;if(t.font&&(Array.isArray(t.font)?t.font:[t.font]).forEach(function(K,j){if(typeof K=="string")try{K=Z4.parse(K)}catch(ce){K=Z4.parse(Xo.baseFontSize+"px "+K)}else{var q=K.style,J=K.weight,U=K.stretch,V=K.variant;K=Z4.parse(Z4.stringify(K)),q&&(K.style=q),J&&(K.weight=J),U&&(K.stretch=U),V&&(K.variant=V)}var X=Z4.stringify({size:Xo.baseFontSize,family:K.family,stretch:NR?K.stretch:void 0,variant:K.variant,weight:K.weight,style:K.style}),H=Hur(K.size),G=Math.round(H[0]*jur(H[1]));if(G!==r.fontSize[j]&&(n=!0,r.fontSize[j]=G),(!r.font[j]||X!=r.font[j].baseString)&&(i=!0,r.font[j]=Xo.fonts[X],!r.font[j])){var Q=K.family.join(", "),te=[K.style];K.style!=K.variant&&te.push(K.variant),K.variant!=K.weight&&te.push(K.weight),NR&&K.weight!=K.stretch&&te.push(K.stretch),r.font[j]={baseString:X,family:Q,weight:K.weight,stretch:K.stretch,style:K.style,variant:K.variant,width:{},kerning:{},metrics:Yur(Q,{origin:"top",fontSize:Xo.baseFontSize,fontStyle:te.join(" ")})},Xo.fonts[X]=r.font[j]}}),(i||n)&&this.font.forEach(function(K,j){var q=Z4.stringify({size:r.fontSize[j],family:K.family,stretch:NR?K.stretch:void 0,variant:K.variant,weight:K.weight,style:K.style});if(r.fontAtlas[j]=r.shader.atlas[q],!r.fontAtlas[j]){var J=K.metrics;r.shader.atlas[q]=r.fontAtlas[j]={fontString:q,step:Math.ceil(r.fontSize[j]*J.bottom*.5)*2,em:r.fontSize[j],cols:0,rows:0,height:0,width:0,chars:[],ids:{},texture:r.regl.texture()}}t.text==null&&(t.text=r.text)}),typeof t.text=="string"&&t.position&&t.position.length>2){for(var a=Array(t.position.length*.5),o=0;o2){for(var u=!t.position[0].length,c=z2.mallocFloat(this.count*2),f=0,h=0;f1?r.align[j]:r.align[0]:r.align;if(typeof q=="number")return q;switch(q){case"right":case"end":return-K;case"center":case"centre":case"middle":return-K*.5}return 0})),this.baseline==null&&t.baseline==null&&(t.baseline=0),t.baseline!=null&&(this.baseline=t.baseline,Array.isArray(this.baseline)||(this.baseline=[this.baseline]),this.baselineOffset=this.baseline.map(function(K,j){var q=(r.font[j]||r.font[0]).metrics,J=0;return J+=q.bottom*.5,typeof K=="number"?J+=K-q.baseline:J+=-q[K],J*=-1,J})),t.color!=null)if(t.color||(t.color="transparent"),typeof t.color=="string"||!isNaN(t.color))this.color=Vee(t.color,"uint8");else{var F;if(typeof t.color[0]=="number"&&t.color.length>this.counts.length){var P=t.color.length;F=z2.mallocUint8(P);for(var R=(t.color.subarray||t.color.slice).bind(t.color),L=0;L4||this.baselineOffset.length>1||this.align&&this.align.length>1||this.fontAtlas.length>1||this.positionOffset.length>2;if(O){var $=Math.max(this.position.length*.5||0,this.color.length*.25||0,this.baselineOffset.length||0,this.alignOffset.length||0,this.font.length||0,this.opacity.length||0,this.positionOffset.length*.5||0);this.batch=Array($);for(var Y=0;Y1?this.counts[Y]:this.counts[0],offset:this.textOffsets.length>1?this.textOffsets[Y]:this.textOffsets[0],color:this.color?this.color.length<=4?this.color:this.color.subarray(Y*4,Y*4+4):[0,0,0,255],opacity:Array.isArray(this.opacity)?this.opacity[Y]:this.opacity,baseline:this.baselineOffset[Y]!=null?this.baselineOffset[Y]:this.baselineOffset[0],align:this.align?this.alignOffset[Y]!=null?this.alignOffset[Y]:this.alignOffset[0]:0,atlas:this.fontAtlas[Y]||this.fontAtlas[0],positionOffset:this.positionOffset.length>2?this.positionOffset.subarray(Y*2,Y*2+2):this.positionOffset}}else this.count?this.batch=[{count:this.count,offset:0,color:this.color||[0,0,0,255],opacity:Array.isArray(this.opacity)?this.opacity[0]:this.opacity,baseline:this.baselineOffset[0],align:this.alignOffset?this.alignOffset[0]:0,atlas:this.fontAtlas[0],positionOffset:this.positionOffset}]:this.batch=[]}};Xo.prototype.destroy=function(){};Xo.prototype.kerning=!0;Xo.prototype.position={constant:new Float32Array(2)};Xo.prototype.translate=null;Xo.prototype.scale=null;Xo.prototype.font=null;Xo.prototype.text="";Xo.prototype.positionOffset=[0,0];Xo.prototype.opacity=1;Xo.prototype.color=new Uint8Array([0,0,0,255]);Xo.prototype.alignOffset=[0,0];Xo.maxAtlasSize=1024;Xo.atlasCanvas=document.createElement("canvas");Xo.atlasContext=Xo.atlasCanvas.getContext("2d",{alpha:!1});Xo.baseFontSize=64;Xo.fonts={};function Kur(e){return typeof e=="function"&&e._gl&&e.prop&&e.texture&&e.buffer}TXe.exports=Xo});var UR=W((PYr,MXe)=>{"use strict";var Jur=JK(),Qur=zee();MXe.exports=function(t,r,i){var n=t._fullLayout,a=!0;return n._glcanvas.each(function(o){if(o.regl){o.regl.preloadCachedCode(i);return}if(!(o.pick&&!n._has("parcoords"))){try{o.regl=Qur({canvas:this,attributes:{antialias:!o.pick,preserveDrawingBuffer:!0},pixelRatio:t._context.plotGlPixelRatio||window.devicePixelRatio,extensions:r||[],cachedCode:i||{}})}catch(s){a=!1}o.regl||(a=!1),a&&this.addEventListener("webglcontextlost",function(s){t&&t.emit&&t.emit("plotly_webglcontextlost",{event:s,layer:o.key})},!1)}}),a||Jur({container:n._glcontainer.node()}),a}});var Hee=W((Gee,FXe)=>{"use strict";var SXe=HQ(),EXe=wee(),ecr=gYe(),kXe=AXe(),CXe=it(),tcr=u1().selectMode,rcr=UR(),icr=$o(),ncr=jj(),acr=UQ().styleTextSelection,DXe={};function ocr(e,t,r,i){var n=e._size,a=e.width*i,o=e.height*i,s=n.l*i,l=n.b*i,u=n.r*i,c=n.t*i,f=n.w*i,h=n.h*i;return[s+t.domain[0]*f,l+r.domain[0]*h,a-u-(1-t.domain[1])*f,o-c-(1-r.domain[1])*h]}var Gee=FXe.exports=function(t,r,i){if(i.length){var n=t._fullLayout,a=r._scene,o=r.xaxis,s=r.yaxis,l,u;if(a){var c=rcr(t,["ANGLE_instanced_arrays","OES_element_index_uint"],DXe);if(!c){a.init();return}var f=a.count,h=n._glcanvas.data()[0].regl;if(ncr(t,r,i),a.dirty){if((a.line2d||a.error2d)&&!(a.scatter2d||a.fill2d||a.glText)&&h.clear({color:!0,depth:!0}),a.error2d===!0&&(a.error2d=ecr(h)),a.line2d===!0&&(a.line2d=EXe(h)),a.scatter2d===!0&&(a.scatter2d=SXe(h)),a.fill2d===!0&&(a.fill2d=EXe(h)),a.glText===!0)for(a.glText=new Array(f),l=0;la.glText.length){var d=f-a.glText.length;for(l=0;lB&&(isNaN(I[O])||isNaN(I[O+1]));)O-=2;L.positions=I.slice(B,O+2)}return L}),a.line2d.update(a.lineOptions)),a.error2d){var m=(a.errorXOptions||[]).concat(a.errorYOptions||[]).map(function(L){return L||{positions:[],errors:[]}});a.error2d.update(m)}a.scatter2d&&a.scatter2d.update(a.markerOptions),a.fillOrder=CXe.repeat(null,f),a.fill2d&&(a.fillOptions=a.fillOptions.map(function(L,I){var B=i[I];if(!(!L||!B||!B[0]||!B[0].trace)){var O=B[0],$=O.trace,Y=O.t,K=a.lineOptions[I],j,q,J=[];$._ownfill&&J.push(I),$._nexttrace&&J.push(I+1),J.length&&(a.fillOrder[I]=J);var U=[],V=K&&K.positions||Y.positions,X,H;if($.fill==="tozeroy"){for(X=0;XX&&isNaN(V[H+1]);)H-=2;V[X+1]!==0&&(U=[V[X],0]),U=U.concat(V.slice(X,H+2)),V[H+1]!==0&&(U=U.concat([V[H],0]))}else if($.fill==="tozerox"){for(X=0;XX&&isNaN(V[H]);)H-=2;V[X]!==0&&(U=[0,V[X+1]]),U=U.concat(V.slice(X,H+2)),V[H]!==0&&(U=U.concat([0,V[H+1]]))}else if($.fill==="toself"||$.fill==="tonext"){for(U=[],j=0,L.splitNull=!0,q=0;q-1;for(let[L]of i)if(L){var _=L.trace,M=L.t,x=M.index,T=_._length,A=M.x,y=M.y;if(_.selectedpoints||w||b){if(w||(w=!0),_.selectedpoints){var E=a.selectBatch[x]=_.selectedpoints,S={};for(u=0;u{"use strict";var LXe=$He();LXe.plot=Hee();PXe.exports=LXe});var zXe=W((RYr,RXe)=>{"use strict";RXe.exports=IXe()});var jee=W((zYr,NXe)=>{"use strict";var scr=Ns(),OXe=Eo(),BXe=_s().axisHoverFormat,{hovertemplateAttrs:lcr,templatefallbackAttrs:ucr}=Ga(),UE=_E(),ccr=Gl().idRegex,fcr=Da().templatedArray,K4=tn().extendFlat,vm=scr.marker,hcr=vm.line,dcr=K4(OXe("marker.line",{editTypeOverride:"calc"}),{width:K4({},hcr.width,{editType:"calc"}),editType:"calc"}),VR=K4(OXe("marker"),{symbol:vm.symbol,angle:vm.angle,size:K4({},vm.size,{editType:"markerSize"}),sizeref:vm.sizeref,sizemin:vm.sizemin,sizemode:vm.sizemode,opacity:vm.opacity,colorbar:vm.colorbar,line:dcr,editType:"calc"});VR.color.editType=VR.cmin.editType=VR.cmax.editType="style";function qXe(e){return{valType:"info_array",freeLength:!0,editType:"calc",items:{valType:"subplotid",regex:ccr[e],editType:"plot"}}}NXe.exports={dimensions:fcr("dimension",{visible:{valType:"boolean",dflt:!0,editType:"calc"},label:{valType:"string",editType:"calc"},values:{valType:"data_array",editType:"calc+clearAxisTypes"},axis:{type:{valType:"enumerated",values:["linear","log","date","category"],editType:"calc+clearAxisTypes"},matches:{valType:"boolean",dflt:!0,editType:"calc"},editType:"calc+clearAxisTypes"},editType:"calc+clearAxisTypes"}),text:K4({},UE.text,{}),hovertext:K4({},UE.hovertext,{}),hovertemplate:lcr(),hovertemplatefallback:ucr(),xhoverformat:BXe("x"),yhoverformat:BXe("y"),marker:VR,xaxes:qXe("x"),yaxes:qXe("y"),diagonal:{visible:{valType:"boolean",dflt:!0,editType:"calc"},editType:"calc"},showupperhalf:{valType:"boolean",dflt:!0,editType:"calc"},showlowerhalf:{valType:"boolean",dflt:!0,editType:"calc"},selected:{marker:UE.selected.marker,editType:"calc"},unselected:{marker:UE.unselected.marker,editType:"calc"},opacity:UE.opacity}});var GR=W((BYr,UXe)=>{"use strict";UXe.exports=function(e,t,r,i){i||(i=1/0);var n,a;for(n=0;n{"use strict";var $ee=it(),pcr=Xc(),VXe=jee(),vcr=$o(),gcr=bd(),mcr=GR(),ycr=aR().isOpenSymbol;GXe.exports=function(t,r,i,n){function a(d,p){return $ee.coerce(t,r,VXe,d,p)}var o=pcr(t,r,{name:"dimensions",handleItemDefaults:xcr}),s=a("diagonal.visible"),l=a("showupperhalf"),u=a("showlowerhalf"),c=mcr(r,o,"values");if(!c||!s&&!l&&!u){r.visible=!1;return}a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("xhoverformat"),a("yhoverformat"),gcr(t,r,i,n,a,{noAngleRef:!0,noLineDash:!0,noStandOff:!0});var f=ycr(r.marker.symbol),h=vcr.isBubble(r);a("marker.line.width",f||h?1:0),_cr(t,r,n,a),$ee.coerceSelectionMarkerOpacity(r,a)};function xcr(e,t){function r(n,a){return $ee.coerce(e,t,VXe.dimensions,n,a)}r("label");var i=r("values");i&&i.length?r("visible"):t.visible=!1,r("axis.type"),r("axis.matches")}function _cr(e,t,r,i){var n=t.dimensions,a=n.length,o=t.showupperhalf,s=t.showlowerhalf,l=t.diagonal.visible,u,c,f=new Array(a),h=new Array(a);for(u=0;uc&&o||u{"use strict";var jXe=it();$Xe.exports=function(t,r){var i=t._fullLayout,n=r.uid,a=i._splomScenes;a||(a=i._splomScenes={});var o={dirty:!0,selectBatch:[],unselectBatch:[]},s={matrix:!1,selectBatch:[],unselectBatch:[]},l=a[r.uid];return l||(l=a[n]=jXe.extendFlat({},o,s),l.draw=function(){l.matrix&&l.matrix.draw&&(l.selectBatch.length||l.unselectBatch.length?l.matrix.draw(l.unselectBatch,l.selectBatch):l.matrix.draw()),l.dirty=!1},l.destroy=function(){l.matrix&&l.matrix.destroy&&l.matrix.destroy(),l.matrixOptions=null,l.selectBatch=null,l.unselectBatch=null,l=null}),l.dirty||jXe.extendFlat(l,o),l}});var ZXe=W((NYr,XXe)=>{"use strict";var Wee=it(),HR=Cs(),bcr=Td().calcMarkerSize,wcr=Td().calcAxisExpansion,Tcr=wd(),YXe=kb().markerSelection,Acr=kb().markerStyle,Mcr=WXe(),Scr=Kn().BADNUM,Ecr=C2().TOO_MANY_POINTS;XXe.exports=function(t,r){var i=r.dimensions,n=r._length,a={},o=a.cdata=[],s=a.data=[],l=r._visibleDims=[],u,c,f,h,d;function p(b,_){for(var M=b.makeCalcdata({v:_.values,vcalendar:r.calendar},"v"),x=0;xEcr,g;for(m?g=a.sizeAvg||Math.max(a.size,3):g=bcr(r,n),c=0;c{(function(){var e,t,r,i,n,a;typeof performance!="undefined"&&performance!==null&&performance.now?VE.exports=function(){return performance.now()}:typeof process!="undefined"&&process!==null&&process.hrtime?(VE.exports=function(){return(e()-n)/1e6},t=process.hrtime,e=function(){var o;return o=t(),o[0]*1e9+o[1]},i=e(),a=process.uptime()*1e9,n=i-a):Date.now?(VE.exports=function(){return Date.now()-r},r=Date.now()):(VE.exports=function(){return new Date().getTime()-r},r=new Date().getTime())}).call(KXe)});var eZe=W((UYr,WR)=>{var kcr=JXe(),gm=window,jR=["moz","webkit"],Q4="AnimationFrame",eT=gm["request"+Q4],GE=gm["cancel"+Q4]||gm["cancelRequest"+Q4];for(J4=0;!eT&&J4{tZe.exports=function(t,r){var i=typeof t=="number",n=typeof r=="number";i&&!n?(r=t,t=0):!i&&!n&&(t=0,r=0),t=t|0,r=r|0;var a=r-t;if(a<0)throw new Error("array length must be positive");for(var o=new Array(a),s=0,l=t;s{"use strict";var Ccr=HQ(),Dcr=N1(),Fcr=Mb(),iZe=eZe(),Lcr=rZe(),Xee=q4(),Pcr=Sb();aZe.exports=q2;function q2(e,t){if(!(this instanceof q2))return new q2(e,t);this.traces=[],this.passes={},this.regl=e,this.scatter=Ccr(e),this.canvas=this.scatter.canvas}q2.prototype.render=function(...e){return e.length&&this.update(...e),this.regl.attributes.preserveDrawingBuffer?this.draw():(this.dirty?this.planned==null&&(this.planned=iZe(()=>{this.draw(),this.dirty=!0,this.planned=null})):(this.draw(),this.dirty=!0,iZe(()=>{this.dirty=!1})),this)};q2.prototype.update=function(...e){if(!e.length)return;for(let i=0;im||!n.lower&&v{t[a+s]=i})}this.scatter.draw(...t)}return this};q2.prototype.destroy=function(){return this.traces.forEach(e=>{e.buffer&&e.buffer.destroy&&e.buffer.destroy()}),this.traces=null,this.passes=null,this.scatter.destroy(),this};function Icr(e,t,r){let i=e.id!=null?e.id:e,n=t,a=r;return i<<16|(n&255)<<8|a&255}function YR(e,t,r){let i,n,a,o,s,l,u,c,f=e[t],h=e[r];return f.length>2?(i=f[0],a=f[2],n=f[1],o=f[3]):f.length?(i=n=f[0],a=o=f[1]):(i=f.x,n=f.y,a=f.x+f.width,o=f.y+f.height),h.length>2?(s=h[0],u=h[2],l=h[1],c=h[3]):h.length?(s=l=h[0],u=c=h[1]):(s=h.x,l=h.y,u=h.x+h.width,c=h.y+h.height),[s,n,u,o]}function nZe(e){if(typeof e=="number")return[e,e,e,e];if(e.length===2)return[e[0],e[1],e[0],e[1]];{let t=Xee(e);return[t.x,t.y,t.x+t.width,t.y+t.height]}}});var lZe=W((HYr,sZe)=>{"use strict";var Rcr=oZe(),Zee=it(),XR=Cs(),zcr=u1().selectMode;sZe.exports=function(t,r,i){if(i.length)for(var n=0;n-1,S=zcr(c)||!!n.selectedpoints||E,C=!0;if(S){var k=n._length;if(n.selectedpoints){o.selectBatch=n.selectedpoints;var D=n.selectedpoints,F={};for(d=0;d{"use strict";uZe.getDimIndex=function(t,r){for(var i=r._id,n=i.charAt(0),a={x:0,y:1}[n],o=t._visibleDims,s=0;s{"use strict";var cZe=Kee(),qcr=nR().calcHover,fZe=ji().getFromId,Ocr=tn().extendFlat;function Ncr(e,t,r,i,n){n||(n={});var a=(i||"").charAt(0)==="x",o=(i||"").charAt(0)==="y",s=hZe(e,t,r);if((a||o)&&n.hoversubplots==="axis"&&s[0])for(var l=(a?e.xa:e.ya)._subplotsWith,u=n.gd,c=Ocr({},e),f=0;f{"use strict";var yZe=it(),vZe=yZe.pushUnique,gZe=$o(),mZe=Kee();xZe.exports=function(t,r){var i=t.cd,n=i[0].trace,a=i[0].t,o=t.scene,s=o.matrixOptions.cdata,l=t.xaxis,u=t.yaxis,c=[];if(!o)return c;var f=!gZe.hasMarkers(n)&&!gZe.hasText(n);if(n.visible!==!0||f)return c;var h=mZe.getDimIndex(n,l),d=mZe.getDimIndex(n,u);if(h===!1||d===!1)return c;var p=a.xpx[h],v=a.ypx[d],m=s[h],g=s[d],w=(t.scene.selectBatch||[]).slice(),b=[];if(r!==!1&&!r.degenerate)for(var _=0;_{"use strict";var bZe=it(),Ucr=wd(),Vcr=kb().markerStyle;wZe.exports=function(t,r){var i=r.trace,n=t._fullLayout._splomScenes[i.uid];if(n){Ucr(t,i),bZe.extendFlat(n.matrixOptions,Vcr(t,i));var a=bZe.extendFlat({},n.matrixOptions,n.viewOpts);n.matrix.update(a,null)}}});var MZe=W((XYr,AZe)=>{"use strict";var Gcr=yi(),Hcr=q$();AZe.exports={moduleType:"trace",name:"splom",categories:["gl","regl","cartesian","symbols","showLegend","scatter-like"],attributes:jee(),supplyDefaults:HXe(),colorbar:Ac(),calc:ZXe(),plot:lZe(),hoverPoints:pZe().hoverPoints,selectPoints:_Ze(),editStyle:TZe(),meta:{}};Gcr.register(Hcr)});var FZe=W((ZYr,DZe)=>{"use strict";var jcr=wee(),$cr=yi(),Wcr=UR(),Ycr=_c().getModuleCalcData,O2=dl(),SZe=Cs().getFromId,EZe=ji().shouldShowZeroLine,kZe="splom",CZe={};function Xcr(e){var t=e._fullLayout,r=$cr.getModule(kZe),i=Ycr(e.calcdata,r)[0],n=Wcr(e,["ANGLE_instanced_arrays","OES_element_index_uint"],CZe);n&&(t._hasOnlyLargeSploms&&Jee(e),r.plot(e,{},i))}function Zcr(e){var t=e.calcdata,r=e._fullLayout;r._hasOnlyLargeSploms&&Jee(e);for(var i=0;i{"use strict";var LZe=MZe();LZe.basePlotModule=FZe(),PZe.exports=LZe});var zZe=W((JYr,RZe)=>{"use strict";RZe.exports=IZe()});var tte=W((QYr,BZe)=>{"use strict";var efr=Eo(),Qee=ec(),ete=Ho(),tfr=us().attributes,ZR=tn().extendFlat,rfr=Da().templatedArray;BZe.exports={domain:tfr({name:"parcoords",trace:!0,editType:"plot"}),labelangle:{valType:"angle",dflt:0,editType:"plot"},labelside:{valType:"enumerated",values:["top","bottom"],dflt:"top",editType:"plot"},labelfont:ete({editType:"plot"}),tickfont:ete({autoShadowDflt:!0,editType:"plot"}),rangefont:ete({editType:"plot"}),dimensions:rfr("dimension",{label:{valType:"string",editType:"plot"},tickvals:ZR({},Qee.tickvals,{editType:"plot"}),ticktext:ZR({},Qee.ticktext,{editType:"plot"}),tickformat:ZR({},Qee.tickformat,{editType:"plot"}),visible:{valType:"boolean",dflt:!0,editType:"plot"},range:{valType:"info_array",items:[{valType:"number",editType:"plot"},{valType:"number",editType:"plot"}],editType:"plot"},constraintrange:{valType:"info_array",freeLength:!0,dimensions:"1-2",items:[{valType:"any",editType:"plot"},{valType:"any",editType:"plot"}],editType:"plot"},multiselect:{valType:"boolean",dflt:!0,editType:"plot"},values:{valType:"data_array",editType:"calc"},editType:"calc"}),line:ZR({editType:"calc"},efr("line",{colorscaleDflt:"Viridis",autoColorDflt:!1,editTypeOverride:"calc"})),unselected:{line:{color:{valType:"color",dflt:"#7f7f7f",editType:"plot"},opacity:{valType:"number",min:0,max:1,dflt:"auto",editType:"plot"},editType:"plot"},editType:"plot"}}});var HE=W((eXr,qZe)=>{"use strict";qZe.exports={maxDimensionCount:60,overdrag:45,verticalPadding:2,tickDistance:50,canvasPixelRatio:1,blockLineCount:5e3,layers:["contextLineLayer","focusLineLayer","pickLineLayer"],axisTitleOffset:28,axisExtentOffset:10,bar:{width:4,captureWidth:10,fillColor:"magenta",fillOpacity:1,snapDuration:150,snapRatio:.25,snapClose:.01,strokeOpacity:1,strokeWidth:1,handleHeight:8,handleOpacity:1,handleOverlap:0},cn:{axisExtentText:"axis-extent-text",parcoordsLineLayers:"parcoords-line-layers",parcoordsLineLayer:"parcoords-lines",parcoords:"parcoords",parcoordsControlView:"parcoords-control-view",yAxis:"y-axis",axisOverlays:"axis-overlays",axis:"axis",axisHeading:"axis-heading",axisTitle:"axis-title",axisExtent:"axis-extent",axisExtentTop:"axis-extent-top",axisExtentTopText:"axis-extent-top-text",axisExtentBottom:"axis-extent-bottom",axisExtentBottomText:"axis-extent-bottom-text",axisBrush:"axis-brush"},id:{filterBarPattern:"filter-bar-pattern"}}});var G1=W((tXr,NZe)=>{"use strict";var ifr=tA();function OZe(e){return[e]}NZe.exports={keyFun:function(e){return e.key},repeat:OZe,descend:ifr,wrap:OZe,unwrap:function(e){return e[0]}}});var nte=W((rXr,KZe)=>{"use strict";var Bl=HE(),gv=vi(),nfr=G1().keyFun,KR=G1().repeat,tT=it().sorterAsc,afr=it().strTranslate,UZe=Bl.bar.snapRatio;function VZe(e,t){return e*(1-UZe)+t*UZe}var GZe=Bl.bar.snapClose;function ofr(e,t){return e*(1-GZe)+t*GZe}function QR(e,t,r,i){if(sfr(r,i))return r;var n=e?-1:1,a=0,o=t.length-1;if(n<0){var s=a;a=o,o=s}for(var l=t[a],u=l,c=a;n*c=t[r][0]&&e<=t[r][1])return!0;return!1}function lfr(e){e.attr("x",-Bl.bar.captureWidth/2).attr("width",Bl.bar.captureWidth)}function ufr(e){e.attr("visibility","visible").style("visibility","visible").attr("fill","yellow").attr("opacity",0)}function cfr(e){if(!e.brush.filterSpecified)return"0,"+e.height;for(var t=HZe(e.brush.filter.getConsolidated(),e.height),r=[0],i,n,a,o=t.length?t[0][0]:null,s=0;se[1]+r||t=.9*e[1]+.1*e[0]?"n":t<=.9*e[0]+.1*e[1]?"s":"ns"}function jZe(){gv.select(document.body).style("cursor",null)}function ite(e){e.attr("stroke-dasharray",cfr)}function JR(e,t){var r=gv.select(e).selectAll(".highlight, .highlight-shadow"),i=t?r.transition().duration(Bl.bar.snapDuration).each("end",t):r;ite(i)}function $Ze(e,t){var r=e.brush,i=r.filterSpecified,n=NaN,a={},o;if(i){var s=e.height,l=r.filter.getConsolidated(),u=HZe(l,s),c=NaN,f=NaN,h=NaN;for(o=0;o<=u.length;o++){var d=u[o];if(d&&d[0]<=t&&t<=d[1]){c=o;break}else if(f=o?o-1:NaN,d&&d[0]>t){h=o;break}}if(n=c,isNaN(n)&&(isNaN(f)||isNaN(h)?n=isNaN(f)?h:f:n=t-u[f][1]=w[0]&&g<=w[1]){a.clickableOrdinalRange=w;break}}}return a}function hfr(e,t){gv.event.sourceEvent.stopPropagation();var r=t.height-gv.mouse(e)[1]-2*Bl.verticalPadding,i=t.unitToPaddedPx.invert(r),n=t.brush,a=$Ze(t,r),o=a.interval,s=n.svgBrush;if(s.wasDragged=!1,s.grabbingBar=a.region==="ns",s.grabbingBar){var l=o.map(t.unitToPaddedPx);s.grabPoint=r-l[0]-Bl.verticalPadding,s.barLength=l[1]-l[0]}s.clickableOrdinalRange=a.clickableOrdinalRange,s.stayingIntervals=t.multiselect&&n.filterSpecified?n.filter.getConsolidated():[],o&&(s.stayingIntervals=s.stayingIntervals.filter(function(u){return u[0]!==o[0]&&u[1]!==o[1]})),s.startExtent=a.region?o[a.region==="s"?1:0]:i,t.parent.inBrushDrag=!0,s.brushStartCallback()}function WZe(e,t){gv.event.sourceEvent.stopPropagation();var r=t.height-gv.mouse(e)[1]-2*Bl.verticalPadding,i=t.brush.svgBrush;i.wasDragged=!0,i._dragging=!0,i.grabbingBar?i.newExtent=[r-i.grabPoint,r+i.barLength-i.grabPoint].map(t.unitToPaddedPx.invert):i.newExtent=[i.startExtent,t.unitToPaddedPx.invert(r)].sort(tT),t.brush.filterSpecified=!0,i.extent=i.stayingIntervals.concat([i.newExtent]),i.brushCallback(t),JR(e.parentNode)}function dfr(e,t){var r=t.brush,i=r.filter,n=r.svgBrush;n._dragging||(YZe(e,t),WZe(e,t),t.brush.svgBrush.wasDragged=!1),n._dragging=!1;var a=gv.event;a.sourceEvent.stopPropagation();var o=n.grabbingBar;if(n.grabbingBar=!1,n.grabLocation=void 0,t.parent.inBrushDrag=!1,jZe(),!n.wasDragged){n.wasDragged=void 0,n.clickableOrdinalRange?r.filterSpecified&&t.multiselect?n.extent.push(n.clickableOrdinalRange):(n.extent=[n.clickableOrdinalRange],r.filterSpecified=!0):o?(n.extent=n.stayingIntervals,n.extent.length===0&&rte(r)):rte(r),n.brushCallback(t),JR(e.parentNode),n.brushEndCallback(r.filterSpecified?i.getConsolidated():[]);return}var s=function(){i.set(i.getConsolidated())};if(t.ordinal){var l=t.unitTickvals;l[l.length-1]n.newExtent[0];n.extent=n.stayingIntervals.concat(u?[n.newExtent]:[]),n.extent.length||rte(r),n.brushCallback(t),u?JR(e.parentNode,s):(s(),JR(e.parentNode))}else s();n.brushEndCallback(r.filterSpecified?i.getConsolidated():[])}function YZe(e,t){var r=t.height-gv.mouse(e)[1]-2*Bl.verticalPadding,i=$Ze(t,r),n="crosshair";i.clickableOrdinalRange?n="pointer":i.region&&(n=i.region+"-resize"),gv.select(document.body).style("cursor",n)}function pfr(e){e.on("mousemove",function(t){gv.event.preventDefault(),t.parent.inBrushDrag||YZe(this,t)}).on("mouseleave",function(t){t.parent.inBrushDrag||jZe()}).call(gv.behavior.drag().on("dragstart",function(t){hfr(this,t)}).on("drag",function(t){WZe(this,t)}).on("dragend",function(t){dfr(this,t)}))}function XZe(e,t){return e[0]-t[0]}function vfr(e,t,r){var i=r._context.staticPlot,n=e.selectAll(".background").data(KR);n.enter().append("rect").classed("background",!0).call(lfr).call(ufr).style("pointer-events",i?"none":"auto").attr("transform",afr(0,Bl.verticalPadding)),n.call(pfr).attr("height",function(s){return s.height-Bl.verticalPadding});var a=e.selectAll(".highlight-shadow").data(KR);a.enter().append("line").classed("highlight-shadow",!0).attr("x",-Bl.bar.width/2).attr("stroke-width",Bl.bar.width+Bl.bar.strokeWidth).attr("stroke",t).attr("opacity",Bl.bar.strokeOpacity).attr("stroke-linecap","butt"),a.attr("y1",function(s){return s.height}).call(ite);var o=e.selectAll(".highlight").data(KR);o.enter().append("line").classed("highlight",!0).attr("x",-Bl.bar.width/2).attr("stroke-width",Bl.bar.width-Bl.bar.strokeWidth).attr("stroke",Bl.bar.fillColor).attr("opacity",Bl.bar.fillOpacity).attr("stroke-linecap","butt"),o.attr("y1",function(s){return s.height}).call(ite)}function gfr(e,t,r){var i=e.selectAll("."+Bl.cn.axisBrush).data(KR,nfr);i.enter().append("g").classed(Bl.cn.axisBrush,!0),vfr(i,t,r)}function mfr(e){return e.svgBrush.extent.map(function(t){return t.slice()})}function rte(e){e.filterSpecified=!1,e.svgBrush.extent=[[-1/0,1/0]]}function yfr(e){return function(r){var i=r.brush,n=mfr(i),a=n.slice();i.filter.set(a),e()}}function ZZe(e){for(var t=e.slice(),r=[],i,n=t.shift();n;){for(i=n.slice();(n=t.shift())&&n[0]<=i[1];)i[1]=Math.max(i[1],n[1]);r.push(i)}return r.length===1&&r[0][0]>r[0][1]&&(r=[]),r}function xfr(){var e=[],t,r;return{set:function(i){e=i.map(function(n){return n.slice().sort(tT)}).sort(XZe),e.length===1&&e[0][0]===-1/0&&e[0][1]===1/0&&(e=[[0,-1]]),t=ZZe(e),r=e.reduce(function(n,a){return[Math.min(n[0],a[0]),Math.max(n[1],a[1])]},[1/0,-1/0])},get:function(){return e.slice()},getConsolidated:function(){return t},getBounds:function(){return r}}}function _fr(e,t,r,i,n,a){var o=xfr();return o.set(r),{filter:o,filterSpecified:t,svgBrush:{extent:[],brushStartCallback:i,brushCallback:yfr(n),brushEndCallback:a}}}function bfr(e,t){if(Array.isArray(e[0])?(e=e.map(function(i){return i.sort(tT)}),t.multiselect?e=ZZe(e.sort(XZe)):e=[e[0]]):e=[e.sort(tT)],t.tickvals){var r=t.tickvals.slice().sort(tT);if(e=e.map(function(i){var n=[QR(0,r,i[0],[]),QR(1,r,i[1],[])];if(n[1]>n[0])return n}).filter(function(i){return i}),!e.length)return}return e.length>1?e:e[0]}KZe.exports={makeBrush:_fr,ensureAxisBrush:gfr,cleanRanges:bfr}});var eKe=W((iXr,QZe)=>{"use strict";var N2=it(),wfr=bc().hasColorscale,Tfr=Fu(),Afr=us().defaults,Mfr=Xc(),Sfr=ji(),JZe=tte(),Efr=nte(),ate=HE().maxDimensionCount,kfr=GR();function Cfr(e,t,r,i,n){var a=n("line.color",r);if(wfr(e,"line")&&N2.isArrayOrTypedArray(a)){if(a.length)return n("line.colorscale"),Tfr(e,t,i,n,{prefix:"line.",cLetter:"c"}),a.length;t.line.color=r}return 1/0}function Dfr(e,t,r,i){function n(u,c){return N2.coerce(e,t,JZe.dimensions,u,c)}var a=n("values"),o=n("visible");if(a&&a.length||(o=t.visible=!1),o){n("label"),n("tickvals"),n("ticktext"),n("tickformat");var s=n("range");t._ax={_id:"y",type:"linear",showexponent:"all",exponentformat:"B",range:s},Sfr.setConvert(t._ax,i.layout),n("multiselect");var l=n("constraintrange");l&&(t.constraintrange=Efr.cleanRanges(l,t))}}QZe.exports=function(t,r,i,n){function a(c,f){return N2.coerce(t,r,JZe,c,f)}var o=t.dimensions;Array.isArray(o)&&o.length>ate&&(N2.log("parcoords traces support up to "+ate+" dimensions at the moment"),o.splice(ate));var s=Mfr(t,r,{name:"dimensions",layout:n,handleItemDefaults:Dfr}),l=Cfr(t,r,i,n,a);Afr(r,n,a),(!Array.isArray(s)||!s.length)&&(r.visible=!1),kfr(r,s,"values",l);var u=N2.extendFlat({},n.font,{size:Math.round(n.font.size/1.2)});N2.coerceFont(a,"labelfont",u),N2.coerceFont(a,"tickfont",u,{autoShadowDflt:!0}),N2.coerceFont(a,"rangefont",u),a("labelangle"),a("labelside"),a("unselected.line.color"),a("unselected.line.opacity")}});var rKe=W((nXr,tKe)=>{"use strict";var Ffr=it().isArrayOrTypedArray,ote=Jo(),Lfr=G1().wrap;tKe.exports=function(t,r){var i,n;return ote.hasColorscale(r,"line")&&Ffr(r.line.color)?(i=r.line.color,n=ote.extractOpts(r.line).colorscale,ote.calc(t,r,{vals:i,containerStr:"line",cLetter:"c"})):(i=Pfr(r._length),n=[[0,r.line.color],[1,r.line.color]]),Lfr({lineColor:i,cscale:n})};function Pfr(e){for(var t=new Array(e),r=0;r{"use strict";var Ifr=it().isTypedArray;ez.convertTypedArray=function(e){return Ifr(e)?Array.prototype.slice.call(e):e};ez.isOrdinal=function(e){return!!e.tickvals};ez.isVisible=function(e){return e.visible||!("visible"in e)}});var hKe=W((oXr,fKe)=>{"use strict";var Rfr=["precision highp float;","","varying vec4 fragColor;","","attribute vec4 p01_04, p05_08, p09_12, p13_16,"," p17_20, p21_24, p25_28, p29_32,"," p33_36, p37_40, p41_44, p45_48,"," p49_52, p53_56, p57_60, colors;","","uniform mat4 dim0A, dim1A, dim0B, dim1B, dim0C, dim1C, dim0D, dim1D,"," loA, hiA, loB, hiB, loC, hiC, loD, hiD;","","uniform vec2 resolution, viewBoxPos, viewBoxSize;","uniform float maskHeight;","uniform float drwLayer; // 0: context, 1: focus, 2: pick","uniform vec4 contextColor;","uniform sampler2D maskTexture, palette;","","bool isPick = (drwLayer > 1.5);","bool isContext = (drwLayer < 0.5);","","const vec4 ZEROS = vec4(0.0, 0.0, 0.0, 0.0);","const vec4 UNITS = vec4(1.0, 1.0, 1.0, 1.0);","","float val(mat4 p, mat4 v) {"," return dot(matrixCompMult(p, v) * UNITS, UNITS);","}","","float axisY(float ratio, mat4 A, mat4 B, mat4 C, mat4 D) {"," float y1 = val(A, dim0A) + val(B, dim0B) + val(C, dim0C) + val(D, dim0D);"," float y2 = val(A, dim1A) + val(B, dim1B) + val(C, dim1C) + val(D, dim1D);"," return y1 * (1.0 - ratio) + y2 * ratio;","}","","int iMod(int a, int b) {"," return a - b * (a / b);","}","","bool fOutside(float p, float lo, float hi) {"," return (lo < hi) && (lo > p || p > hi);","}","","bool vOutside(vec4 p, vec4 lo, vec4 hi) {"," return ("," fOutside(p[0], lo[0], hi[0]) ||"," fOutside(p[1], lo[1], hi[1]) ||"," fOutside(p[2], lo[2], hi[2]) ||"," fOutside(p[3], lo[3], hi[3])"," );","}","","bool mOutside(mat4 p, mat4 lo, mat4 hi) {"," return ("," vOutside(p[0], lo[0], hi[0]) ||"," vOutside(p[1], lo[1], hi[1]) ||"," vOutside(p[2], lo[2], hi[2]) ||"," vOutside(p[3], lo[3], hi[3])"," );","}","","bool outsideBoundingBox(mat4 A, mat4 B, mat4 C, mat4 D) {"," return mOutside(A, loA, hiA) ||"," mOutside(B, loB, hiB) ||"," mOutside(C, loC, hiC) ||"," mOutside(D, loD, hiD);","}","","bool outsideRasterMask(mat4 A, mat4 B, mat4 C, mat4 D) {"," mat4 pnts[4];"," pnts[0] = A;"," pnts[1] = B;"," pnts[2] = C;"," pnts[3] = D;",""," for(int i = 0; i < 4; ++i) {"," for(int j = 0; j < 4; ++j) {"," for(int k = 0; k < 4; ++k) {"," if(0 == iMod("," int(255.0 * texture2D(maskTexture,"," vec2("," (float(i * 2 + j / 2) + 0.5) / 8.0,"," (pnts[i][j][k] * (maskHeight - 1.0) + 1.0) / maskHeight"," ))[3]"," ) / int(pow(2.0, float(iMod(j * 4 + k, 8)))),"," 2"," )) return true;"," }"," }"," }"," return false;","}","","vec4 position(bool isContext, float v, mat4 A, mat4 B, mat4 C, mat4 D) {"," float x = 0.5 * sign(v) + 0.5;"," float y = axisY(x, A, B, C, D);"," float z = 1.0 - abs(v);",""," z += isContext ? 0.0 : 2.0 * float("," outsideBoundingBox(A, B, C, D) ||"," outsideRasterMask(A, B, C, D)"," );",""," return vec4("," 2.0 * (vec2(x, y) * viewBoxSize + viewBoxPos) / resolution - 1.0,"," z,"," 1.0"," );","}","","void main() {"," mat4 A = mat4(p01_04, p05_08, p09_12, p13_16);"," mat4 B = mat4(p17_20, p21_24, p25_28, p29_32);"," mat4 C = mat4(p33_36, p37_40, p41_44, p45_48);"," mat4 D = mat4(p49_52, p53_56, p57_60, ZEROS);",""," float v = colors[3];",""," gl_Position = position(isContext, v, A, B, C, D);",""," fragColor ="," isContext ? vec4(contextColor) :"," isPick ? vec4(colors.rgb, 1.0) : texture2D(palette, vec2(abs(v), 0.5));","}"].join(` +`),zfr=["precision highp float;","","varying vec4 fragColor;","","void main() {"," gl_FragColor = fragColor;","}"].join(` +`),jE=HE().maxDimensionCount,lKe=it(),iKe=1e-6,tz=2048,Bfr=new Uint8Array(4),nKe=new Uint8Array(4),aKe={shape:[256,1],format:"rgba",type:"uint8",mag:"nearest",min:"nearest"};function qfr(e){e.read({x:0,y:0,width:1,height:1,data:Bfr})}function uKe(e,t,r,i,n){var a=e._gl;a.enable(a.SCISSOR_TEST),a.scissor(t,r,i,n),e.clear({color:[0,0,0,0],depth:1})}function Ofr(e,t,r,i,n,a){var o=a.key;function s(l){var u=Math.min(i,n-l*i);l===0&&(window.cancelAnimationFrame(r.currentRafs[o]),delete r.currentRafs[o],uKe(e,a.scissorX,a.scissorY,a.scissorWidth,a.viewBoxSize[1])),!r.clearOnly&&(a.count=2*u,a.offset=2*l*i,t(a),l*i+u>>8*t)%256/255}function Vfr(e,t,r){for(var i=new Array(e*(jE+4)),n=0,a=0;aP&&(P=A[C].dim1.canvasX,D=C);S===0&&uKe(n,0,0,u.canvasWidth,u.canvasHeight);var R=b(r);for(C=0;C{"use strict";var oc=vi(),mm=it(),ute=mm.isArrayOrTypedArray,yKe=mm.numberFormat,xKe=ni(),_Ke=ji(),Wfr=mm.strRotate,H1=mm.strTranslate,Yfr=uo(),rz=Ji(),dKe=Jo(),hte=G1(),Vd=hte.keyFun,j1=hte.repeat,bKe=hte.unwrap,rT=ste(),Ra=HE(),wKe=nte(),Xfr=hKe();function pKe(e,t,r){return mm.aggNums(e,null,t,r)}function TKe(e,t){return dte(pKe(Math.min,e,t),pKe(Math.max,e,t))}function iz(e){var t=e.range;return t?dte(t[0],t[1]):TKe(e.values,e._length)}function dte(e,t){return(isNaN(e)||!isFinite(e))&&(e=0),(isNaN(t)||!isFinite(t))&&(t=0),e===t&&(e===0?(e-=1,t+=1):(e*=.9,t*=1.1)),[e,t]}function Zfr(e,t){return t?function(r,i){var n=t[i];return n==null?e(r):n}:e}function Kfr(e,t,r,i,n){var a=iz(r);return i?oc.scale.ordinal().domain(i.map(Zfr(yKe(r.tickformat),n))).range(i.map(function(o){var s=(o-a[0])/(a[1]-a[0]);return e-t+s*(2*t-e)})):oc.scale.linear().domain(a).range([e-t,t])}function Jfr(e,t){return oc.scale.linear().range([t,e-t])}function Qfr(e,t){return oc.scale.linear().domain(iz(e)).range([t,1-t])}function ehr(e){if(e.tickvals){var t=iz(e);return oc.scale.ordinal().domain(e.tickvals).range(e.tickvals.map(function(r){return(r-t[0])/(t[1]-t[0])}))}}function thr(e){var t=e.map(function(a){return a[0]}),r=e.map(function(a){let[o,s,l]=xKe.rgbaArray(a[1]);return oc.rgb(o,s,l)}),i=function(a){return function(o){return o[a]}},n="rgb".split("").map(function(a){return oc.scale.linear().clamp(!0).domain(t).range(r.map(i(a)))});return function(a){return n.map(function(o){return o(a)})}}function fte(e){return e.dimensions.some(function(t){return t.brush.filterSpecified})}function rhr(e,t,r){var i=bKe(t),n=i.trace,a=rT.convertTypedArray(i.lineColor),o=n.line,s={color:xKe.normalize(n.unselected.line.color),opacity:n.unselected.line.opacity},l=dKe.extractOpts(o),u=l.reversescale?dKe.flipScale(i.cscale):i.cscale,c=n.domain,f=n.dimensions,h=e.width,d=n.labelangle,p=n.labelside,v=n.labelfont,m=n.tickfont,g=n.rangefont,w=mm.extendDeepNoArrays({},o,{color:a.map(oc.scale.linear().domain(iz({values:a,range:[l.min,l.max],_length:n._length}))),blockLineCount:Ra.blockLineCount,canvasOverdrag:Ra.overdrag*Ra.canvasPixelRatio}),b=Math.floor(h*(c.x[1]-c.x[0])),_=Math.floor(e.height*(c.y[1]-c.y[0])),M=e.margin||{l:80,r:80,t:100,b:80},x=b,T=_;return{key:r,colCount:f.filter(rT.isVisible).length,dimensions:f,tickDistance:Ra.tickDistance,unitToColor:thr(u),lines:w,deselectedLines:s,labelAngle:d,labelSide:p,labelFont:v,tickFont:m,rangeFont:g,layoutWidth:h,layoutHeight:e.height,domain:c,translateX:c.x[0]*h,translateY:e.height-c.y[1]*e.height,pad:M,canvasWidth:x*Ra.canvasPixelRatio+2*w.canvasOverdrag,canvasHeight:T*Ra.canvasPixelRatio,width:x,height:T,canvasPixelRatio:Ra.canvasPixelRatio}}function ihr(e,t,r){var i=r.width,n=r.height,a=r.dimensions,o=r.canvasPixelRatio,s=function(h){return i*h/Math.max(1,r.colCount-1)},l=Ra.verticalPadding/n,u=Jfr(n,Ra.verticalPadding),c={key:r.key,xScale:s,model:r,inBrushDrag:!1},f={};return c.dimensions=a.filter(rT.isVisible).map(function(h,d){var p=Qfr(h,l),v=f[h.label];f[h.label]=(v||0)+1;var m=h.label+(v?"__"+v:""),g=h.constraintrange,w=g&&g.length;w&&!ute(g[0])&&(g=[g]);var b=w?g.map(function(k){return k.map(p)}):[[-1/0,1/0]],_=function(){var k=c;k.focusLayer&&k.focusLayer.render(k.panels,!0);var D=fte(k);!e.contextShown()&&D?(k.contextLayer&&k.contextLayer.render(k.panels,!0),e.contextShown(!0)):e.contextShown()&&!D&&(k.contextLayer&&k.contextLayer.render(k.panels,!0,!0),e.contextShown(!1))},M=h.values;M.length>h._length&&(M=M.slice(0,h._length));var x=h.tickvals,T;function A(k,D){return{val:k,text:T[D]}}function y(k,D){return k.val-D.val}if(ute(x)&&x.length){mm.isTypedArray(x)&&(x=Array.from(x)),T=h.ticktext,!ute(T)||!T.length?T=x.map(yKe(h.tickformat)):T.length>x.length?T=T.slice(0,x.length):x.length>T.length&&(x=x.slice(0,T.length));for(var E=1;E=D||L>=F)return;var I=C.lineLayer.readPixel(R,F-1-L),B=I[3]!==0,O=B?I[2]+256*(I[1]+256*I[0]):null,$={x:R,y:L,clientX:k.clientX,clientY:k.clientY,dataIndex:C.model.key,curveNumber:O};O!==p&&(B?n.hover($):n.unhover&&n.unhover($),p=O)}}),d.style("opacity",function(C){return C.pick?0:1}),s.style("background","rgba(255, 255, 255, 0)");var m=s.selectAll("."+Ra.cn.parcoords).data(h,Vd);m.exit().remove(),m.enter().append("g").classed(Ra.cn.parcoords,!0).style("shape-rendering","crispEdges").style("pointer-events","none"),m.attr("transform",function(C){return H1(C.model.translateX,C.model.translateY)});var g=m.selectAll("."+Ra.cn.parcoordsControlView).data(j1,Vd);g.enter().append("g").classed(Ra.cn.parcoordsControlView,!0),g.attr("transform",function(C){return H1(C.model.pad.l,C.model.pad.t)});var w=g.selectAll("."+Ra.cn.yAxis).data(function(C){return C.dimensions},Vd);w.enter().append("g").classed(Ra.cn.yAxis,!0),g.each(function(C){cte(w,C,u)}),d.each(function(C){if(C.viewModel){!C.lineLayer||n?C.lineLayer=Xfr(this,C):C.lineLayer.update(C),(C.key||C.key===0)&&(C.viewModel[C.key]=C.lineLayer);var k=!C.context||n;C.lineLayer.render(C.viewModel.panels,k)}}),w.attr("transform",function(C){return H1(C.xScale(C.xIndex),0)}),w.call(oc.behavior.drag().origin(function(C){return C}).on("drag",function(C){var k=C.parent;f.linePickActive(!1),C.x=Math.max(-Ra.overdrag,Math.min(C.model.width+Ra.overdrag,oc.event.x)),C.canvasX=C.x*C.model.canvasPixelRatio,w.sort(function(D,F){return D.x-F.x}).each(function(D,F){D.xIndex=F,D.x=C===D?D.x:D.xScale(D.xIndex),D.canvasX=D.x*D.model.canvasPixelRatio}),cte(w,k,u),w.filter(function(D){return Math.abs(C.xIndex-D.xIndex)!==0}).attr("transform",function(D){return H1(D.xScale(D.xIndex),0)}),oc.select(this).attr("transform",H1(C.x,0)),w.each(function(D,F,P){P===C.parent.key&&(k.dimensions[F]=D)}),k.contextLayer&&k.contextLayer.render(k.panels,!1,!fte(k)),k.focusLayer.render&&k.focusLayer.render(k.panels)}).on("dragend",function(C){var k=C.parent;C.x=C.xScale(C.xIndex),C.canvasX=C.x*C.model.canvasPixelRatio,cte(w,k,u),oc.select(this).attr("transform",function(D){return H1(D.x,0)}),k.contextLayer&&k.contextLayer.render(k.panels,!1,!fte(k)),k.focusLayer&&k.focusLayer.render(k.panels),k.pickLayer&&k.pickLayer.render(k.panels,!0),f.linePickActive(!0),n&&n.axesMoved&&n.axesMoved(k.key,k.dimensions.map(function(D){return D.crossfilterDimensionIndex}))})),w.exit().remove();var b=w.selectAll("."+Ra.cn.axisOverlays).data(j1,Vd);b.enter().append("g").classed(Ra.cn.axisOverlays,!0),b.selectAll("."+Ra.cn.axis).remove();var _=b.selectAll("."+Ra.cn.axis).data(j1,Vd);_.enter().append("g").classed(Ra.cn.axis,!0),_.each(function(C){var k=C.model.height/C.model.tickDistance,D=C.domainScale,F=D.domain();oc.select(this).call(oc.svg.axis().orient("left").tickSize(4).outerTickSize(2).ticks(k,C.tickFormat).tickValues(C.ordinal?F:null).tickFormat(function(P){return rT.isOrdinal(C)?P:AKe(C.model.dimensions[C.visibleIndex],P)}).scale(D)),rz.font(_.selectAll("text"),C.model.tickFont)}),_.selectAll(".domain, .tick>line").attr("fill","none").attr("stroke","black").attr("stroke-opacity",.25).attr("stroke-width","1px"),_.selectAll("text").style("cursor","default");var M=b.selectAll("."+Ra.cn.axisHeading).data(j1,Vd);M.enter().append("g").classed(Ra.cn.axisHeading,!0);var x=M.selectAll("."+Ra.cn.axisTitle).data(j1,Vd);x.enter().append("text").classed(Ra.cn.axisTitle,!0).attr("text-anchor","middle").style("cursor","ew-resize").style("pointer-events",a?"none":"auto"),x.text(function(C){return C.label}).each(function(C){var k=oc.select(this);rz.font(k,C.model.labelFont),Yfr.convertToTspans(k,t)}).attr("transform",function(C){var k=gKe(C.model.labelAngle,C.model.labelSide),D=Ra.axisTitleOffset;return(k.dir>0?"":H1(0,2*D+C.model.height))+Wfr(k.degrees)+H1(-D*k.dx,-D*k.dy)}).attr("text-anchor",function(C){var k=gKe(C.model.labelAngle,C.model.labelSide),D=Math.abs(k.dx),F=Math.abs(k.dy);return 2*D>F?k.dir*k.dx<0?"start":"end":"middle"});var T=b.selectAll("."+Ra.cn.axisExtent).data(j1,Vd);T.enter().append("g").classed(Ra.cn.axisExtent,!0);var A=T.selectAll("."+Ra.cn.axisExtentTop).data(j1,Vd);A.enter().append("g").classed(Ra.cn.axisExtentTop,!0),A.attr("transform",H1(0,-Ra.axisExtentOffset));var y=A.selectAll("."+Ra.cn.axisExtentTopText).data(j1,Vd);y.enter().append("text").classed(Ra.cn.axisExtentTopText,!0).call(vKe),y.text(function(C){return mKe(C,!0)}).each(function(C){rz.font(oc.select(this),C.model.rangeFont)});var E=T.selectAll("."+Ra.cn.axisExtentBottom).data(j1,Vd);E.enter().append("g").classed(Ra.cn.axisExtentBottom,!0),E.attr("transform",function(C){return H1(0,C.model.height+Ra.axisExtentOffset)});var S=E.selectAll("."+Ra.cn.axisExtentBottomText).data(j1,Vd);S.enter().append("text").classed(Ra.cn.axisExtentBottomText,!0).attr("dy","0.75em").call(vKe),S.text(function(C){return mKe(C,!1)}).each(function(C){rz.font(oc.select(this),C.model.rangeFont)}),wKe.ensureAxisBrush(b,c,t)}});var vte=W((pte,DKe)=>{"use strict";var ohr=SKe(),shr=UR(),EKe=ste().isVisible,CKe={};function kKe(e,t,r){var i=t.indexOf(r),n=e.indexOf(i);return n===-1&&(n+=t.length),n}function lhr(e,t){return function(i,n){return kKe(e,t,i)-kKe(e,t,n)}}var pte=DKe.exports=function(t,r){var i=t._fullLayout,n=shr(t,[],CKe);if(n){var a={},o={},s={},l=i._size;r.forEach(function(d,p){var v=d[0].trace,m=s[p]=v.index;a[p]=t.data[m].dimensions,o[p]=t.data[m].dimensions.slice()});var u=function(d,p,v){var m=o[d][p],g=v.map(function(T){return T.slice()}),w="dimensions["+p+"].constraintrange",b=i._tracePreGUI[t._fullData[s[d]].uid];if(b[w]===void 0){var _=m.constraintrange;b[w]=_||null}var M=t._fullData[s[d]].dimensions[p];g.length?(g.length===1&&(g=g[0]),m.constraintrange=g,M.constraintrange=g.slice(),g=[g]):(delete m.constraintrange,delete M.constraintrange,g=null);var x={};x[w]=g,t.emit("plotly_restyle",[x,[s[d]]])},c=function(d){t.emit("plotly_hover",d)},f=function(d){t.emit("plotly_unhover",d)},h=function(d,p){var v=lhr(p,o[d].filter(EKe));a[d].sort(v),o[d].filter(function(m){return!EKe(m)}).sort(function(m){return o[d].indexOf(m)}).forEach(function(m){a[d].splice(a[d].indexOf(m),1),a[d].splice(o[d].indexOf(m),0,m)}),t.emit("plotly_restyle",[{dimensions:[a[d]]},[s[d]]])};ohr(t,r,{width:l.w,height:l.h,margin:{t:l.t,r:l.r,b:l.b,l:l.l}},{filterChanged:u,hover:c,unhover:f,axesMoved:h})}};pte.reglPrecompiled=CKe});var LKe=W($E=>{"use strict";var FKe=vi(),uhr=_c().getModuleCalcData,chr=vte(),fhr=sd();$E.name="parcoords";$E.plot=function(e){var t=uhr(e.calcdata,"parcoords")[0];t.length&&chr(e,t)};$E.clean=function(e,t,r,i){var n=i._has&&i._has("parcoords"),a=t._has&&t._has("parcoords");n&&!a&&(i._paperdiv.selectAll(".parcoords").remove(),i._glimages.selectAll("*").remove())};$E.toSVG=function(e){var t=e._fullLayout._glimages,r=FKe.select(e).selectAll(".svg-container"),i=r.filter(function(a,o){return o===r.size()-1}).selectAll(".gl-canvas-context, .gl-canvas-focus");function n(){var a=this,o=a.toDataURL("image/png"),s=t.append("svg:image");s.attr({xmlns:fhr.svg,"xlink:href":o,preserveAspectRatio:"none",x:0,y:0,width:a.style.width,height:a.style.height})}i.each(n),window.setTimeout(function(){FKe.selectAll("#filterBarPattern").attr("id","filterBarPattern")},60)}});var IKe=W((uXr,PKe)=>{"use strict";PKe.exports={attributes:tte(),supplyDefaults:eKe(),calc:rKe(),colorbar:{container:"line",min:"cmin",max:"cmax"},moduleType:"trace",name:"parcoords",basePlotModule:LKe(),categories:["gl","regl","noOpacity","noHover"],meta:{}}});var BKe=W((cXr,zKe)=>{"use strict";var RKe=IKe();RKe.plot=vte();zKe.exports=RKe});var OKe=W((fXr,qKe)=>{"use strict";qKe.exports=BKe()});var gte=W((hXr,HKe)=>{"use strict";var UKe=tn().extendFlat,hhr=Wa(),NKe=Ho(),dhr=Eo(),{hovertemplateAttrs:VKe,templatefallbackAttrs:GKe}=Ga(),phr=us().attributes,vhr=UKe({editType:"calc"},dhr("line",{editTypeOverride:"calc"}),{shape:{valType:"enumerated",values:["linear","hspline"],dflt:"linear",editType:"plot"},hovertemplate:VKe({editType:"plot",arrayOk:!1},{keys:["count","probability"]}),hovertemplatefallback:GKe({editType:"plot"})});HKe.exports={domain:phr({name:"parcats",trace:!0,editType:"calc"}),hoverinfo:UKe({},hhr.hoverinfo,{flags:["count","probability"],editType:"plot",arrayOk:!1}),hoveron:{valType:"enumerated",values:["category","color","dimension"],dflt:"category",editType:"plot"},hovertemplate:VKe({editType:"plot",arrayOk:!1},{keys:["count","probability","category","categorycount","colorcount","bandcolorcount"]}),hovertemplatefallback:GKe({editType:"plot"}),arrangement:{valType:"enumerated",values:["perpendicular","freeform","fixed"],dflt:"perpendicular",editType:"plot"},bundlecolors:{valType:"boolean",dflt:!0,editType:"plot"},sortpaths:{valType:"enumerated",values:["forward","backward"],dflt:"forward",editType:"plot"},labelfont:NKe({editType:"calc"}),tickfont:NKe({autoShadowDflt:!0,editType:"calc"}),dimensions:{_isLinkedToArray:"dimension",label:{valType:"string",editType:"calc"},categoryorder:{valType:"enumerated",values:["trace","category ascending","category descending","array"],dflt:"trace",editType:"calc"},categoryarray:{valType:"data_array",editType:"calc"},ticktext:{valType:"data_array",editType:"calc"},values:{valType:"data_array",dflt:[],editType:"calc"},displayindex:{valType:"integer",editType:"calc"},editType:"calc",visible:{valType:"boolean",dflt:!0,editType:"calc"}},line:vhr,counts:{valType:"number",min:0,dflt:1,arrayOk:!0,editType:"calc"},customdata:void 0,hoverlabel:void 0,ids:void 0,legend:void 0,legendgroup:void 0,legendrank:void 0,opacity:void 0,selectedpoints:void 0,showlegend:void 0}});var WKe=W((dXr,$Ke)=>{"use strict";var iT=it(),ghr=bc().hasColorscale,mhr=Fu(),yhr=us().defaults,xhr=Xc(),jKe=gte(),_hr=GR(),bhr=yc().isTypedArraySpec;function whr(e,t,r,i,n){n("line.shape"),n("line.hovertemplate"),n("line.hovertemplatefallback");var a=n("line.color",i.colorway[0]);if(ghr(e,"line")&&iT.isArrayOrTypedArray(a)){if(a.length)return n("line.colorscale"),mhr(e,t,i,n,{prefix:"line.",cLetter:"c"}),a.length;t.line.color=r}return 1/0}function Thr(e,t){function r(u,c){return iT.coerce(e,t,jKe.dimensions,u,c)}var i=r("values"),n=r("visible");if(i&&i.length||(n=t.visible=!1),n){r("label"),r("displayindex",t._index);var a=e.categoryarray,o=iT.isArrayOrTypedArray(a)&&a.length>0||bhr(a),s;o&&(s="array");var l=r("categoryorder",s);l==="array"?(r("categoryarray"),r("ticktext")):(delete e.categoryarray,delete e.ticktext),!o&&l==="array"&&(t.categoryorder="trace")}}$Ke.exports=function(t,r,i,n){function a(u,c){return iT.coerce(t,r,jKe,u,c)}var o=xhr(t,r,{name:"dimensions",handleItemDefaults:Thr}),s=whr(t,r,i,n,a);yhr(r,n,a),(!Array.isArray(o)||!o.length)&&(r.visible=!1),_hr(r,o,"values",s),a("hoveron"),a("hovertemplate"),a("hovertemplatefallback"),a("arrangement"),a("bundlecolors"),a("sortpaths"),a("counts");var l=n.font;iT.coerceFont(a,"labelfont",l,{overrideDflt:{size:Math.round(l.size)}}),iT.coerceFont(a,"tickfont",l,{autoShadowDflt:!0,overrideDflt:{size:Math.round(l.size/1.2)}})}});var XKe=W((pXr,YKe)=>{"use strict";var Ahr=G1().wrap,Mhr=bc().hasColorscale,Shr=Zc(),Ehr=mV(),khr=Ji(),WE=it(),Chr=sn();YKe.exports=function(t,r){var i=WE.filterVisible(r.dimensions);if(i.length===0)return[];var n=i.map(function(y){var E;if(y.categoryorder==="trace")E=null;else if(y.categoryorder==="array")E=y.categoryarray;else{E=Ehr(y.values);for(var S=!0,C=0;C=e.length||t[e[r]]!==void 0)return!1;t[e[r]]=!0}return!0}});var nJe=W((vXr,iJe)=>{"use strict";var za=vi(),Nhr=(db(),Go(hb)).interpolateNumber,Uhr=rF(),mte=ni(),ZE=Ds(),U2=it(),YE=U2.strTranslate,ZKe=Ji(),Vhr=uo();function Ghr(e,t,r,i){var n=t._context.staticPlot,a=e.map(a0r.bind(0,t,r)),o=i.selectAll("g.parcatslayer").data([null]);o.enter().append("g").attr("class","parcatslayer").style("pointer-events",n?"none":"all");var s=o.selectAll("g.trace.parcats").data(a,ym),l=s.enter().append("g").attr("class","trace parcats");s.attr("transform",function(w){return YE(w.x,w.y)}),l.append("g").attr("class","paths");var u=s.select("g.paths"),c=u.selectAll("path.path").data(function(w){return w.paths},ym);c.attr("fill",function(w){return w.model.color});var f=c.enter().append("path").attr("class","path").attr("stroke-opacity",0).attr("fill",function(w){return w.model.color}).attr("fill-opacity",0);_te(f),c.attr("d",function(w){return w.svgD}),f.empty()||c.sort(yte),c.exit().remove(),c.on("mouseover",jhr).on("mouseout",$hr).on("click",Whr),l.append("g").attr("class","dimensions");var h=s.select("g.dimensions"),d=h.selectAll("g.dimension").data(function(w){return w.dimensions},ym);d.enter().append("g").attr("class","dimension"),d.attr("transform",function(w){return YE(w.x,0)}),d.exit().remove();var p=d.selectAll("g.category").data(function(w){return w.categories},ym),v=p.enter().append("g").attr("class","category");p.attr("transform",function(w){return YE(0,w.y)}),v.append("rect").attr("class","catrect").attr("pointer-events","none"),p.select("rect.catrect").attr("fill","none").attr("width",function(w){return w.width}).attr("height",function(w){return w.height}),JKe(v);var m=p.selectAll("rect.bandrect").data(function(w){return w.bands},ym);m.each(function(){U2.raiseToTop(this)}),m.attr("fill",function(w){return w.color});var g=m.enter().append("rect").attr("class","bandrect").attr("stroke-opacity",0).attr("fill",function(w){return w.color}).attr("fill-opacity",0);m.attr("fill",function(w){return w.color}).attr("width",function(w){return w.width}).attr("height",function(w){return w.height}).attr("y",function(w){return w.y}).attr("cursor",function(w){return w.parcatsViewModel.arrangement==="fixed"?"default":w.parcatsViewModel.arrangement==="perpendicular"?"ns-resize":"move"}),wte(g),m.exit().remove(),v.append("text").attr("class","catlabel").attr("pointer-events","none"),p.select("text.catlabel").attr("text-anchor",function(w){return XE(w)?"start":"end"}).attr("alignment-baseline","middle").style("fill","rgb(0, 0, 0)").attr("x",function(w){return XE(w)?w.width+5:-5}).attr("y",function(w){return w.height/2}).text(function(w){return w.model.categoryLabel}).each(function(w){ZKe.font(za.select(this),w.parcatsViewModel.categorylabelfont),Vhr.convertToTspans(za.select(this),t)}),v.append("text").attr("class","dimlabel"),p.select("text.dimlabel").attr("text-anchor","middle").attr("alignment-baseline","baseline").attr("cursor",function(w){return w.parcatsViewModel.arrangement==="fixed"?"default":"ew-resize"}).attr("x",function(w){return w.width/2}).attr("y",-5).text(function(w,b){return b===0?w.parcatsViewModel.model.dimensions[w.model.dimensionInd].dimensionLabel:null}).each(function(w){ZKe.font(za.select(this),w.parcatsViewModel.labelfont)}),p.selectAll("rect.bandrect").on("mouseover",e0r).on("mouseout",t0r),p.exit().remove(),d.call(za.behavior.drag().origin(function(w){return{x:w.x,y:0}}).on("dragstart",r0r).on("drag",i0r).on("dragend",n0r)),s.each(function(w){w.traceSelection=za.select(this),w.pathSelection=za.select(this).selectAll("g.paths").selectAll("path.path"),w.dimensionSelection=za.select(this).selectAll("g.dimensions").selectAll("g.dimension")}),s.exit().remove()}iJe.exports=function(e,t,r,i){Ghr(r,e,i,t)};function ym(e){return e.key}function XE(e){var t=e.parcatsViewModel.dimensions.length,r=e.parcatsViewModel.dimensions[t-1].model.dimensionInd;return e.model.dimensionInd===r}function yte(e,t){return e.model.rawColor>t.model.rawColor?1:e.model.rawColorn)return 1;if(i!==n){var a=isNaN(i),o=isNaN(n);if(a!==o)return a?1:-1}}return e.length-t.length}function jhr(e){if(!e.parcatsViewModel.dragDimension&&e.parcatsViewModel.hoverinfoItems.indexOf("skip")===-1){U2.raiseToTop(this),bte(za.select(this));var t=KE(e),r=xte(e);if(e.parcatsViewModel.graphDiv.emit("plotly_hover",{points:t,event:za.event,constraints:r}),e.parcatsViewModel.hoverinfoItems.indexOf("none")===-1){var i=za.mouse(this)[0],n=e.parcatsViewModel.graphDiv,a=e.parcatsViewModel.trace,o=n._fullLayout,s=o._paperdiv.node().getBoundingClientRect(),l=e.parcatsViewModel.graphDiv.getBoundingClientRect(),u,c,f;for(f=0;f"),x=za.mouse(n)[0];ZE.loneHover({trace:a,x:p-s.left+l.left,y:v-s.top+l.top,text:M,color:e.model.color,borderColor:"black",fontFamily:'Monaco, "Courier New", monospace',fontSize:10,fontColor:m,idealAlign:xmte.mostReadable(t.model.color)).attr("stroke-width",.3)}function Yhr(e){e.select("rect.catrect").attr("stroke","black").attr("stroke-width",2.5)}function JKe(e){e.select("rect.catrect").attr("stroke","black").attr("stroke-width",1).attr("stroke-opacity",1)}function Xhr(e){e.attr("stroke","black").attr("stroke-width",1.5)}function wte(e){e.attr("stroke","black").attr("stroke-width",.2).attr("stroke-opacity",1).attr("fill-opacity",1)}function nz(e){var t=e.parcatsViewModel.pathSelection,r=e.categoryViewModel.model.dimensionInd,i=e.categoryViewModel.model.categoryInd;return t.filter(function(n){return n.model.categoryInds[r]===i&&n.model.color===e.color})}function Zhr(e){var t=za.select(e.parentNode).selectAll("rect.bandrect");t.each(function(r){var i=nz(r);bte(i),i.each(function(){U2.raiseToTop(this)})}),Yhr(za.select(e.parentNode))}function Khr(e){var t=za.select(e).datum(),r=nz(t);bte(r),r.each(function(){U2.raiseToTop(this)}),za.select(e.parentNode).selectAll("rect.bandrect").filter(function(i){return i.color===t.color}).each(function(){U2.raiseToTop(this),Xhr(za.select(this))})}function Tte(e,t,r){var i=za.select(e).datum(),n=i.categoryViewModel.model,a=i.parcatsViewModel.graphDiv,o=za.select(e.parentNode).selectAll("rect.bandrect"),s=[];o.each(function(u){var c=nz(u);c.each(function(f){Array.prototype.push.apply(s,KE(f))})});var l={};l[n.dimensionInd]=n.categoryValue,a.emit(t,{points:s,event:r,constraints:l})}function Ate(e,t,r){var i=za.select(e).datum(),n=i.categoryViewModel.model,a=i.parcatsViewModel.graphDiv,o=nz(i),s=[];o.each(function(u){Array.prototype.push.apply(s,KE(u))});var l={};l[n.dimensionInd]=n.categoryValue,i.rawColor!==void 0&&(l.color=i.rawColor),a.emit(t,{points:s,event:r,constraints:l})}function QKe(e,t,r){e._fullLayout._calcInverseTransform(e);var i=e._fullLayout._invScaleX,n=e._fullLayout._invScaleY,a=za.select(r.parentNode).select("rect.catrect"),o=a.node().getBoundingClientRect(),s=a.datum(),l=s.parcatsViewModel,u=l.model.dimensions[s.model.dimensionInd],c=l.trace,f=o.top+o.height/2,h,d;l.dimensions.length>1&&u.displayInd===l.dimensions.length-1?(h=o.left,d="left"):(h=o.left+o.width,d="right");var p=s.model.count,v=s.model.categoryLabel,m=p/s.parcatsViewModel.model.count,g={countLabel:p,categoryLabel:v,probabilityLabel:m.toFixed(3)},w=[];s.parcatsViewModel.hoverinfoItems.indexOf("count")!==-1&&w.push(["Count:",g.countLabel].join(" ")),s.parcatsViewModel.hoverinfoItems.indexOf("probability")!==-1&&w.push(["P("+g.categoryLabel+"):",g.probabilityLabel].join(" "));var b=w.join("
");return{trace:c,x:i*(h-t.left),y:n*(f-t.top),text:b,color:"lightgray",borderColor:"black",fontFamily:'Monaco, "Courier New", monospace',fontSize:12,fontColor:"black",idealAlign:d,hovertemplate:c.hovertemplate,hovertemplateLabels:g,eventData:[{data:c._input,fullData:c,count:p,category:v,probability:m}]}}function Jhr(e,t,r){var i=[];return za.select(r.parentNode.parentNode).selectAll("g.category").select("rect.catrect").each(function(){var n=this;i.push(QKe(e,t,n))}),i}function Qhr(e,t,r){e._fullLayout._calcInverseTransform(e);var i=e._fullLayout._invScaleX,n=e._fullLayout._invScaleY,a=r.getBoundingClientRect(),o=za.select(r).datum(),s=o.categoryViewModel,l=s.parcatsViewModel,u=l.model.dimensions[s.model.dimensionInd],c=l.trace,f=a.y+a.height/2,h,d;l.dimensions.length>1&&u.displayInd===l.dimensions.length-1?(h=a.left,d="left"):(h=a.left+a.width,d="right");var p=s.model.categoryLabel,v=o.parcatsViewModel.model.count,m=0;o.categoryViewModel.bands.forEach(function(E){E.color===o.color&&(m+=E.count)});var g=s.model.count,w=0;l.pathSelection.each(function(E){E.model.color===o.color&&(w+=E.model.count)});var b=m/v,_=m/w,M=m/g,x={countLabel:m,categoryLabel:p,probabilityLabel:b.toFixed(3)},T=[];s.parcatsViewModel.hoverinfoItems.indexOf("count")!==-1&&T.push(["Count:",x.countLabel].join(" ")),s.parcatsViewModel.hoverinfoItems.indexOf("probability")!==-1&&(T.push("P(color \u2229 "+p+"): "+x.probabilityLabel),T.push("P("+p+" | color): "+_.toFixed(3)),T.push("P(color | "+p+"): "+M.toFixed(3)));var A=T.join("
"),y=mte.mostReadable(o.color);return{trace:c,x:i*(h-t.left),y:n*(f-t.top),text:A,color:o.color,borderColor:"black",fontFamily:'Monaco, "Courier New", monospace',fontColor:y,fontSize:10,idealAlign:d,hovertemplate:c.hovertemplate,hovertemplateLabels:x,eventData:[{data:c._input,fullData:c,category:p,count:v,probability:b,categorycount:g,colorcount:w,bandcolorcount:m}]}}function e0r(e){if(!e.parcatsViewModel.dragDimension&&e.parcatsViewModel.hoverinfoItems.indexOf("skip")===-1){var t=za.mouse(this)[1];if(t<-1)return;var r=e.parcatsViewModel.graphDiv,i=r._fullLayout,n=i._paperdiv.node().getBoundingClientRect(),a=e.parcatsViewModel.hoveron,o=this;if(a==="color"?(Khr(o),Ate(o,"plotly_hover",za.event)):(Zhr(o),Tte(o,"plotly_hover",za.event)),e.parcatsViewModel.hoverinfoItems.indexOf("none")===-1){var s;a==="category"?s=QKe(r,n,o):a==="color"?s=Qhr(r,n,o):a==="dimension"&&(s=Jhr(r,n,o)),s&&ZE.loneHover(s,{container:i._hoverlayer.node(),outerContainer:i._paper.node(),gd:r})}}}function t0r(e){var t=e.parcatsViewModel;if(!t.dragDimension&&(_te(t.pathSelection),JKe(t.dimensionSelection.selectAll("g.category")),wte(t.dimensionSelection.selectAll("g.category").selectAll("rect.bandrect")),ZE.loneUnhover(t.graphDiv._fullLayout._hoverlayer.node()),t.pathSelection.sort(yte),t.hoverinfoItems.indexOf("skip")===-1)){var r=e.parcatsViewModel.hoveron,i=this;r==="color"?Ate(i,"plotly_unhover",za.event):Tte(i,"plotly_unhover",za.event)}}function r0r(e){e.parcatsViewModel.arrangement!=="fixed"&&(e.dragDimensionDisplayInd=e.model.displayInd,e.initialDragDimensionDisplayInds=e.parcatsViewModel.model.dimensions.map(function(t){return t.displayInd}),e.dragHasMoved=!1,e.dragCategoryDisplayInd=null,za.select(this).selectAll("g.category").select("rect.catrect").each(function(t){var r=za.mouse(this)[0],i=za.mouse(this)[1];-2<=r&&r<=t.width+2&&-2<=i&&i<=t.height+2&&(e.dragCategoryDisplayInd=t.model.displayInd,e.initialDragCategoryDisplayInds=e.model.categories.map(function(n){return n.displayInd}),t.model.dragY=t.y,U2.raiseToTop(this.parentNode),za.select(this.parentNode).selectAll("rect.bandrect").each(function(n){n.yc.y+c.height/2&&(a.model.displayInd=c.model.displayInd,c.model.displayInd=s),e.dragCategoryDisplayInd=a.model.displayInd}if(e.dragCategoryDisplayInd===null||e.parcatsViewModel.arrangement==="freeform"){n.model.dragX=za.event.x;var f=e.parcatsViewModel.dimensions[r],h=e.parcatsViewModel.dimensions[i];f!==void 0&&n.model.dragXh.x&&(n.model.displayInd=h.model.displayInd,h.model.displayInd=e.dragDimensionDisplayInd),e.dragDimensionDisplayInd=n.model.displayInd}Ste(e.parcatsViewModel),Mte(e.parcatsViewModel),rJe(e.parcatsViewModel),tJe(e.parcatsViewModel)}}function n0r(e){if(e.parcatsViewModel.arrangement!=="fixed"&&e.dragDimensionDisplayInd!==null){za.select(this).selectAll("text").attr("font-weight","normal");var t={},r=eJe(e.parcatsViewModel),i=e.parcatsViewModel.model.dimensions.map(function(h){return h.displayInd}),n=e.initialDragDimensionDisplayInds.some(function(h,d){return h!==i[d]});n&&i.forEach(function(h,d){var p=e.parcatsViewModel.model.dimensions[d].containerInd;t["dimensions["+p+"].displayindex"]=h});var a=!1;if(e.dragCategoryDisplayInd!==null){var o=e.model.categories.map(function(h){return h.displayInd});if(a=e.initialDragCategoryDisplayInds.some(function(h,d){return h!==o[d]}),a){var s=e.model.categories.slice().sort(function(h,d){return h.displayInd-d.displayInd}),l=s.map(function(h){return h.categoryValue}),u=s.map(function(h){return h.categoryLabel});t["dimensions["+e.model.containerInd+"].categoryarray"]=[l],t["dimensions["+e.model.containerInd+"].ticktext"]=[u],t["dimensions["+e.model.containerInd+"].categoryorder"]="array"}}if(e.parcatsViewModel.hoverinfoItems.indexOf("skip")===-1&&!e.dragHasMoved&&e.potentialClickBand&&(e.parcatsViewModel.hoveron==="color"?Ate(e.potentialClickBand,"plotly_click",za.event.sourceEvent):Tte(e.potentialClickBand,"plotly_click",za.event.sourceEvent)),e.model.dragX=null,e.dragCategoryDisplayInd!==null){var c=e.parcatsViewModel.dimensions[e.dragDimensionDisplayInd].categories[e.dragCategoryDisplayInd];c.model.dragY=null,e.dragCategoryDisplayInd=null}e.dragDimensionDisplayInd=null,e.parcatsViewModel.dragDimension=null,e.dragHasMoved=null,e.potentialClickBand=null,Ste(e.parcatsViewModel),Mte(e.parcatsViewModel);var f=za.transition().duration(300).ease("cubic-in-out");f.each(function(){rJe(e.parcatsViewModel,!0),tJe(e.parcatsViewModel,!0)}).each("end",function(){(n||a)&&Uhr.restyle(e.parcatsViewModel.graphDiv,t,[r])})}}function eJe(e){for(var t,r=e.graphDiv._fullData,i=0;i=0;l--)u+="C"+o[l]+","+(t[l+1]+i)+" "+a[l]+","+(t[l]+i)+" "+(e[l]+r[l])+","+(t[l]+i),u+="l-"+r[l]+",0 ";return u+="Z",u}function Mte(e){var t=e.dimensions,r=e.model,i=t.map(function(k){return k.categories.map(function(D){return D.y})}),n=e.model.dimensions.map(function(k){return k.categories.map(function(D){return D.displayInd})}),a=e.model.dimensions.map(function(k){return k.displayInd}),o=e.dimensions.map(function(k){return k.model.dimensionInd}),s=t.map(function(k){return k.x}),l=t.map(function(k){return k.width}),u=[];for(var c in r.paths)r.paths.hasOwnProperty(c)&&u.push(r.paths[c]);function f(k){var D=k.categoryInds.map(function(P,R){return n[R][P]}),F=o.map(function(P){return D[P]});return F}u.sort(function(k,D){var F=f(k),P=f(D);return e.sortpaths==="backward"&&(F.reverse(),P.reverse()),F.push(k.valueInds[0]),P.push(D.valueInds[0]),e.bundlecolors&&(F.unshift(k.rawColor),P.unshift(D.rawColor)),Hhr(F,P)});for(var h=new Array(u.length),d=t[0].model.count,p=t[0].categories.map(function(k){return k.height}).reduce(function(k,D){return k+D}),v=0;v0?g=p*(m.count/d):g=0;for(var w=new Array(i.length),b=0;b1?o=(e.width-2*r-i)/(n-1):o=0,s=r,l=s+o*a;var u=[],c=e.model.maxCats,f=t.categories.length,h=8,d=t.count,p=e.height-h*(c-1),v,m,g,w,b,_=(c-f)*h/2,M=t.categories.map(function(x){return{displayInd:x.displayInd,categoryInd:x.categoryInd}});for(M.sort(function(x,T){return x.displayInd-T.displayInd}),b=0;b0?v=m.count/d*p:v=0,g={key:m.valueInds[0],model:m,width:i,height:v,y:m.dragY!==null?m.dragY:_,bands:[],parcatsViewModel:e},_=_+v+h,u.push(g);return{key:t.dimensionInd,x:t.dragX!==null?t.dragX:l,y:0,width:i,model:t,categories:u,parcatsViewModel:e,dragCategoryDisplayInd:null,dragDimensionDisplayInd:null,initialDragDimensionDisplayInds:null,initialDragCategoryDisplayInds:null,dragHasMoved:null,potentialClickBand:null}}});var Ete=W((gXr,aJe)=>{"use strict";var s0r=nJe();aJe.exports=function(t,r,i,n){var a=t._fullLayout,o=a._paper,s=a._size;s0r(t,o,r,{width:s.w,height:s.h,margin:{t:s.t,r:s.r,b:s.b,l:s.l}},i,n)}});var sJe=W(az=>{"use strict";var l0r=_c().getModuleCalcData,u0r=Ete(),oJe="parcats";az.name=oJe;az.plot=function(e,t,r,i){var n=l0r(e.calcdata,oJe);if(n.length){var a=n[0];u0r(e,a,r,i)}};az.clean=function(e,t,r,i){var n=i._has&&i._has("parcats"),a=t._has&&t._has("parcats");n&&!a&&i._paperdiv.selectAll(".parcats").remove()}});var uJe=W((yXr,lJe)=>{"use strict";lJe.exports={attributes:gte(),supplyDefaults:WKe(),calc:XKe(),plot:Ete(),colorbar:{container:"line",min:"cmin",max:"cmax"},moduleType:"trace",name:"parcats",basePlotModule:sJe(),categories:["noOpacity"],meta:{}}});var fJe=W((xXr,cJe)=>{"use strict";cJe.exports=uJe()});var dJe=W((_Xr,hJe)=>{"use strict";hJe.exports={version:8,name:"orto",metadata:{"maputnik:renderer":"mlgljs"},center:[1.537786,41.837539],zoom:12,bearing:0,pitch:0,light:{anchor:"viewport",color:"white",intensity:.4,position:[1.15,45,30]},sources:{ortoEsri:{type:"raster",tiles:["https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}"],tileSize:256,maxzoom:18,attribution:"ESRI © ESRI"},ortoInstaMaps:{type:"raster",tiles:["https://tilemaps.icgc.cat/mapfactory/wmts/orto_8_12/CAT3857/{z}/{x}/{y}.png"],tileSize:256,maxzoom:13},ortoICGC:{type:"raster",tiles:["https://geoserveis.icgc.cat/icc_mapesmultibase/noutm/wmts/orto/GRID3857/{z}/{x}/{y}.jpeg"],tileSize:256,minzoom:13.1,maxzoom:20},openmaptiles:{type:"vector",url:"https://geoserveis.icgc.cat/contextmaps/basemap.json"}},sprite:"https://geoserveis.icgc.cat/contextmaps/sprites/sprite@1",glyphs:"https://geoserveis.icgc.cat/contextmaps/glyphs/{fontstack}/{range}.pbf",layers:[{id:"background",type:"background",paint:{"background-color":"#F4F9F4"}},{id:"ortoEsri",type:"raster",source:"ortoEsri",maxzoom:16,layout:{visibility:"visible"}},{id:"ortoICGC",type:"raster",source:"ortoICGC",minzoom:13.1,maxzoom:19,layout:{visibility:"visible"}},{id:"ortoInstaMaps",type:"raster",source:"ortoInstaMaps",maxzoom:13,layout:{visibility:"visible"}},{id:"waterway_tunnel",type:"line",source:"openmaptiles","source-layer":"waterway",minzoom:14,filter:["all",["in","class","river","stream","canal"],["==","brunnel","tunnel"]],layout:{"line-cap":"round"},paint:{"line-color":"#a0c8f0","line-width":{base:1.3,stops:[[13,.5],[20,6]]},"line-dasharray":[2,4]}},{id:"waterway-other",type:"line",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"waterway",filter:["!in","class","canal","river","stream"],layout:{"line-cap":"round"},paint:{"line-color":"#a0c8f0","line-width":{base:1.3,stops:[[13,.5],[20,2]]}}},{id:"waterway-stream-canal",type:"line",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"waterway",filter:["all",["in","class","canal","stream"],["!=","brunnel","tunnel"]],layout:{"line-cap":"round"},paint:{"line-color":"#a0c8f0","line-width":{base:1.3,stops:[[13,.5],[20,6]]}}},{id:"waterway-river",type:"line",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"waterway",filter:["all",["==","class","river"],["!=","brunnel","tunnel"]],layout:{"line-cap":"round"},paint:{"line-color":"#a0c8f0","line-width":{base:1.2,stops:[[10,.8],[20,4]]},"line-opacity":.5}},{id:"water-offset",type:"fill",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"water",maxzoom:8,filter:["==","$type","Polygon"],layout:{visibility:"visible"},paint:{"fill-opacity":0,"fill-color":"#a0c8f0","fill-translate":{base:1,stops:[[6,[2,0]],[8,[0,0]]]}}},{id:"water",type:"fill",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"water",layout:{visibility:"visible"},paint:{"fill-color":"hsl(210, 67%, 85%)","fill-opacity":0}},{id:"water-pattern",type:"fill",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"water",layout:{visibility:"visible"},paint:{"fill-translate":[0,2.5],"fill-pattern":"wave","fill-opacity":1}},{id:"landcover-ice-shelf",type:"fill",metadata:{"mapbox:group":"1444849382550.77"},source:"openmaptiles","source-layer":"landcover",filter:["==","subclass","ice_shelf"],layout:{visibility:"visible"},paint:{"fill-color":"#fff","fill-opacity":{base:1,stops:[[0,.9],[10,.3]]}}},{id:"tunnel-service-track-casing",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["in","class","service","track"]],layout:{"line-join":"round"},paint:{"line-color":"#cfcdca","line-dasharray":[.5,.25],"line-width":{base:1.2,stops:[[15,1],[16,4],[20,11]]}}},{id:"tunnel-minor-casing",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["==","class","minor"]],layout:{"line-join":"round"},paint:{"line-color":"#cfcdca","line-opacity":{stops:[[12,0],[12.5,1]]},"line-width":{base:1.2,stops:[[12,.5],[13,1],[14,4],[20,15]]}}},{id:"tunnel-secondary-tertiary-casing",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["in","class","secondary","tertiary"]],layout:{"line-join":"round"},paint:{"line-color":"#e9ac77","line-opacity":1,"line-width":{base:1.2,stops:[[8,1.5],[20,17]]}}},{id:"tunnel-trunk-primary-casing",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["in","class","primary","trunk"]],layout:{"line-join":"round"},paint:{"line-color":"#e9ac77","line-width":{base:1.2,stops:[[5,.4],[6,.6],[7,1.5],[20,22]]},"line-opacity":.7}},{id:"tunnel-motorway-casing",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["==","class","motorway"]],layout:{"line-join":"round",visibility:"visible"},paint:{"line-color":"#e9ac77","line-dasharray":[.5,.25],"line-width":{base:1.2,stops:[[5,.4],[6,.6],[7,1.5],[20,22]]},"line-opacity":.5}},{id:"tunnel-path",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","brunnel","tunnel"],["==","class","path"]]],paint:{"line-color":"#cba","line-dasharray":[1.5,.75],"line-width":{base:1.2,stops:[[15,1.2],[20,4]]}}},{id:"tunnel-service-track",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["in","class","service","track"]],layout:{"line-join":"round"},paint:{"line-color":"#fff","line-width":{base:1.2,stops:[[15.5,0],[16,2],[20,7.5]]}}},{id:"tunnel-minor",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["==","class","minor_road"]],layout:{"line-join":"round"},paint:{"line-color":"#fff","line-opacity":1,"line-width":{base:1.2,stops:[[13.5,0],[14,2.5],[20,11.5]]}}},{id:"tunnel-secondary-tertiary",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["in","class","secondary","tertiary"]],layout:{"line-join":"round"},paint:{"line-color":"#fff4c6","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,10]]}}},{id:"tunnel-trunk-primary",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["in","class","primary","trunk"]],layout:{"line-join":"round"},paint:{"line-color":"#fff4c6","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,18]]},"line-opacity":.5}},{id:"tunnel-motorway",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["==","class","motorway"]],layout:{"line-join":"round",visibility:"visible"},paint:{"line-color":"#ffdaa6","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,18]]},"line-opacity":.5}},{id:"tunnel-railway",type:"line",metadata:{"mapbox:group":"1444849354174.1904"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","tunnel"],["==","class","rail"]],paint:{"line-color":"#bbb","line-width":{base:1.4,stops:[[14,.4],[15,.75],[20,2]]},"line-dasharray":[2,2]}},{id:"ferry",type:"line",source:"openmaptiles","source-layer":"transportation",filter:["all",["in","class","ferry"]],layout:{"line-join":"round",visibility:"visible"},paint:{"line-color":"rgba(108, 159, 182, 1)","line-width":1.1,"line-dasharray":[2,2]}},{id:"aeroway-taxiway-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"aeroway",minzoom:12,filter:["all",["in","class","taxiway"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"rgba(153, 153, 153, 1)","line-width":{base:1.5,stops:[[11,2],[17,12]]},"line-opacity":1}},{id:"aeroway-runway-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"aeroway",minzoom:12,filter:["all",["in","class","runway"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"rgba(153, 153, 153, 1)","line-width":{base:1.5,stops:[[11,5],[17,55]]},"line-opacity":1}},{id:"aeroway-taxiway",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"aeroway",minzoom:4,filter:["all",["in","class","taxiway"],["==","$type","LineString"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"rgba(255, 255, 255, 1)","line-width":{base:1.5,stops:[[11,1],[17,10]]},"line-opacity":{base:1,stops:[[11,0],[12,1]]}}},{id:"aeroway-runway",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"aeroway",minzoom:4,filter:["all",["in","class","runway"],["==","$type","LineString"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"rgba(255, 255, 255, 1)","line-width":{base:1.5,stops:[[11,4],[17,50]]},"line-opacity":{base:1,stops:[[11,0],[12,1]]}}},{id:"highway-motorway-link-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:12,filter:["all",["!in","brunnel","bridge","tunnel"],["==","class","motorway_link"]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"#e9ac77","line-opacity":1,"line-width":{base:1.2,stops:[[12,1],[13,3],[14,4],[20,15]]}}},{id:"highway-link-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:13,filter:["all",["!in","brunnel","bridge","tunnel"],["in","class","primary_link","secondary_link","tertiary_link","trunk_link"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"#e9ac77","line-opacity":1,"line-width":{base:1.2,stops:[[12,1],[13,3],[14,4],[20,15]]}}},{id:"highway-minor-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!=","brunnel","tunnel"],["in","class","minor","service","track"]]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"#cfcdca","line-opacity":{stops:[[12,0],[12.5,0]]},"line-width":{base:1.2,stops:[[12,.5],[13,1],[14,4],[20,15]]}}},{id:"highway-secondary-tertiary-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["!in","brunnel","bridge","tunnel"],["in","class","secondary","tertiary"]],layout:{"line-cap":"butt","line-join":"round",visibility:"visible"},paint:{"line-color":"#e9ac77","line-opacity":.5,"line-width":{base:1.2,stops:[[8,1.5],[20,17]]}}},{id:"highway-primary-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:5,filter:["all",["!in","brunnel","bridge","tunnel"],["in","class","primary"]],layout:{"line-cap":"butt","line-join":"round",visibility:"visible"},paint:{"line-color":"#e9ac77","line-opacity":{stops:[[7,0],[8,.6]]},"line-width":{base:1.2,stops:[[7,0],[8,.6],[9,1.5],[20,22]]}}},{id:"highway-trunk-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:5,filter:["all",["!in","brunnel","bridge","tunnel"],["in","class","trunk"]],layout:{"line-cap":"butt","line-join":"round",visibility:"visible"},paint:{"line-color":"#e9ac77","line-opacity":{stops:[[5,0],[6,.5]]},"line-width":{base:1.2,stops:[[5,0],[6,.6],[7,1.5],[20,22]]}}},{id:"highway-motorway-casing",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:4,filter:["all",["!in","brunnel","bridge","tunnel"],["==","class","motorway"]],layout:{"line-cap":"butt","line-join":"round",visibility:"visible"},paint:{"line-color":"#e9ac77","line-width":{base:1.2,stops:[[4,0],[5,.4],[6,.6],[7,1.5],[20,22]]},"line-opacity":{stops:[[4,0],[5,.5]]}}},{id:"highway-path",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!in","brunnel","bridge","tunnel"],["==","class","path"]]],paint:{"line-color":"#cba","line-dasharray":[1.5,.75],"line-width":{base:1.2,stops:[[15,1.2],[20,4]]}}},{id:"highway-motorway-link",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:12,filter:["all",["!in","brunnel","bridge","tunnel"],["==","class","motorway_link"]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"#fc8","line-width":{base:1.2,stops:[[12.5,0],[13,1.5],[14,2.5],[20,11.5]]}}},{id:"highway-link",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:13,filter:["all",["!in","brunnel","bridge","tunnel"],["in","class","primary_link","secondary_link","tertiary_link","trunk_link"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[12.5,0],[13,1.5],[14,2.5],[20,11.5]]}}},{id:"highway-minor",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!=","brunnel","tunnel"],["in","class","minor","service","track"]]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"#fff","line-opacity":.5,"line-width":{base:1.2,stops:[[13.5,0],[14,2.5],[20,11.5]]}}},{id:"highway-secondary-tertiary",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["!in","brunnel","bridge","tunnel"],["in","class","secondary","tertiary"]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[6.5,0],[8,.5],[20,13]]},"line-opacity":.5}},{id:"highway-primary",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!in","brunnel","bridge","tunnel"],["in","class","primary"]]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[8.5,0],[9,.5],[20,18]]},"line-opacity":0}},{id:"highway-trunk",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!in","brunnel","bridge","tunnel"],["in","class","trunk"]]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,18]]},"line-opacity":.5}},{id:"highway-motorway",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",minzoom:5,filter:["all",["==","$type","LineString"],["all",["!in","brunnel","bridge","tunnel"],["==","class","motorway"]]],layout:{"line-cap":"round","line-join":"round",visibility:"visible"},paint:{"line-color":"#fc8","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,18]]},"line-opacity":.5}},{id:"railway-transit",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","class","transit"],["!in","brunnel","tunnel"]]],layout:{visibility:"visible"},paint:{"line-color":"hsla(0, 0%, 73%, 0.77)","line-width":{base:1.4,stops:[[14,.4],[20,1]]}}},{id:"railway-transit-hatching",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","class","transit"],["!in","brunnel","tunnel"]]],layout:{visibility:"visible"},paint:{"line-color":"hsla(0, 0%, 73%, 0.68)","line-dasharray":[.2,8],"line-width":{base:1.4,stops:[[14.5,0],[15,2],[20,6]]}}},{id:"railway-service",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","class","rail"],["has","service"]]],paint:{"line-color":"hsla(0, 0%, 73%, 0.77)","line-width":{base:1.4,stops:[[14,.4],[20,1]]}}},{id:"railway-service-hatching",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","class","rail"],["has","service"]]],layout:{visibility:"visible"},paint:{"line-color":"hsla(0, 0%, 73%, 0.68)","line-dasharray":[.2,8],"line-width":{base:1.4,stops:[[14.5,0],[15,2],[20,6]]}}},{id:"railway",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!has","service"],["!in","brunnel","bridge","tunnel"],["==","class","rail"]]],paint:{"line-color":"#bbb","line-width":{base:1.4,stops:[[14,.4],[15,.75],[20,2]]}}},{id:"railway-hatching",type:"line",metadata:{"mapbox:group":"1444849345966.4436"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["!has","service"],["!in","brunnel","bridge","tunnel"],["==","class","rail"]]],paint:{"line-color":"#bbb","line-dasharray":[.2,8],"line-width":{base:1.4,stops:[[14.5,0],[15,3],[20,8]]}}},{id:"bridge-motorway-link-casing",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["==","class","motorway_link"]],layout:{"line-join":"round"},paint:{"line-color":"#e9ac77","line-opacity":1,"line-width":{base:1.2,stops:[[12,1],[13,3],[14,4],[20,15]]}}},{id:"bridge-link-casing",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["in","class","primary_link","secondary_link","tertiary_link","trunk_link"]],layout:{"line-join":"round"},paint:{"line-color":"#e9ac77","line-opacity":1,"line-width":{base:1.2,stops:[[12,1],[13,3],[14,4],[20,15]]}}},{id:"bridge-secondary-tertiary-casing",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["in","class","secondary","tertiary"]],layout:{"line-join":"round"},paint:{"line-color":"#e9ac77","line-opacity":1,"line-width":{base:1.2,stops:[[8,1.5],[20,28]]}}},{id:"bridge-trunk-primary-casing",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["in","class","primary","trunk"]],layout:{"line-join":"round"},paint:{"line-color":"hsl(28, 76%, 67%)","line-width":{base:1.2,stops:[[5,.4],[6,.6],[7,1.5],[20,26]]}}},{id:"bridge-motorway-casing",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["==","class","motorway"]],layout:{"line-join":"round"},paint:{"line-color":"#e9ac77","line-width":{base:1.2,stops:[[5,.4],[6,.6],[7,1.5],[20,22]]},"line-opacity":.5}},{id:"bridge-path-casing",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","brunnel","bridge"],["==","class","path"]]],paint:{"line-color":"#f8f4f0","line-width":{base:1.2,stops:[[15,1.2],[20,18]]}}},{id:"bridge-path",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","$type","LineString"],["all",["==","brunnel","bridge"],["==","class","path"]]],paint:{"line-color":"#cba","line-width":{base:1.2,stops:[[15,1.2],[20,4]]},"line-dasharray":[1.5,.75]}},{id:"bridge-motorway-link",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["==","class","motorway_link"]],layout:{"line-join":"round"},paint:{"line-color":"#fc8","line-width":{base:1.2,stops:[[12.5,0],[13,1.5],[14,2.5],[20,11.5]]}}},{id:"bridge-link",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["in","class","primary_link","secondary_link","tertiary_link","trunk_link"]],layout:{"line-join":"round"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[12.5,0],[13,1.5],[14,2.5],[20,11.5]]}}},{id:"bridge-secondary-tertiary",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["in","class","secondary","tertiary"]],layout:{"line-join":"round"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,20]]}}},{id:"bridge-trunk-primary",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["in","class","primary","trunk"]],layout:{"line-join":"round"},paint:{"line-color":"#fea","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,18]]}}},{id:"bridge-motorway",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["==","class","motorway"]],layout:{"line-join":"round"},paint:{"line-color":"#fc8","line-width":{base:1.2,stops:[[6.5,0],[7,.5],[20,18]]},"line-opacity":.5}},{id:"bridge-railway",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["==","class","rail"]],paint:{"line-color":"#bbb","line-width":{base:1.4,stops:[[14,.4],[15,.75],[20,2]]}}},{id:"bridge-railway-hatching",type:"line",metadata:{"mapbox:group":"1444849334699.1902"},source:"openmaptiles","source-layer":"transportation",filter:["all",["==","brunnel","bridge"],["==","class","rail"]],paint:{"line-color":"#bbb","line-dasharray":[.2,8],"line-width":{base:1.4,stops:[[14.5,0],[15,3],[20,8]]}}},{id:"cablecar",type:"line",source:"openmaptiles","source-layer":"transportation",minzoom:13,filter:["==","class","cable_car"],layout:{visibility:"visible","line-cap":"round"},paint:{"line-color":"hsl(0, 0%, 70%)","line-width":{base:1,stops:[[11,1],[19,2.5]]}}},{id:"cablecar-dash",type:"line",source:"openmaptiles","source-layer":"transportation",minzoom:13,filter:["==","class","cable_car"],layout:{visibility:"visible","line-cap":"round"},paint:{"line-color":"hsl(0, 0%, 70%)","line-width":{base:1,stops:[[11,3],[19,5.5]]},"line-dasharray":[2,3]}},{id:"boundary-land-level-4",type:"line",source:"openmaptiles","source-layer":"boundary",filter:["all",[">=","admin_level",4],["<=","admin_level",8],["!=","maritime",1]],layout:{"line-join":"round"},paint:{"line-color":"#9e9cab","line-dasharray":[3,1,1,1],"line-width":{base:1.4,stops:[[4,.4],[5,1],[12,3]]},"line-opacity":.6}},{id:"boundary-land-level-2",type:"line",source:"openmaptiles","source-layer":"boundary",filter:["all",["==","admin_level",2],["!=","maritime",1],["!=","disputed",1]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"hsl(248, 7%, 66%)","line-width":{base:1,stops:[[0,.6],[4,1.4],[5,2],[12,2]]}}},{id:"boundary-land-disputed",type:"line",source:"openmaptiles","source-layer":"boundary",filter:["all",["!=","maritime",1],["==","disputed",1]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"hsl(248, 7%, 70%)","line-dasharray":[1,3],"line-width":{base:1,stops:[[0,.6],[4,1.4],[5,2],[12,8]]}}},{id:"boundary-water",type:"line",source:"openmaptiles","source-layer":"boundary",filter:["all",["in","admin_level",2,4],["==","maritime",1]],layout:{"line-cap":"round","line-join":"round"},paint:{"line-color":"rgba(154, 189, 214, 1)","line-width":{base:1,stops:[[0,.6],[4,1],[5,1],[12,1]]},"line-opacity":{stops:[[6,0],[10,0]]}}},{id:"waterway-name",type:"symbol",source:"openmaptiles","source-layer":"waterway",minzoom:13,filter:["all",["==","$type","LineString"],["has","name"]],layout:{"text-font":["Noto Sans Italic"],"text-size":14,"text-field":"{name:latin} {name:nonlatin}","text-max-width":5,"text-rotation-alignment":"map","symbol-placement":"line","text-letter-spacing":.2,"symbol-spacing":350},paint:{"text-color":"#74aee9","text-halo-width":1.5,"text-halo-color":"rgba(255,255,255,0.7)"}},{id:"water-name-lakeline",type:"symbol",source:"openmaptiles","source-layer":"water_name",filter:["==","$type","LineString"],layout:{"text-font":["Noto Sans Italic"],"text-size":14,"text-field":`{name:latin} +{name:nonlatin}`,"text-max-width":5,"text-rotation-alignment":"map","symbol-placement":"line","symbol-spacing":350,"text-letter-spacing":.2},paint:{"text-color":"#74aee9","text-halo-width":1.5,"text-halo-color":"rgba(255,255,255,0.7)"}},{id:"water-name-ocean",type:"symbol",source:"openmaptiles","source-layer":"water_name",filter:["all",["==","$type","Point"],["==","class","ocean"]],layout:{"text-font":["Noto Sans Italic"],"text-size":14,"text-field":"{name:latin}","text-max-width":5,"text-rotation-alignment":"map","symbol-placement":"point","symbol-spacing":350,"text-letter-spacing":.2},paint:{"text-color":"#74aee9","text-halo-width":1.5,"text-halo-color":"rgba(255,255,255,0.7)"}},{id:"water-name-other",type:"symbol",source:"openmaptiles","source-layer":"water_name",filter:["all",["==","$type","Point"],["!in","class","ocean"]],layout:{"text-font":["Noto Sans Italic"],"text-size":{stops:[[0,10],[6,14]]},"text-field":`{name:latin} +{name:nonlatin}`,"text-max-width":5,"text-rotation-alignment":"map","symbol-placement":"point","symbol-spacing":350,"text-letter-spacing":.2,visibility:"visible"},paint:{"text-color":"#74aee9","text-halo-width":1.5,"text-halo-color":"rgba(255,255,255,0.7)"}},{id:"poi-level-3",type:"symbol",source:"openmaptiles","source-layer":"poi",minzoom:16,filter:["all",["==","$type","Point"],[">=","rank",25]],layout:{"text-padding":2,"text-font":["Noto Sans Regular"],"text-anchor":"top","icon-image":"{class}_11","text-field":`{name:latin} +{name:nonlatin}`,"text-offset":[0,.6],"text-size":12,"text-max-width":9},paint:{"text-halo-blur":.5,"text-color":"#666","text-halo-width":1,"text-halo-color":"#ffffff"}},{id:"poi-level-2",type:"symbol",source:"openmaptiles","source-layer":"poi",minzoom:15,filter:["all",["==","$type","Point"],["<=","rank",24],[">=","rank",15]],layout:{"text-padding":2,"text-font":["Noto Sans Regular"],"text-anchor":"top","icon-image":"{class}_11","text-field":`{name:latin} +{name:nonlatin}`,"text-offset":[0,.6],"text-size":12,"text-max-width":9},paint:{"text-halo-blur":.5,"text-color":"#666","text-halo-width":1,"text-halo-color":"#ffffff"}},{id:"poi-level-1",type:"symbol",source:"openmaptiles","source-layer":"poi",minzoom:14,filter:["all",["==","$type","Point"],["<=","rank",14],["has","name"]],layout:{"text-padding":2,"text-font":["Noto Sans Regular"],"text-anchor":"top","icon-image":"{class}_11","text-field":`{name:latin} +{name:nonlatin}`,"text-offset":[0,.6],"text-size":11,"text-max-width":9},paint:{"text-halo-blur":.5,"text-color":"rgba(191, 228, 172, 1)","text-halo-width":1,"text-halo-color":"rgba(30, 29, 29, 1)"}},{id:"poi-railway",type:"symbol",source:"openmaptiles","source-layer":"poi",minzoom:13,filter:["all",["==","$type","Point"],["has","name"],["==","class","railway"],["==","subclass","station"]],layout:{"text-padding":2,"text-font":["Noto Sans Regular"],"text-anchor":"top","icon-image":"{class}_11","text-field":`{name:latin} +{name:nonlatin}`,"text-offset":[0,.6],"text-size":12,"text-max-width":9,"icon-optional":!1,"icon-ignore-placement":!1,"icon-allow-overlap":!1,"text-ignore-placement":!1,"text-allow-overlap":!1,"text-optional":!0},paint:{"text-halo-blur":.5,"text-color":"#666","text-halo-width":1,"text-halo-color":"#ffffff"}},{id:"road_oneway",type:"symbol",source:"openmaptiles","source-layer":"transportation",minzoom:15,filter:["all",["==","oneway",1],["in","class","motorway","trunk","primary","secondary","tertiary","minor","service"]],layout:{"symbol-placement":"line","icon-image":"oneway","symbol-spacing":75,"icon-padding":2,"icon-rotation-alignment":"map","icon-rotate":90,"icon-size":{stops:[[15,.5],[19,1]]}},paint:{"icon-opacity":.5}},{id:"road_oneway_opposite",type:"symbol",source:"openmaptiles","source-layer":"transportation",minzoom:15,filter:["all",["==","oneway",-1],["in","class","motorway","trunk","primary","secondary","tertiary","minor","service"]],layout:{"symbol-placement":"line","icon-image":"oneway","symbol-spacing":75,"icon-padding":2,"icon-rotation-alignment":"map","icon-rotate":-90,"icon-size":{stops:[[15,.5],[19,1]]}},paint:{"icon-opacity":.5}},{id:"highway-name-path",type:"symbol",source:"openmaptiles","source-layer":"transportation_name",minzoom:15.5,filter:["==","class","path"],layout:{"text-size":{base:1,stops:[[13,12],[14,13]]},"text-font":["Noto Sans Regular"],"text-field":"{name:latin} {name:nonlatin}","symbol-placement":"line","text-rotation-alignment":"map"},paint:{"text-halo-color":"#f8f4f0","text-color":"hsl(30, 23%, 62%)","text-halo-width":.5}},{id:"highway-name-minor",type:"symbol",source:"openmaptiles","source-layer":"transportation_name",minzoom:15,filter:["all",["==","$type","LineString"],["in","class","minor","service","track"]],layout:{"text-size":{base:1,stops:[[13,12],[14,13]]},"text-font":["Noto Sans Regular"],"text-field":"{name:latin} {name:nonlatin}","symbol-placement":"line","text-rotation-alignment":"map"},paint:{"text-halo-blur":.5,"text-color":"#765","text-halo-width":1}},{id:"highway-name-major",type:"symbol",source:"openmaptiles","source-layer":"transportation_name",minzoom:12.2,filter:["in","class","primary","secondary","tertiary","trunk"],layout:{"text-size":{base:1,stops:[[13,12],[14,13]]},"text-font":["Noto Sans Regular"],"text-field":"{name:latin} {name:nonlatin}","symbol-placement":"line","text-rotation-alignment":"map"},paint:{"text-halo-blur":.5,"text-color":"#765","text-halo-width":1}},{id:"highway-shield",type:"symbol",source:"openmaptiles","source-layer":"transportation_name",minzoom:8,filter:["all",["<=","ref_length",6],["==","$type","LineString"],["!in","network","us-interstate","us-highway","us-state"]],layout:{"text-size":10,"icon-image":"road_{ref_length}","icon-rotation-alignment":"viewport","symbol-spacing":200,"text-font":["Noto Sans Regular"],"symbol-placement":{base:1,stops:[[10,"point"],[11,"line"]]},"text-rotation-alignment":"viewport","icon-size":1,"text-field":"{ref}"},paint:{"text-opacity":1,"text-color":"rgba(20, 19, 19, 1)","text-halo-color":"rgba(230, 221, 221, 0)","text-halo-width":2,"icon-color":"rgba(183, 18, 18, 1)","icon-opacity":.3,"icon-halo-color":"rgba(183, 55, 55, 0)"}},{id:"highway-shield-us-interstate",type:"symbol",source:"openmaptiles","source-layer":"transportation_name",minzoom:7,filter:["all",["<=","ref_length",6],["==","$type","LineString"],["in","network","us-interstate"]],layout:{"text-size":10,"icon-image":"{network}_{ref_length}","icon-rotation-alignment":"viewport","symbol-spacing":200,"text-font":["Noto Sans Regular"],"symbol-placement":{base:1,stops:[[7,"point"],[7,"line"],[8,"line"]]},"text-rotation-alignment":"viewport","icon-size":1,"text-field":"{ref}"},paint:{"text-color":"rgba(0, 0, 0, 1)"}},{id:"highway-shield-us-other",type:"symbol",source:"openmaptiles","source-layer":"transportation_name",minzoom:9,filter:["all",["<=","ref_length",6],["==","$type","LineString"],["in","network","us-highway","us-state"]],layout:{"text-size":10,"icon-image":"{network}_{ref_length}","icon-rotation-alignment":"viewport","symbol-spacing":200,"text-font":["Noto Sans Regular"],"symbol-placement":{base:1,stops:[[10,"point"],[11,"line"]]},"text-rotation-alignment":"viewport","icon-size":1,"text-field":"{ref}"},paint:{"text-color":"rgba(0, 0, 0, 1)"}},{id:"place-other",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",minzoom:12,filter:["!in","class","city","town","village","country","continent"],layout:{"text-letter-spacing":.1,"text-size":{base:1.2,stops:[[12,10],[15,14]]},"text-font":["Noto Sans Bold"],"text-field":`{name:latin} +{name:nonlatin}`,"text-transform":"uppercase","text-max-width":9,visibility:"visible"},paint:{"text-color":"rgba(255,255,255,1)","text-halo-width":1.2,"text-halo-color":"rgba(57, 28, 28, 1)"}},{id:"place-village",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",minzoom:10,filter:["==","class","village"],layout:{"text-font":["Noto Sans Regular"],"text-size":{base:1.2,stops:[[10,12],[15,16]]},"text-field":`{name:latin} +{name:nonlatin}`,"text-max-width":8,visibility:"visible"},paint:{"text-color":"rgba(255, 255, 255, 1)","text-halo-width":1.2,"text-halo-color":"rgba(10, 9, 9, 0.8)"}},{id:"place-town",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["==","class","town"],layout:{"text-font":["Noto Sans Regular"],"text-size":{base:1.2,stops:[[10,14],[15,24]]},"text-field":`{name:latin} +{name:nonlatin}`,"text-max-width":8,visibility:"visible"},paint:{"text-color":"rgba(255, 255, 255, 1)","text-halo-width":1.2,"text-halo-color":"rgba(22, 22, 22, 0.8)"}},{id:"place-city",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["all",["!=","capital",2],["==","class","city"]],layout:{"text-font":["Noto Sans Regular"],"text-size":{base:1.2,stops:[[7,14],[11,24]]},"text-field":`{name:latin} +{name:nonlatin}`,"text-max-width":8,visibility:"visible"},paint:{"text-color":"rgba(0, 0, 0, 1)","text-halo-width":1.2,"text-halo-color":"rgba(255,255,255,0.8)"}},{id:"place-city-capital",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["all",["==","capital",2],["==","class","city"]],layout:{"text-font":["Noto Sans Regular"],"text-size":{base:1.2,stops:[[7,14],[11,24]]},"text-field":`{name:latin} +{name:nonlatin}`,"text-max-width":8,"icon-image":"star_11","text-offset":[.4,0],"icon-size":.8,"text-anchor":"left",visibility:"visible"},paint:{"text-color":"#333","text-halo-width":1.2,"text-halo-color":"rgba(255,255,255,0.8)"}},{id:"place-country-other",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["all",["==","class","country"],[">=","rank",3],["!has","iso_a2"]],layout:{"text-font":["Noto Sans Italic"],"text-field":"{name:latin}","text-size":{stops:[[3,11],[7,17]]},"text-transform":"uppercase","text-max-width":6.25,visibility:"visible"},paint:{"text-halo-blur":1,"text-color":"#334","text-halo-width":2,"text-halo-color":"rgba(255,255,255,0.8)"}},{id:"place-country-3",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["all",["==","class","country"],[">=","rank",3],["has","iso_a2"]],layout:{"text-font":["Noto Sans Bold"],"text-field":"{name:latin}","text-size":{stops:[[3,11],[7,17]]},"text-transform":"uppercase","text-max-width":6.25,visibility:"visible"},paint:{"text-halo-blur":1,"text-color":"#334","text-halo-width":2,"text-halo-color":"rgba(255,255,255,0.8)"}},{id:"place-country-2",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["all",["==","class","country"],["==","rank",2],["has","iso_a2"]],layout:{"text-font":["Noto Sans Bold"],"text-field":"{name:latin}","text-size":{stops:[[2,11],[5,17]]},"text-transform":"uppercase","text-max-width":6.25,visibility:"visible"},paint:{"text-halo-blur":1,"text-color":"#334","text-halo-width":2,"text-halo-color":"rgba(255,255,255,0.8)"}},{id:"place-country-1",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",filter:["all",["==","class","country"],["==","rank",1],["has","iso_a2"]],layout:{"text-font":["Noto Sans Bold"],"text-field":"{name:latin}","text-size":{stops:[[1,11],[4,17]]},"text-transform":"uppercase","text-max-width":6.25,visibility:"visible"},paint:{"text-halo-blur":1,"text-color":"#334","text-halo-width":2,"text-halo-color":"rgba(255,255,255,0.8)"}},{id:"place-continent",type:"symbol",metadata:{"mapbox:group":"1444849242106.713"},source:"openmaptiles","source-layer":"place",maxzoom:1,filter:["==","class","continent"],layout:{"text-font":["Noto Sans Bold"],"text-field":"{name:latin}","text-size":14,"text-max-width":6.25,"text-transform":"uppercase",visibility:"visible"},paint:{"text-halo-blur":1,"text-color":"#334","text-halo-width":2,"text-halo-color":"rgba(255,255,255,0.8)"}}],id:"qebnlkra6"}});var vJe=W((bXr,pJe)=>{"use strict";pJe.exports={version:8,name:"orto",metadata:{},center:[1.537786,41.837539],zoom:12,bearing:0,pitch:0,light:{anchor:"viewport",color:"white",intensity:.4,position:[1.15,45,30]},sources:{ortoEsri:{type:"raster",tiles:["https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}"],tileSize:256,maxzoom:18,attribution:"ESRI © ESRI"},ortoInstaMaps:{type:"raster",tiles:["https://tilemaps.icgc.cat/mapfactory/wmts/orto_8_12/CAT3857/{z}/{x}/{y}.png"],tileSize:256,maxzoom:13},ortoICGC:{type:"raster",tiles:["https://geoserveis.icgc.cat/icc_mapesmultibase/noutm/wmts/orto/GRID3857/{z}/{x}/{y}.jpeg"],tileSize:256,minzoom:13.1,maxzoom:20},openmaptiles:{type:"vector",url:"https://geoserveis.icgc.cat/contextmaps/basemap.json"}},sprite:"https://geoserveis.icgc.cat/contextmaps/sprites/sprite@1",glyphs:"https://geoserveis.icgc.cat/contextmaps/glyphs/{fontstack}/{range}.pbf",layers:[{id:"background",type:"background",paint:{"background-color":"#F4F9F4"}},{id:"ortoEsri",type:"raster",source:"ortoEsri",maxzoom:16,layout:{visibility:"visible"}},{id:"ortoICGC",type:"raster",source:"ortoICGC",minzoom:13.1,maxzoom:19,layout:{visibility:"visible"}},{id:"ortoInstaMaps",type:"raster",source:"ortoInstaMaps",maxzoom:13,layout:{visibility:"visible"}}]}});var V2=W((wXr,_Je)=>{"use strict";var c0r=(qx(),Go(Bx)).default,f0r=dJe(),h0r=vJe(),d0r='\xA9 OpenStreetMap contributors',gJe="https://basemaps.cartocdn.com/gl/positron-gl-style/style.json",mJe="https://basemaps.cartocdn.com/gl/dark-matter-gl-style/style.json",oz="https://basemaps.cartocdn.com/gl/voyager-gl-style/style.json",p0r="https://basemaps.cartocdn.com/gl/positron-nolabels-gl-style/style.json",v0r="https://basemaps.cartocdn.com/gl/dark-matter-nolabels-gl-style/style.json",g0r="https://basemaps.cartocdn.com/gl/voyager-nolabels-gl-style/style.json",xJe={basic:oz,streets:oz,outdoors:oz,light:gJe,dark:mJe,satellite:h0r,"satellite-streets":f0r,"open-street-map":{id:"osm",version:8,sources:{"plotly-osm-tiles":{type:"raster",attribution:d0r,tiles:["https://tile.openstreetmap.org/{z}/{x}/{y}.png"],tileSize:256}},layers:[{id:"plotly-osm-tiles",type:"raster",source:"plotly-osm-tiles",minzoom:0,maxzoom:22}],glyphs:"https://fonts.openmaptiles.org/{fontstack}/{range}.pbf"},"white-bg":{id:"white-bg",version:8,sources:{},layers:[{id:"white-bg",type:"background",paint:{"background-color":"#FFFFFF"},minzoom:0,maxzoom:22}],glyphs:"https://fonts.openmaptiles.org/{fontstack}/{range}.pbf"},"carto-positron":gJe,"carto-darkmatter":mJe,"carto-voyager":oz,"carto-positron-nolabels":p0r,"carto-darkmatter-nolabels":v0r,"carto-voyager-nolabels":g0r},yJe=c0r(xJe);_Je.exports={styleValueDflt:"basic",stylesMap:xJe,styleValuesMap:yJe,traceLayerPrefix:"plotly-trace-layer-",layoutLayerPrefix:"plotly-layout-layer-",missingStyleErrorMsg:["No valid maplibre style found, please set `map.style` to one of:",yJe.join(", "),"or use a tile service."].join(` +`),mapOnErrorMsg:"Map error.",fitBoundsPadding:20}});var JE=W((TXr,MJe)=>{"use strict";var bJe=it(),wJe=ni().defaultLine,m0r=us().attributes,y0r=Ho(),x0r=Ns().textposition,_0r=ls().overrideAll,b0r=Da().templatedArray,TJe=V2(),AJe=y0r({noFontVariant:!0,noFontShadow:!0,noFontLineposition:!0,noFontTextcase:!0});AJe.family.dflt="Open Sans Regular, Arial Unicode MS Regular";var w0r=MJe.exports=_0r({_arrayAttrRegexps:[bJe.counterRegex("map",".layers",!0)],domain:m0r({name:"map"}),style:{valType:"any",values:TJe.styleValuesMap,dflt:TJe.styleValueDflt},center:{lon:{valType:"number",dflt:0},lat:{valType:"number",dflt:0}},zoom:{valType:"number",dflt:1},bearing:{valType:"number",dflt:0},pitch:{valType:"number",dflt:0},fitbounds:{valType:"enumerated",values:[!1,"locations"],dflt:"locations"},bounds:{west:{valType:"number"},east:{valType:"number"},south:{valType:"number"},north:{valType:"number"}},layers:b0r("layer",{visible:{valType:"boolean",dflt:!0},sourcetype:{valType:"enumerated",values:["geojson","vector","raster","image"],dflt:"geojson"},source:{valType:"any"},sourcelayer:{valType:"string",dflt:""},sourceattribution:{valType:"string"},type:{valType:"enumerated",values:["circle","line","fill","symbol","raster"],dflt:"circle"},coordinates:{valType:"any"},below:{valType:"string"},color:{valType:"color",dflt:wJe},opacity:{valType:"number",min:0,max:1,dflt:1},minzoom:{valType:"number",min:0,max:24,dflt:0},maxzoom:{valType:"number",min:0,max:24,dflt:24},circle:{radius:{valType:"number",dflt:15}},line:{width:{valType:"number",dflt:2},dash:{valType:"data_array"}},fill:{outlinecolor:{valType:"color",dflt:wJe}},symbol:{icon:{valType:"string",dflt:"marker"},iconsize:{valType:"number",dflt:10},text:{valType:"string",dflt:""},placement:{valType:"enumerated",values:["point","line","line-center"],dflt:"point"},textfont:AJe,textposition:bJe.extendFlat({},x0r,{arrayOk:!1})}})},"plot","from-root");w0r.uirevision={valType:"any",editType:"none"}});var sz=W((AXr,CJe)=>{"use strict";var{hovertemplateAttrs:T0r,texttemplateAttrs:A0r,templatefallbackAttrs:SJe}=Ga(),M0r=g1(),QE=I4(),nT=Ns(),EJe=JE(),S0r=Wa(),E0r=Eo(),Lb=tn().extendFlat,k0r=ls().overrideAll,C0r=JE(),kJe=QE.line,aT=QE.marker;CJe.exports=k0r({lon:QE.lon,lat:QE.lat,cluster:{enabled:{valType:"boolean"},maxzoom:Lb({},C0r.layers.maxzoom,{}),step:{valType:"number",arrayOk:!0,dflt:-1,min:-1},size:{valType:"number",arrayOk:!0,dflt:20,min:0},color:{valType:"color",arrayOk:!0},opacity:Lb({},aT.opacity,{dflt:1})},mode:Lb({},nT.mode,{dflt:"markers"}),text:Lb({},nT.text,{}),texttemplate:A0r({editType:"plot"},{keys:["lat","lon","text"]}),texttemplatefallback:SJe({editType:"plot"}),hovertext:Lb({},nT.hovertext,{}),line:{color:kJe.color,width:kJe.width},connectgaps:nT.connectgaps,marker:Lb({symbol:{valType:"string",dflt:"circle",arrayOk:!0},angle:{valType:"number",dflt:"auto",arrayOk:!0},allowoverlap:{valType:"boolean",dflt:!1},opacity:aT.opacity,size:aT.size,sizeref:aT.sizeref,sizemin:aT.sizemin,sizemode:aT.sizemode},E0r("marker")),fill:QE.fill,fillcolor:M0r(),textfont:EJe.layers.symbol.textfont,textposition:EJe.layers.symbol.textposition,below:{valType:"string"},selected:{marker:nT.selected.marker},unselected:{marker:nT.unselected.marker},hoverinfo:Lb({},S0r.hoverinfo,{flags:["lon","lat","text","name"]}),hovertemplate:T0r(),hovertemplatefallback:SJe()},"calc","nested")});var kte=W((MXr,DJe)=>{"use strict";var D0r=["Metropolis Black Italic","Metropolis Black","Metropolis Bold Italic","Metropolis Bold","Metropolis Extra Bold Italic","Metropolis Extra Bold","Metropolis Extra Light Italic","Metropolis Extra Light","Metropolis Light Italic","Metropolis Light","Metropolis Medium Italic","Metropolis Medium","Metropolis Regular Italic","Metropolis Regular","Metropolis Semi Bold Italic","Metropolis Semi Bold","Metropolis Thin Italic","Metropolis Thin","Open Sans Bold Italic","Open Sans Bold","Open Sans Extrabold Italic","Open Sans Extrabold","Open Sans Italic","Open Sans Light Italic","Open Sans Light","Open Sans Regular","Open Sans Semibold Italic","Open Sans Semibold","Klokantech Noto Sans Bold","Klokantech Noto Sans CJK Bold","Klokantech Noto Sans CJK Regular","Klokantech Noto Sans Italic","Klokantech Noto Sans Regular"];DJe.exports={isSupportedFont:function(e){return D0r.indexOf(e)!==-1}}});var PJe=W((SXr,LJe)=>{"use strict";var ek=it(),Cte=$o(),F0r=bd(),L0r=jp(),P0r=$p(),I0r=y1(),FJe=sz(),R0r=kte().isSupportedFont;LJe.exports=function(t,r,i,n){function a(g,w){return ek.coerce(t,r,FJe,g,w)}function o(g,w){return ek.coerce2(t,r,FJe,g,w)}var s=z0r(t,r,a);if(!s){r.visible=!1;return}if(a("text"),a("texttemplate"),a("texttemplatefallback"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("mode"),a("below"),Cte.hasMarkers(r)){F0r(t,r,i,n,a,{noLine:!0,noAngle:!0}),a("marker.allowoverlap"),a("marker.angle");var l=r.marker;l.symbol!=="circle"&&(ek.isArrayOrTypedArray(l.size)&&(l.size=l.size[0]),ek.isArrayOrTypedArray(l.color)&&(l.color=l.color[0]))}Cte.hasLines(r)&&(L0r(t,r,i,n,a,{noDash:!0}),a("connectgaps"));var u=o("cluster.maxzoom"),c=o("cluster.step"),f=o("cluster.color",r.marker&&r.marker.color||i),h=o("cluster.size"),d=o("cluster.opacity"),p=u!==!1||c!==!1||f!==!1||h!==!1||d!==!1,v=a("cluster.enabled",p);if(v||Cte.hasText(r)){var m=n.font.family;P0r(t,r,n,a,{noSelect:!0,noFontVariant:!0,noFontShadow:!0,noFontLineposition:!0,noFontTextcase:!0,font:{family:R0r(m)?m:"Open Sans Regular",weight:n.font.weight,style:n.font.style,size:n.font.size,color:n.font.color}})}a("fill"),r.fill!=="none"&&I0r(t,r,i,a),ek.coerceSelectionMarkerOpacity(r,a)};function z0r(e,t,r){var i=r("lon")||[],n=r("lat")||[],a=Math.min(i.length,n.length);return t._length=a,a}});var Dte=W((EXr,RJe)=>{"use strict";var IJe=ji();RJe.exports=function(t,r,i){var n={},a=i[r.subplot]._subplot,o=a.mockAxis,s=t.lonlat;return n.lonLabel=IJe.tickText(o,o.c2l(s[0]),!0).text,n.latLabel=IJe.tickText(o,o.c2l(s[1]),!0).text,n}});var Fte=W((kXr,BJe)=>{"use strict";var zJe=it();BJe.exports=function(t,r){var i=t.split(" "),n=i[0],a=i[1],o=zJe.isArrayOrTypedArray(r)?zJe.mean(r):r,s=.5+o/100,l=1.5+o/100,u=["",""],c=[0,0];switch(n){case"top":u[0]="top",c[1]=-l;break;case"bottom":u[0]="bottom",c[1]=l;break}switch(a){case"left":u[1]="right",c[0]=-s;break;case"right":u[1]="left",c[0]=s;break}var f;return u[0]&&u[1]?f=u.join("-"):u[0]?f=u[0]:u[1]?f=u[1]:f="center",{anchor:f,offset:c}}});var GJe=W((CXr,VJe)=>{"use strict";var NJe=sn(),Lc=it(),B0r=Kn().BADNUM,uz=dE(),qJe=Jo(),q0r=Ji(),O0r=fA(),cz=$o(),N0r=kte().isSupportedFont,U0r=Fte(),V0r=Kf().appendArrayPointValue,G0r=uo().NEWLINES,H0r=uo().BR_TAG_ALL;VJe.exports=function(t,r){var i=r[0].trace,n=i.visible===!0&&i._length!==0,a=i.fill!=="none",o=cz.hasLines(i),s=cz.hasMarkers(i),l=cz.hasText(i),u=s&&i.marker.symbol==="circle",c=s&&i.marker.symbol!=="circle",f=i.cluster&&i.cluster.enabled,h=lz("fill"),d=lz("line"),p=lz("circle"),v=lz("symbol"),m={fill:h,line:d,circle:p,symbol:v};if(!n)return m;var g;if((a||o)&&(g=uz.calcTraceToLineCoords(r)),a&&(h.geojson=uz.makePolygon(g),h.layout.visibility="visible",Lc.extendFlat(h.paint,{"fill-color":i.fillcolor})),o&&(d.geojson=uz.makeLine(g),d.layout.visibility="visible",Lc.extendFlat(d.paint,{"line-width":i.line.width,"line-color":i.line.color,"line-opacity":i.opacity})),u){var w=j0r(r);p.geojson=w.geojson,p.layout.visibility="visible",f&&(p.filter=["!",["has","point_count"]],m.cluster={type:"circle",filter:["has","point_count"],layout:{visibility:"visible"},paint:{"circle-color":Pte(i.cluster.color,i.cluster.step),"circle-radius":Pte(i.cluster.size,i.cluster.step),"circle-opacity":Pte(i.cluster.opacity,i.cluster.step)}},m.clusterCount={type:"symbol",filter:["has","point_count"],paint:{},layout:{"text-field":"{point_count_abbreviated}","text-font":OJe(i),"text-size":12}}),Lc.extendFlat(p.paint,{"circle-color":w.mcc,"circle-radius":w.mrc,"circle-opacity":w.mo})}if(u&&f&&(p.filter=["!",["has","point_count"]]),(c||l)&&(v.geojson=$0r(r,t),Lc.extendFlat(v.layout,{visibility:"visible","icon-image":"{symbol}","text-field":"{text}"}),c&&(Lc.extendFlat(v.layout,{"icon-size":i.marker.size/10}),"angle"in i.marker&&i.marker.angle!=="auto"&&Lc.extendFlat(v.layout,{"icon-rotate":{type:"identity",property:"angle"},"icon-rotation-alignment":"map"}),v.layout["icon-allow-overlap"]=i.marker.allowoverlap,Lc.extendFlat(v.paint,{"icon-opacity":i.opacity*i.marker.opacity,"icon-color":i.marker.color,"icon-halo-color":i.marker.color,"icon-halo-width":2,"icon-halo-blur":1.5})),l)){var b=(i.marker||{}).size,_=U0r(i.textposition,b);Lc.extendFlat(v.layout,{"text-size":i.textfont.size,"text-anchor":_.anchor,"text-offset":_.offset,"text-font":OJe(i)}),Lc.extendFlat(v.paint,{"text-color":i.textfont.color,"text-opacity":i.opacity})}return m};function lz(e){return{type:e,geojson:uz.makeBlank(),layout:{visibility:"none"},filter:null,paint:{}}}function j0r(e){var t=e[0].trace,r=t.marker,i=t.selectedpoints,n=Lc.isArrayOrTypedArray(r.color),a=Lc.isArrayOrTypedArray(r.size),o=Lc.isArrayOrTypedArray(r.opacity),s;function l(b){return t.opacity*b}function u(b){return b/2}var c;n&&(qJe.hasColorscale(t,"marker")?c=qJe.makeColorScaleFuncFromTrace(r):c=Lc.identity);var f;a&&(f=O0r(t));var h;o&&(h=function(b){var _=NJe(b)?+Lc.constrain(b,0,1):0;return l(_)});var d=[];for(s=0;s850?s+=" Black":n>750?s+=" Extra Bold":n>650?s+=" Bold":n>550?s+=" Semi Bold":n>450?s+=" Medium":n>350?s+=" Regular":n>250?s+=" Light":n>150?s+=" Extra Light":s+=" Thin"):a.slice(0,2).join(" ")==="Open Sans"?(s="Open Sans",n>750?s+=" Extrabold":n>650?s+=" Bold":n>550?s+=" Semibold":n>350?s+=" Regular":s+=" Light"):a.slice(0,3).join(" ")==="Klokantech Noto Sans"&&(s="Klokantech Noto Sans",a[3]==="CJK"&&(s+=" CJK"),s+=n>500?" Bold":" Regular")),o&&(s+=" Italic"),s==="Open Sans Regular Italic"?s="Open Sans Italic":s==="Open Sans Regular Bold"?s="Open Sans Bold":s==="Open Sans Regular Bold Italic"?s="Open Sans Bold Italic":s==="Klokantech Noto Sans Regular Italic"&&(s="Klokantech Noto Sans Italic"),N0r(s)||(s=r);var l=s.split(", ");return l}});var WJe=W((DXr,$Je)=>{"use strict";var W0r=it(),HJe=GJe(),oT=V2().traceLayerPrefix,Gd={cluster:["cluster","clusterCount","circle"],nonCluster:["fill","line","circle","symbol"]};function jJe(e,t,r,i){this.type="scattermap",this.subplot=e,this.uid=t,this.clusterEnabled=r,this.isHidden=i,this.sourceIds={fill:"source-"+t+"-fill",line:"source-"+t+"-line",circle:"source-"+t+"-circle",symbol:"source-"+t+"-symbol",cluster:"source-"+t+"-circle",clusterCount:"source-"+t+"-circle"},this.layerIds={fill:oT+t+"-fill",line:oT+t+"-line",circle:oT+t+"-circle",symbol:oT+t+"-symbol",cluster:oT+t+"-cluster",clusterCount:oT+t+"-cluster-count"},this.below=null}var tk=jJe.prototype;tk.addSource=function(e,t,r){var i={type:"geojson",data:t.geojson};r&&r.enabled&&W0r.extendFlat(i,{cluster:!0,clusterMaxZoom:r.maxzoom});var n=this.subplot.map.getSource(this.sourceIds[e]);n?n.setData(t.geojson):this.subplot.map.addSource(this.sourceIds[e],i)};tk.setSourceData=function(e,t){this.subplot.map.getSource(this.sourceIds[e]).setData(t.geojson)};tk.addLayer=function(e,t,r){var i={type:t.type,id:this.layerIds[e],source:this.sourceIds[e],layout:t.layout,paint:t.paint};t.filter&&(i.filter=t.filter);for(var n=this.layerIds[e],a,o=this.subplot.getMapLayers(),s=0;s=0;M--){var x=_[M];n.removeLayer(u.layerIds[x])}b||n.removeSource(u.sourceIds.circle)}function h(b){for(var _=Gd.nonCluster,M=0;M<_.length;M++){var x=_[M],T=a[x];b||u.addSource(x,T),u.addLayer(x,T,o)}}function d(b){for(var _=Gd.nonCluster,M=_.length-1;M>=0;M--){var x=_[M];n.removeLayer(u.layerIds[x]),b||n.removeSource(u.sourceIds[x])}}function p(b){l?f(b):d(b)}function v(b){s?c(b):h(b)}function m(){for(var b=s?Gd.cluster:Gd.nonCluster,_=0;_=0;i--){var n=r[i];t.removeLayer(this.layerIds[n]),t.removeSource(this.sourceIds[n])}};$Je.exports=function(t,r){var i=r[0].trace,n=i.cluster&&i.cluster.enabled,a=i.visible!==!0,o=new jJe(t,i.uid,n,a),s=HJe(t.gd,r),l=o.below=t.belowLookup["trace-"+i.uid],u,c,f;if(n)for(o.addSource("circle",s.circle,i.cluster),u=0;u{"use strict";var Y0r=Ds(),Ite=it(),X0r=Xw(),Z0r=Ite.fillText,K0r=Kn().BADNUM,J0r=V2().traceLayerPrefix;function Q0r(e,t,r){var i=e.cd,n=i[0].trace,a=e.xa,o=e.ya,s=e.subplot,l=[],u=J0r+n.uid+"-circle",c=n.cluster&&n.cluster.enabled;if(c){var f=s.map.queryRenderedFeatures(null,{layers:[u]});l=f.map(function(A){return A.id})}var h=t>=0?Math.floor((t+180)/360):Math.ceil((t-180)/360),d=h*360,p=t-d;function v(A){var y=A.lonlat;if(y[0]===K0r||c&&l.indexOf(A.i+1)===-1)return 1/0;var E=Ite.modHalf(y[0],360),S=y[1],C=s.project([E,S]),k=C.x-a.c2p([p,S]),D=C.y-o.c2p([E,r]),F=Math.max(3,A.mrc||0);return Math.max(Math.sqrt(k*k+D*D)-F,1-3/F)}if(Y0r.getClosest(i,v,e),e.index!==!1){var m=i[e.index],g=m.lonlat,w=[Ite.modHalf(g[0],360)+d,g[1]],b=a.c2p(w),_=o.c2p(w),M=m.mrc||1;e.x0=b-M,e.x1=b+M,e.y0=_-M,e.y1=_+M;var x={};x[n.subplot]={_subplot:s};var T=n._module.formatLabels(m,n,x);return e.lonLabel=T.lonLabel,e.latLabel=T.latLabel,e.color=X0r(n,m),e.extraText=YJe(n,m,i[0].t.labels),e.hovertemplate=n.hovertemplate,[e]}}function YJe(e,t,r){if(e.hovertemplate)return;var i=t.hi||e.hoverinfo,n=i.split("+"),a=n.indexOf("all")!==-1,o=n.indexOf("lon")!==-1,s=n.indexOf("lat")!==-1,l=t.lonlat,u=[];function c(f){return f+"\xB0"}return a||o&&s?u.push("("+c(l[1])+", "+c(l[0])+")"):o?u.push(r.lon+c(l[0])):s&&u.push(r.lat+c(l[1])),(a||n.indexOf("text")!==-1)&&Z0r(t,e,u),u.join("
")}XJe.exports={hoverPoints:Q0r,getExtraText:YJe}});var KJe=W((LXr,ZJe)=>{"use strict";ZJe.exports=function(t,r){return t.lon=r.lon,t.lat=r.lat,t}});var QJe=W((PXr,JJe)=>{"use strict";var edr=it(),tdr=$o(),{BADNUM:rdr}=Kn(),dz=360,Rte=.001,pz=(e,t,r,i)=>[e.c2p([r,i]),t.c2p([r,i])];function idr(e,t,r,i,n){let a=pz(e,t,r+dz,i),o=pz(e,t,r-dz,i),s=a[0]-n[0],l=a[1]-n[1],u=Math.abs(s-(n[0]-o[0])){if(Math.abs(o)n?null:[Math.floor(i)-1,Math.ceil(n)+1]}JJe.exports=function(t,r){var c;let{cd:i,xaxis:n,yaxis:a}=t,{trace:o}=i[0];if(!tdr.hasMarkers(o))return[];if(r===!1){for(let f of i)f.selected=0;return[]}let s=(c=n._subplot)==null?void 0:c.map,l=!!(s!=null&&s.getRenderWorldCopies())&&r.xmax>r.xmin,u=[];for(let f=0;f=1)return 1;let h=c;for(let v=0;v<8;v++){let m=((o*h+a)*h+n)*h-c;if(Math.abs(m)m?d=h:p=h,h=(d+p)*.5}return((u*h+l)*h+s)*h}}function nB(){return vz!=null||(vz=typeof OffscreenCanvas<"u"&&!!new OffscreenCanvas(1,1).getContext("2d")&&typeof createImageBitmap=="function"),vz}function fie(){if(gz==null&&(gz=!1,nB())){let e=new OffscreenCanvas(5,5).getContext("2d",{willReadFrequently:!0});if(e){for(let r=0;r<25;r++){let i=r*4;e.fillStyle=`rgb(${i},${i+1},${i+2})`,e.fillRect(r%5,Math.floor(r/5),1,1)}let t=e.getImageData(0,0,5,5).data;for(let r=0;r<100;r++)if(r%4!=3&&t[r]!==r){gz=!0;break}}}return gz||!1}function hie(){var e=new Nu(9);return Nu!=Float32Array&&(e[1]=0,e[2]=0,e[3]=0,e[5]=0,e[6]=0,e[7]=0),e[0]=1,e[4]=1,e[8]=1,e}function hdr(e){var t=e[0],r=e[1],i=e[2],n=e[3],a=e[4],o=e[5],s=e[6],l=e[7],u=e[8];return t*(u*a-o*l)+r*(-u*n+o*s)+i*(l*n-a*s)}function Det(e,t){var r=Math.sin(t),i=Math.cos(t);return e[0]=i,e[1]=r,e[2]=0,e[3]=-r,e[4]=i,e[5]=0,e[6]=0,e[7]=0,e[8]=1,e}function ddr(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=r+r,s=i+i,l=n+n,u=r*o,c=i*o,f=i*s,h=n*o,d=n*s,p=n*l,v=a*o,m=a*s,g=a*l;return e[0]=1-f-p,e[3]=c-g,e[6]=h+m,e[1]=c+g,e[4]=1-u-p,e[7]=d-v,e[2]=h-m,e[5]=d+v,e[8]=1-u-f,e}function Em(){var e=new Nu(16);return Nu!=Float32Array&&(e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[11]=0,e[12]=0,e[13]=0,e[14]=0),e[0]=1,e[5]=1,e[10]=1,e[15]=1,e}function aB(e){var t=new Nu(16);return t[0]=e[0],t[1]=e[1],t[2]=e[2],t[3]=e[3],t[4]=e[4],t[5]=e[5],t[6]=e[6],t[7]=e[7],t[8]=e[8],t[9]=e[9],t[10]=e[10],t[11]=e[11],t[12]=e[12],t[13]=e[13],t[14]=e[14],t[15]=e[15],t}function Fet(e,t){return e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}function Qd(e){return e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1,e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}function Bk(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=t[4],s=t[5],l=t[6],u=t[7],c=t[8],f=t[9],h=t[10],d=t[11],p=t[12],v=t[13],m=t[14],g=t[15],w=r*s-i*o,b=r*l-n*o,_=r*u-a*o,M=i*l-n*s,x=i*u-a*s,T=n*u-a*l,A=c*v-f*p,y=c*m-h*p,E=c*g-d*p,S=f*m-h*v,C=f*g-d*v,k=h*g-d*m,D=w*k-b*C+_*S+M*E-x*y+T*A;return D?(D=1/D,e[0]=(s*k-l*C+u*S)*D,e[1]=(n*C-i*k-a*S)*D,e[2]=(v*T-m*x+g*M)*D,e[3]=(h*x-f*T-d*M)*D,e[4]=(l*E-o*k-u*y)*D,e[5]=(r*k-n*E+a*y)*D,e[6]=(m*_-p*T-g*b)*D,e[7]=(c*T-h*_+d*b)*D,e[8]=(o*C-s*E+u*A)*D,e[9]=(i*E-r*C-a*A)*D,e[10]=(p*x-v*_+g*w)*D,e[11]=(f*_-c*x-d*w)*D,e[12]=(s*y-o*S-l*A)*D,e[13]=(r*S-i*y+n*A)*D,e[14]=(v*b-p*M-m*w)*D,e[15]=(c*M-f*b+h*w)*D,e):null}function Yb(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=t[4],l=t[5],u=t[6],c=t[7],f=t[8],h=t[9],d=t[10],p=t[11],v=t[12],m=t[13],g=t[14],w=t[15],b=r[0],_=r[1],M=r[2],x=r[3];return e[0]=b*i+_*s+M*f+x*v,e[1]=b*n+_*l+M*h+x*m,e[2]=b*a+_*u+M*d+x*g,e[3]=b*o+_*c+M*p+x*w,b=r[4],_=r[5],M=r[6],x=r[7],e[4]=b*i+_*s+M*f+x*v,e[5]=b*n+_*l+M*h+x*m,e[6]=b*a+_*u+M*d+x*g,e[7]=b*o+_*c+M*p+x*w,b=r[8],_=r[9],M=r[10],x=r[11],e[8]=b*i+_*s+M*f+x*v,e[9]=b*n+_*l+M*h+x*m,e[10]=b*a+_*u+M*d+x*g,e[11]=b*o+_*c+M*p+x*w,b=r[12],_=r[13],M=r[14],x=r[15],e[12]=b*i+_*s+M*f+x*v,e[13]=b*n+_*l+M*h+x*m,e[14]=b*a+_*u+M*d+x*g,e[15]=b*o+_*c+M*p+x*w,e}function eu(e,t,r){var i=r[0],n=r[1],a=r[2],o,s,l,u,c,f,h,d,p,v,m,g;return t===e?(e[12]=t[0]*i+t[4]*n+t[8]*a+t[12],e[13]=t[1]*i+t[5]*n+t[9]*a+t[13],e[14]=t[2]*i+t[6]*n+t[10]*a+t[14],e[15]=t[3]*i+t[7]*n+t[11]*a+t[15]):(o=t[0],s=t[1],l=t[2],u=t[3],c=t[4],f=t[5],h=t[6],d=t[7],p=t[8],v=t[9],m=t[10],g=t[11],e[0]=o,e[1]=s,e[2]=l,e[3]=u,e[4]=c,e[5]=f,e[6]=h,e[7]=d,e[8]=p,e[9]=v,e[10]=m,e[11]=g,e[12]=o*i+c*n+p*a+t[12],e[13]=s*i+f*n+v*a+t[13],e[14]=l*i+h*n+m*a+t[14],e[15]=u*i+d*n+g*a+t[15]),e}function Rc(e,t,r){var i=r[0],n=r[1],a=r[2];return e[0]=t[0]*i,e[1]=t[1]*i,e[2]=t[2]*i,e[3]=t[3]*i,e[4]=t[4]*n,e[5]=t[5]*n,e[6]=t[6]*n,e[7]=t[7]*n,e[8]=t[8]*a,e[9]=t[9]*a,e[10]=t[10]*a,e[11]=t[11]*a,e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15],e}function Xb(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[4],o=t[5],s=t[6],l=t[7],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[0]=t[0],e[1]=t[1],e[2]=t[2],e[3]=t[3],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[4]=a*n+u*i,e[5]=o*n+c*i,e[6]=s*n+f*i,e[7]=l*n+h*i,e[8]=u*n-a*i,e[9]=c*n-o*i,e[10]=f*n-s*i,e[11]=h*n-l*i,e}function die(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[8],c=t[9],f=t[10],h=t[11];return t!==e&&(e[4]=t[4],e[5]=t[5],e[6]=t[6],e[7]=t[7],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n-u*i,e[1]=o*n-c*i,e[2]=s*n-f*i,e[3]=l*n-h*i,e[8]=a*i+u*n,e[9]=o*i+c*n,e[10]=s*i+f*n,e[11]=l*i+h*n,e}function km(e,t,r){var i=Math.sin(r),n=Math.cos(r),a=t[0],o=t[1],s=t[2],l=t[3],u=t[4],c=t[5],f=t[6],h=t[7];return t!==e&&(e[8]=t[8],e[9]=t[9],e[10]=t[10],e[11]=t[11],e[12]=t[12],e[13]=t[13],e[14]=t[14],e[15]=t[15]),e[0]=a*n+u*i,e[1]=o*n+c*i,e[2]=s*n+f*i,e[3]=l*n+h*i,e[4]=u*n-a*i,e[5]=c*n-o*i,e[6]=f*n-s*i,e[7]=h*n-l*i,e}function Let(e,t){return e[0]=t[0],e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=t[1],e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=t[2],e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1,e}function pdr(e,t,r,i,n){var a=1/Math.tan(t/2);if(e[0]=a/r,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=a,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[11]=-1,e[12]=0,e[13]=0,e[15]=0,n!=null&&n!==1/0){var o=1/(i-n);e[10]=(n+i)*o,e[14]=2*n*i*o}else e[10]=-1,e[14]=-2*i;return e}function vdr(e,t,r,i,n,a,o){var s=1/(t-r),l=1/(i-n),u=1/(a-o);return e[0]=-2*s,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=-2*l,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=2*u,e[11]=0,e[12]=(t+r)*s,e[13]=(n+i)*l,e[14]=(o+a)*u,e[15]=1,e}function Pet(e,t){return e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3]&&e[4]===t[4]&&e[5]===t[5]&&e[6]===t[6]&&e[7]===t[7]&&e[8]===t[8]&&e[9]===t[9]&&e[10]===t[10]&&e[11]===t[11]&&e[12]===t[12]&&e[13]===t[13]&&e[14]===t[14]&&e[15]===t[15]}function Iet(e,t){var r=e[0],i=e[1],n=e[2],a=e[3],o=e[4],s=e[5],l=e[6],u=e[7],c=e[8],f=e[9],h=e[10],d=e[11],p=e[12],v=e[13],m=e[14],g=e[15],w=t[0],b=t[1],_=t[2],M=t[3],x=t[4],T=t[5],A=t[6],y=t[7],E=t[8],S=t[9],C=t[10],k=t[11],D=t[12],F=t[13],P=t[14],R=t[15];return Math.abs(r-w)<=1e-6*Math.max(1,Math.abs(r),Math.abs(w))&&Math.abs(i-b)<=1e-6*Math.max(1,Math.abs(i),Math.abs(b))&&Math.abs(n-_)<=1e-6*Math.max(1,Math.abs(n),Math.abs(_))&&Math.abs(a-M)<=1e-6*Math.max(1,Math.abs(a),Math.abs(M))&&Math.abs(o-x)<=1e-6*Math.max(1,Math.abs(o),Math.abs(x))&&Math.abs(s-T)<=1e-6*Math.max(1,Math.abs(s),Math.abs(T))&&Math.abs(l-A)<=1e-6*Math.max(1,Math.abs(l),Math.abs(A))&&Math.abs(u-y)<=1e-6*Math.max(1,Math.abs(u),Math.abs(y))&&Math.abs(c-E)<=1e-6*Math.max(1,Math.abs(c),Math.abs(E))&&Math.abs(f-S)<=1e-6*Math.max(1,Math.abs(f),Math.abs(S))&&Math.abs(h-C)<=1e-6*Math.max(1,Math.abs(h),Math.abs(C))&&Math.abs(d-k)<=1e-6*Math.max(1,Math.abs(d),Math.abs(k))&&Math.abs(p-D)<=1e-6*Math.max(1,Math.abs(p),Math.abs(D))&&Math.abs(v-F)<=1e-6*Math.max(1,Math.abs(v),Math.abs(F))&&Math.abs(m-P)<=1e-6*Math.max(1,Math.abs(m),Math.abs(P))&&Math.abs(g-R)<=1e-6*Math.max(1,Math.abs(g),Math.abs(R))}function Ret(){var e=new Nu(3);return Nu!=Float32Array&&(e[0]=0,e[1]=0,e[2]=0),e}function sB(e){var t=new Nu(3);return t[0]=e[0],t[1]=e[1],t[2]=e[2],t}function K1(e){var t=e[0],r=e[1],i=e[2];return Math.sqrt(t*t+r*r+i*i)}function eQe(e,t,r){var i=new Nu(3);return i[0]=e,i[1]=t,i[2]=r,i}function R0(e,t,r){return e[0]=t[0]+r[0],e[1]=t[1]+r[1],e[2]=t[2]+r[2],e}function pie(e,t,r){return e[0]=t[0]-r[0],e[1]=t[1]-r[1],e[2]=t[2]-r[2],e}function Ps(e,t,r){return e[0]=t[0]*r,e[1]=t[1]*r,e[2]=t[2]*r,e}function qk(e,t,r,i){return e[0]=t[0]+r[0]*i,e[1]=t[1]+r[1]*i,e[2]=t[2]+r[2]*i,e}function zet(e,t){var r=t[0]-e[0],i=t[1]-e[1],n=t[2]-e[2];return Math.sqrt(r*r+i*i+n*n)}function Bet(e,t){return e[0]=-t[0],e[1]=-t[1],e[2]=-t[2],e}function Pf(e,t){var r=t[0],i=t[1],n=t[2],a=r*r+i*i+n*n;return a>0&&(a=1/Math.sqrt(a)),e[0]=t[0]*a,e[1]=t[1]*a,e[2]=t[2]*a,e}function gu(e,t){return e[0]*t[0]+e[1]*t[1]+e[2]*t[2]}function uh(e,t,r){var i=t[0],n=t[1],a=t[2],o=r[0],s=r[1],l=r[2];return e[0]=n*l-a*s,e[1]=a*o-i*l,e[2]=i*s-n*o,e}function qet(e,t,r){var i=t[0],n=t[1],a=t[2],o=r[3]*i+r[7]*n+r[11]*a+r[15];return o||(o=1),e[0]=(r[0]*i+r[4]*n+r[8]*a+r[12])/o,e[1]=(r[1]*i+r[5]*n+r[9]*a+r[13])/o,e[2]=(r[2]*i+r[6]*n+r[10]*a+r[14])/o,e}function Oet(e,t,r){var i=t[0],n=t[1],a=t[2];return e[0]=i*r[0]+n*r[3]+a*r[6],e[1]=i*r[1]+n*r[4]+a*r[7],e[2]=i*r[2]+n*r[5]+a*r[8],e}function lB(e,t,r){var i=r[0],n=r[1],a=r[2],o=r[3],s=t[0],l=t[1],u=t[2],c=n*u-a*l,f=a*s-i*u,h=i*l-n*s;return c+=c,f+=f,h+=h,e[0]=s+o*c+n*h-a*f,e[1]=l+o*f+a*c-i*h,e[2]=u+o*h+i*f-n*c,e}function PT(e,t,r,i){var n=[],a=[];return n[0]=t[0]-r[0],n[1]=t[1]-r[1],n[2]=t[2]-r[2],a[0]=n[0],a[1]=n[1]*Math.cos(i)-n[2]*Math.sin(i),a[2]=n[1]*Math.sin(i)+n[2]*Math.cos(i),e[0]=a[0]+r[0],e[1]=a[1]+r[1],e[2]=a[2]+r[2],e}function Zb(e,t,r,i){var n=[],a=[];return n[0]=t[0]-r[0],n[1]=t[1]-r[1],n[2]=t[2]-r[2],a[0]=n[2]*Math.sin(i)+n[0]*Math.cos(i),a[1]=n[1],a[2]=n[2]*Math.cos(i)-n[0]*Math.sin(i),e[0]=a[0]+r[0],e[1]=a[1]+r[1],e[2]=a[2]+r[2],e}function uB(e,t,r,i){var n=[],a=[];return n[0]=t[0]-r[0],n[1]=t[1]-r[1],n[2]=t[2]-r[2],a[0]=n[0]*Math.cos(i)-n[1]*Math.sin(i),a[1]=n[0]*Math.sin(i)+n[1]*Math.cos(i),a[2]=n[2],e[0]=a[0]+r[0],e[1]=a[1]+r[1],e[2]=a[2]+r[2],e}function Net(e){return e[0]=0,e[1]=0,e[2]=0,e}function gdr(){var e=new Nu(4);return Nu!=Float32Array&&(e[0]=0,e[1]=0,e[2]=0,e[3]=0),e}function mdr(e,t,r,i){var n=new Nu(4);return n[0]=e,n[1]=t,n[2]=r,n[3]=i,n}function ydr(e,t,r){return e[0]=t[0]*r[0],e[1]=t[1]*r[1],e[2]=t[2]*r[2],e[3]=t[3]*r[3],e}function Uet(e,t,r){return e[0]=t[0]*r,e[1]=t[1]*r,e[2]=t[2]*r,e[3]=t[3]*r,e}function xdr(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=r*r+i*i+n*n+a*a;return o>0&&(o=1/Math.sqrt(o)),e[0]=r*o,e[1]=i*o,e[2]=n*o,e[3]=a*o,e}function Uu(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3];return e[0]=r[0]*i+r[4]*n+r[8]*a+r[12]*o,e[1]=r[1]*i+r[5]*n+r[9]*a+r[13]*o,e[2]=r[2]*i+r[6]*n+r[10]*a+r[14]*o,e[3]=r[3]*i+r[7]*n+r[11]*a+r[15]*o,e}function tQe(){var e=new Nu(4);return Nu!=Float32Array&&(e[0]=0,e[1]=0,e[2]=0),e[3]=1,e}function _dr(e,t,r){r*=.5;var i=Math.sin(r);return e[0]=i*t[0],e[1]=i*t[1],e[2]=i*t[2],e[3]=Math.cos(r),e}function Get(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=r[0],l=r[1],u=r[2],c=r[3];return e[0]=i*c+o*s+n*u-a*l,e[1]=n*c+o*l+a*s-i*u,e[2]=a*c+o*u+i*l-n*s,e[3]=o*c-i*s-n*l-a*u,e}function vk(e,t,r,i){var n=t[0],a=t[1],o=t[2],s=t[3],l=r[0],u=r[1],c=r[2],f=r[3],h,d=n*l+a*u+o*c+s*f,p,v,m;return d<0&&(d=-d,l=-l,u=-u,c=-c,f=-f),1-d>1e-6?(h=Math.acos(d),p=Math.sin(h),v=Math.sin((1-i)*h)/p,m=Math.sin(i*h)/p):(v=1-i,m=i),e[0]=v*n+m*l,e[1]=v*a+m*u,e[2]=v*o+m*c,e[3]=v*s+m*f,e}function bdr(e,t){var r=t[0]+t[4]+t[8],i;if(r>0)i=Math.sqrt(r+1),e[3]=.5*i,i=.5/i,e[0]=(t[5]-t[7])*i,e[1]=(t[6]-t[2])*i,e[2]=(t[1]-t[3])*i;else{var n=0;t[4]>t[0]&&(n=1),t[8]>t[n*3+n]&&(n=2);var a=(n+1)%3,o=(n+2)%3;i=Math.sqrt(t[n*3+n]-t[a*3+a]-t[o*3+o]+1),e[n]=.5*i,i=.5/i,e[3]=(t[a*3+o]-t[o*3+a])*i,e[a]=(t[a*3+n]+t[n*3+a])*i,e[o]=(t[o*3+n]+t[n*3+o])*i}return e}function cB(e,t,r,i){var n=arguments.length>4&&arguments[4]!==void 0?arguments[4]:"zyx",a=Math.PI/360;t*=a,i*=a,r*=a;var o=Math.sin(t),s=Math.cos(t),l=Math.sin(r),u=Math.cos(r),c=Math.sin(i),f=Math.cos(i);switch(n){case"xyz":e[0]=o*u*f+s*l*c,e[1]=s*l*f-o*u*c,e[2]=s*u*c+o*l*f,e[3]=s*u*f-o*l*c;break;case"xzy":e[0]=o*u*f-s*l*c,e[1]=s*l*f-o*u*c,e[2]=s*u*c+o*l*f,e[3]=s*u*f+o*l*c;break;case"yxz":e[0]=o*u*f+s*l*c,e[1]=s*l*f-o*u*c,e[2]=s*u*c-o*l*f,e[3]=s*u*f+o*l*c;break;case"yzx":e[0]=o*u*f+s*l*c,e[1]=s*l*f+o*u*c,e[2]=s*u*c-o*l*f,e[3]=s*u*f-o*l*c;break;case"zxy":e[0]=o*u*f-s*l*c,e[1]=s*l*f+o*u*c,e[2]=s*u*c+o*l*f,e[3]=s*u*f-o*l*c;break;case"zyx":e[0]=o*u*f-s*l*c,e[1]=s*l*f+o*u*c,e[2]=s*u*c-o*l*f,e[3]=s*u*f+o*l*c;break;default:throw Error("Unknown angle order "+n)}return e}function fB(){var e=new Nu(2);return Nu!=Float32Array&&(e[0]=0,e[1]=0),e}function iQe(e,t){var r=new Nu(2);return r[0]=e,r[1]=t,r}function gie(e,t,r){return e[0]=t[0]*r,e[1]=t[1]*r,e}function mie(e){var t=e[0],r=e[1];return Math.sqrt(t*t+r*r)}function wdr(e){var t=e[0],r=e[1];return t*t+r*r}function Tdr(e,t){return e[0]*t[0]+e[1]*t[1]}function yie(e){return e[0]=0,e[1]=0,e}function Zh(e,t,r){return t*(zr/(e.tileSize*2**(r-e.tileID.overscaledZ)))}function Ic(e){return e instanceof Error?e:Error(typeof e=="string"?e:String(e))}function Cm(){return new Float64Array(4)}function Do(){return new Float64Array(3)}function Q2(){return new Float64Array(16)}function Nk(){let e=new Float64Array(16);return Qd(e),e}function xie(){let e=new Float32Array(16);return Qd(e),e}function Dm(e,t,r,i,n=!1){if(!r[0]&&!r[1])return[0,0];let a=n?i==="map"?-e.bearingInRadians:0:i==="viewport"?e.bearingInRadians:0;if(a){let o=Math.sin(a),s=Math.cos(a);r=[r[0]*s-r[1]*o,r[0]*o+r[1]*s]}return[n?r[0]:Zh(t,r[0],e.zoom),n?r[1]:Zh(t,r[1],e.zoom)]}function hB(e,t){return e[0]*t[0]+e[1]*t[1]+e[2]*t[2]+e[3]}function z0(e,t,r){let i=hdr([e[0],e[1],e[2],t[0],t[1],t[2],r[0],r[1],r[2]]);if(i===0)return null;let n=uh([],[t[0],t[1],t[2]],[r[0],r[1],r[2]]),a=uh([],[r[0],r[1],r[2]],[e[0],e[1],e[2]]),o=uh([],[e[0],e[1],e[2]],[t[0],t[1],t[2]]),s=Ps([],n,-e[3]);return R0(s,s,Ps([],a,-t[3])),R0(s,s,Ps([],o,-r[3])),Ps(s,s,1/i),s}function jet(e,t,r){let i=e[0]*r[0]+e[1]*r[1]+e[2]*r[2],n=t[0]*r[0]+t[1]*r[1]+t[2]*r[2];return n===0?null:(-i-r[3])/n}function Uk(e,t,r,i){let n=Math.sqrt(e*e+t*t),a=Math.sqrt(r*r+i*i);e/=n,t/=n,r/=a,i/=a;let o=e*r+t*i,s=Math.acos(o);return-t*r+e*i>0?s:-s}function Kh(e,t){let r=K2(e,360),i=K2(t,360),n=i-r,a=i>r?n-360:n+360;return Math.abs(n)l.canonical.z)),r=1/0,i=-1/0,n=1/0,a=-1/0,o=[];for(let l of e){let{x:u,y:c,z:f}=l.canonical,h=2**(t-f),d=u*h,p=c*h;o.push({id:l,x:d,y:p}),di&&(i=d),pa&&(a=p)}let s=new Set;for(let l of o)(l.x===r||l.x===i||l.y===n||l.y===a)&&s.add(l.id);return s}function Adr(e){if(e<=0)return 0;if(e>=1)return 1;let t=e*e,r=t*e;return 4*(e<.5?r:3*(e-t)+r-.75)}function dB(e,t,r,i){return fdr(e,t,r,i)}function Jn(e,t,r){return Math.min(r,Math.max(t,e))}function B0(e,t,r){let i=r-t,n=((e-t)%i+i)%i+t;return n===t?r:n}function ln(e,...t){for(let r of t)for(let i in r)e[i]=r[i];return e}function IT(e,t){let r={};for(let i of t)i in e&&(r[i]=e[i]);return r}function _ie(){return Mdr++}function Sdr(e){return Math.log(e)/Math.LN2%1==0}function Yet(e){return e<=1?1:2**Math.ceil(Math.log(e)/Math.LN2)}function If(e){return 2**e}function zc(e){return Math.log(e)/Math.LN2}function Jh(e,t,r){if(t<=0)return e;let i=1/t;return r===void 0||Math.abs(r)<1e-10?Math.round(e*i)/i:(r>0?Math.ceil(e*i-1e-9):Math.floor(e*i+1e-10))/i}function vB(e,t,r){let i={};for(let n in e)i[n]=t.call(r||this,e[n],n,e);return i}function bie(e,t,r){let i={};for(let n in e)t.call(r||this,e[n],n,e)&&(i[n]=e[n]);return i}function _v(e,t){if(Array.isArray(e)){if(!Array.isArray(t)||e.length!==t.length)return!1;for(let r=0;r(t.y-e.y)*(r.x-e.x)}function Xet(e,t,r,i){let n=t.y-e.y,a=t.x-e.x,o=i.y-r.y,s=i.x-r.x,l=o*a-s*n;if(l===0)return null;let u=e.y-r.y,c=e.x-r.x,f=(s*u-o*c)/l;return new tr(e.x+f*a,e.y+f*n)}function Zet([e,t,r]){return t+=90,t*=Math.PI/180,r*=Math.PI/180,[e*Math.cos(t)*Math.sin(r),e*Math.sin(t)*Math.sin(r),e*Math.cos(r)]}function Hb(e){return typeof WorkerGlobalScope<"u"&&e!==void 0&&e instanceof WorkerGlobalScope}function Ket(e){let t=/(?:^|(?:\s*\,\s*))([^\x00-\x20\(\)<>@\,;\:\\"\/\[\]\?\=\{\}\x7F]+)(?:\=(?:([^\x00-\x20\(\)<>@\,;\:\\"\/\[\]\?\=\{\}\x7F]+)|(?:\"((?:[^"\\]|\\.)*)\")))?/g,r={};if(e.replace(t,(i,n,a,o)=>{let s=a||o;return r[n]=!s||s.toLowerCase(),""}),r["max-age"]){let i=parseInt(r["max-age"],10);isNaN(i)?delete r["max-age"]:r["max-age"]=i}return r}function Jet(e){if(zte==null){let t=e.navigator?e.navigator.userAgent:null;zte=!!e.safari||!!(t&&(/\b(iPad|iPhone|iPod)\b/.test(t)||t.match("Safari")&&!t.match("Chrome")))}return zte}function ex(e){return typeof ImageBitmap<"u"&&e instanceof ImageBitmap}function Edr(e,t,r,i,n){let a=Math.max(-t,0)*4,o=(Math.max(0,r)-r)*i*4+a,s=i*4,l=Math.max(0,t),u=Math.max(0,r),c=Math.min(e.width,t+i),f=Math.min(e.height,r+n);return{rect:{x:l,y:u,width:c-l,height:f-u},layout:[{offset:o,stride:s}]}}function ttt(e,t,r,i,n){return Ki(this,null,function*(){if(typeof VideoFrame>"u")throw Error("VideoFrame not supported");let a=new VideoFrame(e,{timestamp:0});try{let o=a==null?void 0:a.format;if(!o||!(o.startsWith("BGR")||o.startsWith("RGB")))throw Error(`Unrecognized format ${o}`);let s=o.startsWith("BGR"),l=new Uint8ClampedArray(i*n*4);if(yield a.copyTo(l,Edr(e,t,r,i,n)),s)for(let u=0;u{e.removeEventListener(t,r,i)}}}function js(e){return e*Math.PI/180}function yv(e){return e/Math.PI*180}function wie(e,t){return e.roll==t.roll&&e.pitch==t.pitch&&e.bearing==t.bearing}function rtt(e){let t=new Float64Array(9);ddr(t,e);let r=yv(-Math.asin(Jn(t[2],-1,1))),i,n;return Math.hypot(t[5],t[8])<.001?(i=0,n=-yv(Math.atan2(t[3],t[4]))):(i=yv(t[5]===0&&t[8]===0?0:Math.atan2(t[5],t[8])),n=yv(t[1]===0&&t[0]===0?0:Math.atan2(t[1],t[0]))),{roll:i,pitch:r+90,bearing:n}}function Tie(e,t,r){let i=iQe(t.x-r.x,t.y-r.y),n=iQe(e.x-r.x,e.y-r.y),a=i[0]*n[1]-i[1]*n[0];return yv(Math.atan2(a,Tdr(i,n)))}function Aie(e,t,r){let i=new Float64Array(4);return cB(i,e,t-90,r),i}function att(e,t){return itt[t]&&"touches"in e}function ott(e,t){var n,a;if(!ntt[t])return!1;let r=e,i=((a=(n=r==null?void 0:r.target)==null?void 0:n.ownerDocument)==null?void 0:a.defaultView)||window;return r instanceof i.MouseEvent||r instanceof i.WheelEvent}function stt(e){return itt[e]||ntt[e]}function Fm(e){return e instanceof Error&&e.name==="AbortError"}function gB(e){if(e.aborted)throw new RT(e.reason)}function Mie(e){return Qh.REGISTERED_PROTOCOLS[e.substring(0,e.indexOf("://"))]}function ltt(e,t){Qh.REGISTERED_PROTOCOLS[e]=t}function utt(e){delete Qh.REGISTERED_PROTOCOLS[e]}function mB(){var e;if(Hb(self))return(e=self.worker)==null?void 0:e.referrer;if(window.location.protocol==="blob:")try{return window.parent.location.href}catch(t){}return window.location.href}function Cdr(e,t){return Ki(this,null,function*(){let r=new Request(e.url,{method:e.method||"GET",body:e.body,credentials:e.credentials,headers:e.headers,cache:e.cache,referrer:mB(),referrerPolicy:e.referrerPolicy,signal:t.signal});e.type==="json"&&!r.headers.has("Accept")&&r.headers.set("Accept","application/json");let i;try{i=yield fetch(r)}catch(o){throw Fm(o)?o:new TT(0,Ic(o).message,e.url,new Blob)}if(!i.ok){let o=yield i.blob();throw new TT(i.status,i.statusText,e.url,o)}let n;n=e.type==="arrayBuffer"||e.type==="image"?i.arrayBuffer():e.type==="json"?i.json():i.text();let a=yield n;return gB(t.signal),{data:a,cacheControl:i.headers.get("Cache-Control"),expires:i.headers.get("Expires"),etag:i.headers.get("ETag")}})}function Ddr(e,t){return new Promise((r,i)=>{var a;let n=new XMLHttpRequest;n.open(e.method||"GET",e.url,!0),(e.type==="arrayBuffer"||e.type==="image")&&(n.responseType="arraybuffer");for(let o in e.headers)n.setRequestHeader(o,e.headers[o]);e.type==="json"&&(n.responseType="text",(a=e.headers)!=null&&a.Accept||n.setRequestHeader("Accept","application/json")),n.withCredentials=e.credentials==="include",n.onerror=()=>{i(Error(n.statusText))},n.onload=()=>{if(!t.signal.aborted)if((n.status>=200&&n.status<300||n.status===0)&&n.response!==null){let o=n.response;if(e.type==="json")try{o=JSON.parse(n.response)}catch(s){i(s);return}r({data:o,cacheControl:n.getResponseHeader("Cache-Control"),expires:n.getResponseHeader("Expires"),etag:n.getResponseHeader("ETag")})}else{let o=new Blob([n.response],{type:n.getResponseHeader("Content-Type")});i(new TT(n.status,n.statusText,e.url,o))}},t.signal.addEventListener("abort",()=>{n.abort(),i(new RT(t.signal.reason))}),n.send(e.body)})}function Eie(e){if(!e||e.startsWith("data:image/"))return!0;if(e.startsWith("blob:")&&(e=e.slice(5),e.startsWith("null")))return!1;if(e.indexOf("://")<=0)return!0;let t=new URL(e),r=window.location;return t.protocol===r.protocol&&t.host===r.host}function oQe(e,t,r){var i;(i=r[e])!=null&&i.includes(t)||(r[e]||(r[e]=[]),r[e].push(t))}function Bte(e,t,r){if(r!=null&&r[e]){let i=r[e].indexOf(t);i!==-1&&r[e].splice(i,1)}}function Lf(e,t){return{kind:"array",itemType:e,N:t}}function ml(e){if(e.kind==="array"){let t=ml(e.itemType);return typeof e.N=="number"?`array<${t}, ${e.N}>`:e.itemType.kind==="value"?"array":`array<${t}>`}return e.kind}function Tk(e,t){if(t.kind==="error")return null;if(e.kind==="array"){if(t.kind==="array"&&(t.N===0&&t.itemType.kind==="value"||!Tk(e.itemType,t.itemType))&&(typeof e.N!="number"||e.N===t.N))return null}else{if(e.kind===t.kind)return null;if(e.kind==="value"){for(let r of Ldr)if(!Tk(r,t))return null}}return`Expected ${ml(e)} but found ${ml(t)} instead.`}function kie(e,t){return t.some(r=>r.kind===e.kind)}function Ub(e,t){return t.some(r=>r==="null"?e===null:r==="array"?Array.isArray(e):r==="object"?e&&!Array.isArray(e)&&typeof e=="object":r===typeof e)}function G2(e,t){return e.kind==="array"&&t.kind==="array"?e.itemType.kind===t.itemType.kind&&typeof e.N=="number":e.kind===t.kind}function mtt(e){return e%=360,e<0&&(e+=360),e}function ytt([e,t,r,i]){e=qte(e),t=qte(t),r=qte(r);let n,a,o=Ote((.2225045*e+.7168786*t+.0606169*r)/1);e===t&&t===r?n=a=o:(n=Ote((.4360747*e+.3850649*t+.1430804*r)/dtt),a=Ote((.0139322*e+.0971045*t+.7141733*r)/ptt));let s=116*o-16;return[s<0?0:s,500*(n-o),200*(o-a),i]}function qte(e){return e<=.04045?e/12.92:((e+.055)/1.055)**2.4}function Ote(e){return e>.008856451679035631?e**(1/3):e/gtt+vtt}function xtt([e,t,r,i]){let n=(e+16)/116,a=isNaN(t)?n:n+t/500,o=isNaN(r)?n:n-r/200;return n=1*Ute(n),a=dtt*Ute(a),o=ptt*Ute(o),[Nte(3.1338561*a-1.6168667*n-.4906146*o),Nte(-.9787684*a+1.9161415*n+.033454*o),Nte(.0719453*a-.2289914*n+1.4052427*o),i]}function Nte(e){return e=e<=.00304?12.92*e:1.055*e**(1/2.4)-.055,e<0?0:e>1?1:e}function Ute(e){return e>Qte?e*e*e:gtt*(e-vtt)}function Rdr(e){let[t,r,i,n]=ytt(e),a=Math.sqrt(r*r+i*i);return[Math.round(a*1e4)?mtt(Math.atan2(i,r)*Idr):NaN,a,t,n]}function zdr([e,t,r,i]){return e=isNaN(e)?0:e*Pdr,xtt([r,Math.cos(e)*t,Math.sin(e)*t,i])}function Bdr([e,t,r,i]){e=mtt(e),t/=100,r/=100;function n(a){let o=(a+e/30)%12,s=t*Math.min(r,1-r);return r-s*Math.max(-1,Math.min(o-3,9-o,1))}return[n(0),n(8),n(4),i]}function gk(e,t){return qdr(e,t)?e[t]:void 0}function Odr(e){if(e=e.toLowerCase().trim(),e==="transparent")return[0,0,0,0];let t=gk(Ndr,e);if(t){let[i,n,a]=t;return[i/255,n/255,a/255,1]}if(e.startsWith("#")&&/^#(?:[0-9a-f]{3,4}|[0-9a-f]{6}|[0-9a-f]{8})$/.test(e)){let i=e.length<6?1:2,n=1;return[mz(e.slice(n,n+=i)),mz(e.slice(n,n+=i)),mz(e.slice(n,n+=i)),mz(e.slice(n,n+i)||"ff")]}if(e.startsWith("rgb")){let i=e.match(/^rgba?\(\s*([\de.+-]+)(%)?(?:\s+|\s*(,)\s*)([\de.+-]+)(%)?(?:\s+|\s*(,)\s*)([\de.+-]+)(%)?(?:\s*([,\/])\s*([\de.+-]+)(%)?)?\s*\)$/);if(i){let[n,a,o,s,l,u,c,f,h,d,p,v]=i,m=[s||" ",c||" ",d].join("");if(m===" "||m===" /"||m===",,"||m===",,,"){let g=[o,u,h].join(""),w=g==="%%%"?100:g===""?255:0;if(w){let b=[uT(+a/w,0,1),uT(+l/w,0,1),uT(+f/w,0,1),p?sQe(+p,v):1];if(lQe(b))return b}}return}}let r=e.match(/^hsla?\(\s*([\de.+-]+)(?:deg)?(?:\s+|\s*(,)\s*)([\de.+-]+)%(?:\s+|\s*(,)\s*)([\de.+-]+)%(?:\s*([,\/])\s*([\de.+-]+)(%)?)?\s*\)$/);if(r){let[i,n,a,o,s,l,u,c,f]=r,h=[a||" ",s||" ",u].join("");if(h===" "||h===" /"||h===",,"||h===",,,"){let d=[+n,uT(+o,0,100),uT(+l,0,100),c?sQe(+c,f):1];if(lQe(d))return Bdr(d)}}}function mz(e){return parseInt(e.padEnd(2,e),16)/255}function sQe(e,t){return uT(t?e/100:e,0,1)}function uT(e,t,r){return Math.min(Math.max(t,e),r)}function lQe(e){return!e.some(Number.isNaN)}function X2(e,t,r){return e+r*(t-e)}function AT(e,t,r){return e.map((i,n)=>X2(i,t[n],r))}function Udr(e){return e==="rgb"||e==="hcl"||e==="lab"}function btt(e,t,r,i){return typeof e=="number"&&e>=0&&e<=255&&typeof t=="number"&&t>=0&&t<=255&&typeof r=="number"&&r>=0&&r<=255?i===void 0||typeof i=="number"&&i>=0&&i<=1?null:`Invalid rgba value [${[e,t,r,i].join(", ")}]: 'a' must be between 0 and 1.`:`Invalid rgba value [${(typeof i=="number"?[e,t,r,i]:[e,t,r]).join(", ")}]: 'r', 'g', and 'b' must be between 0 and 255.`}function MT(e){if(e===null||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||e instanceof Lm||e instanceof ea||e instanceof Cie||e instanceof Mm||e instanceof Q1||e instanceof eg||e instanceof Xd||e instanceof X1||e instanceof Z1)return!0;if(Array.isArray(e)){for(let t of e)if(!MT(t))return!1;return!0}if(typeof e=="object"){for(let t in e)if(!MT(e[t]))return!1;return!0}return!1}function Ql(e){if(e===null)return $k;if(typeof e=="string")return la;if(typeof e=="boolean")return La;if(typeof e=="number")return Ei;if(e instanceof ea)return xv;if(e instanceof Lm)return yB;if(e instanceof Cie)return xB;if(e instanceof Mm)return Wk;if(e instanceof Q1)return _B;if(e instanceof eg)return bB;if(e instanceof Xd)return wk;if(e instanceof X1)return wB;if(e instanceof Z1)return Yk;if(Array.isArray(e)){let t=e.length,r;for(let i of e){let n=Ql(i);if(!r)r=n;else{if(r===n)continue;r=ha;break}}return Lf(r||ha,t)}return Nb}function mk(e){let t=typeof e;return e===null?"":t==="string"||t==="number"||t==="boolean"?String(e):e instanceof ea||e instanceof Lm||e instanceof Mm||e instanceof Q1||e instanceof eg||e instanceof Xd||e instanceof X1||e instanceof Z1?e.toString():JSON.stringify(e)}function TB(e,t,r){let i=e.length-1,n=0,a=i,o=0,s,l;for(;n<=a;)if(o=Math.floor((n+a)/2),s=e[o],l=e[o+1],s<=t){if(o===i||tt)a=o-1;else throw new al("Input is not a number.",r);return 0}function jdr(e,t,r,i){let n=3*e,a=3*(r-e)-n,o=1-n-a,s=3*t,l=3*(i-t)-s,u=1-s-l;return function(c,f=1e-6){if(c<=0)return 0;if(c>=1)return 1;let h=c;for(let v=0;v<8;v++){let m=((o*h+a)*h+n)*h-c;if(Math.abs(m)m?d=h:p=h,h=(d+p)*.5}return((u*h+l)*h+s)*h}}function Vte(e,t,r,i){let n=i-r,a=e-r;return n===0?0:t===1?a/n:(t**+a-1)/(t**+n-1)}function Ett(e,t,r=0,i=e.length-1,n=$dr){for(;i>r;){if(i-r>600){let l=i-r+1,u=t-r+1,c=Math.log(l),f=.5*Math.exp(2*c/3),h=.5*Math.sqrt(c*f*(l-f)/l)*(u-l/2<0?-1:1);Ett(e,t,Math.max(r,Math.floor(t-u*f/l+h)),Math.min(i,Math.floor(t+(l-u)*f/l+h)),n)}let a=e[t],o=r,s=i;for(rk(e,r,t),n(e[i],a)>0&&rk(e,r,i);o0;)s--}n(e[r],a)===0?rk(e,r,s):(s++,rk(e,s,i)),s<=t&&(r=s+1),t<=s&&(i=s-1)}}function rk(e,t,r){let i=e[t];e[t]=e[r],e[r]=i}function $dr(e,t){return et)}function AB(e,t){if(e.length<=1)return[e];let r=[],i,n;for(let a of e){let o=Ydr(a);o!==0&&(a.area=Math.abs(o),n===void 0&&(n=o<0),n===o<0?(i&&r.push(i),i=[a]):i.push(a))}if(i&&r.push(i),t>1)for(let a=0;ar}function apr(e,t,r){return t<=r}function opr(e,t,r){return t>=r}function Ott(e,t,r,i){return i.compare(t,r)===0}function spr(e,t,r,i){return!Ott(e,t,r,i)}function lpr(e,t,r,i){return i.compare(t,r)<0}function upr(e,t,r,i){return i.compare(t,r)>0}function cpr(e,t,r,i){return i.compare(t,r)<=0}function fpr(e,t,r,i){return i.compare(t,r)>=0}function zT(e,t,r){let i=e!=="=="&&e!=="!=";return class Ntt{constructor(a,o,s,l){this.lhs=a,this.rhs=o,this.key=s,this.collator=l,this.type=La,this.hasUntypedArgument=a.type.kind==="value"||o.type.kind==="value"}static parse(a,o){if(a.length!==3&&a.length!==4)return o.error("Expected two or three arguments.");let s=a[0],l=o.parse(a[1],1,ha);if(!l)return null;if(!cQe(s,l.type))return o.concat(1).error(`"${s}" comparisons are not supported for type '${ml(l.type)}'.`);let u=o.parse(a[2],2,ha);if(!u)return null;if(!cQe(s,u.type))return o.concat(2).error(`"${s}" comparisons are not supported for type '${ml(u.type)}'.`);if(l.type.kind!==u.type.kind&&l.type.kind!=="value"&&u.type.kind!=="value")return o.error(`Cannot compare types '${ml(l.type)}' and '${ml(u.type)}'.`);i&&(l.type.kind==="value"&&u.type.kind!=="value"?l=new _m(u.type,[l],o.key):l.type.kind!=="value"&&u.type.kind==="value"&&(u=new _m(l.type,[u],o.key)));let c=null;if(a.length===4){if(l.type.kind!=="string"&&u.type.kind!=="string"&&l.type.kind!=="value"&&u.type.kind!=="value")return o.error("Cannot use collator to compare non-string types.");if(c=o.parse(a[3],3,xB),!c)return null}return new Ntt(l,u,o.key,c)}evaluate(a){let o=this.lhs.evaluate(a),s=this.rhs.evaluate(a);if(i&&this.hasUntypedArgument){let l=Ql(o),u=Ql(s);if(l.kind!==u.kind||l.kind!=="string"&&l.kind!=="number")throw new al(`Expected arguments for "${e}" to be (string, string) or (number, number), but found (${l.kind}, ${u.kind}) instead.`,this.key)}if(this.collator&&!i&&this.hasUntypedArgument){let l=Ql(o),u=Ql(s);if(l.kind!=="string"||u.kind!=="string")return t(a,o,s)}return this.collator?r(a,o,s,this.collator.evaluate(a)):t(a,o,s)}eachChild(a){a(this.lhs),a(this.rhs),this.collator&&a(this.collator)}outputDefined(){return!0}}}function bpr(e,t){let r=wpr(e[0]),i=Apr(e[1]),n=2**t.z;return[Math.round(r*n*Y1),Math.round(i*n*Y1)]}function Fie(e,t){let r=2**t.z,i=(e[0]/Y1+t.x)/r,n=(e[1]/Y1+t.y)/r;return[Tpr(i),Mpr(n)]}function wpr(e){return(180+e)/360}function Tpr(e){return e*360-180}function Apr(e){return(180-180/Math.PI*Math.log(Math.tan(Math.PI/4+e*Math.PI/360)))/360}function Mpr(e){return 360/Math.PI*Math.atan(Math.exp((180-e*360)*Math.PI/180))-90}function Xk(e,t){e[0]=Math.min(e[0],t[0]),e[1]=Math.min(e[1],t[1]),e[2]=Math.max(e[2],t[0]),e[3]=Math.max(e[3],t[1])}function Ak(e,t){return!(e[0]<=t[0]||e[2]>=t[2]||e[1]<=t[1]||e[3]>=t[3])}function Spr(e,t,r){return t[1]>e[1]!=r[1]>e[1]&&e[0]<(r[0]-t[0])*(e[1]-t[1])/(r[1]-t[1])+t[0]}function Epr(e,t,r){let i=e[0]-t[0],n=e[1]-t[1],a=e[0]-r[0],o=e[1]-r[1];return i*o-a*n===0&&i*a<=0&&n*o<=0}function MB(e,t,r,i){let n=[t[0]-e[0],t[1]-e[1]];return Fpr([i[0]-r[0],i[1]-r[1]],n)!==0&&!!(fQe(e,t,r,i)&&fQe(r,i,e,t))}function kpr(e,t,r){for(let i of r)for(let n=0;n0&&f<0||c<0&&f>0}function Lie(e,t,r){let i=[];for(let n=0;nr[2]){let n=i*.5,a=e[0]-r[0]>n?-i:r[0]-e[0]>n?i:0;a===0&&(a=e[0]-r[2]>n?-i:r[2]-e[0]>n?i:0),e[0]+=a}Xk(t,e)}function Lpr(e){e[0]=e[1]=1/0,e[2]=e[3]=-1/0}function hQe(e,t,r,i){let n=2**i.z*Y1,a=[i.x*Y1,i.y*Y1],o=[];for(let s of e)for(let l of s){let u=[l.x+a[0],l.y+a[1]];Ytt(u,t,r,n),o.push(u)}return o}function dQe(e,t,r,i){let n=2**i.z*Y1,a=[i.x*Y1,i.y*Y1],o=[];for(let s of e){let l=[];for(let u of s){let c=[u.x+a[0],u.y+a[1]];Xk(t,c),l.push(c)}o.push(l)}if(t[2]-t[0]<=n/2){Lpr(t);for(let s of o)for(let l of s)Ytt(l,t,r,n)}return o}function Ppr(e,t){let r=[1/0,1/0,-1/0,-1/0],i=[1/0,1/0,-1/0,-1/0],n=e.canonicalID();if(t.type==="Polygon"){let a=Lie(t.coordinates,i,n),o=hQe(e.geometry(),r,i,n);if(!Ak(r,i))return!1;for(let s of o)if(!BT(s,a))return!1}if(t.type==="MultiPolygon"){let a=Wtt(t.coordinates,i,n),o=hQe(e.geometry(),r,i,n);if(!Ak(r,i))return!1;for(let s of o)if(!Cpr(s,a))return!1}return!0}function Ipr(e,t){let r=[1/0,1/0,-1/0,-1/0],i=[1/0,1/0,-1/0,-1/0],n=e.canonicalID();if(t.type==="Polygon"){let a=Lie(t.coordinates,i,n),o=dQe(e.geometry(),r,i,n);if(!Ak(r,i))return!1;for(let s of o)if(!$tt(s,a))return!1}if(t.type==="MultiPolygon"){let a=Wtt(t.coordinates,i,n),o=dQe(e.geometry(),r,i,n);if(!Ak(r,i))return!1;for(let s of o)if(!Dpr(s,a))return!1}return!0}function Ztt(e,t){return t[0]-e[0]}function Vz(e){return e[1]-e[0]+1}function Sm(e,t){return e[1]>=e[0]&&e[1]e[1])return[null,null];let r=Vz(e);if(t){if(r===2)return[e,null];let n=Math.floor(r/2);return[[e[0],e[0]+n],[e[0]+n,e[1]]]}if(r===1)return[e,null];let i=Math.floor(r/2)-1;return[[e[0],e[0]+i],[e[0]+i+1,e[1]]]}function ore(e,t){if(!Sm(t,e.length))return[1/0,1/0,-1/0,-1/0];let r=[1/0,1/0,-1/0,-1/0];for(let i=t[0];i<=t[1];++i)Xk(r,e[i]);return r}function sre(e){let t=[1/0,1/0,-1/0,-1/0];for(let r of e)for(let i of r)Xk(t,i);return t}function vQe(e){return e[0]!==-1/0&&e[1]!==-1/0&&e[2]!==1/0&&e[3]!==1/0}function Rie(e,t,r){if(!vQe(e)||!vQe(t))return NaN;let i=0,n=0;return e[2]t[2]&&(i=e[0]-t[2]),e[1]>t[3]&&(n=e[1]-t[3]),e[3]=i)return i;if(Ak(n,a)){if(gQe(e,t))return 0}else if(gQe(t,e))return 0;let o=1/0;for(let s of e)for(let l=0,u=s.length,c=u-1;l0;){let l=o.pop();if(l[0]>=a)continue;let u=l[1],c=t?50:100;if(Vz(u)<=c){if(!Sm(u,e.length))return NaN;if(t){let f=qpr(e,u,r,i);if(isNaN(f)||f===0)return f;a=Math.min(a,f)}else for(let f=u[0];f<=u[1];++f){let h=Bpr(e[f],r,i);if(a=Math.min(a,h),a===0)return 0}}else{let f=are(u,t);mQe(o,a,i,e,s,f[0]),mQe(o,a,i,e,s,f[1])}}return a}function Hz(e,t,r,i,n,a=1/0){let o=Math.min(a,n.distance(e[0],r[0]));if(o===0)return o;let s=new Xtt([[0,[0,e.length-1],[0,r.length-1]]],Ztt);for(;s.length>0;){let l=s.pop();if(l[0]>=o)continue;let u=l[1],c=l[2],f=t?50:100,h=i?50:100;if(Vz(u)<=f&&Vz(c)<=h){if(!Sm(u,e.length)&&Sm(c,r.length))return NaN;let d;if(t&&i)d=Rpr(e,u,r,c,n),o=Math.min(o,d);else if(t&&!i){let p=e.slice(u[0],u[1]+1);for(let v=c[0];v<=c[1];++v)if(d=Bb(r[v],p,n),o=Math.min(o,d),o===0)return o}else if(!t&&i){let p=r.slice(c[0],c[1]+1);for(let v=u[0];v<=u[1];++v)if(d=Bb(e[v],p,n),o=Math.min(o,d),o===0)return o}else d=zpr(e,u,r,c,n),o=Math.min(o,d)}else{let d=are(u,t),p=are(c,i);xz(s,o,n,e,r,d[0],p[0]),xz(s,o,n,e,r,d[0],p[1]),xz(s,o,n,e,r,d[1],p[0]),xz(s,o,n,e,r,d[1],p[1])}}return o}function Npr(e,t){let r=e.geometry(),i=r.flat().map(o=>Fie([o.x,o.y],e.canonical));if(r.length===0)return NaN;let n=new Iie(i[0][1]),a=1/0;for(let o of t){switch(o.type){case"Point":a=Math.min(a,Hz(i,!1,[o.coordinates],!1,n,a));break;case"LineString":a=Math.min(a,Hz(i,!1,o.coordinates,!0,n,a));break;case"Polygon":a=Math.min(a,Gz(i,!1,o.coordinates,n,a))}if(a===0)return a}return a}function Upr(e,t){let r=e.geometry(),i=r.flat().map(o=>Fie([o.x,o.y],e.canonical));if(r.length===0)return NaN;let n=new Iie(i[0][1]),a=1/0;for(let o of t){switch(o.type){case"Point":a=Math.min(a,Hz(i,!0,[o.coordinates],!1,n,a));break;case"LineString":a=Math.min(a,Hz(i,!0,o.coordinates,!0,n,a));break;case"Polygon":a=Math.min(a,Gz(i,!0,o.coordinates,n,a))}if(a===0)return a}return a}function Vpr(e,t){let r=e.geometry();if(r.length===0||r[0].length===0)return NaN;let i=AB(r,0).map(o=>o.map(s=>s.map(l=>Fie([l.x,l.y],e.canonical)))),n=new Iie(i[0][0][0][1]),a=1/0;for(let o of t)for(let s of i){switch(o.type){case"Point":a=Math.min(a,Gz([o.coordinates],!1,s,n,a));break;case"LineString":a=Math.min(a,Gz(o.coordinates,!0,s,n,a));break;case"Polygon":a=Math.min(a,Opr(s,o.coordinates,n,a))}if(a===0)return a}return a}function Gte(e){return e.type==="MultiPolygon"?e.coordinates.map(t=>({type:"Polygon",coordinates:t})):e.type==="MultiLineString"?e.coordinates.map(t=>({type:"LineString",coordinates:t})):e.type==="MultiPoint"?e.coordinates.map(t=>({type:"Point",coordinates:t})):[e]}function yQe(e,[t,r,i,n],a){t=t.evaluate(e),r=r.evaluate(e),i=i.evaluate(e);let o=n?n.evaluate(e):1,s=btt(t,r,i,o);if(s)throw new al(s,a);return new ea(t/255,r/255,i/255,o,!1)}function xQe(e,t){return e in t&&t[e]!==void 0}function Hte(e,t){let r=t[e];return r===void 0?null:r}function jpr(e,t,r,i){for(;r<=i;){let n=r+i>>1;if(t[n]===e)return!0;t[n]>e?i=n-1:r=n+1}return!1}function Pb(e){return{type:e}}function $pr(e){return Array.isArray(e)?`(${e.map(ml).join(", ")})`:`(${ml(e.type)}...)`}function jz(e){if(e instanceof Ltt)return jz(e.boundExpression);if(e instanceof Jb&&e.name==="error"||e instanceof Utt||e instanceof Pie||e instanceof Bie||e instanceof qie)return!1;let t=e instanceof pT||e instanceof _m,r=!0;return e.eachChild(i=>{r&&(r=t?jz(i):i instanceof ST)}),r?SB(e)&&EB(e,["zoom","heatmap-density","elevation","line-progress","accumulated","is-supported-script"]):!1}function SB(e){if(e instanceof Jb&&(e.name==="get"&&e.args.length===1||e.name==="feature-state"||e.name==="has"&&e.args.length===1||e.name==="properties"||e.name==="geometry-type"||e.name==="id"||/^filter-/.test(e.name))||e instanceof Pie||e instanceof Bie)return!1;let t=!0;return e.eachChild(r=>{t&&!SB(r)&&(t=!1)}),t}function Mk(e){if(e instanceof Jb&&e.name==="feature-state")return!1;let t=!0;return e.eachChild(r=>{t&&!Mk(r)&&(t=!1)}),t}function EB(e,t){if(e instanceof Jb&&t.indexOf(e.name)>=0)return!1;let r=!0;return e.eachChild(i=>{r&&!EB(i,t)&&(r=!1)}),r}function ET(e){return e["property-type"]==="data-driven"||e["property-type"]==="cross-faded-data-driven"}function rrt(e){return!!e.expression&&e.expression.parameters.indexOf("zoom")>-1}function Oie(e){return!!e.expression&&e.expression.interpolated}function Sk(e,...t){for(let r of t)for(let i in r)e[i]=r[i];return e}function Aa(e){return e instanceof Number?"number":e instanceof String?"string":e instanceof Boolean?"boolean":Array.isArray(e)?"array":e===null?"null":typeof e}function kB(e){return typeof e=="object"&&!!e&&!Array.isArray(e)&&Ql(e)===Nb}function Wpr(e){return e}function Ypr(e){switch(e.type){case"color":return ea.parse;case"padding":return Q1.parse;case"numberArray":return eg.parse;case"colorArray":return Xd.parse;default:return null}}function Xpr(e){switch(e){case"exponential":return nrt;case"interval":return Kpr;case"categorical":return Zpr;case"identity":return Jpr;default:throw Error(`Unknown function type "${e}"`)}}function irt(e,t){let r=e.stops&&typeof e.stops[0][0]=="object",i=r||e.property!==void 0,n=r||!i,a=e.type||(Oie(t)?"exponential":"interval"),o=Ypr(t);if(o&&(e=Sk({},e),e.stops&&(e.stops=e.stops.map(c=>[c[0],o(c[1])])),e.default?e.default=o(e.default):e.default=o(t.default)),e.colorSpace&&!Udr(e.colorSpace))throw Error(`Unknown color space: "${e.colorSpace}"`);let s=Xpr(a),l,u;if(a==="categorical"){l=Object.create(null);for(let c of e.stops)l[c[0]]=c[1];u=typeof e.stops[0][0]}if(r){let c={},f=[];for(let p=0;pp[0]),evaluate({zoom:p},v){return nrt({stops:h,base:e.base},t,p).evaluate(p,v)}}}if(n){let c=a==="exponential"?{name:"exponential",base:e.base===void 0?1:e.base}:null;return{kind:"camera",interpolationType:c,interpolationFactor:Zd.interpolationFactor.bind(void 0,c),zoomStops:e.stops.map(f=>f[0]),evaluate:({zoom:f})=>s(e,t,f,l,u)}}return{kind:"source",evaluate(c,f){let h=f&&f.properties?f.properties[e.property]:void 0;return h===void 0?Zk(e.default,t.default):s(e,t,h,l,u)}}}function Zk(e,t,r){if(e!==void 0)return e;if(t!==void 0)return t;if(r!==void 0)return r}function Zpr(e,t,r,i,n){return Zk(typeof r===n?i[r]:void 0,e.default,t.default)}function Kpr(e,t,r){if(Aa(r)!=="number")return Zk(e.default,t.default);let i=e.stops.length;if(i===1||r<=e.stops[0][0])return e.stops[0][1];if(r>=e.stops[i-1][0])return e.stops[i-1][1];let n=TB(e.stops.map(a=>a[0]),r,"");return e.stops[n][1]}function nrt(e,t,r){let i=e.base===void 0?1:e.base;if(Aa(r)!=="number")return Zk(e.default,t.default);let n=e.stops.length;if(n===1||r<=e.stops[0][0])return e.stops[0][1];if(r>=e.stops[n-1][0])return e.stops[n-1][1];let a=TB(e.stops.map(c=>c[0]),r,""),o=Qpr(r,i,e.stops[a][0],e.stops[a+1][0]),s=e.stops[a][1],l=e.stops[a+1][1],u=$s[t.type]||Wpr;return typeof s.evaluate=="function"?{evaluate(...c){let f=s.evaluate.apply(void 0,c),h=l.evaluate.apply(void 0,c);if(f!==void 0&&h!==void 0)return u(f,h,o,e.colorSpace)}}:u(s,l,o,e.colorSpace)}function Jpr(e,t,r){switch(t.type){case"color":r=ea.parse(r);break;case"formatted":r=Mm.fromString(r.toString());break;case"resolvedImage":r=Z1.fromString(r.toString());break;case"padding":r=Q1.parse(r);break;case"colorArray":r=Xd.parse(r);break;case"numberArray":r=eg.parse(r);break;default:Aa(r)!==t.type&&(t.type!=="enum"||!t.values[r])&&(r=void 0)}return Zk(r,e.default,t.default)}function Qpr(e,t,r,i){let n=i-r,a=e-r;return n===0?0:t===1?a/n:(t**+a-1)/(t**+n-1)}function lre(e){return{result:"success",value:e}}function fT(e){return{result:"error",value:e}}function art(e,t,r,i){return`${e}${t}: ${r}${i==null?"":` Falling back to ${String(i)}.`}`}function ort(e){if(!e)throw Error('rootKey must identify the location of the expression in the style JSON, e.g. "layers[3].paint.line-width".')}function CB(e){return Array.isArray(e)&&e.length>0&&typeof e[0]=="string"&&e[0]in mT}function DB(e,t,r,i){ort(t);let n=new ert(mT,jz,[],r?rvr(r):void 0),a=n.parse(e,void 0,void 0,void 0,r&&r.type==="string"?{typeAnnotation:"coerce"}:void 0);return a?lre(new Uie(a,t,r,i)):fT(n.errors)}function evr(e){return e._styleExpression!==void 0}function srt(e,t,r,i){let n=DB(e,t,r,i);if(n.result==="error")return n;let a=n.value.expression,o=SB(a);if(!o&&!ET(r))return fT([new $1("","data expressions not supported")]);let s=EB(a,["zoom"]);if(!s&&!rrt(r))return fT([new $1("","zoom expressions not supported")]);let l=qz(a);if(!l&&!s)return fT([new $1("",'"zoom" expression may only be used as input to a top-level "step" or "interpolate" expression.')]);if(l instanceof $1)return fT([l]);if(l instanceof Zd&&!Oie(r))return fT([new $1("",'"interpolate" expressions cannot be used with this property')]);if(!l)return lre(o?new Ek("constant",n.value,i):new Ek("source",n.value,i));let u=l instanceof Zd?l.interpolation:void 0;return lre(o?new $z("camera",n.value,l.labels,u,i):new $z("composite",n.value,l.labels,u,i))}function tvr(e,t,r,i){if(kB(e))return new lrt(e,t,r);if(CB(e)){let n=srt(e,t,r,i);if(n.result==="error")throw Error(n.value.map(a=>`${a.key}: ${a.message}`).join(", "));return n.value}{let n=e;return r.type==="color"&&typeof e=="string"?n=ea.parse(e):r.type==="padding"&&(typeof e=="number"||Array.isArray(e))?n=Q1.parse(e):r.type==="numberArray"&&(typeof e=="number"||Array.isArray(e))?n=eg.parse(e):r.type==="colorArray"&&(typeof e=="string"||Array.isArray(e))?n=Xd.parse(e):r.type==="variableAnchorOffsetCollection"&&Array.isArray(e)?n=X1.parse(e):r.type==="projectionDefinition"&&typeof e=="string"&&(n=Lm.parse(e)),{globalStateRefs:new Set,_globalState:null,kind:"constant",evaluate:()=>n}}}function qz(e){let t=null;if(e instanceof Dtt)t=qz(e.result);else if(e instanceof qtt){for(let r of e.args)if(t=qz(r),t)break}else(e instanceof Die||e instanceof Zd)&&e.input instanceof Jb&&e.input.name==="zoom"&&(t=e);return t instanceof $1||e.eachChild(r=>{let i=qz(r);i instanceof $1?t=i:!t&&i?t=new $1("",'"zoom" expression may only be used as input to a top-level "step" or "interpolate" expression.'):t&&i&&t!==i&&(t=new $1("",'Only one zoom-based "step" or "interpolate" subexpression may be used in an expression.'))}),t}function Kk(e,t=new Set){return e instanceof qie&&t.add(e.key),e.eachChild(r=>{Kk(r,t)}),t}function rvr(e){let t={color:xv,string:la,number:Ei,enum:la,boolean:La,formatted:Wk,padding:_B,numberArray:bB,colorArray:wk,projectionDefinition:yB,resolvedImage:Yk,variableAnchorOffsetCollection:wB};return e.type==="array"?Lf(t[e.value]||ha,e.length):t[e.type]}function crt(e){if(e.type==="color"&&kB(e.default))return new ea(0,0,0,0);switch(e.type){case"color":return ea.parse(e.default)||null;case"padding":return Q1.parse(e.default)||null;case"numberArray":return eg.parse(e.default)||null;case"colorArray":return Xd.parse(e.default)||null;case"variableAnchorOffsetCollection":return X1.parse(e.default)||null;case"projectionDefinition":return Lm.parse(e.default)||null;default:return e.default===void 0?null:e.default}}function kT(e,t){let{zoom:r,heatmapDensity:i,elevation:n,lineProgress:a,isSupportedScript:o,accumulated:s}=e!=null?e:{};return{zoom:r,heatmapDensity:i,elevation:n,lineProgress:a,isSupportedScript:o,accumulated:s,globalState:t}}function ivr(e){let t=!1;for(let r of e){let i=frt(r);if(i==="expression")return"expression";i==="legacy"&&(t=!0)}return t?"legacy":"neutral"}function frt(e){if(typeof e=="boolean")return"neutral";if(!Array.isArray(e)||e.length===0)return"legacy";switch(e[0]){case"has":return e.length<2||e[1]==="$id"||e[1]==="$type"?"legacy":e.length===2?"neutral":"expression";case"in":return e.length>=3&&(typeof e[1]!="string"||Array.isArray(e[2]))?"expression":"legacy";case"!in":case"!has":return"legacy";case"==":case"!=":case">":case">=":case"<":case"<=":return e.length!==3||Array.isArray(e[1])||Array.isArray(e[2])?"expression":"legacy";case"none":return"legacy";case"any":case"all":return ivr(e.slice(1));default:return"expression"}}function Vie(e){return frt(e)!=="legacy"}function _Qe(e){return e==="$type"?["geometry-type"]:e==="$id"?["id"]:["get",e]}function nvr(e){switch(e[0]){case"==":case"!=":case"<":case"<=":case">":case">=":return e.length!==3||typeof e[1]!="string"?null:[e[0],_Qe(e[1]),e[2]];case"in":case"!in":{if(e.length<2||typeof e[1]!="string")return null;let t=["in",_Qe(e[1]),["literal",e.slice(2)]];return e[0]==="!in"?["!",t]:t}case"has":case"!has":{if(e.length!==2||typeof e[1]!="string"||e[1]==="$type"||e[1]==="$id")return null;let t=["has",e[1]];return e[0]==="!has"?["!",t]:t}default:return null}}function hrt(e){if((e[0]==="<"||e[0]==="<="||e[0]===">"||e[0]===">=")&&e[1]==="$type")return`"$type" cannot be use with operator "${e[0]}"`;let t=nvr(e);return t?`Mixing deprecated filter syntax with expression syntax is not supported. Replace ${JSON.stringify(e)} with ${JSON.stringify(t)}.`:`Mixing deprecated filter syntax with expression syntax is not supported. Convert ${JSON.stringify(e)} to expression syntax.`}function jte(e,t,r){let i=r[e];return Array.isArray(i)?Vie(i)?Gie(i,t.concat(e)):{path:t.concat(e),legacyFilter:i}:null}function Gie(e,t=[]){if(!Array.isArray(e)||e.length<1)return null;switch(e[0]){case"all":case"any":case"none":for(let r=1;r"u")return;let i=r.path.map(n=>`[${n}]`).join("");console.warn(`${t}${i}: ${hrt(r.legacyFilter)}`)}function CT(e,t,r){if(e==null)return{filter:()=>!0,needGeometry:!1,getGlobalStateRefs:()=>new Set};Vie(e)?avr(e,t):e=Wz(e);let i=DB(e,t,ovr,r);if(i.result==="error")throw Error(i.value.map(n=>`${n.key}: ${n.message}`).join(", "));return{filter:(n,a,o)=>i.value.evaluate(n,a,{},o),needGeometry:drt(e),getGlobalStateRefs:()=>Kk(i.value.expression)}}function svr(e,t){return et)}function drt(e){if(!Array.isArray(e))return!1;if(e[0]==="within"||e[0]==="distance")return!0;for(let t=1;t"||t==="<="||t===">="?$te(e[1],e[2],t):t==="any"?lvr(e.slice(1)):t==="all"?["all"].concat(e.slice(1).map(Wz)):t==="none"?["all"].concat(e.slice(1).map(Wz).map(_z)):t==="in"?bQe(e[1],e.slice(2)):t==="!in"?_z(bQe(e[1],e.slice(2))):t==="has"?wQe(e[1]):t!=="!has"||_z(wQe(e[1]))}function $te(e,t,r){switch(e){case"$type":return[`filter-type-${r}`,t];case"$id":return[`filter-id-${r}`,t];default:return[`filter-${r}`,e,t]}}function lvr(e){return["any"].concat(e.map(Wz))}function bQe(e,t){if(t.length===0)return!1;switch(e){case"$type":return["filter-type-in",["literal",t]];case"$id":return["filter-id-in",["literal",t]];default:return t.length>200&&!t.some(r=>typeof r!=typeof t[0])?["filter-in-large",e,["literal",t.sort(svr)]]:["filter-in-small",e,["literal",t]]}}function wQe(e){switch(e){case"$type":return!0;case"$id":return["filter-has-id"];default:return["filter-has",e]}}function _z(e){return["!",e]}function prt(e){let t=e.key,r=e.value;return r?[new Qr(t,r,"constants have been deprecated as of v8")]:[]}function Jl(e){return e instanceof Number||e instanceof String||e instanceof Boolean?e.valueOf():e}function jb(e){if(Array.isArray(e))return e.map(jb);if(e instanceof Object&&!(e instanceof Number||e instanceof String||e instanceof Boolean)){let t={};for(let r in e)t[r]=jb(e[r]);return t}return Jl(e)}function I0(e){let t=e.key,r=e.value,i=e.valueSpec||{},n=e.objectElementValidators||{},a=e.style,o=e.styleSpec,s=e.validateSpec,l=[],u=Aa(r);if(u!=="object")return[new Qr(t,r,`object expected, ${u} found`)];for(let c in r){let f=c.split(".")[0],h=gk(i,f)||i["*"],d;if(gk(n,f))d=n[f];else if(gk(i,f)){if(r[c]===void 0)continue;d=s}else if(n["*"])d=n["*"];else if(i["*"])d=s;else{l.push(new Qr(t,r[c],`unknown property "${c}"`));continue}l=l.concat(d({key:(t&&`${t}.`)+c,value:r[c],valueSpec:h,style:a,styleSpec:o,object:r,objectKey:c,validateSpec:s},r))}for(let c in i)n[c]||i[c].required&&i[c].default===void 0&&r[c]===void 0&&l.push(new Qr(t,r,`missing required property "${c}"`));return l}function Hie(e){let t=e.value,r=e.valueSpec,i=e.validateSpec,n=e.style,a=e.styleSpec,o=e.key,s=e.arrayElementValidator||i;if(Aa(t)!=="array")return[new Qr(o,t,`array expected, ${Aa(t)} found`)];if(r.length&&t.length!==r.length)return[new Qr(o,t,`array length ${r.length} expected, length ${t.length} found`)];let l={type:r.value,values:r.values};a.$version<7&&(l.function=r.function),Aa(r.value)==="object"&&(l=r.value);let u=[];for(let c=0;ci.maximum?[new Qr(t,r,`${r} is greater than the maximum value ${i.maximum}`)]:[]:[new Qr(t,r,`number expected, ${n} found`)]}function vrt(e){let t=e.valueSpec,r=Jl(e.value.type),i,n={},a,o,s=r!=="categorical"&&e.value.property===void 0,l=!s,u=Aa(e.value.stops)==="array"&&Aa(e.value.stops[0])==="array"&&Aa(e.value.stops[0][0])==="object",c=I0({key:e.key,value:e.value,valueSpec:e.styleSpec.function,validateSpec:e.validateSpec,style:e.style,styleSpec:e.styleSpec,objectElementValidators:{stops:f,default:p}});return r==="identity"&&s&&c.push(new Qr(e.key,e.value,'missing required property "property"')),r!=="identity"&&!e.value.stops&&c.push(new Qr(e.key,e.value,'missing required property "stops"')),r==="exponential"&&e.valueSpec.expression&&!Oie(e.valueSpec)&&c.push(new Qr(e.key,e.value,"exponential functions not supported")),e.styleSpec.$version>=8&&(l&&!ET(e.valueSpec)?c.push(new Qr(e.key,e.value,"property functions not supported")):s&&!rrt(e.valueSpec)&&c.push(new Qr(e.key,e.value,"zoom functions not supported"))),(r==="categorical"||u)&&e.value.property===void 0&&c.push(new Qr(e.key,e.value,'"property" property is required')),c;function f(v){if(r==="identity")return[new Qr(v.key,v.value,'identity function may not have a "stops" property')];let m=[],g=v.value;return m=m.concat(Hie({key:v.key,value:g,valueSpec:v.valueSpec,validateSpec:v.validateSpec,style:v.style,styleSpec:v.styleSpec,arrayElementValidator:h})),Aa(g)==="array"&&g.length===0&&m.push(new Qr(v.key,g,"array must have at least one stop")),m}function h(v){let m=[],g=v.value,w=v.key;if(Aa(g)!=="array")return[new Qr(w,g,`array expected, ${Aa(g)} found`)];if(g.length!==2)return[new Qr(w,g,`array length 2 expected, length ${g.length} found`)];if(u){if(Aa(g[0])!=="object")return[new Qr(w,g,`object expected, ${Aa(g[0])} found`)];if(g[0].zoom===void 0)return[new Qr(w,g,"object stop key must have zoom")];if(g[0].value===void 0)return[new Qr(w,g,"object stop key must have value")];if(o&&o>Jl(g[0].zoom))return[new Qr(w,g[0].zoom,"stop zoom values must appear in ascending order")];Jl(g[0].zoom)!==o&&(o=Jl(g[0].zoom),a=void 0,n={}),m=m.concat(I0({key:`${w}[0]`,value:g[0],valueSpec:{zoom:{}},validateSpec:v.validateSpec,style:v.style,styleSpec:v.styleSpec,objectElementValidators:{zoom:FB,value:d}}))}else m=m.concat(d({key:`${w}[0]`,value:g[0],valueSpec:{},validateSpec:v.validateSpec,style:v.style,styleSpec:v.styleSpec},g));return CB(jb(g[1]))?m.concat([new Qr(`${w}[1]`,g[1],"expressions are not allowed in function stops.")]):m.concat(v.validateSpec({key:`${w}[1]`,value:g[1],valueSpec:t,validateSpec:v.validateSpec,style:v.style,styleSpec:v.styleSpec}))}function d(v,m){let g=Aa(v.value),w=Jl(v.value),b=v.value===null?m:v.value;if(!i)i=g;else if(g!==i)return[new Qr(v.key,b,`${g} stop domain type must match previous stop domain type ${i}`)];if(g!=="number"&&g!=="string"&&g!=="boolean")return[new Qr(v.key,b,"stop domain value must be a number, string, or boolean")];if(g!=="number"&&r!=="categorical"){let _=`number expected, ${g} found`;return ET(t)&&r===void 0&&(_+='\nIf you intended to use a categorical function, specify `"type": "categorical"`.'),[new Qr(v.key,b,_)]}return r==="categorical"&&g==="number"&&(!isFinite(w)||Math.floor(w)!==w)?[new Qr(v.key,b,`integer expected, found ${w}`)]:r!=="categorical"&&g==="number"&&a!==void 0&&wnew Qr(`${e.key}${i.key}`,e.value,i.message));let r=t.value.expression||t.value._styleExpression.expression;if(e.expressionContext==="property"&&e.propertyKey==="text-font"&&!r.outputDefined())return[new Qr(e.key,e.value,`Invalid data expression for "${e.propertyKey}". Output values must be contained as literals within the expression.`)];if(e.expressionContext==="property"&&e.propertyType==="layout"&&!Mk(r))return[new Qr(e.key,e.value,'"feature-state" data expressions are not supported with layout properties.')];if(e.expressionContext==="filter"&&!Mk(r))return[new Qr(e.key,e.value,'"feature-state" data expressions are not supported with filters.')];if(e.expressionContext&&e.expressionContext.indexOf("cluster")===0){if(!EB(r,["zoom","feature-state"]))return[new Qr(e.key,e.value,'"zoom" and "feature-state" expressions are not supported with cluster properties.')];if(e.expressionContext==="cluster-initial"&&!SB(r))return[new Qr(e.key,e.value,"Feature data expressions are not supported with initial expression part of cluster properties.")]}return[]}function uvr(e){let t=e.value,r=e.key,i=Aa(t);return i==="boolean"?[]:[new Qr(r,t,`boolean expected, ${i} found`)]}function ure(e){let t=e.key,r=e.value,i=Aa(r);return i==="string"?ea.parse(String(r))?[]:[new Qr(t,r,`color expected, "${r}" found`)]:[new Qr(t,r,`color expected, ${i} found`)]}function kk(e){let t=e.key,r=e.value,i=e.valueSpec,n=[];return Array.isArray(i.values)?i.values.indexOf(Jl(r))===-1&&n.push(new Qr(t,r,`expected one of [${i.values.join(", ")}], ${JSON.stringify(r)} found`)):Object.keys(i.values).indexOf(Jl(r))===-1&&n.push(new Qr(t,r,`expected one of [${Object.keys(i.values).join(", ")}], ${JSON.stringify(r)} found`)),n}function cvr(e,t){let r=e;for(let i of t)r=r[i];return r}function fvr(e,t){let r=Gie(t);return r?[new Qr(`${e.key}${r.path.map(i=>`[${i}]`).join("")}`,cvr(e.value,r.path),hrt(r.legacyFilter),null,"warning")]:[]}function jie(e){let t=jb(e.value);return Vie(t)?[...fvr(e,t),...DT(Sk({},e,{expressionContext:"filter",valueSpec:{value:"boolean"}}))]:grt(e)}function grt(e){let t=e.value,r=e.key;if(Aa(t)!=="array")return[new Qr(r,t,`array expected, ${Aa(t)} found`)];let i=e.styleSpec,n,a=[];if(t.length<1)return[new Qr(r,t,"filter array must have at least 1 element")];switch(a=a.concat(kk({key:`${r}[0]`,value:t[0],valueSpec:i.filter_operator,style:e.style,styleSpec:e.styleSpec})),Jl(t[0])){case"<":case"<=":case">":case">=":t.length>=2&&Jl(t[1])==="$type"&&a.push(new Qr(r,t,`"$type" cannot be use with operator "${t[0]}"`));case"==":case"!=":t.length!==3&&a.push(new Qr(r,t,`filter array for operator "${t[0]}" must have 3 elements`));case"in":case"!in":t.length>=2&&(n=Aa(t[1]),n!=="string"&&a.push(new Qr(`${r}[1]`,t[1],`string expected, ${n} found`)));for(let o=2;o{f in r&&t.push(new Qr(i,r[f],`"${f}" is prohibited for ref layers`))});let c;n.layers.forEach(f=>{Jl(f.id)===s&&(c=f)}),c?c.ref?t.push(new Qr(i,r.ref,"ref cannot reference another ref layer")):o=Jl(c.type):t.push(new Qr(i,r.ref,`ref layer "${s}" not found`))}else if(o!=="background")if(!r.source)t.push(new Qr(i,r,'missing required property "source"'));else{let c=n.sources&&n.sources[r.source],f=c&&Jl(c.type);c?f==="vector"&&o==="raster"?t.push(new Qr(i,r.source,`layer "${r.id}" requires a raster source`)):f!=="raster-dem"&&o==="hillshade"||f!=="raster-dem"&&o==="color-relief"?t.push(new Qr(i,r.source,`layer "${r.id}" requires a raster-dem source`)):f==="raster"&&o!=="raster"?t.push(new Qr(i,r.source,`layer "${r.id}" requires a vector source`)):f==="vector"&&!r["source-layer"]?t.push(new Qr(i,r,`layer "${r.id}" must specify a "source-layer"`)):f==="raster-dem"&&o!=="hillshade"&&o!=="color-relief"?t.push(new Qr(i,r.source,"raster-dem source can only be used with layer type 'hillshade' or 'color-relief'.")):o==="line"&&r.paint&&r.paint["line-gradient"]&&(f!=="geojson"||!c.lineMetrics)&&t.push(new Qr(i,r,`layer "${r.id}" specifies a line-gradient, which requires a GeoJSON source with \`lineMetrics\` enabled.`)):t.push(new Qr(i,r.source,`source "${r.source}" not found`))}return o==="raster"&&((l=r.paint)!=null&&l.resampling)&&((u=r.paint)!=null&&u["raster-resampling"])&&t.push(new Qr(i,r.paint,`layer "${r.id}" redundantly specifies "resampling" and "raster-resampling" paint properties, but only one is allowed. It is advised to use "resampling".`)),t=t.concat(I0({key:i,value:r,valueSpec:a.layer,style:e.style,styleSpec:e.styleSpec,validateSpec:e.validateSpec,objectElementValidators:{"*"(){return[]},type(){return e.validateSpec({key:`${i}.type`,value:r.type,valueSpec:a.layer.type,style:e.style,styleSpec:e.styleSpec,validateSpec:e.validateSpec,object:r,objectKey:"type"})},filter:jie,layout(c){return I0({layer:r,key:c.key,value:c.value,style:c.style,styleSpec:c.styleSpec,validateSpec:c.validateSpec,objectElementValidators:{"*"(f){return xrt(Sk({layerType:o},f))}}})},paint(c){return I0({layer:r,key:c.key,value:c.value,style:c.style,styleSpec:c.styleSpec,validateSpec:c.validateSpec,objectElementValidators:{"*"(f){return yrt(Sk({layerType:o},f))}}})}}})),t}function J2(e){let t=e.value,r=e.key,i=Aa(t);return i==="string"?[]:[new Qr(r,t,`string expected, ${i} found`)]}function hvr(e){var f;let t=(f=e.sourceName)!=null?f:"",r=e.value,i=e.styleSpec,n=i.source_raster_dem,a=e.style,o=[],s=Aa(r);if(r===void 0)return o;if(s!=="object")return o.push(new Qr("source_raster_dem",r,`object expected, ${s} found`)),o;let l=Jl(r.encoding)==="custom",u=["redFactor","greenFactor","blueFactor","baseShift"],c=e.value.encoding?`"${e.value.encoding}"`:"Default";for(let h in r)!l&&u.includes(h)?o.push(new Qr(h,r[h],`In "${t}": "${h}" is only valid when "encoding" is set to "custom". ${c} encoding found`)):n[h]?o=o.concat(e.validateSpec({key:h,value:r[h],valueSpec:n[h],validateSpec:e.validateSpec,style:a,styleSpec:i})):o.push(new Qr(h,r[h],`unknown property "${h}"`));return o}function brt(e){let t=e.value,r=e.key,i=e.styleSpec,n=e.style,a=e.validateSpec;if(!t.type)return[new Qr(r,t,'"type" is required')];let o=Jl(t.type),s;switch(o){case"vector":case"raster":return s=I0({key:r,value:t,valueSpec:i[`source_${o.replace("-","_")}`],style:e.style,styleSpec:i,objectElementValidators:TQe,validateSpec:a}),s;case"raster-dem":return s=hvr({sourceName:r,value:t,style:e.style,styleSpec:i,validateSpec:a}),s;case"geojson":if(s=I0({key:r,value:t,valueSpec:i.source_geojson,style:n,styleSpec:i,validateSpec:a,objectElementValidators:TQe}),t.cluster)for(let l in t.clusterProperties){let[u,c]=t.clusterProperties[l],f=typeof u=="string"?[u,["accumulated"],["get",l]]:u;s.push(...DT({key:`${r}.${l}.map`,value:c,validateSpec:a,expressionContext:"cluster-map"})),s.push(...DT({key:`${r}.${l}.reduce`,value:f,validateSpec:a,expressionContext:"cluster-reduce"}))}return s;case"video":return I0({key:r,value:t,valueSpec:i.source_video,style:n,validateSpec:a,styleSpec:i});case"image":return I0({key:r,value:t,valueSpec:i.source_image,style:n,validateSpec:a,styleSpec:i});case"canvas":return[new Qr(r,null,"Please use runtime APIs to add canvas sources, rather than including them in stylesheets.","source.canvas")];default:return kk({key:`${r}.type`,value:t.type,valueSpec:{values:["vector","raster","raster-dem","geojson","video","image"]},style:n,validateSpec:a,styleSpec:i})}}function dvr({key:e,value:t}){if(Aa(t)==="string")return J2({key:e,value:t});{let r=[];for(let i in t)r.push(...J2({key:`${e}.${i}`,value:t[i]}));return r}}function wrt(e){let t=e.value,r=e.styleSpec,i=r.light,n=e.style,a=[],o=Aa(t);if(t===void 0)return a;if(o!=="object")return a=a.concat([new Qr("light",t,`object expected, ${o} found`)]),a;for(let s in t){let l=s.match(Nie);a=l&&i[l[1]]&&i[l[1]].transition?a.concat(e.validateSpec({key:s,value:t[s],valueSpec:r.transition,validateSpec:e.validateSpec,style:n,styleSpec:r})):i[s]?a.concat(e.validateSpec({key:s,value:t[s],valueSpec:i[s],validateSpec:e.validateSpec,style:n,styleSpec:r})):a.concat([new Qr(s,t[s],`unknown property "${s}"`)])}return a}function Trt(e){let t=e.value,r=e.styleSpec,i=r.sky,n=e.style,a=Aa(t);if(t===void 0)return[];if(a!=="object")return[new Qr("sky",t,`object expected, ${a} found`)];let o=[];for(let s in t){let l=s.match(Nie);o=l&&i[l[1]]&&i[l[1]].transition?o.concat(e.validateSpec({key:s,value:t[s],valueSpec:r.transition,style:n,styleSpec:r})):i[s]?o.concat(e.validateSpec({key:s,value:t[s],valueSpec:i[s],style:n,styleSpec:r})):o.concat([new Qr(s,t[s],`unknown property "${s}"`)])}return o}function Art(e){let t=e.value,r=e.styleSpec,i=r.terrain,n=e.style,a=[],o=Aa(t);if(t===void 0)return a;if(o!=="object")return a=a.concat([new Qr("terrain",t,`object expected, ${o} found`)]),a;for(let s in t)a=i[s]?a.concat(e.validateSpec({key:s,value:t[s],valueSpec:i[s],validateSpec:e.validateSpec,style:n,styleSpec:r})):a.concat([new Qr(s,t[s],`unknown property "${s}"`)]);return a}function pvr(e){return J2(e).length===0?[]:DT(e)}function vvr(e){return J2(e).length===0?[]:DT(e)}function gvr(e){let t=e.key,r=e.value;if(Aa(r)==="array"){if(r.length<1||r.length>4)return[new Qr(t,r,`padding requires 1 to 4 values; ${r.length} values found`)];let i={type:"number"},n=[];for(let a=0;a[new Qr(e,t,'invalid unicode range, expected a value such as "U+26", "U+0-10FFFF" or "U+4??"')],n=r.match(Avr);if(!n)return i();let[,a,o,s]=n;if(s!==void 0)return s.length>6?i():[];let l=parseInt(a,16),u=o===void 0?l:parseInt(o,16);return l>AQe||u>AQe?[new Qr(e,t,"unicode range is out of bounds, the maximum code point is U+10FFFF")]:l>u?[new Qr(e,t,`unicode range start must not be greater than its end, but ${r} is`)]:[]}function Ert(e){var s,l;let t=(s=e.key)!=null?s:"font-faces",r=e.value,i=e.validateSpec,n=(l=e.styleSpec)!=null?l:ftt,a=e.style;if(!cre(r))return[new Qr(t,r,`object expected, ${Aa(r)} found`)];let o=[];for(let u in r){let c=r[u],f=Aa(c);if(f==="string")o.push(...J2({key:`${t}.${u}`,value:c}));else if(f==="array"){let h={url:{type:"string",required:!0},"unicode-range":{type:"array",value:"string"}};for(let[d,p]of c.entries()){let v=`${t}.${u}[${d}]`;o.push(...I0({key:v,value:p,valueSpec:h,styleSpec:n,style:a,validateSpec:i}));let m=cre(p)?p["unicode-range"]:void 0;if(Aa(m)==="array")for(let[g,w]of m.entries())o.push(...Mvr(`${v}.unicode-range[${g}]`,w))}}else o.push(new Qr(`${t}.${u}`,c,`string or array expected, ${f} found`))}return o}function yk(e){let t=e.value,r=e.valueSpec,i=e.styleSpec;return e.validateSpec=yk,r.expression&&kB(Jl(t))?vrt(e):r.expression&&CB(jb(t))?DT(e):r.type&&MQe[r.type]?MQe[r.type](e):I0(Sk({},e,{valueSpec:r.type?i[r.type]:r}))}function krt(e){let t=e.value,r=e.key,i=J2(e);return i.length||(t.indexOf("{fontstack}")===-1&&i.push(new Qr(r,t,'"glyphs" url must include a "{fontstack}" token')),t.indexOf("{range}")===-1&&i.push(new Qr(r,t,'"glyphs" url must include a "{range}" token'))),i}function P0(e,t=_r){let r=[];return r=r.concat(yk({key:"",value:e,valueSpec:t.$root,styleSpec:t,style:e,validateSpec:yk,objectElementValidators:{glyphs:krt,"*"(){return[]}}})),e.constants&&(r=r.concat(prt({key:"constants",value:e.constants,style:e,styleSpec:t,validateSpec:yk}))),Crt(r)}function Hd(e){return function(t){return e(Object.assign({},t,{validateSpec:yk}))}}function Crt(e){return[].concat(e).sort((t,r)=>t.line-r.line)}function jd(e){return function(...t){return Crt(e.apply(this,t))}}function kvr(e,t,r){return new Evr(e,t,r)}function Cvr(e){var t;return Object.entries((t=e.sources)!=null?t:{}).filter(([,r])=>!$ie.has(r.type)).map(([r])=>`sources.${r}`)}function Wie(e,t){let r=Cvr(t);return LB(e,ch(t).filter(({message:i})=>!r.some(n=>i.startsWith(`${n}:`)||i.startsWith(`${n}.`))))}function LB(e,t){let r=!1;for(let i of t){if(i.severity==="warning"){Ma(i.message);continue}e.fire(new An(Error(i.message))),r=!0}return r}function qT(e,t,r,i){return(i==null?void 0:i.validate)!==!1&&LB(e,t(fn({styleSpec:_r},r)))}function Ui(e,t,r={}){if(bm[e])throw Error(`${e} is already registered.`);Object.defineProperty(t,"_classRegistryKey",{value:e,writeable:!1}),bm[e]={klass:t,omit:r.omit||[],shallow:r.shallow||[]}}function Frt(e){var t;return e&&typeof ArrayBuffer<"u"&&(e instanceof ArrayBuffer||((t=e.constructor)==null?void 0:t.name)==="ArrayBuffer")}function Yie(e){let t=e.constructor;return e.$name||t._classRegistryKey}function Dvr(e){if(typeof e!="object"||!e)return!1;let t=Yie(e);return t&&t!=="Object"}function Lrt(e){return!Dvr(e)&&(e==null||typeof e=="boolean"||typeof e=="number"||typeof e=="string"||e instanceof Boolean||e instanceof Number||e instanceof String||e instanceof Date||e instanceof RegExp||e instanceof Blob||e instanceof Error||Frt(e)||ex(e)||ArrayBuffer.isView(e)||e instanceof ImageData)}function xk(e,t){if(Lrt(e))return(Frt(e)||ex(e))&&t&&t.push(e),ArrayBuffer.isView(e)&&t&&t.push(e.buffer),e instanceof ImageData&&t&&t.push(e.data.buffer),e;if(Array.isArray(e)){let a=[];for(let o of e)a.push(xk(o,t));return a}if(typeof e!="object")throw Error(`can't serialize object of type ${typeof e}`);let r=Yie(e);if(!r)throw Error(`can't serialize object of unregistered class ${e.constructor.name}`);if(!bm[r])throw Error(`${r} is not registered.`);let{klass:i}=bm[r],n=i.serialize?i.serialize(e,t):{};if(i.serialize){if(n===(t==null?void 0:t[t.length-1]))throw Error("statically serialized object won't survive transfer of $name property")}else{for(let a in e){if(!e.hasOwnProperty(a)||bm[r].omit.includes(a))continue;let o=e[a];o!==void 0&&(n[a]=bm[r].shallow.includes(a)?o:xk(o,t))}e instanceof Error&&(n.message=e.message)}if(n.$name)throw Error("$name property is reserved for worker serialization logic.");return r!=="Object"&&(n.$name=r),n}function _k(e){if(Lrt(e))return e;if(Array.isArray(e))return e.map(_k);if(typeof e!="object")throw Error(`can't deserialize object of type ${typeof e}`);let t=Yie(e)||"Object";if(!bm[t])throw Error(`can't deserialize unregistered class ${t}`);let{klass:r}=bm[t];if(!r)throw Error(`can't deserialize unregistered class ${t}`);if(r.deserialize)return r.deserialize(e);let i=Object.create(r.prototype);for(let n of Object.keys(e)){if(n==="$name")continue;let a=e[n];i[n]=bm[t].shallow.includes(n)?a:_k(a)}return i}function kQe(e){if(Array.isArray(e))return e.length;let t=e==null?void 0:e.values;return Array.isArray(t)?t.length:void 0}function Prt(e,t){let r=kQe(e),i=kQe(t);return r!==void 0&&i!==void 0&&r!==i}function ol(e,t=1){let r=0,i=0;return{members:e.map(n=>{let a=Bvr(n.type),o=r=DQe(r,Math.max(t,a)),s=n.components||1;return i=Math.max(i,a),r+=a*s,{name:n.name,type:n.type,components:s,offset:o}}),size:DQe(r,Math.max(i,t)),alignment:t}}function Bvr(e){return zvr[e].BYTES_PER_ELEMENT}function DQe(e,t){return Math.ceil(e/t)*t}function PQe(e,t){return e=Jn(Math.floor(e),0,255),t=Jn(Math.floor(t),0,255),256*e+t}function IQe(e){let t=+e;return!isNaN(t)&&t<=2**53-1?t:(0,Ire.default)(String(e))}function Rre(e,t,r,i){for(;r>1],a=r-1,o=i+1;for(;;){do a++;while(e[a]n);if(a>=o)break;bz(e,a,o),bz(t,3*a,3*o),bz(t,3*a+1,3*o+1),bz(t,3*a+2,3*o+2)}o-rn.x+1||on.y+1)&&Ma("Geometry exceeds allowed extent, reduce your vector tile buffer size")}return r}function tx(e,t){return{type:e.type,id:e.id,properties:e.properties,geometry:t?Qb(e):[]}}function t1r(e,t,r,i,n){e.emplaceBack(BQe+t*8+i,BQe+r*8+n)}function Qie(e,t){for(let r of e)if(FT(t,r))return!0;for(let r of t)if(FT(e,r))return!0;return ene(e,t)}function qB(e,t,r){return FT(e,t)?!0:qre(t,e,r)}function rit(e,t){if(e.length===1)return qQe(t,e[0]);for(let r of t)for(let i of r)if(FT(e,i))return!0;for(let r of e)if(qQe(t,r))return!0;for(let r of t)if(ene(e,r))return!0;return!1}function r1r(e,t,r){for(let i of t){if(e.length>=3){for(let n of i)if(FT(e,n))return!0}if(i1r(e,i,r))return!0}return!1}function i1r(e,t,r){if(e.length>1){if(ene(e,t))return!0;for(let i of t)if(qre(i,e,r))return!0}for(let i of e)if(qre(i,t,r))return!0;return!1}function ene(e,t){if(e.length===0||t.length===0)return!1;for(let r=0;r1?e.distSqr(r):e.distSqr(r.sub(t)._mult(n)._add(t))}function qQe(e,t){let r=!1,i,n,a;for(let o of e){i=o;for(let s=0,l=i.length-1;st.y!=a.y>t.y&&t.x<(a.x-n.x)*(t.y-n.y)/(a.y-n.y)+n.x&&(r=!r)}return r}function FT(e,t){let r=!1;for(let i=0,n=e.length-1;it.y!=o.y>t.y&&t.x<(o.x-a.x)*(t.y-a.y)/(o.y-a.y)+a.x&&(r=!r)}return r}function a1r(e,t,r,i,n){for(let o of e)if(t<=o.x&&r<=o.y&&i>=o.x&&n>=o.y)return!0;let a=[new tr(t,r),new tr(t,n),new tr(i,n),new tr(i,r)];if(e.length>2){for(let o of a)if(FT(e,o))return!0}for(let o=0;on.x&&t.x>n.x||e.yn.y&&t.y>n.y)return!1;let a=Y2(e,t,r[0]);return a!==Y2(e,t,r[1])||a!==Y2(e,t,r[2])||a!==Y2(e,t,r[3])}function yT(e,t,r){let i=t.paint.get(e).value;return i.kind==="constant"?i.value:r.programConfigurations.get(t.id).getMaxValue(e)}function OB(e){return Math.sqrt(e[0]*e[0]+e[1]*e[1])}function NB(e,t,r,i,n){if(!t[0]&&!t[1])return e;let a=tr.convert(t)._mult(n);r==="viewport"&&a._rotate(-i);let o=[];for(let s of e)o.push(s.sub(a));return o}function s1r(e){let t=[];for(let r=0;rtne(n,t,r,i))}function rne(e,{width:t,height:r},i,n){if(!n)n=new Uint8Array(t*r*i);else if(n instanceof Uint8ClampedArray)n=new Uint8Array(n.buffer);else if(n.length!==t*r*i)throw RangeError(`mismatched image size. expected: ${n.length} but got: ${t*r*i}`);return e.width=t,e.height=r,e.data=n,e}function sit(e,{width:t,height:r},i){if(t===e.width&&r===e.height)return;let n=rne({},{width:t,height:r},i);ine(e,n,{x:0,y:0},{x:0,y:0},{width:Math.min(e.width,t),height:Math.min(e.height,r)},i),e.width=t,e.height=r,e.data=n.data}function ine(e,t,r,i,n,a){if(n.width===0||n.height===0)return t;if(n.width>e.width||n.height>e.height||r.x>e.width-n.width||r.y>e.height-n.height)throw RangeError("out of range source coordinates for image copy");if(n.width>t.width||n.height>t.height||i.x>t.width-n.width||i.y>t.height-n.height)throw RangeError("out of range destination coordinates for image copy");let o=e.data,s=t.data;if(o===s)throw Error("srcData equals dstData, so image is already copied");for(let l=0;l{t[e.evaluationKey]=l;let u=e.expression.evaluate(t);n.setPixel(o/4/r,s/4,u)};if(e.clips)for(let o=0,s=0;o80*r){s=e[0],l=e[1];let c=s,f=l;for(let h=r;hc&&(c=d),p>f&&(f=p)}u=Math.max(c-s,f-l),u=u===0?0:32767/u}return Ure(a,o,s,l,u),o}function pit(e,t,r,i,n){let a=null;if(n===J1r(e,t,r,i)>0)for(let o=t;o=t;o-=i)a=UQe(o/i|0,e[o],e[o+1],a);return a&&Pk(a,a.next)&&(Rk(a),a=a.next),a}function Wb(e,t=e){let r=t===e,i=e,n;do n=!1,i!==i.next&&(Lk.size===0||!Lk.has(i))&&(Pk(i,i.next)||Ou(i.prev,i,i.next)===0)?((r||i===t)&&(t=i.prev),Nre=!0,Rk(i),i=i.prev,n=!0):(r||i!==t)&&(i=i.next,n=!r);while(n||i!==t);return t}function Ure(e,t,r,i,n){n&&$1r(e,r,i,n);let a=e,o=!1;for(;e.prev!==e.next;){let s=e.prev,l=e.next;if(Ou(s,e,l)<0&&(n?z1r(e,r,i,n):R1r(e))){t.push(s.i,e.i,l.i),Rk(e),e=l,a=l;continue}if(e=l,e===a){if(Nre=!1,e=Wb(e),Nre){a=e;continue}if(!o){e=B1r(e,t),a=e,o=!0;continue}q1r(e,t,r,i,n);break}}}function R1r(e){let t=e.prev,r=e,i=e.next,n=t.x,a=r.x,o=i.x,s=t.y,l=r.y,u=i.y,c=Math.min(n,a,o),f=Math.min(s,l,u),h=Math.max(n,a,o),d=Math.max(s,l,u),p=i.next;for(;p!==t;){if(p.x>=c&&p.x<=h&&p.y>=f&&p.y<=d&&(n!==p.x||s!==p.y)&&eB(n,s,a,l,o,u,p.x,p.y)&&Ou(p.prev,p,p.next)>=0)return!1;p=p.next}return!0}function z1r(e,t,r,i){let n=e.prev,a=e,o=e.next,s=n.x,l=a.x,u=o.x,c=n.y,f=a.y,h=o.y,d=Math.min(s,l,u),p=Math.min(c,f,h),v=Math.max(s,l,u),m=Math.max(c,f,h),g=jre(d,p,t,r,i),w=jre(v,m,t,r,i),b=e.prevZ;for(;b&&b.z>=g;){if(b.x>=d&&b.x<=v&&b.y>=p&&b.y<=m&&b!==o&&(s!==b.x||c!==b.y)&&eB(s,c,l,f,u,h,b.x,b.y)&&Ou(b.prev,b,b.next)>=0)return!1;b=b.prevZ}let _=e.nextZ;for(;_&&_.z<=w;){if(_.x>=d&&_.x<=v&&_.y>=p&&_.y<=m&&_!==o&&(s!==_.x||c!==_.y)&&eB(s,c,l,f,u,h,_.x,_.y)&&Ou(_.prev,_,_.next)>=0)return!1;_=_.nextZ}return!0}function B1r(e,t){let r=e,i=!1;do{let n=r.prev,a=r.next.next;git(n,r,r.next,a,!1)&&Ik(n,a)&&Ik(a,n)&&(t.push(n.i,r.i,a.i),Rk(r),Rk(r.next),r=e=a,i=!0),r=r.next}while(r!==e);return i?Wb(r):r}function q1r(e,t,r,i,n){let a=e;do{let o=a.next.next;for(;o!==a.prev;){if(a.i!==o.i&&X1r(a,o)){let s=mit(a,o);a=Wb(a,a.next),s=Wb(s,s.next),Ure(a,t,r,i,n),Ure(s,t,r,i,n);return}o=o.next}a=a.next}while(a!==e)}function O1r(e,t,r,i){let n=[];for(let a=0,o=t.length;ao&&(o=r.x),r.ys&&(s=r.y),c.xo&&(o=c.x),c.ys&&(s=c.y),r=c}while(++l<16&&r!==t);Hre[i]=r;let u=i*4;Kl[u]=n,Kl[u+1]=a,Kl[u+2]=o,Kl[u+3]=s}while(r!==t)}function G1r(e,t){let r=e.z*4;t.xKl[r+2]&&(Kl[r+2]=t.x),t.y>Kl[r+3]&&(Kl[r+3]=t.y)}function OQe(e){let t=Hre[e];for(;t.prev.next!==t;)t=t.next;return Hre[e]=t,t}function NQe(e){let t=Gre[e];for(;t.prev.next!==t;)t=t.next;return Gre[e]=t,t}function H1r(e,t){let r=t,i=e.x,n=e.y,a=-1/0,o;if(Pk(e,r))return r;for(let h=0,d=0;hKl[d+3]||Kl[d]>i||Kl[d+2]<=a)continue;let p=OQe(h);r=NQe(h);do{if(r.prev.next===r){if(Pk(e,r.next))return r.next;if(n<=r.y&&n>=r.next.y&&r.next.y!==r.y){let v=r.x+(n-r.y)*(r.next.x-r.x)/(r.next.y-r.y);if(v<=i&&v>a&&(a=v,o=r.xi||Kl[d+3]c)continue;let p=OQe(h);r=NQe(h);do{if(r.prev.next===r&&i>=r.x&&r.x>=s&&i!==r.x&&eB(ni)&&(vo.x||r.x===o.x&&j1r(o,r)))&&(o=r,f=v)}r=r.next}while(r!==p)}return o}function j1r(e,t){return Ou(e.prev,e,t.prev)<0&&Ou(t.next,e,e.next)<0}function $1r(e,t,r,i){let n=e,a=0;do n.z=jre(n.x,n.y,t,r,i),Wd[a++]=n,n=n.next;while(n!==e);W1r(a);let o=null;for(let s=0;s=0&&Wd[n].z>i;)Wd[n+1]=Wd[n],n--;Wd[n+1]=r}return}Ib.length>>a&255]++;let o=0;for(let s=0;s<256;s++){let l=ak[s];ak[s]=o,o+=l}for(let s=0;s>>a&255]++;i[u]=t[s],n[u]=l}}function jre(e,t,r,i,n){return e=(e-r)*n|0,t=(t-i)*n|0,e=(e|e<<8)&16711935,e=(e|e<<4)&252645135,e=(e|e<<2)&858993459,e=(e|e<<1)&1431655765,t=(t|t<<8)&16711935,t=(t|t<<4)&252645135,t=(t|t<<2)&858993459,t=(t|t<<1)&1431655765,e|t<<1}function Y1r(e){let t=e,r=e;do(t.x=(e-o)*(a-s)&&(e-o)*(i-s)>=(r-o)*(t-s)&&(r-o)*(a-s)>=(n-o)*(i-s)}function X1r(e,t){let r=Pk(e,t)&&Ou(e.prev,e,e.next)>0&&Ou(t.prev,t,t.next)>0;return e.next.i!==t.i&&(r||Ik(e,t)&&Ik(t,e)&&(Ou(e.prev,e,t.prev)!==0||Ou(e,t.prev,t)!==0))&&!Z1r(e,t)&&(r||K1r(e,t))}function Ou(e,t,r){return(t.y-e.y)*(r.x-t.x)-(t.x-e.x)*(r.y-t.y)}function Pk(e,t){return e.x===t.x&&e.y===t.y}function git(e,t,r,i,n=!0){let a=Ou(e,t,r),o=Ou(e,t,i),s=Ou(r,i,e),l=Ou(r,i,t);return(a>0&&o<0||a<0&&o>0)&&(s>0&&l<0||s<0&&l>0)?!0:n?!!(a===0&&Az(e,r,t)||o===0&&Az(e,i,t)||s===0&&Az(r,e,i)||l===0&&Az(r,t,i)):!1}function Az(e,t,r){return t.x<=Math.max(e.x,r.x)&&t.x>=Math.min(e.x,r.x)&&t.y<=Math.max(e.y,r.y)&&t.y>=Math.min(e.y,r.y)}function Z1r(e,t){let r=Math.min(e.x,t.x),i=Math.max(e.x,t.x),n=Math.min(e.y,t.y),a=Math.max(e.y,t.y),o=e;do{let s=o.next;if(o.x>i&&s.x>i||o.xa&&s.y>a||o.y=0&&Ou(e,e.prev,t)>=0:Ou(e,t,e.prev)<0||Ou(e,e.next,t)<0}function K1r(e,t){let r=e,i=!1,n=(e.x+t.x)/2,a=(e.y+t.y)/2;do{let o=r.next;r.y>a!=o.y>a&&n<(o.x-r.x)*(a-r.y)/(o.y-r.y)+r.x&&(i=!i),r=o}while(r!==e);return i}function mit(e,t){let r=$re(e.i,e.x,e.y),i=$re(t.i,t.x,t.y),n=e.next,a=t.prev;return e.next=t,t.prev=e,r.next=n,n.prev=r,i.next=r,r.prev=i,a.next=i,i.prev=a,i}function UQe(e,t,r,i){let n=$re(e,t,r);return i?(n.next=i.next,n.prev=i,i.next.prev=n,i.next=n):(n.prev=n,n.next=n),n}function Rk(e){e.next.prev=e.prev,e.prev.next=e.next,e.prevZ&&(e.prevZ.nextZ=e.nextZ),e.nextZ&&(e.nextZ.prevZ=e.prevZ),Vre&&G1r(e.prev,e.next)}function $re(e,t,r){return{i:e,x:t,y:r,prev:null,next:null,z:0,prevZ:null,nextZ:null}}function J1r(e,t,r,i){let n=0;for(let a=t,o=r-i;a0?(Math.floor(T/o)+1)*o:(Math.ceil(T/o)-1)*o,S=_>0?(Math.floor(A/o)+1)*o:(Math.ceil(A/o)-1)*o,C=Math.abs(T-E),k=Math.abs(A-S),D=Math.abs(T-v),F=Math.abs(A-m),P=g?C/M:1/0,R=w?k/x:1/0;if((D<=C||!g)&&(F<=k||!w))break;if(P0?(r.push(n),r.push(o),r.push(a)):(r.push(n),r.push(a),r.push(o))}return r}function rgr(e,t,r){if(t.length===0)throw Error("Subdivision vertex ring is empty.");let i=0,n=e[t[0]*2];for(let l=1;l=0?o-1:a-1,u=(s+1)%a,c=e[t[l]*2],f=e[t[l]*2+1],h=e[t[u]*2],d=e[t[u]*2+1],p=e[t[o]*2],v=e[t[o]*2+1],m=e[t[s]*2],g=e[t[s]*2+1],w=!1;if(ch)w=!1;else{let b=g-v,_=-(m-p),M=v((h-p)*b+(d-v)*_)*M&&(w=!0)}if(w){let b=t[l],_=t[o],M=t[s];b!==_&&b!==M&&_!==M&&r.push(M,_,b),o--,o<0&&(o=a-1)}else{let b=t[u],_=t[o],M=t[s];b!==_&&b!==M&&_!==M&&r.push(M,_,b),s++,s>=a&&(s=0)}if(l===u)break}}function xit(e,t,r,i,n,a,o,s,l){let u=n.length/2,c=o&&s&&l;if(uWs.MAX_VERTEX_ARRAY_LENGTH&&(u=e.createNewSegment(t,r),l=s.count,v=!0,m=!0,g=!0,c=0);let b=bk(o,i,a,s,h,v,u),_=bk(o,i,a,s,d,m,u),M=bk(o,i,a,s,p,g,u);r.emplaceBack(c+b-l,c+_-l,c+M-l),u.primitiveLength++}}function ngr(e,t,r,i,n,a){let o=[];for(let f=0;fWs.MAX_VERTEX_ARRAY_LENGTH&&(u=e.createNewSegment(t,r),l=s.count,v=!0,m=!0,c=0);let w=bk(o,i,a,s,d,v,u),b=bk(o,i,a,s,p,m,u);r.emplaceBack(c+w-l,c+b-l),u.primitiveLength++}}function Xre(e,t){return e.x===t.x&&(e.x<0||e.x>8192)||e.y===t.y&&(e.y<0||e.y>8192)}function VQe(e){return e.every(t=>t.x<0)||e.every(t=>t.x>8192)||e.every(t=>t.y<0)||e.every(t=>t.y>8192)}function Tit(e){let t=e.length;if(t<=1)return[e];let r=[],i,n;for(let a=0;a_gr(n,i))}function xgr(e,t){let r=ygr(zr/2,zr/2,t),i=wo.fromLngLat(r).meterInMercatorCoordinateUnits(),n=(1<1&&t[0].x===t[t.length-1].x&&t[0].y===t[t.length-1].y;)t.pop();return t}function wgr(e,t,r,i,n){let a=t.sub(r),o=i.sub(r),s=a.mag(),l=o.mag();if(s<1e-6||l<1e-6){e.push(r.clone());return}a._div(s),o._div(l);let u=a.x*o.x+a.y*o.y;if(Math.abs(u)>Math.cos(5*Math.PI/180)){e.push(r.clone());return}let c=.2,f=Math.min(n,s*c,l*c),h=r.add(a.mult(f)),d=r.add(o.mult(f)),p=Math.sqrt((1+u)/2),v=r.add(a.add(o)._unit()._mult(f/p)),m=h.sub(v).angleWith(d.sub(v)),g=Math.max(2,Math.ceil(Math.abs(m)/(Math.PI/6)-1e-6));for(let w=0;w<=g;w++)e.push(h.rotateAround(w/g*m,v))}function ok(e,t,r,i,n,a,o,s){e.emplaceBack(t,r,Math.floor(i*Xte)*2+o,n*Xte*2,a*Xte*2,Math.round(s))}function Tgr(e,t){for(let r=0;r0?t+2*e:e}function Wgr(e){return/[\u0600-\u0604\u0606-\u060B\u060D-\u061A\u061C-\u061E\u0620-\u063F\u0641-\u064A\u0656-\u066F\u0671-\u06DC\u06DE-\u070D\u070F-\u074A\u074D-\u077F\u07C0-\u07FA\u07FD-\u07FF\u0840-\u085B\u085E\u0860-\u086A\u0870-\u0891\u0897-\u08E1\u08E3-\u08FF\u1800\u1801\u1804\u1806-\u1819\u1820-\u1878\u1880-\u18AA\uA840-\uA877\uFB50-\uFD3D\uFD40-\uFDCF\uFDF0-\uFDFF\uFE70-\uFE74\uFE76-\uFEFC]|\uD802[\uDEC0-\uDEE6\uDEEB-\uDEF6\uDF80-\uDF91\uDF99-\uDF9C\uDFA9-\uDFAF]|\uD803[\uDD00-\uDD27\uDD30-\uDD39\uDE60-\uDE7E\uDEC2-\uDEC7\uDED0-\uDED8\uDEFA-\uDEFF\uDF30-\uDF59\uDF70-\uDF89\uDFB0-\uDFCB]|\uD805[\uDE60-\uDE6C]|\uD82F[\uDC00-\uDC6A\uDC70-\uDC7C\uDC80-\uDC88\uDC90-\uDC99\uDC9C-\uDC9F]|\uD83A[\uDD00-\uDD4B\uDD50-\uDD59\uDD5E\uDD5F]|\uD83B[\uDE00-\uDE03\uDE05-\uDE1F\uDE21\uDE22\uDE24\uDE27\uDE29-\uDE32\uDE34-\uDE37\uDE39\uDE3B\uDE42\uDE47\uDE49\uDE4B\uDE4D-\uDE4F\uDE51\uDE52\uDE54\uDE57\uDE59\uDE5B\uDE5D\uDE5F\uDE61\uDE62\uDE64\uDE67-\uDE6A\uDE6C-\uDE72\uDE74-\uDE77\uDE79-\uDE7C\uDE7E\uDE80-\uDE89\uDE8B-\uDE9B\uDEA1-\uDEA3\uDEA5-\uDEA9\uDEAB-\uDEBB\uDEF0\uDEF1]/gim.test(String.fromCodePoint(e))}function Ygr(e){return/[\u0591-\u05C7\u05D0-\u05EA\u05EF-\u05F4\u0600-\u0604\u0606-\u060B\u060D-\u061A\u061C-\u061E\u0620-\u063F\u0641-\u064A\u0656-\u066F\u0671-\u06DC\u06DE-\u070D\u070F-\u074A\u074D-\u07B1\u07C0-\u07FA\u07FD-\u082D\u0830-\u083E\u0840-\u085B\u085E\u0860-\u086A\u0870-\u0891\u0897-\u08E1\u08E3-\u08FF\uFB1D-\uFB36\uFB38-\uFB3C\uFB3E\uFB40\uFB41\uFB43\uFB44\uFB46-\uFD3D\uFD40-\uFDCF\uFDF0-\uFDFF\uFE70-\uFE74\uFE76-\uFEFC]|\uD802[\uDC00-\uDC05\uDC08\uDC0A-\uDC35\uDC37\uDC38\uDC3C\uDC3F-\uDC55\uDC57-\uDC9E\uDCA7-\uDCAF\uDCE0-\uDCF2\uDCF4\uDCF5\uDCFB-\uDD1B\uDD1F-\uDD39\uDD3F-\uDD59\uDD80-\uDDB7\uDDBC-\uDDCF\uDDD2-\uDE03\uDE05\uDE06\uDE0C-\uDE13\uDE15-\uDE17\uDE19-\uDE35\uDE38-\uDE3A\uDE3F-\uDE48\uDE50-\uDE58\uDE60-\uDE9F\uDEC0-\uDEE6\uDEEB-\uDEF6\uDF00-\uDF35\uDF39-\uDF55\uDF58-\uDF72\uDF78-\uDF91\uDF99-\uDF9C\uDFA9-\uDFAF]|\uD803[\uDC00-\uDC48\uDC80-\uDCB2\uDCC0-\uDCF2\uDCFA-\uDD27\uDD30-\uDD39\uDD40-\uDD65\uDD69-\uDD85\uDD8E\uDD8F\uDE60-\uDE7E\uDE80-\uDEA9\uDEAB-\uDEAD\uDEB0\uDEB1\uDEC2-\uDEC7\uDED0-\uDED8\uDEFA-\uDF27\uDF30-\uDF59\uDF70-\uDF89\uDFB0-\uDFCB\uDFE0-\uDFF6]|\uD83A[\uDC00-\uDCC4\uDCC7-\uDCD6\uDD00-\uDD4B\uDD50-\uDD59\uDD5E\uDD5F]|\uD83B[\uDE00-\uDE03\uDE05-\uDE1F\uDE21\uDE22\uDE24\uDE27\uDE29-\uDE32\uDE34-\uDE37\uDE39\uDE3B\uDE42\uDE47\uDE49\uDE4B\uDE4D-\uDE4F\uDE51\uDE52\uDE54\uDE57\uDE59\uDE5B\uDE5D\uDE5F\uDE61\uDE62\uDE64\uDE67-\uDE6A\uDE6C-\uDE72\uDE74-\uDE77\uDE79-\uDE7C\uDE7E\uDE80-\uDE89\uDE8B-\uDE9B\uDEA1-\uDEA3\uDEA5-\uDEA9\uDEAB-\uDEBB\uDEF0\uDEF1]/gim.test(String.fromCodePoint(e))}function Iit(e){return/[\u02EA\u02EB\u1100-\u11FF\u2E80-\u2FDF\u3000-\u30FF\u3105-\u312F\u3131-\u318E\u31A0-\u4DBF\u4E00-\uA48C\uA490-\uA4C6\uA960-\uA97C\uAC00-\uD7C6\uD7CB-\uD7FB\uF900-\uFA6D\uFA70-\uFAD9\uFE10-\uFE1F\uFE30-\uFE4F\uFF00-\uFFEF]|\uD81B[\uDFE0-\uDFFF]|[\uD81C-\uD822\uD840-\uD868\uD86A-\uD86D\uD86F-\uD872\uD874-\uD879\uD880-\uD883\uD885-\uD88C][\uDC00-\uDFFF]|\uD823[\uDC00-\uDCD5\uDCFF-\uDD1E\uDD80-\uDDF2]|\uD82B[\uDFF0-\uDFFF]|\uD82C[\uDC00-\uDEFB]|\uD83C[\uDE00-\uDEFF]|\uD869[\uDC00-\uDEDF\uDF00-\uDFFF]|\uD86E[\uDC00-\uDC1D\uDC20-\uDFFF]|\uD873[\uDC00-\uDEAD\uDEB0-\uDFFF]|\uD87A[\uDC00-\uDFE0\uDFF0-\uDFFF]|\uD87B[\uDC00-\uDE5D]|\uD87E[\uDC00-\uDE1D]|\uD884[\uDC00-\uDF4A\uDF50-\uDFFF]|\uD88D[\uDC00-\uDC79]/gim.test(String.fromCodePoint(e))}function Xgr(e){return/[\u02EA\u02EB\u2E80-\u2FDF\u2FF0-\u303F\u3041-\u3096\u309D-\u309F\u30A1-\u30FA\u30FD-\u30FF\u3105-\u312F\u31A0-\u4DBF\u4E00-\uA48C\uA490-\uA4C6\uF900-\uFA6D\uFA70-\uFAD9\uFE10-\uFE1F\uFE30-\uFE4F\uFF00-\uFFEF]|\uD81B[\uDFE0-\uDFFF]|[\uD81C-\uD822\uD840-\uD868\uD86A-\uD86D\uD86F-\uD872\uD874-\uD879\uD880-\uD883\uD885-\uD88C][\uDC00-\uDFFF]|\uD823[\uDC00-\uDCD5\uDCFF-\uDD1E\uDD80-\uDDF2]|\uD82B[\uDFF0-\uDFFF]|\uD82C[\uDC00-\uDEFB]|\uD83C[\uDE00-\uDEFF]|\uD869[\uDC00-\uDEDF\uDF00-\uDFFF]|\uD86E[\uDC00-\uDC1D\uDC20-\uDFFF]|\uD873[\uDC00-\uDEAD\uDEB0-\uDFFF]|\uD87A[\uDC00-\uDFE0\uDFF0-\uDFFF]|\uD87B[\uDC00-\uDE5D]|\uD87E[\uDC00-\uDE1D]|\uD884[\uDC00-\uDF4A\uDF50-\uDFFF]|\uD88D[\uDC00-\uDC79]/gim.test(String.fromCodePoint(e))}function $B(e){return/[\u02EA\u02EB\u1100-\u11FF\u1401-\u167F\u18B0-\u18FF\u2065\u20DD-\u20E0\u20E2-\u20E4\u2B97\u2BF0-\u2BFF\u2E50\u2E51\u2E80-\u3007\u3012\u3013\u3020-\u302F\u3031-\u30FB\u30FD-\uA4CF\uA960-\uA97F\uAC00-\uD7FF\uF900-\uFAFF\uFE10-\uFE1F\uFE30-\uFE48\uFE50-\uFE57\uFE5F-\uFE62\uFE67-\uFE6F\uFF00-\uFF07\uFF0A-\uFF0C\uFF0E-\uFF19\uFF1F-\uFF3A\uFF3C\uFF3E\uFF40-\uFF5A\uFFE0-\uFFE2\uFFE4-\uFFE7\uFFF0-\uFFF8]|\uD802[\uDD80-\uDD9F]|\uD805[\uDD80-\uDDFF]|\uD806[\uDE00-\uDEBF]|[\uD80C-\uD810\uD81C-\uD822\uD83C\uD83D\uD840-\uD87E\uD880-\uD8BE][\uDC00-\uDFFF]|\uD811[\uDC00-\uDE7F]|\uD81B[\uDFE0-\uDFFF]|\uD823[\uDC00-\uDDFF]|\uD82B[\uDFF0-\uDFFF]|\uD82C[\uDC00-\uDEFF]|\uD833[\uDEC0-\uDFCF]|\uD834[\uDC00-\uDDFF\uDEE0-\uDF7F]|\uD836[\uDC00-\uDEAF]|\uD83E[\uDD00-\uDEFF]|[\uD87F\uD8BF][\uDC00-\uDFFD]/gim.test(String.fromCodePoint(e))}function Zgr(e){return/[\xA7\xA9\xAE\xB1\xBC-\xBE\xD7\xF7\u2016\u2020\u2021\u2030\u2031\u203B\u203C\u2042\u2047-\u2049\u2051\u2100-\u218F\u221E\u2234\u2235\u2300-\u2307\u230C-\u231F\u2324-\u2328\u232B\u237D-\u239A\u23BE-\u23CD\u23CF\u23D1-\u23DB\u23E2-\u2422\u2424-\u24FF\u25A0-\u2619\u2620-\u2767\u2776-\u2793\u2B12-\u2B2F\u2B50-\u2B59\u2BB8-\u2BEB\u3000-\u303F\u30A0-\u30FF\uE000-\uF8FF\uFE30-\uFE6F\uFF00-\uFFEF\uFFFC\uFFFD]|[\uDB80-\uDBFF][\uDC00-\uDFFF]/gim.test(String.fromCodePoint(e))}function Kgr(e){return/[\r\u0300-\u036F\u0483-\u0489\u0591-\u05BD\u05BF\u05C1\u05C2\u05C4\u05C5\u05C7\u0600-\u0605\u0610-\u061A\u064B-\u065F\u0670\u06D6-\u06DD\u06DF-\u06E4\u06E7\u06E8\u06EA-\u06ED\u070F\u0711\u0730-\u074A\u07A6-\u07B0\u07EB-\u07F3\u07FD\u0816-\u0819\u081B-\u0823\u0825-\u0827\u0829-\u082D\u0859-\u085B\u0890\u0891\u0897-\u089F\u08CA-\u0903\u093A-\u093C\u093E-\u094F\u0951-\u0957\u0962\u0963\u0981-\u0983\u09BC\u09BE-\u09C4\u09C7\u09C8\u09CB-\u09CD\u09D7\u09E2\u09E3\u09FE\u0A01-\u0A03\u0A3C\u0A3E-\u0A42\u0A47\u0A48\u0A4B-\u0A4D\u0A51\u0A70\u0A71\u0A75\u0A81-\u0A83\u0ABC\u0ABE-\u0AC5\u0AC7-\u0AC9\u0ACB-\u0ACD\u0AE2\u0AE3\u0AFA-\u0AFF\u0B01-\u0B03\u0B3C\u0B3E-\u0B44\u0B47\u0B48\u0B4B-\u0B4D\u0B55-\u0B57\u0B62\u0B63\u0B82\u0BBE-\u0BC2\u0BC6-\u0BC8\u0BCA-\u0BCD\u0BD7\u0C00-\u0C04\u0C3C\u0C3E-\u0C44\u0C46-\u0C48\u0C4A-\u0C4D\u0C55\u0C56\u0C62\u0C63\u0C81-\u0C83\u0CBC\u0CBE-\u0CC4\u0CC6-\u0CC8\u0CCA-\u0CCD\u0CD5\u0CD6\u0CE2\u0CE3\u0CF3\u0D00-\u0D03\u0D3B\u0D3C\u0D3E-\u0D44\u0D46-\u0D48\u0D4A-\u0D4E\u0D57\u0D62\u0D63\u0D81-\u0D83\u0DCA\u0DCF-\u0DD4\u0DD6\u0DD8-\u0DDF\u0DF2\u0DF3\u0E31\u0E33-\u0E3A\u0E47-\u0E4E\u0EB1\u0EB3-\u0EBC\u0EC8-\u0ECE\u0F18\u0F19\u0F35\u0F37\u0F39\u0F3E\u0F3F\u0F71-\u0F84\u0F86\u0F87\u0F8D-\u0F97\u0F99-\u0FBC\u0FC6\u102D-\u1037\u1039-\u103E\u1056-\u1059\u105E-\u1060\u1071-\u1074\u1082\u1084-\u1086\u108D\u109D\u1100-\u11FF\u135D-\u135F\u1712-\u1715\u1732-\u1734\u1752\u1753\u1772\u1773\u17B4-\u17D3\u17DD\u180B-\u180D\u180F\u1885\u1886\u18A9\u1920-\u192B\u1930-\u193B\u1A17-\u1A1B\u1A55-\u1A5E\u1A60\u1A62\u1A65-\u1A7C\u1A7F\u1AB0-\u1ADD\u1AE0-\u1AEB\u1B00-\u1B04\u1B34-\u1B44\u1B6B-\u1B73\u1B80-\u1B82\u1BA1-\u1BAD\u1BE6-\u1BF3\u1C24-\u1C37\u1CD0-\u1CD2\u1CD4-\u1CE8\u1CED\u1CF4\u1CF7-\u1CF9\u1DC0-\u1DFF\u200C\u200D\u20D0-\u20F0\u2CEF-\u2CF1\u2D7F\u2DE0-\u2DFF\u302A-\u302F\u3099\u309A\uA66F-\uA672\uA674-\uA67D\uA69E\uA69F\uA6F0\uA6F1\uA802\uA806\uA80B\uA823-\uA827\uA82C\uA880\uA881\uA8B4-\uA8C5\uA8E0-\uA8F1\uA8FF\uA926-\uA92D\uA947-\uA953\uA960-\uA97C\uA980-\uA983\uA9B3-\uA9C0\uA9E5\uAA29-\uAA36\uAA43\uAA4C\uAA4D\uAA7C\uAAB0\uAAB2-\uAAB4\uAAB7\uAAB8\uAABE\uAABF\uAAC1\uAAEB-\uAAEF\uAAF5\uAAF6\uABE3-\uABEA\uABEC\uABED\uAC00-\uD7A3\uD7B0-\uD7C6\uD7CB-\uD7FB\uFB1E\uFE00-\uFE0F\uFE20-\uFE2F\uFF9E\uFF9F]|\uD800[\uDDFD\uDEE0\uDF76-\uDF7A]|\uD802[\uDE01-\uDE03\uDE05\uDE06\uDE0C-\uDE0F\uDE38-\uDE3A\uDE3F\uDEE5\uDEE6]|\uD803[\uDD24-\uDD27\uDD69-\uDD6D\uDEAB\uDEAC\uDEFA-\uDEFF\uDF46-\uDF50\uDF82-\uDF85]|\uD804[\uDC00-\uDC02\uDC38-\uDC46\uDC70\uDC73\uDC74\uDC7F-\uDC82\uDCB0-\uDCBA\uDCBD\uDCC2\uDCCD\uDD00-\uDD02\uDD27-\uDD34\uDD45\uDD46\uDD73\uDD80-\uDD82\uDDB3-\uDDC0\uDDC2\uDDC3\uDDC9-\uDDCC\uDDCE\uDDCF\uDE2C-\uDE37\uDE3E\uDE41\uDEDF-\uDEEA\uDF00-\uDF03\uDF3B\uDF3C\uDF3E-\uDF44\uDF47\uDF48\uDF4B-\uDF4D\uDF57\uDF62\uDF63\uDF66-\uDF6C\uDF70-\uDF74\uDFB8-\uDFC0\uDFC2\uDFC5\uDFC7-\uDFCA\uDFCC-\uDFD2\uDFE1\uDFE2]|\uD805[\uDC35-\uDC46\uDC5E\uDCB0-\uDCC3\uDDAF-\uDDB5\uDDB8-\uDDC0\uDDDC\uDDDD\uDE30-\uDE40\uDEAB-\uDEB7\uDF1D-\uDF1F\uDF22-\uDF2B]|\uD806[\uDC2C-\uDC3A\uDD30-\uDD35\uDD37\uDD38\uDD3B-\uDD43\uDDD1-\uDDD7\uDDDA-\uDDE0\uDDE4\uDE01-\uDE0A\uDE33-\uDE39\uDE3B-\uDE3E\uDE47\uDE51-\uDE5B\uDE84-\uDE99\uDF60-\uDF67]|\uD807[\uDC2F-\uDC36\uDC38-\uDC3F\uDC92-\uDCA7\uDCA9-\uDCB6\uDD31-\uDD36\uDD3A\uDD3C\uDD3D\uDD3F-\uDD47\uDD8A-\uDD8E\uDD90\uDD91\uDD93-\uDD97\uDEF3-\uDEF6\uDF00-\uDF03\uDF34-\uDF3A\uDF3E-\uDF42\uDF5A]|\uD80D[\uDC40\uDC47-\uDC55]|\uD818[\uDD1E-\uDD2F]|\uD81A[\uDEF0-\uDEF4\uDF30-\uDF36]|\uD81B[\uDD63\uDD67-\uDD6A\uDF4F\uDF51-\uDF87\uDF8F-\uDF92\uDFE4\uDFF0\uDFF1]|\uD82F[\uDC9D\uDC9E]|\uD833[\uDF00-\uDF2D\uDF30-\uDF46]|\uD834[\uDD65-\uDD69\uDD6D-\uDD72\uDD7B-\uDD82\uDD85-\uDD8B\uDDAA-\uDDAD\uDE42-\uDE44]|\uD836[\uDE00-\uDE36\uDE3B-\uDE6C\uDE75\uDE84\uDE9B-\uDE9F\uDEA1-\uDEAF]|\uD838[\uDC00-\uDC06\uDC08-\uDC18\uDC1B-\uDC21\uDC23\uDC24\uDC26-\uDC2A\uDC8F\uDD30-\uDD36\uDEAE\uDEEC-\uDEEF]|\uD839[\uDCEC-\uDCEF\uDDEE\uDDEF\uDEE3\uDEE6\uDEEE\uDEEF\uDEF5]|\uD83A[\uDCD0-\uDCD6\uDD44-\uDD4A]|\uD83C[\uDDE6-\uDDFF\uDFFB-\uDFFF]|\uDB40[\uDC20-\uDC7F\uDD00-\uDDEF]/.test(e)}function XQe(e){return/[\u0E01-\u0E3A\u0E40-\u0E4E\u0E81\u0E82\u0E84\u0E86-\u0E8A\u0E8C-\u0EA3\u0EA5\u0EA7-\u0EBD\u0EC0-\u0EC4\u0EC6\u0EC8-\u0ECE\u0EDC-\u0EDF\u0F00-\u0F47\u0F49-\u0F6C\u0F71-\u0F97\u0F99-\u0FBC\u0FBE-\u0FCC\u0FCE-\u0FD4\u0FD9\u0FDA\u1000-\u103F\u1050-\u108F\u109A-\u109F\u1780-\u17D3\u17D7\u17DC\u17DD\u1950-\u196D\u1970-\u1974\u1980-\u19AB\u19B0-\u19C9\u19DE\u19DF\u1A20-\u1A5E\u1A60-\u1A7C\u1AA0-\u1AAD\u1B00-\u1B4C\u1B4E-\u1B7F\uA980-\uA9CD\uA9D0-\uA9D9\uA9DE-\uA9EF\uA9FA-\uA9FE\uAA60-\uAAC2\uAADB-\uAADF]|\uD805[\uDF00-\uDF1A\uDF1D-\uDF2B\uDF3A\uDF3B\uDF3F-\uDF46]/gim.test(String.fromCodePoint(e))}function Jgr(e,t){return/(?:[\u1039\u17D2\u1A60\u1BAB\u200D\uAAF6]|\uD802\uDE3F|\uD804[\uDD33\uDFD0]|\uD806[\uDD3E\uDE47\uDE99]|\uD807[\uDD45\uDD97\uDF42])$/.test(e)||new RegExp("^\\p{gc=Mc}","u").test(t)}function imr(e,t,r){let i=0;for(let n of e.split(";")){let[a,o]=n.split(",").map(l=>parseInt(l,36)),s=i+a;for(let l=s;l{let r=t.codePointAt(0);return{codePoint:r,type:nmr(r),form:null}})}function umr(e){let t=e.filter(r=>r.type!=="T");for(let r=0;r0&&amr(t[r-1].type),a=r+1String.fromCodePoint(hmr(r))).join("")}function pmr(e,t,r){var n;let i=t.layout.get("text-transform").evaluate(r,{});return i==="uppercase"?e=e.toLocaleUpperCase():i==="lowercase"&&(e=e.toLocaleLowerCase()),((n=tB.applyArabicShaping)!=null?n:dmr)(e)}function vmr(e,t,r){for(let i of e.sections)i.text=pmr(i.text,t,r);return e}function gmr(e){let t={},r={},i=[],n=0;function a(u){i.push(e[u]),n++}function o(u,c,f){let h=r[u];return delete r[u],r[c]=h,i[h].geometry[0].pop(),i[h].geometry[0]=i[h].geometry[0].concat(f[0]),h}function s(u,c,f){let h=t[c];return delete t[c],t[u]=h,i[h].geometry[0].shift(),i[h].geometry[0]=f[0].concat(i[h].geometry[0]),h}function l(u,c,f){let h=f?c[0][c[0].length-1]:c[0][0];return`${u}:${h.x}:${h.y}`}for(let u=0;uu.geometry)}function Jre(e){if(!zit||!Kgr(e))return[...e];Sz!=null||(Sz=new Intl.Segmenter(void 0,{granularity:"grapheme"}));let t=[];for(let{segment:r}of Sz.segment(e)){let i=t.length-1;i>=0&&Jgr(t[i],r)?t[i]+=r:t.push(r)}return t}function mmr(e){let t=new Set;if(zit){Ez!=null||(Ez=new Intl.Segmenter(void 0,{granularity:"word"}));for(let{index:i}of Ez.segment(e))t.add(i);return t}let r=0;for(let i of e.split(new RegExp("\\b|(?=\\p{Ideo})","u")))t.add(r),r+=i.length;return t}function r8(e){let t=e.codePointAt(0);return e.length>(t>65535?2:1)}function une(e){return/\s/u.test(String.fromCodePoint(e))}function Qre(e){for(let t of e)if($B(t.codePointAt(0)))return!0;return!1}function ymr(e){for(let t of e)if(!xmr(t.codePointAt(0)))return!1;return!0}function xmr(e){return!Wgr(e)}function KQe(e){return!($B(e)||Zgr(e))}function Bit(e){return new RegExp("\\p{sc=Arab}","u").test(String.fromCodePoint(e))}function qit(e){return Ygr(e)}function Oit(e){for(let t of e)if(qit(t.codePointAt(0)))return!0;return!1}function _mr(e){let t="",r={premature:!0,value:void 0},i=e[Symbol.iterator](),n=i.next(),a=e[Symbol.iterator]();a.next();let o=a.next();for(;!n.done;)(o.done||!KQe(o.value.codePointAt(0))||vT[o.value])&&(r.premature||!KQe(r.value.codePointAt(0))||vT[r.value])&&vT[n.value]?t+=vT[n.value]:t+=n.value,r={value:n.value,premature:!1},n=i.next(),o=a.next();return t}function JQe(e,t,r,i,n,a){if("fontStack"in t){let o=r[t.fontStack],s=o==null?void 0:o[e];if(s)return s.metrics.advance*t.scale+n;let l=0;for(let u of e){let c=o==null?void 0:o[u];c&&(l+=c.metrics.advance*t.scale+n)}return l}{let o=i[t.imageName];return o?o.displaySize[0]*t.scale*24/a+n:0}}function QQe(e,t,r,i){let n=(e-t)**2;return i?e1,1e>2,u>2,2wt>1,1>1,1ge>1,1wp>1,1j>1,f>1,hm>1,1>1,u>1,u6>1,1>1,+5,28>1,w>1,1>1,+3,b8>1,1>1,+3,1>3,-1>-1,3>1,1>1,+2,1s>1,1>1,x>1,th>1,1>1,+2,db>1,1>1,+3,3>1,1>1,+2,14qm>1,1>1,+1,4q>1,1e>2,u>2,2>1,+1",canonical:"6f1>-6dx,6dy>-6dx,6ec>-6ed,6ee>-6ed,6ww>2jj,-2ji>2jj,14r4>-1e7l,1e7m>-1e7l,1e7m>-1e5c,1e5d>-1e5b,1e5c>-14qx,14qy>-14qx,14vn>-1ecg,1ech>-1ecg,1edu>-1ecg,1eci>-1ecg,1eda>-1ecg,1eci>-1ecg,1eci>-168q,168r>-168q,168s>-14ye,14yf>-14ye"};function p(Ce,be){var he=0,oe=new Map,Ee=be&&new Map,ye;return Ce.split(",").forEach(function ue(ee){if(ee.indexOf("+")!==-1)for(var ae=+ee;ae--;)ue(ye);else{ye=ee;var xe=ee.split(">"),re=xe[0],pe=xe[1];re=String.fromCodePoint(he+=parseInt(re,36)),pe=String.fromCodePoint(he+=parseInt(pe,36)),oe.set(re,pe),be&&Ee.set(pe,re)}}),{map:oe,reverseMap:Ee}}var v,m,g;function w(){if(!v){var Ce=p(d.pairs,!0),be=Ce.map,he=Ce.reverseMap;v=be,m=he,g=p(d.canonical,!1).map}}function b(Ce){return w(),v.get(Ce)||null}function _(Ce){return w(),m.get(Ce)||null}function M(Ce){return w(),g.get(Ce)||null}var x=r.L,T=r.R,A=r.EN,y=r.ES,E=r.ET,S=r.AN,C=r.CS,k=r.B,D=r.S,F=r.ON,P=r.BN,R=r.NSM,L=r.AL,I=r.LRO,B=r.RLO,O=r.LRE,$=r.RLE,Y=r.PDF,K=r.LRI,j=r.RLI,q=r.FSI,J=r.PDI;function U(Ce,be){for(var he=125,oe=new Uint32Array(Ce.length),Ee=0;Ee0)Oe--;else if(et>0){for(Qe=0;!_e[_e.length-1]._isolate;)_e.pop();var bt=_e[_e.length-1]._isolInitIndex;bt!=null&&(ae.set(bt,_t),ae.set(_t,bt)),_e.pop(),et--}Ie=_e[_e.length-1],ee[_t]=Ie._level,Ie._override&&ue(_t,Ie._override)}else ut&Y?(Oe===0&&(Qe>0?Qe--:!Ie._isolate&&_e.length>1&&(_e.pop(),Ie=_e[_e.length-1])),ee[_t]=Ie._level):ut&k&&(ee[_t]=re.level);else ee[_t]=Ie._level,Ie._override&&ut!==P&&ue(_t,Ie._override)}for(var Ne=[],Ue=null,Ge=re.start;Ge<=re.end;Ge++){var je=oe[Ge];if(!(je&s)){var Re=ee[Ge],Ve=je&n,ct=je===J;Ue&&Re===Ue._level?(Ue._end=Ge,Ue._endsWithIsolInit=Ve):Ne.push(Ue={_start:Ge,_end:Ge,_level:Re,_startsWithPDI:ct,_endsWithIsolInit:Ve})}}for(var Tt=[],Xt=0;Xt=0;Je--)if(!(oe[Je]&s)){xt=ee[Je];break}var Ct=Zt[Zt.length-1],ir=ee[Ct],hr=re.level;if(!(oe[Ct]&n)){for(var Ur=Ct+1;Ur<=re.end;Ur++)if(!(oe[Ur]&s)){hr=ee[Ur];break}}Tt.push({_seqIndices:Zt,_sosType:Math.max(xt,st)%2?T:x,_eosType:Math.max(hr,ir)%2?T:x})}}for(var si=0;si=0;Vn--)if(!(oe[Lr[Vn]]&s)){dn=oe[Lr[Vn]];break}ue(ca,dn&(n|J)?F:dn)}}if(ye.get(A))for(var ra=0;ra=-1;mo--){var Rs=mo===-1?$i:oe[Lr[mo]];if(Rs&a){Rs===L&&ue(ds,S);break}}}if(ye.get(L))for(var ho=0;ho=0&&(_a=oe[Lr[_l]],_a&s);_l--);for(var yu=ao+1;yu=0&&oe[Lr[Le]]&(E|s);Le--)ue(Lr[Le],A);for(ul++;ul=0&&oe[Lr[kt]]&s;kt--)ue(Lr[kt],F);for(var Jt=ot+1;Jt=0;Wn--){var Ja=an[Wn].char;if(Ja===fa||Ja===_(M(yn))||b(M(Ja))===yn){Mi.push([an[Wn].seqIndex,Gn]),an.length=Wn;break}}}Mi.sort(function(yo,nu){return yo[0]-nu[0]});for(var oo=0;oo=0;so--){var In=Lr[so];if(oe[In]&ti){var va=oe[In]&Xr?T:x;Mo=va===hn?hn:va;break}}}if(Mo){if(oe[Lr[Io]]=oe[Lr[ps]]=Mo,Mo!==hn){for(var vs=Io+1;vs=0;xu--)if(oe[Lr[xu]]&s)Ol=xu;else{ru=oe[Lr[xu]]&Xr?T:x;break}for(var _u=Tn,dc=Ks+1;dc=0&&f(Ce[Ss])&l;Ss--)ee[Ss]=re.level}}return{levels:ee,paragraphs:xe};function iu(yo,nu){for(var Zo=yo;Zo=ee&&f(Ce[re])&l;re--)xe[re]=ue.level;for(var pe=ue.level,we=1/0,Fe=0;Fepe&&(pe=Se),Se=we;ke--)for(var _e=0;_e=ke){for(var Ie=_e;_e+1=ke;)_e++;_e>Ie&&ye.push([Ie+ee,_e+ee])}}}),ye}function ce(Ce,be,he,oe){var Ee=ge(Ce,be,he,oe),ye=[].concat(Ce);return Ee.forEach(function(ue,ee){ye[ee]=(be.levels[ue]&1?G(Ce[ue]):null)||Ce[ue]}),ye.join("")}function ge(Ce,be,he,oe){for(var Ee=te(Ce,be,he,oe),ye=[],ue=0;ue=0;i--){let n=fne.getBidiCharTypeName(e[i].text[0]);Emr.has(n)?(e[i].level=t,r=!0):r&&Smr.has(n)?e[i].level=t:r=!1}}function Dmr(e,t){let r=t,i=1/0;for(let{level:a}of e)a>r&&(r=a),(a|1)=i;a--)for(let o=0;o=a;)s++;for(let l=o,u=s;lt>=n.start&&t<=n.end))==null?void 0:r.level)!=null?i:0}function Pmr(e,t,r,i,n){let a=kmr(e,t,i,n);Cmr(a,r);let o="",s=[];for(let l of Dmr(a,r)){if(Mmr.test(l.text))continue;let u=Fmr(l);o+=u,s.push(...Array(u.length).fill(l.index))}return{text:o,sourceIndices:s}}function Imr(e,t){let r=t.filter(a=>a>0&&aa-o),n=[];for(let a=0;a+1n.start))).map(([n,a])=>Pmr(e,r,Lmr(i,n),n,a))}function Rmr(e,t){return Uit(e,t).map(r=>r.text)}function zmr(e,t,r){return Uit(e,r).map(i=>[i.text,i.sourceIndices.map(n=>{var a;return(a=t[n])!=null?a:0})])}function Bmr(e,t,r){let i=r.buf,n,a;if(a=i[r.pos++],n=(a&112)>>4,a<128||(a=i[r.pos++],n|=(a&127)<<3,a<128)||(a=i[r.pos++],n|=(a&127)<<10,a<128)||(a=i[r.pos++],n|=(a&127)<<17,a<128)||(a=i[r.pos++],n|=(a&127)<<24,a<128)||(a=i[r.pos++],n|=(a&1)<<31,a<128))return qmr(e,n,t);throw Error("Expected varint not more than 10 bytes")}function qmr(e,t,r){return r?t*4294967296+(e>>>0):(t>>>0)*4294967296+(e>>>0)}function Omr(e,t,r){let i="",n=t;for(;n239?4:a>223?3:a>191?2:1;if(n+s>r)break;let l,u,c;s===1?a<128&&(o=a):s===2?(l=e[n+1],(l&192)==128&&(o=(a&31)<<6|l&63,o<=127&&(o=null))):s===3?(l=e[n+1],u=e[n+2],(l&192)==128&&(u&192)==128&&(o=(a&15)<<12|(l&63)<<6|u&63,(o<=2047||o>=55296&&o<=57343)&&(o=null))):s===4&&(l=e[n+1],u=e[n+2],c=e[n+3],(l&192)==128&&(u&192)==128&&(c&192)==128&&(o=(a&15)<<18|(l&63)<<12|(u&63)<<6|c&63,(o<=65535||o>=1114112)&&(o=null))),o===null?(o=65533,s=1):o>65535&&(o-=65536,i+=String.fromCharCode(o>>>10&1023|55296),o=56320|o&1023),i+=String.fromCharCode(o),n+=s}return i}function Nmr(e,t,r){e===1&&r.readMessage(Umr,t)}function Umr(e,t,r){if(e===3){let{id:i,bitmap:n,width:a,height:o,left:s,top:l,advance:u}=r.readMessage(Vmr,{});t.push({id:i,bitmap:new UB({width:a+6,height:o+6},n),metrics:{width:a,height:o,left:s,top:l,advance:u}})}}function Vmr(e,t,r){e===1?t.id=r.readVarint():e===2?t.bitmap=r.readBytes():e===3?t.width=r.readVarint():e===4?t.height=r.readVarint():e===5?t.left=r.readSVarint():e===6?t.top=r.readSVarint():e===7&&(t.advance=r.readVarint())}function Git(e){return new Vit(e).readFields(Nmr,[])}function i8(e){return typeof(e==null?void 0:e.renderWithWebGL)=="function"}function Hit(e){let{userImage:t}=e;return!(t!=null&&t.render)||!t.render()?!1:(i8(t.data)||e.data.replace(new Uint8Array(t.data.buffer)),!0)}function hne(e){let t=0,r=0;for(let o of e)t+=o.w*o.h,r=Math.max(r,o.w);e.sort((o,s)=>s.h-o.h);let i=[{x:0,y:0,w:Math.max(Math.ceil(Math.sqrt(t/.95)),r),h:1/0}],n=0,a=0;for(let o of e)for(let s=i.length-1;s>=0;s--){let l=i[s];if(!(o.w>l.w||o.h>l.h)){if(o.x=l.x,o.y=l.y,a=Math.max(a,o.y+o.h),n=Math.max(n,o.x+o.w),o.w===l.w&&o.h===l.h){let u=i.pop();u&&s=r;a--)t.push(a);r=i+1}else{for(let a=r;ae.toCodeUnitIndex(a)),i=tB.isParsed()?tB:null;if(e.sections.length===1)return i?i.processBidirectionalText(e.toString(),r).map(a=>net(a,e.sections,[...a].map(()=>0))):Rmr(e.toString(),r).map(a=>rie([...a],e.sections,[...a].map(()=>0)));let n=Wmr(e);return i?i.processStyledBidirectionalText(e.text,n,r).map(([a,o])=>net(a,e.sections,o)):zmr(e.text,n,r).map(([a,o])=>{let s=[...a];return rie(s,e.sections,$it(s).map(l=>{var u;return(u=o[l])!=null?u:0}))})}function rie(e,t,r){var a;let i=new cne(e.join(""),t,[]),n=0;for(let o of i.graphemes())i.sectionIndex.push((a=r[n])!=null?a:0),n+=[...o].length;return i}function $it(e){let t=[],r=0;for(let i of e)t.push(r),r+=i.length;return t}function net(e,t,r){let i=[...e],n=$it(i),a=$mr(i);return rie(a.map(o=>i[o]),t,a.map(o=>{var s;return(s=r[n[o]])!=null?s:0}))}function kz(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p){let v=cne.fromFeature(e,n);f===2&&v.verticalizePunctuation();let m=v.determineLineBreaks(u,a,t,i,d),g=Oit(v.text)?Ymr(v,m):jmr(v,m),w=[],b={positionedLines:w,text:v.toString(),top:c[1],bottom:c[1],left:c[0],right:c[0],writingMode:f,iconsInText:!1,verticalizable:!1};return iyr(b,t,r,i,g,o,s,l,f,u,h,p),!Hmr(w)&&b}function n8(e){let t=.5,r=.5;switch(e){case"right":case"top-right":case"bottom-right":t=1;break;case"left":case"top-left":case"bottom-left":t=0}switch(e){case"bottom":case"bottom-right":case"bottom-left":r=1;break;case"top":case"top-right":case"top-left":r=0}return{horizontalAlign:t,verticalAlign:r}}function Xmr(e,t,r){let i=t.getMaxScale()*24,{maxImageWidth:n,maxImageHeight:a}=t.getMaxImageSize(e),o=Math.max(i,a*r);return{verticalLineContentWidth:Math.max(i,n*r),horizontalLineContentHeight:o}}function Wit(e){switch(e){case"top":return 0;case"center":return .5;default:return 1}}function Zmr(e,t,r,i){var a;if(e!=null&&e.rect)return e;let n=(a=t[r.fontStack])==null?void 0:a[i];return n?{rect:null,metrics:n.metrics}:null}function Kmr(e,t,r){return!(e===1||!t&&!$B(r)||t&&(une(r)||Bit(r)))}function Oz(e){return new RegExp("\\p{Nd}","u").test(String.fromCodePoint(e))}function Yit(e){return new RegExp("\\p{Lu}","u").test(String.fromCodePoint(e))}function Jmr(e){return/[\p{P}\p{S}]/u.test(String.fromCodePoint(e))}function Qmr(e){let t=e.some(Oz)&&e.every(i=>Oz(i)||Jmr(i)),r=e.length<=3&&e.every(i=>Yit(i)||Oz(i));return t||r}function eyr(e){return(Oz(e)||Yit(e))&&!Bit(e)}function tyr(e,t){let r=!1;for(let i=0;ia.codePointAt(0)),i=r.map($B),n=a=>!i[a]&&!une(r[a])&&!("imageName"in e.getSection(a));for(let a=0;au){let h=Math.ceil(i/u);r*=h/n,n=h}return{x1:t,y1:r,x2:t+i,y2:r+n}}function aet(e,t,r,i,n,a){let o=e.image,s;if(o.content){let m=o.content,g=o.pixelRatio||1;s=[m[0]/g,m[1]/g,o.displaySize[0]-m[2]/g,o.displaySize[1]-m[3]/g]}let l=t.left*a,u=t.right*a,c,f,h,d;r==="width"||r==="both"?(d=n[0]+l-i[3],f=n[0]+u+i[1]):(d=n[0]+(l+u-o.displaySize[0])/2,f=d+o.displaySize[0]);let p=t.top*a,v=t.bottom*a;return r==="height"||r==="both"?(c=n[1]+p-i[0],h=n[1]+v+i[2]):(c=n[1]+(p+v-o.displaySize[1])/2,h=c+o.displaySize[1]),{image:o,top:c,right:f,bottom:h,left:d,collisionPadding:s}}function set(e,t){let{expression:r}=t;if(r.kind==="constant")return{kind:"constant",layoutSize:r.evaluate(new Co(e+1))};if(r.kind==="source")return{kind:"source"};if(r.kind==="composite"){let{minZoom:i,maxZoom:n}=uyr(r.zoomStops,e);return{kind:"composite",minZoom:i,maxZoom:n,interpolationType:r.interpolationType}}{let i=cyr(r),n=r.evaluate(new Co(e+1));return{kind:"camera",zoomStops:r.zoomStops,sizes:i,layoutSize:n,interpolationType:r.interpolationType}}}function uyr(e,t){let r=0;for(;re.evaluate(new Co(t===-1/0?e.zoomStops[1]-1:t)))}function YB(e,{uSize:t,uSizeT:r},{lowerSize:i,upperSize:n}){return e.kind==="source"?i/128:e.kind==="composite"?$s.number(i/128,n/128,r):t}function a8(e,t){let r=0,i=0;return e.kind==="constant"?i=e.layoutSize:e.kind==="camera"?i=fyr(e,t):e.kind==="composite"&&(r=hyr(e,t)),{uSizeT:r,uSize:i}}function fyr({zoomStops:e,sizes:t,layoutSize:r,interpolationType:i},n){let a=e.length-1;for(;a>0&&e[a]>n;)a--;let o=Math.min(a+1,e.length-1),s=i?Jn(Zd.interpolationFactor(i,n,e[a],e[o]),0,1):0;return Math.min($s.number(t[a],t[o],s),r)}function hyr({interpolationType:e,minZoom:t,maxZoom:r},i){return e?Jn(Zd.interpolationFactor(e,i,t,r),0,1):0}function Kit(e,t,r,i,n){if(t.segment===void 0||r===0)return!0;let a=t,o=t.segment+1,s=0;for(;s>-r/2;){if(o--,o<0)return!1;s-=e[o].dist(a),a=e[o]}s+=e[o].dist(e[o+1]),o++;let l=[],u=0;for(;si;)u-=l.shift().angleDelta;if(u>n)return!1;o++,s+=f.dist(h)}return!0}function Jit(e){let t=0;for(let r=0;ru){let p=(u-l)/d,v=new bT($s.number(f.x,h.x,p),$s.number(f.y,h.y,p),h.angleTo(f),c);return v._round(),!o||Kit(e,v,s,o,t)?v:void 0}l+=d}}function pyr(e,t,r,i,n,a,o,s,l){let u=Qit(i,a,o),c=ent(i,n),f=c*o,h=e[0].x===0||e[0].x===l||e[0].y===0||e[0].y===l;t-f=0&&_=0&&M=0&&h+u<=c){let x=new bT(_,M,w,p);x._round(),(!i||Kit(e,x,a,i,n))&&d.push(x)}}f+=g}return!s&&!d.length&&!o&&(d=tnt(e,f/2,r,i,n,a,o,!0,l)),d}function dne(e,t,r,i,n){let a=[];for(let o of e){let s;for(let l=0;l=i&&c.x>=i)&&(u.x>=i?u=new tr(i,u.y+(c.y-u.y)*((i-u.x)/(c.x-u.x)))._round():c.x>=i&&(c=new tr(i,u.y+(c.y-u.y)*((i-u.x)/(c.x-u.x)))._round()),!(u.y>=n&&c.y>=n)&&(u.y>=n?u=new tr(u.x+(c.x-u.x)*((n-u.y)/(c.y-u.y)),n)._round():c.y>=n&&(c=new tr(u.x+(c.x-u.x)*((n-u.y)/(c.y-u.y)),n)._round()),(!s||!u.equals(s[s.length-1]))&&(s=[u],a.push(s)),s.push(c)))))}}return a}function uet(e,t,r,i){let n=[],a=e.image,o=a.pixelRatio,s=a.paddedRect.w-2,l=a.paddedRect.h-2,u={x1:e.left,y1:e.top,x2:e.right,y2:e.bottom},c=a.stretchX||[[0,s]],f=a.stretchY||[[0,l]],h=(D,F)=>D+F[1]-F[0],d=c.reduce(h,0),p=f.reduce(h,0),v=s-d,m=l-p,g=0,w=d,b=0,_=p,M=0,x=v,T=0,A=m;if(a.content&&i){let D=a.content,F=D[2]-D[0],P=D[3]-D[1];(a.textFitWidth||a.textFitHeight)&&(u=Xit(e)),g=Cz(c,0,D[0]),b=Cz(f,0,D[1]),w=Cz(c,D[0],D[2]),_=Cz(f,D[1],D[3]),M=D[0]-g,T=D[1]-b,x=F-w,A=P-_}let y=u.x1,E=u.y1,S=u.x2-y,C=u.y2-E,k=(D,F,P,R)=>{let L=Dz(D.stretch-g,w,S,y),I=Fz(D.fixed-M,x,D.stretch,d),B=Dz(F.stretch-b,_,C,E),O=Fz(F.fixed-T,A,F.stretch,p),$=Dz(P.stretch-g,w,S,y),Y=Fz(P.fixed-M,x,P.stretch,d),K=Dz(R.stretch-b,_,C,E),j=Fz(R.fixed-T,A,R.stretch,p),q=new tr(L,B),J=new tr($,B),U=new tr($,K),V=new tr(L,K),X=new tr(I/o,O/o),H=new tr(Y/o,j/o),G=t*Math.PI/180;if(G){let Ce=Math.sin(G),be=Math.cos(G),he=[be,-Ce,Ce,be];q._matMult(he),J._matMult(he),V._matMult(he),U._matMult(he)}let Q=D.stretch+D.fixed,te=P.stretch+P.fixed,ce=F.stretch+F.fixed,ge=R.stretch+R.fixed;return{tl:q,tr:J,bl:V,br:U,tex:{x:a.paddedRect.x+1+Q,y:a.paddedRect.y+1+ce,w:te-Q,h:ge-ce},writingMode:void 0,glyphOffset:[0,0],sectionIndex:0,pixelOffsetTL:X,pixelOffsetBR:H,minFontScaleX:x/o/S,minFontScaleY:A/o/C,isSDF:r}};if(!i||!a.stretchX&&!a.stretchY)n.push(k({fixed:0,stretch:-1},{fixed:0,stretch:-1},{fixed:0,stretch:s+1},{fixed:0,stretch:l+1}));else{let D=cet(c,v,d),F=cet(f,m,p);for(let P=0;Pf.d||!f.d)&&(f=h),!(h.max-f.d<=t)&&(n=h.h/2,a.push(new dT(h.p.x-n,h.p.y-n,n,e)),a.push(new dT(h.p.x+n,h.p.y-n,n,e)),a.push(new dT(h.p.x-n,h.p.y+n,n,e)),a.push(new dT(h.p.x+n,h.p.y+n,n,e)))}return c.d>0&&f.d-c.d<=t?c.p:f.p}function yyr(e,t){return t.max-e.max}function xyr(e,t){let r=!1,i=1/0;for(let n of t)for(let a=0,o=n.length,s=o-1;ae.y!=u.y>e.y&&e.x<(u.x-l.x)*(e.y-l.y)/(u.y-l.y)+l.x&&(r=!r),i=Math.min(i,iit(e,l,u))}return(r?1:-1)*Math.sqrt(i)}function _yr(e){let t=0,r=0,i=0,n=e[0];for(let a=0,o=n.length,s=o-1;ah*24);c.startsWith("top")?f[1]-=7:c.startsWith("bottom")&&(f[1]+=7),l[u+1]=f}return new X1(l)}let a=i.get("text-variable-anchor");if(a){let s;s=e._unevaluatedLayout.getValue("text-radial-offset")===void 0?i.get("text-offset").evaluate(t,{},r).map(u=>u*24):[i.get("text-radial-offset").evaluate(t,{},r)*24,pne];let l=[];for(let u of a)l.push(u,rnt(u,s));return new X1(l)}return null}function byr(e){var c,f;e.bucket.createArrays();let t=512*e.bucket.overscaling;e.bucket.tilePixelRatio=zr/t,e.bucket.compareText={},e.bucket.iconsNeedLinear=!1;let r=e.bucket.layers[0],i=r.layout,n=r._unevaluatedLayout._values,a={layoutIconSize:n["icon-size"].possiblyEvaluate(new Co(e.bucket.zoom+1),e.canonical),layoutTextSize:n["text-size"].possiblyEvaluate(new Co(e.bucket.zoom+1),e.canonical),textMaxSize:n["text-size"].possiblyEvaluate(new Co(18))};if(e.bucket.textSizeData.kind==="composite"){let{minZoom:h,maxZoom:d}=e.bucket.textSizeData;a.compositeTextSizes=[n["text-size"].possiblyEvaluate(new Co(h),e.canonical),n["text-size"].possiblyEvaluate(new Co(d),e.canonical)]}if(e.bucket.iconSizeData.kind==="composite"){let{minZoom:h,maxZoom:d}=e.bucket.iconSizeData;a.compositeIconSizes=[n["icon-size"].possiblyEvaluate(new Co(h),e.canonical),n["icon-size"].possiblyEvaluate(new Co(d),e.canonical)]}let o=i.get("text-line-height")*24,s=i.get("text-rotation-alignment")!=="viewport"&&i.get("symbol-placement")!=="point",l=i.get("text-keep-upright"),u=i.get("text-size");for(let h of e.bucket.features){let d=i.get("text-font").evaluate(h,{},e.canonical).join(","),p=u.evaluate(h,{},e.canonical),v=a.layoutTextSize.evaluate(h,{},e.canonical),m=a.layoutIconSize.evaluate(h,{},e.canonical),g={horizontal:{},vertical:void 0},w=h.text,b=[0,0];if(w){let T=w.toString(),A=i.get("text-letter-spacing").evaluate(h,{},e.canonical)*24,y=ymr(T)?A:0,E=i.get("text-anchor").evaluate(h,{},e.canonical),S=int(r,h,e.canonical);if(!S){let F=i.get("text-radial-offset").evaluate(h,{},e.canonical);b=F?rnt(E,[F*24,pne]):i.get("text-offset").evaluate(h,{},e.canonical).map(P=>P*24)}let C=s?"center":i.get("text-justify").evaluate(h,{},e.canonical),k=i.get("symbol-placement")==="point"?i.get("text-max-width").evaluate(h,{},e.canonical)*24:1/0,D=()=>{e.bucket.allowVerticalPlacement&&Qre(T)&&(g.vertical=kz(w,e.glyphMap,e.glyphPositions,e.imagePositions,d,k,o,E,"left",y,b,2,!0,v,p))};if(!s&&S){let F=new Set;if(C==="auto")for(let R=0;R{R.x<0||R.x>=8192||R.y<0||R.y>=8192||Ayr(e,R,P,r,i,n,k,e.layers[0],e.collisionBoxArray,t.index,t.sourceLayerIndex,e.index,g,[M,M,M,M],A,l,b,x,y,p,t,a,u,c,o)};if(E==="line")for(let P of dne(t.geometry,0,0,zr,zr)){let R=qb(P,D),L=pyr(R,_,T,r.vertical||v,i,24,w,e.overscaling,zr);for(let I of L){let B=v;(!B||!Myr(e,B.text,S,I))&&F(R,I)}}else if(E==="line-center"){for(let P of t.geometry)if(P.length>1){let R=qb(P,D),L=dyr(R,T,r.vertical||v,i,24,w);L&&F(R,L)}}else if(t.type==="Polygon")for(let P of AB(t.geometry,0)){let R=myr(P,16);F(qb(P[0],D,!0),new bT(R.x,R.y,0))}else if(t.type==="LineString")for(let P of t.geometry){let R=qb(P,D);F(R,new bT(R[0].x,R[0].y,0))}else if(t.type==="Point")for(let P of t.geometry)for(let R of P)F([R],new bT(R.x,R.y,0))}function Tyr(e,t){let r=e.length,i=t==null?void 0:t.values;if((i==null?void 0:i.length)>0)for(let n=0;n32640&&Ma(`${e.layerIds[0]}: Value for "text-size" is >= 255. Reduce your "text-size".`)):g.kind==="composite"&&(w=[128*p.compositeTextSizes[0].evaluate(o,{},v),128*p.compositeTextSizes[1].evaluate(o,{},v)],(w[0]>32640||w[1]>32640)&&Ma(`${e.layerIds[0]}: Value for "text-size" is >= 255. Reduce your "text-size".`)),e.addSymbols(e.text,m,w,s,a,o,c,t,u.lineStartIndex,u.lineLength,d,v,l);for(let b of f)h[b]=e.text.placedSymbolArray.length-1;return m.length*4}function nnt(e){for(let t in e)return e[t];return null}function Ayr(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A){let y=e.addToLineVertexArray(t,r),E=s.layout.get("symbol-height-offset").evaluate(_,{},T);E>e.maxHeightOffset&&(e.maxHeightOffset=E);let S,C,k,D,F=0,P=0,R=0,L=0,I=-1,B=-1,O={},$=(0,Ire.default)("");if(e.allowVerticalPlacement&&i.vertical){let be=s.layout.get("text-rotate").evaluate(_,{},T)+90,he=i.vertical;k=new Lz(l,t,u,c,f,he,h,d,p,be),o&&(D=new Lz(l,t,u,c,f,o,m,g,p,be))}if(n){let be=s.layout.get("icon-rotate").evaluate(_,{}),he=s.layout.get("icon-text-fit")!=="none",oe=uet(n,be,x,he),Ee=o?uet(o,be,x,he):void 0;C=new Lz(l,t,u,c,f,n,m,g,!1,be),F=oe.length*4;let ye=e.iconSizeData,ue=null;ye.kind==="source"?(ue=[128*s.layout.get("icon-size").evaluate(_,{})],ue[0]>32640&&Ma(`${e.layerIds[0]}: Value for "icon-size" is >= 255. Reduce your "icon-size".`)):ye.kind==="composite"&&(ue=[128*M.compositeIconSizes[0].evaluate(_,{},T),128*M.compositeIconSizes[1].evaluate(_,{},T)],(ue[0]>32640||ue[1]>32640)&&Ma(`${e.layerIds[0]}: Value for "icon-size" is >= 255. Reduce your "icon-size".`)),e.addSymbols(e.icon,oe,ue,b,w,_,0,t,y.lineStartIndex,y.lineLength,-1,T,E),I=e.icon.placedSymbolArray.length-1,Ee&&(P=Ee.length*4,e.addSymbols(e.icon,Ee,ue,b,w,_,2,t,y.lineStartIndex,y.lineLength,-1,T,E),B=e.icon.placedSymbolArray.length-1)}let Y=Object.keys(i.horizontal);for(let be of Y){let he=i.horizontal[be];S||(S=($=(0,Ire.default)(he.text),new Lz(l,t,u,c,f,he,h,d,p,s.layout.get("text-rotate").evaluate(_,{},T))));let oe=he.positionedLines.length===1;if(R+=fet(e,t,he,a,s,p,_,v,E,y,i.vertical?1:3,oe?Y:[be],O,I,M,T),oe)break}i.vertical&&(L+=fet(e,t,i.vertical,a,s,p,_,v,E,y,2,["vertical"],O,B,M,T));let K=S?S.boxStartIndex:e.collisionBoxArray.length,j=S?S.boxEndIndex:e.collisionBoxArray.length,q=k?k.boxStartIndex:e.collisionBoxArray.length,J=k?k.boxEndIndex:e.collisionBoxArray.length,U=C?C.boxStartIndex:e.collisionBoxArray.length,V=C?C.boxEndIndex:e.collisionBoxArray.length,X=D?D.boxStartIndex:e.collisionBoxArray.length,H=D?D.boxEndIndex:e.collisionBoxArray.length,G=-1,Q=(be,he)=>be!=null&&be.circleDiameter?Math.max(be.circleDiameter,he):he;G=Q(S,G),G=Q(k,G),G=Q(C,G),G=Q(D,G);let te=+(G>-1);te&&(G*=A/24),e.glyphOffsetArray.length>=e.maxGlyphs&&Ma("Too many glyphs being rendered in a tile. See https://github.com/mapbox/mapbox-gl-js/issues/2907"),_.sortKey!==void 0&&e.addToSortKeyRanges(e.symbolInstances.length,_.sortKey);let ce=int(s,_,T),[ge,Ce]=Tyr(e.textAnchorOffsets,ce);e.symbolInstances.emplaceBack(t.x,t.y,O.right>=0?O.right:-1,O.center>=0?O.center:-1,O.left>=0?O.left:-1,O.vertical||-1,I,B,$,K,j,q,J,U,V,X,H,u,R,L,F,P,te,0,h,G,ge,Ce,E)}function Myr(e,t,r,i){let n=e.compareText;if(!(t in n))n[t]=[];else{let a=n[t];for(let o=a.length-1;o>=0;o--)if(i.dist(a[o])e&&i in e?String(e[i]):"")}function Iyr(e,t,r,i=1){var a;let n=(a=e.get("icon-padding").evaluate(t,{},r))==null?void 0:a.values;return[n[0]*i,n[1]*i,n[2]*i,n[3]*i]}function snt(e){let t=[],r=e.id;return r===void 0&&t.push(new Qr(`layers.${r}`,null,'missing required property "id"')),e.render===void 0&&t.push(new Qr(`layers.${r}`,null,'missing required method "render"')),e.renderingMode&&e.renderingMode!=="2d"&&e.renderingMode!=="3d"&&t.push(new Qr(`layers.${r}`,null,'property "renderingMode" must be either "2d" or "3d"')),t}function ZB(e,t){if(e.type==="custom")return new Oyr(e,t);switch(e.type){case"background":return new qyr(e,t);case"circle":return new x1r(e,t);case"color-relief":return new L1r(e,t);case"fill":return new cgr(e,t);case"fill-extrusion":return new Cgr(e,t);case"heatmap":return new T1r(e,t);case"hillshade":return new E1r(e,t);case"line":return new Ggr(e,t);case"raster":return new Rvr(e,t);case"symbol":return new Pyr(e,t)}}function Vyr(e,t,r){return!(e<0||e>25||r<0||r>=2**e||t<0||t>=2**e)}function gne(e,t){let{x:r,y:i}=wo.fromLngLat(t);return!(e<0||e>25||i<0||i>=1||r<0||r>=1)}function Vb(e,t,r,i,n){e*=2,e<0&&(e=e*-1-1);let a=1<0;n--){let a=1<>>0;return((t&255)<<24|(t&65280)<<8|t>>>8&65280|t>>>24&255)>>>0}function Zyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0;r[n++]=a>>>0&3,r[n++]=a>>>2&3,r[n++]=a>>>4&3,r[n++]=a>>>6&3,r[n++]=a>>>8&3,r[n++]=a>>>10&3,r[n++]=a>>>12&3,r[n++]=a>>>14&3,r[n++]=a>>>16&3,r[n++]=a>>>18&3,r[n++]=a>>>20&3,r[n++]=a>>>22&3,r[n++]=a>>>24&3,r[n++]=a>>>26&3,r[n++]=a>>>28&3,r[n++]=a>>>30&3,r[n++]=o>>>0&3,r[n++]=o>>>2&3,r[n++]=o>>>4&3,r[n++]=o>>>6&3,r[n++]=o>>>8&3,r[n++]=o>>>10&3,r[n++]=o>>>12&3,r[n++]=o>>>14&3,r[n++]=o>>>16&3,r[n++]=o>>>18&3,r[n++]=o>>>20&3,r[n++]=o>>>22&3,r[n++]=o>>>24&3,r[n++]=o>>>26&3,r[n++]=o>>>28&3,r[n]=o>>>30&3}function Kyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0;r[n++]=a>>>0&7,r[n++]=a>>>3&7,r[n++]=a>>>6&7,r[n++]=a>>>9&7,r[n++]=a>>>12&7,r[n++]=a>>>15&7,r[n++]=a>>>18&7,r[n++]=a>>>21&7,r[n++]=a>>>24&7,r[n++]=a>>>27&7,r[n++]=(a>>>30|(o&1)<<2)&7,r[n++]=o>>>1&7,r[n++]=o>>>4&7,r[n++]=o>>>7&7,r[n++]=o>>>10&7,r[n++]=o>>>13&7,r[n++]=o>>>16&7,r[n++]=o>>>19&7,r[n++]=o>>>22&7,r[n++]=o>>>25&7,r[n++]=o>>>28&7,r[n++]=(o>>>31|(s&3)<<1)&7,r[n++]=s>>>2&7,r[n++]=s>>>5&7,r[n++]=s>>>8&7,r[n++]=s>>>11&7,r[n++]=s>>>14&7,r[n++]=s>>>17&7,r[n++]=s>>>20&7,r[n++]=s>>>23&7,r[n++]=s>>>26&7,r[n]=s>>>29&7}function Jyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0;r[n++]=a>>>0&15,r[n++]=a>>>4&15,r[n++]=a>>>8&15,r[n++]=a>>>12&15,r[n++]=a>>>16&15,r[n++]=a>>>20&15,r[n++]=a>>>24&15,r[n++]=a>>>28&15,r[n++]=o>>>0&15,r[n++]=o>>>4&15,r[n++]=o>>>8&15,r[n++]=o>>>12&15,r[n++]=o>>>16&15,r[n++]=o>>>20&15,r[n++]=o>>>24&15,r[n++]=o>>>28&15,r[n++]=s>>>0&15,r[n++]=s>>>4&15,r[n++]=s>>>8&15,r[n++]=s>>>12&15,r[n++]=s>>>16&15,r[n++]=s>>>20&15,r[n++]=s>>>24&15,r[n++]=s>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n]=l>>>28&15}function Qyr(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0;r[n++]=a>>>0&31,r[n++]=a>>>5&31,r[n++]=a>>>10&31,r[n++]=a>>>15&31,r[n++]=a>>>20&31,r[n++]=a>>>25&31,r[n++]=(a>>>30|(o&7)<<2)&31,r[n++]=o>>>3&31,r[n++]=o>>>8&31,r[n++]=o>>>13&31,r[n++]=o>>>18&31,r[n++]=o>>>23&31,r[n++]=(o>>>28|(s&1)<<4)&31,r[n++]=s>>>1&31,r[n++]=s>>>6&31,r[n++]=s>>>11&31,r[n++]=s>>>16&31,r[n++]=s>>>21&31,r[n++]=s>>>26&31,r[n++]=(s>>>31|(l&15)<<1)&31,r[n++]=l>>>4&31,r[n++]=l>>>9&31,r[n++]=l>>>14&31,r[n++]=l>>>19&31,r[n++]=l>>>24&31,r[n++]=(l>>>29|(u&3)<<3)&31,r[n++]=u>>>2&31,r[n++]=u>>>7&31,r[n++]=u>>>12&31,r[n++]=u>>>17&31,r[n++]=u>>>22&31,r[n]=u>>>27&31}function e2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0;r[n++]=a>>>0&63,r[n++]=a>>>6&63,r[n++]=a>>>12&63,r[n++]=a>>>18&63,r[n++]=a>>>24&63,r[n++]=(a>>>30|(o&15)<<2)&63,r[n++]=o>>>4&63,r[n++]=o>>>10&63,r[n++]=o>>>16&63,r[n++]=o>>>22&63,r[n++]=(o>>>28|(s&3)<<4)&63,r[n++]=s>>>2&63,r[n++]=s>>>8&63,r[n++]=s>>>14&63,r[n++]=s>>>20&63,r[n++]=s>>>26&63,r[n++]=l>>>0&63,r[n++]=l>>>6&63,r[n++]=l>>>12&63,r[n++]=l>>>18&63,r[n++]=l>>>24&63,r[n++]=(l>>>30|(u&15)<<2)&63,r[n++]=u>>>4&63,r[n++]=u>>>10&63,r[n++]=u>>>16&63,r[n++]=u>>>22&63,r[n++]=(u>>>28|(c&3)<<4)&63,r[n++]=c>>>2&63,r[n++]=c>>>8&63,r[n++]=c>>>14&63,r[n++]=c>>>20&63,r[n]=c>>>26&63}function t2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0;r[n++]=a>>>0&127,r[n++]=a>>>7&127,r[n++]=a>>>14&127,r[n++]=a>>>21&127,r[n++]=(a>>>28|(o&7)<<4)&127,r[n++]=o>>>3&127,r[n++]=o>>>10&127,r[n++]=o>>>17&127,r[n++]=o>>>24&127,r[n++]=(o>>>31|(s&63)<<1)&127,r[n++]=s>>>6&127,r[n++]=s>>>13&127,r[n++]=s>>>20&127,r[n++]=(s>>>27|(l&3)<<5)&127,r[n++]=l>>>2&127,r[n++]=l>>>9&127,r[n++]=l>>>16&127,r[n++]=l>>>23&127,r[n++]=(l>>>30|(u&31)<<2)&127,r[n++]=u>>>5&127,r[n++]=u>>>12&127,r[n++]=u>>>19&127,r[n++]=(u>>>26|(c&1)<<6)&127,r[n++]=c>>>1&127,r[n++]=c>>>8&127,r[n++]=c>>>15&127,r[n++]=c>>>22&127,r[n++]=(c>>>29|(f&15)<<3)&127,r[n++]=f>>>4&127,r[n++]=f>>>11&127,r[n++]=f>>>18&127,r[n]=f>>>25&127}function r2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0;r[n++]=a>>>0&255,r[n++]=a>>>8&255,r[n++]=a>>>16&255,r[n++]=a>>>24&255,r[n++]=o>>>0&255,r[n++]=o>>>8&255,r[n++]=o>>>16&255,r[n++]=o>>>24&255,r[n++]=s>>>0&255,r[n++]=s>>>8&255,r[n++]=s>>>16&255,r[n++]=s>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=f>>>0&255,r[n++]=f>>>8&255,r[n++]=f>>>16&255,r[n++]=f>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n]=h>>>24&255}function i2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0;r[n++]=a>>>0&511,r[n++]=a>>>9&511,r[n++]=a>>>18&511,r[n++]=(a>>>27|(o&15)<<5)&511,r[n++]=o>>>4&511,r[n++]=o>>>13&511,r[n++]=o>>>22&511,r[n++]=(o>>>31|(s&255)<<1)&511,r[n++]=s>>>8&511,r[n++]=s>>>17&511,r[n++]=(s>>>26|(l&7)<<6)&511,r[n++]=l>>>3&511,r[n++]=l>>>12&511,r[n++]=l>>>21&511,r[n++]=(l>>>30|(u&127)<<2)&511,r[n++]=u>>>7&511,r[n++]=u>>>16&511,r[n++]=(u>>>25|(c&3)<<7)&511,r[n++]=c>>>2&511,r[n++]=c>>>11&511,r[n++]=c>>>20&511,r[n++]=(c>>>29|(f&63)<<3)&511,r[n++]=f>>>6&511,r[n++]=f>>>15&511,r[n++]=(f>>>24|(h&1)<<8)&511,r[n++]=h>>>1&511,r[n++]=h>>>10&511,r[n++]=h>>>19&511,r[n++]=(h>>>28|(d&31)<<4)&511,r[n++]=d>>>5&511,r[n++]=d>>>14&511,r[n]=d>>>23&511}function n2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0;r[n++]=a>>>0&1023,r[n++]=a>>>10&1023,r[n++]=a>>>20&1023,r[n++]=(a>>>30|(o&255)<<2)&1023,r[n++]=o>>>8&1023,r[n++]=o>>>18&1023,r[n++]=(o>>>28|(s&63)<<4)&1023,r[n++]=s>>>6&1023,r[n++]=s>>>16&1023,r[n++]=(s>>>26|(l&15)<<6)&1023,r[n++]=l>>>4&1023,r[n++]=l>>>14&1023,r[n++]=(l>>>24|(u&3)<<8)&1023,r[n++]=u>>>2&1023,r[n++]=u>>>12&1023,r[n++]=u>>>22&1023,r[n++]=c>>>0&1023,r[n++]=c>>>10&1023,r[n++]=c>>>20&1023,r[n++]=(c>>>30|(f&255)<<2)&1023,r[n++]=f>>>8&1023,r[n++]=f>>>18&1023,r[n++]=(f>>>28|(h&63)<<4)&1023,r[n++]=h>>>6&1023,r[n++]=h>>>16&1023,r[n++]=(h>>>26|(d&15)<<6)&1023,r[n++]=d>>>4&1023,r[n++]=d>>>14&1023,r[n++]=(d>>>24|(p&3)<<8)&1023,r[n++]=p>>>2&1023,r[n++]=p>>>12&1023,r[n]=p>>>22&1023}function a2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0,v=e[t+10]>>>0;r[n++]=a>>>0&2047,r[n++]=a>>>11&2047,r[n++]=(a>>>22|(o&1)<<10)&2047,r[n++]=o>>>1&2047,r[n++]=o>>>12&2047,r[n++]=(o>>>23|(s&3)<<9)&2047,r[n++]=s>>>2&2047,r[n++]=s>>>13&2047,r[n++]=(s>>>24|(l&7)<<8)&2047,r[n++]=l>>>3&2047,r[n++]=l>>>14&2047,r[n++]=(l>>>25|(u&15)<<7)&2047,r[n++]=u>>>4&2047,r[n++]=u>>>15&2047,r[n++]=(u>>>26|(c&31)<<6)&2047,r[n++]=c>>>5&2047,r[n++]=c>>>16&2047,r[n++]=(c>>>27|(f&63)<<5)&2047,r[n++]=f>>>6&2047,r[n++]=f>>>17&2047,r[n++]=(f>>>28|(h&127)<<4)&2047,r[n++]=h>>>7&2047,r[n++]=h>>>18&2047,r[n++]=(h>>>29|(d&255)<<3)&2047,r[n++]=d>>>8&2047,r[n++]=d>>>19&2047,r[n++]=(d>>>30|(p&511)<<2)&2047,r[n++]=p>>>9&2047,r[n++]=p>>>20&2047,r[n++]=(p>>>31|(v&1023)<<1)&2047,r[n++]=v>>>10&2047,r[n]=v>>>21&2047}function o2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0,v=e[t+10]>>>0,m=e[t+11]>>>0;r[n++]=a>>>0&4095,r[n++]=a>>>12&4095,r[n++]=(a>>>24|(o&15)<<8)&4095,r[n++]=o>>>4&4095,r[n++]=o>>>16&4095,r[n++]=(o>>>28|(s&255)<<4)&4095,r[n++]=s>>>8&4095,r[n++]=s>>>20&4095,r[n++]=l>>>0&4095,r[n++]=l>>>12&4095,r[n++]=(l>>>24|(u&15)<<8)&4095,r[n++]=u>>>4&4095,r[n++]=u>>>16&4095,r[n++]=(u>>>28|(c&255)<<4)&4095,r[n++]=c>>>8&4095,r[n++]=c>>>20&4095,r[n++]=f>>>0&4095,r[n++]=f>>>12&4095,r[n++]=(f>>>24|(h&15)<<8)&4095,r[n++]=h>>>4&4095,r[n++]=h>>>16&4095,r[n++]=(h>>>28|(d&255)<<4)&4095,r[n++]=d>>>8&4095,r[n++]=d>>>20&4095,r[n++]=p>>>0&4095,r[n++]=p>>>12&4095,r[n++]=(p>>>24|(v&15)<<8)&4095,r[n++]=v>>>4&4095,r[n++]=v>>>16&4095,r[n++]=(v>>>28|(m&255)<<4)&4095,r[n++]=m>>>8&4095,r[n]=m>>>20&4095}function s2r(e,t,r,i){let n=i,a=e[t]>>>0,o=e[t+1]>>>0,s=e[t+2]>>>0,l=e[t+3]>>>0,u=e[t+4]>>>0,c=e[t+5]>>>0,f=e[t+6]>>>0,h=e[t+7]>>>0,d=e[t+8]>>>0,p=e[t+9]>>>0,v=e[t+10]>>>0,m=e[t+11]>>>0,g=e[t+12]>>>0,w=e[t+13]>>>0,b=e[t+14]>>>0,_=e[t+15]>>>0;r[n++]=a>>>0&65535,r[n++]=a>>>16&65535,r[n++]=o>>>0&65535,r[n++]=o>>>16&65535,r[n++]=s>>>0&65535,r[n++]=s>>>16&65535,r[n++]=l>>>0&65535,r[n++]=l>>>16&65535,r[n++]=u>>>0&65535,r[n++]=u>>>16&65535,r[n++]=c>>>0&65535,r[n++]=c>>>16&65535,r[n++]=f>>>0&65535,r[n++]=f>>>16&65535,r[n++]=h>>>0&65535,r[n++]=h>>>16&65535,r[n++]=d>>>0&65535,r[n++]=d>>>16&65535,r[n++]=p>>>0&65535,r[n++]=p>>>16&65535,r[n++]=v>>>0&65535,r[n++]=v>>>16&65535,r[n++]=m>>>0&65535,r[n++]=m>>>16&65535,r[n++]=g>>>0&65535,r[n++]=g>>>16&65535,r[n++]=w>>>0&65535,r[n++]=w>>>16&65535,r[n++]=b>>>0&65535,r[n++]=b>>>16&65535,r[n++]=_>>>0&65535,r[n]=_>>>16&65535}function l2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0;r[n++]=s>>>0&1,r[n++]=s>>>1&1,r[n++]=s>>>2&1,r[n++]=s>>>3&1,r[n++]=s>>>4&1,r[n++]=s>>>5&1,r[n++]=s>>>6&1,r[n++]=s>>>7&1,r[n++]=s>>>8&1,r[n++]=s>>>9&1,r[n++]=s>>>10&1,r[n++]=s>>>11&1,r[n++]=s>>>12&1,r[n++]=s>>>13&1,r[n++]=s>>>14&1,r[n++]=s>>>15&1,r[n++]=s>>>16&1,r[n++]=s>>>17&1,r[n++]=s>>>18&1,r[n++]=s>>>19&1,r[n++]=s>>>20&1,r[n++]=s>>>21&1,r[n++]=s>>>22&1,r[n++]=s>>>23&1,r[n++]=s>>>24&1,r[n++]=s>>>25&1,r[n++]=s>>>26&1,r[n++]=s>>>27&1,r[n++]=s>>>28&1,r[n++]=s>>>29&1,r[n++]=s>>>30&1,r[n++]=s>>>31&1}}function u2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0;r[n++]=s>>>0&3,r[n++]=s>>>2&3,r[n++]=s>>>4&3,r[n++]=s>>>6&3,r[n++]=s>>>8&3,r[n++]=s>>>10&3,r[n++]=s>>>12&3,r[n++]=s>>>14&3,r[n++]=s>>>16&3,r[n++]=s>>>18&3,r[n++]=s>>>20&3,r[n++]=s>>>22&3,r[n++]=s>>>24&3,r[n++]=s>>>26&3,r[n++]=s>>>28&3,r[n++]=s>>>30&3,r[n++]=l>>>0&3,r[n++]=l>>>2&3,r[n++]=l>>>4&3,r[n++]=l>>>6&3,r[n++]=l>>>8&3,r[n++]=l>>>10&3,r[n++]=l>>>12&3,r[n++]=l>>>14&3,r[n++]=l>>>16&3,r[n++]=l>>>18&3,r[n++]=l>>>20&3,r[n++]=l>>>22&3,r[n++]=l>>>24&3,r[n++]=l>>>26&3,r[n++]=l>>>28&3,r[n++]=l>>>30&3}}function c2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0;r[n++]=s>>>0&7,r[n++]=s>>>3&7,r[n++]=s>>>6&7,r[n++]=s>>>9&7,r[n++]=s>>>12&7,r[n++]=s>>>15&7,r[n++]=s>>>18&7,r[n++]=s>>>21&7,r[n++]=s>>>24&7,r[n++]=s>>>27&7,r[n++]=(s>>>30|(l&1)<<2)&7,r[n++]=l>>>1&7,r[n++]=l>>>4&7,r[n++]=l>>>7&7,r[n++]=l>>>10&7,r[n++]=l>>>13&7,r[n++]=l>>>16&7,r[n++]=l>>>19&7,r[n++]=l>>>22&7,r[n++]=l>>>25&7,r[n++]=l>>>28&7,r[n++]=(l>>>31|(u&3)<<1)&7,r[n++]=u>>>2&7,r[n++]=u>>>5&7,r[n++]=u>>>8&7,r[n++]=u>>>11&7,r[n++]=u>>>14&7,r[n++]=u>>>17&7,r[n++]=u>>>20&7,r[n++]=u>>>23&7,r[n++]=u>>>26&7,r[n++]=u>>>29&7}}function f2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0;r[n++]=s>>>0&15,r[n++]=s>>>4&15,r[n++]=s>>>8&15,r[n++]=s>>>12&15,r[n++]=s>>>16&15,r[n++]=s>>>20&15,r[n++]=s>>>24&15,r[n++]=s>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n++]=l>>>28&15,r[n++]=u>>>0&15,r[n++]=u>>>4&15,r[n++]=u>>>8&15,r[n++]=u>>>12&15,r[n++]=u>>>16&15,r[n++]=u>>>20&15,r[n++]=u>>>24&15,r[n++]=u>>>28&15,r[n++]=c>>>0&15,r[n++]=c>>>4&15,r[n++]=c>>>8&15,r[n++]=c>>>12&15,r[n++]=c>>>16&15,r[n++]=c>>>20&15,r[n++]=c>>>24&15,r[n++]=c>>>28&15}}function h2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0;r[n++]=s>>>0&31,r[n++]=s>>>5&31,r[n++]=s>>>10&31,r[n++]=s>>>15&31,r[n++]=s>>>20&31,r[n++]=s>>>25&31,r[n++]=(s>>>30|(l&7)<<2)&31,r[n++]=l>>>3&31,r[n++]=l>>>8&31,r[n++]=l>>>13&31,r[n++]=l>>>18&31,r[n++]=l>>>23&31,r[n++]=(l>>>28|(u&1)<<4)&31,r[n++]=u>>>1&31,r[n++]=u>>>6&31,r[n++]=u>>>11&31,r[n++]=u>>>16&31,r[n++]=u>>>21&31,r[n++]=u>>>26&31,r[n++]=(u>>>31|(c&15)<<1)&31,r[n++]=c>>>4&31,r[n++]=c>>>9&31,r[n++]=c>>>14&31,r[n++]=c>>>19&31,r[n++]=c>>>24&31,r[n++]=(c>>>29|(f&3)<<3)&31,r[n++]=f>>>2&31,r[n++]=f>>>7&31,r[n++]=f>>>12&31,r[n++]=f>>>17&31,r[n++]=f>>>22&31,r[n++]=f>>>27&31}}function d2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0,h=e[a++]>>>0;r[n++]=s>>>0&63,r[n++]=s>>>6&63,r[n++]=s>>>12&63,r[n++]=s>>>18&63,r[n++]=s>>>24&63,r[n++]=(s>>>30|(l&15)<<2)&63,r[n++]=l>>>4&63,r[n++]=l>>>10&63,r[n++]=l>>>16&63,r[n++]=l>>>22&63,r[n++]=(l>>>28|(u&3)<<4)&63,r[n++]=u>>>2&63,r[n++]=u>>>8&63,r[n++]=u>>>14&63,r[n++]=u>>>20&63,r[n++]=u>>>26&63,r[n++]=c>>>0&63,r[n++]=c>>>6&63,r[n++]=c>>>12&63,r[n++]=c>>>18&63,r[n++]=c>>>24&63,r[n++]=(c>>>30|(f&15)<<2)&63,r[n++]=f>>>4&63,r[n++]=f>>>10&63,r[n++]=f>>>16&63,r[n++]=f>>>22&63,r[n++]=(f>>>28|(h&3)<<4)&63,r[n++]=h>>>2&63,r[n++]=h>>>8&63,r[n++]=h>>>14&63,r[n++]=h>>>20&63,r[n++]=h>>>26&63}}function p2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0,h=e[a++]>>>0,d=e[a++]>>>0;r[n++]=s>>>0&127,r[n++]=s>>>7&127,r[n++]=s>>>14&127,r[n++]=s>>>21&127,r[n++]=(s>>>28|(l&7)<<4)&127,r[n++]=l>>>3&127,r[n++]=l>>>10&127,r[n++]=l>>>17&127,r[n++]=l>>>24&127,r[n++]=(l>>>31|(u&63)<<1)&127,r[n++]=u>>>6&127,r[n++]=u>>>13&127,r[n++]=u>>>20&127,r[n++]=(u>>>27|(c&3)<<5)&127,r[n++]=c>>>2&127,r[n++]=c>>>9&127,r[n++]=c>>>16&127,r[n++]=c>>>23&127,r[n++]=(c>>>30|(f&31)<<2)&127,r[n++]=f>>>5&127,r[n++]=f>>>12&127,r[n++]=f>>>19&127,r[n++]=(f>>>26|(h&1)<<6)&127,r[n++]=h>>>1&127,r[n++]=h>>>8&127,r[n++]=h>>>15&127,r[n++]=h>>>22&127,r[n++]=(h>>>29|(d&15)<<3)&127,r[n++]=d>>>4&127,r[n++]=d>>>11&127,r[n++]=d>>>18&127,r[n++]=d>>>25&127}}function v2r(e,t,r,i){let n=i,a=t;for(let o=0;o<8;o++){let s=e[a++]>>>0,l=e[a++]>>>0,u=e[a++]>>>0,c=e[a++]>>>0,f=e[a++]>>>0,h=e[a++]>>>0,d=e[a++]>>>0,p=e[a++]>>>0;r[n++]=s>>>0&255,r[n++]=s>>>8&255,r[n++]=s>>>16&255,r[n++]=s>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=f>>>0&255,r[n++]=f>>>8&255,r[n++]=f>>>16&255,r[n++]=f>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n++]=h>>>24&255,r[n++]=d>>>0&255,r[n++]=d>>>8&255,r[n++]=d>>>16&255,r[n++]=d>>>24&255,r[n++]=p>>>0&255,r[n++]=p>>>8&255,r[n++]=p>>>16&255,r[n++]=p>>>24&255}}function g2r(e,t,r,i){let n=i,a=t;for(let o=0;o<128;o++){let s=e[a++]>>>0;r[n++]=s&65535,r[n++]=s>>>16&65535}}function m2r(e,t,r,i,n){let a=oie[n]>>>0,o=t,s=0,l=e[o]>>>0,u=i;for(let c=0;c<8;c++){for(let f=0;f<32;f++)if(s+n<=32){let h=l>>>s&a;r[u+f]=h|0,s+=n,s===32&&(s=0,o++,f!==31&&(l=e[o]>>>0))}else{let h=32-s,d=l>>>s;o++,l=e[o]>>>0;let p=n-h,v=-1>>>32-p>>>0,m=(d|(l&v)<>>0)}}function pnt(){let e=new Uint8Array(y2r);return{dataToBePacked:Array(33),dataPointers:new Int32Array(33),byteContainer:e,byteContainerI32:new Int32Array(e.buffer,e.byteOffset,e.byteLength>>>2),exceptionSizes:new Int32Array(33)}}function x2r(e=16){if(e<0)throw RangeError(`initialEncodedWordCapacity must be >= 0, got ${e}`);let t=Math.max(16,e|0);return{encodedWords:new Uint32Array(t),decoderWorkspace:pnt()}}function _2r(e,t){if(t<=e.encodedWords.length)return e.encodedWords;let r=new Uint32Array(Math.max(16,t*2));return e.encodedWords=r,r}function b2r(e,t,r,i){i.byteContainer.length>>2;if(n.byteOffset&3)for(let s=0;s>>8&255,n[u+2|0]=l>>>16&255,n[u+3|0]=l>>>24&255}else{let s=i.byteContainerI32;(!s||s.buffer!==n.buffer||s.byteOffset!==n.byteOffset||s.length>>2)),s.set(e.subarray(t,t+a))}let o=r&3;if(o>0){let s=e[t+a|0]|0,l=a<<2;for(let u=0;u>>(u<<3)&255}return n}function w2r(e,t,r){let i=e[t++]|0,n=r.dataToBePacked;for(let a=2;a<=32;a=a+1|0){if(!(i>>>a-1&1))continue;if(t>=e.length)throw Error(`FastPFOR decode: truncated exception stream header (bitWidth=${a}, streamWordIndex=${t}, needWords=1, availableWords=${e.length-t}, encodedWords=${e.length})`);let o=e[t++]>>>0,s=Wyr(o),l=o*a+31>>>5;if(t+l>e.length)throw Error(`FastPFOR decode: truncated exception stream (bitWidth=${a}, size=${o}, streamWordIndex=${t}, needWords=${l}, availableWords=${e.length-t}, encodedWords=${e.length})`);let u=n[a];(!u||u.length>>5)|0,r.exceptionSizes[a]=o}return t}function T2r(e,t,r,i,n){switch(n){case 1:l2r(e,t,r,i);break;case 2:u2r(e,t,r,i);break;case 3:c2r(e,t,r,i);break;case 4:f2r(e,t,r,i);break;case 5:h2r(e,t,r,i);break;case 6:d2r(e,t,r,i);break;case 7:p2r(e,t,r,i);break;case 8:v2r(e,t,r,i);break;case 16:g2r(e,t,r,i);break;default:m2r(e,t,r,i,n)}return t+(n<<3)|0}function A2r(e,t,r,i){if(r+2>t)throw Error(`FastPFOR decode: byteContainer underflow at block=${i} (need 2 bytes for [bitWidth, exceptionCount], bytePos=${r}, byteSize=${t})`);let n=e[r++],a=e[r++];if(n>32)throw Error(`FastPFOR decode: invalid bitWidth=${n} at block=${i} (expected 0..32). This likely indicates corrupted or truncated input.`);return{bitWidth:n,exceptionCount:a,bytePosIn:r}}function M2r(e,t,r,i,n,a){if(r+1>t)throw Error(`FastPFOR decode: exception header underflow at block=${a} (need 1 byte for maxBits, bytePos=${r}, byteSize=${t})`);let o=e[r++];if(o32)throw Error(`FastPFOR decode: invalid maxBits=${o} at block=${a} (bitWidth=${i}, expected ${i}..32)`);let s=o-i|0;if(s<1||s>32)throw Error(`FastPFOR decode: invalid exceptionBitWidth=${s} at block=${a} (bitWidth=${i}, maxBits=${o})`);if(r+n>t)throw Error(`FastPFOR decode: exception positions underflow at block=${a} (need=${n}, have=${t-r})`);return{maxBits:o,exceptionBitWidth:s,bytePosIn:r}}function S2r(e,t,r,i,n,a,o,s,l){let{maxBits:u,exceptionBitWidth:c,bytePosIn:f}=M2r(n,a,o,r,i,l);if(o=f,c===1){let m=1<v)throw Error(`FastPFOR decode: exception stream overflow for exceptionBitWidth=${c} (ptr=${p}, need ${i}, size=${v}) at block ${l}`);for(let m=0;m0&&(f=S2r(n,m,p,v,s,l,f,u,h))}if(c!==i)throw Error(`FastPFOR decode: packed region mismatch (pageStart=${t}, packedStart=${r}, consumedPackedEnd=${c}, expectedPackedEnd=${i}, packedWords=${i-r}, encoded.length=${e.length})`)}function k2r(e,t,r,i,n,a){let o=r|0,s=e[o]|0;if(s<=0||o+s>e.length-1)throw Error(`FastPFOR decode: invalid whereMeta=${s} at pageStart=${o} (expected > 0 and pageStart+whereMeta < encoded.length=${e.length})`);let l=o+1|0,u=o+s|0,c=e[u]>>>0,f=c+3>>>2,h=u+1,d=h+f;if(d>=e.length)throw Error(`FastPFOR decode: invalid byteSize=${c} (metaInts=${f}, pageStart=${o}, packedEnd=${u}, byteContainerStart=${h}) causes bitmapPos=${d} out of bounds (encoded.length=${e.length})`);let p=b2r(e,h,c,a),v=c,m=w2r(e,d,a);return a.dataPointers.fill(0),E2r(e,o,l,u,t,i|0,n/256|0,p,v,a),m}function C2r(e,t,r,i,n,a){let o=i+Ane(n,256),s=i,l=r;for(;s!==o;){let u=Math.min(sie,o-s);l=k2r(e,t,l,s,u,a),s=s+u|0}return l}function D2r(e,t,r,i,n,a){if(a===0)return t;let o=0,s=t,l=t+r,u=n,c=n,f=n+a,h=0,d=0;for(;s>>o&255;if(o+=8,s+=o>>>5,o&=31,h|=(p&127)<28)throw Error(`FastPFOR VByte: unterminated value (expected MSB=1 terminator within 5 bytes; shift=${d}, partial=${h}, decoded=${c-u}/${a}, inPos=${s}, inEnd=${l})`)}if(c!==f)throw Error(`FastPFOR VByte: truncated stream (decoded=${c-u}, expected=${a}, consumedWords=${s-t}/${r}, vbyteStart=${t}, vbyteEnd=${l})`);return s}function F2r(e,t,r){let i=0,n=0,a=new Uint32Array(t),o=r!=null?r:pnt();if(e.length>0){let u=e[i]|0;if(i=i+1|0,u&255)throw Error(`FastPFOR decode: invalid alignedLength=${u} (expected multiple of 256)`);if(n+u>a.length)throw Error(`FastPFOR decode: output buffer too small (outPos=${n}, alignedLength=${u}, out.length=${a.length})`);i=C2r(e,a,i,n,u,o),n=n+u|0}let s=e.length-i|0,l=t-n|0;return D2r(e,i,s,a,n,l),a}function L2r(e,t,r,i,n){switch(n){case 2:Zyr(e,t,r,i);return;case 3:Kyr(e,t,r,i);return;case 4:Jyr(e,t,r,i);return;case 5:Qyr(e,t,r,i);return;case 6:e2r(e,t,r,i);return;case 7:t2r(e,t,r,i);return;case 8:r2r(e,t,r,i);return;case 9:i2r(e,t,r,i);return;case 10:n2r(e,t,r,i);return;case 11:a2r(e,t,r,i);return;case 12:o2r(e,t,r,i);return;case 16:s2r(e,t,r,i);return;case 32:for(let u=0;u<32;u=u+1|0)r[i+u|0]=e[t+u|0]|0;return}let a=oie[n]>>>0,o=t,s=0,l=e[o]>>>0;for(let u=0;u<32;u++)if(s+n<=32){let c=l>>>s&a;r[i+u]=c|0,s+=n,s===32&&(s=0,o++,u!==31&&(l=e[o]>>>0))}else{let c=32-s,f=l>>>s;o++,l=e[o]>>>0;let h=oie[n-c]>>>0,d=(f|(l&h)<e.length)throw RangeError(`decodeBigEndianInt32sInto: out of bounds (offset=${t}, byteLength=${r}, bytes.length=${e.length})`);let n=Math.floor(r/4),a=r%4!=0,o=a?n+1:n;if(i.length0){let s=e.byteOffset+t;if(s&3)for(let l=0;l=64)throw Error("Varint too long")}return t.set(n),r}function R2r(e,t,r){let i=new Float64Array(r);for(let n=0;n>4,n<128||(n=t[r.get()],r.increment(),i|=(n&127)<<3,n<128)||(n=t[r.get()],r.increment(),i|=(n&127)<<10,n<128)||(n=t[r.get()],r.increment(),i|=(n&127)<<17,n<128)||(n=t[r.get()],r.increment(),i|=(n&127)<<24,n<128)||(n=t[r.get()],r.increment(),i|=(n&1)<<31,n<128))return i*4294967296+(e>>>0);throw Error("Expected varint not more than 10 bytes")}function q2r(e,t,r,i){return O2r(e,t,r,i,x2r(r>>>2))}function O2r(e,t,r,i,n){let a=i.get();if(r&3)throw Error(`FastPFOR: invalid encodedByteLength=${r} at offset=${a} (encodedBytes.length=${e.length}; expected a multiple of 4 bytes for an int32 big-endian word stream)`);let o=r>>>2,s=_2r(n,o);P2r(e,a,r,s);let l=F2r(s.subarray(0,o),t,n.decoderWorkspace);return i.add(r),l}function Na(e){return e>>>1^-(e&1)}function lf(e){return e>>BigInt(1)^-(e&BigInt(1))}function $2(e){return e%2==1?(e+1)/-2:e/2}function N2r(e){let t=new Int32Array(e.length);for(let r=0;r=4)for(;i=4)for(;i=4)for(;r=4)for(let i=e[0];r=4)for(;i=4)for(;l>>0;for(let r=1;r>>0;return t}function get(e){let t=new BigUint64Array(e.length);t[0]=BigInt.asUintN(64,lf(e[0]));for(let r=1;r>>0,t[1]=Na(e[1])>>>0;for(let r=2;r>>0,t[r+1]=t[r-1]+Na(e[r+1])>>>0;return t}function txr(e,t,r,i){let n=gnt(e,t,r,i);return new Uint32Array(n)}function rxr(e){return e[1]}function ixr(e){return Na(e[1])}function nxr(e){if(e.length===2){let t=Na(e[1]);return[t,t]}return[Na(e[2]),Na(e[3])]}function axr(e){return e[1]}function oxr(e){return lf(e[1])}function sxr(e){if(e.length===2){let t=lf(e[1]);return[t,t]}return[lf(e[2]),lf(e[3])]}function Hs(e,t){let r=vxr(e,t);return r.logicalLevelTechnique1===da.MORTON?dxr(r,e,t):(da.RLE===r.logicalLevelTechnique1||da.RLE===r.logicalLevelTechnique2)&&Kd.NONE!==r.physicalLevelTechnique?pxr(r,e,t):r}function dxr(e,t,r){let i=cf(t,r,2);return{physicalStreamType:e.physicalStreamType,logicalStreamType:e.logicalStreamType,logicalLevelTechnique1:e.logicalLevelTechnique1,logicalLevelTechnique2:e.logicalLevelTechnique2,physicalLevelTechnique:e.physicalLevelTechnique,numValues:e.numValues,byteLength:e.byteLength,decompressedCount:e.decompressedCount,numBits:i[0],coordinateShift:i[1]}}function pxr(e,t,r){let i=cf(t,r,2);return{physicalStreamType:e.physicalStreamType,logicalStreamType:e.logicalStreamType,logicalLevelTechnique1:e.logicalLevelTechnique1,logicalLevelTechnique2:e.logicalLevelTechnique2,physicalLevelTechnique:e.physicalLevelTechnique,numValues:e.numValues,byteLength:e.byteLength,decompressedCount:i[1],runs:i[0],numRleValues:i[1]}}function vxr(e,t){let r=e[t.get()],i=lxr[r>>4],n={};switch(i){case pu.DATA:n={dictionaryType:cxr[r&15]};break;case pu.OFFSET:n={offsetType:fxr[r&15]};break;case pu.LENGTH:n={lengthType:hxr[r&15]}}t.increment();let a=e[t.get()],o=met[a>>5],s=met[a>>2&7],l=uxr[a&3];t.increment();let u=cf(e,t,2),c=u[0],f=u[1];return{physicalStreamType:i,logicalStreamType:n,logicalLevelTechnique1:o,logicalLevelTechnique2:s,physicalLevelTechnique:l,numValues:c,byteLength:f,decompressedCount:c}}function i3(e,t,r){if(!t)return e;let i=t.size(),n=e.constructor,a=new n(i),o=0;for(let s=0;s=o);){let s=e[i.increment()];if(s<=127){let l=s+3,u=e[i.increment()],c=Math.min(a+l,t);n.fill(u,a,c),a=c}else{let l=256-s;for(let u=0;u=12?_xr.decode(e.subarray(t,r)):bxr(e,t,r)}function bxr(e,t,r){let i="",n=t;for(;n239?4:a>223?3:a>191?2:1;if(n+s>r)break;let l,u,c;s===1?a<128&&(o=a):s===2?(l=e[n+1],(l&192)==128&&(o=(a&31)<<6|l&63,o<=127&&(o=null))):s===3?(l=e[n+1],u=e[n+2],(l&192)==128&&(u&192)==128&&(o=(a&15)<<12|(l&63)<<6|u&63,(o<=2047||o>=55296&&o<=57343)&&(o=null))):s===4&&(l=e[n+1],u=e[n+2],c=e[n+3],(l&192)==128&&(u&192)==128&&(c&192)==128&&(o=(a&15)<<18|(l&63)<<12|(u&63)<<6|c&63,(o<=65535||o>=1114112)&&(o=null))),o===null?(o=65533,s=1):o>65535&&(o-=65536,i+=String.fromCharCode(o>>>10&1023|55296),o=56320|o&1023),i+=String.fromCharCode(o),n+=s}return i}function iB(e,t,r,i,n){return Sxr(GT(e,t,r),r,i,n)}function sf(e,t,r,i,n){return Exr(GT(e,t,r),r,i,n)}function W2(e,t,r){return Cxr(GT(e,t,r),r)}function GT(e,t,r){let i=r.physicalLevelTechnique;switch(i){case Kd.FAST_PFOR:return q2r(e,r.numValues,r.byteLength,t);case Kd.VARINT:return cf(e,t,r.numValues);case Kd.NONE:return yxr(e,t,r.numValues);default:throw Error(`Specified physicalLevelTechnique ${i} is not supported (yet).`)}}function f8(e,t,r){let i=r.physicalLevelTechnique;switch(i){case Kd.VARINT:return Mne(e,t,r.numValues);case Kd.NONE:return xxr(e,t,r.numValues);default:throw Error(`Specified physicalLevelTechnique ${i} is not supported (yet).`)}}function wxr(e,t,r){let i=GT(e,t,r);return i.length===1?Na(i[0]):ixr(i)}function kne(e,t,r){let i=GT(e,t,r);return i.length===1?r.logicalLevelTechnique1===da.DELTA?Na(i[0]):i[0]:rxr(i)}function _nt(e,t,r){return nxr(GT(e,t,r))}function bnt(e,t,r){return sxr(Mne(e,t,r.numValues))}function wnt(e,t,r,i){return Ant(f8(e,t,r),r,i)}function Cne(e,t,r,i){return Mnt(f8(e,t,r),r,i)}function Txr(e,t,r,i){let n=Axr(e,t,r,!1);return i?i3(n,i,0):n}function Axr(e,t,r,i){if(r.physicalLevelTechnique===Kd.VARINT)return kxr(R2r(e,t,r.numValues),r,i);let n=f8(e,t,r),a=i?Ant(n,r):Mnt(n,r);return Float64Array.from(a,Number)}function Mxr(e,t,r){let i=f8(e,t,r);return i.length===1?lf(i[0]):oxr(i)}function Tnt(e,t,r){let i=f8(e,t,r);return i.length===1?r.logicalLevelTechnique1===da.DELTA?lf(i[0]):i[0]:axr(i)}function Sxr(e,t,r,i){let n;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let a=t;if(!i)return J2r(e,a.runs,a.numRleValues);e=lie(e,a.runs,a.numRleValues),n=det(e)}else n=det(e);break;case da.RLE:n=H2r(e,t.runs,t.numRleValues);break;case da.MORTON:Sne(e),n=new Int32Array(e);break;case da.COMPONENTWISE_DELTA:if(r&&!i)return gnt(e,r.scale,r.min,r.max);n=Y2r(e);break;case da.NONE:n=N2r(e);break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return i?i3(n,i,0):n}function Exr(e,t,r,i){let n;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let a=t;n=vet(lie(e,a.runs,a.numRleValues))}else n=vet(e);break;case da.RLE:n=lie(e,t.runs,t.numRleValues);break;case da.MORTON:Sne(e),n=e;break;case da.COMPONENTWISE_DELTA:n=r&&!i?txr(e,r.scale,r.min,r.max):exr(e);break;case da.NONE:n=e;break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return i?i3(n,i,0):n}function Ant(e,t,r){let i;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let n=t;if(!r)return Q2r(e,n.runs,n.numRleValues);e=uie(e,n.runs,n.numRleValues),i=pet(e)}else i=pet(e);break;case da.RLE:i=j2r(e,t.runs,t.numRleValues);break;case da.NONE:i=U2r(e);break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return r?i3(i,r,BigInt(0)):i}function Mnt(e,t,r){let i;switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let n=t;i=get(uie(e,n.runs,n.numRleValues))}else i=get(e);break;case da.RLE:i=uie(e,t.runs,t.numRleValues);break;case da.NONE:i=e;break;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}return r?i3(i,r,BigInt(0)):i}function kxr(e,t,r){switch(t.logicalLevelTechnique1){case da.DELTA:if(t.logicalLevelTechnique2===da.RLE){let i=t;e=vnt(e,i.runs,i.numRleValues)}return G2r(e),e;case da.RLE:return Fxr(e,t,r);case da.NONE:return r&&V2r(e),e;default:throw Error(`The specified Logical level technique is not supported: ${t.logicalLevelTechnique1}`)}}function Cxr(e,t){if(t.logicalLevelTechnique1===da.DELTA&&t.logicalLevelTechnique2===da.NONE)return X2r(e);if(t.logicalLevelTechnique1===da.RLE&&t.logicalLevelTechnique2===da.NONE){let r=t;return K2r(e,r.runs,r.numRleValues)}if(t.logicalLevelTechnique1===da.NONE&&t.logicalLevelTechnique2===da.NONE){W2r(e);let r=new Uint32Array(t.numValues+1);return r[0]=0,r.set(e,1),r}if(t.logicalLevelTechnique1===da.DELTA&&t.logicalLevelTechnique2===da.RLE){let r=t,i=Z2r(e,r.runs,r.numRleValues);return Sne(i),new Uint32Array(i)}throw Error("Only delta encoding is supported for transforming length to offset streams yet.")}function JB(e,t,r,i,n="int32"){let a=e.logicalLevelTechnique1;if(a===da.RLE)return e.runs===1?Gs.CONST:Gs.FLAT;if(a!==da.DELTA||e.logicalLevelTechnique2!==da.RLE)return e.numValues===1?Gs.CONST:Gs.FLAT;let o=t instanceof bv?t.size():t,s=e;if(s.numRleValues!==o)return Gs.FLAT;if(s.runs===1)return Gs.SEQUENCE;if(s.runs!==2)return e.numValues===1?Gs.CONST:Gs.FLAT;let l=i.get();if(e.physicalLevelTechnique===Kd.VARINT)return Dxr(r,i,n)?Gs.SEQUENCE:e.numValues===1?Gs.CONST:Gs.FLAT;let u=i.get(),c=new Int32Array(r.buffer,r.byteOffset+u,4);return i.set(l),c[2]===2&&c[3]===2?Gs.SEQUENCE:e.numValues===1?Gs.CONST:Gs.FLAT}function Dxr(e,t,r){let i=new hnt(t.get());if(r==="int64"){let a=Mne(e,i,4);return a[2]===BigInt(2)&&a[3]===BigInt(2)}let n=cf(e,i,4);return n[2]===2&&n[3]===2}function Fxr(e,t,r){return r?$2r(e,t.runs,t.numRleValues):vnt(e,t.runs,t.numRleValues)}function Dne(e,t,r){return{x:yet(e,t)-r,y:yet(e>>1,t)-r}}function yet(e,t){let r=0;for(let i=0;i>i;return r}function Pxr(e){let t=Array(e.numGeometries),r=1,i=1,n=1,a=0,o=0,s=0,l=e.mortonSettings,u=e.topologyVector,c=u.geometryOffsets,f=u.partOffsets,h=u.ringOffsets,d=e.vertexOffsets,p=!d||d.length===0,v=e.containsPolygonGeometry(),m=e.vertexBuffer;for(let g=0;g[M]),r+=b,i+=b}break;case uf.LINESTRING:{let b;v?(b=h[i]-h[i-1],i++):b=f[r]-f[r-1],r++;let _;p?(_=lT(m,o,b,!1),o+=b*2):(_=Rb(e.vertexBufferType,m,d,s,b,!1,l),s+=b),t[a++]=[_],c&&n++}break;case uf.POLYGON:{let b=f[r]-f[r-1];r++;let _=Array(b-1),M,x=h[i]-h[i-1];if(i++,p){M=lT(m,o,x,!0),o+=x*2;for(let T=0;T<_.length;T++)x=h[i]-h[i-1],i++,_[T]=lT(m,o,x,!0),o+=x*2}else{M=Rb(e.vertexBufferType,m,d,s,x,!0,l),s+=x;for(let T=0;T<_.length;T++)x=h[i]-h[i-1],i++,_[T]=Rb(e.vertexBufferType,m,d,s,x,!0,l),s+=x}t[a++]=[M].concat(_),c&&n++}break;case uf.MULTILINESTRING:{let b=c[n]-c[n-1];n++;let _=Array(b);for(let M=0;Mr?t[a++]:1);return i}function bet(e,t,r,i){let n=new Uint32Array(t[t.length-1]+1),a=0;n[0]=a;let o=1,s=0;for(let l=0;l0;)n[a++]=e[u++]}}return n}function Rnt(e,t,r,i,n){var d,p;let a,o,s,l,u,c=n,f,h;for(let v=0;v1&&!d.nullable||p===1&&d.nullable)throw Error(`The number of streams for the child field ${d.name} does not match its nullability. nullibilty: ${d.nullable}, numStreams: ${p}`);let m;if(d.nullable){let w=Hs(e,t);m=new bv(VT(e,w.numValues,w.byteLength,t),w.numValues)}let g=sf(e,t,Hs(e,t),void 0,m);if(s){if(!o)throw Error(`Incomplete shared FSST dictionary for column "${v}"`);c[h++]=new Int(v,g,n,a,o,s,m,f)}else c[h++]=new wT(v,g,n,a,m)}return c}function Jxr(e,t,r,i){let n=Qxr(r);if(i===0)return n.map(c=>new Tet(c,[]));let a=e_r(e,t,i),o=(a.presentStream?a.presentCount:a.lengthStream.length)/n.length,s=[],l=0,u=0;for(let c=0;c{var i;return e.name+((i=r.name)!=null?i:"")})}function e_r(e,t,r){let i=e[t.get()];t.add(1);let n=sf(e,t,Hs(e,t)),a=r-1,o=[];i&Tm.STRING&&(a-=t_r(e,t,o)),a-=r_r(e,t,i,o),a-=i_r(e,t,i,o);let s,l=0;if(i&Tm.PRESENCE){let c=n_r(e,t);s=c.value,l=c.count,a--}let u=new Uint32Array;if(a>0&&(u=sf(e,t,Hs(e,t)),a--),a!==0)throw Error(`Unexpected number of remaining streams while decoding map column: ${a}`);return{lengthStream:n,dictionary:o,presentStream:s,presentCount:l,flattenedValues:u}}function t_r(e,t,r){let i=e[t.get()];t.add(1);let n=Rnt("",e,t,i);if(n)for(let a=0;aa.length)throw Error("Merged map counts underflow while decoding child streams");let d=Array(r),p=i,v=n;for(let w=0;wo.length)throw Error("Map value stream underflow while decoding feature payload");let _=o_r(o,v,b,l);d[w]=_.value,v=_.nextIndex}let m=0;for(let w=i;w=r)throw Error("Unexpected end of map value stream");let n=e[t];if(n===Ob.FALSE)return{value:!1,nextIndex:t+1};if(n===Ob.TRUE)return{value:!0,nextIndex:t+1};if(n===Ob.START_MAP){let a=Aet(e,t,r);return{value:znt(e,t+2,a,i).value,nextIndex:a}}if(n===Ob.START_LIST){let a=Aet(e,t,r),o=[],s=t+2;for(;s=r)throw Error("Missing length for nested map/list payload");let i=e[t+1];if(i<2)throw Error(`Invalid nested payload length: ${i}`);let n=t+i;if(n>r)throw Error("Nested payload exceeds containing payload bounds");return n}function Bnt(e,t){let r=e-Ob.COUNT;if(r<0||r>=t.length)throw Error(`Scalar dictionary index out of range: ${e}`);return t[r]}function gT(e,t){for(let r of t)e.push(r)}function s_r(e,t,r,i,n,a){var o;return r.type==="scalarType"?a&&!a.has(r.name)?(mnt(i,e,t),null):l_r(i,e,t,n,r.scalarType,r):((o=r.complexType)==null?void 0:o.physicalType)===Z2.MAP?Jxr(e,t,r,i):i===0?null:Kxr(e,t,r,a)}function l_r(e,t,r,i,n,a){var l;let o;if(e===0)return null;if(a.nullable){let u=Hs(t,r),c=u.numValues,f=r.get(),h=VT(t,c,u.byteLength,r);r.set(f+u.byteLength),o=new bv(h,u.numValues)}let s=o!=null?o:i;switch(n.physicalType){case go.UINT_32:case go.INT_32:return d_r(t,r,a,n,s);case go.STRING:{let u=a.nullable?e-1:e;return(l=Rnt(a.name,t,r,u,o))!=null?l:null}case go.BOOLEAN:return u_r(t,r,a,i,s);case go.UINT_64:case go.INT_64:return h_r(t,r,a,s,n);case go.FLOAT:return c_r(t,r,a,s);case go.DOUBLE:return f_r(t,r,a,s);default:throw Error(`The specified data type for the field is currently not supported: ${n}`)}}function u_r(e,t,r,i,n){let a=Hs(e,t),o=a.numValues,s=t.get(),l=h8(n)?n:void 0,u=VT(e,o,a.byteLength,t,l);t.set(s+a.byteLength);let c=new bv(u,o);return new Hxr(r.name,c,n)}function c_r(e,t,r,i){let n=Hs(e,t),a=h8(i)?i:void 0,o=ynt(e,t,n.numValues,a);return new jxr(r.name,o,i)}function f_r(e,t,r,i){let n=Hs(e,t),a=h8(i)?i:void 0,o=xnt(e,t,n.numValues,a);return new _ne(r.name,o,i)}function h_r(e,t,r,i,n){let a=Hs(e,t),o=JB(a,i,e,t,"int64"),s=n.physicalType===go.INT_64;if(o===Gs.FLAT){let u=h8(i)?i:void 0,c=s?wnt(e,t,a,u):Cne(e,t,a,u);return new Snt(r.name,c,i)}if(o===Gs.SEQUENCE){let u=bnt(e,t,a);return new Ent(r.name,u[0],u[1],a.numRleValues,s)}let l=s?Mxr(e,t,a):Tnt(e,t,a);return new Pnt(r.name,l,i,s)}function d_r(e,t,r,i,n){let a=Hs(e,t),o=JB(a,n,e,t),s=i.physicalType===go.INT_32;if(o===Gs.FLAT){let u=h8(n)?n:void 0,c=s?iB(e,t,a,void 0,u):sf(e,t,a,void 0,u);return new xne(r.name,c,n)}if(o===Gs.SEQUENCE){let u=_nt(e,t,a);return new bne(r.name,u[0],u[1],a.numRleValues,s)}let l=s?wxr(e,t,a):kne(e,t,a);return new wne(r.name,l,n,s)}function h8(e){return e instanceof bv}function qnt(e){switch(e){case sc.ID:case sc.ID|sc.ID_NULLABLE:case sc.ID|sc.ID_LONG:case sc.ID|sc.ID_LONG|sc.ID_NULLABLE:return{nullable:(e&sc.ID_NULLABLE)!==0,columnScope:pk.FEATURE,type:"scalarType",scalarType:{longID:(e&sc.ID_LONG)!==0,type:"logicalType",logicalType:fnt.ID}};case sc.GEOMETRY:return{nullable:!1,columnScope:pk.FEATURE,type:"complexType",complexType:{type:"physicalType",physicalType:Z2.GEOMETRY,children:[]}};case sc.STRUCT:return{nullable:!1,columnScope:pk.FEATURE,type:"complexType",complexType:{type:"physicalType",physicalType:Z2.STRUCT,children:[]}};case sc.MAP:return{nullable:!0,columnScope:pk.FEATURE,type:"complexType",complexType:{type:"physicalType",physicalType:Z2.MAP,children:[]}};default:return y_r(e)}}function p_r(e){return e>=sc.SCALAR_BASE}function Ont(e){return e===sc.STRUCT||e===sc.MAP}function v_r(e){if(e.type==="scalarType"){let t=e.scalarType;if(t.type==="physicalType")switch(t.physicalType){case go.BOOLEAN:case go.INT_8:case go.UINT_8:case go.INT_32:case go.UINT_32:case go.INT_64:case go.UINT_64:case go.FLOAT:case go.DOUBLE:return!1;case go.STRING:return!0;default:return!1}if(t.type==="logicalType")return!1}else if(e.type==="complexType"){let t=e.complexType;if(t.type==="physicalType")switch(t.physicalType){case Z2.GEOMETRY:case Z2.STRUCT:case Z2.MAP:return!0;default:return!1}}return console.warn("Unexpected column type in hasStreamCount",e),!1}function g_r(e){var t;return e.type==="scalarType"&&((t=e.scalarType)==null?void 0:t.type)==="logicalType"&&e.scalarType.logicalType===fnt.ID}function m_r(e){var t;return e.type==="complexType"&&((t=e.complexType)==null?void 0:t.type)==="physicalType"&&e.complexType.physicalType===Z2.GEOMETRY}function y_r(e){let t;switch(e){case 10:case 11:t=go.BOOLEAN;break;case 12:case 13:t=go.INT_8;break;case 14:case 15:t=go.UINT_8;break;case 16:case 17:t=go.INT_32;break;case 18:case 19:t=go.UINT_32;break;case 20:case 21:t=go.INT_64;break;case 22:case 23:t=go.UINT_64;break;case 24:case 25:t=go.FLOAT;break;case 26:case 27:t=go.DOUBLE;break;case 28:case 29:t=go.STRING;break;default:return null}return{nullable:!!(e&1),columnScope:pk.FEATURE,type:"scalarType",scalarType:{longID:!1,type:"physicalType",physicalType:t}}}function Pne(e,t){let r=cf(e,t,1)[0];if(r===0)return"";let i=t.get(),n=i+r,a=e.subarray(i,n);return t.add(r),x_r.decode(a)}function __r(e){let t=e.name,r=e.nullable;return e.type==="scalarType"?{type:"scalarField",scalarField:e.scalarType,name:t,nullable:r}:{type:"complexField",complexField:e.complexType,name:t,nullable:r}}function Nnt(e,t){let r=cf(e,t,1)[0]>>>0,i=r>=sc.SCALAR_BASE?qnt(r):null;if(!i)throw Error(`Unsupported field type code ${r}. Supported: 10-29(scalars), 30(STRUCT), 31(MAP)`);let n=ma(fn({},i),{name:Pne(e,t)});if(n.type==="complexType"&&Ont(r)){let a=n.complexType,o=cf(e,t,1)[0]>>>0;a.children=Array(o);for(let s=0;s>>0,i=qnt(r);if(!i)throw Error(`Unsupported column type code ${r}. Supported: ${Met}`);let n;if(p_r(r))n=Pne(e,t);else if(r>>0,s=a.complexType;s.children=Array(o);for(let l=0;l>>0,a=cf(e,t,1)[0]>>>0;i.columns=Array(a);for(let o=0;o>>0,o=i.get()+a;if(o>e.length)throw Error(`Block overruns tile: ${o} > ${e.length}`);let s=cf(e,i,1)[0]>>>0;if(s!==1&&s!==2){i.set(o);continue}let[l,u]=w_r(e,i),c=l.featureTables[0],f=null,h=null,d=[],p=0;for(let m of c.columns){let g=m.name;if(g_r(m)){let w=null;if(m.nullable){let _=Hs(e,i),M=i.get(),x=VT(e,_.numValues,_.byteLength,i);i.set(M+_.byteLength),w=new bv(x,_.numValues)}let b=Hs(e,i);p=w?w.size():b.decompressedCount,f=A_r(e,m,i,g,b,w!=null?w:p,r)}else if(m_r(m)){let w=cf(e,i,1)[0];if(p===0){let b=i.get();p=Hs(e,i).decompressedCount,i.set(b)}t&&(t.scale=t.extent/u),h=Uxr(e,w,i,p,t)}else{let w=v_r(m)?cf(e,i,1)[0]:1;if(w===0)continue;let b=s_r(e,i,m,w,p,void 0);if(b)if(Array.isArray(b))for(let _ of b)d.push(_);else d.push(b)}}let v=new $yr(c.name,h,f,d,u);n.push(v),i.set(o)}return n}function A_r(e,t,r,i,n,a,o=!1){var c;let s=(c=t.scalarType)!=null&&c.longID?go.UINT_64:go.UINT_32,l=typeof a=="number"?void 0:a,u=JB(n,a,e,r,s===go.UINT_64?"int64":"int32");if(s===go.UINT_32)switch(u){case Gs.FLAT:return new xne(i,sf(e,r,n,void 0,l),a);case Gs.SEQUENCE:{let f=_nt(e,r,n);return new bne(i,f[0],f[1],n.numRleValues,!1)}case Gs.CONST:return new wne(i,kne(e,r,n),a,!1)}switch(u){case Gs.FLAT:return o?new _ne(i,Txr(e,r,n,l),a):new Snt(i,Cne(e,r,n,l),a);case Gs.SEQUENCE:{let f=bnt(e,r,n);return new Ent(i,f[0],f[1],n.numRleValues,!1)}case Gs.CONST:return new Pnt(i,Tnt(e,r,n),a,!1)}throw Error("Vector type not supported for id column.")}function C_r(e){return typeof e=="object"&&!!e&&"evaluate"in e}function Eet(e,t,r,i,n){return vB(e,(a,o)=>{let s=t instanceof RB?t.get(o):null;return C_r(s)?s.evaluate(r,i,void 0,n):s})}function D_r(e,t){return t-e}var adr,ket,odr,sdr,ldr,Cet,cie,udr,cdr,vz,gz,Nu,oB,wv,J1,Ok,Vet,vie,rQe,Het,zr,pB,Mdr,nQe,zte,Qet,ett,Tv,itt,ntt,aQe,RT,Qh,Uz,TT,kdr,Hk,jk,Sie,ctt,e0,An,mu,ftt,_r,htt,Qr,$k,Ei,la,La,xv,yB,Nb,ha,Fdr,xB,Wk,_B,wk,bB,Yk,wB,Ldr,dtt,ptt,vtt,Qte,gtt,Pdr,Idr,qdr,Ndr,Pc,ea,Vdr,ere,Mm,Q1,eg,Xd,al,Gdr,X1,Z1,Lm,Cie,ST,Hdr,Ttt,Die,Zd,$s,Mtt,yz,_m,uQe,pT,Dtt,Ltt,Xdr,Zdr,Kdr,Jdr,Qdr,epr,qtt,hpr,dpr,ppr,vpr,gpr,mpr,Utt,ypr,xpr,_pr,Y1,Pie,Xtt,pQe,Iie,Bie,Gpr,qie,mT,$1,Hpr,ert,Jb,Nie,Uie,Ek,$z,lrt,ovr,TQe,AQe,Avr,MQe,Svr,Evr,ch,$ie,fre,bm,Yz,Co,PB,IB,hre,Jk,SQe,EQe,Fvr,Yd,RB,Fi,Sn,Ck,Irt,zB,uc,CQe,Wte,Av,Lvr,Pvr,Ivr,BB,Rvr,zvr,Qk,yl,Dk,Xz,dre,pre,vre,Fk,gre,mre,yre,xre,_re,bre,wre,Tre,Are,Zz,Mre,Sre,Kz,Ere,kre,Cre,Dre,Fre,Rrt,Xie,zrt,Brt,qrt,Ort,Nrt,Urt,Vrt,Grt,Hrt,jrt,Pm,$rt,Wrt,qvr,Ovr,Nvr,Uvr,Vvr,sT,FQe,Gvr,Hvr,jvr,LQe,Yrt,$vr,Xrt,Mv,Lre,Zrt,Pre,Wvr,Ws,Yvr,Xvr,Zvr,Kvr,Ire,Krt,Im,wn,qi,pa,Rf,OT,Rm,Zie,Kie,Jvr,ep,hk,zb,xm,mv,j2,Qrt,eit,tit,$b,Bre,zQe,BQe,Jie,p1r,v1r,g1r,m1r,y1r,ait,x1r,oit,_1r,b1r,w1r,UB,As,e8,cit,T1r,A1r,M1r,S1r,fit,E1r,k1r,C1r,D1r,vu,Am,F1r,dit,L1r,Ore,P1r,Lk,Nre,Vre,Kl,Qz,Gre,Hre,Wd,ik,Ib,nk,ak,W1,Gb,VB,xT,_T,Q1r,_it,agr,ogr,sgr,lgr,ugr,bit,cgr,Wre,fgr,hgr,Jd,wit,t8,pgr,ggr,zf,mn,Ait,wo,ix,Xte,kit,Agr,Mgr,Sgr,Egr,kgr,Cit,Cgr,IXr,Pgr,Igr,Zre,Rgr,Kre,zgr,Bgr,Dit,jQe,Fit,qgr,Ogr,Ngr,Ugr,$Qe,Vgr,Mz,Lit,Ggr,Hgr,jgr,$gr,YQe,Pit,tB,Qgr,emr,tmr,ZQe,rmr,Rit,zit,Sz,Ez,vT,bmr,wmr,cne,fne,Mmr,Smr,Emr,tie,RXr,ret,Vit,WB,Gmr,jit,iet,oet,bT,Lz,gyr,dT,XB,pne,Syr,iie,nie,s8,Cyr,Dyr,Fyr,Lyr,Zte,ant,vne,Pyr,Ryr,zyr,Byr,ont,qyr,lnt,Oyr,Nyr,Uyr,unt,l8,u8,Bc,Kte,c8,jyr,yne,r3,KB,xne,_ne,cnt,bne,wne,$yr,pk,go,Z2,fnt,hnt,da,Kd,Tne,oie,dnt,sie,y2r,pu,sh,wm,lc,lxr,met,uxr,cxr,fxr,hxr,Gs,bv,_xr,Snt,Ent,uf,Lxr,n3,knt,Cnt,Fnt,Lnt,Oxr,Nxr,Hxr,jxr,Pnt,Fne,wet,wT,Int,Tet,Tm,Ob,sc,x_r,Met,M_r,S_r,E_r,k_r,Unt,Vnt=Ea(()=>{adr=Object.create,ket=Object.defineProperty,odr=Object.getOwnPropertyDescriptor,sdr=Object.getOwnPropertyNames,ldr=Object.getPrototypeOf,Cet=Object.prototype.hasOwnProperty,cie=(e,t)=>()=>(t||(e((t={exports:{}}).exports,t),e=null),t.exports),udr=(e,t,r,i)=>{if(t&&typeof t=="object"||typeof t=="function")for(var n=sdr(t),a=0,o=n.length,s;at[l]).bind(null,s),enumerable:!(i=odr(t,s))||i.enumerable});return e},cdr=(e,t,r)=>(r=e==null?{}:adr(ldr(e)),udr(t||!e||!e.__esModule||!Cet.call(e,"default")?ket(r,"default",{value:e,enumerable:!0}):r,e));tr.prototype={clone(){return new tr(this.x,this.y)},add(e){return this.clone()._add(e)},sub(e){return this.clone()._sub(e)},multByPoint(e){return this.clone()._multByPoint(e)},divByPoint(e){return this.clone()._divByPoint(e)},mult(e){return this.clone()._mult(e)},div(e){return this.clone()._div(e)},rotate(e){return this.clone()._rotate(e)},rotateAround(e,t){return this.clone()._rotateAround(e,t)},matMult(e){return this.clone()._matMult(e)},unit(){return this.clone()._unit()},perp(){return this.clone()._perp()},round(){return this.clone()._round()},mag(){return Math.sqrt(this.x*this.x+this.y*this.y)},equals(e){return this.x===e.x&&this.y===e.y},dist(e){return Math.sqrt(this.distSqr(e))},distSqr(e){let t=e.x-this.x,r=e.y-this.y;return t*t+r*r},angle(){return Math.atan2(this.y,this.x)},angleTo(e){return Math.atan2(this.y-e.y,this.x-e.x)},angleWith(e){return this.angleWithSep(e.x,e.y)},angleWithSep(e,t){return Math.atan2(this.x*t-this.y*e,this.x*e+this.y*t)},_matMult(e){let t=e[0]*this.x+e[1]*this.y,r=e[2]*this.x+e[3]*this.y;return this.x=t,this.y=r,this},_add(e){return this.x+=e.x,this.y+=e.y,this},_sub(e){return this.x-=e.x,this.y-=e.y,this},_mult(e){return this.x*=e,this.y*=e,this},_div(e){return this.x/=e,this.y/=e,this},_multByPoint(e){return this.x*=e.x,this.y*=e.y,this},_divByPoint(e){return this.x/=e.x,this.y/=e.y,this},_unit(){return this._div(this.mag()),this},_perp(){let e=this.y;return this.y=this.x,this.x=-e,this},_rotate(e){let t=Math.cos(e),r=Math.sin(e),i=t*this.x-r*this.y,n=r*this.x+t*this.y;return this.x=i,this.y=n,this},_rotateAround(e,t){let r=Math.cos(e),i=Math.sin(e),n=t.x+r*(this.x-t.x)-i*(this.y-t.y),a=t.y+i*(this.x-t.x)+r*(this.y-t.y);return this.x=n,this.y=a,this},_round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this},constructor:tr},tr.convert=function(e){if(e instanceof tr)return e;if(Array.isArray(e))return new tr(+e[0],+e[1]);if(e.x!==void 0&&e.y!==void 0)return new tr(+e.x,+e.y);throw Error("Expected [x, y] or {x, y} point format")};Nu=typeof Float32Array<"u"?Float32Array:Array;Math.PI/180,180/Math.PI;oB=pdr;wv=vdr;J1=pie,Ok=K1;(function(){var e=Ret();return function(t,r,i,n,a,o){var s,l;for(r||(r=3),i||(i=0),l=n?Math.min(n*r+i,t.length):t.length,s=i;s.999999?(i[0]=0,i[1]=0,i[2]=0,i[3]=1,i):(uh(e,n,a),i[0]=e[0],i[1]=e[1],i[2]=e[2],i[3]=1+o,rQe(i,i))}})(),(function(){var e=tQe(),t=tQe();return function(r,i,n,a,o,s){return vk(e,i,o,s),vk(t,n,a,s),vk(r,e,t,2*s*(1-s)),r}})(),(function(){var e=hie();return function(t,r,i,n){return e[0]=i[0],e[3]=i[1],e[6]=i[2],e[1]=n[0],e[4]=n[1],e[7]=n[2],e[2]=-r[0],e[5]=-r[1],e[8]=-r[2],rQe(t,bdr(t,e))}})();Het=wdr;(function(){var e=fB();return function(t,r,i,n,a,o){var s,l;for(r||(r=2),i||(i=0),l=n?Math.min(n*r+i,t.length):t.length,s=i;sKi(null,null,function*(){let r=new Blob([new Uint8Array(e)],{type:"image/png"});try{return createImageBitmap(r,t)}catch(i){throw Error(`Could not load image because of ${Ic(i).message}. Please make sure to use a supported image type such as PNG or JPEG. Note that SVGs are not supported.`)}}),ett=e=>new Promise((t,r)=>{let i=new Image;i.onload=()=>{t(i),URL.revokeObjectURL(i.src),i.onload=null,window.requestAnimationFrame(()=>i.src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAC0lEQVQYV2NgAAIAAAUAAarVyFEAAAAASUVORK5CYII=")},i.onerror=()=>r(Error("Could not load image. Please make sure to use a supported image type such as PNG or JPEG. Note that SVGs are not supported."));let n=new Blob([new Uint8Array(e)],{type:"image/png"});i.src=URL.createObjectURL(n)});Tv=85.051129,itt={touchstart:!0,touchmove:!0,touchmoveWindow:!0,touchend:!0,touchcancel:!0},ntt={dblclick:!0,click:!0,mouseover:!0,mouseout:!0,mousedown:!0,mousemove:!0,mousemoveWindow:!0,mouseup:!0,mouseupWindow:!0,contextmenu:!0,wheel:!0};aQe="AbortError",RT=class extends Error{constructor(e=aQe){super(e instanceof Error?e.message:e),this.name=aQe,e instanceof Error&&e.stack&&(this.stack=e.stack)}};Qh={MAX_PARALLEL_IMAGE_REQUESTS:16,MAX_PARALLEL_IMAGE_REQUESTS_PER_FRAME:8,MAX_TILE_CACHE_ZOOM_LEVELS:5,REGISTERED_PROTOCOLS:{},WORKER_URL:""};Uz="global-dispatcher",TT=class extends Error{constructor(e,t,r,i){super(`AJAXError: ${t} (${e}): ${r}`),this.status=e,this.statusText=t,this.url=r,this.body=i}};kdr=e=>{var t;return e.startsWith("file:")||((t=mB())==null?void 0:t.startsWith("file:"))&&!/^\w+:/.test(e)};Hk=function(e,t){return Ki(this,null,function*(){var r,i;if(e.url.includes("://")&&!/^https?:|^file:/.test(e.url)){let n=Mie(e.url);if(n){let a=yield n(e,t);return!a.data&&e.type==="arrayBuffer"?ln(a,{data:new ArrayBuffer(0)}):a}if(Hb(self)&&((r=self.worker)!=null&&r.actor))return self.worker.actor.sendAsync({type:"GR",data:e,targetMapId:Uz},t)}if(!kdr(e.url)){if(fetch&&Request&&AbortController&&Object.hasOwn(Request.prototype,"signal"))return Cdr(e,t);if(Hb(self)&&((i=self.worker)!=null&&i.actor))return self.worker.actor.sendAsync({type:"GR",data:e,mustQueue:!0,targetMapId:Uz},t)}return Ddr(e,t)})},jk=(e,t)=>Hk(ln(e,{type:"json"}),t),Sie=(e,t)=>Hk(ln(e,{type:"arrayBuffer"}),t);ctt=e=>{let t=window.document.createElement("video");return t.muted=!0,new Promise(r=>{t.onloadstart=()=>{r(t)};for(let i of e){let n=window.document.createElement("source");Eie(i)||(t.crossOrigin="Anonymous"),n.src=i,t.appendChild(n)}})};e0=class{constructor(e,t={}){ln(this,t),this.type=e}},An=class extends e0{constructor(e,t={}){super("error",ln({error:e},t))}},mu=class{on(e,t){return this._listeners||(this._listeners={}),oQe(e,t,this._listeners),{unsubscribe:()=>{this.off(e,t)}}}off(e,t){return Bte(e,t,this._listeners),Bte(e,t,this._oneTimeListeners),this}once(e,t){return t?(this._oneTimeListeners||(this._oneTimeListeners={}),oQe(e,t,this._oneTimeListeners),this):new Promise(r=>this.once(e,r))}fire(e,t){var n,a,o,s,l,u;let r=typeof e=="string"?new e0(e,t||{}):e,i=r.type;if(this.listens(i)){r.target=this;let c=(o=(a=(n=this._listeners)==null?void 0:n[i])==null?void 0:a.slice())!=null?o:[];for(let d of c)d.call(this,r);let f=(u=(l=(s=this._oneTimeListeners)==null?void 0:s[i])==null?void 0:l.slice())!=null?u:[];for(let d of f)Bte(i,d,this._oneTimeListeners),d.call(this,r);let h=this._eventedParent;h&&(ln(r,typeof this._eventedParentData=="function"?this._eventedParentData():this._eventedParentData),h.fire(r))}else r instanceof An&&console.error(r.error);return this}listens(e){var t,r,i,n,a;return!!((r=(t=this._listeners)==null?void 0:t[e])!=null&&r.length||(n=(i=this._oneTimeListeners)==null?void 0:i[e])!=null&&n.length||(a=this._eventedParent)!=null&&a.listens(e))}setEventedParent(e,t){return this._eventedParent=e,this._eventedParentData=t,this}},ftt={$version:8,$root:{version:{required:!0,type:"enum",values:[8]},name:{type:"string"},metadata:{type:"*"},center:{type:"array",value:"number",length:2},centerAltitude:{type:"number"},zoom:{type:"number"},bearing:{type:"number",default:0,period:360,units:"degrees"},pitch:{type:"number",default:0,units:"degrees"},roll:{type:"number",default:0,units:"degrees"},state:{type:"state",default:{}},light:{type:"light"},sky:{type:"sky"},projection:{type:"projection"},terrain:{type:"terrain"},sources:{required:!0,type:"sources"},sprite:{type:"sprite"},glyphs:{type:"string"},"font-faces":{type:"fontFaces"},transition:{type:"transition"},layers:{required:!0,type:"array",value:"layer"}},sources:{"*":{type:"source"}},source:["source_vector","source_raster","source_raster_dem","source_geojson","source_video","source_image"],source_vector:{type:{required:!0,type:"enum",values:{vector:{}}},url:{type:"string"},tiles:{type:"array",value:"string"},bounds:{type:"array",value:"number",length:4,default:[-180,-85.051129,180,85.051129]},scheme:{type:"enum",values:{xyz:{},tms:{}},default:"xyz"},minzoom:{type:"number",default:0},maxzoom:{type:"number",default:22},attribution:{type:"string"},promoteId:{type:"promoteId"},volatile:{type:"boolean",default:!1},encoding:{type:"enum",values:{mvt:{},mlt:{}},default:"mvt"},"*":{type:"*"}},source_raster:{type:{required:!0,type:"enum",values:{raster:{}}},url:{type:"string"},tiles:{type:"array",value:"string"},bounds:{type:"array",value:"number",length:4,default:[-180,-85.051129,180,85.051129]},minzoom:{type:"number",default:0},maxzoom:{type:"number",default:22},tileSize:{type:"number",default:512,units:"pixels"},scheme:{type:"enum",values:{xyz:{},tms:{}},default:"xyz"},attribution:{type:"string"},volatile:{type:"boolean",default:!1},"*":{type:"*"}},source_raster_dem:{type:{required:!0,type:"enum",values:{"raster-dem":{}}},url:{type:"string"},tiles:{type:"array",value:"string"},bounds:{type:"array",value:"number",length:4,default:[-180,-85.051129,180,85.051129]},minzoom:{type:"number",default:0},maxzoom:{type:"number",default:22},tileSize:{type:"number",default:512,units:"pixels"},attribution:{type:"string"},encoding:{type:"enum",values:{terrarium:{},mapbox:{},custom:{}},default:"mapbox"},redFactor:{type:"number",default:1},blueFactor:{type:"number",default:1},greenFactor:{type:"number",default:1},baseShift:{type:"number",default:0},volatile:{type:"boolean",default:!1},"*":{type:"*"}},source_geojson:{type:{required:!0,type:"enum",values:{geojson:{}}},data:{required:!0,type:"*"},maxzoom:{type:"number",default:18},attribution:{type:"string"},buffer:{type:"number",default:128,maximum:512,minimum:0},filter:{type:"filter"},tolerance:{type:"number",default:.375},cluster:{type:"boolean",default:!1},clusterRadius:{type:"number",default:50,minimum:0},clusterMaxZoom:{type:"number"},clusterMinPoints:{type:"number"},clusterProperties:{type:"*"},lineMetrics:{type:"boolean",default:!1},generateId:{type:"boolean",default:!1},promoteId:{type:"promoteId"}},source_video:{type:{required:!0,type:"enum",values:{video:{}}},urls:{required:!0,type:"array",value:"string"},coordinates:{required:!0,type:"array",length:4,value:{type:"array",length:2,value:"number"}}},source_image:{type:{required:!0,type:"enum",values:{image:{}}},url:{type:"string"},coordinates:{required:!0,type:"array",length:4,value:{type:"array",length:2,value:"number"}}},layer:{id:{type:"string",required:!0},type:{type:"enum",values:{fill:{},line:{},symbol:{},circle:{},heatmap:{},"fill-extrusion":{},raster:{},hillshade:{},"color-relief":{},background:{}},required:!0},metadata:{type:"*"},source:{type:"string"},"source-layer":{type:"string"},minzoom:{type:"number",minimum:0,maximum:24},maxzoom:{type:"number",minimum:0,maximum:24},filter:{type:"filter"},layout:{type:"layout"},paint:{type:"paint"}},layout:["layout_fill","layout_line","layout_circle","layout_heatmap","layout_fill-extrusion","layout_symbol","layout_raster","layout_hillshade","layout_color-relief","layout_background"],layout_background:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_fill:{"fill-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_circle:{"circle-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_heatmap:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},"layout_fill-extrusion":{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"},"fill-extrusion-rounded-corner-distance":{type:"number",default:0,minimum:0,units:"meters","property-type":"constant"}},layout_line:{"line-cap":{type:"enum",values:{butt:{},round:{},square:{}},default:"butt",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-join":{type:"enum",values:{bevel:{},round:{},miter:{}},default:"miter",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-miter-limit":{type:"number",default:2,requires:[{"line-join":"miter"}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-round-limit":{type:"number",default:1.05,requires:[{"line-join":"round"}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_symbol:{"symbol-placement":{type:"enum",values:{point:{},line:{},"line-center":{}},default:"point",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"symbol-spacing":{type:"number",default:250,minimum:1,units:"pixels",requires:[{"symbol-placement":"line"}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"symbol-avoid-edges":{type:"boolean",default:!1,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"symbol-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"symbol-z-order":{type:"enum",values:{auto:{},"viewport-y":{},source:{}},default:"auto",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-allow-overlap":{type:"boolean",default:!1,requires:["icon-image",{"!":"icon-overlap"}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-overlap":{type:"enum",values:{never:{},always:{},cooperative:{}},requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-ignore-placement":{type:"boolean",default:!1,requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-optional":{type:"boolean",default:!1,requires:["icon-image","text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-rotation-alignment":{type:"enum",values:{map:{},viewport:{},auto:{}},default:"auto",requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-size":{type:"number",default:1,minimum:0,units:"factor of the original icon size",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-text-fit":{type:"enum",values:{none:{},width:{},height:{},both:{}},default:"none",requires:["icon-image","text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-text-fit-padding":{type:"array",value:"number",length:4,default:[0,0,0,0],units:"pixels",requires:["icon-image","text-field",{"icon-text-fit":["both","width","height"]}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"icon-image":{type:"resolvedImage",tokens:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-rotate":{type:"number",default:0,period:360,units:"degrees",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-padding":{type:"padding",default:[2],units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-keep-upright":{type:"boolean",default:!1,requires:["icon-image",{"icon-rotation-alignment":"map"},{"symbol-placement":["line","line-center"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-offset":{type:"array",value:"number",length:2,default:[0,0],requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-anchor":{type:"enum",values:{center:{},left:{},right:{},top:{},bottom:{},"top-left":{},"top-right":{},"bottom-left":{},"bottom-right":{}},default:"center",requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-pitch-alignment":{type:"enum",values:{map:{},viewport:{},auto:{}},default:"auto",requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-pitch-alignment":{type:"enum",values:{map:{},viewport:{},auto:{}},default:"auto",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-rotation-alignment":{type:"enum",values:{map:{},viewport:{},"viewport-glyph":{},auto:{}},default:"auto",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-field":{type:"formatted",default:"",tokens:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-font":{type:"array",value:"string",default:["Open Sans Regular","Arial Unicode MS Regular"],requires:["text-field"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-size":{type:"number",default:16,minimum:0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-max-width":{type:"number",default:10,minimum:0,units:"ems",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-line-height":{type:"number",default:1.2,units:"ems",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-letter-spacing":{type:"number",default:0,units:"ems",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-justify":{type:"enum",values:{auto:{},left:{},center:{},right:{}},default:"center",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-radial-offset":{type:"number",units:"ems",default:0,requires:["text-field"],"property-type":"data-driven",expression:{interpolated:!0,parameters:["zoom","feature"]}},"text-variable-anchor":{type:"array",value:"enum",values:{center:{},left:{},right:{},top:{},bottom:{},"top-left":{},"top-right":{},"bottom-left":{},"bottom-right":{}},requires:["text-field",{"symbol-placement":["point"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-variable-anchor-offset":{type:"variableAnchorOffsetCollection",requires:["text-field",{"symbol-placement":["point"]}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-anchor":{type:"enum",values:{center:{},left:{},right:{},top:{},bottom:{},"top-left":{},"top-right":{},"bottom-left":{},"bottom-right":{}},default:"center",requires:["text-field",{"!":"text-variable-anchor"}],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-max-angle":{type:"number",default:45,units:"degrees",requires:["text-field",{"symbol-placement":["line","line-center"]}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-writing-mode":{type:"array",value:"enum",values:{horizontal:{},vertical:{}},requires:["text-field",{"symbol-placement":["point"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-rotate":{type:"number",default:0,period:360,units:"degrees",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-padding":{type:"number",default:2,minimum:0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-keep-upright":{type:"boolean",default:!0,requires:["text-field",{"text-rotation-alignment":"map"},{"symbol-placement":["line","line-center"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-transform":{type:"enum",values:{none:{},uppercase:{},lowercase:{}},default:"none",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-offset":{type:"array",value:"number",units:"ems",length:2,default:[0,0],requires:["text-field",{"!":"text-radial-offset"}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-allow-overlap":{type:"boolean",default:!1,requires:["text-field",{"!":"text-overlap"}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-overlap":{type:"enum",values:{never:{},always:{},cooperative:{}},requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-ignore-placement":{type:"boolean",default:!1,requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-optional":{type:"boolean",default:!1,requires:["text-field","icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"symbol-height-offset":{type:"number",default:0,units:"meters",requires:[{"symbol-placement":["point"]}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"symbol-height-anchor":{type:"enum",values:{ground:{},absolute:{}},default:"ground",requires:["symbol-height-offset"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_raster:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_hillshade:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},"layout_color-relief":{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},filter:{type:"boolean",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},filter_operator:{type:"enum",values:{"==":{},"!=":{},">":{},">=":{},"<":{},"<=":{},in:{},"!in":{},all:{},any:{},none:{},has:{},"!has":{}}},geometry_type:{type:"enum",values:{Point:{},LineString:{},Polygon:{}}},function:{expression:{type:"expression"},stops:{type:"array",value:"function_stop"},base:{type:"number",default:1,minimum:0},property:{type:"string",default:"$zoom"},type:{type:"enum",values:{identity:{},exponential:{},interval:{},categorical:{}},default:"exponential"},colorSpace:{type:"enum",values:{rgb:{},lab:{},hcl:{}},default:"rgb"},default:{type:"*",required:!1}},function_stop:{type:"array",minimum:0,maximum:24,value:["number","color"],length:2},expression:{type:"array",value:"expression_name",minimum:1},light:{anchor:{type:"enum",default:"viewport",values:{map:{},viewport:{}},"property-type":"data-constant",transition:!1,expression:{interpolated:!1,parameters:["zoom"]}},position:{type:"array",default:[1.15,210,30],length:3,value:"number","property-type":"data-constant",transition:!0,expression:{interpolated:!0,parameters:["zoom"]}},color:{type:"color","property-type":"data-constant",default:"#ffffff",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},intensity:{type:"number","property-type":"data-constant",default:.5,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0}},sky:{"sky-color":{type:"color","property-type":"data-constant",default:"#88C6FC",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"horizon-color":{type:"color","property-type":"data-constant",default:"#ffffff",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"fog-color":{type:"color","property-type":"data-constant",default:"#ffffff",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"fog-ground-blend":{type:"number","property-type":"data-constant",default:.5,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"horizon-fog-blend":{type:"number","property-type":"data-constant",default:.8,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"sky-horizon-blend":{type:"number","property-type":"data-constant",default:.8,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"atmosphere-blend":{type:"number","property-type":"data-constant",default:.8,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0}},terrain:{source:{type:"string",required:!0},exaggeration:{type:"number",minimum:0,default:1}},projection:{type:{type:"projectionDefinition",default:"mercator","property-type":"data-constant",transition:!1,expression:{interpolated:!0,parameters:["zoom"]}}},paint:["paint_fill","paint_line","paint_circle","paint_heatmap","paint_fill-extrusion","paint_symbol","paint_raster","paint_hillshade","paint_color-relief","paint_background"],paint_fill:{"fill-antialias":{type:"boolean",default:!0,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"fill-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-layer-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","global-state"]},"property-type":"data-constant"},"fill-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-outline-color":{type:"color",transition:!0,requires:[{"!":"fill-pattern"},{"fill-antialias":!0}],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"fill-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["fill-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"fill-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"}},"paint_fill-extrusion":{"fill-extrusion-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"fill-extrusion-color":{type:"color",default:"#000000",transition:!0,requires:[{"!":"fill-extrusion-pattern"}],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-extrusion-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"fill-extrusion-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["fill-extrusion-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"fill-extrusion-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"},"fill-extrusion-height":{type:"number",default:0,units:"meters",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-extrusion-base":{type:"number",default:0,units:"meters",transition:!0,requires:["fill-extrusion-height"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-extrusion-vertical-gradient":{type:"boolean",default:!0,transition:!1,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},paint_line:{"line-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-layer-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","global-state"]},"property-type":"data-constant"},"line-color":{type:"color",default:"#000000",transition:!0,requires:[{"!":"line-pattern"}],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"line-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["line-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"line-width":{type:"number",default:1,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-gap-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-offset":{type:"number",default:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-blur":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-dasharray":{type:"array",value:"number",minimum:0,transition:!0,units:"line widths",requires:[{"!":"line-pattern"}],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"},"line-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"},"line-gradient":{type:"color",transition:!1,requires:[{"!":"line-dasharray"},{"!":"line-pattern"},{source:"geojson",has:{lineMetrics:!0}}],expression:{interpolated:!0,parameters:["line-progress"]},"property-type":"color-ramp"}},paint_circle:{"circle-radius":{type:"number",default:5,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-blur":{type:"number",default:0,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"circle-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["circle-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"circle-pitch-scale":{type:"enum",values:{map:{},viewport:{}},default:"map",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"circle-pitch-alignment":{type:"enum",values:{map:{},viewport:{}},default:"viewport",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"circle-stroke-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-stroke-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-stroke-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"}},paint_heatmap:{"heatmap-radius":{type:"number",default:30,minimum:1,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"heatmap-weight":{type:"number",default:1,minimum:0,transition:!1,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"heatmap-intensity":{type:"number",default:1,minimum:0,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"heatmap-color":{type:"color",default:["interpolate",["linear"],["heatmap-density"],0,"rgba(0, 0, 255, 0)",.1,"royalblue",.3,"cyan",.5,"lime",.7,"yellow",1,"red"],transition:!1,expression:{interpolated:!0,parameters:["heatmap-density"]},"property-type":"color-ramp"},"heatmap-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"}},paint_symbol:{"icon-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-color":{type:"color",default:"#000000",transition:!0,requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-halo-color":{type:"color",default:"rgba(0, 0, 0, 0)",transition:!0,requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-halo-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-halo-blur":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"icon-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["icon-image","icon-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-color":{type:"color",default:"#000000",transition:!0,overridable:!0,requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-halo-color":{type:"color",default:"rgba(0, 0, 0, 0)",transition:!0,requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-halo-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-halo-blur":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["text-field","text-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},paint_raster:{"raster-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-hue-rotate":{type:"number",default:0,period:360,transition:!0,units:"degrees",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-brightness-min":{type:"number",default:0,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-brightness-max":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-saturation":{type:"number",default:0,minimum:-1,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-contrast":{type:"number",default:0,minimum:-1,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},resampling:{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"raster-resampling":{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"raster-fade-duration":{type:"number",default:300,minimum:0,transition:!1,units:"milliseconds",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"}},paint_hillshade:{"hillshade-illumination-direction":{type:"numberArray",default:335,minimum:0,maximum:359,transition:!1,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-illumination-altitude":{type:"numberArray",default:45,minimum:0,maximum:90,transition:!1,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-illumination-anchor":{type:"enum",values:{map:{},viewport:{}},default:"viewport",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-exaggeration":{type:"number",default:.5,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-shadow-color":{type:"colorArray",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-highlight-color":{type:"colorArray",default:"#FFFFFF",transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-accent-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-method":{type:"enum",values:{standard:{},basic:{},combined:{},igor:{},multidirectional:{}},default:"standard",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},resampling:{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},"paint_color-relief":{"color-relief-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"color-relief-color":{type:"color",transition:!1,expression:{interpolated:!0,parameters:["elevation"]},"property-type":"color-ramp"},resampling:{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},paint_background:{"background-color":{type:"color",default:"#000000",transition:!0,requires:[{"!":"background-pattern"}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"background-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"cross-faded"},"background-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"}},transition:{duration:{type:"number",default:300,minimum:0,units:"milliseconds"},delay:{type:"number",default:0,minimum:0,units:"milliseconds"}},"property-type":{"data-driven":{type:"property-type"},"cross-faded":{type:"property-type"},"cross-faded-data-driven":{type:"property-type"},"color-ramp":{type:"property-type"},"data-constant":{type:"property-type"},constant:{type:"property-type"}},promoteId:{"*":{type:"string"}},interpolation:{type:"array",value:"interpolation_name",minimum:1},interpolation_name:{type:"enum",values:{linear:{syntax:{overloads:[{parameters:[],"output-type":"interpolation"}],parameters:[]}},exponential:{syntax:{overloads:[{parameters:["base"],"output-type":"interpolation"}],parameters:[{name:"base",type:"number literal"}]}},"cubic-bezier":{syntax:{overloads:[{parameters:["x1","y1","x2","y2"],"output-type":"interpolation"}],parameters:[{name:"x1",type:"number literal"},{name:"y1",type:"number literal"},{name:"x2",type:"number literal"},{name:"y2",type:"number literal"}]}}}}},_r=ftt,htt=["type","source","source-layer","minzoom","maxzoom","filter","layout"],Qr=class{constructor(e,t,r,i,n="error"){this.message=(e?`${e}: `:"")+r,i&&(this.identifier=i),this.severity=n,t!=null&&t.__line__&&(this.line=t.__line__)}},$k={kind:"null"},Ei={kind:"number"},la={kind:"string"},La={kind:"boolean"},xv={kind:"color"},yB={kind:"projectionDefinition"},Nb={kind:"object"},ha={kind:"value"},Fdr={kind:"error"},xB={kind:"collator"},Wk={kind:"formatted"},_B={kind:"padding"},wk={kind:"colorArray"},bB={kind:"numberArray"},Yk={kind:"resolvedImage"},wB={kind:"variableAnchorOffsetCollection"};Ldr=[$k,Ei,la,La,xv,yB,Wk,Nb,Lf(ha),_B,bB,wk,Yk,wB];dtt=.96422,ptt=.82521,vtt=4/29,Qte=6/29,gtt=3*Qte*Qte,Pdr=Math.PI/180,Idr=180/Math.PI;qdr=Object.hasOwn||function(e,t){return Object.prototype.hasOwnProperty.call(e,t)};Ndr={aliceblue:[240,248,255],antiquewhite:[250,235,215],aqua:[0,255,255],aquamarine:[127,255,212],azure:[240,255,255],beige:[245,245,220],bisque:[255,228,196],black:[0,0,0],blanchedalmond:[255,235,205],blue:[0,0,255],blueviolet:[138,43,226],brown:[165,42,42],burlywood:[222,184,135],cadetblue:[95,158,160],chartreuse:[127,255,0],chocolate:[210,105,30],coral:[255,127,80],cornflowerblue:[100,149,237],cornsilk:[255,248,220],crimson:[220,20,60],cyan:[0,255,255],darkblue:[0,0,139],darkcyan:[0,139,139],darkgoldenrod:[184,134,11],darkgray:[169,169,169],darkgreen:[0,100,0],darkgrey:[169,169,169],darkkhaki:[189,183,107],darkmagenta:[139,0,139],darkolivegreen:[85,107,47],darkorange:[255,140,0],darkorchid:[153,50,204],darkred:[139,0,0],darksalmon:[233,150,122],darkseagreen:[143,188,143],darkslateblue:[72,61,139],darkslategray:[47,79,79],darkslategrey:[47,79,79],darkturquoise:[0,206,209],darkviolet:[148,0,211],deeppink:[255,20,147],deepskyblue:[0,191,255],dimgray:[105,105,105],dimgrey:[105,105,105],dodgerblue:[30,144,255],firebrick:[178,34,34],floralwhite:[255,250,240],forestgreen:[34,139,34],fuchsia:[255,0,255],gainsboro:[220,220,220],ghostwhite:[248,248,255],gold:[255,215,0],goldenrod:[218,165,32],gray:[128,128,128],green:[0,128,0],greenyellow:[173,255,47],grey:[128,128,128],honeydew:[240,255,240],hotpink:[255,105,180],indianred:[205,92,92],indigo:[75,0,130],ivory:[255,255,240],khaki:[240,230,140],lavender:[230,230,250],lavenderblush:[255,240,245],lawngreen:[124,252,0],lemonchiffon:[255,250,205],lightblue:[173,216,230],lightcoral:[240,128,128],lightcyan:[224,255,255],lightgoldenrodyellow:[250,250,210],lightgray:[211,211,211],lightgreen:[144,238,144],lightgrey:[211,211,211],lightpink:[255,182,193],lightsalmon:[255,160,122],lightseagreen:[32,178,170],lightskyblue:[135,206,250],lightslategray:[119,136,153],lightslategrey:[119,136,153],lightsteelblue:[176,196,222],lightyellow:[255,255,224],lime:[0,255,0],limegreen:[50,205,50],linen:[250,240,230],magenta:[255,0,255],maroon:[128,0,0],mediumaquamarine:[102,205,170],mediumblue:[0,0,205],mediumorchid:[186,85,211],mediumpurple:[147,112,219],mediumseagreen:[60,179,113],mediumslateblue:[123,104,238],mediumspringgreen:[0,250,154],mediumturquoise:[72,209,204],mediumvioletred:[199,21,133],midnightblue:[25,25,112],mintcream:[245,255,250],mistyrose:[255,228,225],moccasin:[255,228,181],navajowhite:[255,222,173],navy:[0,0,128],oldlace:[253,245,230],olive:[128,128,0],olivedrab:[107,142,35],orange:[255,165,0],orangered:[255,69,0],orchid:[218,112,214],palegoldenrod:[238,232,170],palegreen:[152,251,152],paleturquoise:[175,238,238],palevioletred:[219,112,147],papayawhip:[255,239,213],peachpuff:[255,218,185],peru:[205,133,63],pink:[255,192,203],plum:[221,160,221],powderblue:[176,224,230],purple:[128,0,128],rebeccapurple:[102,51,153],red:[255,0,0],rosybrown:[188,143,143],royalblue:[65,105,225],saddlebrown:[139,69,19],salmon:[250,128,114],sandybrown:[244,164,96],seagreen:[46,139,87],seashell:[255,245,238],sienna:[160,82,45],silver:[192,192,192],skyblue:[135,206,235],slateblue:[106,90,205],slategray:[112,128,144],slategrey:[112,128,144],snow:[255,250,250],springgreen:[0,255,127],steelblue:[70,130,180],tan:[210,180,140],teal:[0,128,128],thistle:[216,191,216],tomato:[255,99,71],turquoise:[64,224,208],violet:[238,130,238],wheat:[245,222,179],white:[255,255,255],whitesmoke:[245,245,245],yellow:[255,255,0],yellowgreen:[154,205,50]};ea=(Pc=class{constructor(t,r,i,n=1,a=!0){this.r=t,this.g=r,this.b=i,this.a=n,a||(this.r*=n,this.g*=n,this.b*=n,n||this.overwriteGetter("rgb",[t,r,i,n]))}static parse(t){if(t instanceof Pc)return t;if(typeof t!="string")return;let r=Odr(t);if(r)return new Pc(...r,!1)}get rgb(){let{r:t,g:r,b:i,a:n}=this,a=n||1/0;return this.overwriteGetter("rgb",[t/a,r/a,i/a,n])}get hcl(){return this.overwriteGetter("hcl",Rdr(this.rgb))}get lab(){return this.overwriteGetter("lab",ytt(this.rgb))}overwriteGetter(t,r){return Object.defineProperty(this,t,{value:r}),r}toString(){let[t,r,i,n]=this.rgb;return`rgba(${[t,r,i].map(a=>Math.round(a*255)).join(",")},${n})`}static interpolate(t,r,i,n="rgb"){switch(n){case"rgb":{let[a,o,s,l]=AT(t.rgb,r.rgb,i);return new Pc(a,o,s,l,!1)}case"hcl":{let[a,o,s,l]=t.hcl,[u,c,f,h]=r.hcl,d,p;if(!isNaN(a)&&!isNaN(u)){let b=u-a;u>a&&b>180?b-=360:u180&&(b+=360),d=a+i*b}else isNaN(a)?isNaN(u)?d=NaN:(d=u,(s===1||s===0)&&(p=c)):(d=a,(f===1||f===0)&&(p=o));let[v,m,g,w]=zdr([d,p!=null?p:X2(o,c,i),X2(s,f,i),X2(l,h,i)]);return new Pc(v,m,g,w,!1)}case"lab":{let[a,o,s,l]=xtt(AT(t.lab,r.lab,i));return new Pc(a,o,s,l,!1)}}}},Pc.black=new Pc(0,0,0,1),Pc.white=new Pc(1,1,1,1),Pc.transparent=new Pc(0,0,0,0),Pc.red=new Pc(1,0,0,1),Pc),Vdr=["bottom","center","top"],ere=class{constructor(e,t,r,i,n,a){this.text=e,this.image=t,this.scale=r,this.fontStack=i,this.textColor=n,this.verticalAlign=a}},Mm=class Iz{constructor(t){this.sections=t}static fromString(t){return new Iz([new ere(t,null,null,null,null,null)])}isEmpty(){return this.sections.length===0||!this.sections.some(t=>t.text.length!==0||t.image&&t.image.name.length!==0)}static factory(t){return t instanceof Iz?t:Iz.fromString(t)}toString(){return this.sections.length===0?"":this.sections.map(t=>t.text).join("")}},Q1=class lk{constructor(t){this.values=t.slice()}static parse(t){if(t instanceof lk)return t;if(typeof t=="number")return new lk([t,t,t,t]);if(Array.isArray(t)&&!(t.length<1||t.length>4)){for(let r of t)if(typeof r!="number")return;switch(t.length){case 1:t=[t[0],t[0],t[0],t[0]];break;case 2:t=[t[0],t[1],t[0],t[1]];break;case 3:t=[t[0],t[1],t[2],t[1]]}return new lk(t)}}toString(){return JSON.stringify(this.values)}static interpolate(t,r,i){return new lk(AT(t.values,r.values,i))}},eg=class uk{constructor(t){this.values=t.slice()}static parse(t){if(t instanceof uk)return t;if(typeof t=="number")return new uk([t]);if(Array.isArray(t)){for(let r of t)if(typeof r!="number")return;return new uk(t)}}toString(){return JSON.stringify(this.values)}static interpolate(t,r,i){return new uk(AT(t.values,r.values,i))}},Xd=class ck{constructor(t){this.values=t.slice()}static parse(t){if(t instanceof ck)return t;if(typeof t=="string"){let i=ea.parse(t);return i?new ck([i]):void 0}if(!Array.isArray(t))return;let r=[];for(let i of t){if(typeof i!="string")return;let n=ea.parse(i);if(!n)return;r.push(n)}return new ck(r)}toString(){return JSON.stringify(this.values)}static interpolate(t,r,i,n="rgb"){let a=[];if(t.values.length!=r.values.length)throw Error(`colorArray: Arrays have mismatched length (${t.values.length} vs. ${r.values.length}), cannot interpolate.`);for(let o=0;o=s)return r.error('Input/output pairs for "step" expressions must be arranged with input values in strictly ascending order.',u);let f=r.parse(l,c,a);if(!f)return null;a||(a=f.type),n.push([s,f])}return new Att(a,i,n,r.key)}evaluate(t){let r=this.labels,i=this.outputs;if(r.length===1)return i[0].evaluate(t);let n=this.input.evaluate(t);if(n<=r[0])return i[0].evaluate(t);let a=r.length;return n>=r[a-1]?i[a-1].evaluate(t):i[TB(r,n,this.key)].evaluate(t)}eachChild(t){t(this.input);for(let r of this.outputs)t(r)}outputDefined(){return this.outputs.every(t=>t.outputDefined())}};Zd=class tre{constructor(t,r,i,n,a,o){this.type=t,this.operator=r,this.interpolation=i,this.input=n,this.key=o,this.labels=[],this.outputs=[];for(let[s,l]of a)this.labels.push(s),this.outputs.push(l)}static interpolationFactor(t,r,i,n){let a=0;if(t.name==="exponential")a=Vte(r,t.base,i,n);else if(t.name==="linear")a=Vte(r,1,i,n);else if(t.name==="cubic-bezier"){let o=t.controlPoints;a=jdr(o[0],o[1],o[2],o[3])(Vte(r,1,i,n))}return a}static parse(t,r){let[i,n,a,...o]=t;if(!Array.isArray(n)||n.length===0)return r.error("Expected an interpolation type expression.",1);if(n[0]==="linear")n={name:"linear"};else if(n[0]==="exponential"){let u=n[1];if(typeof u!="number")return r.error("Exponential interpolation requires a numeric base.",1,1);n={name:"exponential",base:u}}else if(n[0]==="cubic-bezier"){let u=n.slice(1);if(u.length!==4||u.some(c=>typeof c!="number"||c<0||c>1))return r.error("Cubic bezier interpolation requires four numeric arguments with values between 0 and 1.",1);n={name:"cubic-bezier",controlPoints:u}}else return r.error(`Unknown interpolation type ${String(n[0])}`,1,0);if(t.length-1<4)return r.error(`Expected at least 4 arguments, but found only ${t.length-1}.`);if((t.length-1)%2!=0)return r.error("Expected an even number of arguments.");if(a=r.parse(a,2,Ei),!a)return null;let s=[],l=null;(i==="interpolate-hcl"||i==="interpolate-lab")&&r.expectedType!=wk?l=xv:r.expectedType&&r.expectedType.kind!=="value"&&(l=r.expectedType);for(let u=0;u=c)return r.error('Input/output pairs for "interpolate" expressions must be arranged with input values in strictly ascending order.',h);let p=r.parse(f,d,l);if(!p)return null;l||(l=p.type),s.push([c,p])}return!G2(l,Ei)&&!G2(l,yB)&&!G2(l,xv)&&!G2(l,_B)&&!G2(l,bB)&&!G2(l,wk)&&!G2(l,wB)&&!G2(l,Lf(Ei))?r.error(`Type ${ml(l)} is not interpolatable.`):new tre(l,i,n,a,s,r.key)}evaluate(t){let r=this.labels,i=this.outputs;if(r.length===1)return i[0].evaluate(t);let n=this.input.evaluate(t);if(n<=r[0])return i[0].evaluate(t);let a=r.length;if(n>=r[a-1])return i[a-1].evaluate(t);let o=TB(r,n,this.key),s=r[o],l=r[o+1],u=tre.interpolationFactor(this.interpolation,n,s,l),c=i[o].evaluate(t),f=i[o+1].evaluate(t);switch(this.operator){case"interpolate":switch(this.type.kind){case"number":return X2(c,f,u);case"color":return ea.interpolate(c,f,u);case"padding":return Q1.interpolate(c,f,u);case"colorArray":return Xd.interpolate(c,f,u);case"numberArray":return eg.interpolate(c,f,u);case"variableAnchorOffsetCollection":return X1.interpolate(c,f,u,this.key);case"array":return AT(c,f,u);case"projectionDefinition":return Lm.interpolate(c,f,u)}case"interpolate-hcl":switch(this.type.kind){case"color":return ea.interpolate(c,f,u,"hcl");case"colorArray":return Xd.interpolate(c,f,u,"hcl")}case"interpolate-lab":switch(this.type.kind){case"color":return ea.interpolate(c,f,u,"lab");case"colorArray":return Xd.interpolate(c,f,u,"lab")}}}eachChild(t){t(this.input);for(let r of this.outputs)t(r)}outputDefined(){return this.outputs.every(t=>t.outputDefined())}};$s={color:ea.interpolate,number:X2,padding:Q1.interpolate,numberArray:eg.interpolate,colorArray:Xd.interpolate,variableAnchorOffsetCollection:X1.interpolate,array:AT},Mtt=class Stt{constructor(t){this.type=Wk,this.sections=t}static parse(t,r){if(t.length<2)return r.error("Expected at least one argument.");let i=t[1];if(!Array.isArray(i)&&typeof i=="object")return r.error("First argument must be an image or text section.");let n=[],a=!1;for(let o=1;o<=t.length-1;++o){let s=t[o];if(a&&typeof s=="object"&&!Array.isArray(s)){a=!1;let l=null;if(s["font-scale"]&&(l=r.parse(s["font-scale"],1,Ei),!l))return null;let u=null;if(s["text-font"]&&(u=r.parse(s["text-font"],1,Lf(la)),!u))return null;let c=null;if(s["text-color"]&&(c=r.parse(s["text-color"],1,xv),!c))return null;let f=null;if(s["vertical-align"]){if(typeof s["vertical-align"]=="string"&&!Vdr.includes(s["vertical-align"]))return r.error(`'vertical-align' must be one of: 'bottom', 'center', 'top' but found '${s["vertical-align"]}' instead.`);if(f=r.parse(s["vertical-align"],1,la),!f)return null}let h=n[n.length-1];h.scale=l,h.font=u,h.textColor=c,h.verticalAlign=f}else{let l=r.parse(t[o],1,ha);if(!l)return null;let u=l.type.kind;if(u!=="string"&&u!=="value"&&u!=="null"&&u!=="resolvedImage")return r.error("Formatted text type must be 'string', 'value', 'image' or 'null'.");a=!0,n.push({content:l,scale:null,font:null,textColor:null,verticalAlign:null})}}return new Stt(n)}evaluate(t){return new Mm(this.sections.map(r=>{let i=r.content.evaluate(t);return Ql(i)===Yk?new ere("",i,null,null,null,r.verticalAlign?r.verticalAlign.evaluate(t):null):new ere(mk(i),null,r.scale?r.scale.evaluate(t):null,r.font?r.font.evaluate(t).join(","):null,r.textColor?r.textColor.evaluate(t):null,r.verticalAlign?r.verticalAlign.evaluate(t):null)}))}eachChild(t){for(let r of this.sections)t(r.content),r.scale&&t(r.scale),r.font&&t(r.font),r.textColor&&t(r.textColor),r.verticalAlign&&t(r.verticalAlign)}outputDefined(){return!1}};yz={string:la,number:Ei,boolean:La,object:Nb},_m=class ktt{constructor(t,r,i){this.type=t,this.args=r,this.key=i}static parse(t,r){if(t.length<2)return r.error("Expected at least one argument.");let i=1,n,a=t[0];if(a==="array"){let s;if(t.length>2){let u=t[1];if(typeof u!="string"||!(u in yz)||u==="object")return r.error('The item type argument of "array" must be one of string, number, boolean',1);s=yz[u],i++}else s=ha;let l;if(t.length>3){if(t[2]!==null&&(typeof t[2]!="number"||t[2]<0||t[2]!==Math.floor(t[2])))return r.error('The length argument to "array" must be a positive integer literal',2);l=t[2],i++}n=Lf(s,l)}else{if(!yz[a])throw Error(`Types doesn't contain name = ${a}`);n=yz[a]}let o=[];for(;it.outputDefined())}},uQe={"to-boolean":La,"to-color":xv,"to-number":Ei,"to-string":la},pT=class Ctt{constructor(t,r,i){this.type=t,this.args=r,this.key=i}static parse(t,r){if(t.length<2)return r.error("Expected at least one argument.");let i=t[0];if(!uQe[i])throw Error(`Can't parse ${i} as it is not part of the known types`);if((i==="to-boolean"||i==="to-string")&&t.length!==2)return r.error("Expected one argument.");let n=uQe[i],a=[];for(let o=1;o4?`Invalid rgba value ${JSON.stringify(r)}: expected an array containing either three or four numeric values.`:btt(r[0],r[1],r[2],r[3]),!i))return new ea(r[0]/255,r[1]/255,r[2]/255,r[3])}throw new al(i||`Could not parse color from value '${typeof r=="string"?r:JSON.stringify(r)}'`,this.key)}case"padding":{let r;for(let i of this.args){r=i.evaluate(t);let n=Q1.parse(r);if(n)return n}throw new al(`Could not parse padding from value '${typeof r=="string"?r:JSON.stringify(r)}'`,this.key)}case"numberArray":{let r;for(let i of this.args){r=i.evaluate(t);let n=eg.parse(r);if(n)return n}throw new al(`Could not parse numberArray from value '${typeof r=="string"?r:JSON.stringify(r)}'`,this.key)}case"colorArray":{let r;for(let i of this.args){r=i.evaluate(t);let n=Xd.parse(r);if(n)return n}throw new al(`Could not parse colorArray from value '${typeof r=="string"?r:JSON.stringify(r)}'`,this.key)}case"variableAnchorOffsetCollection":{let r;for(let i of this.args){r=i.evaluate(t);let n=X1.parse(r);if(n)return n}throw new al(`Could not parse variableAnchorOffsetCollection from value '${typeof r=="string"?r:JSON.stringify(r)}'`,this.key)}case"number":{let r=null;for(let i of this.args){if(r=i.evaluate(t),r===null)return 0;let n=Number(r);if(!isNaN(n))return n}throw new al(`Could not convert ${JSON.stringify(r)} to number.`,this.key)}case"formatted":return Mm.fromString(mk(this.args[0].evaluate(t)));case"resolvedImage":return Z1.fromString(mk(this.args[0].evaluate(t)));case"projectionDefinition":{let r=this.args[0].evaluate(t);if(Lm.parse(r))return r;throw new al(`Could not parse projectionDefinition from value '${typeof r=="string"?r:JSON.stringify(r)}'`,this.key)}default:return mk(this.args[0].evaluate(t))}}eachChild(t){this.args.forEach(t)}outputDefined(){return this.args.every(t=>t.outputDefined())}},Dtt=class Ftt{constructor(t,r){this.type=r.type,this.bindings=[].concat(t),this.result=r}evaluate(t){return this.result.evaluate(t)}eachChild(t){for(let r of this.bindings)t(r[1]);t(this.result)}static parse(t,r){if(t.length<4)return r.error(`Expected at least 3 arguments, but found ${t.length-1} instead.`);let i=[];for(let a=1;a=i.length)throw new al(`Array index out of bounds: ${r} > ${i.length-1}.`,this.key);if(r!==Math.floor(r))throw new al(`Array index must be an integer, but found ${r} instead.`,this.key);return i[r]}eachChild(t){t(this.index),t(this.input)}outputDefined(){return!1}},Zdr=class Rtt{constructor(t,r,i){this.needle=t,this.haystack=r,this.key=i,this.type=La}static parse(t,r){if(t.length!==3)return r.error(`Expected 2 arguments, but found ${t.length-1} instead.`);let i=r.parse(t[1],1,ha),n=r.parse(t[2],2,ha);return!i||!n?null:kie(i.type,[La,la,Ei,$k,ha])?new Rtt(i,n,r.key):r.error(`Expected first argument to be of type boolean, string, number or null, but found ${ml(i.type)} instead`)}evaluate(t){let r=this.needle.evaluate(t),i=this.haystack.evaluate(t);if(!i)return!1;if(!Ub(r,["boolean","string","number","null"]))throw new al(`Expected first argument to be of type boolean, string, number or null, but found ${ml(Ql(r))} instead.`,this.key);if(!Ub(i,["string","array"]))throw new al(`Expected second argument to be of type array or string, but found ${ml(Ql(i))} instead.`,this.key);return i.indexOf(r)>=0}eachChild(t){t(this.needle),t(this.haystack)}outputDefined(){return!0}},Kdr=class rre{constructor(t,r,i,n){this.needle=t,this.haystack=r,this.key=i,this.fromIndex=n,this.type=Ei}static parse(t,r){if(t.length<=2||t.length>=5)return r.error(`Expected 2 or 3 arguments, but found ${t.length-1} instead.`);let i=r.parse(t[1],1,ha),n=r.parse(t[2],2,ha);if(!i||!n)return null;if(!kie(i.type,[La,la,Ei,$k,ha]))return r.error(`Expected first argument to be of type boolean, string, number or null, but found ${ml(i.type)} instead`);if(t.length===4){let a=r.parse(t[3],3,Ei);return a?new rre(i,n,r.key,a):null}return new rre(i,n,r.key)}evaluate(t){let r=this.needle.evaluate(t),i=this.haystack.evaluate(t);if(!Ub(r,["boolean","string","number","null"]))throw new al(`Expected first argument to be of type boolean, string, number or null, but found ${ml(Ql(r))} instead.`,this.key);let n;if(this.fromIndex&&(n=this.fromIndex.evaluate(t)),Ub(i,["string"])){let a=i.indexOf(r,n);return a===-1?-1:[...i.slice(0,a)].length}if(Ub(i,["array"]))return i.indexOf(r,n);throw new al(`Expected second argument to be of type array or string, but found ${ml(Ql(i))} instead.`,this.key)}eachChild(t){t(this.needle),t(this.haystack),this.fromIndex&&t(this.fromIndex)}outputDefined(){return!1}},Jdr=class ztt{constructor(t,r,i,n,a,o){this.inputType=t,this.type=r,this.input=i,this.cases=n,this.outputs=a,this.otherwise=o}static parse(t,r){if(t.length<5)return r.error(`Expected at least 4 arguments, but found only ${t.length-1}.`);if(t.length%2!=1)return r.error("Expected an even number of arguments.");let i,n;r.expectedType&&r.expectedType.kind!=="value"&&(n=r.expectedType);let a={},o=[];for(let u=2;u2**53-1)return h.error(`Branch labels must be integers no larger than ${2**53-1}.`);if(typeof p=="number"&&Math.floor(p)!==p)return h.error("Numeric branch labels must be integer values.");if(!i)i=Ql(p);else if(h.checkSubtype(i,Ql(p)))return null;if(a[String(p)]!==void 0)return h.error("Branch labels must be unique.");a[String(p)]=o.length}let d=r.parse(f,u,n);if(!d)return null;n||(n=d.type),o.push(d)}let s=r.parse(t[1],1,ha);if(!s)return null;let l=r.parse(t[t.length-1],t.length-1,n);return!l||s.type.kind!=="value"&&r.concat(1).checkSubtype(i,s.type)?null:new ztt(i,n,s,a,o,l)}evaluate(t){let r=this.input.evaluate(t);return(Ql(r)===this.inputType&&this.outputs[this.cases[r]]||this.otherwise).evaluate(t)}eachChild(t){t(this.input),this.outputs.forEach(t),t(this.otherwise)}outputDefined(){return this.outputs.every(t=>t.outputDefined())&&this.otherwise.outputDefined()}},Qdr=class Btt{constructor(t,r,i){this.type=t,this.branches=r,this.otherwise=i}static parse(t,r){if(t.length<4)return r.error(`Expected at least 3 arguments, but found only ${t.length-1}.`);if(t.length%2!=0)return r.error("Expected an odd number of arguments.");let i;r.expectedType&&r.expectedType.kind!=="value"&&(i=r.expectedType);let n=[];for(let o=1;or.outputDefined())&&this.otherwise.outputDefined()}},epr=class ire{constructor(t,r,i,n,a){this.type=t,this.input=r,this.beginIndex=i,this.key=n,this.endIndex=a}static parse(t,r){if(t.length<=2||t.length>=5)return r.error(`Expected 2 or 3 arguments, but found ${t.length-1} instead.`);let i=r.parse(t[1],1,ha),n=r.parse(t[2],2,Ei);if(!i||!n)return null;if(!kie(i.type,[Lf(ha),la,ha]))return r.error(`Expected first argument to be of type array or string, but found ${ml(i.type)} instead`);if(t.length===4){let a=r.parse(t[3],3,Ei);return a?new ire(i.type,i,n,r.key,a):null}return new ire(i.type,i,n,r.key)}evaluate(t){let r=this.input.evaluate(t),i=this.beginIndex.evaluate(t),n;if(this.endIndex&&(n=this.endIndex.evaluate(t)),Ub(r,["string"]))return[...r].slice(i,n).join("");if(Ub(r,["array"]))return r.slice(i,n);throw new al(`Expected first argument to be of type array or string, but found ${ml(Ql(r))} instead.`,this.key)}eachChild(t){t(this.input),t(this.beginIndex),this.endIndex&&t(this.endIndex)}outputDefined(){return!1}},qtt=class nre{constructor(t,r){this.type=t,this.args=r}static parse(t,r){if(t.length<2)return r.error("Expected at least one argument.");let i=null,n=r.expectedType;n&&n.kind!=="value"&&(i=n);let a=[];for(let o of t.slice(1)){let s=r.parse(o,1+a.length,i,void 0,{typeAnnotation:"omit"});if(!s)return null;i||(i=s.type),a.push(s)}if(!i)throw Error("No output type");return n&&a.some(o=>Tk(n,o.type))?new nre(ha,a):new nre(i,a)}evaluate(t){let r=null,i=0,n;for(let a of this.args)if(i++,r=a.evaluate(t),r&&r instanceof Z1&&!r.available&&(n||(n=r.name),r=null,i===this.args.length&&(r=n)),r!==null)break;return r}eachChild(t){this.args.forEach(t)}outputDefined(){return this.args.every(t=>t.outputDefined())}};hpr=zT("==",tpr,Ott),dpr=zT("!=",rpr,spr),ppr=zT("<",ipr,lpr),vpr=zT(">",npr,upr),gpr=zT("<=",apr,cpr),mpr=zT(">=",opr,fpr),Utt=class Vtt{constructor(t,r,i){this.type=xB,this.locale=i,this.caseSensitive=t,this.diacriticSensitive=r}static parse(t,r){if(t.length!==2)return r.error("Expected one argument.");let i=t[1];if(typeof i!="object"||Array.isArray(i))return r.error("Collator options argument must be an object.");let n=r.parse(i["case-sensitive"]!==void 0&&i["case-sensitive"],1,La);if(!n)return null;let a=r.parse(i["diacritic-sensitive"]!==void 0&&i["diacritic-sensitive"],1,La);if(!a)return null;let o=null;return i.locale&&(o=r.parse(i.locale,1,la),!o)?null:new Vtt(n,a,o)}evaluate(t){return new Cie(this.caseSensitive.evaluate(t),this.diacriticSensitive.evaluate(t),this.locale?this.locale.evaluate(t):null)}eachChild(t){t(this.caseSensitive),t(this.diacriticSensitive),this.locale&&t(this.locale)}outputDefined(){return!1}},ypr=class Gtt{constructor(t,r,i,n,a,o){this.type=la,this.number=t,this.locale=r,this.currency=i,this.unit=n,this.minFractionDigits=a,this.maxFractionDigits=o}static parse(t,r){if(t.length!==3)return r.error("Expected two arguments.");let i=r.parse(t[1],1,Ei);if(!i)return null;let n=t[2];if(typeof n!="object"||Array.isArray(n))return r.error("NumberFormat options argument must be an object.");let a=null;if(n.locale&&(a=r.parse(n.locale,1,la),!a))return null;let o=null;if(n.currency&&(o=r.parse(n.currency,1,la),!o))return null;let s=null;if(n.unit&&(s=r.parse(n.unit,1,la),!s))return null;if(o&&s)return r.error("NumberFormat options `currency` and `unit` are mutually exclusive");let l=null;if(n["min-fraction-digits"]&&(l=r.parse(n["min-fraction-digits"],1,Ei),!l))return null;let u=null;return n["max-fraction-digits"]&&(u=r.parse(n["max-fraction-digits"],1,Ei),!u)?null:new Gtt(i,a,o,s,l,u)}evaluate(t){return new Intl.NumberFormat(this.locale?this.locale.evaluate(t):[],{style:this.currency?"currency":this.unit?"unit":"decimal",currency:this.currency?this.currency.evaluate(t):void 0,unit:this.unit?this.unit.evaluate(t):void 0,minimumFractionDigits:this.minFractionDigits?this.minFractionDigits.evaluate(t):void 0,maximumFractionDigits:this.maxFractionDigits?this.maxFractionDigits.evaluate(t):void 0}).format(this.number.evaluate(t))}eachChild(t){t(this.number),this.locale&&t(this.locale),this.currency&&t(this.currency),this.unit&&t(this.unit),this.minFractionDigits&&t(this.minFractionDigits),this.maxFractionDigits&&t(this.maxFractionDigits)}outputDefined(){return!1}},xpr=class Htt{constructor(t){this.type=Yk,this.input=t}static parse(t,r){if(t.length!==2)return r.error("Expected two arguments.");let i=r.parse(t[1],1,la);return i?new Htt(i):r.error("No image name provided.")}evaluate(t){let r=this.input.evaluate(t),i=Z1.fromString(r);return i&&t.availableImages&&(i.available=t.availableImages.indexOf(r)>-1),i}eachChild(t){t(this.input)}outputDefined(){return!1}},_pr=class jtt{constructor(t,r){this.input=t,this.key=r,this.type=Ei}static parse(t,r){if(t.length!==2)return r.error(`Expected 1 argument, but found ${t.length-1} instead.`);let i=r.parse(t[1],1);return i?i.type.kind!=="array"&&i.type.kind!=="string"&&i.type.kind!=="value"?r.error(`Expected argument of type string or array, but found ${ml(i.type)} instead.`):new jtt(i,r.key):null}evaluate(t){let r=this.input.evaluate(t);if(typeof r=="string")return[...r].length;if(Array.isArray(r))return r.length;throw new al(`Expected value to be of type string or array, but found ${ml(Ql(r))} instead.`,this.key)}eachChild(t){t(this.input)}outputDefined(){return!1}},Y1=8192;Pie=class zz{constructor(t,r){this.type=La,this.geojson=t,this.geometries=r}static parse(t,r){if(t.length!==2)return r.error(`'within' expression requires exactly one argument, but found ${t.length-1} instead.`);if(MT(t[1])){let i=t[1];if(i.type==="FeatureCollection"){let n=[];for(let a of i.features){let{type:o,coordinates:s}=a.geometry;o==="Polygon"&&n.push(s),o==="MultiPolygon"&&n.push(...s)}if(n.length)return new zz(i,{type:"MultiPolygon",coordinates:n})}else if(i.type==="Feature"){let n=i.geometry.type;if(n==="Polygon"||n==="MultiPolygon")return new zz(i,i.geometry)}else if(i.type==="Polygon"||i.type==="MultiPolygon")return new zz(i,i)}return r.error("'within' expression requires valid geojson object that contains polygon geometry type.")}evaluate(t){if(t.geometry()!=null&&t.canonicalID()!=null){if(t.geometryType()==="Point")return Ppr(t,this.geometries);if(t.geometryType()==="LineString")return Ipr(t,this.geometries)}return!1}eachChild(){}outputDefined(){return!0}},Xtt=class{constructor(e=[],t=(r,i)=>ri)){if(this.data=e,this.length=this.data.length,this.compare=t,this.length>0)for(let r=(this.length>>1)-1;r>=0;r--)this._down(r)}push(e){this.data.push(e),this._up(this.length++)}pop(){if(this.length===0)return;let e=this.data[0],t=this.data.pop();return--this.length>0&&(this.data[0]=t,this._down(0)),e}peek(){return this.data[0]}_up(e){let{data:t,compare:r}=this,i=t[e];for(;e>0;){let n=e-1>>1,a=t[n];if(r(i,a)>=0)break;t[e]=a,e=n}t[e]=i}_down(e){let{data:t,compare:r}=this,i=this.length>>1,n=t[e];for(;e=0)break;t[e]=t[a],e=a}t[e]=n}},pQe=Math.PI/180,Iie=class{constructor(e){let t=pQe*6378.137*1e3,r=Math.cos(e*pQe),i=1/(1-.0066943799901413165*(1-r*r)),n=Math.sqrt(i);this.kx=t*n*r,this.ky=t*n*i*.9933056200098587}distance(e,t){let r=this.wrap(e[0]-t[0])*this.kx,i=(e[1]-t[1])*this.ky;return Math.sqrt(r*r+i*i)}pointOnLine(e,t){let r=1/0,i,n,a,o;for(let s=0;s1?(l=e[s+1][0],u=e[s+1][1]):h>0&&(l+=c/this.kx*h,u+=f/this.ky*h)),c=this.wrap(t[0]-l)*this.kx,f=(t[1]-u)*this.ky;let d=c*c+f*f;d180;)e-=360;return e}};Bie=class Bz{constructor(t,r){this.type=Ei,this.geojson=t,this.geometries=r}static parse(t,r){if(t.length!==2)return r.error(`'distance' expression requires exactly one argument, but found ${t.length-1} instead.`);if(MT(t[1])){let i=t[1];if(i.type==="FeatureCollection")return new Bz(i,i.features.map(n=>Gte(n.geometry)).flat());if(i.type==="Feature")return new Bz(i,Gte(i.geometry));if("type"in i&&"coordinates"in i)return new Bz(i,Gte(i))}return r.error("'distance' expression requires valid geojson object that contains polygon geometry type.")}evaluate(t){if(t.geometry()!=null&&t.canonicalID()!=null){if(t.geometryType()==="Point")return Npr(t,this.geometries);if(t.geometryType()==="LineString")return Upr(t,this.geometries);if(t.geometryType()==="Polygon")return Vpr(t,this.geometries)}return NaN}eachChild(){}outputDefined(){return!0}},Gpr=class Ktt{constructor(t){let r=null;for(let i of t)if(!r)r=i.type;else{if(r===i.type)continue;r=ha;break}this.type=Lf(r!=null?r:ha,t.length),this.arr=t}static parse(t,r){if(t.length!==2)return r.error(`'semiliteral' expression requires exactly one argument, but found ${t.length-1} instead.`);if(!MT(t[1]))return r.error(`invalid value of type "${typeof t[1]}"`);let i=t[1],n=Ql(i);if(n.kind==="array"){let a=i.map(o=>r.parse(o,null,ha));return new Ktt(a)}return new ST(n,i)}evaluate(t){return this.arr.map(r=>r.evaluate(t))}eachChild(t){this.arr.forEach(t)}outputDefined(){return this.arr.every(t=>t.outputDefined())}},qie=class Jtt{constructor(t){this.key=t,this.type=ha}static parse(t,r){if(t.length!==2)return r.error(`Expected 1 argument, but found ${t.length-1} instead.`);let i=t[1];return i==null?r.error("Global state property must be defined."):typeof i=="string"?new Jtt(i):r.error(`Global state property must be string, but found ${typeof t[1]} instead.`)}evaluate(t){var i,n;let r=(i=t.globals)==null?void 0:i.globalState;return!r||Object.keys(r).length===0?null:(n=gk(r,this.key))!=null?n:null}eachChild(){}outputDefined(){return!1}},mT={"==":hpr,"!=":dpr,">":vpr,"<":ppr,">=":mpr,"<=":gpr,array:_m,at:Xdr,boolean:_m,case:Qdr,coalesce:qtt,collator:Utt,format:Mtt,image:xpr,in:Zdr,"index-of":Kdr,interpolate:Zd,"interpolate-hcl":Zd,"interpolate-lab":Zd,length:_pr,let:Dtt,literal:ST,match:Jdr,number:_m,"number-format":ypr,object:_m,semiliteral:Gpr,slice:epr,step:Die,string:_m,"to-boolean":pT,"to-color":pT,"to-number":pT,"to-string":pT,var:Ltt,within:Pie,distance:Bie,"global-state":qie},$1=class extends Error{constructor(e,t){super(t),this.message=t,this.key=e}},Hpr=class Qtt{constructor(t,r=[]){this.parent=t,this.bindings={};for(let[i,n]of r)this.bindings[i]=n}concat(t){return new Qtt(this,t)}get(t){if(this.bindings[t])return this.bindings[t];if(this.parent)return this.parent.get(t);throw Error(`${t} not found in scope.`)}has(t){return this.bindings[t]?!0:this.parent?this.parent.has(t):!1}},ert=class trt{constructor(t,r,i=[],n,a=new Hpr,o=[]){this.registry=t,this.path=i,this.key=i.map(s=>`[${s}]`).join(""),this.scope=a,this.errors=o,this.expectedType=n,this._isConstant=r}parse(t,r,i,n,a={}){return r?this.concat(r,i,n)._parse(t,a):this._parse(t,a)}_parse(t,r){(t===null||typeof t=="string"||typeof t=="boolean"||typeof t=="number")&&(t=["literal",t]);let i=this.key;function n(a,o,s){return s==="assert"?new _m(o,[a],i):s==="coerce"?new pT(o,[a],i):a}if(Array.isArray(t)){if(t.length===0)return this.error('Expected an array with at least one element. If you wanted a literal array, use ["literal", []].');let a=t[0];if(typeof a!="string")return this.error(`Expression name must be a string, but found ${typeof a} instead. If you wanted a literal array, use ["literal", [...]].`,0),null;let o=this.registry[a];if(o){let s=o.parse(t,this);if(!s)return null;if(this.expectedType){let l=this.expectedType,u=s.type;if((l.kind==="string"||l.kind==="number"||l.kind==="boolean"||l.kind==="object"||l.kind==="array")&&u.kind==="value")s=n(s,l,r.typeAnnotation||"assert");else if(l.kind==="projectionDefinition"&&["string","array","value"].includes(u.kind)||["color","formatted","resolvedImage"].includes(l.kind)&&["value","string"].includes(u.kind)||["padding","numberArray"].includes(l.kind)&&["value","number","array"].includes(u.kind)||l.kind==="colorArray"&&["value","string","array"].includes(u.kind)||l.kind==="variableAnchorOffsetCollection"&&["value","array"].includes(u.kind))s=n(s,l,r.typeAnnotation||"coerce");else if(this.checkSubtype(l,u))return null}if(!(s instanceof ST)&&s.type.kind!=="resolvedImage"&&this._isConstant(s)){let l=new Ttt;try{s=new ST(s.type,s.evaluate(l))}catch(u){return this.error(u.message),null}}return s}return this.error(`Unknown expression "${a}". If you wanted a literal array, use ["literal", [...]].`,0)}return t===void 0?this.error("'undefined' value invalid. Use null instead."):typeof t=="object"?this.error('Bare objects invalid. Use ["literal", {...}] instead.'):this.error(`Expected an array, but found ${typeof t} instead.`)}concat(t,r,i){let n=typeof t=="number"?this.path.concat(t):this.path,a=i?this.scope.concat(i):this.scope;return new trt(this.registry,this._isConstant,n,r||null,a,this.errors)}error(t,...r){let i=`${this.key}${r.map(n=>`[${n}]`).join("")}`;this.errors.push(new $1(i,t))}checkSubtype(t,r){let i=Tk(t,r);return i&&this.error(i),i}},Jb=class fk{constructor(t,r,i,n,a){this.name=t,this.type=r,this._evaluate=i,this.args=n,this.key=a}evaluate(t){return this._evaluate(t,this.args,this.key)}eachChild(t){this.args.forEach(t)}outputDefined(){return!1}static parse(t,r){let i=t[0],n=fk.definitions[i];if(!n)return r.error(`Unknown expression "${i}". If you wanted a literal array, use ["literal", [...]].`,0);let a=Array.isArray(n)?n[0]:n.type,o=Array.isArray(n)?[[n[1],n[2]]]:n.overloads,s=o.filter(([u])=>!Array.isArray(u)||u.length===t.length-1),l=null;for(let[u,c]of s){l=new ert(r.registry,jz,r.path,null,r.scope);let f=[],h=!1;for(let d=1;d$pr(f)).join(" | "),c=[];for(let f=1;f{throw new al(t.evaluate(e),r)}],typeof:[la,[ha],(e,[t])=>ml(Ql(t.evaluate(e)))],"to-rgba":[Lf(Ei,4),[xv],(e,[t])=>{let[r,i,n,a]=t.evaluate(e).rgb;return[r*255,i*255,n*255,a]}],rgb:[xv,[Ei,Ei,Ei],yQe],rgba:[xv,[Ei,Ei,Ei,Ei],yQe],has:{type:La,overloads:[[[la],(e,[t])=>xQe(t.evaluate(e),e.properties())],[[la,Nb],(e,[t,r])=>xQe(t.evaluate(e),r.evaluate(e))]]},get:{type:ha,overloads:[[[la],(e,[t])=>Hte(t.evaluate(e),e.properties())],[[la,Nb],(e,[t,r])=>Hte(t.evaluate(e),r.evaluate(e))]]},"feature-state":[ha,[la],(e,[t])=>Hte(t.evaluate(e),e.featureState||{})],properties:[Nb,[],e=>e.properties()],"geometry-type":[la,[],e=>e.geometryType()],id:[ha,[],e=>e.id()],zoom:[Ei,[],e=>e.globals.zoom],"heatmap-density":[Ei,[],e=>e.globals.heatmapDensity||0],elevation:[Ei,[],e=>e.globals.elevation||0],"line-progress":[Ei,[],e=>e.globals.lineProgress||0],accumulated:[ha,[],e=>e.globals.accumulated===void 0?null:e.globals.accumulated],"+":[Ei,Pb(Ei),(e,t)=>{let r=0;for(let i of t)r+=i.evaluate(e);return r}],"*":[Ei,Pb(Ei),(e,t)=>{let r=1;for(let i of t)r*=i.evaluate(e);return r}],"-":{type:Ei,overloads:[[[Ei,Ei],(e,[t,r])=>t.evaluate(e)-r.evaluate(e)],[[Ei],(e,[t])=>-t.evaluate(e)]]},"/":[Ei,[Ei,Ei],(e,[t,r])=>t.evaluate(e)/r.evaluate(e)],"%":[Ei,[Ei,Ei],(e,[t,r])=>t.evaluate(e)%r.evaluate(e)],ln2:[Ei,[],()=>Math.LN2],pi:[Ei,[],()=>Math.PI],e:[Ei,[],()=>Math.E],"^":[Ei,[Ei,Ei],(e,[t,r])=>t.evaluate(e)**+r.evaluate(e)],sqrt:[Ei,[Ei],(e,[t])=>Math.sqrt(t.evaluate(e))],log10:[Ei,[Ei],(e,[t])=>Math.log(t.evaluate(e))/Math.LN10],ln:[Ei,[Ei],(e,[t])=>Math.log(t.evaluate(e))],log2:[Ei,[Ei],(e,[t])=>Math.log(t.evaluate(e))/Math.LN2],sin:[Ei,[Ei],(e,[t])=>Math.sin(t.evaluate(e))],cos:[Ei,[Ei],(e,[t])=>Math.cos(t.evaluate(e))],tan:[Ei,[Ei],(e,[t])=>Math.tan(t.evaluate(e))],asin:[Ei,[Ei],(e,[t])=>Math.asin(t.evaluate(e))],acos:[Ei,[Ei],(e,[t])=>Math.acos(t.evaluate(e))],atan:[Ei,[Ei],(e,[t])=>Math.atan(t.evaluate(e))],min:[Ei,Pb(Ei),(e,t)=>Math.min(...t.map(r=>r.evaluate(e)))],max:[Ei,Pb(Ei),(e,t)=>Math.max(...t.map(r=>r.evaluate(e)))],abs:[Ei,[Ei],(e,[t])=>Math.abs(t.evaluate(e))],round:[Ei,[Ei],(e,[t])=>{let r=t.evaluate(e);return r<0?-Math.round(-r):Math.round(r)}],floor:[Ei,[Ei],(e,[t])=>Math.floor(t.evaluate(e))],ceil:[Ei,[Ei],(e,[t])=>Math.ceil(t.evaluate(e))],"filter-==":[La,[la,ha],(e,[t,r])=>e.properties()[t.value]===r.value],"filter-id-==":[La,[ha],(e,[t])=>e.id()===t.value],"filter-type-==":[La,[la],(e,[t])=>e.geometryType()===t.value],"filter-<":[La,[la,ha],(e,[t,r])=>{let i=e.properties()[t.value],n=r.value;return typeof i==typeof n&&i{let r=e.id(),i=t.value;return typeof r==typeof i&&r":[La,[la,ha],(e,[t,r])=>{let i=e.properties()[t.value],n=r.value;return typeof i==typeof n&&i>n}],"filter-id->":[La,[ha],(e,[t])=>{let r=e.id(),i=t.value;return typeof r==typeof i&&r>i}],"filter-<=":[La,[la,ha],(e,[t,r])=>{let i=e.properties()[t.value],n=r.value;return typeof i==typeof n&&i<=n}],"filter-id-<=":[La,[ha],(e,[t])=>{let r=e.id(),i=t.value;return typeof r==typeof i&&r<=i}],"filter->=":[La,[la,ha],(e,[t,r])=>{let i=e.properties()[t.value],n=r.value;return typeof i==typeof n&&i>=n}],"filter-id->=":[La,[ha],(e,[t])=>{let r=e.id(),i=t.value;return typeof r==typeof i&&r>=i}],"filter-has":[La,[ha],(e,[t])=>{let r=t.value,i=e.properties();return r in i&&i[r]!==void 0}],"filter-has-id":[La,[],e=>e.id()!==null&&e.id()!==void 0],"filter-type-in":[La,[Lf(la)],(e,[t])=>t.value.indexOf(e.geometryType())>=0],"filter-id-in":[La,[Lf(ha)],(e,[t])=>t.value.indexOf(e.id())>=0],"filter-in-small":[La,[la,Lf(ha)],(e,[t,r])=>r.value.indexOf(e.properties()[t.value])>=0],"filter-in-large":[La,[la,Lf(ha)],(e,[t,r])=>jpr(e.properties()[t.value],r.value,0,r.value.length-1)],all:{type:La,overloads:[[[La,La],(e,[t,r])=>t.evaluate(e)&&r.evaluate(e)],[Pb(La),(e,t)=>{for(let r of t)if(!r.evaluate(e))return!1;return!0}]]},any:{type:La,overloads:[[[La,La],(e,[t,r])=>t.evaluate(e)||r.evaluate(e)],[Pb(La),(e,t)=>{for(let r of t)if(r.evaluate(e))return!0;return!1}]]},"!":[La,[La],(e,[t])=>!t.evaluate(e)],"is-supported-script":[La,[la],(e,[t])=>{let r=e.globals&&e.globals.isSupportedScript;return!r||r(t.evaluate(e))}],upcase:[la,[la],(e,[t])=>t.evaluate(e).toUpperCase()],downcase:[la,[la],(e,[t])=>t.evaluate(e).toLowerCase()],concat:[la,Pb(ha),(e,t)=>t.map(r=>mk(r.evaluate(e))).join("")],split:[Lf(la),[la,la],(e,[t,r])=>t.evaluate(e).split(r.evaluate(e))],join:[la,[Lf(la),la],(e,[t,r])=>t.evaluate(e).join(r.evaluate(e))],"resolved-locale":[la,[xB],(e,[t])=>t.evaluate(e).resolvedLocale()]});Nie=/^(.*)-transition$/;Uie=class{constructor(e,t,r,i){this.expression=e,this._warningHistory={},this._evaluator=new Ttt,this._defaultValue=r?crt(r):null,this._enumValues=r&&r.type==="enum"?r.values:null,this._globalState=i,this._rootKey=t}evaluateWithoutErrorHandling(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._evaluator.globals=e,this._evaluator.feature=t,this._evaluator.featureState=r,this._evaluator.canonical=i,this._evaluator.availableImages=n||null,this._evaluator.formattedSection=a,this.expression.evaluate(this._evaluator)}evaluate(e,t,r,i,n,a){this._globalState&&(e=kT(e,this._globalState)),this._evaluator.globals=e,this._evaluator.feature=t||null,this._evaluator.featureState=r||null,this._evaluator.canonical=i,this._evaluator.availableImages=n||null,this._evaluator.formattedSection=a||null;try{let o=this.expression.evaluate(this._evaluator);if(o==null||typeof o=="number"&&o!==o)return this._defaultValue;if(this._enumValues&&!(o in this._enumValues))throw new al(`Expected value to be one of ${Object.keys(this._enumValues).map(s=>JSON.stringify(s)).join(", ")}, but found ${JSON.stringify(o)} instead.`,"");return o}catch(o){let s=o instanceof al?o.path:"",l=`${s}|${o.message}`;return this._warningHistory[l]||(this._warningHistory[l]=!0,typeof console<"u"&&console.warn(art(this._rootKey,s,o.message,this._defaultValue))),this._defaultValue}}};Ek=class{constructor(e,t,r){this.kind=e,this._styleExpression=t,this.isStateDependent=e!=="constant"&&!Mk(t.expression),this.globalStateRefs=Kk(t.expression),this._globalState=r}evaluateWithoutErrorHandling(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluateWithoutErrorHandling(e,t,r,i,n,a)}evaluate(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluate(e,t,r,i,n,a)}},$z=class{constructor(e,t,r,i,n){this.kind=e,this.zoomStops=r,this._styleExpression=t,this.isStateDependent=e!=="camera"&&!Mk(t.expression),this.globalStateRefs=Kk(t.expression),this.interpolationType=i,this._globalState=n}evaluateWithoutErrorHandling(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluateWithoutErrorHandling(e,t,r,i,n,a)}evaluate(e,t,r,i,n,a){return this._globalState&&(e=kT(e,this._globalState)),this._styleExpression.evaluate(e,t,r,i,n,a)}interpolationFactor(e,t,r){return this.interpolationType?Zd.interpolationFactor(this.interpolationType,e,t,r):0}};lrt=class urt{constructor(t,r,i){this.isStateDependent=!1,this.globalStateRefs=new Set,this._globalState=null,ort(r),this._parameters=t,this._specification=i,this._rootKey=r,this._defaultValue=crt(i),this._warningHistory={};let n=irt(this._parameters,this._specification);this.kind=n.kind,this.interpolationFactor=n.interpolationFactor,this.zoomStops=n.zoomStops,this.interpolationType=n.interpolationType,this._innerEvaluate=n.evaluate}evaluate(t,r){try{return this._innerEvaluate(t,r)}catch(i){let n=i instanceof Error?i.message:String(i),a=`|${n}`;return this._warningHistory[a]||(this._warningHistory[a]=!0,typeof console<"u"&&console.warn(art(this._rootKey,"",n,this._defaultValue))),this._defaultValue}}static deserialize(t){return new urt(t._parameters,t._rootKey,t._specification)}static serialize(t){return{_parameters:t._parameters,_specification:t._specification,_rootKey:t._rootKey}}};ovr={type:"boolean",default:!1,transition:!1,"property-type":"data-driven",expression:{interpolated:!1,parameters:["zoom","feature"]}};TQe={promoteId:dvr};AQe=1114111,Avr=/^u\+(?:([0-9a-f]{1,6})(?:-([0-9a-f]{1,6}))?|([0-9a-f]{0,5}\?{1,6}))$/i;MQe={"*"(){return[]},array:Hie,boolean:uvr,number:FB,color:ure,constants:prt,enum:kk,filter:jie,function:vrt,layer:_rt,object:I0,source:brt,light:wrt,sky:Trt,terrain:Art,projection:_vr,projectionDefinition:bvr,string:J2,formatted:pvr,resolvedImage:vvr,padding:gvr,numberArray:mvr,colorArray:yvr,variableAnchorOffsetCollection:xvr,sprite:Mrt,state:Srt,fontFaces:Ert};P0.source=jd(Hd(brt)),P0.sprite=jd(Hd(Mrt)),P0.glyphs=jd(Hd(krt)),P0.fontFaces=jd(Hd(Ert)),P0.light=jd(Hd(wrt)),P0.sky=jd(Hd(Trt)),P0.terrain=jd(Hd(Art)),P0.state=jd(Hd(Srt)),P0.layer=jd(Hd(_rt)),P0.filter=jd(Hd(jie)),P0.paintProperty=jd(Hd(yrt)),P0.layoutProperty=jd(Hd(xrt));Svr={type:"enum","property-type":"data-constant",expression:{interpolated:!1,parameters:["global-state"]},values:{visible:{},none:{}},transition:!1,default:"visible"},Evr=class{constructor(e,t,r){this._rootKey=t,this._globalState=r,this.setValue(e)}evaluate(){var e;return(e=this._literalValue)!=null?e:this._compiledValue.evaluate({})}setValue(e){if(e==null||e==="visible"||e==="none"){this._literalValue=e==="none"?"none":"visible",this._compiledValue=void 0,this._globalStateRefs=new Set;return}let t=DB(e,this._rootKey,Svr,this._globalState);if(t.result==="error")throw this._literalValue="visible",this._compiledValue=void 0,Error(t.value.map(r=>`${r.key}: ${r.message}`).join(", "));this._literalValue=void 0,this._compiledValue=t.value,this._globalStateRefs=Kk(t.value.expression)}getGlobalStateRefs(){return this._globalStateRefs}};ch=P0,$ie=new Set(Object.keys(_r).filter(e=>e.startsWith("source_")).map(e=>e.slice(7).replaceAll("_","-")));fre=class Drt{constructor(t,r,i){let n=this.cells=[];if(t instanceof ArrayBuffer){this.arrayBuffer=t;let o=new Int32Array(this.arrayBuffer);t=o[0],r=o[1],i=o[2],this.d=r+2*i;for(let u=0;u=f[d+0]&&n>=f[d+1])?(s[h]=!0,o.push(c[h])):s[h]=!1}}}_forEachCell(t,r,i,n,a,o,s,l){let u=this._convertToCellCoord(t),c=this._convertToCellCoord(r),f=this._convertToCellCoord(i),h=this._convertToCellCoord(n);for(let d=u;d<=f;d++)for(let p=c;p<=h;p++){let v=this.d*p+d;if((!l||l(this._convertFromCellCoord(d),this._convertFromCellCoord(p),this._convertFromCellCoord(d+1),this._convertFromCellCoord(p+1)))&&a.call(this,t,r,i,n,v,o,s,l))return}}_convertFromCellCoord(t){return(t-this.padding)/this.scale}_convertToCellCoord(t){return Math.max(0,Math.min(this.d-1,Math.floor(t*this.scale)+this.padding))}toArrayBuffer(){if(this.arrayBuffer)return this.arrayBuffer;let t=this.cells,r=3+this.cells.length+1+1,i=0;for(let o of this.cells)i+=o.length;let n=new Int32Array(r+i+this.keys.length+this.bboxes.length);n[0]=this.extent,n[1]=this.n,n[2]=this.padding;let a=r;for(let o=0;or?(this.lastIntegerZoom=r+1,this.lastIntegerZoomTime=t):this.lastFloorZoomthis.zoomHistory.lastIntegerZoom?{fromScale:2,toScale:1,t:t+(1-t)*r}:{fromScale:.5,toScale:1,t:1-(1-r)*t}}},PB="-transition",IB=class{constructor(e,t,r,i){this.property=e,this.value=t,this.expression=tvr(t===void 0?e.specification.default:t,r,e.specification,i)}isDataDriven(){return this.expression.kind==="source"||this.expression.kind==="composite"}getGlobalStateRefs(){return this.expression.globalStateRefs||new Set}possiblyEvaluate(e,t,r){return this.property.possiblyEvaluate(this,e,t,r)}},hre=class{constructor(e,t,r){this.property=e,this.value=new IB(e,void 0,t,r)}transitioned(e,t){return new SQe(this.property,this.value,t,ln({},e.transition,this.transition),e.now)}untransitioned(){return new SQe(this.property,this.value,null,{},0)}},Jk=class{constructor(e,t,r){this._properties=e,this._values=Object.create(e.defaultTransitionablePropertyValues),this._globalState=r,this._rootKey=t}_propertyRootKey(e){return`${this._rootKey}.${String(e)}`}hasProperty(e){return e in this._properties.defaultTransitionablePropertyValues}getValue(e){return lh(this._values[e].value.value)}setValue(e,t){Object.hasOwn(this._values,e)||(this._values[e]=new hre(this._values[e].property,this._propertyRootKey(e),this._globalState)),this._values[e].value=new IB(this._values[e].property,t===null?void 0:lh(t),this._propertyRootKey(e),this._globalState)}getTransition(e){return lh(this._values[e].transition)}setTransition(e,t){Object.hasOwn(this._values,e)||(this._values[e]=new hre(this._values[e].property,this._propertyRootKey(e),this._globalState)),this._values[e].transition=lh(t)||void 0}serialize(){let e={};for(let t of Object.keys(this._values)){let r=this.getValue(t);r!==void 0&&(e[t]=r);let i=this.getTransition(t);i!==void 0&&(e[`${t}${PB}`]=i)}return e}transitioned(e,t){let r=new EQe(this._properties);for(let i of Object.keys(this._values))r._values[i]=this._values[i].transitioned(e,t._values[i]);return r}untransitioned(){let e=new EQe(this._properties);for(let t of Object.keys(this._values))e._values[t]=this._values[t].untransitioned();return e}},SQe=class{constructor(e,t,r,i,n){this.property=e,this.value=t,this.begin=n+i.delay||0,this.end=this.begin+i.duration||0,e.specification.transition&&(i.delay||i.duration)&&(this.prior=r)}possiblyEvaluate(e,t,r){let i=e.now||0,n=this.value.possiblyEvaluate(e,t,r),a=this.prior;if(!a)return n;if(i>this.end||this.value.isDataDriven())return this.prior=null,n;if(ii.zoomHistory.lastIntegerZoom?{from:e,to:t}:{from:r,to:t}}interpolate(e){return e}},Irt=class{constructor(e,t){this.specification=e,this.name=t}possiblyEvaluate(e,t,r,i){if(e.value!==void 0){if(e.expression.kind==="constant"){let n=e.expression.evaluate(t,null,{},r,i);return this._calculate(n,n,n,t)}return this._calculate(e.expression.evaluate(new Co(Math.floor(t.zoom-1),t)),e.expression.evaluate(new Co(Math.floor(t.zoom),t)),e.expression.evaluate(new Co(Math.floor(t.zoom+1),t)),t)}}_calculate(e,t,r,i){return i.zoom>i.zoomHistory.lastIntegerZoom?{from:e,to:t}:{from:r,to:t}}interpolate(e){return e}},zB=class{constructor(e,t){this.specification=e,this.name=t}possiblyEvaluate(e,t,r,i){return!!e.expression.evaluate(t,null,{},r,i)}interpolate(){return!1}},uc=class{constructor(e){this.properties=e,this.defaultPropertyValues={},this.defaultTransitionablePropertyValues={},this.defaultTransitioningPropertyValues={},this.defaultPossiblyEvaluatedValues={},this.overridableProperties=[];for(let t in e){let r=e[t];r.specification.overridable&&this.overridableProperties.push(t);let i=this.defaultPropertyValues[t]=new IB(r,void 0,r.name,void 0),n=this.defaultTransitionablePropertyValues[t]=new hre(r,r.name,void 0);this.defaultTransitioningPropertyValues[t]=n.untransitioned(),this.defaultPossiblyEvaluatedValues[t]=i.possiblyEvaluate({})}}};Ui("DataDrivenProperty",Sn),Ui("DataConstantProperty",Fi),Ui("CrossFadedDataDrivenProperty",Ck),Ui("CrossFadedProperty",Irt),Ui("ColorRampProperty",zB);CQe=" is a PAINT property not a LAYOUT property. Use get/setPaintProperty instead?",Wte=" is a LAYOUT property not a PAINT property. Use get/setLayoutProperty instead?",Av=class extends mu{constructor(e,t,r){if(super(),this.id=e.id,this.type=e.type,this._globalState=r,this._featureFilter={filter:()=>!0,needGeometry:!1,getGlobalStateRefs:()=>new Set},this._visibilityExpression=kvr(this.visibility,`layers[${this.id}].layout.visibility`,r),e.type!=="custom"&&(this.metadata=e.metadata,this.minzoom=e.minzoom,this.maxzoom=e.maxzoom,e.type!=="background"&&(this.source=e.source,this.sourceLayer=e["source-layer"],this.filter=e.filter,this._featureFilter=CT(e.filter,`layers[${this.id}].filter`,r)),t.layout&&(this._unevaluatedLayout=new Fvr(t.layout,`layers[${this.id}].layout`,r)),t.paint)){this._transitionablePaint=new Jk(t.paint,`layers[${this.id}].paint`,r);for(let i in e.paint)this.setPaintProperty(i,e.paint[i],{validate:!1});for(let i in e.layout)this.setLayoutProperty(i,e.layout[i],{validate:!1});this._transitioningPaint=this._transitionablePaint.untransitioned(),this.paint=new RB(t.paint)}}setFilter(e){this.filter=e,this._featureFilter=CT(e,`layers[${this.id}].filter`,this._globalState)}getCrossfadeParameters(){return this._crossfadeParameters}getLayoutProperty(e){var t;if(e==="visibility")return this.visibility;if((t=this._transitionablePaint)!=null&&t.hasProperty(e))throw Error(e+CQe);if(!this._unevaluatedLayout)throw Error(`Cannot get layout property "${e}" on layer type "${this.type}" which has no layout properties.`);return this._unevaluatedLayout.getValue(e)}getLayoutAffectingGlobalStateRefs(){let e=new Set;for(let t of this._visibilityExpression.getGlobalStateRefs())e.add(t);if(this._unevaluatedLayout)for(let t in this._unevaluatedLayout._values){let r=this._unevaluatedLayout._values[t];for(let i of r.getGlobalStateRefs())e.add(i)}for(let t of this._featureFilter.getGlobalStateRefs())e.add(t);return e}getPaintAffectingGlobalStateRefs(){var t;let e=new globalThis.Map;if(this._transitionablePaint)for(let r in this._transitionablePaint._values){let i=this._transitionablePaint._values[r].value;for(let n of i.getGlobalStateRefs()){let a=(t=e.get(n))!=null?t:[];a.push({name:r,value:i.value}),e.set(n,a)}}return e}getVisibilityAffectingGlobalStateRefs(){return this._visibilityExpression.getGlobalStateRefs()}setLayoutProperty(e,t,r={}){var i;if(e==="visibility"){this.visibility=t,this._visibilityExpression.setValue(t),this.recalculateVisibility();return}if((i=this._transitionablePaint)!=null&&i.hasProperty(e)){this.fire(new An(Error(e+CQe)));return}t!=null&&this._validate(ch.layoutProperty,`layers.${this.id}.layout.${e}`,e,t,r)||this._unevaluatedLayout.setValue(e,t)}getPaintProperty(e){var t,r;if(e.endsWith("-transition")){let i=e.slice(0,-11);if(i==="visibility"||(t=this._unevaluatedLayout)!=null&&t.hasProperty(i))throw Error(e+Wte);return this._transitionablePaint.getTransition(i)}if(e==="visibility"||(r=this._unevaluatedLayout)!=null&&r.hasProperty(e))throw Error(e+Wte);return this._transitionablePaint.getValue(e)}setPaintProperty(e,t,r={}){var i;if(e==="visibility"||(i=this._unevaluatedLayout)!=null&&i.hasProperty(e))return this.fire(new An(Error(e+Wte))),!1;if(t!=null&&this._validate(ch.paintProperty,`layers.${this.id}.paint.${e}`,e,t,r))return!1;if(e.endsWith("-transition"))return this._transitionablePaint.setTransition(e.slice(0,-11),t||void 0),!1;{let n=this._transitionablePaint._values[e],a=n.property.specification["property-type"]==="cross-faded-data-driven",o=n.value.isDataDriven(),s=n.value;this._transitionablePaint.setValue(e,t),this._handleSpecialPaintPropertyUpdate(e);let l=this._transitionablePaint._values[e].value;return l.isDataDriven()||o||a||this._handleOverridablePaintPropertyUpdate(e,s,l)}}_handleSpecialPaintPropertyUpdate(e){}_handleOverridablePaintPropertyUpdate(e,t,r){return!1}isHidden(e=this.minzoom,t=!1){return this.minzoom&&e<(t?Math.floor(this.minzoom):this.minzoom)||this.maxzoom&&e>=this.maxzoom?!0:this._evaluatedVisibility==="none"}updateTransitions(e){this._transitioningPaint=this._transitionablePaint.transitioned(e,this._transitioningPaint)}hasTransition(){return this._transitioningPaint.hasTransition()}recalculateVisibility(){this._evaluatedVisibility=this._visibilityExpression.evaluate()}recalculate(e,t){e.getCrossfadeParameters&&(this._crossfadeParameters=e.getCrossfadeParameters()),this._unevaluatedLayout&&(this.layout=this._unevaluatedLayout.possiblyEvaluate(e,void 0,t)),this.paint=this._transitioningPaint.possiblyEvaluate(e,void 0,t)}serialize(){var t,r;let e={id:this.id,type:this.type,source:this.source,"source-layer":this.sourceLayer,metadata:this.metadata,minzoom:this.minzoom,maxzoom:this.maxzoom,filter:this.filter,layout:(t=this._unevaluatedLayout)==null?void 0:t.serialize(),paint:(r=this._transitionablePaint)==null?void 0:r.serialize()};return this.visibility&&(e.layout||(e.layout={}),e.layout.visibility=this.visibility),bie(e,(i,n)=>i!==void 0&&!(n==="layout"&&!Object.keys(i).length)&&!(n==="paint"&&!Object.keys(i).length))}_validate(e,t,r,i,n={}){return qT(this,e,{key:t,layerType:this.type,objectKey:r,value:i},n)}is3D(){return!1}isTileClipped(){return!1}hasOffscreenPass(){return!1}resize(){}isStateDependent(){for(let e in this.paint._values){let t=this.paint.get(e);if(t instanceof Yd&&ET(t.property.specification)&&(t.value.kind==="source"||t.value.kind==="composite")&&t.value.isStateDependent)return!0}return!1}},Pvr=()=>Lvr||(Lvr=new uc({"raster-opacity":new Fi(_r.paint_raster["raster-opacity"],"raster-opacity"),"raster-hue-rotate":new Fi(_r.paint_raster["raster-hue-rotate"],"raster-hue-rotate"),"raster-brightness-min":new Fi(_r.paint_raster["raster-brightness-min"],"raster-brightness-min"),"raster-brightness-max":new Fi(_r.paint_raster["raster-brightness-max"],"raster-brightness-max"),"raster-saturation":new Fi(_r.paint_raster["raster-saturation"],"raster-saturation"),"raster-contrast":new Fi(_r.paint_raster["raster-contrast"],"raster-contrast"),resampling:new Fi(_r.paint_raster.resampling,"resampling"),"raster-resampling":new Fi(_r.paint_raster["raster-resampling"],"raster-resampling"),"raster-fade-duration":new Fi(_r.paint_raster["raster-fade-duration"],"raster-fade-duration")})),Ivr={get paint(){return Pvr()}},BB=e=>e.type==="raster",Rvr=class extends Av{constructor(e,t){super(e,Ivr,t)}},zvr={Int8:Int8Array,Uint8:Uint8Array,Int16:Int16Array,Uint16:Uint16Array,Int32:Int32Array,Uint32:Uint32Array,Float32:Float32Array},Qk=class{constructor(e,t){this._structArray=e,this._pos1=t*this.size,this._pos2=this._pos1/2,this._pos4=this._pos1/4,this._pos8=this._pos1/8}},yl=class{constructor(){this.isTransferred=!1,this.capacity=-1,this.resize(0)}static serialize(e,t){return e._trim(),t&&(e.isTransferred=!0,t.push(e.arrayBuffer)),{length:e.length,arrayBuffer:e.arrayBuffer}}static deserialize(e){let t=Object.create(this.prototype);return t.arrayBuffer=e.arrayBuffer,t.length=e.length,t.capacity=e.arrayBuffer.byteLength/t.bytesPerElement,t._refreshViews(),t}_trim(){this.length!==this.capacity&&(this.capacity=this.length,this.arrayBuffer=this.arrayBuffer.slice(0,this.length*this.bytesPerElement),this._refreshViews())}clear(){this.length=0}resize(e){this.reserve(e),this.length=e}reserve(e){if(e>this.capacity){this.capacity=Math.max(e,Math.floor(this.capacity*5),128),this.arrayBuffer=new ArrayBuffer(this.capacity*this.bytesPerElement);let t=this.uint8;this._refreshViews(),t&&this.uint8.set(t)}}_refreshViews(){throw Error("_refreshViews() must be implemented by each concrete StructArray layout")}freeBufferAfterUpload(){this.arrayBuffer=new ArrayBuffer(0),this._refreshViews()}};Dk=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t){let r=this.length;return this.resize(r+1),this.emplace(r,e,t)}emplace(e,t,r){let i=e*2;return this.int16[i+0]=t,this.int16[i+1]=r,e}};Dk.prototype.bytesPerElement=4,Ui("StructArrayLayout2i4",Dk);Xz=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*3;return this.int16[n+0]=t,this.int16[n+1]=r,this.int16[n+2]=i,e}};Xz.prototype.bytesPerElement=6,Ui("StructArrayLayout3i6",Xz);dre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,e,t,r,i)}emplace(e,t,r,i,n){let a=e*4;return this.int16[a+0]=t,this.int16[a+1]=r,this.int16[a+2]=i,this.int16[a+3]=n,e}};dre.prototype.bytesPerElement=8,Ui("StructArrayLayout4i8",dre);pre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*6;return this.int16[s+0]=t,this.int16[s+1]=r,this.int16[s+2]=i,this.int16[s+3]=n,this.int16[s+4]=a,this.int16[s+5]=o,e}};pre.prototype.bytesPerElement=12,Ui("StructArrayLayout2i4i12",pre);vre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*4,l=e*8;return this.int16[s+0]=t,this.int16[s+1]=r,this.uint8[l+4]=i,this.uint8[l+5]=n,this.uint8[l+6]=a,this.uint8[l+7]=o,e}};vre.prototype.bytesPerElement=8,Ui("StructArrayLayout2i4ub8",vre);Fk=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t){let r=this.length;return this.resize(r+1),this.emplace(r,e,t)}emplace(e,t,r){let i=e*2;return this.float32[i+0]=t,this.float32[i+1]=r,e}};Fk.prototype.bytesPerElement=8,Ui("StructArrayLayout2f8",Fk);gre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u){let c=this.length;return this.resize(c+1),this.emplace(c,e,t,r,i,n,a,o,s,l,u)}emplace(e,t,r,i,n,a,o,s,l,u,c){let f=e*10;return this.uint16[f+0]=t,this.uint16[f+1]=r,this.uint16[f+2]=i,this.uint16[f+3]=n,this.uint16[f+4]=a,this.uint16[f+5]=o,this.uint16[f+6]=s,this.uint16[f+7]=l,this.uint16[f+8]=u,this.uint16[f+9]=c,e}};gre.prototype.bytesPerElement=20,Ui("StructArrayLayout10ui20",gre);mre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s){let l=this.length;return this.resize(l+1),this.emplace(l,e,t,r,i,n,a,o,s)}emplace(e,t,r,i,n,a,o,s,l){let u=e*8;return this.uint16[u+0]=t,this.uint16[u+1]=r,this.uint16[u+2]=i,this.uint16[u+3]=n,this.uint16[u+4]=a,this.uint16[u+5]=o,this.uint16[u+6]=s,this.uint16[u+7]=l,e}};mre.prototype.bytesPerElement=16,Ui("StructArrayLayout8ui16",mre);yre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u,c,f,h){let d=this.length;return this.resize(d+1),this.emplace(d,e,t,r,i,n,a,o,s,l,u,c,f,h)}emplace(e,t,r,i,n,a,o,s,l,u,c,f,h,d){let p=e*14,v=e*7;return this.int16[p+0]=t,this.int16[p+1]=r,this.int16[p+2]=i,this.int16[p+3]=n,this.uint16[p+4]=a,this.uint16[p+5]=o,this.uint16[p+6]=s,this.uint16[p+7]=l,this.int16[p+8]=u,this.int16[p+9]=c,this.int16[p+10]=f,this.int16[p+11]=h,this.float32[v+6]=d,e}};yre.prototype.bytesPerElement=28,Ui("StructArrayLayout4i4ui4i1f28",yre);xre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*3;return this.float32[n+0]=t,this.float32[n+1]=r,this.float32[n+2]=i,e}};xre.prototype.bytesPerElement=12,Ui("StructArrayLayout3f12",xre);_re=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer)}emplaceBack(e){let t=this.length;return this.resize(t+1),this.emplace(t,e)}emplace(e,t){let r=e*1;return this.uint32[r+0]=t,e}};_re.prototype.bytesPerElement=4,Ui("StructArrayLayout1ul4",_re);bre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l){let u=this.length;return this.resize(u+1),this.emplace(u,e,t,r,i,n,a,o,s,l)}emplace(e,t,r,i,n,a,o,s,l,u){let c=e*10,f=e*5;return this.int16[c+0]=t,this.int16[c+1]=r,this.int16[c+2]=i,this.int16[c+3]=n,this.int16[c+4]=a,this.int16[c+5]=o,this.uint32[f+3]=s,this.uint16[c+8]=l,this.uint16[c+9]=u,e}};bre.prototype.bytesPerElement=20,Ui("StructArrayLayout6i1ul2ui20",bre);wre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*6;return this.int16[s+0]=t,this.int16[s+1]=r,this.int16[s+2]=i,this.int16[s+3]=n,this.int16[s+4]=a,this.int16[s+5]=o,e}};wre.prototype.bytesPerElement=12,Ui("StructArrayLayout2i2i2i12",wre);Tre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n){let a=this.length;return this.resize(a+1),this.emplace(a,e,t,r,i,n)}emplace(e,t,r,i,n,a){let o=e*4,s=e*8;return this.float32[o+0]=t,this.float32[o+1]=r,this.float32[o+2]=i,this.int16[s+6]=n,this.int16[s+7]=a,e}};Tre.prototype.bytesPerElement=16,Ui("StructArrayLayout2f1f2i16",Tre);Are=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a){let o=this.length;return this.resize(o+1),this.emplace(o,e,t,r,i,n,a)}emplace(e,t,r,i,n,a,o){let s=e*16,l=e*4,u=e*8;return this.uint8[s+0]=t,this.uint8[s+1]=r,this.float32[l+1]=i,this.float32[l+2]=n,this.int16[u+6]=a,this.int16[u+7]=o,e}};Are.prototype.bytesPerElement=16,Ui("StructArrayLayout2ub2f2i16",Are);Zz=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*3;return this.uint16[n+0]=t,this.uint16[n+1]=r,this.uint16[n+2]=i,e}};Zz.prototype.bytesPerElement=6,Ui("StructArrayLayout3ui6",Zz);Mre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g){let w=this.length;return this.resize(w+1),this.emplace(w,e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g)}emplace(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w){let b=e*26,_=e*13,M=e*52;return this.int16[b+0]=t,this.int16[b+1]=r,this.uint16[b+2]=i,this.uint16[b+3]=n,this.uint32[_+2]=a,this.uint32[_+3]=o,this.uint32[_+4]=s,this.uint16[b+10]=l,this.uint16[b+11]=u,this.uint16[b+12]=c,this.float32[_+7]=f,this.float32[_+8]=h,this.uint8[M+36]=d,this.uint8[M+37]=p,this.uint8[M+38]=v,this.uint32[_+10]=m,this.int16[b+22]=g,this.float32[_+12]=w,e}};Mre.prototype.bytesPerElement=52,Ui("StructArrayLayout2i2ui3ul3ui2f3ub1ul1i1f52",Mre);Sre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C){let k=this.length;return this.resize(k+1),this.emplace(k,e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C)}emplace(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M,x,T,A,y,E,S,C,k){let D=e*34,F=e*17;return this.int16[D+0]=t,this.int16[D+1]=r,this.int16[D+2]=i,this.int16[D+3]=n,this.int16[D+4]=a,this.int16[D+5]=o,this.int16[D+6]=s,this.int16[D+7]=l,this.uint16[D+8]=u,this.uint16[D+9]=c,this.uint16[D+10]=f,this.uint16[D+11]=h,this.uint16[D+12]=d,this.uint16[D+13]=p,this.uint16[D+14]=v,this.uint16[D+15]=m,this.uint16[D+16]=g,this.uint16[D+17]=w,this.uint16[D+18]=b,this.uint16[D+19]=_,this.uint16[D+20]=M,this.uint16[D+21]=x,this.uint16[D+22]=T,this.uint32[F+12]=A,this.float32[F+13]=y,this.float32[F+14]=E,this.uint16[D+30]=S,this.uint16[D+31]=C,this.float32[F+16]=k,e}};Sre.prototype.bytesPerElement=68,Ui("StructArrayLayout8i15ui1ul2f2ui1f68",Sre);Kz=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e){let t=this.length;return this.resize(t+1),this.emplace(t,e)}emplace(e,t){let r=e*1;return this.float32[r+0]=t,e}};Kz.prototype.bytesPerElement=4,Ui("StructArrayLayout1f4",Kz);Ere=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*6,a=e*3;return this.uint16[n+0]=t,this.float32[a+1]=r,this.float32[a+2]=i,e}};Ere.prototype.bytesPerElement=12,Ui("StructArrayLayout1ui2f12",Ere);kre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t,r){let i=this.length;return this.resize(i+1),this.emplace(i,e,t,r)}emplace(e,t,r,i){let n=e*2,a=e*4;return this.uint32[n+0]=t,this.uint16[a+2]=r,this.uint16[a+3]=i,e}};kre.prototype.bytesPerElement=8,Ui("StructArrayLayout1ul2ui8",kre);Cre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e,t){let r=this.length;return this.resize(r+1),this.emplace(r,e,t)}emplace(e,t,r){let i=e*2;return this.uint16[i+0]=t,this.uint16[i+1]=r,e}};Cre.prototype.bytesPerElement=4,Ui("StructArrayLayout2ui4",Cre);Dre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(e){let t=this.length;return this.resize(t+1),this.emplace(t,e)}emplace(e,t){let r=e*1;return this.uint16[r+0]=t,e}};Dre.prototype.bytesPerElement=2,Ui("StructArrayLayout1ui2",Dre);Fre=class extends yl{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(e,t,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,e,t,r,i)}emplace(e,t,r,i,n){let a=e*4;return this.float32[a+0]=t,this.float32[a+1]=r,this.float32[a+2]=i,this.float32[a+3]=n,e}};Fre.prototype.bytesPerElement=16,Ui("StructArrayLayout4f16",Fre);Rrt=class extends Qk{get anchorPointX(){return this._structArray.int16[this._pos2+0]}get anchorPointY(){return this._structArray.int16[this._pos2+1]}get x1(){return this._structArray.int16[this._pos2+2]}get y1(){return this._structArray.int16[this._pos2+3]}get x2(){return this._structArray.int16[this._pos2+4]}get y2(){return this._structArray.int16[this._pos2+5]}get featureIndex(){return this._structArray.uint32[this._pos4+3]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+8]}get bucketIndex(){return this._structArray.uint16[this._pos2+9]}get anchorPoint(){return new tr(this.anchorPointX,this.anchorPointY)}};Rrt.prototype.size=20;Xie=class extends bre{get(e){return new Rrt(this,e)}};Ui("CollisionBoxArray",Xie);zrt=class extends Qk{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get glyphStartIndex(){return this._structArray.uint16[this._pos2+2]}get numGlyphs(){return this._structArray.uint16[this._pos2+3]}get vertexStartIndex(){return this._structArray.uint32[this._pos4+2]}get lineStartIndex(){return this._structArray.uint32[this._pos4+3]}get lineLength(){return this._structArray.uint32[this._pos4+4]}get segment(){return this._structArray.uint16[this._pos2+10]}get lowerSize(){return this._structArray.uint16[this._pos2+11]}get upperSize(){return this._structArray.uint16[this._pos2+12]}get lineOffsetX(){return this._structArray.float32[this._pos4+7]}get lineOffsetY(){return this._structArray.float32[this._pos4+8]}get writingMode(){return this._structArray.uint8[this._pos1+36]}get placedOrientation(){return this._structArray.uint8[this._pos1+37]}set placedOrientation(e){this._structArray.uint8[this._pos1+37]=e}get hidden(){return this._structArray.uint8[this._pos1+38]}set hidden(e){this._structArray.uint8[this._pos1+38]=e}get crossTileID(){return this._structArray.uint32[this._pos4+10]}set crossTileID(e){this._structArray.uint32[this._pos4+10]=e}get associatedIconIndex(){return this._structArray.int16[this._pos2+22]}get heightOffset(){return this._structArray.float32[this._pos4+12]}};zrt.prototype.size=52;Brt=class extends Mre{get(e){return new zrt(this,e)}};Ui("PlacedSymbolArray",Brt);qrt=class extends Qk{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get rightJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+2]}get centerJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+3]}get leftJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+4]}get verticalPlacedTextSymbolIndex(){return this._structArray.int16[this._pos2+5]}get placedIconSymbolIndex(){return this._structArray.int16[this._pos2+6]}get verticalPlacedIconSymbolIndex(){return this._structArray.int16[this._pos2+7]}get key(){return this._structArray.uint16[this._pos2+8]}get textBoxStartIndex(){return this._structArray.uint16[this._pos2+9]}get textBoxEndIndex(){return this._structArray.uint16[this._pos2+10]}get verticalTextBoxStartIndex(){return this._structArray.uint16[this._pos2+11]}get verticalTextBoxEndIndex(){return this._structArray.uint16[this._pos2+12]}get iconBoxStartIndex(){return this._structArray.uint16[this._pos2+13]}get iconBoxEndIndex(){return this._structArray.uint16[this._pos2+14]}get verticalIconBoxStartIndex(){return this._structArray.uint16[this._pos2+15]}get verticalIconBoxEndIndex(){return this._structArray.uint16[this._pos2+16]}get featureIndex(){return this._structArray.uint16[this._pos2+17]}get numHorizontalGlyphVertices(){return this._structArray.uint16[this._pos2+18]}get numVerticalGlyphVertices(){return this._structArray.uint16[this._pos2+19]}get numIconVertices(){return this._structArray.uint16[this._pos2+20]}get numVerticalIconVertices(){return this._structArray.uint16[this._pos2+21]}get useRuntimeCollisionCircles(){return this._structArray.uint16[this._pos2+22]}get crossTileID(){return this._structArray.uint32[this._pos4+12]}set crossTileID(e){this._structArray.uint32[this._pos4+12]=e}get textBoxScale(){return this._structArray.float32[this._pos4+13]}get collisionCircleDiameter(){return this._structArray.float32[this._pos4+14]}get textAnchorOffsetStartIndex(){return this._structArray.uint16[this._pos2+30]}get textAnchorOffsetEndIndex(){return this._structArray.uint16[this._pos2+31]}get heightOffset(){return this._structArray.float32[this._pos4+16]}};qrt.prototype.size=68;Ort=class extends Sre{get(e){return new qrt(this,e)}};Ui("SymbolInstanceArray",Ort);Nrt=class extends Kz{getoffsetX(e){return this.float32[e*1+0]}};Ui("GlyphOffsetArray",Nrt);Urt=class extends Xz{getx(e){return this.int16[e*3+0]}gety(e){return this.int16[e*3+1]}gettileUnitDistanceFromAnchor(e){return this.int16[e*3+2]}};Ui("SymbolLineVertexArray",Urt);Vrt=class extends Qk{get textAnchor(){return this._structArray.uint16[this._pos2+0]}get textOffset0(){return this._structArray.float32[this._pos4+1]}get textOffset1(){return this._structArray.float32[this._pos4+2]}};Vrt.prototype.size=12;Grt=class extends Ere{get(e){return new Vrt(this,e)}};Ui("TextAnchorOffsetArray",Grt);Hrt=class extends Qk{get featureIndex(){return this._structArray.uint32[this._pos4+0]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+2]}get bucketIndex(){return this._structArray.uint16[this._pos2+3]}};Hrt.prototype.size=8;jrt=class extends kre{get(e){return new Hrt(this,e)}};Ui("FeatureIndexArray",jrt);Pm=class extends Dk{},$rt=class extends Xz{},Wrt=class extends dre{},qvr=class extends Dk{},Ovr=class extends Dk{},Nvr=class extends pre{},Uvr=class extends vre{},Vvr=class extends Fk{},sT=class extends gre{},FQe=class extends mre{},Gvr=class extends yre{},Hvr=class extends xre{},jvr=class extends _re{},LQe=class extends wre{},Yrt=class extends Tre{},$vr=class extends Are{},Xrt=class extends Zz{},Mv=class extends Zz{},Lre=class extends Cre{},Zrt=class extends Dre{},Pre=ol([{name:"a_pos",components:2,type:"Int16"}],4),Wvr=Pre.members;Pre.size,Pre.alignment;Ws=class hT{constructor(t=[]){this._forceNewSegmentOnNextPrepare=!1,this.segments=t}prepareSegment(t,r,i,n){let a=this.segments[this.segments.length-1];return t>hT.MAX_VERTEX_ARRAY_LENGTH&&Ma(`Max vertices per segment is ${hT.MAX_VERTEX_ARRAY_LENGTH}: bucket requested ${t}. Consider using the \`fillLargeMeshArrays\` function if you require meshes with more than ${hT.MAX_VERTEX_ARRAY_LENGTH} vertices.`),this._forceNewSegmentOnNextPrepare||!a||a.vertexLength+t>hT.MAX_VERTEX_ARRAY_LENGTH||a.sortKey!==n?this.createNewSegment(r,i,n):a}createNewSegment(t,r,i){let n={vertexOffset:t.length,primitiveOffset:r.length,vertexLength:0,primitiveLength:0,vaos:{}};return i!==void 0&&(n.sortKey=i),this._forceNewSegmentOnNextPrepare=!1,this.segments.push(n),n}getOrCreateLatestSegment(t,r,i){return this.prepareSegment(0,t,r,i)}forceNewSegmentOnNextPrepare(){this._forceNewSegmentOnNextPrepare=!0}get(){return this.segments}destroy(){for(let t of this.segments)for(let r in t.vaos)t.vaos[r].destroy()}static simpleSegment(t,r,i,n){return new hT([{vertexOffset:t,primitiveOffset:r,vertexLength:i,primitiveLength:n,vaos:{},sortKey:0}])}};Ws.MAX_VERTEX_ARRAY_LENGTH=2**16-1,Ui("SegmentVector",Ws);Yvr=ol([{name:"a_pattern_from",components:4,type:"Uint16"},{name:"a_pattern_to",components:4,type:"Uint16"},{name:"a_pixel_ratio_from",components:1,type:"Uint16"},{name:"a_pixel_ratio_to",components:1,type:"Uint16"}]),Xvr=ol([{name:"a_dasharray_from",components:4,type:"Uint16"},{name:"a_dasharray_to",components:4,type:"Uint16"}]),Zvr=cie(((e,t)=>{function r(i,n){for(var a=i.length&3,o=i.length-a,s=n,l,u=3432918353,c=461845907,f,h=0;h>>16)*u&65535)<<16)&4294967295,f=f<<15|f>>>17,f=(f&65535)*c+(((f>>>16)*c&65535)<<16)&4294967295,s^=f,s=s<<13|s>>>19,l=(s&65535)*5+(((s>>>16)*5&65535)<<16)&4294967295,s=(l&65535)+27492+(((l>>>16)+58964&65535)<<16);switch(f=0,a){case 3:f^=(i.charCodeAt(h+2)&255)<<16;case 2:f^=(i.charCodeAt(h+1)&255)<<8;case 1:f^=i.charCodeAt(h)&255,f=(f&65535)*u+(((f>>>16)*u&65535)<<16)&4294967295,f=f<<15|f>>>17,f=(f&65535)*c+(((f>>>16)*c&65535)<<16)&4294967295,s^=f}return s^=i.length,s^=s>>>16,s=(s&65535)*2246822507+(((s>>>16)*2246822507&65535)<<16)&4294967295,s^=s>>>13,s=(s&65535)*3266489909+(((s>>>16)*3266489909&65535)<<16)&4294967295,s^=s>>>16,s>>>0}t!==void 0&&(t.exports=r)})),Kvr=cie(((e,t)=>{function r(i,n){for(var a=i.length,o=n^a,s=0,l;a>=4;)l=i.charCodeAt(s)&255|(i.charCodeAt(++s)&255)<<8|(i.charCodeAt(++s)&255)<<16|(i.charCodeAt(++s)&255)<<24,l=(l&65535)*1540483477+(((l>>>16)*1540483477&65535)<<16),l^=l>>>24,l=(l&65535)*1540483477+(((l>>>16)*1540483477&65535)<<16),o=(o&65535)*1540483477+(((o>>>16)*1540483477&65535)<<16)^l,a-=4,++s;switch(a){case 3:o^=(i.charCodeAt(s+2)&255)<<16;case 2:o^=(i.charCodeAt(s+1)&255)<<8;case 1:o^=i.charCodeAt(s)&255,o=(o&65535)*1540483477+(((o>>>16)*1540483477&65535)<<16)}return o^=o>>>13,o=(o&65535)*1540483477+(((o>>>16)*1540483477&65535)<<16),o^=o>>>15,o>>>0}t.exports=r})),Ire=cdr(cie(((e,t)=>{var r=Zvr(),i=Kvr();t.exports=r,t.exports.murmur3=r,t.exports.murmur2=i}))(),1),Krt=class Jrt{constructor(){this.ids=[],this.positions=[],this.indexed=!1}add(t,r,i,n){this.ids.push(IQe(t)),this.positions.push(r,i,n)}getPositions(t){if(!this.indexed)throw Error("Trying to get index, but feature positions are not indexed");let r=IQe(t),i=0,n=this.ids.length-1;for(;i>1;this.ids[o]>=r?n=o:i=o+1}let a=[];for(;this.ids[i]===r;){let o=this.positions[3*i],s=this.positions[3*i+1],l=this.positions[3*i+2];a.push({index:o,start:s,end:l}),i++}return a}static serialize(t,r){let i=new Float64Array(t.ids),n=new Uint32Array(t.positions);return Rre(i,n,0,i.length-1),r&&r.push(i.buffer,n.buffer),{ids:i,positions:n}}static deserialize(t){let r=new Jrt;return r.ids=t.ids,r.positions=t.positions,r.indexed=!0,r}};Ui("FeaturePositionMap",Krt);Im=class{constructor(e,t){this.gl=e.gl,this.location=t}},wn=class extends Im{constructor(e,t){super(e,t),this.current=0}set(e){this.current!==e&&(this.current=e,this.gl.uniform1i(this.location,e))}},qi=class extends Im{constructor(e,t){super(e,t),this.current=0}set(e){this.current!==e&&(this.current=e,this.gl.uniform1f(this.location,e))}},pa=class extends Im{constructor(e,t){super(e,t),this.current=[0,0]}set(e){(e[0]!==this.current[0]||e[1]!==this.current[1])&&(this.current=e,this.gl.uniform2f(this.location,e[0],e[1]))}},Rf=class extends Im{constructor(e,t){super(e,t),this.current=[0,0,0]}set(e){(e[0]!==this.current[0]||e[1]!==this.current[1]||e[2]!==this.current[2])&&(this.current=e,this.gl.uniform3f(this.location,e[0],e[1],e[2]))}},OT=class extends Im{constructor(e,t){super(e,t),this.current=[0,0,0,0]}set(e){(e[0]!==this.current[0]||e[1]!==this.current[1]||e[2]!==this.current[2]||e[3]!==this.current[3])&&(this.current=e,this.gl.uniform4f(this.location,e[0],e[1],e[2],e[3]))}},Rm=class extends Im{constructor(e,t){super(e,t),this.current=ea.transparent}set(e){(e.r!==this.current.r||e.g!==this.current.g||e.b!==this.current.b||e.a!==this.current.a)&&(this.current=e,this.gl.uniform4f(this.location,e.r,e.g,e.b,e.a))}},Zie=class extends Im{constructor(e,t){super(e,t),this.current=[]}set(e){if(e!=this.current){this.current=e;let t=new Float32Array(e.length*4);for(let r=0;r`u_${i}`),this.type=r}setUniform(e,t,r){e.set(r.constantOr(this.value))}getBinding(e,t,r){return this.type==="color"?new Rm(e,t):new qi(e,t)}},zb=class{constructor(e,t){this.uniformNames=t.map(r=>`u_${r}`),this.patternFrom=null,this.patternTo=null,this.pixelRatioFrom=1,this.pixelRatioTo=1}setConstantPatternPositions(e,t){this.pixelRatioFrom=t.pixelRatio,this.pixelRatioTo=e.pixelRatio,this.patternFrom=t.tlbr,this.patternTo=e.tlbr}setConstantDashPositions(e,t){this.dashTo=[0,e.y,e.height,e.width],this.dashFrom=[0,t.y,t.height,t.width]}setUniform(e,t,r,i){let n=null;i==="u_pattern_to"?n=this.patternTo:i==="u_pattern_from"?n=this.patternFrom:i==="u_dasharray_to"?n=this.dashTo:i==="u_dasharray_from"?n=this.dashFrom:i==="u_pixel_ratio_to"?n=this.pixelRatioTo:i==="u_pixel_ratio_from"&&(n=this.pixelRatioFrom),n!==null&&e.set(n)}getBinding(e,t,r){return r.startsWith("u_pattern")||r.startsWith("u_dasharray_")?new OT(e,t):new qi(e,t)}},xm=class{constructor(e,t,r,i){this.expression=e,this.type=r,this.maxValue=0,this.paintVertexAttributes=t.map(n=>({name:`a_${n}`,type:"Float32",components:r==="color"?2:1,offset:0})),this.paintVertexArray=new i}populatePaintArray(e,t,r){let i=this.paintVertexArray.length,n=this.expression.evaluate(new Co(0,r),t,{},r.canonical,[],r.formattedSection);this.paintVertexArray.resize(e),this._setPaintValue(i,e,n)}updatePaintArray(e,t,r,i,n){let a=this.expression.evaluate(new Co(0,n),r,i);this._setPaintValue(e,t,a)}_setPaintValue(e,t,r){if(this.type==="color"){let i=zre(r);for(let n=e;n`u_${o}_t`),this.type=r,this.useIntegerZoom=i,this.zoom=n,this.maxValue=0,this.paintVertexAttributes=t.map(o=>({name:`a_${o}`,type:"Float32",components:r==="color"?4:2,offset:0})),this.paintVertexArray=new a}populatePaintArray(e,t,r){let i=this.expression.evaluate(new Co(this.zoom,r),t,{},r.canonical,[],r.formattedSection),n=this.expression.evaluate(new Co(this.zoom+1,r),t,{},r.canonical,[],r.formattedSection),a=this.paintVertexArray.length;this.paintVertexArray.resize(e),this._setPaintValue(a,e,i,n)}updatePaintArray(e,t,r,i,n){let a=this.expression.evaluate(new Co(this.zoom,n),r,i),o=this.expression.evaluate(new Co(this.zoom+1,n),r,i);this._setPaintValue(e,t,a,o)}_setPaintValue(e,t,r,i){if(this.type==="color"){let n=zre(r),a=zre(i);for(let o=e;o`#define HAS_UNIFORM_${i}`))}return e}getBinderAttributes(){let e=[];for(let t in this.binders){let r=this.binders[t];if(r instanceof xm||r instanceof mv)for(let i of r.paintVertexAttributes)e.push(i.name);else if(r instanceof j2){let i=r.getVertexAttributes();for(let n of i)e.push(n.name)}}return e}getBinderUniforms(){let e=[];for(let t in this.binders){let r=this.binders[t];if(r instanceof hk||r instanceof zb||r instanceof mv)for(let i of r.uniformNames)e.push(i)}return e}getPaintVertexBuffers(){return this._buffers}getUniforms(e,t){let r=[];for(let i in this.binders){let n=this.binders[i];if(n instanceof hk||n instanceof zb||n instanceof mv){for(let a of n.uniformNames)if(t[a]){let o=n.getBinding(e,t[a],a);r.push({name:a,property:i,binding:o})}}}return r}setUniforms(e,t,r,i){for(let{name:n,property:a,binding:o}of t)this.binders[a].setUniform(o,i,r.get(a),n)}updatePaintBuffers(e){this._buffers=[];for(let t in this.binders){let r=this.binders[t];if(e&&r instanceof j2){let i=e.fromScale===2?r.zoomInPaintVertexBuffer:r.zoomOutPaintVertexBuffer;i&&this._buffers.push(i)}else(r instanceof xm||r instanceof mv)&&r.paintVertexBuffer&&this._buffers.push(r.paintVertexBuffer)}}upload(e){for(let t in this.binders){let r=this.binders[t];(r instanceof xm||r instanceof mv||r instanceof j2)&&r.upload(e)}this.updatePaintBuffers()}destroy(){for(let e in this.binders){let t=this.binders[e];(t instanceof xm||t instanceof mv||t instanceof j2)&&t.destroy()}}},$b=class{constructor(e,t,r=()=>!0){this.programConfigurations={};for(let i of e)this.programConfigurations[i.id]=new tit(i,t,r);this.needsUpload=!1,this._featureMap=new Krt,this._bufferOffset=0}populatePaintArrays(e,t,r,i){for(let n in this.programConfigurations)this.programConfigurations[n].populatePaintArrays(e,t,i);t.id!==void 0&&this._featureMap.add(t.id,r,this._bufferOffset,e),this._bufferOffset=e,this.needsUpload=!0}updatePaintArrays(e,t,r,i){for(let n of r)this.needsUpload=this.programConfigurations[n.id].updatePaintArrays(e,this._featureMap,t,n,i)||this.needsUpload}get(e){return this.programConfigurations[e]}upload(e){if(this.needsUpload){for(let t in this.programConfigurations)this.programConfigurations[t].upload(e);this.needsUpload=!1}}destroy(){for(let e in this.programConfigurations)this.programConfigurations[e].destroy()}};Ui("ConstantBinder",hk),Ui("CrossFadedConstantBinder",zb),Ui("SourceExpressionBinder",xm),Ui("CrossFadedPatternBinder",Qrt),Ui("CrossFadedDasharrayBinder",eit),Ui("CompositeExpressionBinder",mv),Ui("ProgramConfiguration",tit,{omit:["_buffers"]}),Ui("ProgramConfigurationSet",$b);Bre=2**14-1,zQe=-Bre-1;BQe=-32768;Jie=class{constructor(e){this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(t=>t.id),this.index=e.index,this.hasDependencies=!1,this.layoutVertexArray=new qvr,this.indexArray=new Mv,this.segments=new Ws,this.programConfigurations=new $b(e.layers,e.zoom),this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){let i=this.layers[0],n=[],a=null,o=!1,s=i.type==="heatmap";if(i.type==="circle"){let f=i;a=f.layout.get("circle-sort-key"),o=!a.isConstant(),s||(s=f.paint.get("circle-pitch-alignment")==="map")}let l=s?t.subdivisionGranularity.circle:1,u=new Co(this.zoom),c=this.layers[0]._featureFilter.needGeometry;for(let{feature:f,id:h,index:d,sourceLayerIndex:p}of e){let v=tx(f,c);if(!this.layers[0]._featureFilter.filter(u,v,r))continue;let m=o?a.evaluate(v,{},r):void 0,g={id:h,properties:f.properties,type:f.type,sourceLayerIndex:p,index:d,geometry:c?v.geometry:Qb(f),patterns:{},sortKey:m};n.push(g)}o&&n.sort((f,h)=>f.sortKey-h.sortKey);for(let f of n){let{geometry:h,index:d,sourceLayerIndex:p}=f,v=e[d].feature;this.addFeature(f,h,d,r,l),t.featureIndex.insert(v,h,d,p,this.index)}}update(e,t,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r})}addFeatures(e){}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,Wvr),this.indexBuffer=e.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}addFeature(e,t,r,i,n=1){let a;switch(n){case 1:a=[0,7];break;case 3:a=[0,2,5,7];break;case 5:a=[0,1,3,4,6,7];break;case 7:a=[0,1,2,3,4,5,6,7];break;default:throw Error(`Invalid circle bucket granularity: ${n}; valid values are 1, 3, 5, 7.`)}let o=a.length;for(let s of t)for(let l of s){let u=l.x,c=l.y;if(u<0||u>=8192||c<0||c>=8192)continue;let f=this.segments.prepareSegment(o*o,this.layoutVertexArray,this.indexArray,e.sortKey),h=f.vertexLength;for(let d=0;dp1r||(p1r=new uc({"circle-sort-key":new Sn(_r.layout_circle["circle-sort-key"],"circle-sort-key")})),m1r=()=>g1r||(g1r=new uc({"circle-radius":new Sn(_r.paint_circle["circle-radius"],"circle-radius"),"circle-color":new Sn(_r.paint_circle["circle-color"],"circle-color"),"circle-blur":new Sn(_r.paint_circle["circle-blur"],"circle-blur"),"circle-opacity":new Sn(_r.paint_circle["circle-opacity"],"circle-opacity"),"circle-translate":new Fi(_r.paint_circle["circle-translate"],"circle-translate"),"circle-translate-anchor":new Fi(_r.paint_circle["circle-translate-anchor"],"circle-translate-anchor"),"circle-pitch-scale":new Fi(_r.paint_circle["circle-pitch-scale"],"circle-pitch-scale"),"circle-pitch-alignment":new Fi(_r.paint_circle["circle-pitch-alignment"],"circle-pitch-alignment"),"circle-stroke-width":new Sn(_r.paint_circle["circle-stroke-width"],"circle-stroke-width"),"circle-stroke-color":new Sn(_r.paint_circle["circle-stroke-color"],"circle-stroke-color"),"circle-stroke-opacity":new Sn(_r.paint_circle["circle-stroke-opacity"],"circle-stroke-opacity")})),y1r={get paint(){return m1r()},get layout(){return v1r()}},ait=e=>e.type==="circle",x1r=class extends Av{constructor(e,t){super(e,y1r,t)}createBucket(e){return new Jie(e)}queryRadius(e){let t=e;return yT("circle-radius",this,t)+yT("circle-stroke-width",this,t)+OB(this.paint.get("circle-translate"))}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,unwrappedTileID:o,getElevation:s}){let l=NB(e,this.paint.get("circle-translate"),this.paint.get("circle-translate-anchor"),-n.bearingInRadians,a),u=this.paint.get("circle-radius").evaluate(t,r)+this.paint.get("circle-stroke-width").evaluate(t,r),c=this.paint.get("circle-pitch-scale"),f=this.paint.get("circle-pitch-alignment"),h,d;return f==="map"?(h=l,d=u*a):(h=d1r(l,n,o,s),d=u),nit({queryGeometry:h,size:d,transform:n,unwrappedTileID:o,getElevation:s,pitchAlignment:f,pitchScale:c},i)}},oit=class extends Jie{};Ui("HeatmapBucket",oit,{omit:["layers"]});b1r=()=>_1r||(_1r=new uc({"heatmap-radius":new Sn(_r.paint_heatmap["heatmap-radius"],"heatmap-radius"),"heatmap-weight":new Sn(_r.paint_heatmap["heatmap-weight"],"heatmap-weight"),"heatmap-intensity":new Fi(_r.paint_heatmap["heatmap-intensity"],"heatmap-intensity"),"heatmap-color":new zB(_r.paint_heatmap["heatmap-color"],"heatmap-color"),"heatmap-opacity":new Fi(_r.paint_heatmap["heatmap-opacity"],"heatmap-opacity")})),w1r={get paint(){return b1r()}};UB=class lit{constructor(t,r){rne(this,t,1,r)}resize(t){sit(this,t,1)}clone(){return new lit({width:this.width,height:this.height},new Uint8Array(this.data))}static copy(t,r,i,n,a){ine(t,r,i,n,a,1)}},As=class uit{constructor(t,r){rne(this,t,4,r)}resize(t){sit(this,t,4)}replace(t,r){r?this.data.set(t):this.data=t instanceof Uint8ClampedArray?new Uint8Array(t.buffer):t}clone(){return new uit({width:this.width,height:this.height},new Uint8Array(this.data))}static copy(t,r,i,n,a){ine(t,r,i,n,a,4)}setPixel(t,r,i){let n=(t*this.width+r)*4;this.data[n+0]=Math.round(i.r*255/i.a),this.data[n+1]=Math.round(i.g*255/i.a),this.data[n+2]=Math.round(i.b*255/i.a),this.data[n+3]=Math.round(i.a*255)}};Ui("AlphaImage",UB),Ui("RGBAImage",As);e8="big-fb",cit=e=>e.type==="heatmap",T1r=class extends Av{createBucket(e){return new oit(e)}constructor(e,t){super(e,w1r,t),this.heatmapFbos=new Map,this._updateColorRamp()}_handleSpecialPaintPropertyUpdate(e){e==="heatmap-color"&&this._updateColorRamp()}_updateColorRamp(){let e=this._transitionablePaint._values["heatmap-color"].value.expression;this.colorRamp=nne({expression:e,evaluationKey:"heatmapDensity",image:this.colorRamp}),this.colorRampTexture=null}resize(){this.heatmapFbos.has("big-fb")&&this.heatmapFbos.delete(e8)}queryRadius(e){return yT("heatmap-radius",this,e)}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,unwrappedTileID:o,getElevation:s}){return nit({queryGeometry:e,size:this.paint.get("heatmap-radius").evaluate(t,r)*a,transform:n,unwrappedTileID:o,getElevation:s},i)}hasOffscreenPass(){return this.paint.get("heatmap-opacity")!==0&&!this.isHidden()}},M1r=()=>A1r||(A1r=new uc({"hillshade-illumination-direction":new Fi(_r.paint_hillshade["hillshade-illumination-direction"],"hillshade-illumination-direction"),"hillshade-illumination-altitude":new Fi(_r.paint_hillshade["hillshade-illumination-altitude"],"hillshade-illumination-altitude"),"hillshade-illumination-anchor":new Fi(_r.paint_hillshade["hillshade-illumination-anchor"],"hillshade-illumination-anchor"),"hillshade-exaggeration":new Fi(_r.paint_hillshade["hillshade-exaggeration"],"hillshade-exaggeration"),"hillshade-shadow-color":new Fi(_r.paint_hillshade["hillshade-shadow-color"],"hillshade-shadow-color"),"hillshade-highlight-color":new Fi(_r.paint_hillshade["hillshade-highlight-color"],"hillshade-highlight-color"),"hillshade-accent-color":new Fi(_r.paint_hillshade["hillshade-accent-color"],"hillshade-accent-color"),"hillshade-method":new Fi(_r.paint_hillshade["hillshade-method"],"hillshade-method"),resampling:new Fi(_r.paint_hillshade.resampling,"resampling")})),S1r={get paint(){return M1r()}},fit=e=>e.type==="hillshade",E1r=class extends Av{constructor(e,t){super(e,S1r,t),this.recalculate({zoom:0,zoomHistory:{}},void 0)}getIlluminationProperties(){let e=this.paint.get("hillshade-illumination-direction").values,t=this.paint.get("hillshade-illumination-altitude").values,r=this.paint.get("hillshade-highlight-color").values,i=this.paint.get("hillshade-shadow-color").values,n=Math.max(e.length,t.length,r.length,i.length);e=e.concat(Array(n-e.length).fill(e.at(-1))),t=t.concat(Array(n-t.length).fill(t.at(-1))),r=r.concat(Array(n-r.length).fill(r.at(-1))),i=i.concat(Array(n-i.length).fill(i.at(-1)));let a=t.map(js);return{directionRadians:e.map(js),altitudeRadians:a,shadowColor:i,highlightColor:r}}hasOffscreenPass(){return this.paint.get("hillshade-exaggeration")!==0&&!this.isHidden()}},C1r=()=>k1r||(k1r=new uc({"color-relief-opacity":new Fi(_r["paint_color-relief"]["color-relief-opacity"],"color-relief-opacity"),"color-relief-color":new zB(_r["paint_color-relief"]["color-relief-color"],"color-relief-color"),resampling:new Fi(_r["paint_color-relief"].resampling,"resampling")})),D1r={get paint(){return C1r()}};vu=class{constructor(e,t,r,i){this.context=e,this.format=r,this.texture=e.gl.createTexture(),this._ownedHandle=this.texture,this.update(t,i)}update(e,t,r){var u;let{width:i,height:n}=e,a=(((u=this.size)==null?void 0:u[0])!==i||this.size[1]!==n)&&!r,{context:o}=this,{gl:s}=o;this.useMipmap=!!(t!=null&&t.useMipmap),a&&this.size&&this.format===s.RGBA&&(s.deleteTexture(this.texture),this.texture=s.createTexture(),this._ownedHandle=this.texture,this.magFilter=void 0,this.minFilter=void 0,this.wrap=void 0),s.bindTexture(s.TEXTURE_2D,this.texture),o.pixelStoreUnpackFlipY.set(!1),o.pixelStoreUnpack.set(1);let l=this.format===s.RGBA&&(t==null?void 0:t.premultiply)!==!1;if(a)if(this.size=[i,n],this.format===s.RGBA&&i>0&&n>0){let c=this.useMipmap?Math.floor(Math.log2(Math.max(i,n)))+1:1;if(s.texStorage2D(s.TEXTURE_2D,c,s.RGBA8,i,n),wz(e)){o.pixelStoreUnpackPremultiplyAlpha.set(!1);let{data:f}=e;l&&f&&(f=Yte(f)),f&&s.texSubImage2D(s.TEXTURE_2D,0,0,0,i,n,s.RGBA,s.UNSIGNED_BYTE,f)}else o.pixelStoreUnpackPremultiplyAlpha.set(l),s.texSubImage2D(s.TEXTURE_2D,0,0,0,s.RGBA,s.UNSIGNED_BYTE,e)}else wz(e)?(o.pixelStoreUnpackPremultiplyAlpha.set(!1),this._uploadRawData(e,l,i,n,s)):(o.pixelStoreUnpackPremultiplyAlpha.set(l),this._uploadDomImage(e,s));else{let{x:c,y:f}=r||{x:0,y:0};wz(e)?(o.pixelStoreUnpackPremultiplyAlpha.set(!1),this._updateRawData(e,l,c,f,i,n,s)):(o.pixelStoreUnpackPremultiplyAlpha.set(l),this._updateDomImage(e,c,f,s))}this.useMipmap&&!(wz(e)&&e.data===null)&&s.generateMipmap(s.TEXTURE_2D),o.pixelStoreUnpackFlipY.setDefault(),o.pixelStoreUnpack.setDefault(),o.pixelStoreUnpackPremultiplyAlpha.setDefault()}_uploadDomImage(e,t){t.texImage2D(t.TEXTURE_2D,0,this.format,this.format,t.UNSIGNED_BYTE,e)}_uploadRawData(e,t,r,i,n){let{data:a}=e;t&&a&&(a=Yte(a)),n.texImage2D(n.TEXTURE_2D,0,this.format,r,i,0,this.format,n.UNSIGNED_BYTE,a)}_updateDomImage(e,t,r,i){i.texSubImage2D(i.TEXTURE_2D,0,t,r,i.RGBA,i.UNSIGNED_BYTE,e)}_updateRawData(e,t,r,i,n,a,o){let{data:s}=e;t&&s&&(s=Yte(s)),o.texSubImage2D(o.TEXTURE_2D,0,r,i,n,a,o.RGBA,o.UNSIGNED_BYTE,s)}bind(e,t,r){let{context:i}=this,{gl:n}=i;this.texture!==this._ownedHandle&&(this.texture=this._ownedHandle),n.bindTexture(n.TEXTURE_2D,this.texture),(r===n.LINEAR_MIPMAP_NEAREST||r===n.LINEAR_MIPMAP_LINEAR)&&!this.useMipmap&&(r=n.LINEAR);let a=r||e;e!==this.magFilter&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_MAG_FILTER,e),this.magFilter=e),a!==this.minFilter&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_MIN_FILTER,a),this.minFilter=a),t!==this.wrap&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_WRAP_S,t),n.texParameteri(n.TEXTURE_2D,n.TEXTURE_WRAP_T,t),this.wrap=t)}generateMipmap(){if(!this.useMipmap)return;let{gl:e}=this.context;e.bindTexture(e.TEXTURE_2D,this.texture),e.generateMipmap(e.TEXTURE_2D)}destroy(){let{gl:e}=this.context;e.deleteTexture(this.texture),this.texture=null,this._ownedHandle=null}},F1r=(Am=class{constructor(t,r,i,n=1,a=1,o=1,s=0){if(this.uid=t,r.height!==r.width)throw RangeError("DEM tiles must be square");if(i&&!["mapbox","terrarium","custom"].includes(i)){Ma(`"${i}" is not a valid encoding type. Valid types include "mapbox", "terrarium" and "custom".`);return}this.stride=r.height;let l=this.dim=r.height-4;switch(this.data=new Uint32Array(r.data.buffer),Am.byteViewCache.set(this,new Uint8Array(this.data.buffer)),i){case"terrarium":this.redFactor=256,this.greenFactor=1,this.blueFactor=1/256,this.baseShift=32768;break;case"custom":this.redFactor=n,this.greenFactor=a,this.blueFactor=o,this.baseShift=s;break;default:this.redFactor=6553.6,this.greenFactor=25.6,this.blueFactor=.1,this.baseShift=1e4}for(let c=-2;c=l)&&this.data.copyWithin(this._idx(0,c),f,f+l),this.data.fill(this.data[f],this._idx(-2,c),this._idx(0,c)),this.data.fill(this.data[f+l-1],this._idx(l,c),this._idx(l+1,c)+1)}let u=this._getByteView();this.min=2**53-1,this.max=-(2**53-1);for(let c=0;cthis.max&&(this.max=d),d=this.dim||n<-1||n>=this.dim)throw RangeError(`Out of range source coordinates for DEM data. x: ${t}, y: ${r}, dim: ${this.dim}`);let a=this._getByteView(),o=((n+2)*this.stride+i+2)*4,s=this.stride*4,l=t-i,u=r-n,c=this._unpackAtIndex(a,o),f=this._unpackAtIndex(a,o+4),h=this._unpackAtIndex(a,o+s),d=this._unpackAtIndex(a,o+s+4);return c*(1-l)*(1-u)+f*l*(1-u)+h*(1-l)*u+d*l*u}getUnpackVector(){return[this.redFactor,this.greenFactor,this.blueFactor,this.baseShift]}_idx(t,r){if(t<-2||t>=this.dim+2||r<-2||r>=this.dim+2)throw RangeError(`Out of range source coordinates for DEM data. x: ${t}, y: ${r}, dim: ${this.dim}`);return(r+2)*this.stride+(t+2)}unpack(t,r,i){return t*this.redFactor+r*this.greenFactor+i*this.blueFactor-this.baseShift}pack(t){return hit(t,this.getUnpackVector())}getPixels(){return new As({width:this.stride,height:this.stride},this._getByteView())}backfillBorder(t,r,i){if(this.dim!==t.dim)throw Error("dem dimension mismatch");let n=r*this.dim,a=r*this.dim+this.dim,o=i*this.dim,s=i*this.dim+this.dim;switch(r){case-1:n=a-2;break;case 1:a=n+2}switch(i){case-1:o=s-2;break;case 1:s=o+2}let l=-r*this.dim,u=-i*this.dim;for(let c=o;ce.type==="color-relief",L1r=class extends Av{constructor(e,t){super(e,D1r,t)}_createColorRamp(e){let t={elevationStops:[],colorStops:[]},r=this._transitionablePaint._values["color-relief-color"].value.expression;if(r instanceof Ek&&r._styleExpression.expression instanceof Zd){this.colorRampExpression=r;let a=r._styleExpression.expression;t.elevationStops=a.labels,t.colorStops=[];for(let o of t.elevationStops)t.colorStops.push(a.evaluate({globals:{elevation:o}}))}if(t.elevationStops.length<1&&(t.elevationStops=[0],t.colorStops=[ea.transparent]),t.elevationStops.length<2&&(t.elevationStops.push(t.elevationStops[0]+1),t.colorStops.push(t.colorStops[0])),t.elevationStops.length<=e)return t;let i={elevationStops:[],colorStops:[]},n=(t.elevationStops.length-1)/(e-1);for(let a=0;ae)throw Error("Min granularity must not be greater than base granularity.");this._baseZoomGranularity=e,this._minGranularity=t}getGranularityForZoomLevel(e){let t=1<32767||t>32767)throw Error("Vertex coordinates are out of signed 16 bit integer range.");let r=Math.round(e)|0,i=Math.round(t)|0,n=this._getKey(r,i);if(this._vertexDictionary.has(n))return this._vertexDictionary.get(n);let a=this._vertexBuffer.length/2;return this._vertexDictionary.set(n,a),this._vertexBuffer.push(r,i),a}_subdivideTrianglesScanline(e){if(this._granularity<2)return tgr(this._vertexBuffer,e);let t=[],r=e.length;for(let i=0;i=1||_<=0)||m&&(ln)){c>=i&&c<=n&&a.push(r[(o+1)%3]);continue}if(!m&&b>0){let T=s+d*b,A=l+p*b;a.push(this._vertexToIndex(T,A))}let M=s+d*Math.max(b,0),x=s+d*Math.min(_,1);if(v||this._generateIntraEdgeVertices(a,s,l,u,c,M,x),!m&&_<1){let T=s+d*_,A=l+p*_;a.push(this._vertexToIndex(T,A))}(m||c>=i&&c<=n)&&a.push(r[(o+1)%3]),!m&&(c<=i||c>=n)&&this._generateInterEdgeVertices(a,s,l,u,c,f,h,x,i,n)}return a}_generateIntraEdgeVertices(e,t,r,i,n,a,o){let s=i-t,l=n-r,u=l===0,c=u?Math.min(t,i):Math.min(a,o),f=u?Math.max(t,i):Math.max(a,o),h=Math.floor(c/this._granularityCellSize)+1,d=Math.ceil(f/this._granularityCellSize)-1;if(u?t=h;p--){let v=p*this._granularityCellSize,m=r+l*(v-t)/s;e.push(this._vertexToIndex(v,m))}}_generateInterEdgeVertices(e,t,r,i,n,a,o,s,l,u){let c=n-r,f=a-i,h=o-n,d=(l-n)/h,p=(u-n)/h,v=Math.min(d,p),m=Math.max(d,p),g=i+f*v,w=Math.floor(Math.min(g,s)/this._granularityCellSize)+1,b=Math.ceil(Math.max(g,s)/this._granularityCellSize)-1,_=s=1||m<=0){let T=t-a,A=r-o,y=(l-o)/A,E=(u-o)/A,S=a+T*Math.min(y,E);w=Math.floor(Math.min(S,s)/this._granularityCellSize)+1,b=Math.ceil(Math.max(S,s)/this._granularityCellSize)-1,_=s0?u:l;if(_)for(let T=w;T<=b;T++){let A=T*this._granularityCellSize;e.push(this._vertexToIndex(A,x))}else for(let T=b;T>=w;T--){let A=T*this._granularityCellSize;e.push(this._vertexToIndex(A,x))}}_generateOutline(e){let t=[];for(let r of e){let i=qb(r,this._granularity,!0),n=this._pointArrayToIndices(i),a=[];for(let o=1;on==(a===-32768)?(e.push(r),e.push(t),e.push(this._vertexToIndex(i,a)),e.push(this._vertexToIndex(n,a)),e.push(r),e.push(this._vertexToIndex(i,a))):(e.push(t),e.push(r),e.push(this._vertexToIndex(i,a)),e.push(r),e.push(this._vertexToIndex(n,a)),e.push(this._vertexToIndex(i,a)))}_fillPoles(e,t,r){let i=this._vertexBuffer,n=zr,a=e.length;for(let o=2;o=2&&((o=this._canonical)==null?void 0:o.z)===0&&(n=this._removeTrianglesOutsideTileX(n),a=a.map(s=>this._removeLinesOutsideTileX(s))),{verticesFlattened:this._vertexBuffer,indicesTriangles:n,indicesLineList:a}}_vertexOutsideTileX(e){let t=this._vertexBuffer[e*2];return t<0||t>8192}_removeTrianglesOutsideTileX(e){let t=[];for(let r=0;rt.id),this.index=e.index,this.hasDependencies=!1,this.sdfPatterns={},this.patternFeatures=[],this.layoutVertexArray=new Ovr,this.indexArray=new Mv,this.indexArray2=new Lre,this.programConfigurations=new $b(e.layers,e.zoom),this.segments=new Ws,this.segments2=new Ws,this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){this.hasDependencies=Jz("fill",this.layers,t);let i=this.layers[0].layout.get("fill-sort-key"),n=!i.isConstant(),a=[],o=new Co(this.zoom),s=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:c,sourceLayerIndex:f}of e){let h=tx(l,s);if(!this.layers[0]._featureFilter.filter(o,h,r))continue;let d=n?i.evaluate(h,{},r,t.availableImages):void 0,p={id:u,properties:l.properties,type:l.type,sourceLayerIndex:f,index:c,geometry:s?h.geometry:Qb(l),patterns:{},sortKey:d};a.push(p)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:c,sourceLayerIndex:f}=l;if(this.hasDependencies){let d=ane("fill",this.layers,l,{zoom:this.zoom},t);this.patternFeatures.push(d)}else this.addFeature(l,u,c,r,{},t.subdivisionGranularity);let h=e[c].feature;t.featureIndex.insert(h,u,c,f,this.index)}}update(e,t,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r})}addFeatures({options:e,canonical:t,patternPositions:r,patternMap:i}){this.detectSdfPatterns(i);for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,t,r,e.subdivisionGranularity)}detectSdfPatterns(e){for(let t of this.patternFeatures)for(let r in t.patterns){let i=t.patterns[r];this.recordSdfPattern(r,e[i.min]),this.recordSdfPattern(r,e[i.mid]),this.recordSdfPattern(r,e[i.max])}for(let t of this.layers){let r=t.paint.get("fill-pattern").constantOr(null);r&&(this.recordSdfPattern(t.id,e[r.from.toString()]),this.recordSdfPattern(t.id,e[r.to.toString()]))}}recordSdfPattern(e,t){if(!t)return;let r=t.sdf===!0,i=this.sdfPatterns[e];i===void 0?this.sdfPatterns[e]=r:i!==r&&Ma(`Style sheet warning: Cannot mix SDF and non-SDF fill patterns in layer "${e}"`)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,P1r),this.indexBuffer=e.createIndexBuffer(this.indexArray),this.indexBuffer2=e.createIndexBuffer(this.indexArray2)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.indexBuffer2.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.segments2.destroy())}addFeature(e,t,r,i,n,a){for(let o of AB(t,500)){let s=yit(o,i,a.fill.getGranularityForZoomLevel(i.z)),l=this.layoutVertexArray;xit((u,c)=>{l.emplaceBack(u,c)},this.segments,this.layoutVertexArray,this.indexArray,s.verticesFlattened,s.indicesTriangles,this.segments2,this.indexArray2,s.indicesLineList)}this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,e,r,{imagePositions:n,canonical:i})}};Ui("FillBucket",_it,{omit:["layers","patternFeatures"]});ogr=()=>agr||(agr=new uc({"fill-sort-key":new Sn(_r.layout_fill["fill-sort-key"],"fill-sort-key")})),lgr=()=>sgr||(sgr=new uc({"fill-antialias":new Fi(_r.paint_fill["fill-antialias"],"fill-antialias"),"fill-opacity":new Sn(_r.paint_fill["fill-opacity"],"fill-opacity"),"fill-layer-opacity":new Fi(_r.paint_fill["fill-layer-opacity"],"fill-layer-opacity"),"fill-color":new Sn(_r.paint_fill["fill-color"],"fill-color"),"fill-outline-color":new Sn(_r.paint_fill["fill-outline-color"],"fill-outline-color"),"fill-translate":new Fi(_r.paint_fill["fill-translate"],"fill-translate"),"fill-translate-anchor":new Fi(_r.paint_fill["fill-translate-anchor"],"fill-translate-anchor"),"fill-pattern":new Ck(_r.paint_fill["fill-pattern"],"fill-pattern")})),ugr={get paint(){return lgr()},get layout(){return ogr()}},bit=e=>e.type==="fill",cgr=class extends Av{constructor(e,t){super(e,ugr,t)}recalculate(e,t){super.recalculate(e,t);let r=this.paint._values["fill-outline-color"];r.value.kind==="constant"&&r.value.value===void 0&&(this.paint._values["fill-outline-color"]=this.paint._values["fill-color"])}createBucket(e){return new _it(e)}queryRadius(){return OB(this.paint.get("fill-translate"))}queryIntersectsFeature({queryGeometry:e,geometry:t,transform:r,pixelsToTileUnits:i}){return rit(NB(e,this.paint.get("fill-translate"),this.paint.get("fill-translate-anchor"),-r.bearingInRadians,i),t)}isTileClipped(){return!0}},Wre=ol([{name:"a_pos",components:2,type:"Int16"},{name:"a_normal_ed",components:4,type:"Int16"}],4),fgr=ol([{name:"a_centroid",components:2,type:"Int16"}],4),hgr=Wre.members;Wre.size,Wre.alignment;Jd=class Yre{constructor(){this.minX=1/0,this.maxX=-1/0,this.minY=1/0,this.maxY=-1/0}extend(t){return this.minX=Math.min(this.minX,t.x),this.minY=Math.min(this.minY,t.y),this.maxX=Math.max(this.maxX,t.x),this.maxY=Math.max(this.maxY,t.y),this}expandBy(t){return this.minX-=t,this.minY-=t,this.maxX+=t,this.maxY+=t,(this.minX>this.maxX||this.minY>this.maxY)&&(this.minX=1/0,this.maxX=-1/0,this.minY=1/0,this.maxY=-1/0),this}shrinkBy(t){return this.expandBy(-t)}map(t){let r=new Yre;return r.extend(t(new tr(this.minX,this.minY))),r.extend(t(new tr(this.maxX,this.minY))),r.extend(t(new tr(this.minX,this.maxY))),r.extend(t(new tr(this.maxX,this.maxY))),r}static fromPoints(t){let r=new Yre;for(let i of t)r.extend(i);return r}contains(t){return t.x>=this.minX&&t.x<=this.maxX&&t.y>=this.minY&&t.y<=this.maxY}empty(){return this.minX>this.maxX}width(){return this.maxX-this.minX}height(){return this.maxY-this.minY}covers(t){return!this.empty()&&!t.empty()&&t.minX>=this.minX&&t.maxX<=this.maxX&&t.minY>=this.minY&&t.maxY<=this.maxY}intersects(t){return!this.empty()&&!t.empty()&&t.minX<=this.maxX&&t.maxX>=this.minX&&t.minY<=this.maxY&&t.maxY>=this.minY}},wit=Jd.fromPoints([new tr(0,0),new tr(zr,zr)]);t8=class{constructor(e,t,r,i,n){for(this.properties=Object.create(null),this.extent=r,this.type=0,this.id=void 0,this._pbf=e,this._geometry=-1,this._keys=i,this._values=n;e.pos>3,a===0)continue}if(a--,n===1)o+=e.readSVarint(),s+=e.readSVarint(),i&&r.push(i),i=[new tr(o,s)];else if(n===2)o+=e.readSVarint(),s+=e.readSVarint(),i&&i.push(new tr(o,s));else if(n===7)i&&i.push(i[0].clone());else throw Error(`unknown command ${n}`)}return i&&r.push(i),r}bbox(){if(this._geometry<0)throw Error("feature has no geometry");let e=this._pbf;e.pos=this._geometry;let t=e.readVarint()+e.pos,r=1,i=0,n=0,a=0,o=1/0,s=-1/0,l=1/0,u=-1/0;for(;e.pos>3,i===0)continue}if(i--,r===1||r===2)n+=e.readSVarint(),a+=e.readSVarint(),ns&&(s=n),au&&(u=a);else if(r!==7)throw Error(`unknown command ${r}`)}return[o,l,s,u]}toGeoJSON(e,t,r){let i=this.extent*2**r,n=this.extent*e,a=this.extent*t,o=this.loadGeometry();function s(f){return[(f.x+n)*360/i-180,360/Math.PI*Math.atan(Math.exp((1-(f.y+a)*2/i)*Math.PI))-90]}function l(f){return f.map(s)}let u;if(this.type===1){let f=[];for(let d of o)f.push(d[0]);let h=l(f);u=f.length===1?{type:"Point",coordinates:h[0]}:{type:"MultiPoint",coordinates:h}}else if(this.type===2){let f=o.map(l);u=f.length===1?{type:"LineString",coordinates:f[0]}:{type:"MultiLineString",coordinates:f}}else if(this.type===3){let f=Tit(o),h=[];for(let d of f)h.push(d.map(l));u=h.length===1?{type:"Polygon",coordinates:h[0]}:{type:"MultiPolygon",coordinates:h}}else throw Error("unknown feature type");let c={type:"Feature",geometry:u,properties:this.properties};return this.id!=null&&(c.id=this.id),c}};t8.types=["Unknown","Point","LineString","Polygon"];pgr=class{constructor(e,t){for(this.version=1,this.name="",this.extent=4096,this.length=0,this._pbf=e,this._keys=[],this._values=[],this._features=[],t===void 0&&(t=e.length);e.pos=this._features.length)throw Error("feature index out of bounds");this._pbf.pos=this._features[e];let t=this._pbf.readVarint()+this._pbf.pos;return new t8(this._pbf,t,this.extent,this._keys,this._values)}};ggr=class{constructor(e,t=e.length){let r=Object.create(null);for(;e.pos90||this.lat<-90)throw Error("Invalid LngLat latitude value: must be between -90 and 90")}wrap(){return new dk(B0(this.lng,-180,180),this.lat)}toArray(){return[this.lng,this.lat]}toString(){return`LngLat(${this.lng}, ${this.lat})`}distanceTo(t){let r=Math.PI/180,i=this.lat*r,n=t.lat*r,a=Math.sin(i)*Math.sin(n)+Math.cos(i)*Math.cos(n)*Math.cos((t.lng-this.lng)*r);return zf*Math.acos(Math.min(a,1))}static convert(t){if(t instanceof dk)return t;if(Array.isArray(t)&&(t.length===2||t.length===3))return new dk(Number(t[0]),Number(t[1]));if(!Array.isArray(t)&&typeof t=="object"&&t)return new dk(Number("lng"in t?t.lng:t.lon),Number(t.lat));throw Error("`LngLatLike` argument must be specified as a LngLat instance, an object {lng: , lat: }, an object {lon: , lat: }, or an array of [, ]")}},Ait=2*Math.PI*zf;wo=class Sit{constructor(t,r,i=0){this.x=+t,this.y=+r,this.z=+i}static fromLngLat(t,r=0){let i=mn.convert(t);return new Sit(e3(i.lng),t3(i.lat),rx(r,i.lat))}toLngLat(){return new mn(GB(this.x),LT(this.y))}toAltitude(){return one(this.z,this.y)}meterInMercatorCoordinateUnits(){return 1/Ait*mgr(LT(this.y))}},ix=89.25;Xte=8192;kit=class{constructor(e){this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(t=>t.id),this.index=e.index,this.hasDependencies=!1,this.layoutVertexArray=new Nvr,this.centroidVertexArray=new Pm,this.indexArray=new Mv,this.programConfigurations=new $b(e.layers,e.zoom),this.segments=new Ws,this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){this.features=[],this.hasDependencies=Jz("fill-extrusion",this.layers,t);let i=new Co(this.zoom),n=this.layers[0],a=n.layout.get("fill-extrusion-rounded-corner-distance"),o=n._featureFilter.needGeometry;for(let{feature:s,id:l,index:u,sourceLayerIndex:c}of e){let f=tx(s,o);if(!n._featureFilter.filter(i,f,r))continue;let h=o?f.geometry:Qb(s),d={id:l,sourceLayerIndex:c,index:u,geometry:a>0?GQe(h,a,r):h,properties:s.properties,type:s.type,patterns:{}};this.hasDependencies?this.features.push(ane("fill-extrusion",this.layers,d,{zoom:this.zoom},t)):this.addFeature(d,d.geometry,u,r,{},t.subdivisionGranularity),t.featureIndex.insert(s,d.geometry,u,c,this.index,!0)}}addFeatures({options:e,canonical:t,patternPositions:r}){for(let i of this.features){let{geometry:n}=i;this.addFeature(i,n,i.index,t,r,e.subdivisionGranularity)}}update(e,t,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r})}isEmpty(){return this.layoutVertexArray.length===0&&this.centroidVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,hgr),this.centroidVertexBuffer=e.createVertexBuffer(this.centroidVertexArray,fgr.members,!0),this.indexBuffer=e.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.centroidVertexBuffer.destroy())}addFeature(e,t,r,i,n,a){let o=this.layers[0],s=o.layout?o.layout.get("fill-extrusion-rounded-corner-distance"):0,l=s>0?GQe(t,s,i):t;for(let u of AB(l,500)){let c={x:0,y:0,sampleCount:0},f=this.layoutVertexArray.length;this.processPolygon(c,i,e,u,a);let h=this.layoutVertexArray.length-f,d=Math.floor(c.x/c.sampleCount),p=Math.floor(c.y/c.sampleCount);for(let v=0;v{ok(u,c,f,0,0,1,1,0)},this.segments,this.layoutVertexArray,this.indexArray,l.verticesFlattened,l.indicesTriangles)}_generateSideFaces(e,t){let r=0;for(let i=1;iWs.MAX_VERTEX_ARRAY_LENGTH&&(t.segment=this.segments.prepareSegment(4,this.layoutVertexArray,this.indexArray));let o=n.sub(a)._perp()._unit(),s=a.dist(n);r+s>32768&&(r=0),ok(this.layoutVertexArray,n.x,n.y,o.x,o.y,0,0,r),ok(this.layoutVertexArray,n.x,n.y,o.x,o.y,0,1,r),r+=s,ok(this.layoutVertexArray,a.x,a.y,o.x,o.y,0,0,r),ok(this.layoutVertexArray,a.x,a.y,o.x,o.y,0,1,r);let l=t.segment.vertexLength;this.indexArray.emplaceBack(l,l+2,l+1),this.indexArray.emplaceBack(l+1,l+2,l+3),t.segment.vertexLength+=4,t.segment.primitiveLength+=2}}};Ui("FillExtrusionBucket",kit,{omit:["layers","features"]});Mgr=()=>Agr||(Agr=new uc({"fill-extrusion-rounded-corner-distance":new Fi(_r["layout_fill-extrusion"]["fill-extrusion-rounded-corner-distance"],"fill-extrusion-rounded-corner-distance")})),Egr=()=>Sgr||(Sgr=new uc({"fill-extrusion-opacity":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-opacity"],"fill-extrusion-opacity"),"fill-extrusion-color":new Sn(_r["paint_fill-extrusion"]["fill-extrusion-color"],"fill-extrusion-color"),"fill-extrusion-translate":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-translate"],"fill-extrusion-translate"),"fill-extrusion-translate-anchor":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-translate-anchor"],"fill-extrusion-translate-anchor"),"fill-extrusion-pattern":new Ck(_r["paint_fill-extrusion"]["fill-extrusion-pattern"],"fill-extrusion-pattern"),"fill-extrusion-height":new Sn(_r["paint_fill-extrusion"]["fill-extrusion-height"],"fill-extrusion-height"),"fill-extrusion-base":new Sn(_r["paint_fill-extrusion"]["fill-extrusion-base"],"fill-extrusion-base"),"fill-extrusion-vertical-gradient":new Fi(_r["paint_fill-extrusion"]["fill-extrusion-vertical-gradient"],"fill-extrusion-vertical-gradient")})),kgr={get paint(){return Egr()},get layout(){return Mgr()}},Cit=e=>e.type==="fill-extrusion",Cgr=class extends Av{constructor(e,t){super(e,kgr,t)}createBucket(e){return new kit(e)}queryRadius(){return OB(this.paint.get("fill-extrusion-translate"))}is3D(){return!0}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,pixelPosMatrix:o}){let s=NB(e,this.paint.get("fill-extrusion-translate"),this.paint.get("fill-extrusion-translate-anchor"),-n.bearingInRadians,a),l=this.paint.get("fill-extrusion-height").evaluate(t,r),u=this.paint.get("fill-extrusion-base").evaluate(t,r),c=Lgr(s,o,0),f=Fgr(i,u,l,o),h=f[0],d=f[1];return Dgr(h,d,c)}};IXr=new Uint32Array(96),Pgr="geojsonvt_clip_start",Igr="geojsonvt_clip_end",Zre=ol([{name:"a_pos_normal",components:2,type:"Int16"},{name:"a_data",components:4,type:"Uint8"}],4),Rgr=Zre.members;Zre.size,Zre.alignment;Kre=ol([{name:"a_uv_x",components:1,type:"Float32"},{name:"a_split_index",components:1,type:"Float32"}]),zgr=Kre.members;Kre.size,Kre.alignment;Bgr=Math.cos(75/2*(Math.PI/180)),Dit=1/2,jQe=2**14/Dit,Fit=class{constructor(e){this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(t=>t.id),this.index=e.index,this.hasDependencies=!1,this.patternFeatures=[],this.lineClipsArray=[],this.gradients={};for(let t of this.layers)this.gradients[t.id]={};this.layoutVertexArray=new Uvr,this.layoutVertexArray2=new Vvr,this.indexArray=new Mv,this.programConfigurations=new $b(e.layers,e.zoom),this.segments=new Ws,this.maxLineLength=0,this.stateDependentLayerIds=this.layers.filter(t=>t.isStateDependent()).map(t=>t.id)}populate(e,t,r){this.hasDependencies=Jz("line",this.layers,t)||this.hasLineDasharray(this.layers);let i=this.layers[0].layout.get("line-sort-key"),n=!i.isConstant(),a=[],o=new Co(this.zoom),s=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:c,sourceLayerIndex:f}of e){let h=tx(l,s);if(!this.layers[0]._featureFilter.filter(o,h,r))continue;let d=n?i.evaluate(h,{},r):void 0,p={id:u,properties:l.properties,type:l.type,sourceLayerIndex:f,index:c,geometry:s?h.geometry:Qb(l),patterns:{},dashes:{},sortKey:d};a.push(p)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:c,sourceLayerIndex:f}=l;this.hasDependencies?(Jz("line",this.layers,t)?ane("line",this.layers,l,{zoom:this.zoom},t):this.hasLineDasharray(this.layers)&&this.addLineDashDependencies(this.layers,l,this.zoom,t),this.patternFeatures.push(l)):this.addFeature(l,u,c,r,{},{},t.subdivisionGranularity);let h=e[c].feature;t.featureIndex.insert(h,u,c,f,this.index)}}update(e,t,r,i){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(e,t,this.stateDependentLayers,{imagePositions:r,dashPositions:i})}addFeatures({options:e,canonical:t,patternPositions:r,dashPositions:i}){for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,t,r,i,e.subdivisionGranularity)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(e){this.uploaded||(this.layoutVertexArray2.length!==0&&(this.layoutVertexBuffer2=e.createVertexBuffer(this.layoutVertexArray2,zgr)),this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,Rgr),this.indexBuffer=e.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(e),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}lineFeatureClips(e){if(e.properties&&Object.hasOwn(e.properties,"geojsonvt_clip_start")&&Object.hasOwn(e.properties,"geojsonvt_clip_end"))return{start:+e.properties[Pgr],end:+e.properties[Igr]}}addFeature(e,t,r,i,n,a,o){let s=this.layers[0].layout,l=s.get("line-join").evaluate(e,{}),u=s.get("line-cap").evaluate(e,{}),c=s.get("line-miter-limit").evaluate(e,{}),f=s.get("line-round-limit").evaluate(e,{});this.lineClips=this.lineFeatureClips(e);for(let h of t)this.addLine(h,e,l,u,c,f,i,o);this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,e,r,{imagePositions:n,dashPositions:a,canonical:i})}addLine(e,t,r,i,n,a,o,s){this.distance=0,this.scaledDistance=0,this.totalDistance=0;let l=o?s.line.getGranularityForZoomLevel(o.z):1;if(e=qb(e,l),this.lineClips){this.lineClipsArray.push(this.lineClips);for(let b=0;b=2&&e[c-1].equals(e[c-2]);)c--;let f=0;for(;f0;if(y&&b>f){let k=p.dist(v);if(k>2*h){let D=p.sub(p.sub(v)._mult(h/k)._round());this.updateDistance(v,D),this.addCurrentVertex(D,g,0,0,d),v=D}}let S=v&&m,C=S?r:u?"butt":i;if(S&&C==="round"&&(Tn&&(C="bevel"),C==="bevel"&&(T>2&&(C="flipbevel"),T100)_=w.mult(-1);else{let k=T*g.add(w).mag()/g.sub(w).mag();_._perp()._mult(k*(E?-1:1))}this.addCurrentVertex(p,_,0,0,d),this.addCurrentVertex(p,_.mult(-1),0,0,d)}else if(C==="bevel"||C==="fakeround"){let k=-Math.sqrt(T*T-1),D=E?k:0,F=E?0:k;if(v&&this.addCurrentVertex(p,g,D,F,d),C==="fakeround"){let P=Math.round(A*180/Math.PI/20);for(let R=1;R2*h){let D=p.add(m.sub(p)._mult(h/k)._round());this.updateDistance(p,D),this.addCurrentVertex(D,w,0,0,d),p=D}}}}addCurrentVertex(e,t,r,i,n,a=!1){let o=t.x+t.y*r,s=t.y-t.x*r,l=-t.x+t.y*i,u=-t.y-t.x*i;this.addHalfVertex(e,o,s,a,!1,r,n),this.addHalfVertex(e,l,u,a,!0,-i,n),this.distance>jQe/2&&this.totalDistance===0&&(this.distance=0,this.updateScaledDistance(),this.addCurrentVertex(e,t,r,i,n,a))}addHalfVertex({x:e,y:t},r,i,n,a,o,s){let l=(this.lineClips?this.scaledDistance*(jQe-1):this.scaledDistance)*Dit;if(this.layoutVertexArray.emplaceBack((e<<1)+ +!!n,(t<<1)+ +!!a,Math.round(63*r)+128,Math.round(63*i)+128,(o===0?0:o<0?-1:1)+1|(l&63)<<2,l>>6),this.lineClips){let c=(this.scaledDistance-this.lineClips.start)/(this.lineClips.end-this.lineClips.start);this.layoutVertexArray2.emplaceBack(c,this.lineClipsArray.length)}let u=s.vertexLength++;this.e1>=0&&this.e2>=0&&(this.indexArray.emplaceBack(this.e1,u,this.e2),s.primitiveLength++),a?this.e2=u:this.e1=u}updateScaledDistance(){this.scaledDistance=this.lineClips?this.lineClips.start+(this.lineClips.end-this.lineClips.start)*this.distance/this.totalDistance:this.distance}updateDistance(e,t){this.distance+=e.dist(t),this.updateScaledDistance()}hasLineDasharray(e){for(let t of e){let r=t.paint.get("line-dasharray");if(r&&!r.isConstant())return!0}return!1}addLineDashDependencies(e,t,r,i){for(let n of e){let a=n.paint.get("line-dasharray");if(!a||a.value.kind==="constant")continue;let o=n.layout.get("line-cap").evaluate(t,{})==="round",s={dasharray:a.value.evaluate({zoom:r-1},t,{}),round:o},l={dasharray:a.value.evaluate({zoom:r},t,{}),round:o},u={dasharray:a.value.evaluate({zoom:r+1},t,{}),round:o},c=`${s.dasharray.join(",")},${s.round}`,f=`${l.dasharray.join(",")},${l.round}`,h=`${u.dasharray.join(",")},${u.round}`;i.dashDependencies[c]=s,i.dashDependencies[f]=l,i.dashDependencies[h]=u,t.dashes[n.id]={min:c,mid:f,max:h}}}};Ui("LineBucket",Fit,{omit:["layers","patternFeatures"]});Ogr=()=>qgr||(qgr=new uc({"line-cap":new Sn(_r.layout_line["line-cap"],"line-cap"),"line-join":new Sn(_r.layout_line["line-join"],"line-join"),"line-miter-limit":new Sn(_r.layout_line["line-miter-limit"],"line-miter-limit"),"line-round-limit":new Sn(_r.layout_line["line-round-limit"],"line-round-limit"),"line-sort-key":new Sn(_r.layout_line["line-sort-key"],"line-sort-key")})),Ugr=()=>Ngr||(Ngr=new uc({"line-opacity":new Sn(_r.paint_line["line-opacity"],"line-opacity"),"line-layer-opacity":new Fi(_r.paint_line["line-layer-opacity"],"line-layer-opacity"),"line-color":new Sn(_r.paint_line["line-color"],"line-color"),"line-translate":new Fi(_r.paint_line["line-translate"],"line-translate"),"line-translate-anchor":new Fi(_r.paint_line["line-translate-anchor"],"line-translate-anchor"),"line-width":new Sn(_r.paint_line["line-width"],"line-width"),"line-gap-width":new Sn(_r.paint_line["line-gap-width"],"line-gap-width"),"line-offset":new Sn(_r.paint_line["line-offset"],"line-offset"),"line-blur":new Sn(_r.paint_line["line-blur"],"line-blur"),"line-dasharray":new Ck(_r.paint_line["line-dasharray"],"line-dasharray"),"line-pattern":new Ck(_r.paint_line["line-pattern"],"line-pattern"),"line-gradient":new zB(_r.paint_line["line-gradient"],"line-gradient")})),$Qe={get paint(){return Ugr()},get layout(){return Ogr()}},Vgr=class extends Sn{possiblyEvaluate(e,t){return t=new Co(Math.floor(t.zoom),{now:t.now,fadeDuration:t.fadeDuration,zoomHistory:t.zoomHistory,transition:t.transition}),super.possiblyEvaluate(e,t)}evaluate(e,t,r,i){return t=ln({},t,{zoom:Math.floor(t.zoom)}),super.evaluate(e,t,r,i)}},Lit=e=>e.type==="line",Ggr=class extends Av{constructor(e,t){super(e,$Qe,t),this.gradientVersion=0,Mz||(Mz=new Vgr($Qe.paint.properties["line-width"].specification,"line-floorwidth"),Mz.useIntegerZoom=!0)}_handleSpecialPaintPropertyUpdate(e){if(e==="line-gradient"){let t=this.gradientExpression();this.stepInterpolant=evr(t)?t._styleExpression.expression instanceof Die:!1,this.gradientVersion=(this.gradientVersion+1)%(2**53-1)}}gradientExpression(){return this._transitionablePaint._values["line-gradient"].value.expression}recalculate(e,t){super.recalculate(e,t),this.paint._values["line-floorwidth"]=Mz.possiblyEvaluate(this._transitioningPaint._values["line-width"].value,e)}createBucket(e){return new Fit(e)}queryRadius(e){let t=e,r=WQe(yT("line-width",this,t),yT("line-gap-width",this,t)),i=yT("line-offset",this,t);return r/2+Math.abs(i)+OB(this.paint.get("line-translate"))}queryIntersectsFeature({queryGeometry:e,feature:t,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a}){let o=NB(e,this.paint.get("line-translate"),this.paint.get("line-translate-anchor"),-n.bearingInRadians,a),s=a/2*WQe(this.paint.get("line-width").evaluate(t,r),this.paint.get("line-gap-width").evaluate(t,r)),l=this.paint.get("line-offset").evaluate(t,r);return l&&(i=l1r(i,l*a)),r1r(o,i,s)}isTileClipped(){return!0}};Hgr=ol([{name:"a_pos_offset",components:4,type:"Int16"},{name:"a_data",components:4,type:"Uint16"},{name:"a_pixeloffset",components:4,type:"Int16"},{name:"a_height_offset",components:1,type:"Float32"}],4),jgr=ol([{name:"a_projected_pos",components:3,type:"Float32"}],4);ol([{name:"a_fade_opacity",components:1,type:"Uint32"}],4);$gr=ol([{name:"a_placed",components:2,type:"Uint8"},{name:"a_shift",components:2,type:"Float32"},{name:"a_box_real",components:2,type:"Int16"}]);ol([{type:"Int16",name:"anchorPointX"},{type:"Int16",name:"anchorPointY"},{type:"Int16",name:"x1"},{type:"Int16",name:"y1"},{type:"Int16",name:"x2"},{type:"Int16",name:"y2"},{type:"Uint32",name:"featureIndex"},{type:"Uint16",name:"sourceLayerIndex"},{type:"Uint16",name:"bucketIndex"}]);YQe=ol([{name:"a_pos",components:2,type:"Int16"},{name:"a_anchor_pos",components:2,type:"Int16"},{name:"a_extrude",components:2,type:"Int16"}],4),Pit=ol([{name:"a_pos",components:2,type:"Float32"},{name:"a_radius",components:1,type:"Float32"},{name:"a_flags",components:2,type:"Int16"}],4);ol([{name:"triangle",components:3,type:"Uint16"}]),ol([{type:"Int16",name:"anchorX"},{type:"Int16",name:"anchorY"},{type:"Uint16",name:"glyphStartIndex"},{type:"Uint16",name:"numGlyphs"},{type:"Uint32",name:"vertexStartIndex"},{type:"Uint32",name:"lineStartIndex"},{type:"Uint32",name:"lineLength"},{type:"Uint16",name:"segment"},{type:"Uint16",name:"lowerSize"},{type:"Uint16",name:"upperSize"},{type:"Float32",name:"lineOffsetX"},{type:"Float32",name:"lineOffsetY"},{type:"Uint8",name:"writingMode"},{type:"Uint8",name:"placedOrientation"},{type:"Uint8",name:"hidden"},{type:"Uint32",name:"crossTileID"},{type:"Int16",name:"associatedIconIndex"},{type:"Float32",name:"heightOffset"}]),ol([{type:"Int16",name:"anchorX"},{type:"Int16",name:"anchorY"},{type:"Int16",name:"rightJustifiedTextSymbolIndex"},{type:"Int16",name:"centerJustifiedTextSymbolIndex"},{type:"Int16",name:"leftJustifiedTextSymbolIndex"},{type:"Int16",name:"verticalPlacedTextSymbolIndex"},{type:"Int16",name:"placedIconSymbolIndex"},{type:"Int16",name:"verticalPlacedIconSymbolIndex"},{type:"Uint16",name:"key"},{type:"Uint16",name:"textBoxStartIndex"},{type:"Uint16",name:"textBoxEndIndex"},{type:"Uint16",name:"verticalTextBoxStartIndex"},{type:"Uint16",name:"verticalTextBoxEndIndex"},{type:"Uint16",name:"iconBoxStartIndex"},{type:"Uint16",name:"iconBoxEndIndex"},{type:"Uint16",name:"verticalIconBoxStartIndex"},{type:"Uint16",name:"verticalIconBoxEndIndex"},{type:"Uint16",name:"featureIndex"},{type:"Uint16",name:"numHorizontalGlyphVertices"},{type:"Uint16",name:"numVerticalGlyphVertices"},{type:"Uint16",name:"numIconVertices"},{type:"Uint16",name:"numVerticalIconVertices"},{type:"Uint16",name:"useRuntimeCollisionCircles"},{type:"Uint32",name:"crossTileID"},{type:"Float32",name:"textBoxScale"},{type:"Float32",name:"collisionCircleDiameter"},{type:"Uint16",name:"textAnchorOffsetStartIndex"},{type:"Uint16",name:"textAnchorOffsetEndIndex"},{type:"Float32",name:"heightOffset"}]),ol([{type:"Float32",name:"offsetX"}]),ol([{type:"Int16",name:"x"},{type:"Int16",name:"y"},{type:"Int16",name:"tileUnitDistanceFromAnchor"}]),ol([{type:"Uint16",name:"textAnchor"},{type:"Float32",components:2,name:"textOffset"}]);tB=new class{constructor(){this.TIMEOUT=5e3,this.applyArabicShaping=null,this.processBidirectionalText=null,this.processStyledBidirectionalText=null,this.pluginStatus="unavailable",this.pluginURL=null,this.loadScriptResolve=()=>{}}setState(e){this.pluginStatus=e.pluginStatus,this.pluginURL=e.pluginURL}getState(){return{pluginStatus:this.pluginStatus,pluginURL:this.pluginURL}}setMethods(e){if(tB.isParsed())throw Error("RTL text plugin already registered.");this.applyArabicShaping=e.applyArabicShaping,this.processBidirectionalText=e.processBidirectionalText,this.processStyledBidirectionalText=e.processStyledBidirectionalText,this.loadScriptResolve()}isParsed(){return this.applyArabicShaping!=null&&this.processBidirectionalText!=null&&this.processStyledBidirectionalText!=null}getRTLTextPluginStatus(){return this.pluginStatus}syncState(e,t){return Ki(this,null,function*(){if(this.isParsed())return this.getState();if(e.pluginStatus!=="loading")return this.setState(e),e;let r=e.pluginURL,i=new Promise(a=>{this.loadScriptResolve=a}),n=new Promise(a=>setTimeout(()=>a(),this.TIMEOUT));if(yield t(r),yield Promise.race([i,n]),this.isParsed()){let a={pluginStatus:"loaded",pluginURL:r};return this.setState(a),a}throw this.setState({pluginStatus:"error",pluginURL:""}),Error(`RTL Text Plugin failed to import scripts from ${r}`)})}};Qgr={C:"18g,1;g2,3;4nb,1",D:"17k,1;5,1;1,1;1,5;4,d;1,7;1,2;z,2;8,g;i,12;1,2;9,1;1,1;1,2;14,3;2,1;28,9;3,f;2,4;1,1;2,3;2,6;7a,1;2,5;1,1;g,a;5,2;2,6;1,f",R:"17m,4;1,1;1,1;5,4;l,1;14,3;1,3;g,i;12,1;2,9;1,1;1,1;2,2;1,1;o,2;2x,3;f,2;4,1;1,2;3,2;6u,j;b,1;r,3;1,1;2,2;6,1",T:"174,b;1,1;1a,l;g,1;2t,7;2,6;2,2;1,4;bt,9;16,o;1,t;1clb,1"},emr={1569:[65152,0,0,0],1570:[65153,65154,0,0],1571:[65155,65156,0,0],1572:[65157,65158,0,0],1573:[65159,65160,0,0],1574:[65161,65162,65163,65164],1575:[65165,65166,0,0],1576:[65167,65168,65169,65170],1577:[65171,65172,0,0],1578:[65173,65174,65175,65176],1579:[65177,65178,65179,65180],1580:[65181,65182,65183,65184],1581:[65185,65186,65187,65188],1582:[65189,65190,65191,65192],1583:[65193,65194,0,0],1584:[65195,65196,0,0],1585:[65197,65198,0,0],1586:[65199,65200,0,0],1587:[65201,65202,65203,65204],1588:[65205,65206,65207,65208],1589:[65209,65210,65211,65212],1590:[65213,65214,65215,65216],1591:[65217,65218,65219,65220],1592:[65221,65222,65223,65224],1593:[65225,65226,65227,65228],1594:[65229,65230,65231,65232],1601:[65233,65234,65235,65236],1602:[65237,65238,65239,65240],1603:[65241,65242,65243,65244],1604:[65245,65246,65247,65248],1605:[65249,65250,65251,65252],1606:[65253,65254,65255,65256],1607:[65257,65258,65259,65260],1608:[65261,65262,0,0],1609:[65263,65264,64488,64489],1610:[65265,65266,65267,65268],1611:[65136,0,0,65137],1612:[65138,0,0,0],1613:[65140,0,0,0],1614:[65142,0,0,65143],1615:[65144,0,0,65145],1616:[65146,0,0,65147],1617:[65148,0,0,65149],1618:[65150,0,0,65151],1649:[64336,64337,0,0],1655:[64477,0,0,0],1657:[64358,64359,64360,64361],1658:[64350,64351,64352,64353],1659:[64338,64339,64340,64341],1662:[64342,64343,64344,64345],1663:[64354,64355,64356,64357],1664:[64346,64347,64348,64349],1667:[64374,64375,64376,64377],1668:[64370,64371,64372,64373],1670:[64378,64379,64380,64381],1671:[64382,64383,64384,64385],1672:[64392,64393,0,0],1676:[64388,64389,0,0],1677:[64386,64387,0,0],1678:[64390,64391,0,0],1681:[64396,64397,0,0],1688:[64394,64395,0,0],1700:[64362,64363,64364,64365],1702:[64366,64367,64368,64369],1705:[64398,64399,64400,64401],1709:[64467,64468,64469,64470],1711:[64402,64403,64404,64405],1713:[64410,64411,64412,64413],1715:[64406,64407,64408,64409],1722:[64414,64415,0,0],1723:[64416,64417,64418,64419],1726:[64426,64427,64428,64429],1728:[64420,64421,0,0],1729:[64422,64423,64424,64425],1733:[64480,64481,0,0],1734:[64473,64474,0,0],1735:[64471,64472,0,0],1736:[64475,64476,0,0],1737:[64482,64483,0,0],1739:[64478,64479,0,0],1740:[64508,64509,64510,64511],1744:[64484,64485,64486,64487],1746:[64430,64431,0,0],1747:[64432,64433,0,0]},tmr={\u0644\u0622:[65269,65270],\u0644\u0623:[65271,65272],\u0644\u0625:[65273,65274],\u0644\u0627:[65275,65276]},ZQe=1604,rmr=/[\u0600-\u06ff\u0750-\u077f\u0870-\u089f\u08a0-\u08ff\ufb50-\ufdff\ufe70-\ufeff]/;Rit=new Map;for(let[e,t]of Object.entries(Qgr))imr(t,e,Rit);zit=typeof Intl<"u"&&"Segmenter"in Intl;vT={"!":"\uFE15","#":"\uFF03",$:"\uFF04","%":"\uFF05","&":"\uFF06","(":"\uFE35",")":"\uFE36","*":"\uFF0A","+":"\uFF0B",",":"\uFE10","-":"\uFE32",".":"\u30FB","/":"\uFF0F",":":"\uFE13",";":"\uFE14","<":"\uFE3F","=":"\uFF1D",">":"\uFE40","?":"\uFE16","@":"\uFF20","[":"\uFE47","\\":"\uFF3C","]":"\uFE48","^":"\uFF3E",_:"\uFE33","`":"\uFF40","{":"\uFE37","|":"\u2015","}":"\uFE38","~":"\uFF5E","\xA2":"\uFFE0","\xA3":"\uFFE1","\xA5":"\uFFE5","\xA6":"\uFFE4","\xAC":"\uFFE2","\xAF":"\uFFE3","\u2013":"\uFE32","\u2014":"\uFE31","\u2018":"\uFE43","\u2019":"\uFE44","\u201C":"\uFE41","\u201D":"\uFE42","\u2026":"\uFE19","\u22EF":"\uFE19","\u2027":"\u30FB","\u20A9":"\uFFE6","\u3001":"\uFE11","\u3002":"\uFE12","\u3008":"\uFE3F","\u3009":"\uFE40","\u300A":"\uFE3D","\u300B":"\uFE3E","\u300C":"\uFE41","\u300D":"\uFE42","\u300E":"\uFE43","\u300F":"\uFE44","\u3010":"\uFE3B","\u3011":"\uFE3C","\u3014":"\uFE39","\u3015":"\uFE3A","\u3016":"\uFE17","\u3017":"\uFE18","\uFF01":"\uFE15","\uFF08":"\uFE35","\uFF09":"\uFE36","\uFF0C":"\uFE10","\uFF0D":"\uFE32","\uFF0E":"\u30FB","\uFF1A":"\uFE13","\uFF1B":"\uFE14","\uFF1C":"\uFE3F","\uFF1E":"\uFE40","\uFF1F":"\uFE16","\uFF3B":"\uFE47","\uFF3D":"\uFE48","\uFF3F":"\uFE33","\uFF5B":"\uFE37","\uFF5C":"\u2015","\uFF5D":"\uFE38","\uFF5F":"\uFE35","\uFF60":"\uFE36","\uFF61":"\uFE12","\uFF62":"\uFE41","\uFF63":"\uFE42"};bmr={10:!0,13:!0,32:!0,38:!0,41:!0,43:!0,45:!0,47:!0,173:!0,183:!0,8203:!0,8208:!0,8211:!0,8231:!0},wmr={40:!0};cne=class eie{constructor(t="",r=[],i=[]){this.text=t,this.sections=r,this.sectionIndex=i,this.imageSectionID=null,this._graphemes=null}graphemes(){var t;return(t=this._graphemes)!=null||(this._graphemes=Jre(this.text)),this._graphemes}static fromFeature(t,r){let i=new eie;for(let n of t.sections)n.image?i.addImageSection(n):i.addTextSection(n,r);return i}length(){return this.graphemes().length}getSection(t){return this.sections[this.sectionIndex[t]]}getSectionIndex(t){return this.sectionIndex[t]}verticalizePunctuation(){this.text=_mr(this.text),this._graphemes=null}hasZeroWidthSpaces(){return this.text.includes("\u200B")}trim(){let t=this.graphemes(),r=0;for(;rr&&eet(t[i-1]);)i--;this.text=t.slice(r,i).join(""),this.sectionIndex=this.sectionIndex.slice(r,i),this._graphemes=null}substring(t,r){let i=this.graphemes().slice(t,r).join(""),n=this.sectionIndex.slice(t,r);return new eie(i,this.sections,n)}toCodeUnitIndex(t){return this.graphemes().slice(0,t).join("").length}toString(){return this.text}getMaxScale(){return this.sectionIndex.reduce((t,r)=>Math.max(t,this.sections[r].scale),0)}getMaxImageSize(t){let r=0,i=0;for(let n=0;n0?i[i.length-1]:"",a=Jre(n+t);this.text+=t,this._graphemes=i.slice(0,n?-1:void 0).concat(a);let o=a.length-+!!n;for(let s=0;s=63743?null:++this.imageSectionID:(this.imageSectionID=57344,this.imageSectionID)}determineLineBreaks(t,r,i,n,a){let o=[],s=this.determineAverageLineWidth(t,r,i,n,a),l=this.hasZeroWidthSpaces(),u=this.graphemes(),c=null,f=0,h=0;for(let d=0;d0){let v=u[d-1].codePointAt(0),m=p.codePointAt(0),g=Xgr(v),w=XQe(v)&&XQe(m);(bmr[v]||g||"imageName"in this.getSection(d-1)||u[d+1]!==void 0&&wmr[m]||w&&(c!=null?c:c=mmr(this.text)).has(h))&&o.push(tet(d,f,s,o,Tmr(v,m,g&&l),!1))}une(p.codePointAt(0))||(f+=JQe(p,this.getSection(d),i,n,t,a)),h+=p.length}return Nit(tet(this.length(),f,s,o,0,!0))}determineAverageLineWidth(t,r,i,n,a){let o=0,s=0;for(let u of this.graphemes()){let c=this.getSection(s);o+=JQe(u,c,i,n,t,a),s++}let l=Math.max(1,Math.ceil(o/r));return o/l}};fne=Amr(),Mmr=/[\u061c\u200e\u200f\u202a-\u202e\u2066-\u2069]/,Smr=new Set(["WS","FSI","LRI","RLI","PDI"]),Emr=new Set(["S","B"]);tie=4294967296,RXr=1/tie,ret=typeof TextDecoder>"u"?null:new TextDecoder("utf-8"),Vit=class{constructor(e){this.buf=ArrayBuffer.isView(e)?e:new Uint8Array(e),this.dataView=new DataView(this.buf.buffer,this.buf.byteOffset,this.buf.byteLength),this.pos=0,this.type=0,this._valueStart=-1,this.length=this.buf.length}readFields(e,t,r=this.length){let i;for(;i=this.nextField(r);)e(i,t,this);return t}readMessage(e,t){return this.readFields(e,t,this.readVarint()+this.pos)}readFixed32(){let e=this.dataView.getUint32(this.pos,!0);return this.pos+=4,e}readSFixed32(){let e=this.dataView.getInt32(this.pos,!0);return this.pos+=4,e}readFixed64(){let e=this.dataView.getUint32(this.pos,!0)+this.dataView.getUint32(this.pos+4,!0)*tie;return this.pos+=8,e}readSFixed64(){let e=this.dataView.getUint32(this.pos,!0)+this.dataView.getInt32(this.pos+4,!0)*tie;return this.pos+=8,e}readFloat(){let e=this.dataView.getFloat32(this.pos,!0);return this.pos+=4,e}readDouble(){let e=this.dataView.getFloat64(this.pos,!0);return this.pos+=8,e}readVarint(e){let t=this.buf,r=t[this.pos++];if(r<128)return r;let i=r&127,n;return n=t[this.pos++],i|=(n&127)<<7,n<128||(n=t[this.pos++],i|=(n&127)<<14,n<128)||(n=t[this.pos++],i|=(n&127)<<21,n<128)?i:(n=t[this.pos],i|=(n&15)<<28,Bmr(i,e,this))}readSVarint(){let e=this.readVarint();return e%2==1?(e+1)/-2:e/2}readBoolean(){return!!this.readVarint()}readString(){let e=this.readVarint()+this.pos,t=this.pos;return this.pos=e,e-t>=12&&ret?ret.decode(this.buf.subarray(t,e)):Omr(this.buf,t,e)}readBytes(){let e=this.readVarint()+this.pos,t=this.buf.subarray(this.pos,e);return this.pos=e,t}readPackedVarint(e=[],t){let r=this.readPackedEnd();for(;this.pos=e)return 0;let t=this.readVarint();return this.type=t&7,this._valueStart=this.pos,t>>>3}skip(e){let t=e&7;if(t===0)for(;this.buf[this.pos++]>127;);else if(t===2)this.pos=this.readVarint()+this.pos;else if(t===5)this.pos+=4;else if(t===1)this.pos+=8;else throw Error(`Unimplemented type: ${t}`)}};WB=class{constructor(e,{pixelRatio:t,version:r,isWebGLImage:i=!1,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l}){this.paddedRect=e,this.pixelRatio=t,this.stretchX=n,this.stretchY=a,this.content=o,this.version=r,this.needsFirstWebGLRender=i,this.textFitWidth=s,this.textFitHeight=l}get tl(){return[this.paddedRect.x+1,this.paddedRect.y+1]}get br(){return[this.paddedRect.x+this.paddedRect.w-1,this.paddedRect.y+this.paddedRect.h-1]}get tlbr(){return this.tl.concat(this.br)}get displaySize(){return[(this.paddedRect.w-2)/this.pixelRatio,(this.paddedRect.h-2)/this.pixelRatio]}},Gmr=class{constructor(e,t){let r={},i={};this.haveRenderCallbacks=[],this.patchedUpdateVersion=-1;let n=[];this.addImages(e,r,n),this.addImages(t,i,n);let{w:a,h:o}=hne(n),s=new As({width:a||1,height:o||1});for(let l in e){let u=e[l];if(u.isWebGLImage)continue;let c=r[l].paddedRect;As.copy(u.data,s,{x:0,y:0},{x:c.x+1,y:c.y+1},u.data)}for(let l in t){let u=t[l],c=i[l].paddedRect,f=c.x+1,h=c.y+1,d=u.data.width,p=u.data.height;As.copy(u.data,s,{x:0,y:0},{x:f,y:h},u.data),As.copy(u.data,s,{x:0,y:p-1},{x:f,y:h-1},{width:d,height:1}),As.copy(u.data,s,{x:0,y:0},{x:f,y:h+p},{width:d,height:1}),As.copy(u.data,s,{x:d-1,y:0},{x:f-1,y:h},{width:1,height:p}),As.copy(u.data,s,{x:0,y:0},{x:f+d,y:h},{width:1,height:p})}this.image=s,this.iconPositions=r,this.patternPositions=i}addImages(e,t,r){for(let i in e){let n=e[i],a={x:0,y:0,w:n.data.width+2,h:n.data.height+2};r.push(a),t[i]=new WB(a,n),n.hasRenderCallback&&this.haveRenderCallbacks.push(i)}}patchUpdatedImages(e,t){if(e.dispatchRenderCallbacks(this.haveRenderCallbacks),this.patchedUpdateVersion!==e.updateVersion){this.patchedUpdateVersion=e.updateVersion;for(let r in this.iconPositions)this.patchUpdatedImage(this.iconPositions[r],e.getImage(r),t);for(let r in this.patternPositions)this.patchUpdatedImage(this.patternPositions[r],e.getImage(r),t)}}patchUpdatedImage(e,t,r){var l;if(!e||!t||!e.needsFirstWebGLRender&&e.version===t.version)return;e.needsFirstWebGLRender=!1,e.version=t.version;let[i,n]=e.tl,a=(l=t.userImage)==null?void 0:l.data;if(!i8(a)){r.update(t.data,void 0,{x:i,y:n});return}let{width:o,height:s}=t.data;r.context.setCustomLayerDefaults(),a.renderWithWebGL({gl:r.context.gl,texture:r.texture,x:i,y:n,width:o,height:s}),r.context.setDirty()}};Ui("ImagePosition",WB),Ui("ImageAtlas",Gmr);jit=(function(e){return e[e.none=0]="none",e[e.horizontal=1]="horizontal",e[e.vertical=2]="vertical",e[e.horizontalOnly=3]="horizontalOnly",e})(jit||{});iet=new RegExp("^\\p{gc=M}$","u");oet=32640;bT=class Zit extends tr{constructor(t,r,i,n){super(t,r),this.angle=i,n!==void 0&&(this.segment=n)}clone(){return new Zit(this.x,this.y,this.angle,this.segment)}};Ui("Anchor",bT);Lz=class{constructor(e,t,r,i,n,a,o,s,l,u){var c;if(this.boxStartIndex=e.length,l){let f=a.top,h=a.bottom,d=a.collisionPadding;d&&(f-=d[1],h+=d[3]);let p=h-f;p>0&&(p=Math.max(10,p),this.circleDiameter=p)}else{let f=(c=a.image)!=null&&c.content&&(a.image.textFitWidth||a.image.textFitHeight)?Xit(a):{x1:a.left,y1:a.top,x2:a.right,y2:a.bottom};f.y1=f.y1*o-s[0],f.y2=f.y2*o+s[2],f.x1=f.x1*o-s[3],f.x2=f.x2*o+s[1];let h=a.collisionPadding;if(h&&(f.x1-=h[0]*o,f.y1-=h[1]*o,f.x2+=h[2]*o,f.y2+=h[3]*o),u){let d=new tr(f.x1,f.y1),p=new tr(f.x2,f.y1),v=new tr(f.x1,f.y2),m=new tr(f.x2,f.y2),g=u*Math.PI/180;d._rotate(g),p._rotate(g),v._rotate(g),m._rotate(g),f.x1=Math.min(d.x,p.x,v.x,m.x),f.x2=Math.max(d.x,p.x,v.x,m.x),f.y1=Math.min(d.y,p.y,v.y,m.y),f.y2=Math.max(d.y,p.y,v.y,m.y)}e.emplaceBack(t.x,t.y,f.x1,f.y1,f.x2,f.y2,r,i,n)}this.boxEndIndex=e.length}},gyr=class{constructor(e=[],t=(r,i)=>ri)){if(this.data=e,this.length=this.data.length,this.compare=t,this.length>0)for(let r=(this.length>>1)-1;r>=0;r--)this._down(r)}push(e){this.data.push(e),this._up(this.length++)}pop(){if(this.length===0)return;let e=this.data[0],t=this.data.pop();return--this.length>0&&(this.data[0]=t,this._down(0)),e}peek(){return this.data[0]}_up(e){let{data:t,compare:r}=this,i=t[e];for(;e>0;){let n=e-1>>1,a=t[n];if(r(i,a)>=0)break;t[e]=a,e=n}t[e]=i}_down(e){let{data:t,compare:r}=this,i=this.length>>1,n=t[e];for(;e=0)break;t[e]=t[a],e=a}t[e]=n}};dT=class{constructor(e,t,r,i){this.p=new tr(e,t),this.h=r,this.d=xyr(this.p,i),this.max=this.d+this.h*Math.SQRT2}};XB=(function(e){return e[e.center=1]="center",e[e.left=2]="left",e[e.right=3]="right",e[e.top=4]="top",e[e.bottom=5]="bottom",e[e["top-left"]=6]="top-left",e[e["top-right"]=7]="top-right",e[e["bottom-left"]=8]="bottom-left",e[e["bottom-right"]=9]="bottom-right",e})({}),pne=1/0;Syr=[{name:"a_fade_opacity",components:1,type:"Uint8",offset:0}];iie=class{constructor(e){this.layoutVertexArray=new Gvr,this.indexArray=new Mv,this.programConfigurations=e,this.segments=new Ws,this.dynamicLayoutVertexArray=new Hvr,this.opacityVertexArray=new jvr,this.hasVisibleVertices=!1,this.placedSymbolArray=new Brt}isEmpty(){return this.layoutVertexArray.length===0&&this.indexArray.length===0&&this.dynamicLayoutVertexArray.length===0&&this.opacityVertexArray.length===0}upload(e,t,r,i){this.isEmpty()||(r&&(this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,Hgr.members),this.indexBuffer=e.createIndexBuffer(this.indexArray,t),this.dynamicLayoutVertexBuffer=e.createVertexBuffer(this.dynamicLayoutVertexArray,jgr.members,!0),this.opacityVertexBuffer=e.createVertexBuffer(this.opacityVertexArray,Syr,!0),this.opacityVertexBuffer.itemSize=1),(r||i)&&this.programConfigurations.upload(e))}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.dynamicLayoutVertexBuffer.destroy(),this.opacityVertexBuffer.destroy())}};Ui("SymbolBuffers",iie);nie=class{constructor(e,t,r){this.layoutVertexArray=new e,this.layoutAttributes=t,this.indexArray=new r,this.segments=new Ws,this.collisionVertexArray=new $vr}upload(e){this.layoutVertexBuffer=e.createVertexBuffer(this.layoutVertexArray,this.layoutAttributes),this.indexBuffer=e.createIndexBuffer(this.indexArray),this.collisionVertexBuffer=e.createVertexBuffer(this.collisionVertexArray,$gr.members,!0)}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.segments.destroy(),this.collisionVertexBuffer.destroy())}};Ui("CollisionBuffers",nie);s8=class{constructor(e){this.collisionBoxArray=e.collisionBoxArray,this.zoom=e.zoom,this.overscaling=e.overscaling,this.layers=e.layers,this.layerIds=this.layers.map(o=>o.id),this.index=e.index,this.pixelRatio=e.pixelRatio,this.sourceLayerIndex=e.sourceLayerIndex,this.hasDependencies=!0,this.hasRTLText=!1,this.maxHeightOffset=0,this.sortKeyRanges=[],this.collisionCircleArray=[],this.maxGlyphs=65535;let t=this.layers[0]._unevaluatedLayout._values;this.textSizeData=set(this.zoom,t["text-size"]),this.iconSizeData=set(this.zoom,t["icon-size"]);let r=this.layers[0].layout,i=r.get("symbol-sort-key"),n=r.get("symbol-z-order");this.canOverlap=zk(r,"text-overlap","text-allow-overlap")!=="never"||zk(r,"icon-overlap","icon-allow-overlap")!=="never"||r.get("text-ignore-placement")||r.get("icon-ignore-placement"),this.sortFeaturesByKey=n!=="viewport-y"&&!i.isConstant();let a=n==="viewport-y"||n==="auto"&&!this.sortFeaturesByKey;this.sortFeaturesByY=a&&this.canOverlap,r.get("symbol-placement")==="point"&&(this.writingModes=r.get("text-writing-mode").map(o=>jit[o])),this.stateDependentLayerIds=this.layers.filter(o=>o.isStateDependent()).map(o=>o.id),this.sourceID=e.sourceID}createArrays(){this.text=new iie(new $b(this.layers,this.zoom,e=>e.startsWith("text"))),this.icon=new iie(new $b(this.layers,this.zoom,e=>e.startsWith("icon"))),this.glyphOffsetArray=new Nrt,this.lineVertexArray=new Urt,this.symbolInstances=new Ort,this.textAnchorOffsets=new Grt}calculateGlyphDependencies(e,t,r,i,n){var l;let a=(i||this.allowVerticalPlacement)&&n,o=cne.fromFeature(e,r),s=o.graphemes();for(let u=0;u0)&&(a.value.kind!=="constant"||a.value.value.length>0),u=s.value.kind!=="constant"||!!s.value.value||Object.keys(s.parameters).length>0,c=n.get("symbol-sort-key");if(this.features=[],!l&&!u)return;let f=t.iconDependencies,h=t.glyphDependencies,d=t.availableImages,p=new Co(this.zoom);for(let{feature:m,id:g,index:w,sourceLayerIndex:b}of e){let _=i._featureFilter.needGeometry,M=tx(m,_);if(!i._featureFilter.filter(p,M,r))continue;_||(M.geometry=Qb(m));let x;if(l){let E=i.getValueAndResolveTokens("text-field",M,r,d),S=Mm.factory(E);this.hasRTLText||(this.hasRTLText=Eyr(S)),x=vmr(S,i,M)}let T;if(u){let E=i.getValueAndResolveTokens("icon-image",M,r,d);T=E instanceof Z1?E:Z1.fromString(E)}if(!x&&!T)continue;let A=this.sortFeaturesByKey?c.evaluate(M,{},r):void 0,y={id:g,text:x,icon:T,index:w,sourceLayerIndex:b,geometry:M.geometry,properties:m.properties,type:t8.types[m.type],sortKey:A};if(this.features.push(y),T&&(f[T.name]=!0),x){let E=a.evaluate(M,{},r).join(","),S=n.get("text-rotation-alignment")!=="viewport"&&n.get("symbol-placement")!=="point";this.allowVerticalPlacement=(v=this.writingModes)==null?void 0:v.includes(2);let C=Qre(x.toString());this.calculateGlyphDependencies(x,h,E,S,C);for(let k of x.sections)k.image&&(f[k.image.name]=!0)}}n.get("symbol-placement")==="line"&&(this.features=gmr(this.features)),this.sortFeaturesByKey&&this.features.sort((m,g)=>m.sortKey-g.sortKey)}update(e,t,r){this.stateDependentLayers.length&&(this.text.programConfigurations.updatePaintArrays(e,t,this.layers,{imagePositions:r}),this.icon.programConfigurations.updatePaintArrays(e,t,this.layers,{imagePositions:r}))}addFeatures({options:e,canonical:t,glyphMap:r,glyphPositions:i,iconMap:n,iconPositions:a,showCollisionBoxes:o}){byr({bucket:this,glyphMap:r,glyphPositions:i,imageMap:n,imagePositions:a,showCollisionBoxes:o,canonical:t,subdivisionGranularity:e.subdivisionGranularity})}isEmpty(){return this.symbolInstances.length===0}uploadPending(){return!this.uploaded||this.text.programConfigurations.needsUpload||this.icon.programConfigurations.needsUpload}upload(e){!this.uploaded&&this.hasDebugData()&&(this.textCollisionBox.upload(e),this.iconCollisionBox.upload(e)),this.text.upload(e,this.sortFeaturesByY,!this.uploaded,this.text.programConfigurations.needsUpload),this.icon.upload(e,this.sortFeaturesByY,!this.uploaded,this.icon.programConfigurations.needsUpload),this.uploaded=!0}destroyDebugData(){this.textCollisionBox.destroy(),this.iconCollisionBox.destroy()}destroy(){this.text.destroy(),this.icon.destroy(),this.hasDebugData()&&this.destroyDebugData()}addToLineVertexArray(e,t){let r=this.lineVertexArray.length;if(e.segment!==void 0){let i=e.dist(t[e.segment+1]),n=e.dist(t[e.segment]),a={};for(let o=e.segment+1;o=0;o--)a[o]={x:t[o].x,y:t[o].y,tileUnitDistanceFromAnchor:n},o>0&&(n+=t[o-1].dist(t[o]));for(let o=0;o0}hasIconData(){return this.icon.segments.get().length>0}hasDebugData(){return this.textCollisionBox&&this.iconCollisionBox}hasTextCollisionBoxData(){return this.hasDebugData()&&this.textCollisionBox.segments.get().length>0}hasIconCollisionBoxData(){return this.hasDebugData()&&this.iconCollisionBox.segments.get().length>0}addIndicesForPlacedSymbol(e,t){let r=e.placedSymbolArray.get(t),i=r.vertexStartIndex+r.numGlyphs*4;for(let n=r.vertexStartIndex;ni[o]-i[s]||n[s]-n[o]),a}addToSortKeyRanges(e,t){let r=this.sortKeyRanges[this.sortKeyRanges.length-1];(r==null?void 0:r.sortKey)===t?r.symbolInstanceEnd=e+1:this.sortKeyRanges.push({sortKey:t,symbolInstanceStart:e,symbolInstanceEnd:e+1})}sortFeatures(e){if(this.sortFeaturesByY&&this.sortedAngle!==e&&!(this.text.segments.get().length>1||this.icon.segments.get().length>1)){this.symbolInstanceIndexes=this.getSortedSymbolIndexes(e),this.sortedAngle=e,this.text.indexArray.clear(),this.icon.indexArray.clear(),this.featureSortOrder=[];for(let t of this.symbolInstanceIndexes){let r=this.symbolInstances.get(t);this.featureSortOrder.push(r.featureIndex);let i=[r.rightJustifiedTextSymbolIndex,r.centerJustifiedTextSymbolIndex,r.leftJustifiedTextSymbolIndex];for(let n=0;n=0&&i.indexOf(a)===n&&this.addIndicesForPlacedSymbol(this.text,a)}r.verticalPlacedTextSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.text,r.verticalPlacedTextSymbolIndex),r.placedIconSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.icon,r.placedIconSymbolIndex),r.verticalPlacedIconSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.icon,r.verticalPlacedIconSymbolIndex)}this.text.indexBuffer&&this.text.indexBuffer.updateData(this.text.indexArray),this.icon.indexBuffer&&this.icon.indexBuffer.updateData(this.icon.indexArray)}}};Ui("SymbolBucket",s8,{omit:["layers","collisionBoxArray","features","compareText"]});Dyr=()=>Cyr||(Cyr=new uc({"symbol-placement":new Fi(_r.layout_symbol["symbol-placement"],"symbol-placement"),"symbol-spacing":new Fi(_r.layout_symbol["symbol-spacing"],"symbol-spacing"),"symbol-avoid-edges":new Fi(_r.layout_symbol["symbol-avoid-edges"],"symbol-avoid-edges"),"symbol-sort-key":new Sn(_r.layout_symbol["symbol-sort-key"],"symbol-sort-key"),"symbol-z-order":new Fi(_r.layout_symbol["symbol-z-order"],"symbol-z-order"),"icon-allow-overlap":new Fi(_r.layout_symbol["icon-allow-overlap"],"icon-allow-overlap"),"icon-overlap":new Fi(_r.layout_symbol["icon-overlap"],"icon-overlap"),"icon-ignore-placement":new Fi(_r.layout_symbol["icon-ignore-placement"],"icon-ignore-placement"),"icon-optional":new Fi(_r.layout_symbol["icon-optional"],"icon-optional"),"icon-rotation-alignment":new Sn(_r.layout_symbol["icon-rotation-alignment"],"icon-rotation-alignment"),"icon-size":new Sn(_r.layout_symbol["icon-size"],"icon-size"),"icon-text-fit":new Fi(_r.layout_symbol["icon-text-fit"],"icon-text-fit"),"icon-text-fit-padding":new Fi(_r.layout_symbol["icon-text-fit-padding"],"icon-text-fit-padding"),"icon-image":new Sn(_r.layout_symbol["icon-image"],"icon-image"),"icon-rotate":new Sn(_r.layout_symbol["icon-rotate"],"icon-rotate"),"icon-padding":new Sn(_r.layout_symbol["icon-padding"],"icon-padding"),"icon-keep-upright":new Fi(_r.layout_symbol["icon-keep-upright"],"icon-keep-upright"),"icon-offset":new Sn(_r.layout_symbol["icon-offset"],"icon-offset"),"icon-anchor":new Sn(_r.layout_symbol["icon-anchor"],"icon-anchor"),"icon-pitch-alignment":new Fi(_r.layout_symbol["icon-pitch-alignment"],"icon-pitch-alignment"),"text-pitch-alignment":new Fi(_r.layout_symbol["text-pitch-alignment"],"text-pitch-alignment"),"text-rotation-alignment":new Fi(_r.layout_symbol["text-rotation-alignment"],"text-rotation-alignment"),"text-field":new Sn(_r.layout_symbol["text-field"],"text-field"),"text-font":new Sn(_r.layout_symbol["text-font"],"text-font"),"text-size":new Sn(_r.layout_symbol["text-size"],"text-size"),"text-max-width":new Sn(_r.layout_symbol["text-max-width"],"text-max-width"),"text-line-height":new Fi(_r.layout_symbol["text-line-height"],"text-line-height"),"text-letter-spacing":new Sn(_r.layout_symbol["text-letter-spacing"],"text-letter-spacing"),"text-justify":new Sn(_r.layout_symbol["text-justify"],"text-justify"),"text-radial-offset":new Sn(_r.layout_symbol["text-radial-offset"],"text-radial-offset"),"text-variable-anchor":new Fi(_r.layout_symbol["text-variable-anchor"],"text-variable-anchor"),"text-variable-anchor-offset":new Sn(_r.layout_symbol["text-variable-anchor-offset"],"text-variable-anchor-offset"),"text-anchor":new Sn(_r.layout_symbol["text-anchor"],"text-anchor"),"text-max-angle":new Fi(_r.layout_symbol["text-max-angle"],"text-max-angle"),"text-writing-mode":new Fi(_r.layout_symbol["text-writing-mode"],"text-writing-mode"),"text-rotate":new Sn(_r.layout_symbol["text-rotate"],"text-rotate"),"text-padding":new Fi(_r.layout_symbol["text-padding"],"text-padding"),"text-keep-upright":new Fi(_r.layout_symbol["text-keep-upright"],"text-keep-upright"),"text-transform":new Sn(_r.layout_symbol["text-transform"],"text-transform"),"text-offset":new Sn(_r.layout_symbol["text-offset"],"text-offset"),"text-allow-overlap":new Fi(_r.layout_symbol["text-allow-overlap"],"text-allow-overlap"),"text-overlap":new Fi(_r.layout_symbol["text-overlap"],"text-overlap"),"text-ignore-placement":new Fi(_r.layout_symbol["text-ignore-placement"],"text-ignore-placement"),"text-optional":new Fi(_r.layout_symbol["text-optional"],"text-optional"),"symbol-height-offset":new Sn(_r.layout_symbol["symbol-height-offset"],"symbol-height-offset"),"symbol-height-anchor":new Fi(_r.layout_symbol["symbol-height-anchor"],"symbol-height-anchor")})),Lyr=()=>Fyr||(Fyr=new uc({"icon-opacity":new Sn(_r.paint_symbol["icon-opacity"],"icon-opacity"),"icon-color":new Sn(_r.paint_symbol["icon-color"],"icon-color"),"icon-halo-color":new Sn(_r.paint_symbol["icon-halo-color"],"icon-halo-color"),"icon-halo-width":new Sn(_r.paint_symbol["icon-halo-width"],"icon-halo-width"),"icon-halo-blur":new Sn(_r.paint_symbol["icon-halo-blur"],"icon-halo-blur"),"icon-translate":new Fi(_r.paint_symbol["icon-translate"],"icon-translate"),"icon-translate-anchor":new Fi(_r.paint_symbol["icon-translate-anchor"],"icon-translate-anchor"),"text-opacity":new Sn(_r.paint_symbol["text-opacity"],"text-opacity"),"text-color":new Sn(_r.paint_symbol["text-color"],"text-color",{runtimeType:xv,getOverride:e=>e.textColor,hasOverride:e=>!!e.textColor}),"text-halo-color":new Sn(_r.paint_symbol["text-halo-color"],"text-halo-color"),"text-halo-width":new Sn(_r.paint_symbol["text-halo-width"],"text-halo-width"),"text-halo-blur":new Sn(_r.paint_symbol["text-halo-blur"],"text-halo-blur"),"text-translate":new Fi(_r.paint_symbol["text-translate"],"text-translate"),"text-translate-anchor":new Fi(_r.paint_symbol["text-translate-anchor"],"text-translate-anchor")})),Zte={get paint(){return Lyr()},get layout(){return Dyr()}},ant=class{constructor(e){if(e.property.overrides===void 0)throw Error("overrides must be provided to instantiate FormatSectionOverride class");this.type=e.property.overrides?e.property.overrides.runtimeType:$k,this.defaultValue=e}evaluate(e){if(e.formattedSection){let t=this.defaultValue.property.overrides;if(t!=null&&t.hasOverride(e.formattedSection))return t.getOverride(e.formattedSection)}return e.feature&&e.featureState?this.defaultValue.evaluate(e.feature,e.featureState):this.defaultValue.property.specification.default}eachChild(e){if(!this.defaultValue.isConstant()){let t=this.defaultValue.value;e(t._styleExpression.expression)}}outputDefined(){return!1}serialize(){return null}};Ui("FormatSectionOverride",ant,{omit:["defaultValue"]});vne=e=>e.type==="symbol",Pyr=class aie extends Av{constructor(t,r){super(t,Zte,r)}recalculate(t,r){super.recalculate(t,r);let i=this.layout.get("icon-rotation-alignment");if((i.value.kind!=="constant"||i.value.value==="auto")&&(this.layout._values["icon-rotation-alignment"]=new Yd(i.property,{kind:"constant",value:this.layout.get("symbol-placement")==="point"?"viewport":"map"},i.parameters)),this.layout.get("text-rotation-alignment")==="auto"&&(this.layout.get("symbol-placement")==="point"?this.layout._values["text-rotation-alignment"]="viewport":this.layout._values["text-rotation-alignment"]="map"),this.layout.get("text-pitch-alignment")==="auto"&&(this.layout._values["text-pitch-alignment"]=this.layout.get("text-rotation-alignment")==="map"?"map":"viewport"),this.layout.get("icon-pitch-alignment")==="auto"&&(this.layout._values["icon-pitch-alignment"]=this.layout.get("icon-rotation-alignment").constantOr("viewport")),this.layout.get("symbol-placement")==="point"){let n=this.layout.get("text-writing-mode");if(n){let a=[];for(let o of n)a.includes(o)||a.push(o);this.layout._values["text-writing-mode"]=a}else this.layout._values["text-writing-mode"]=["horizontal"]}this._setPaintOverrides()}getValueAndResolveTokens(t,r,i,n){let a=this.layout.get(t).evaluate(r,{},i,n),o=this._unevaluatedLayout._values[t];return!o.isDataDriven()&&!CB(o.value)&&a?kyr(r.properties,a):a}createBucket(t){return new s8(t)}queryRadius(){return 0}queryIntersectsFeature(){throw Error("Should take a different path in FeatureIndex")}_setPaintOverrides(){for(let t of Zte.paint.overridableProperties){if(!aie.hasPaintOverride(this.layout,t))continue;let r=this.paint.get(t),i=new Uie(new ant(r),`layers[${this.id}].paint.${r.property.name}`,r.property.specification),n=null;n=r.value.kind==="constant"||r.value.kind==="source"?new Ek("source",i):new $z("composite",i,r.value.zoomStops),this.paint._values[t]=new Yd(r.property,n,r.parameters)}}_handleOverridablePaintPropertyUpdate(t,r,i){return!this.layout||r.isDataDriven()||i.isDataDriven()?!1:aie.hasPaintOverride(this.layout,t)}static hasPaintOverride(t,r){let i=t.get("text-field"),n=Zte.paint.properties[r],a=!1,o=s=>{var l;for(let u of s)if((l=n.overrides)!=null&&l.hasOverride(u)){a=!0;return}};if(i.value.kind==="constant"&&i.value.value instanceof Mm)o(i.value.value.sections);else if(i.value.kind==="source"||i.value.kind==="composite"){let s=u=>{if(!a)if(u instanceof ST&&Ql(u.value)===Wk){let c=u.value;o(c.sections)}else u instanceof Mtt?o(u.sections):u.eachChild(s)},l=i.value;l._styleExpression&&s(l._styleExpression.expression)}return a}};zyr=()=>Ryr||(Ryr=new uc({"background-color":new Fi(_r.paint_background["background-color"],"background-color"),"background-pattern":new Irt(_r.paint_background["background-pattern"],"background-pattern"),"background-opacity":new Fi(_r.paint_background["background-opacity"],"background-opacity")})),Byr={get paint(){return zyr()}},ont=e=>e.type==="background",qyr=class extends Av{constructor(e,t){super(e,Byr,t)}};lnt=e=>e.type==="custom",Oyr=class extends Av{constructor(e,t){super(e,{},t),this.onAdd=r=>{this.implementation.onAdd&&this.implementation.onAdd(r,r.painter.context.gl)},this.onRemove=r=>{this.implementation.onRemove&&this.implementation.onRemove(r,r.painter.context.gl)},this.implementation=e}is3D(){return this.implementation.renderingMode==="3d"}hasOffscreenPass(){return this.implementation.prerender!==void 0}recalculate(){}updateTransitions(){}hasTransition(){return!1}serialize(){throw Error("Custom layers cannot be serialized")}};Nyr=class{constructor(e){this._methodToThrottle=e,this._triggered=!1,this._channel=new MessageChannel,this._channel.port2.onmessage=()=>{this._triggered=!1,this._methodToThrottle()}}trigger(){var e;this._triggered||(this._triggered=!0,(e=this._channel)==null||e.port1.postMessage(!0))}remove(){delete this._channel,this._methodToThrottle=()=>{}}},Uyr={once:!0},unt=class{constructor(e,t){this.target=e,this.mapId=t,this.resolveRejects={},this.tasks={},this.taskQueue=[],this.abortControllers={},this.messageHandlers={},this.invoker=new Nyr(()=>this.process()),this.subscription=Nz(this.target,"message",r=>this.receive(r),!1),this.globalScope=Hb(self)?e:window}registerMessageHandler(e,t){this.messageHandlers[e]=t}unregisterMessageHandler(e){delete this.messageHandlers[e]}sendAsync(e,t){return new Promise((r,i)=>{let n=Math.round(Math.random()*1e18).toString(36).substring(0,10),a=t?Nz(t.signal,"abort",()=>{a==null||a.unsubscribe(),delete this.resolveRejects[n];let l={id:n,type:"",origin:location.origin,targetMapId:e.targetMapId,sourceMapId:this.mapId};this.target.postMessage(l),i(new RT(t.signal.reason))},Uyr):null;this.resolveRejects[n]={resolve:l=>{a==null||a.unsubscribe(),r(l)},reject:l=>{a==null||a.unsubscribe(),i(l)}};let o=[],s=ma(fn({},e),{id:n,sourceMapId:this.mapId,origin:location.origin,data:xk(e.data,o)});this.target.postMessage(s,{transfer:o})})}receive(e){let t=e.data,r=t.id,i=["file://","resource://android","null"],n=[t.origin,location.origin],a=t.origin===location.origin,o=n.some(s=>i.includes(s));if((a||o)&&!(t.targetMapId&&this.mapId!==t.targetMapId)){if(t.type===""){delete this.tasks[r];let s=this.abortControllers[r];delete this.abortControllers[r],s&&s.abort();return}if(Hb(self)||t.mustQueue){this.tasks[r]=t,this.taskQueue.push(r),this.invoker.trigger();return}this.processTask(r,t)}}process(){if(this.taskQueue.length===0)return;let e=this.taskQueue.shift(),t=this.tasks[e];delete this.tasks[e],this.taskQueue.length>0&&this.invoker.trigger(),t&&this.processTask(e,t)}processTask(e,t){return Ki(this,null,function*(){if(t.type===""){let n=this.resolveRejects[e];if(delete this.resolveRejects[e],!n)return;t.error?n.reject(Ic(_k(t.error))):n.resolve(_k(t.data));return}if(!this.messageHandlers[t.type]){this.completeTask(e,null,null);return}let r=_k(t.data),i=new AbortController;this.abortControllers[e]=i;try{let n=yield this.messageHandlers[t.type](t.sourceMapId,r,i);this.completeTask(e,null,n)}catch(n){this.completeTask(e,Ic(n))}})}completeTask(e,t,r){let i=[];delete this.abortControllers[e];let n={id:e,type:"",sourceMapId:this.mapId,origin:location.origin,error:t?xk(t):null,data:xk(r,i)};this.target.postMessage(n,{transfer:i})}remove(){this.invoker.remove(),this.subscription.unsubscribe()}};l8=class{constructor(e,t,r){if(!Vyr(e,t,r))throw Error(`x=${t}, y=${r}, z=${e} outside of bounds. 0<=x<${2**e}, 0<=y<${2**e} 0<=z<=25 `);this.z=e,this.x=t,this.y=r,this.key=Vb(0,e,e,t,r)}equals(e){return this.z===e.z&&this.x===e.x&&this.y===e.y}url(e,t,r){let i=Gyr(this.x,this.y,this.z),n=Hyr(this.z,this.x,this.y);return e[(this.x+this.y)%e.length].replace(/{prefix}/g,(this.x%16).toString(16)+(this.y%16).toString(16)).replace(/{z}/g,String(this.z)).replace(/{x}/g,String(this.x)).replace(/{y}/g,String(r==="tms"?2**this.z-this.y-1:this.y)).replace(/{ratio}/g,t>1?"@2x":"").replace(/{quadkey}/g,n).replace(/{bbox-epsg-3857}/g,i)}isChildOf(e){let t=this.z-e.z;return t>0&&e.x===this.x>>t&&e.y===this.y>>t}getTilePoint(e){let t=2**this.z;return new tr((e.x*t-this.x)*zr,(e.y*t-this.y)*zr)}toString(){return`${this.z}/${this.x}/${this.y}`}},u8=class{constructor(e,t){this.wrap=e,this.canonical=t,this.key=Vb(e,t.z,t.z,t.x,t.y)}},Bc=class $d{constructor(t,r,i,n,a){if(this.terrainRttPosMatrix32f=null,t= z; overscaledZ = ${t}; z = ${i}`);this.overscaledZ=t,this.wrap=r,this.canonical=new l8(i,+n,+a),this.key=Vb(r,t,i,n,a)}clone(){return new $d(this.overscaledZ,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y)}equals(t){return this.overscaledZ===t.overscaledZ&&this.wrap===t.wrap&&this.canonical.equals(t.canonical)}scaledTo(t){if(t>this.overscaledZ)throw Error(`targetZ > this.overscaledZ; targetZ = ${t}; overscaledZ = ${this.overscaledZ}`);let r=this.canonical.z-t;return t>this.canonical.z?new $d(t,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y):new $d(t,this.wrap,t,this.canonical.x>>r,this.canonical.y>>r)}isOverscaled(){return this.overscaledZ>this.canonical.z}calculateScaledKey(t,r){if(t>this.overscaledZ)throw Error(`targetZ > this.overscaledZ; targetZ = ${t}; overscaledZ = ${this.overscaledZ}`);let i=this.canonical.z-t;return t>this.canonical.z?Vb(this.wrap*+r,t,this.canonical.z,this.canonical.x,this.canonical.y):Vb(this.wrap*+r,t,t,this.canonical.x>>i,this.canonical.y>>i)}isChildOf(t){if(t.wrap!==this.wrap||this.overscaledZ-t.overscaledZ<=0)return!1;if(t.overscaledZ===0)return this.overscaledZ>0;let r=this.canonical.z-t.canonical.z;return r<0?!1:t.canonical.x===this.canonical.x>>r&&t.canonical.y===this.canonical.y>>r}children(t){if(this.overscaledZ>=t)return[new $d(this.overscaledZ+1,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y)];let r=this.canonical.z+1,i=this.canonical.x*2,n=this.canonical.y*2;return[new $d(r,this.wrap,r,i,n),new $d(r,this.wrap,r,i+1,n),new $d(r,this.wrap,r,i,n+1),new $d(r,this.wrap,r,i+1,n+1)]}isLessThan(t){return this.wrapt.wrap?!1:this.overscaledZt.overscaledZ?!1:this.canonical.xt.canonical.x?!1:this.canonical.y=0&&t=0&&r=u)return null;let f=this.canonical.x+n,h=this.wrap;return f<0?(h-=Math.ceil(-f/u),f=(f%u+u)%u):f>=u&&(h+=Math.floor(f/u),f%=u),{tileID:new $d(this.overscaledZ,h,l,f,c),x:o,y:s}}};Kte=Math.PI*6378137;Ui("CanonicalTileID",l8),Ui("OverscaledTileID",Bc,{omit:["terrainRttPosMatrix32f"]});c8="_geojsonTileLayer",jyr=class{constructor(e){this._stringToNumber={},this._numberToString=[];for(let t=0;t=this._numberToString.length)throw Error(`Out of bounds. Index requested n=${e} can't be >= this._numberToString.length ${this._numberToString.length}`);return this._numberToString[e]}},yne=class{constructor(e,t,r,i,n){this.type="Feature",this._vectorTileFeature=e,this._x=r,this._y=i,this._z=t;for(let a in e.properties)typeof e.properties[a]=="string"&&e.properties[a].startsWith("__$json__:")&&(e.properties[a]=JSON.parse(e.properties[a].slice(10)));this.properties=e.properties,this.id=n}projectPoint(e,t,r,i){return[(e.x+t)*360/i-180,360/Math.PI*Math.atan(Math.exp((1-(e.y+r)*2/i)*Math.PI))-90]}projectLine(e,t,r,i){return e.map(n=>this.projectPoint(n,t,r,i))}get geometry(){if(this._geometry)return this._geometry;let e=this._vectorTileFeature,t=e.extent*2**this._z,r=e.extent*this._x,i=e.extent*this._y,n=e.loadGeometry();switch(e.type){case 1:{let a=[];for(let s of n)a.push(s[0]);let o=this.projectLine(a,r,i,t);this._geometry=a.length===1?{type:"Point",coordinates:o[0]}:{type:"MultiPoint",coordinates:o};break}case 2:{let a=n.map(o=>this.projectLine(o,r,i,t));this._geometry=a.length===1?{type:"LineString",coordinates:a[0]}:{type:"MultiLineString",coordinates:a};break}case 3:{let a=Tit(n),o=[];for(let s of a)o.push(s.map(l=>this.projectLine(l,r,i,t)));this._geometry=o.length===1?{type:"Polygon",coordinates:o[0]}:{type:"MultiPolygon",coordinates:o};break}default:throw Error(`unknown feature type: ${e.type}`)}return this._geometry}set geometry(e){this._geometry=e}toJSON(){let e={geometry:this.geometry};for(let t in this)t!=="_geometry"&&t!=="_vectorTileFeature"&&t!=="_x"&&t!=="_y"&&t!=="_z"&&(e[t]=this[t]);return e}},r3=class{constructor(e,t,r){this._name=e,this.dataBuffer=t,typeof r=="number"?this._size=r:(this.nullabilityBuffer=r,this._size=r.size())}getValue(e){return this.nullabilityBuffer&&!this.nullabilityBuffer.get(e)?null:this.getValueFromBuffer(e)}has(e){var t;return((t=this.nullabilityBuffer)==null?void 0:t.get(e))||!this.nullabilityBuffer}get name(){return this._name}get size(){return this._size}},KB=class extends r3{},xne=class extends KB{getValueFromBuffer(e){return this.dataBuffer[e]}},_ne=class extends KB{getValueFromBuffer(e){return this.dataBuffer[e]}},cnt=class extends r3{constructor(e,t,r,i){super(e,t,i),this.delta=r}},bne=class extends cnt{constructor(e,t,r,i,n){super(e,n?Int32Array.of(t):Uint32Array.of(t),r,i)}getValueFromBuffer(e){return this.dataBuffer[0]+e*this.delta}},wne=class extends r3{constructor(e,t,r,i){super(e,i?Int32Array.of(t):Uint32Array.of(t),r)}getValueFromBuffer(e){return this.dataBuffer[0]}},$yr=class{constructor(e,t,r,i,n=4096){if(this._name=e,this._geometryVector=t,this._idVector=r,this._propertyVectors=i,this._extent=n,e.length===0)throw Error("Missing layer name")}get name(){return this._name}get idVector(){return this._idVector}get geometryVector(){return this._geometryVector}get propertyVectors(){var e;return(e=this._propertyVectors)!=null?e:[]}getPropertyVector(e){return this.propertyVectorsMap||(this.propertyVectorsMap=new Map(this.propertyVectors.map(t=>[t.name,t]))),this.propertyVectorsMap.get(e)}get numFeatures(){return this.geometryVector.numGeometries}get extent(){return this._extent}getFeatures(){let e=[],t=this.geometryVector.getGeometries();for(let r=0;r>>32-e;oie=Tne,dnt=65536;sie=Yyr(dnt),y2r=3*sie/256+sie|0;(function(e){e.PRESENT="PRESENT",e.DATA="DATA",e.OFFSET="OFFSET",e.LENGTH="LENGTH"})(pu||(pu={}));(function(e){e.NONE="NONE",e.SINGLE="SINGLE",e.SHARED="SHARED",e.VERTEX="VERTEX",e.MORTON="MORTON",e.FSST="FSST"})(sh||(sh={}));(function(e){e.VERTEX="VERTEX",e.INDEX="INDEX",e.STRING="STRING",e.KEY="KEY"})(wm||(wm={}));(function(e){e.VAR_BINARY="VAR_BINARY",e.GEOMETRIES="GEOMETRIES",e.PARTS="PARTS",e.RINGS="RINGS",e.TRIANGLES="TRIANGLES",e.SYMBOL="SYMBOL",e.DICTIONARY="DICTIONARY"})(lc||(lc={}));lxr=[pu.PRESENT,pu.DATA,pu.OFFSET,pu.LENGTH],met=[da.NONE,da.DELTA,da.COMPONENTWISE_DELTA,da.RLE,da.MORTON],uxr=[Kd.NONE,Kd.FAST_PFOR,Kd.VARINT],cxr=[sh.NONE,sh.SINGLE,sh.SHARED,sh.VERTEX,sh.MORTON,sh.FSST],fxr=[wm.VERTEX,wm.INDEX,wm.STRING,wm.KEY],hxr=[lc.VAR_BINARY,lc.GEOMETRIES,lc.PARTS,lc.RINGS,lc.TRIANGLES,lc.SYMBOL,lc.DICTIONARY];(function(e){e[e.FLAT=0]="FLAT",e[e.CONST=1]="CONST",e[e.SEQUENCE=2]="SEQUENCE",e[e.DICTIONARY=3]="DICTIONARY",e[e.FSST_DICTIONARY=4]="FSST_DICTIONARY"})(Gs||(Gs={}));bv=class{constructor(e,t){this.values=e,this._size=t}get(e){let t=Math.floor(e/8),r=e%8;return(this.values[t]>>r&1)==1}set(e,t){let r=Math.floor(e/8),i=e%8;this.values[r]=this.values[r]|+!!t<>r&1}size(){return this._size}getBuffer(){return this.values}};_xr=new TextDecoder;Snt=class extends KB{getValueFromBuffer(e){return this.dataBuffer[e]}},Ent=class extends cnt{constructor(e,t,r,i,n){super(e,n?BigInt64Array.of(t):BigUint64Array.of(t),r,i)}getValueFromBuffer(e){return this.dataBuffer[0]+BigInt(e)*this.delta}};(function(e){e[e.POINT=0]="POINT",e[e.LINESTRING=1]="LINESTRING",e[e.POLYGON=2]="POLYGON",e[e.MULTIPOINT=3]="MULTIPOINT",e[e.MULTILINESTRING=4]="MULTILINESTRING",e[e.MULTIPOLYGON=5]="MULTIPOLYGON"})(uf||(uf={}));(function(e){e[e.POINT=0]="POINT",e[e.LINESTRING=1]="LINESTRING",e[e.POLYGON=2]="POLYGON"})(Lxr||(Lxr={}));(function(e){e[e.MORTON=0]="MORTON",e[e.VEC_2=1]="VEC_2",e[e.VEC_3=2]="VEC_3"})(n3||(n3={}));knt=class{constructor(e,t,r,i,n){this._vertexBufferType=e,this._topologyVector=t,this._vertexOffsets=r,this._vertexBuffer=i,this._mortonSettings=n}get vertexBufferType(){return this._vertexBufferType}get topologyVector(){return this._topologyVector}get vertexOffsets(){return this._vertexOffsets}get vertexBuffer(){return this._vertexBuffer}getSimpleEncodedVertex(e){let t=this.vertexOffsets?this.vertexOffsets[e]*2:e*2;return[this.vertexBuffer[t],this.vertexBuffer[t+1]]}getVertex(e){if(this.vertexOffsets&&this.mortonSettings){let r=this.vertexOffsets[e],i=this.vertexBuffer[r],n=Dne(i,this.mortonSettings.numBits,this.mortonSettings.coordinateShift);return[n.x,n.y]}let t=this.vertexOffsets?this.vertexOffsets[e]*2:e*2;return[this.vertexBuffer[t],this.vertexBuffer[t+1]]}getGeometries(){return Pxr(this)}get mortonSettings(){return this._mortonSettings}};Cnt=class extends knt{constructor(e,t,r,i,n,a,o){super(r,i,n,a,o),this._numGeometries=e,this._geometryType=t}geometryType(e){return this._geometryType}get numGeometries(){return this._numGeometries}containsPolygonGeometry(){return this._geometryType===uf.POLYGON||this._geometryType===uf.MULTIPOLYGON}containsSingleGeometryType(){return!0}};Fnt=class extends knt{constructor(e,t,r,i,n,a){super(e,r,i,n,a),this._geometryTypes=t}geometryType(e){return this._geometryTypes[e]}get numGeometries(){return this._geometryTypes.length}containsPolygonGeometry(){for(let e=0;ema(fn({},r),{[i.name]:new S_r(i)}),{})}},k_r=class{constructor(e,t){this.tileID=e,this.x=e.canonical.x,this.y=e.canonical.y,this.z=e.canonical.z,this.grid=new fre(zr,16,0),this.grid3D=new fre(zr,16,0),this.featureIndexArray=new jrt,this.promoteId=t}insert(e,t,r,i,n,a){let o=this.featureIndexArray.length;this.featureIndexArray.emplaceBack(r,i,n);let s=a?this.grid3D:this.grid;for(let l of t){let u=[1/0,1/0,-1/0,-1/0];for(let c of l)u[0]=Math.min(u[0],c.x),u[1]=Math.min(u[1],c.y),u[2]=Math.max(u[2],c.x),u[3]=Math.max(u[3],c.y);u[0]<8192&&u[1]<8192&&u[2]>=0&&u[3]>=0&&s.insert(o,u[0],u[1],u[2],u[3])}}loadVTLayers(){return this.vtLayers||(this.encoding==="mlt"?this.vtLayers=new E_r(this.rawTileData).layers:this.vtLayers=new ggr(new Vit(this.rawTileData)).layers,this.sourceLayerCoder=new jyr(this.vtLayers?Object.keys(this.vtLayers).sort():[c8])),this.vtLayers}query(e,t,r,i){this.loadVTLayers();let n=e.params,a=zr/e.tileSize/e.scale,o=CT(n.filter,"queryRenderedFeatures filter",n.globalState),s=e.queryGeometry,l=e.queryPadding*a,u=Jd.fromPoints(s),c=this.grid.query(u.minX-l,u.minY-l,u.maxX+l,u.maxY+l),f=Jd.fromPoints(e.cameraQueryGeometry).expandBy(l),h=this.grid3D.query(f.minX,f.minY,f.maxX,f.maxY,(v,m,g,w)=>a1r(e.cameraQueryGeometry,v-l,m-l,g+l,w+l));for(let v of h)c.push(v);c.sort(D_r);let d={},p;for(let v of c){if(v===p)continue;p=v;let m=this.featureIndexArray.get(v),g=null;this.loadMatchingFeature(d,m.bucketIndex,m.sourceLayerIndex,m.featureIndex,o,n.layers,n.availableImages,t,r,i,(w,b,_)=>(g||(g=Qb(w)),b.queryIntersectsFeature({queryGeometry:s,feature:w,featureState:_,geometry:g,zoom:this.z,transform:e.transform,pixelsToTileUnits:a,pixelPosMatrix:e.pixelPosMatrix,unwrappedTileID:this.tileID.toUnwrapped(),getElevation:e.getElevation})))}return d}loadMatchingFeature(e,t,r,i,n,a,o,s,l,u,c){let f=this.bucketLayerIDs[t];if(a&&!f.some(v=>a.has(v)))return;let h=this.sourceLayerCoder.decode(r),d=this.vtLayers[h].feature(i);if(n.needGeometry){let v=tx(d,!0);if(!n.filter(new Co(this.tileID.overscaledZ),v,this.tileID.canonical))return}else if(!n.filter(new Co(this.tileID.overscaledZ),d))return;let p=this.getId(d,h);for(let v of f){if(a&&!a.has(v))continue;let m=s[v];if(!m)continue;let g={};p&&u&&(g=u.getState(m.sourceLayer||"_geojsonTileLayer",p));let w=ln({},l[v]);w.paint=Eet(w.paint,m.paint,d,g,o),w.layout=Eet(w.layout,m.layout,d,g,o);let b=!c||c(d,m,g);if(!b)continue;let _=new yne(d,this.z,this.x,this.y,p);_.layer=w;let M=e[v];M===void 0&&(M=e[v]=[]),M.push({featureIndex:i,feature:_,intersectionZ:b})}}lookupSymbolFeatures(e,t,r,i,n,a,o,s){let l={};this.loadVTLayers();let u=CT(n.filterSpec,"queryRenderedFeatures symbol filter",n.globalState);for(let c of e)this.loadMatchingFeature(l,r,i,c,u,a,o,s,t);return l}hasLayer(e){for(let t of this.bucketLayerIDs)for(let r of t)if(e===r)return!0;return!1}getId(e,t){var i;let r=e.id;if(this.promoteId){let n=typeof this.promoteId=="string"?this.promoteId:this.promoteId[t];r=e.properties[n],typeof r=="boolean"&&(r=Number(r)),r===void 0&&((i=e.properties)!=null&&i.cluster)&&this.promoteId&&(r=Number(e.properties.cluster_id))}return r}};Ui("FeatureIndex",k_r,{omit:["rawTileData","sourceLayerCoder"]});Unt=class{constructor(e,t){this.max=e,this.onRemove=t,this.reset()}reset(){for(let e in this.data)for(let t of this.data[e])t.timeout&&clearTimeout(t.timeout),this.onRemove(t.value);return this.data={},this.order=[],this}add(e,t,r){let i=e.wrapped().key;this.data[i]===void 0&&(this.data[i]=[]);let n={value:t,timeout:void 0};if(r!==void 0&&(n.timeout=setTimeout(()=>{this.remove(e,n)},r)),this.data[i].push(n),this.order.push(i),this.order.length>this.max){let a=this._getAndRemoveByKey(this.order[0]);a&&this.onRemove(a)}return this}has(e){return e.wrapped().key in this.data}getAndRemove(e){return this.has(e)?this._getAndRemoveByKey(e.wrapped().key):null}_getAndRemoveByKey(e){let t=this.data[e].shift();return t.timeout&&clearTimeout(t.timeout),this.data[e].length===0&&delete this.data[e],this.order.splice(this.order.indexOf(e),1),t.value}getByKey(e){let t=this.data[e];return t?t[0].value:null}get(e){return this.has(e)?this.data[e.wrapped().key][0].value:null}remove(e,t){if(!this.has(e))return this;let r=e.wrapped().key,i=t===void 0?0:this.data[r].indexOf(t),n=this.data[r][i];return this.data[r].splice(i,1),n.timeout&&clearTimeout(n.timeout),this.data[r].length===0&&delete this.data[r],this.onRemove(n.value),this.order.splice(this.order.indexOf(r),1),this}setMaxSize(e){for(this.max=e;this.order.length>this.max;){let t=this._getAndRemoveByKey(this.order[0]);t&&this.onRemove(t)}return this}filter(e){let t=[];for(let r in this.data)for(let i of this.data[r])e(i.value)||t.push(i);for(let r of t)this.remove(r.value.tileID,r)}}});var Pst={};Fp(Pst,{AJAXError:()=>TT,AttributionControl:()=>Mst,BoxZoomHandler:()=>dst,CanvasSource:()=>vot,CooperativeGesturesHandler:()=>Tst,DoubleClickZoomHandler:()=>xst,DragPanHandler:()=>_st,DragRotateHandler:()=>bst,EXTENT:()=>zr,EdgeInsets:()=>cae,ErrorEvent:()=>An,Event:()=>e0,Evented:()=>mu,FullscreenControl:()=>YTr,FullscreenEvent:()=>mae,GPUInitializationError:()=>cst,GeoJSONSource:()=>cot,GeolocateControl:()=>GTr,GeolocateErrorEvent:()=>Fst,GeolocateEvent:()=>s3,GeolocatePositionEvent:()=>gae,GlobeControl:()=>ZTr,Hash:()=>hst,ImageSource:()=>XT,KeyboardHandler:()=>mst,LngLat:()=>mn,LngLatBounds:()=>Ev,LogoControl:()=>Sst,Map:()=>RTr,MapBoxZoomEvent:()=>eae,MapContextEvent:()=>pq,MapLibreEvent:()=>cc,MapLibreMap:()=>RTr,MapMouseEvent:()=>O0,MapMovementEvent:()=>Mn,MapProjectionEvent:()=>Kat,MapSourceDataEvent:()=>Is,MapStyleDataEvent:()=>rp,MapStyleImageMissingEvent:()=>Jat,MapStyleLoadEvent:()=>Qne,MapTerrainEvent:()=>Zat,MapTouchEvent:()=>b8,MapWheelEvent:()=>Xat,Marker:()=>vae,MarkerClickEvent:()=>Dst,MarkerDragEvent:()=>o3,MercatorCoordinate:()=>wo,NavigationControl:()=>BTr,Point:()=>tr,Popup:()=>QTr,PopupEvent:()=>yae,RasterDEMTileSource:()=>lot,RasterTileSource:()=>Tae,ScaleControl:()=>jTr,ScrollZoomHandler:()=>yst,Style:()=>hae,TerrainControl:()=>XTr,TwoFingersTouchPitchHandler:()=>gst,TwoFingersTouchRotateHandler:()=>vst,TwoFingersTouchZoomHandler:()=>pst,TwoFingersTouchZoomRotateHandler:()=>wst,VectorTileSource:()=>sot,VideoSource:()=>pot,addProtocol:()=>ltt,addSourceType:()=>$br,clearPrewarmedResources:()=>ybr,config:()=>Qh,createTileMesh:()=>hot,getGlobalDispatcher:()=>wae,getMaxParallelImageRequests:()=>s6r,getRTLTextPluginStatus:()=>i6r,getVersion:()=>n6r,getWorkerCount:()=>a6r,getWorkerUrl:()=>u6r,importScriptInWorkers:()=>f6r,isTimeFrozen:()=>z_r,now:()=>Oo,prewarm:()=>mbr,removeProtocol:()=>utt,restoreNow:()=>R_r,setMaxParallelImageRequests:()=>l6r,setNow:()=>I_r,setRTLTextPlugin:()=>r6r,setWorkerCount:()=>o6r,setWorkerUrl:()=>c6r});function Yat(){var e=new Nu(4);return Nu!=Float32Array&&(e[1]=0,e[2]=0),e[0]=1,e[3]=1,e}function F_r(e,t){var r=t[0],i=t[1],n=t[2],a=t[3],o=r*a-n*i;return o?(o=1/o,e[0]=a*o,e[1]=-i*o,e[2]=-n*o,e[3]=r*o,e):null}function L_r(e){return e[0]*e[3]-e[2]*e[1]}function P_r(e,t,r){var i=t[0],n=t[1],a=t[2],o=t[3],s=Math.sin(r),l=Math.cos(r);return e[0]=i*l+a*s,e[1]=n*l+o*s,e[2]=i*-s+a*l,e[3]=n*-s+o*l,e}function Oo(){return Eq.getCurrentTime()}function I_r(e){Eq.setNow(e)}function R_r(){Eq.restoreNow()}function z_r(){return Eq.isFrozen()}function q_r(e,t){let r={};for(let i in e)i!=="ref"&&(r[i]=e[i]);return htt.forEach(i=>{i in t&&(r[i]=t[i])}),r}function Gnt(e){e=e.slice();let t=Object.create(null);for(let r=0;r{"source"in o&&i[o.source]?r.push({command:"removeLayer",args:[o.id]}):a.push(o)}),r=r.concat(n),V_r(a,t.layers,r)}catch(i){console.warn("Unable to compute style diff:",i),r=[{command:"setStyle",args:[t]}]}return r}function H_r(){let e={},t=_r.$version;for(let r in _r.$root){let i=_r.$root[r];if(i.required){let n=null;n=r==="version"?t:i.type==="array"?[]:{},n!=null&&(e[r]=n)}}return e}function vq(e){let t=[];if(typeof e=="string")t.push({id:"default",url:e});else if(e&&e.length>0){let r=[];for(let{id:i,url:n}of e){let a=`${i}${n}`;r.includes(a)||(r.push(a),t.push({id:i,url:n}))}}return t}function $nt(e,t,r){try{let i=new URL(e);return i.pathname+=`${t}${r}`,i.toString()}catch(i){throw Error(`Invalid sprite URL "${e}", must be absolute. Modify style specification directly or use TransformStyleFunction to correct the issue dynamically`)}}function j_r(e,t,r,i){return Ki(this,null,function*(){let n=vq(e),a=r>1?"@2x":"",o={},s={};for(let{id:l,url:u}of n){let c=yield t.transformRequest($nt(u,a,".json"),"SpriteJSON");o[l]=jk(c,i);let f=yield t.transformRequest($nt(u,a,".png"),"SpriteImage");s[l]=rg.getImage(f,i)}return yield Promise.all([...Object.values(o),...Object.values(s)]),$_r(o,s)})}function $_r(e,t){return Ki(this,null,function*(){let r={};for(let i in e){r[i]={};let n=(yield t[i]).data;if(!n)throw Error(`Could not load sprite image for ${i}: the response is empty`);let a=fh.getImageCanvasContext(n),o=(yield e[i]).data;for(let s in o){let{width:l,height:u,x:c,y:f,sdf:h,pixelRatio:d,stretchX:p,stretchY:v,content:m,textFitWidth:g,textFitHeight:w}=o[s],b={width:l,height:u,x:c,y:f,context:a};r[i][s]={data:null,pixelRatio:d,sdf:h,stretchX:p,stretchY:v,content:m,textFitWidth:g,textFitHeight:w,spriteData:b}}}return r})}function K_r(e){let t=/^u\+([0-9a-f]*)(\?+)$/i.exec(e);if(t){let[,n,a]=t;return n.length+a.length>6?null:Wnt(parseInt(`${n}${"0".repeat(a.length)}`,16),parseInt(`${n}${"f".repeat(a.length)}`,16))}let r=/^u\+([0-9a-f]{1,6})(?:-([0-9a-f]{1,6}))?$/i.exec(e);if(!r)return null;let i=parseInt(r[1],16);return Wnt(i,r[2]===void 0?i:parseInt(r[2],16))}function Wnt(e,t){return e>t||e>tae?null:{start:e,end:Math.min(t,tae)}}function J_r(e,t){return e.ranges.some(({start:r,end:i})=>t>=r&&t<=i)}function Ynt(e,t,r,i,n,a,o,s,l){for(let u=t;u-1);l++,a[l]=s,o[l]=u,o[l+1]=rae}for(let s=0,l=0;sHk(t,r))),tq}function xbr(e,t){let r=Em();return eu(r,r,[1,1,0]),Rc(r,r,[e.width*.5,e.height*.5,1]),e.calculatePosMatrix?Yb(r,r,e.calculatePosMatrix(t.toUnwrapped())):r}function _br(e,t,r){if(e)for(let i of e){let n=t[i];if((n==null?void 0:n.source)===r&&n.type==="fill-extrusion")return!0}else for(let i in t){let n=t[i];if(n.source===r&&n.type==="fill-extrusion")return!0}return!1}function bbr(e,t,r,i,n,a,o){var f;let s=_br((f=n==null?void 0:n.layers)!=null?f:null,t,e.id),l=a.maxPitchScaleFactor(),u=e.tilesIn(i,l,s);u.sort(iot);let c=[];for(let h of u)c.push({wrappedTileID:h.tileID.wrapped().key,queryResults:h.tile.queryRenderedFeatures(t,r,e.getState(),h.queryGeometry,h.cameraQueryGeometry,h.scale,n,a,l,xbr(a,h.tileID),o?(d,p)=>o(h.tileID,d,p):void 0)});return Mbr(Abr(c),e)}function wbr(e,t,r,i,n,a,o){let s={},l=a.queryRenderedSymbols(i),u=[];for(let c of Object.keys(l).map(Number))u.push(o[c]);u.sort(iot);for(let c of u){let f=c.featureIndex.lookupSymbolFeatures(l[c.bucketInstanceId],t,c.bucketIndex,c.sourceLayerIndex,{filterSpec:n.filter,globalState:n.globalState},n.layers,n.availableImages,e);for(let h in f){s[h]||(s[h]=[]);let d=f[h];d.sort((p,v)=>{let m=c.featureSortOrder;if(m){let g=m.indexOf(p.featureIndex);return m.indexOf(v.featureIndex)-g}return v.featureIndex-p.featureIndex});for(let p of d)s[h].push(p)}}return Sbr(s,e,r)}function Tbr(e,t){let r=e.getRenderableIds().map(a=>e.getTileByID(a)),i=[],n={};for(let a of r){let o=a.tileID.canonical.key;n[o]||(n[o]=!0,a.querySourceFeatures(i,t))}return i}function iot(e,t){let r=e.tileID,i=t.tileID;return r.overscaledZ-i.overscaledZ||r.canonical.y-i.canonical.y||r.wrap-i.wrap||r.canonical.x-i.canonical.x}function Abr(e){let t={},r={};for(let{queryResults:i,wrappedTileID:n}of e){r[n]||(r[n]={});let a=r[n];for(let o in i){let s=i[o];a[o]||(a[o]={});let l=a[o];t[o]||(t[o]=[]);for(let u of s)l[u.featureIndex]||(l[u.featureIndex]=!0,t[o].push(u))}}return t}function Mbr(e,t){for(let r in e)for(let i of e[r])not(i,t);return e}function Sbr(e,t,r){for(let i in e)for(let n of e[i]){let a=r[t[i].source];not(n,a)}return e}function not(e,t){let r=e.feature,i=t.getFeatureState(r.layer["source-layer"],r.id);r.source=r.layer.source,r.layer["source-layer"]&&(r.sourceLayer=r.layer["source-layer"]),r.state=i}function aot(e,t,r,i){return Ki(this,null,function*(){let n=e;if(e.url?n=(yield jk(yield t.transformRequest(e.url,"Source"),r)).data:yield fh.frameAsync(r,i),!n)return null;let a=IT(ln(n,e),["tiles","minzoom","maxzoom","attribution","bounds","scheme","tileSize","encoding"]);return"vector_layers"in n&&n.vector_layers&&(a.vectorLayerIds=n.vector_layers.map(o=>o.id)),a})}function T8(e,t){return t?e.properties[t]:e.id}function Ebr(e,t){let r=new Map;if(e==null||e.type==null)return r;if(e.type==="Feature"){let i=T8(e,t);return i==null?void 0:(r.set(i,e),r)}if(e.type==="FeatureCollection"){let i=new Set;for(let n of e.features){let a=T8(n,t);if(a==null||i.has(a))return;i.add(a),r.set(a,n)}return r}}function kbr(e,t,r){var n,a;let i=[];if(t.removeAll)e.clear();else if(t.remove)for(let o of t.remove){let s=e.get(o);s&&(i.push(s.geometry),e.delete(o))}if(t.add)for(let o of t.add){let s=T8(o,r);if(s==null)continue;let l=e.get(s);l&&i.push(l.geometry),i.push(o.geometry),e.set(s,o)}if(t.update)for(let o of t.update){let s=e.get(o.id);if(!s)continue;let l=!!o.newGeometry,u=o.removeAllProperties||((n=o.removeProperties)==null?void 0:n.length)>0||((a=o.addOrUpdateProperties)==null?void 0:a.length)>0;if(!l&&!u)continue;i.push(s.geometry);let c=fn({},s);if(e.set(o.id,c),l&&(i.push(o.newGeometry),c.geometry=o.newGeometry),u){if(c.properties=o.removeAllProperties?{}:fn({},c.properties||{}),o.removeProperties)for(let f of o.removeProperties)delete c.properties[f];if(o.addOrUpdateProperties)for(let{key:f,value:h}of o.addOrUpdateProperties)c.properties[f]=h}}return i}function Cbr(e,t,r){if(!e)return t||{};if(!t)return e||{};r&&(Znt(e.add,r),Znt(t.add,r));let i=Knt(e),n=Knt(t);Dbr(i,n);let a={};if((i.removeAll||n.removeAll)&&(a.removeAll=!0),a.remove=new Set([...i.remove,...n.remove]),a.add=new Map([...i.add,...n.add]),a.update=new Map([...i.update,...n.update]),a.remove.size&&a.add.size)for(let s of a.add.keys())a.remove.delete(s);let o=Pbr(a);return r&&Lbr(o.add,r),o}function Dbr(e,t){t.removeAll&&(e.add.clear(),e.update.clear(),e.remove.clear(),t.remove.clear());for(let r of t.remove)e.add.delete(r),e.update.delete(r);for(let[r,i]of t.update){let n=e.update.get(r);n&&(t.update.set(r,Fbr(n,i)),e.update.delete(r))}}function Fbr(e,t){let r={id:e.id};if(t.removeAllProperties&&(delete e.removeProperties,delete e.addOrUpdateProperties,delete t.removeProperties),t.removeProperties&&e.addOrUpdateProperties){let i=new Set(t.removeProperties);e.addOrUpdateProperties=e.addOrUpdateProperties.filter(n=>!i.has(n.key))}return(e.removeAllProperties||t.removeAllProperties)&&(r.removeAllProperties=!0),(e.removeProperties||t.removeProperties)&&(r.removeProperties=[...e.removeProperties||[],...t.removeProperties||[]]),(e.addOrUpdateProperties||t.addOrUpdateProperties)&&(r.addOrUpdateProperties=[...e.addOrUpdateProperties||[],...t.addOrUpdateProperties||[]]),(e.newGeometry||t.newGeometry)&&(r.newGeometry=t.newGeometry||e.newGeometry),r}function Znt(e,t){if(e)for(let r of e){let i=T8(r,t);i!=null&&(r.id=i)}}function Lbr(e,t){if(e)for(let r of e)T8(r,t)!=null&&delete r.id}function Knt(e){var r,i;if(!e)return{};let t={};return t.removeAll=e.removeAll,t.remove=new Set(e.remove||[]),t.add=new Map((r=e.add)==null?void 0:r.map(n=>[n.id,n])),t.update=new Map((i=e.update)==null?void 0:i.map(n=>[n.id,n])),t}function Pbr(e){let t={};return e.removeAll&&(t.removeAll=e.removeAll),e.remove&&(t.remove=Array.from(e.remove)),e.add&&(t.add=Array.from(e.add.values())),e.update&&(t.update=Array.from(e.update.values())),t}function uot(e){return!e||e.length===0?[]:typeof e[0]=="number"?[e]:e.flatMap(t=>uot(t))}function gq(e){return e.type==="GeometryCollection"?e.geometries.flatMap(t=>gq(t)):uot(e.coordinates)}function Jnt(e){let t=new Ev,r;switch(e.type){case"FeatureCollection":r=e.features.flatMap(i=>gq(i.geometry));break;case"Feature":r=gq(e.geometry);break;default:r=gq(e)}if(r.length===0)return t;for(let i of r){let[n,a]=i;t.extend([n,a])}return t}function Ibr({x:e,y:t,z:r},i=0){let n=GB((e-i)/2**r),a=LT((t+1+i)/2**r),o=GB((e+1+i)/2**r),s=LT((t-i)/2**r);return new Ev([n,a],[o,s])}function Bbr(e){e*=Math.PI/180;let t=Math.sin(e),r=Math.cos(e);return[(2*r+1)/3,(-Math.sqrt(3)*t-r+1)/3,(Math.sqrt(3)*t-r+1)/3]}function qbr(e){return e>0?1/(1-e):1+e}function Obr(e){return e>0?1-1/(1.001-e):-e}function fot(e,t){let r=hot(t,"16bit"),i=Pm.deserialize({arrayBuffer:r.vertices,length:r.vertices.byteLength/2/2}),n=Mv.deserialize({arrayBuffer:r.indices,length:r.indices.byteLength/2/3});return new M8(e.createVertexBuffer(i,l3.members),e.createIndexBuffer(n),Ws.simpleSegment(0,0,i.length,n.length))}function hot(e,t){let r=e.granularity===void 0?1:Math.max(e.granularity,1),i=r+(e.generateBorders?2:0),n=r+(e.extendToNorthPole||e.generateBorders?1:0)+(e.extendToSouthPole||e.generateBorders?1:0),a=i+1,o=n+1,s=e.generateBorders?-1:0,l=e.generateBorders||e.extendToNorthPole?-1:0,u=r+ +!!e.generateBorders,c=r+(e.generateBorders||e.extendToSouthPole?1:0),f=a*o,h=i*n*6,d=a*o>65536;if(d&&t==="16bit")throw Error("Granularity is too large and meshes would not fit inside 16 bit vertex indices.");let p=d||t==="32bit",v=new Int16Array(f*2),m=0;for(let b=l;b<=c;b++)for(let _=s;_<=u;_++){let M=_/r*zr;_===-1&&(M=-rq),_===r+1&&(M=zr+rq);let x=b/r*zr;b===-1&&(x=e.extendToNorthPole?xT:-rq),b===r+1&&(x=e.extendToSouthPole?_T:zr+rq),v[m++]=M,v[m++]=x}let g=p?new Uint32Array(h):new Uint16Array(h),w=0;for(let b=0;b=1&&g<=512)||w>=1?$T:[p,v,w]}function Gbr(e){let t=(1-4/e)/.9921875;return Math.max(0,t)}function dot(e){let[t,r,i,n]=e;return t.x+i.x===r.x+n.x&&t.y+i.y===r.y+n.y}function Wbr(e,t){let r={};if(!t)return r;for(let i of e){let n=i.layerIds.map(a=>t.getLayer(a)).filter(Boolean);if(n.length!==0){i.layers=n,i.stateDependentLayerIds&&(i.stateDependentLayers=i.stateDependentLayerIds.map(a=>n.filter(o=>o.id===a)[0]));for(let a of n)r[a.id]=i}}return r}function A8(){return Qnt||(Qnt=new Ybr),Qnt}function eat(e){let t=[];for(let r in e)t.push({id:r,state:e[r]});return t}function Zbr(e,t,r,i){let n=Uu([],e,t),a=1/n[3]/r*i;return Vet(n,n,[a,a,1/n[3],a])}function Kbr(e,t,r,i){let n=i?4:0,a=i?0:4,o=0,s=[],l=[];for(let f=0;f<4;f++){let h=J1([],e[f+a],e[f+n]),d=K1(h);Ps(h,h,1/d),s.push(d),l.push(h)}for(let f=0;f<4;f++){let h=jet(e[f+n],l[f],r);o=h!==null&&h>=0?Math.max(o,h):Math.max(o,s[f])}let u=Jbr(e,t),c=Qbr(r,u);if(c!==null){let f=c/gu(l[0],u);o=Math.min(o,f)}for(let f=0;f<4;f++){let h=Math.min(o,s[f]);e[f+a]=[e[f+n][0]+l[f][0]*h,e[f+n][1]+l[f][1]*h,e[f+n][2]+l[f][2]*h,1]}}function Jbr(e,t){let r=J1([],e[t[0]],e[t[1]]),i=J1([],e[t[2]],e[t[1]]),n=[0,0,0,0];return Pf(n,uh([],r,i)),n[3]=-gu(n,e[t[0]]),n}function Qbr(e,t){let r=Ok(e),i=Uet([],e,1/r),n=J1([],t,Ps([],i,gu(t,i))),a=Ok(n);if(a>0){let o=Math.sqrt(1-i[3]*i[3]),s=Ps([],i,-i[3]),l=R0([],s,Ps([],n,o/a));return hB(t,l)}return null}function e3r(e,t,r){let i=t.intersectsFrustum(e);if(!r||i===0)return i;let n=t.intersectsPlane(r);return n===0?0:i===2&&n===2?2:1}function tat(e,t,r){let i=0,n=(r-t)/10;for(let a=0;a<10;a++){let o=t+(a+.5)/10*(r-t);i+=n*Math.cos(o)**+e}return i}function nae(e,t){return function(r,i,n,a,o){let s=2*((e-1)/zc(Math.cos(js(ix-o))/Math.cos(js(ix)))-1),l=Math.acos(n/a),u=2*tat(s-1,0,js(o/2)),c=Math.min(js(ix),l+js(o/2)),f=Math.min(c,l-js(o/2)),h=tat(s-1,f,c),d=Math.atan(i/n),p=Math.hypot(i,n),v=r;return v+=zc(a/p/Math.max(.5,Math.cos(js(o/2)))),v+=s*zc(Math.cos(d))/2,v-=zc(Math.max(1,h/u/t))/2,v}}function Sae(e,t){let r=(t.roundZoom?Math.round:Math.floor)(e.zoom+zc(e.tileSize/t.tileSize));return Math.max(0,r)}function r3r(e,t){let r=ix-e.pitch-e.fov/2,i=Jn((15-r)/15,0,1),n=Math.max(500,t!=null?t:0);return e.elevation+i*n}function i3r(e,t,r){let i=e.planes[1],n=e.points.map(l=>{let u=i[0]*l[0]+i[1]*l[1]+i[2]*l[2]+i[3];if(Math.abs(u)>1e-6)return l;let c=[l[0]-r[0],l[1]-r[1],l[2]-r[2]],f=i[0]*c[0]+i[1]*c[1]+i[2]*c[2];if(f>=-1e-9)return l;let h=t/-f;return[l[0]+c[0]*h,l[1]+c[1]*h,l[2]+c[2]*h,l[3]]}),a=e.planes.map((l,u)=>u===1?[l[0],l[1],l[2],l[3]+t]:l),o=[1/0,1/0,1/0],s=[-1/0,-1/0,-1/0];for(let l of n)for(let u=0;u<3;u++)o[u]=Math.min(o[u],l[u]),s[u]=Math.max(s[u],l[u]);return new Mae(n,a,new Aae(o,s))}function ZT(e,t){let r=e.getCameraFrustum(),i=e.getClippingPlane();if(i&&t.maxContentElevation>0){let x=Math.hypot(i[0],i[1],i[2]);if(x>0){let T=1+t.maxContentElevation/zf,A=Jn(-i[3]/x,-1,1),y=Math.cos(Math.acos(A)+Math.acos(1/T));i=[i[0],i[1],i[2],-y*x],r=i3r(r,Math.sqrt(T*T-1),e.cameraPosition)}}let n=Eit(e),a=wo.fromLngLat(e.center,e.elevation),o=r3r(e,t.maxContentElevation),s=e.getCoveringTilesDetailsProvider(),l=s.allowVariableZoom(e,t),u=Sae(e,t),c=t.minzoom||0,f=t.maxzoom===void 0?e.maxZoom:t.maxzoom,h=Math.min(Math.max(0,u),f),d=2**h,p=[d*n.x,d*n.y,0],v=[d*a.x,d*a.y,0],m=Math.hypot(a.x-n.x,a.y-n.y),g=Math.abs(a.z-n.z),w=Math.hypot(m,g),b=x=>({zoom:0,x:0,y:0,wrap:x,fullyVisible:!1}),_=[],M=[];if(e.renderWorldCopies&&s.allowWorldCopies())for(let x=1;x<=3;x++)_.push(b(-x)),_.push(b(x));for(_.push(b(0));_.length>0;){let x=_.pop(),T=x.x,A=x.y,y=x.fullyVisible,E={x:T,y:A,z:x.zoom},S=s.getTileBoundingVolume(E,x.wrap,o,t);if(!y){let F=e3r(r,S,i);if(F===0)continue;y=F===2}let C=s.distanceToTile2d(n.x,n.y,E,S),k=u;l&&(k=(t.calculateTileZoom||t3r)(e.zoom+zc(e.tileSize/t.tileSize),C,g,w,e.fov)),k=(t.roundZoom?Math.round:Math.floor)(k),k=Math.max(0,k);let D=Math.min(k,f);if(x.wrap=s.getWrap(a,E,x.wrap),x.zoom>=D){if(x.zoom>1),L=x.zoom+1;_.push({zoom:L,x:P,y:R,wrap:x.wrap,fullyVisible:y})}}return M.sort((x,T)=>x.distanceSq-T.distanceSq).map(x=>x.tileID)}function rat(e){return e==="raster"||e==="image"||e==="video"}function n3r(e,t,r,i,n,a,o){let s=Oo(),l=Wet(t);for(let u of t){let c=e.getTileById(u.key);(c.fadingDirection===0||c.fadeOpacity===0)&&c.resetFadeLogic(),!a3r(e,c,r,s,i,n,o)&&(o3r(e,c,r,s,a,o)||s3r(c,l,s,o)||c.resetFadeLogic())}}function a3r(e,t,r,i,n,a,o){if(!t.hasData())return!1;let{tileID:s,fadingRole:l,fadingDirection:u,fadingParentID:c}=t;if(l===0&&u===1&&c)return r[c.key]=c,!0;let f=Math.max(s.overscaledZ-n,a);for(let h=s.overscaledZ-1;h>=f;h--){let d=s.scaledTo(h),p=e.getLoadedTile(d);if(p)return t.setCrossFadeLogic({fadingRole:0,fadingDirection:1,fadingParentID:p.tileID,fadeEndTime:i+o}),p.setCrossFadeLogic({fadingRole:1,fadingDirection:0,fadeEndTime:i+o}),r[d.key]=d,!0}return!1}function o3r(e,t,r,i,n,a){if(!t.hasData())return!1;let o=t.tileID.children(n),s=iat(e,t,o,r,i,n,a);if(s)return!0;for(let l of o)iat(e,t,l.children(n),r,i,n,a)&&(s=!0);return s}function iat(e,t,r,i,n,a,o){if(r[0].overscaledZ>=a)return!1;let s=!1;for(let l of r){let u=e.getLoadedTile(l);if(!u)continue;let{fadingRole:c,fadingDirection:f,fadingParentID:h}=u;(c!==0||f!==0||!h)&&(u.setCrossFadeLogic({fadingRole:0,fadingDirection:0,fadingParentID:t.tileID,fadeEndTime:n+o}),t.setCrossFadeLogic({fadingRole:1,fadingDirection:1,fadeEndTime:n+o})),i[l.key]=l,s=!0}return s}function s3r(e,t,r,i){let n=e.tileID;if(e.selfFading)return!0;if(e.hasData())return!1;if(t.has(n)){let a=r+i;return e.setSelfFadeLogic(a),!0}return!1}function l3r(e,t){if(t<=0)return!1;let r=Oo();for(let i of e.getAllTiles())if(i.fadeEndTime>=r)return!0;return!1}function u3r(e,t){var i,n,a;let r=t.getRenderableIds();for(let o of r){if(!((i=e.neighboringTiles)!=null&&i[o]))continue;let s=t.getTileById(o);e.neighboringTiles[o].backfilled||nat(e,s),!((a=(n=s.neighboringTiles)==null?void 0:n[e.tileID.key])!=null&&a.backfilled)&&nat(s,e)}}function nat(e,t){var o;e.needsHillshadePrepare=!0,e.needsTerrainPrepare=!0,e.needsColorReliefPrepare=!0;let r=t.tileID.canonical.x-e.tileID.canonical.x,i=t.tileID.canonical.y-e.tileID.canonical.y,n=2**e.tileID.canonical.z,a=t.tileID.key;(r!==0||i!==0)&&(Math.abs(i)>1||(Math.abs(r)>1&&(Math.abs(r+n)===1?r+=n:Math.abs(r-n)===1&&(r-=n)),t.dem&&e.dem&&(e.dem.backfillBorder(t.dem,r,i),(o=e.neighboringTiles)!=null&&o[a]&&(e.neighboringTiles[a].backfilled=!0))))}function mq(e,t,r,i,n){return n?e?e(t,r)+i:i===0?void 0:i:i}function iq(e,t){let r=!0;return e==="always"||(e==="never"||t==="never")&&(r=!1),r}function f3r(e,t){let r=1/(t[0]*t[0]+t[1]*t[1]+t[2]*t[2]),i=1/(t[8]*t[8]+t[9]*t[9]+t[10]*t[10]),n=t[0]*r,a=t[4]*r,o=t[8]*i,s=t[1]*r,l=t[5]*r,u=t[9]*i,c=t[2]*r,f=t[6]*r,h=t[10]*i;e[0]=n,e[1]=a,e[2]=o,e[4]=s,e[5]=l,e[6]=u,e[8]=c,e[9]=f,e[10]=h;let d=t[12],p=t[13],v=t[14];return e[12]=-n*d-s*p-c*v,e[13]=-a*d-l*p-f*v,e[14]=-o*d-u*p-h*v,e[3]=0,e[7]=0,e[11]=0,e[15]=1,e}function h3r(e,t){return e[0]=1/t[0],e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=1/t[5],e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=0,e[11]=1/t[14],e[12]=0,e[13]=0,e[14]=-1,e[15]=t[10]/t[14],e}function d3r(e,t){let r=1/(t[0]*t[5]-t[1]*t[4]);return e[0]=t[5]*r,e[1]=-t[1]*r,e[2]=0,e[3]=0,e[4]=-t[4]*r,e[5]=t[0]*r,e[6]=0,e[7]=0,e[8]=0,e[9]=0,e[10]=1/t[10],e[11]=0,e[12]=0,e[13]=0,e[14]=0,e[15]=1/t[15],e}function Eae(e,t,r){let i=Em();if(!e){let{vecSouth:n,vecEast:a}=kae(t),o=Yat();o[0]=a[0],o[1]=a[1],o[2]=n[0],o[3]=n[1],F_r(o,o),i[0]=o[0],i[1]=o[1],i[4]=o[2],i[5]=o[3]}return Rc(i,i,[1/r,1/r,1]),i}function v3r(e,t,r,i){if(e){let n=Em();if(!t){let{vecSouth:a,vecEast:o}=kae(r);n[0]=o[0],n[1]=o[1],n[4]=a[0],n[5]=a[1]}return Rc(n,n,[i,i,1]),n}return r.pixelsToClipSpaceMatrix}function kae(e){let t=Math.cos(e.rollInRadians),r=Math.sin(e.rollInRadians),i=Math.cos(e.pitchInRadians),n=Math.cos(e.bearingInRadians),a=Math.sin(e.bearingInRadians),o=fB();o[0]=-n*i*r-a*t,o[1]=-a*i*r+n*t;let s=mie(o);s<1e-9?yie(o):gie(o,o,1/s);let l=fB();l[0]=n*i*t-a*r,l[1]=a*i*t+n*r;let u=mie(l);return u<1e-9?yie(l):gie(l,l,1/u),{vecEast:l,vecSouth:o}}function c3(e,t,r){var i,n;return mq(e.getElevation,t,r,(i=e.heightOffset)!=null?i:0,(n=e.heightAnchorGround)!=null?n:!0)}function Cae(e,t,r,i){let n;i==null?(n=[e,t,0,1],Dae(n,n,r)):(n=[e,t,i,1],Uu(n,n,r));let a=n[3];return{point:new tr(n[0]/a,n[1]/a),signedDistanceFromCamera:a,isOccluded:!1}}function bot(e,t){return .5+e/t*.5}function g3r(e,t){return e.x>=-t[0]&&e.x<=t[0]&&e.y>=-t[1]&&e.y<=t[1]}function m3r(e,t,r,i,n,a,o,s,l,u,c,f,h){let d=r?e.textSizeData:e.iconSizeData,p=a8(d,t.transform.zoom),v=[256/t.width*2+1,256/t.height*2+1],m=r?e.text.dynamicLayoutVertexArray:e.icon.dynamicLayoutVertexArray;m.clear();let g=e.lineVertexArray,w=r?e.text.placedSymbolArray:e.icon.placedSymbolArray,b=t.transform.width/t.transform.height,_=!1;for(let M=0;MMath.abs(r.x-t.x)*i?{useVertical:!0}:(e===2?t.yr.x)?{needsFlipping:!0}:null}function lat(e){let{projectionContext:t,pitchedLabelPlaneMatrixInverse:r,symbol:i,fontSize:n,flip:a,keepUpright:o,glyphOffsetArray:s,dynamicLayoutVertexArray:l,aspectRatio:u,rotateToLine:c}=e,f=n/24,h=i.lineOffsetX*f,d=i.lineOffsetY*f,p;if(i.numGlyphs>1){let v=i.glyphStartIndex+i.numGlyphs,m=i.lineStartIndex,g=i.lineStartIndex+i.lineLength,w=wot(f,s,h,d,a,i,c,t);if(!w)return{notEnoughRoom:!0};let b=nq(w.first.point.x,w.first.point.y,t,r),_=nq(w.last.point.x,w.last.point.y,t,r);if(o&&!a){let M=sat(i.writingMode,b,_,u);if(M)return M}p=[w.first];for(let M=i.glyphStartIndex+1;M0?b.point:Tot(t.tileAnchorPoint,w,m,1,t),M=nq(m.x,m.y,t,r),x=nq(_.x,_.y,t,r),T=sat(i.writingMode,M,x,u);if(T)return T}let v=bq(f*s.getoffsetX(i.glyphStartIndex),h,d,a,i.segment,i.lineStartIndex,i.lineStartIndex+i.lineLength,t,c);if(!v||t.projectionCache.anyProjectionOccluded)return{notEnoughRoom:!0};p=[v]}for(let v of p)o8(l,v.point,v.angle);return{}}function Tot(e,t,r,i,n){let a=e.add(e.sub(t)._unit()),o=f3(a.x,a.y,n).point,s=r.sub(o);return r.add(s._mult(i/s.mag()))}function oae(e,t,r){let i=t.projectionCache;if(i.projections[e])return i.projections[e];let n=new tr(t.lineVertexArray.getx(e),t.lineVertexArray.gety(e)),a=f3(n.x,n.y,t);if(a.signedDistanceFromCamera>0)return i.projections[e]=a.point,i.anyProjectionOccluded||(i.anyProjectionOccluded=a.isOccluded),a.point;let o=e-r.direction,s=r.distanceFromAnchor===0?t.tileAnchorPoint:new tr(t.lineVertexArray.getx(o),t.lineVertexArray.gety(o)),l=r.absOffsetX-r.distanceFromAnchor+1;return Tot(s,n,r.previousVertex,l,t)}function f3(e,t,r){let i=e+r.translation[0],n=t+r.translation[1],a;return r.pitchWithMap?(a=Cae(i,n,r.pitchedLabelPlaneMatrix,c3(r,i,n)),a.isOccluded=!1):(a=r.transform.projectTileCoordinates(i,n,r.unwrappedTileID,c3(r,i,n)),a.point.x=(a.point.x*.5+.5)*r.width,a.point.y=(-a.point.y*.5+.5)*r.height),a}function nq(e,t,r,i){if(r.pitchWithMap){let n=[e,t,0,1];Uu(n,n,i);let a=n[0]/n[3],o=n[1]/n[3];return r.transform.projectTileCoordinates(a,o,r.unwrappedTileID,c3(r,a,o)).point}return{x:e/r.width*2-1,y:1-t/r.height*2}}function Aot(e,t,r){return r.transform.projectTileCoordinates(e,t,r.unwrappedTileID,c3(r,e,t))}function sae(e,t,r){return e._unit()._perp()._mult(t*r)}function y3r(e,t,r,i,n,a,o,s,l){if(s.projectionCache.offsets[e])return s.projectionCache.offsets[e];let u=r.add(t);if(e+l.direction=n)return s.projectionCache.offsets[e]=u,u;let c=oae(e+l.direction,s,l),f=sae(c.sub(r),o,l.direction),h=r.add(f),d=c.add(f);return s.projectionCache.offsets[e]=Xet(a,u,h,d)||u,s.projectionCache.offsets[e]}function bq(e,t,r,i,n,a,o,s,l){let u=i?e-t:e+t,c=u>0?1:-1,f=0;i&&(c*=-1,f=Math.PI),c<0&&(f+=Math.PI);let h=c>0?a+n:a+n+1,d;s.projectionCache.cachedAnchorPoint?d=s.projectionCache.cachedAnchorPoint:(d=f3(s.tileAnchorPoint.x,s.tileAnchorPoint.y,s).point,s.projectionCache.cachedAnchorPoint=d);let p=d,v=d,m,g,w=0,b=0,_=Math.abs(u),M=[],x;for(;w+b<=_;){if(h+=c,h=o)return null;w+=b,v=p,g=m;let E={absOffsetX:_,direction:c,distanceFromAnchor:w,previousVertex:v};if(p=oae(h,s,E),r===0)M.push(v),x=p.sub(v);else{let S,C=p.sub(v);S=C.mag()===0?sae(oae(h+c,s,E).sub(p),r,c):sae(C,r,c),g||(g=v.add(S)),m=y3r(h,S,p,a,o,g,r,s,E),M.push(g),x=m.sub(g)}b=x.mag()}let T=(_-w)/b,A=x._mult(T)._add(g||v),y=f+Math.atan2(p.y-v.y,p.x-v.x);return M.push(A),{point:A,angle:l?y:0,path:M}}function WT(e,t){for(let r=0;r{let n=Cae(i.x,i.y,r,c3(t,i.x,i.y)),a=t.transform.projectTileCoordinates(n.point.x,n.point.y,t.unwrappedTileID,c3(t,n.point.x,n.point.y));return a.point.x=(a.point.x*.5+.5)*t.width,a.point.y=(-a.point.y*.5+.5)*t.height,a})}function b3r(e){let t=0,r=0,i=0,n=0;for(let a=0;ar&&(r=n,t=i));return e.slice(t,t+r)}function fat(e,t,r,i,n){let{horizontalAlign:a,verticalAlign:o}=n8(e),s=-(a-.5)*t,l=-(o-.5)*r;return new tr(s+i[0]*n,l+i[1]*n)}function hat(e,t,r,i,n,a){(!i||i.length===0)&&(i=[0,0,0,0]);let o=i[0]-100,s=i[1]-100,l=i[2]-100,u=i[3]-100;e.emplaceBack(+!!t,+!!r,n||0,a||0,o,s),e.emplaceBack(+!!t,+!!r,n||0,a||0,l,s),e.emplaceBack(+!!t,+!!r,n||0,a||0,l,u),e.emplaceBack(+!!t,+!!r,n||0,a||0,o,u)}function dat(e){if(e.opacity===0&&!e.placed)return 0;if(e.opacity===1&&e.placed)return 4294967295;let t=+!!e.placed,r=Math.floor(e.opacity*127);return r*S3r+t*E3r+r*k3r+t*C3r+r*512+t*256+r*2+t}function lae(e,t,r,i,n,a){if(n-i<=r)return;let o=i+n>>1;Sot(e,t,o,i,n,a),lae(e,t,r,i,o-1,1-a),lae(e,t,r,o+1,n,1-a)}function Sot(e,t,r,i,n,a){for(;n>i;){if(n-i>600){let u=n-i+1,c=r-i+1,f=Math.log(u),h=.5*Math.exp(2*f/3),d=.5*Math.sqrt(f*h*(u-h)/u)*(c-u/2<0?-1:1);Sot(e,t,r,Math.max(i,Math.floor(r-c*h/u+d)),Math.min(n,Math.floor(r+(u-c)*h/u+d)),a)}let o=t[2*r+a],s=i,l=n;for(v8(e,t,i,r),t[2*n+a]>o&&v8(e,t,i,n);so;)l--}t[2*i+a]===o?v8(e,t,i,l):(l++,v8(e,t,l,n)),l<=r&&(i=l+1),r<=l&&(n=l-1)}}function v8(e,t,r,i){Bne(e,r,i),Bne(t,2*r,2*i),Bne(t,2*r+1,2*i+1)}function Bne(e,t,r){let i=e[t];e[t]=e[r],e[r]=i}function vat(e,t,r,i){let n=e-r,a=t-i;return n*n+a*a}function fo(e,t){let r=/#pragma maplibre: ([\w]+) ([\w]+) ([\w]+) ([\w]+)/g,i=t.match(/in ([\w]+) ([\w]+)/g),n=e.match(/uniform ([\w]+) ([\w]+)([\s]*)([\w]*)/g),a=t.match(/uniform ([\w]+) ([\w]+)([\s]*)([\w]*)/g),o=a?a.concat(n):n,s=i?i.length:0,l={};return e=e.replace(r,(u,c,f,h,d)=>(l[d]=!0,c==="define"?` +#ifndef HAS_UNIFORM_u_${d} +in ${f} ${h} ${d}; +#else +uniform ${f} ${h} u_${d}; +#endif +`:` +#ifdef HAS_UNIFORM_u_${d} + ${f} ${h} ${d} = u_${d}; +#endif +`)),t=t.replace(r,(u,c,f,h,d)=>{let p=h==="float"?"vec2":"vec4",v=d.match(/color/)?"color":p;return l[d]?c==="define"?` +#ifndef HAS_UNIFORM_u_${d} +uniform lowp float u_${d}_t; +layout(location = ${s++}) in ${f} ${p} a_${d}; +out ${f} ${h} ${d}; +#else +uniform ${f} ${h} u_${d}; +#endif +`:v==="vec4"?` +#ifndef HAS_UNIFORM_u_${d} + ${d} = a_${d}; +#else + ${f} ${h} ${d} = u_${d}; +#endif +`:` +#ifndef HAS_UNIFORM_u_${d} + ${d} = unpack_mix_${v}(a_${d}, u_${d}_t); +#else + ${f} ${h} ${d} = u_${d}; +#endif +`:c==="define"?` +#ifndef HAS_UNIFORM_u_${d} +uniform lowp float u_${d}_t; +layout(location = ${s++}) in ${f} ${p} a_${d}; +#else +uniform ${f} ${h} u_${d}; +#endif +`:v==="vec4"?` +#ifndef HAS_UNIFORM_u_${d} + ${f} ${h} ${d} = a_${d}; +#else + ${f} ${h} ${d} = u_${d}; +#endif +`:` +#ifndef HAS_UNIFORM_u_${d} + ${f} ${h} ${d} = unpack_mix_${v}(a_${d}, u_${d}_t); +#else + ${f} ${h} ${d} = u_${d}; +#endif +`}),{fragmentSource:e,vertexSource:t,staticAttributes:i,staticUniforms:o}}function wq(e,t){if(!e.renderWorldCopies||e.lngRange)return;let r=t.lng-e.center.lng;t.lng+=r>180?-360:r<-180?360:0}function mat(e){return Math.max(0,Math.floor(e))}function Lae(e,t,r,i){if(i<0||i>=1)return xat;let n=Math.floor(r),a=r-n;for(let o of e.zooms){let s=1<n;a++){let o=(r+i)/2;t(e,o)?i=o:r=o}return{lo:r,hi:i}}function yq(e,t){return Lae(e.index,e.exaggeration,(e.near[0]+t*e.dx)/e.worldSize,(e.near[1]+t*e.dy)/e.worldSize)}function aq(e,t){return Fot(yq(e,t),e.near[2]+t*e.dz)}function Iot(){Ma("Map cannot fit within canvas with the given bounds, padding, and/or offset.")}function Rot(e){if(e.useSlerp)if(e.k<1){let t=Aie(e.startEulerAngles.roll,e.startEulerAngles.pitch,e.startEulerAngles.bearing),r=Aie(e.endEulerAngles.roll,e.endEulerAngles.pitch,e.endEulerAngles.bearing),i=new Float64Array(4);vk(i,t,r,e.k);let n=rtt(i);e.tr.setRoll(n.roll),e.tr.setPitch(n.pitch),e.tr.setBearing(n.bearing)}else e.tr.setRoll(e.endEulerAngles.roll),e.tr.setPitch(e.endEulerAngles.pitch),e.tr.setBearing(e.endEulerAngles.bearing);else e.tr.setRoll($s.number(e.startEulerAngles.roll,e.endEulerAngles.roll,e.k)),e.tr.setPitch($s.number(e.startEulerAngles.pitch,e.endEulerAngles.pitch,e.k)),e.tr.setBearing($s.number(e.startEulerAngles.bearing,e.endEulerAngles.bearing,e.k))}function zot(e,t,r,i,n){let a=n.padding,o=Sv(n.worldSize,r.getNorthWest()),s=Sv(n.worldSize,r.getNorthEast()),l=Sv(n.worldSize,r.getSouthEast()),u=Sv(n.worldSize,r.getSouthWest()),c=js(-i),f=o.rotate(c),h=s.rotate(c),d=l.rotate(c),p=u.rotate(c),v=new tr(Math.max(f.x,h.x,p.x,d.x),Math.max(f.y,h.y,p.y,d.y)),m=new tr(Math.min(f.x,h.x,p.x,d.x),Math.min(f.y,h.y,p.y,d.y)),g=v.sub(m),w=n.width-(a.left+a.right+t.left+t.right),b=n.height-(a.top+a.bottom+t.top+t.bottom),_=w/g.x,M=b/g.y;if(M<0||_<0){Iot();return}let x=Math.min(zc(n.scale*Math.min(_,M)),e.maxZoom),T=tr.convert(e.offset),A=(t.left-t.right)/2,y=(t.top-t.bottom)/2,E=new tr(A,y).rotate(js(i)),S=T.add(E).mult(n.scale/If(x));return{center:NT(n.worldSize,o.add(l).div(2).sub(S)),zoom:x,bearing:i}}function qot(e){let t=YT(e.worldSize,e.center.lat);return 2*Math.PI*t}function Z3r(e,t,r){let i=Vu(t),n=Vu(r),a=gu(i,n),o=Math.acos(a),s=qot(e);return o/(2*Math.PI)*s}function K3r(e,t){return[K2(e*Math.PI*2+Math.PI,Math.PI*2),2*Math.atan(Math.exp(Math.PI-t*Math.PI*2))-Math.PI*.5]}function J3r(e,t){let r=Math.cos(t),i=new Float64Array(3);return i[0]=Math.sin(e)*r,i[1]=Math.sin(t),i[2]=Math.cos(e)*r,i}function nx(e,t,r,i,n){let a=1/(1<1e-6){let i=e[0]/r,n=e[2]/r,a=Math.acos(n),o=(i>0?a:-a)/Math.PI*180;return new mn(B0(o,-180,180),t)}return new mn(0,t)}function Q3r(e,t){return cB(Cm(),-e.lng,-e.lat,t)}function ewr(e){let t=e[0],r=e[1],i=e[2],n=e[3];return{lng:-Math.atan2(2*(n*t+r*i),1-2*(t*t+r*r))*180/Math.PI,lat:-Math.asin(Jn(2*(n*r-i*t),-1,1))*180/Math.PI,bearing:Math.atan2(2*(n*i+t*r),1-2*(r*r+i*i))*180/Math.PI}}function bat(e,t){let r=e.cameraPosition,i=K1(r);if(i<=1)return e.screenPointToLocation(t);let n=Do();Pf(n,r);let a=e.getRayDirectionFromPixel(t),o=-gu(a,n),s=Do();qk(s,a,n,o);let l=K1(s);if(l<1e-9)return e.screenPointToLocation(t);let u=Math.atan2(l,o),c=Math.asin(1/i)*.9;if(u=0?90:-90,s=e.locationToScreenPoint(new mn(0,o)),l=t.x-s.x,u=t.y-s.y,c=l*l+u*u,f=Jn(1-(Tv-Math.abs(a))/12,0,1),h=f*f*(3-2*f),d=K2(i-n+180,360)-180,p=0;if(h>0&&r){let v=(l*r.y-u*r.x)/Math.max(c,400);p=(o>0?1:-1)*v*180/Math.PI}return n+(1-h)*d+h*p}function iwr(e){let t=Do();return t[0]=e[0]*-e[3],t[1]=e[1]*-e[3],t[2]=e[2]*-e[3],{center:t,radius:Math.sqrt(1-e[3]*e[3])}}function nwr(e,t,r){let i=Do();J1(i,r,e);let n=Do();return qk(n,e,i,t/Ok(i)),n}function Mq(e){return Math.cos(e*Math.PI/180)}function qc(e,t){let r=Mq(e),i=Mq(t);return zc(i/r)}function awr(e,t){return 360/qot({worldSize:e,center:{lat:t}})}function owr(e,t){let r=e.rotate(t.bearingInRadians),i=t.zoom+qc(t.center.lat,0),n=Kb(1/Mq(t.center.lat),1/Mq(Math.min(Math.abs(t.center.lat),60)),Gk(i,7,3,0,1)),a=awr(t.worldSize,t.center.lat);return new mn(t.center.lng-r.x*a*n,Jn(t.center.lat+r.y*a,-Tv,Tv))}function Nne(e){let t=.5*e,r=Math.sin(t),i=Math.cos(t);return Math.log(r+i)-Math.log(i-r)}function wat(e,t,r,i){let n=e.lat+r*i;if(Math.abs(r)>1){let a=e.lat+r,o=(Math.sign(a)===Math.sign(e.lat)?Math.abs(e.lat):-Math.abs(e.lat))*Math.PI/180,s=Math.abs(e.lat+r)*Math.PI/180,l=Nne(o+i*(s-o)),u=Nne(o),c=Nne(s),f=(l-u)/(c-u),h=e.lng+t*f;return new mn(h,n)}{let a=e.lng+t*i;return new mn(a,n)}}function oq(e,t,r=1){let i=gu(e,t),n=r*r,a=Do(),o=Do();Ps(o,t,i),J1(a,e,o);let s=n-gu(a,a);if(s<0)return null;let l=gu(e,e)-n,u=-i+(i<0?1:-1)*Math.sqrt(s),c=l/u,f=u;return{tMin:Math.min(c,f),tMax:Math.max(c,f)}}function xq(e,t,r){let i=e-t;return i<0?-i:Math.max(0,i-r)}function Vne(e,t,r,i,n){let a=e-r,o;return o=a<0?Math.min(-a,1+a-n):a>n?Math.min(Math.max(a-n,0),1-a):0,Math.max(o,xq(t,i,n))}function Tat(e,t){let r=1/0,i=-1/0;for(let n of t){let a=gu(e,n);r=Math.min(r,a),i=Math.max(i,a)}return{min:r,max:i}}function Vot(e,t){let r=Do();qk(r,e.origin,e.direction,t);let i=K1(r),n=Do();Ps(n,r,1/i);let a=w8(n),o=wo.fromLngLat(a),s=new wo(o.x,Jn(o.y,0,.999999999)),l=Lae(e.index,e.exaggeration,s.x,s.y),u=Math.abs(a.lat)>85.051129?0:l.elevation;return{sample:ma(fn({},l),{elevation:u}),radius:i,mercator:s}}function Mat(e,t){let{sample:r,radius:i}=Vot(e,t);return Fot(r,(i-1)*zf)}function uwr(e,t,r){let i={constrainOverride:t};if(Array.isArray(e)){let n=new _at({type:e},r);return{projection:n,transform:new Sat(i),cameraHelper:new Eat(n)}}switch(e){case"mercator":return{projection:new uae,transform:new Tq(i),cameraHelper:new Aq};case"globe":{let n=new _at({type:["interpolate",["linear"],["zoom"],11,"vertical-perspective",12,"mercator"]},{});return{projection:n,transform:new Sat(i),cameraHelper:new Eat(n)}}case"vertical-perspective":return{projection:new Bot,transform:new Not(i),cameraHelper:new Hot};default:return Ma(`Unknown projection name: ${e}. Falling back to mercator projection.`),{projection:new uae,transform:new Tq(i),cameraHelper:new Aq}}}function ywr(e,t){for(let[r,i]of Object.entries(Cq)){let n=e.getUniformBlockIndex(t,r);n!==e.INVALID_INDEX&&e.uniformBlockBinding(t,n,i)}}function Pae(e){let t={},r=0;for(let{name:i,type:n}of e){let[a,o]=xwr[n];r=Math.ceil(r/o)*o,t[i]=r,r+=a}return{offsets:t,contentWords:r,sizeWords:Math.ceil(r/4)*4}}function _wr(e){return new Iae(e,Cq.ProjectionUBO,jot)}function bwr(e,t){let r=e.pending;r.set(t.mainMatrix,HT.u_projection_matrix),r.set(t.fallbackMatrix,HT.u_projection_fallback_matrix),r.set(t.tileMercatorCoords,HT.u_projection_tile_mercator_coords),r.set(t.clippingPlane,HT.u_projection_clipping_plane),r[HT.u_projection_transition]=t.projectionTransition,e.pendingWords[HT.u_projection_clip_antimeridian]=+!!t.clipAntimeridian,e.upload()}function wwr(e){return new Iae(e,Cq.TerrainUBO,$ot)}function Twr(e,t){let r=e.pending;r.set(t.u_terrain_matrix,sq.u_terrain_matrix),r.set(t.u_terrain_unpack,sq.u_terrain_unpack),r[sq.u_terrain_dim]=t.u_terrain_dim,r[sq.u_terrain_exaggeration]=t.u_terrain_exaggeration,e.upload()}function Gne(e){let t=[];for(let r of e){if(r===null)continue;let i=r.split(" ");t.push(i.pop())}return t}function Awr(e,t){let r=new Set([e.INT,e.INT_VEC2,e.INT_VEC3,e.INT_VEC4,e.UNSIGNED_INT,e.UNSIGNED_INT_VEC2,e.UNSIGNED_INT_VEC3,e.UNSIGNED_INT_VEC4]),i=new Set,n=e.getProgramParameter(t,e.ACTIVE_ATTRIBUTES);for(let a=0;a>16,s>>16],u_pixel_coord_lower:[o&65535,s&65535]}}function Swr(e,t,r,i){let n=r.patternAtlas.getPattern(e.from.toString()),a=r.patternAtlas.getPattern(e.to.toString()),{width:o,height:s}=r.patternAtlas.getPixelSize(),l=2**i.tileID.overscaledZ,u=i.tileSize*2**r.transform.tileZoom/l,c=u*(i.tileID.canonical.x+i.tileID.wrap*l),f=u*i.tileID.canonical.y;return{u_image:0,u_pattern_tl_a:n.tl,u_pattern_br_a:n.br,u_pattern_tl_b:a.tl,u_pattern_br_b:a.br,u_texsize:[o,s],u_mix:t.t,u_pattern_size_a:n.displaySize,u_pattern_size_b:a.displaySize,u_scale_a:t.fromScale,u_scale_b:t.toScale,u_tile_units_to_pixels:1/Zh(i,1,r.transform.tileZoom),u_pixel_coord_upper:[c>>16,f>>16],u_pixel_coord_lower:[c&65535,f&65535]}}function $wr(e,t){let r=2**t.canonical.z,i=t.canonical.y;return[new wo(0,i/r).toLngLat().lat,new wo(0,(i+1)/r).toLngLat().lat]}function Rae(e,t){return 1/Zh(e,1,t.tileZoom)}function Jot(e,t,r){return Dm(e.transform,t,r.paint.get("line-translate"),r.paint.get("line-translate-anchor"))}function r4r(e){return new Iae(e,Cq.FrameUBO,tst)}function i4r(e,t){let r=e.pending,{transform:i}=t,n=t.context.gl;r[q0.u_units_to_pixels]=1/i.pixelsToGLUnits[0],r[q0.u_units_to_pixels+1]=1/i.pixelsToGLUnits[1],r[q0.u_world_size]=n.drawingBufferWidth,r[q0.u_world_size+1]=n.drawingBufferHeight,r[q0.u_camera_to_center_distance]=i.cameraToCenterDistance,r[q0.u_symbol_fade_change]=t.options.fadeDuration?t.symbolFadeChange:1,r[q0.u_aspect_ratio]=i.width/i.height,r[q0.u_device_pixel_ratio]=t.pixelRatio,r[q0.u_viewport_size]=i.width,r[q0.u_viewport_size+1]=i.height,r[q0.u_pixel_extrude_scale]=1/i.width,r[q0.u_pixel_extrude_scale+1]=1/i.height,r[q0.u_pitch]=i.pitch/360*2*Math.PI,e.upload()}function Fat(e,t,r,i,n){var g,w;let a=e.context,o=e.transform,s=a.gl,l=e.useProgram("collisionBox"),u=[],c=0,f=0;for(let b of i){let _=t.getTile(b).getBucket(r);if(!_)continue;let M=n?_.textCollisionBox:_.iconCollisionBox,x=_.collisionCircleArray;x.length>0&&(u.push({circleArray:x,circleOffset:f,coord:b}),c+=x.length/4,f=c),M&&l.draw(a,s.LINES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,null,(g=e.style.map.terrain)==null?void 0:g.getTerrainData(b),o.getProjectionData({overscaledTileID:b,applyGlobeMatrix:!0,applyTerrainMatrix:!0}),r.id,M.layoutVertexBuffer,M.indexBuffer,M.segments,null,e.transform.zoom,null,null,M.collisionVertexBuffer)}if(!n||!u.length)return;let h=e.useProgram("collisionCircle"),d=new Yrt;d.resize(c*4),d._trim();let p=0;for(let b of u)for(let _=0;_c.getElevation(p,A,y):void 0;f4r(m,f,h,l,u,_,x,w,M,Dm(u,v,o,s),p.toUnwrapped(),T,r.layout.get("symbol-height-anchor")==="ground")}}}function c4r(e,t,r,i,n,a){let o=t.tileAnchorPoint.add(new tr(t.translation[0],t.translation[1]));if(t.pitchWithMap){let s=i.mult(a);r||(s=s.rotate(-n));let l=o.add(s);return Cae(l.x,l.y,t.pitchedLabelPlaneMatrix,c3(t,l.x,l.y)).point}if(r){let s=f3(t.tileAnchorPoint.x+1,t.tileAnchorPoint.y,t).point.sub(e),l=Math.atan(s.y/s.x)+(s.x<0?Math.PI:0);return e.add(i.rotate(l))}return e.add(i)}function f4r(e,t,r,i,n,a,o,s,l,u,c,f,h){let d=e.text.placedSymbolArray,p=e.text.dynamicLayoutVertexArray,v=e.icon.dynamicLayoutVertexArray,m={};p.clear();for(let g=0;g=0&&(m[w.associatedIconIndex]={shiftedAnchor:R,angle:L})}}if(l){v.clear();let g=e.icon.placedSymbolArray;for(let w=0;we.style.map.terrain.getElevation(D,pe,we):void 0;m3r(P,e,n,G,xe,g,u,r.layout.get("text-rotation-alignment")==="map",D.toUnwrapped(),v.width,v.height,te,re)}let oe=n&&T||Ce,Ee=g?G:e.transform.clipSpaceToPixelsMatrix,ye=w||oe?o4r:Ee,ue=I&&r.paint.get(n?"text-halo-width":"icon-halo-width").constantOr(1)!==0,ee;ee=I?P.iconsInText?u5r(B.kind,Y,b,g,w,oe,e,ye,Q,te,j,q,y,be,he):est(B.kind,Y,b,g,w,oe,e,ye,Q,te,n,j,ue,y,be,he):Qot(B.kind,Y,b,g,w,oe,e,ye,Q,te,n,j,y,be,he);let ae={program:$,buffers:R,uniformValues:ee,projectionData:ce,atlasTexture:J,atlasTextureIcon:V,atlasInterpolation:U,atlasInterpolationIcon:X,isSDF:I,hasHalo:ue};if(_&&P.canOverlap){M=!0;let xe=R.segments.get();for(let re of xe)A.push({segments:new Ws([re]),sortKey:re.sortKey,state:ae,terrainData:K})}else A.push({segments:R.segments,sortKey:0,state:ae,terrainData:K})}M&&A.sort((D,F)=>D.sortKey-F.sortKey);let E=(k=r.paint.get(n?"text-halo-width":"icon-halo-width").constantOr(null))!=null?k:1/0,S=r.layout.get("text-letter-spacing").constantOr(0)*24<0||E>1;for(let D of A){let F=D.state;d.activeTexture.set(p.TEXTURE0),F.atlasTexture.bind(F.atlasInterpolation,p.CLAMP_TO_EDGE),F.atlasTextureIcon&&(d.activeTexture.set(p.TEXTURE1),F.atlasTextureIcon&&F.atlasTextureIcon.bind(F.atlasInterpolationIcon,p.CLAMP_TO_EDGE));let P=F.isSDF&&F.hasHalo;if(P){let R=F.uniformValues;R.u_is_halo=1,S&&(R.u_is_plain=0,Pat(F.buffers,D.segments,r,e,F.program,x,c,f,R,F.projectionData,D.terrainData),R.u_is_halo=0,R.u_is_plain=1)}Pat(F.buffers,D.segments,r,e,F.program,x,c,f,F.uniformValues,F.projectionData,D.terrainData),P&&!S&&(F.uniformValues.u_is_halo=0)}}function Pat(e,t,r,i,n,a,o,s,l,u,c){let f=i.context,h=f.gl;n.draw(f,h.TRIANGLES,a,o,s,To.backCCW,l,c,u,r.id,e.layoutVertexBuffer,e.indexBuffer,t,r.paint,i.transform.zoom,e.programConfigurations.get(r.id),e.dynamicLayoutVertexBuffer,e.opacityVertexBuffer)}function d4r(e,t,r,i,n){var w;if(n.currentPass!=="translucent")return;let{isRenderingToTexture:a}=n,o=r.paint.get("circle-opacity"),s=r.paint.get("circle-stroke-width"),l=r.paint.get("circle-stroke-opacity"),u=!r.layout.get("circle-sort-key").isConstant();if(o.constantOr(1)===0&&(s.constantOr(1)===0||l.constantOr(1)===0))return;let c=e.context,f=c.gl,h=e.transform,d=e.getDepthModeForSublayer(0,Ba.ReadOnly),p=Fo.disabled,v=e.colorModeForRenderPass(),m=[],g=h.getCircleRadiusCorrection();for(let b of i){let _=t.getTile(b),M=_.getBucket(r);if(!M)continue;let x=r.paint.get("circle-translate"),T=r.paint.get("circle-translate-anchor"),A=Dm(h,_,x,T),y=M.programConfigurations.get(r.id),E=e.useProgram("circle",y),S=M.layoutVertexBuffer,C=M.indexBuffer,k=(w=e.style.map.terrain)==null?void 0:w.getTerrainData(b),D={programConfiguration:y,program:E,layoutVertexBuffer:S,indexBuffer:C,uniformValues:qwr(e,_,r,A,g),terrainData:k,projectionData:h.getProjectionData({overscaledTileID:b,applyGlobeMatrix:!a,applyTerrainMatrix:!0})};if(u){let F=M.segments.get();for(let P of F)m.push({segments:new Ws([P]),sortKey:P.sortKey,state:D})}else m.push({segments:M.segments,sortKey:0,state:D})}u&&m.sort((b,_)=>b.sortKey-_.sortKey);for(let b of m){let{programConfiguration:_,program:M,layoutVertexBuffer:x,indexBuffer:T,uniformValues:A,terrainData:y,projectionData:E}=b.state,S=b.segments;M.draw(c,f.TRIANGLES,d,p,v,To.backCCW,A,y,E,r.id,x,T,S,r.paint,e.transform.zoom,_)}}function p4r(e,t,r,i,n){if(r.paint.get("heatmap-opacity")===0)return;let a=e.context,{isRenderingToTexture:o,isRenderingGlobe:s}=n;if(e.style.map.terrain){for(let l of i){let u=t.getTile(l);t.hasRenderableParent(l)||(n.currentPass==="offscreen"?m4r(e,u,r,l,s):n.currentPass==="translucent"&&y4r(e,r,l,o,s))}a.viewport.set([0,0,e.width,e.height])}else n.currentPass==="offscreen"?v4r(e,t,r,i):n.currentPass==="translucent"&&g4r(e,r)}function v4r(e,t,r,i){let n=e.context,a=n.gl,o=e.transform,s=Fo.disabled,l=new ql([a.ONE,a.ONE],ea.transparent,[!0,!0,!0,!0]);x4r(n,e,r),n.clear({color:ea.transparent});for(let u of i){if(t.hasRenderableParent(u))continue;let c=t.getTile(u),f=c.getBucket(r);if(!f)continue;let h=f.programConfigurations.get(r.id),d=e.useProgram("heatmap",h),p=o.getProjectionData({overscaledTileID:u,applyGlobeMatrix:!0,applyTerrainMatrix:!1}),v=o.getCircleRadiusCorrection();d.draw(n,a.TRIANGLES,Ba.disabled,s,l,To.backCCW,Zot(c,o.zoom,r.paint.get("heatmap-intensity"),v),null,p,r.id,f.layoutVertexBuffer,f.indexBuffer,f.segments,r.paint,o.zoom,h)}n.viewport.set([0,0,e.width,e.height])}function g4r(e,t){let r=e.context,i=r.gl;r.setColorMode(e.colorModeForRenderPass());let n=t.heatmapFbos.get(e8);n&&(r.activeTexture.set(i.TEXTURE0),i.bindTexture(i.TEXTURE_2D,n.colorAttachment.get()),r.activeTexture.set(i.TEXTURE1),ist(r,t).bind(i.LINEAR,i.CLAMP_TO_EDGE),e.useProgram("heatmapTexture").draw(r,i.TRIANGLES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,Kot(e,t,0,1),null,null,t.id,e.viewportBuffer,e.quadTriangleIndexBuffer,e.viewportSegments,t.paint,e.transform.zoom))}function m4r(e,t,r,i,n){let a=e.context,o=a.gl,s=Fo.disabled,l=new ql([o.ONE,o.ONE],ea.transparent,[!0,!0,!0,!0]),u=t.getBucket(r);if(!u)return;let c=i.key,f=r.heatmapFbos.get(c);f||(f=rst(a,t.tileSize,t.tileSize),r.heatmapFbos.set(c,f)),a.bindFramebuffer.set(f.framebuffer),a.viewport.set([0,0,t.tileSize,t.tileSize]),a.clear({color:ea.transparent});let h=u.programConfigurations.get(r.id),d=e.useProgram("heatmap",h,!n),p=e.transform.getProjectionData({overscaledTileID:t.tileID,applyGlobeMatrix:!0,applyTerrainMatrix:!0}),v=e.style.map.terrain.getTerrainData(i);d.draw(a,o.TRIANGLES,Ba.disabled,s,l,To.disabled,Zot(t,e.transform.zoom,r.paint.get("heatmap-intensity"),1),v,p,r.id,u.layoutVertexBuffer,u.indexBuffer,u.segments,r.paint,e.transform.zoom,h)}function y4r(e,t,r,i,n){let a=e.context,o=a.gl,s=e.transform;a.setColorMode(e.colorModeForRenderPass());let l=ist(a,t),u=r.key,c=t.heatmapFbos.get(u);if(!c)return;a.activeTexture.set(o.TEXTURE0),o.bindTexture(o.TEXTURE_2D,c.colorAttachment.get()),a.activeTexture.set(o.TEXTURE1),l.bind(o.LINEAR,o.CLAMP_TO_EDGE);let f=s.getProjectionData({overscaledTileID:r,applyTerrainMatrix:n,applyGlobeMatrix:!i});e.useProgram("heatmapTexture").draw(a,o.TRIANGLES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,Kot(e,t,0,1),null,f,t.id,e.rasterBoundsBuffer,e.quadTriangleIndexBuffer,e.rasterBoundsSegments,t.paint,s.zoom),c.destroy(),t.heatmapFbos.delete(u)}function x4r(e,t,r){let i=e.gl;e.activeTexture.set(i.TEXTURE1),e.viewport.set([0,0,t.width/4,t.height/4]);let n=r.heatmapFbos.get(e8);n?(i.bindTexture(i.TEXTURE_2D,n.colorAttachment.get()),e.bindFramebuffer.set(n.framebuffer)):(n=rst(e,t.width/4,t.height/4),r.heatmapFbos.set(e8,n))}function rst(e,t,r){let i=e.gl,n=i.createTexture();i.bindTexture(i.TEXTURE_2D,n),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_S,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_T,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MIN_FILTER,i.LINEAR),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MAG_FILTER,i.LINEAR),i.texStorage2D(i.TEXTURE_2D,1,i.RGBA16F,t,r);let a=e.createFramebuffer(t,r,!1,!1);return a.colorAttachment.set(n),a}function ist(e,t){return t.colorRampTexture||(t.colorRampTexture=new vu(e,t.colorRamp,e.gl.RGBA)),t.colorRampTexture}function nst(e,t,r,i){let n=e.context,a=n.bindFramebuffer.get(),o=n.viewport.get(),[,,s,l]=o;return _4r(e,s,l),n.viewport.set([0,0,s,l]),n.clear({color:ea.transparent,depth:1,stencil:0}),e.currentStencilSource=void 0,e.renderTileClippingMasks(t,r,i),{compositeTarget:a,compositeViewport:o}}function _4r(e,t,r){let i=e.context.gl;if(!e.layerOpacityFbo){let a=e.context.createFramebuffer(t,r,!0,!0),o=i.createTexture();i.bindTexture(i.TEXTURE_2D,o),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_S,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_WRAP_T,i.CLAMP_TO_EDGE),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MIN_FILTER,i.LINEAR),i.texParameteri(i.TEXTURE_2D,i.TEXTURE_MAG_FILTER,i.LINEAR),i.texImage2D(i.TEXTURE_2D,0,i.RGBA,t,r,0,i.RGBA,i.UNSIGNED_BYTE,null),a.colorAttachment.set(o),a.depthAttachment.set(e.context.createRenderbuffer(i.DEPTH_STENCIL,t,r)),e.layerOpacityFbo=a,e.context.bindFramebuffer.set(e.layerOpacityFbo.framebuffer);return}if(e.layerOpacityFbo.width===t&&e.layerOpacityFbo.height===r){e.context.bindFramebuffer.set(e.layerOpacityFbo.framebuffer);return}let n=e.layerOpacityFbo;i.bindTexture(i.TEXTURE_2D,n.colorAttachment.get()),i.texImage2D(i.TEXTURE_2D,0,i.RGBA,t,r,0,i.RGBA,i.UNSIGNED_BYTE,null),e.context.bindRenderbuffer.set(n.depthAttachment.get()),i.renderbufferStorage(i.RENDERBUFFER,i.DEPTH_STENCIL,t,r),e.context.bindRenderbuffer.set(null),n.width=t,n.height=r,e.context.bindFramebuffer.set(n.framebuffer)}function ast(e,t,r,i){let n=e.context,a=n.gl;n.bindFramebuffer.set(r.compositeTarget),n.viewport.set(r.compositeViewport),n.activeTexture.set(a.TEXTURE0),a.bindTexture(a.TEXTURE_2D,e.layerOpacityFbo.colorAttachment.get()),e.useProgram("layerOpacity").draw(n,a.TRIANGLES,Ba.disabled,Fo.disabled,e.colorModeForRenderPass(),To.disabled,a5r(t,0),null,null,i.id,e.viewportBuffer,e.quadTriangleIndexBuffer,e.viewportSegments,i.paint,e.transform.zoom),e.currentStencilSource=void 0}function ost(e,t,r,i,n,a,o,s){let l=256;if(n.stepInterpolant){let u=t.getSource().maxzoom,c=o.canonical.z===u?Math.ceil(1<e.options.anisotropicFilterPitch&&p.texParameterf(p.TEXTURE_2D,d.extTextureFilterAnisotropic.TEXTURE_MAX_ANISOTROPY_EXT,d.extTextureFilterAnisotropicMax);let F=e.getTerrainDataForTile(A,c),P=m.getProjectionData({overscaledTileID:A,aligned:b,applyGlobeMatrix:!c,applyTerrainMatrix:!0}),R=zbr(k,C,D.fadeMix,r,s,l),L=f!=null?f:g.getMeshFromTileID(d,A.canonical,a,o,"raster"),I=n?n[A.overscaledZ]:Fo.disabled;v.draw(d,p.TRIANGLES,y,I,w,u?To.frontCCW:To.backCCW,R,F,P,r.id,L.vertexBuffer,L.indexBuffer,L.segments)}}function L4r(e,t,r,i){let n={parentTile:null,parentScaleBy:1,parentTopLeft:[0,0],fadeValues:{tileOpacity:1,parentTileOpacity:1,fadeMix:{opacity:1,mix:0}}};if(r===0||i)return n;if(e.fadingParentID){let a=t.getLoadedTile(e.fadingParentID);if(!a)return n;let o=2**(a.tileID.overscaledZ-e.tileID.overscaledZ);return{parentTile:a,parentScaleBy:o,parentTopLeft:[e.tileID.canonical.x*o%1,e.tileID.canonical.y*o%1],fadeValues:P4r(e,a,r)}}return e.selfFading?{parentTile:null,parentScaleBy:1,parentTopLeft:[0,0],fadeValues:I4r(e,r)}:n}function P4r(e,t,r){let i=Oo(),n=(i-e.timeAdded)/r,a=(i-t.timeAdded)/r,o=e.fadingDirection===1,s=Jn(n,0,1),l=Jn(1-a,0,1),u=o?s:l;return{tileOpacity:u,parentTileOpacity:o?l:s,fadeMix:{opacity:1,mix:1-u}}}function I4r(e,t){let r=(Oo()-e.timeAdded)/t,i=Jn(r,0,1);return{tileOpacity:i,fadeMix:{opacity:i,mix:0}}}function R4r(e,t,r,i,n){let a=r.paint.get("background-color"),o=r.paint.get("background-opacity");if(o===0)return;let{isRenderingToTexture:s}=n,l=e.context,u=l.gl,c=e.style.projection,f=e.transform,h=f.tileSize,d=r.paint.get("background-pattern");if(e.isPatternMissing(d))return;let p=!d&&a.a===1&&o===1&&e.opaquePassEnabledForLayer()?"opaque":"translucent";if(n.currentPass!==p)return;let v=Fo.disabled,m=e.getDepthModeForSublayer(0,p==="opaque"?Ba.ReadWrite:Ba.ReadOnly),g=e.colorModeForRenderPass(),w=e.useProgram(d?"backgroundPattern":"background"),b=i||ZT(f,{tileSize:h,terrain:e.style.map.terrain});d&&(l.activeTexture.set(u.TEXTURE0),e.patternAtlas.bind(e.context));let _=r.getCrossfadeParameters();for(let M of b){let x=f.getProjectionData({overscaledTileID:M,applyGlobeMatrix:!s,applyTerrainMatrix:!0}),T=d?d5r(o,e,d,{tileID:M,tileSize:h},_):h5r(o,a),A=e.getTerrainDataForTile(M,s),y=c.getMeshFromTileID(l,M.canonical,!1,!0,"raster");w.draw(l,u.TRIANGLES,m,v,g,To.backCCW,T,A,x,r.id,y.vertexBuffer,y.indexBuffer,y.segments)}}function U4r(e){let t=e.transform.padding;Bat(e,e.transform.height-(t.top||0),3,z4r),Bat(e,t.bottom||0,3,B4r),qat(e,t.left||0,3,q4r),qat(e,e.transform.width-(t.right||0),3,O4r);let r=e.transform.centerPoint;V4r(e,r.x,e.transform.height-r.y,N4r)}function V4r(e,t,r,i){Sq(e,t-1,r-10,2,20,i),Sq(e,t-10,r-1,20,2,i)}function Bat(e,t,r,i){Sq(e,0,t+r/2,e.transform.width,r,i)}function qat(e,t,r,i){Sq(e,t-r/2,0,r,e.transform.height,i)}function Sq(e,t,r,i,n,a){let o=e.context,s=o.gl;s.enable(s.SCISSOR_TEST),s.scissor(t*e.pixelRatio,r*e.pixelRatio,i*e.pixelRatio,n*e.pixelRatio),o.clear({color:a}),s.disable(s.SCISSOR_TEST)}function G4r(e,t,r){for(let i of r)H4r(e,t,i)}function H4r(e,t,r){var g,w;let i=e.context,n=i.gl,a=e.useProgram("debug"),o=Ba.disabled,s=Fo.disabled,l=e.colorModeForRenderPass(),u="$debug",c=(g=e.style.map.terrain)==null?void 0:g.getTerrainData(r);i.activeTexture.set(n.TEXTURE0);let f=((w=t.getTileByID(r.key).latestRawTileData)==null?void 0:w.byteLength)||0,h=Math.floor(f/1024),d=t.getTile(r).tileSize,p=512/Math.min(d,512)*(r.overscaledZ/e.transform.zoom)*.5,v=r.canonical.toString();r.overscaledZ!==r.canonical.z&&(v+=` => ${r.overscaledZ}`),j4r(e,`${v} ${h}kB`);let m=e.transform.getProjectionData({overscaledTileID:r,applyGlobeMatrix:!0,applyTerrainMatrix:!0});a.draw(i,n.TRIANGLES,o,s,ql.alphaBlended,To.disabled,kat(ea.transparent,p),null,m,u,e.debugBuffer,e.quadTriangleIndexBuffer,e.debugSegments),a.draw(i,n.LINE_STRIP,o,s,l,To.disabled,kat(ea.red),c,m,u,e.debugBuffer,e.tileBorderIndexBuffer,e.debugSegments)}function j4r(e,t){e.initDebugOverlayCanvas();let r=e.debugOverlayCanvas,i=e.context.gl,n=e.debugOverlayCanvas.getContext("2d");n.clearRect(0,0,r.width,r.height),n.shadowColor="white",n.shadowBlur=2,n.lineWidth=1.5,n.strokeStyle="white",n.textBaseline="top",n.font="bold 36px Open Sans, sans-serif",n.fillText(t,5,5),n.strokeText(t,5,5),e.debugOverlayTexture.update(r),e.debugOverlayTexture.bind(i.LINEAR,i.CLAMP_TO_EDGE)}function $4r(e,t){let r=null,i=Object.values(e._layers).flatMap(s=>s.source&&!s.isHidden(t)?[e.tileManagers[s.source]]:[]),n=i.filter(s=>s.getSource().type==="vector"),a=i.filter(s=>s.getSource().type!=="vector"),o=s=>{(!r||r.getSource().maxzoom{var d;return l.getProjectionData({overscaledTileID:new Bc(h.tileID.canonical.z,(d=h.tileID.wrap)!=null?d:0,h.tileID.canonical.z,h.tileID.canonical.x,h.tileID.canonical.y),aligned:h.aligned,applyGlobeMatrix:h.applyGlobeMatrix,applyTerrainMatrix:h.applyTerrainMatrix})}},f=o.renderingMode?o.renderingMode:"2d";if(i.currentPass==="offscreen"){let h=o.prerender;h&&(e.setCustomLayerDefaults(),a.setColorMode(e.colorModeForRenderPass()),h.call(o,a.gl,c),a.setDirty(),e.setBaseState())}else if(i.currentPass==="translucent"){e.setCustomLayerDefaults(),a.setColorMode(e.colorModeForRenderPass()),a.setStencilMode(Fo.disabled);let h=f==="3d"?e.getDepthModeFor3D():e.getDepthModeForSublayer(0,Ba.ReadOnly);a.setDepthMode(h),o.render(a.gl,c),a.setDirty(),e.setBaseState(),a.bindFramebuffer.set(null)}}function Y4r(e,t){let r=e.context,i=r.gl,n=e.transform,a=ql.unblended,o=new Ba(i.LEQUAL,Ba.ReadWrite,[0,1]),s=t.tileManager.getRenderableTiles(),l=e.useProgram("terrainDepth");r.bindFramebuffer.set(t.getFramebuffer().framebuffer),r.viewport.set([0,0,e.width/devicePixelRatio,e.height/devicePixelRatio]),r.clear({color:ea.white,depth:1});for(let u of s){let c=t.getTerrainMesh(u.tileID),f=t.getTerrainData(u.tileID),h=n.getProjectionData({overscaledTileID:u.tileID,applyTerrainMatrix:!1,applyGlobeMatrix:!0}),d=mwr(t.getSkirtLength(n.zoom));l.draw(r,i.TRIANGLES,o,Fo.disabled,a,To.backCCW,d,f,h,"terrain",c.vertexBuffer,c.indexBuffer,c.segments)}r.bindFramebuffer.set(null),r.viewport.set([0,0,e.width,e.height])}function X4r(e,t,r,i){let{isRenderingGlobe:n}=i,a=e.context,o=a.gl,s=e.transform,l=e.colorModeForRenderPass(),u=e.getDepthModeFor3D(),c=e.useProgram("terrain");a.bindFramebuffer.set(null),a.viewport.set([0,0,e.width,e.height]);for(let f of r){let h=t.getTerrainMesh(f.tileID),d=e.renderToTexture.getTexture(f),p=t.getTerrainData(f.tileID);a.activeTexture.set(o.TEXTURE0),d.bind(o.LINEAR,o.CLAMP_TO_EDGE,o.LINEAR_MIPMAP_LINEAR);let v=t.getSkirtLength(s.zoom),m=s.calculateFogMatrix(f.tileID.toUnwrapped()),g=gwr(v,m,e.style.sky,s.pitch,n),w=s.getProjectionData({overscaledTileID:f.tileID,applyTerrainMatrix:!1,applyGlobeMatrix:!0});c.draw(a,o.TRIANGLES,u,Fo.disabled,l,To.backCCW,g,p,w,"terrain",h.vertexBuffer,h.indexBuffer,h.segments)}}function ust(e,t){if(!t.mesh){let r=new Pm;r.emplaceBack(-1,-1),r.emplaceBack(1,-1),r.emplaceBack(1,1),r.emplaceBack(-1,1);let i=new Mv;i.emplaceBack(0,1,2),i.emplaceBack(0,2,3),t.mesh=new M8(e.createVertexBuffer(r,l3.members),e.createIndexBuffer(i),Ws.simpleSegment(0,0,r.length,i.length))}return t.mesh}function Z4r(e,t){let r=e.context,i=r.gl,n=m5r(t,e.transform,e.pixelRatio),a=new Ba(i.LEQUAL,Ba.ReadWrite,[0,1]),o=Fo.disabled,s=e.colorModeForRenderPass(),l=e.useProgram("sky"),u=ust(r,t);l.draw(r,i.TRIANGLES,a,o,s,To.disabled,n,null,void 0,"sky",u.vertexBuffer,u.indexBuffer,u.segments)}function K4r(e,t){let r=e.getCartesianPosition();Bet(r,r);let i=Qd(new Float64Array(16));return e.properties.get("anchor")==="map"&&(km(i,i,t.rollInRadians),Xb(i,i,-t.pitchInRadians),km(i,i,t.bearingInRadians),Xb(i,i,t.center.lat*Math.PI/180),die(i,i,-t.center.lng*Math.PI/180)),qet(r,r,i),r}function J4r(e,t,r){let i=e.context,n=i.gl,a=e.useProgram("atmosphere"),o=new Ba(n.LEQUAL,Ba.ReadOnly,[0,1]),s=e.transform,l=K4r(r,e.transform),u=s.getProjectionData({overscaledTileID:null,applyGlobeMatrix:!0,applyTerrainMatrix:!0}),c=t.properties.get("atmosphere-blend")*u.projectionTransition;if(c===0)return;let f=YT(s.worldSize,s.center.lat),h=Oot(s),d=v5r(l,c,h,f,s.inverseProjectionMatrix),p=ust(i,t);a.draw(i,n.TRIANGLES,o,Fo.disabled,ql.alphaBlended,To.disabled,d,null,null,"atmosphere",p.vertexBuffer,p.indexBuffer,p.segments)}function eTr(e,t,r){var n;let i=(n=t==null?void 0:t.transitionState)!=null?n:0;return{currentPass:"offscreen",currentLayer:0,opaquePassCutoff:1/0,depthRangeFor3D:[0,1],isRenderingToTexture:!1,transform:e,terrain:r,projectionTransition:i,isRenderingGlobe:i>0}}function fst(e,t){let r=!1,i=null,n,a=()=>{i=null,r&&(r=(e(...n),i=setTimeout(a,t),!1))};return(...o)=>(r=!0,n=o,i||a(),i)}function m8(e,t){(!e.duration||e.duration({around:i,panDelta:i.sub(r)}),activateOnStart:!0,moveStateManager:new k8({checkCorrectEvent:r=>r.button===0&&!r.ctrlKey}),enable:e,assignEvents:Fq})}function yTr({enable:e,clickTolerance:t,aroundCenter:r=!0,minPixelCenterThreshold:i=100,rotateSpeed:n=.8},a){return new E8({clickTolerance:t,move:(o,s)=>{let l=a();if(r&&Math.abs(l.y-o.y)>i)return{bearingDelta:Tie(new tr(o.x,s.y),s,l)};let u=(s.x-o.x)*n;return r&&s.yo.button===0&&o.ctrlKey||o.button===2&&!o.ctrlKey}),enable:e,assignEvents:Fq})}function xTr({enable:e,clickTolerance:t,pitchSpeed:r=-.5}){return new E8({clickTolerance:t,move:(i,n)=>({pitchDelta:(n.y-i.y)*r}),moveStateManager:new k8({checkCorrectEvent:i=>i.button===0&&i.ctrlKey||i.button===2}),enable:e,assignEvents:Fq})}function _Tr({enable:e,clickTolerance:t,rollDegreesPerPixelMoved:r=.3},i){return new E8({clickTolerance:t,move:(n,a)=>{let o=i(),s=(a.x-n.x)*r;return a.yn.button===2&&n.ctrlKey}),enable:e,assignEvents:Fq})}function fq(e,t,r){for(let i=0;iMath.abs(e.x)}function TTr(e){return e*(2-e)}function Kne(e){var t;return((t=e.panDelta)==null?void 0:t.mag())||e.zoomDelta||e.bearingDelta||e.pitchDelta||e.rollDelta}function OTr(e=!1){return Ki(this,null,function*(){if(a3!==void 0&&!e)return a3;if(window.navigator.permissions===void 0)return a3=!!window.navigator.geolocation,a3;try{a3=(yield window.navigator.permissions.query({name:"geolocation"})).state!=="denied"}catch(t){a3=!!window.navigator.geolocation}return a3})}function Est(e,t,r,i=!1){if(i||!r.getCoveringTilesDetailsProvider().allowWorldCopies())return e==null?void 0:e.wrap();let n=new mn(e.lng,e.lat);if(e=new mn(e.lng,e.lat),t){let a=new mn(e.lng-360,e.lat),o=new mn(e.lng+360,e.lat),s=r.locationToScreenPoint(e).distSqr(t);r.locationToScreenPoint(a).distSqr(t)180;){let a=r.locationToScreenPoint(e);if(a.x>=0&&a.y>=0&&a.x<=r.width&&a.y<=r.height)break;e.lng>r.center.lng?e.lng-=360:e.lng+=360}return e.lng!==n.lng&&r.isPointOnMapSurface(r.locationToScreenPoint(e))?e:n}function kst(e,t,r){let i=e.classList;for(let n in Oae)i.remove(`maplibregl-${r}-anchor-${n}`);i.add(`maplibregl-${r}-anchor-${t}`)}function tp(e,t,r=[]){let i=$n.createNS("http://www.w3.org/2000/svg",e);for(let n in t)i.setAttributeNS(null,n,t[n]);for(let n of r)i.appendChild(n);return i}function NTr(){return Jne||(Jne=tp("svg",{display:"block",height:"41px",width:"27px",viewBox:"0 0 27 41"},[tp("g",{"fill-rule":"nonzero"},[tp("g",{transform:"translate(3.0, 29.0)",fill:"#000000"},[["10.5","5.25002273"],["10.5","5.25002273"],["9.5","4.77275007"],["8.5","4.29549936"],["7.5","3.81822308"],["6.5","3.34094679"],["5.5","2.86367051"],["4.5","2.38636864"]].map(([e,t])=>tp("ellipse",{opacity:"0.04",cx:"10.5",cy:"5.80029008",rx:e,ry:t}))),tp("g",{fill:Cst},[tp("path",{d:"M27,13.5 C27,19.074644 20.250001,27.000002 14.75,34.500002 C14.016665,35.500004 12.983335,35.500004 12.25,34.500002 C6.7499993,27.000002 0,19.222562 0,13.5 C0,6.0441559 6.0441559,0 13.5,0 C20.955844,0 27,6.0441559 27,13.5 Z"})]),tp("g",{opacity:"0.25",fill:"#000000"},[tp("path",{d:"M13.5,0 C6.0441559,0 0,6.0441559 0,13.5 C0,19.222562 6.7499993,27 12.25,34.5 C13,35.522727 14.016664,35.500004 14.75,34.5 C20.250001,27 27,19.074644 27,13.5 C27,6.0441559 20.955844,0 13.5,0 Z M13.5,1 C20.415404,1 26,6.584596 26,13.5 C26,15.898657 24.495584,19.181431 22.220703,22.738281 C19.945823,26.295132 16.705119,30.142167 13.943359,33.908203 C13.743445,34.180814 13.612715,34.322738 13.5,34.441406 C13.387285,34.322738 13.256555,34.180814 13.056641,33.908203 C10.284481,30.127985 7.4148684,26.314159 5.015625,22.773438 C2.6163816,19.232715 1,15.953538 1,13.5 C1,6.584596 6.584596,1 13.5,1 Z"})]),tp("g",{transform:"translate(6.0, 7.0)",fill:"#FFFFFF"}),tp("g",{transform:"translate(8.0, 8.0)"},[tp("circle",{fill:"#000000",opacity:"0.25",cx:"5.5",cy:"5.5",r:"5.4999962"}),tp("circle",{fill:"#FFFFFF",cx:"5.5",cy:"5.5",r:"5.4999962"})])])]),Jne)}function UTr(e){return e.firstElementChild.children[1]}function $at(e,t,r){let i=(r==null?void 0:r.maxWidth)||100,n=e._container.clientHeight/2,a=e._container.clientWidth/2,o=e.unproject([a-i/2,n]),s=e.unproject([a+i/2,n]),l=Math.round(e.project(s).x-e.project(o).x),u=Math.min(i,l,e._container.clientWidth),c=o.distanceTo(s);if((r==null?void 0:r.unit)==="imperial"){let f=3.2808*c;f>5280?_8(t,u,f/5280,e._getUIString("ScaleControl.Miles")):_8(t,u,f,e._getUIString("ScaleControl.Feet"))}else(r==null?void 0:r.unit)==="nautical"?_8(t,u,c/1852,e._getUIString("ScaleControl.NauticalMiles")):c>=1e3?_8(t,u,c/1e3,e._getUIString("ScaleControl.Kilometers")):_8(t,u,c,e._getUIString("ScaleControl.Meters"))}function _8(e,t,r,i){let n=WTr(r),a=n/r;e.style.width=`${t*a}px`,e.innerHTML=`${n} ${i}`}function $Tr(e){let t=10**Math.ceil(-Math.log(e)/Math.LN10);return Math.round(e*t)/t}function WTr(e){let t=10**(`${Math.floor(e)}`.length-1),r=e/t;return r=r>=10?10:r>=5?5:r>=3?3:r>=2?2:r>=1?1:$Tr(r),t*r}function Lst(e){if(!e)return Lst(new tr(0,0));if(typeof e=="number"){let t=Math.round(Math.abs(e)/Math.SQRT2);return{center:new tr(0,0),top:new tr(0,e),"top-left":new tr(t,t),"top-right":new tr(-t,t),bottom:new tr(0,-e),"bottom-left":new tr(t,-t),"bottom-right":new tr(-t,-t),left:new tr(e,0),right:new tr(-e,0)}}if(e instanceof tr||Array.isArray(e)){let t=tr.convert(e);return{center:t,top:t,"top-left":t,"top-right":t,bottom:t,"bottom-left":t,"bottom-right":t,left:t,right:t}}return{center:tr.convert(e.center||[0,0]),top:tr.convert(e.top||[0,0]),"top-left":tr.convert(e["top-left"]||[0,0]),"top-right":tr.convert(e["top-right"]||[0,0]),bottom:tr.convert(e.bottom||[0,0]),"bottom-left":tr.convert(e["bottom-left"]||[0,0]),"bottom-right":tr.convert(e["bottom-right"]||[0,0]),left:tr.convert(e.left||[0,0]),right:tr.convert(e.right||[0,0])}}function e6r(e){var t,r,i,n;return e?{top:(t=e.top)!=null?t:0,right:(r=e.right)!=null?r:0,bottom:(i=e.bottom)!=null?i:0,left:(n=e.left)!=null?n:0}:{top:0,right:0,bottom:0,left:0}}function r6r(e,t){return A8().setRTLTextPlugin(e,t)}function i6r(){return A8().getRTLTextPluginStatus()}function n6r(){return t6r}function a6r(){return kq.workerCount}function o6r(e){kq.workerCount=e}function s6r(){return Qh.MAX_PARALLEL_IMAGE_REQUESTS}function l6r(e){Qh.MAX_PARALLEL_IMAGE_REQUESTS=e}function u6r(){return Qh.WORKER_URL}function c6r(e){Qh.WORKER_URL=e}function f6r(e){return Ki(this,null,function*(){yield wae().broadcast("IS",e)})}var Ist,Wat,Ine,QB,Rne,fh,Eq,t,Bo,$n,rg,B_r,cc,Mn,Qne,rp,Is,O0,b8,Xat,eae,Zat,Kat,pq,Jat,W_r,Y_r,tae,X_r,Z_r,Q_r,rae,xae,ebr,tbr,rbr,ibr,nbr,abr,obr,sbr,lbr,ubr,cbr,_ae,kq,gbr,_q,rot,tq,Ev,oot,sot,Tae,lot,cot,$T,Rbr,zbr,M8,l3,rq,XT,pot,vot,got,Hbr,mot,jbr,$br,iae,Ybr,Qnt,yot,Xbr,Aae,Mae,t3r,aat,qm,aae,c3r,oat,p3r,x3r,w3r,uat,d8,cat,T3r,A3r,M3r,S3r,E3r,k3r,C3r,p8,D3r,F3r,pat,xl,L3r,g8,P3r,I3r,R3r,Eot,z3r,B3r,q3r,O3r,N3r,U3r,V3r,G3r,gat,tg,kot,Cot,uae,cae,Fae,H3r,j3r,$3r,yat,W3r,xat,Tq,Aq,Y3r,X3r,qne,Bot,_at,One,swr,Une,lwr,Aat,Not,Sat,Hot,Eat,cwr,hae,fwr,hwr,dwr,pwr,vwr,gwr,mwr,Cq,xwr,Iae,jot,HT,$ot,sq,Mwr,Ewr,kwr,Yot,Cwr,Dwr,Fwr,Lwr,Pwr,Xot,Iwr,Rwr,zwr,Bwr,qwr,Owr,kat,Nwr,Uwr,Zot,Kot,Vwr,Gwr,Hwr,jwr,Wwr,Ywr,Xwr,Zwr,Kwr,Jwr,Qwr,Dq,e5r,t5r,r5r,i5r,n5r,a5r,o5r,s5r,l5r,Qot,est,u5r,c5r,f5r,h5r,d5r,p5r,v5r,g5r,m5r,lq,y5r,x5r,Cat,_5r,No,b5r,w5r,T5r,A5r,M5r,S5r,E5r,k5r,C5r,D5r,F5r,L5r,P5r,I5r,R5r,z5r,B5r,q5r,O5r,N5r,U5r,V5r,G5r,H5r,j5r,$5r,W5r,Y5r,X5r,Z5r,K5r,zae,J5r,Q5r,e4r,t4r,tst,q0,ql,n4r,Ba,Hne,Fo,Dat,jne,To,uq,o4r,zat,Xne,z4r,B4r,q4r,O4r,N4r,Q4r,u3,tTr,cst,hst,S8,rTr,iTr,nTr,aTr,oTr,sTr,lTr,uTr,dst,fTr,pae,hTr,E8,dTr,k8,vTr,gTr,Fq,bTr,qae,Oat,pst,vst,gst,wTr,mst,Vat,yst,xst,ATr,MTr,_st,bst,wst,Tst,STr,hq,ETr,kTr,CTr,Ast,Mst,Sst,DTr,Gat,FTr,jT,LTr,PTr,ITr,Hat,RTr,zTr,BTr,qTr,a3,Oae,jat,Cst,Jne,o3,Dst,vae,VTr,dq,x8,s3,gae,Fst,GTr,HTr,jTr,mae,YTr,XTr,ZTr,KTr,JTr,yae,QTr,t6r,Rst=Ea(()=>{Vnt();Ist={};Wat="6.9.0";fh={frame(e,t,r,i){let n=i||window,a=n.requestAnimationFrame(s=>{o(),t(s)}),{unsubscribe:o}=Nz(e.signal,"abort",()=>{o(),n.cancelAnimationFrame(a),r(new RT(e.signal.reason))},!1)},frameAsync(e,t){return new Promise((r,i)=>{this.frame(e,r,i,t)})},getImageData(e,t=0){return this.getImageCanvasContext(e).getImageData(-t,-t,e.width+2*t,e.height+2*t)},getImageCanvasContext(e){let t;if(nB()&&!fie())t=new OffscreenCanvas(e.width,e.height).getContext("2d",{willReadFrequently:!0});else{let r=window.document.createElement("canvas");r.width=e.width,r.height=e.height,t=r.getContext("2d",{willReadFrequently:!0})}if(!t)throw Error("failed to create canvas 2d context");return t.drawImage(e,0,0,e.width,e.height),t},resolveURL(e){return Ine||(Ine=document.createElement("a")),Ine.href=e,Ine.href},get hardwareConcurrency(){return typeof navigator<"u"&&navigator.hardwareConcurrency||4},get prefersReducedMotion(){return Rne===void 0?matchMedia?(QB!=null||(QB=matchMedia("(prefers-reduced-motion: reduce)")),QB.matches):!1:Rne},set prefersReducedMotion(e){Rne=e}},Eq=new class{constructor(){this._frozenAt=null}getCurrentTime(){return this._frozenAt===null?performance.now():this._frozenAt}setNow(e){this._frozenAt=e}restoreNow(){this._frozenAt=null}isFrozen(){return this._frozenAt!==null}};$n=(Bo=class{static create(t,r,i){let n=window.document.createElement(t);return r!==void 0&&(n.className=r),i&&i.appendChild(n),n}static createNS(t,r){return window.document.createElementNS(t,r)}static disableDrag(){Bo.docStyle&&Bo.selectProp&&(Bo.userSelect=Bo.docStyle[Bo.selectProp],Bo.docStyle[Bo.selectProp]="none")}static enableDrag(){Bo.docStyle&&Bo.selectProp&&(Bo.docStyle[Bo.selectProp]=Bo.userSelect)}static suppressClickInternal(t){t.preventDefault(),t.stopPropagation(),window.removeEventListener("click",Bo.suppressClickInternal,!0)}static suppressClick(){window.addEventListener("click",Bo.suppressClickInternal,!0),window.setTimeout(()=>{window.removeEventListener("click",Bo.suppressClickInternal,!0)},0)}static getScale(t){let r=t.getBoundingClientRect();return{x:r.width/t.offsetWidth||1,y:r.height/t.offsetHeight||1,boundingClientRect:r}}static getPoint(t,r,i){let n=r.boundingClientRect;return new tr((i.clientX-n.left)/r.x-t.clientLeft,(i.clientY-n.top)/r.y-t.clientTop)}static mousePos(t,r){let i=Bo.getScale(t);return Bo.getPoint(t,i,r)}static touchPos(t,r){let i=[],n=Bo.getScale(t);for(let a of r)i.push(Bo.getPoint(t,n,a));return i}static sanitize(t){let r=new DOMParser().parseFromString(t,"text/html").body||document.createElement("body"),i=r.querySelectorAll("script, iframe");for(let n of i)n.remove();return Bo.clean(r),r.innerHTML}static isPossiblyDangerous(t,r){let i=r.replace(/\s+/g,"").toLowerCase();if(["src","href","xlink:href"].includes(t)&&(i.includes("javascript:")||i.includes("data:"))||t==="srcdoc"||t.startsWith("on"))return!0}static clean(t){let r=t.children;for(let i of r)Bo.removeAttributes(i),Bo.clean(i)}static removeAttributes(t){for(let{name:r,value:i}of Array.from(t.attributes))Bo.isPossiblyDangerous(r,i)&&t.removeAttribute(r)}},Bo.docStyle=typeof window<"u"&&((t=window.document)==null?void 0:t.documentElement.style),Bo.selectProp=!Bo.docStyle||"userSelect"in Bo.docStyle?"userSelect":"webkitUserSelect",Bo);(function(e){let t,r,i,n;e.resetRequestQueue=()=>{t=[],r=0,i=0,n={}},e.addThrottleControl=f=>{let h=i++;return n[h]=f,h},e.removeThrottleControl=f=>{delete n[f],u()};let a=()=>{for(let f of Object.keys(n))if(n[f]())return!0;return!1};function o(f,h,d,p,v=!0,m){return Ki(this,null,function*(){let g=yield f.transformRequest(h,d);return gB(p.signal),rg.getImage(g,p,v,m)})}e.transformAndGetImage=o,e.getImage=(f,h,d=!0,p)=>new Promise((v,m)=>{f.headers||(f.headers={}),f.headers.accept="image/webp,*/*",ln(f,{type:"image"});let g={abortController:h,requestParameters:f,supportImageRefresh:d,imageBitmapOptions:p,state:"queued",onError:w=>{m(w)},onSuccess:w=>{v(w)}};t.push(g),u()});let s=(f,h)=>typeof createImageBitmap=="function"?Qet(f,h):ett(f),l=f=>Ki(null,null,function*(){f.state="running";let{requestParameters:h,supportImageRefresh:d,imageBitmapOptions:p,onError:v,onSuccess:m,abortController:g}=f,w=d===!1&&!p&&!Hb(self)&&!Mie(h.url)&&(!h.headers||Object.keys(h.headers).reduce((_,M)=>_&&M==="accept",!0));r++;let b=w?c(h,g):Hk(h,g);try{let _=yield b;delete f.abortController,f.state="completed",_.data instanceof HTMLImageElement||ex(_.data)?m(_):!_.data||_.data.byteLength===0?m({data:null,cacheControl:_.cacheControl,expires:_.expires}):m({data:yield s(_.data,p),cacheControl:_.cacheControl,expires:_.expires})}catch(_){delete f.abortController,v(Ic(_))}finally{r--,u()}}),u=()=>{let f=a()?Qh.MAX_PARALLEL_IMAGE_REQUESTS_PER_FRAME:Qh.MAX_PARALLEL_IMAGE_REQUESTS;for(let h=r;h0;h++){let d=t.shift();if(d.abortController.signal.aborted){h--;continue}l(d)}},c=(f,h)=>new Promise((d,p)=>{let v=new Image,m=f.url,g=f.credentials;g&&g==="include"?v.crossOrigin="use-credentials":(g&&g==="same-origin"||!Eie(m))&&(v.crossOrigin="anonymous"),h.signal.addEventListener("abort",()=>{v.src="",p(new RT(h.signal.reason))}),v.fetchPriority="high",v.onload=()=>{v.onerror=v.onload=null,d({data:v})},v.onerror=()=>{v.onerror=v.onload=null,!h.signal.aborted&&p(Error("Could not load image. Please make sure to use a supported image type such as PNG or JPEG. Note that SVGs are not supported."))},v.src=m})})(rg||(rg={})),rg.resetRequestQueue();B_r=class{constructor(e){this._transformRequestFn=e!=null?e:null}transformRequest(e,t){return this._transformRequestFn&&this._transformRequestFn(e,t)||{url:e}}setTransformRequest(e){this._transformRequestFn=e}},cc=class extends e0{},Mn=class extends cc{},Qne=class extends cc{constructor(e={}){super("style.load",e)}},rp=class extends cc{constructor(e,t={}){super(e,t),this.dataType="style"}},Is=class extends cc{constructor(e,t={}){super(e,t),this.dataType="source"}},O0=class extends cc{preventDefault(){this._defaultPrevented=!0}get defaultPrevented(){return this._defaultPrevented}constructor(e,t,r,i={}){r=r instanceof MouseEvent?r:new MouseEvent(e,r);let n=$n.mousePos(t.getCanvas(),r),a=t.unproject(n);super(e,ln({point:n,lngLat:a,originalEvent:r},i)),this._defaultPrevented=!1,this.target=t}},b8=class extends cc{preventDefault(){this._defaultPrevented=!0}get defaultPrevented(){return this._defaultPrevented}constructor(e,t,r){let i=e==="touchend"?r.changedTouches:r.touches,n=$n.touchPos(t.getCanvasContainer(),i),a=n.map(l=>t.unproject(l)),o=n.reduce((l,u,c,f)=>l.add(u.div(f.length)),new tr(0,0)),s=t.unproject(o);super(e,{points:n,point:o,lngLats:a,lngLat:s,originalEvent:r}),this._defaultPrevented=!1}},Xat=class extends cc{preventDefault(){this._defaultPrevented=!0}get defaultPrevented(){return this._defaultPrevented}constructor(e,t){super("wheel",{originalEvent:t}),this._defaultPrevented=!1}},eae=class extends cc{},Zat=class extends cc{constructor(e={}){super("terrain",e)}},Kat=class extends cc{constructor(e={}){super("projectiontransition",e)}},pq=class extends cc{},Jat=class extends cc{constructor(e={}){super("styleimagemissing",e)}};W_r=class extends mu{constructor(){super(),this.images={},this.updateVersion=0,this.loaded=!1,this.requestors=[],this.missingImageResolver=null,this._spriteImagesIds={},this._imagesIds=null,this._renderCallbacksDispatchedThisFrame={}}destroy(){for(let e of Object.keys(this.images))this.removeImage(e);this._spriteImagesIds={}}isLoaded(){return this.loaded}setLoaded(e){if(this.loaded!==e&&(this.loaded=e,e)){for(let{ids:t,promiseResolve:r}of this.requestors)r(this._getImagesForIds(t));this.requestors=[]}}getImage(e){let t=this.images[e];if(t&&!t.data&&t.spriteData){let r=t.spriteData;t.data=new As({width:r.width,height:r.height},r.context.getImageData(r.x,r.y,r.width,r.height).data),t.spriteData=null}return t}addImage(e,t){if(this.images[e])throw Error(`Image id ${e} already exist, use updateImage instead`);this._validate(e,t)&&(this.images[e]=t,this._imagesIds=null,t.isWebGLImage&&this.updateImage(e,t,!1))}_validate(e,t){let r=!0,i=t.data||t.spriteData;return this._validateStretch(t.stretchX,i==null?void 0:i.width)||(this.fire(new An(Error(`Image "${e}" has invalid "stretchX" value`))),r=!1),this._validateStretch(t.stretchY,i==null?void 0:i.height)||(this.fire(new An(Error(`Image "${e}" has invalid "stretchY" value`))),r=!1),this._validateContent(t.content,t)||(this.fire(new An(Error(`Image "${e}" has invalid "content" value`))),r=!1),r}_validateStretch(e,t){if(!e)return!0;let r=0;for(let i of e){if(i[0]=e[1]}updateImage(e,t,r=!0){var n;let i=this.images[e];if(r){let a=i.data||i.spriteData;if(a.width!==t.data.width||a.height!==t.data.height)throw Error(`size mismatch between old image (${a.width}x${a.height}) and new image (${t.data.width}x${t.data.height}).`)}t.version=((n=i.version)!=null?n:0)+1,this.images[e]=t,this.updateVersion++}removeImage(e){var r;let t=this.images[e];t&&(delete this.images[e],this._imagesIds=null,(r=t.userImage)!=null&&r.onRemove&&t.userImage.onRemove())}listImages(){var e;return(e=this._imagesIds)!=null||(this._imagesIds=Object.keys(this.images)),this._imagesIds}_getSpriteImageId(e,t){return e==="default"?t:`${e}:${t}`}setSpriteImages(e,t){var o;let r=(o=this._spriteImagesIds[e])!=null?o:[],i=[];for(let s in t){let l=this._getSpriteImageId(e,s);i.push(l),l in this.images?this.updateImage(l,t[s],!1):this.addImage(l,t[s])}let n=new Set(i),a=r.filter(s=>!n.has(s));for(let s of a)this.removeImage(s);return this._spriteImagesIds[e]=i,{loaded:i,removed:a}}removeSpriteImages(e){var r;let t=(r=this._spriteImagesIds[e])!=null?r:[];for(let i of t)this.removeImage(i);return delete this._spriteImagesIds[e],t}removeAllSpriteImages(){let e=Object.values(this._spriteImagesIds).flat();for(let t of e)this.removeImage(t);return this._spriteImagesIds={},e}setMissingImageResolver(e){this.missingImageResolver=e}getImages(e){return new Promise((t,r)=>{let i=!0;if(!this.isLoaded())for(let n of e)this.images[n]||(i=!1);this.isLoaded()||i?t(this._getImagesForIds(e)):this.requestors.push({ids:e,promiseResolve:t})})}_getImagesForIds(e){return Ki(this,null,function*(){var n;let t=new Set(e.filter(a=>!this.getImage(a))),r=this.missingImageResolver;r&&(yield Promise.allSettled(Array.from(t,a=>r(a))));let i={};for(let a of e){let o=this.getImage(a);o&&(t.delete(a),i[a]={data:o.data.clone(),pixelRatio:o.pixelRatio,sdf:o.sdf,version:o.version,stretchX:o.stretchX,stretchY:o.stretchY,content:o.content,textFitWidth:o.textFitWidth,textFitHeight:o.textFitHeight,hasRenderCallback:!!((n=o.userImage)!=null&&n.render),isWebGLImage:o.isWebGLImage})}for(let a of t)this.fire(new Jat({id:a})),Ma(`Image "${a}" could not be loaded. Please make sure you have added the image before it is needed with map.addImage(), resolved it with map.setMissingStyleImageResolver(), or included it in a "sprite" property in your style.`);return i})}beginFrame(){this._renderCallbacksDispatchedThisFrame={}}dispatchRenderCallbacks(e){for(let t of e){if(this._renderCallbacksDispatchedThisFrame[t])continue;this._renderCallbacksDispatchedThisFrame[t]=!0;let r=this.getImage(t);r||Ma(`Image with ID: "${t}" was not found`),Hit(r)&&this.updateImage(t,r)}}cloneImages(){let e={};for(let t in this.images){let r=this.images[t];e[t]=ma(fn({},r),{data:r.data?r.data.clone():null})}return e}},Y_r=class{constructor(e){this._imageManager=e,this._entries={},this._image=new As({width:1,height:1}),this._dirty=!0}destroy(){this._texture&&(this._texture=(this._texture.destroy(),null)),this._entries={},this._image=new As({width:1,height:1}),this._dirty=!0}getPixelSize(){let{width:e,height:t}=this._image;return{width:e,height:t}}getPattern(e){let t=this._imageManager.getImage(e);if(!t)return null;let r=this._entries[e];if((r==null?void 0:r.image)!==t){let i={w:t.data.width+2,h:t.data.height+2,x:0,y:0};this._entries[e]={bin:i,position:new WB(i,t),image:t}}else if(r.position.version!==t.version)r.position.version=t.version;else return r.position;return this._update(),this._entries[e].position}bind(e){let t=e.gl;this._texture?this._dirty&&(this._dirty=(this._texture.update(this._image),!1)):(this._texture=new vu(e,this._image,t.RGBA),this._dirty=!1),this._texture.bind(t.LINEAR,t.CLAMP_TO_EDGE)}_update(){for(let n in this._entries)this._imageManager.getImage(n)||delete this._entries[n];let e=[];for(let n in this._entries)e.push(this._entries[n].bin);let{w:t,h:r}=hne(e),i=this._image;i.resize({width:t||1,height:r||1});for(let n in this._entries){let{bin:a}=this._entries[n],o=a.x+1,s=a.y+1,l=this._entries[n].image.data,u=l.width,c=l.height;As.copy(l,i,{x:0,y:0},{x:o,y:s},{width:u,height:c}),As.copy(l,i,{x:0,y:c-1},{x:o,y:s-1},{width:u,height:1}),As.copy(l,i,{x:0,y:0},{x:o,y:s+c},{width:u,height:1}),As.copy(l,i,{x:u-1,y:0},{x:o-1,y:s},{width:1,height:c}),As.copy(l,i,{x:0,y:0},{x:o+u,y:s},{width:1,height:c})}this._dirty=!0}},tae=1114111,X_r={start:0,end:tae},Z_r=0;Q_r=class{constructor(e){this.requestManager=e,this._faces={},this._registered=new Set}setFontFaces(e){this._unregisterAll(),this._faces={};for(let[t,r]of Object.entries(e!=null?e:{})){let i=Array.isArray(r)?r:[r];this._faces[t]=i.map(n=>this._declareFontFace(t,n)).filter(n=>n!==null)}}hasFontFaces(){return Object.keys(this._faces).length>0}getFontFamily(e,t){return Ki(this,null,function*(){var r,i;for(let n of e.split(","))for(let a of(r=this._faces[n.trim()])!=null?r:[])if(J_r(a,t)&&((i=a.loaded)!=null||(a.loaded=this._loadFontFace(a)),yield a.loaded))return a.family;return null})}_declareFontFace(e,t){let r=typeof t=="string"?{url:t}:t;if(typeof(r==null?void 0:r.url)!="string")return Ma(`Ignoring the font face declared for "${e}": it has no URL.`),null;let i=`maplibre-gl-font-face-${Z_r++}`,n=r["unicode-range"];if(!(n!=null&&n.length))return{url:r.url,ranges:[X_r],family:i};let a=[];for(let o of n){let s=K_r(o);if(!s){Ma(`Ignoring the unicode range "${o}" of the font face at ${r.url}: it is not a valid range.`);continue}a.push(s)}return a.length?{url:r.url,ranges:a,family:i}:null}_loadFontFace(e){return Ki(this,null,function*(){if(typeof FontFace>"u"||typeof document>"u"||!document.fonts)return Ma(`Ignoring the font face at ${e.url}: this environment has no CSS Font Loading API.`),!1;let t;try{return t=new FontFace(e.family,yield this._downloadFontFile(e.url)),Object.values(this._faces).some(r=>r.includes(e))?(document.fonts.add(t),this._registered.add(t),yield t.load(),!0):!1}catch(r){return t&&this._unregister(t),Ma(`Ignoring the font face at ${e.url}: ${Ic(r).message}`),!1}})}_downloadFontFile(e){return Ki(this,null,function*(){let t=yield this.requestManager.transformRequest(e,"Glyphs"),r=yield Sie(t,new AbortController);if(!(r!=null&&r.data))throw Error(`the response was empty for the font file at ${e}`);return r.data})}_unregister(e){var t;(t=document.fonts)==null||t.delete(e),this._registered.delete(e)}_unregisterAll(){var e;for(let t of this._registered)(e=document.fonts)==null||e.delete(t);this._registered.clear()}destroy(){this._unregisterAll(),this._faces={}}},rae=1e20,xae=new Float64Array(256);for(let e=0;e<256;e++){let t=.5-(e/255)**.45454545454545453;xae[e]=t*Math.abs(t)}xae[255]=-1e20;ebr=class{constructor({fontSize:e=24,buffer:t=3,radius:r=8,cutoff:i=.25,fontFamily:n="sans-serif",fontWeight:a="normal",fontStyle:o="normal",lang:s=null}={}){this.buffer=t,this.radius=r,this.cutoff=i,this.lang=s;let l=this.size=e+t*4,u=this._createCanvas(l),c=this.ctx=u.getContext("2d",{willReadFrequently:!0});c.font=`${o} ${a} ${e}px ${n}`,c.textBaseline="alphabetic",c.textAlign="left",c.fillStyle="black",this.gridOuter=new Float64Array(l*l),this.gridInner=new Float64Array(l*l),this.f=new Float64Array(l),this.z=new Float64Array(l+1),this.v=new Uint16Array(l)}_createCanvas(e){if(typeof OffscreenCanvas<"u")return new OffscreenCanvas(e,e);let t=document.createElement("canvas");return t.width=t.height=e,t}draw(e){let{width:t,actualBoundingBoxAscent:r,actualBoundingBoxDescent:i,actualBoundingBoxLeft:n,actualBoundingBoxRight:a}=this.ctx.measureText(e),o=Math.ceil(r),s=Math.floor(-n),l=Math.max(0,Math.min(this.size-this.buffer,Math.ceil(a)-s)),u=Math.max(0,Math.min(this.size-this.buffer,o+Math.ceil(i))),c=l+2*this.buffer,f=u+2*this.buffer,h=Math.max(c*f,0),d=new Uint8ClampedArray(h),p={data:d,width:c,height:f,glyphWidth:l,glyphHeight:u,glyphTop:o,glyphLeft:s,glyphAdvance:t};if(l===0||u===0)return p;let{ctx:v,buffer:m,gridInner:g,gridOuter:w}=this;this.lang&&(v.lang=this.lang),v.clearRect(m,m,l,u),v.fillText(e,m-s,m+o);let b=v.getImageData(m,m,l,u);w.fill(rae,0,h),g.fill(0,0,h);let _=3;for(let A=0;A{let r=new ebr(e);return r.buffer=t,r},ibr=class{constructor(e,t,r,i=rbr){this.requestManager=e,this.localIdeographFontFamily=t,this.entries={},this.lang=r,this.fontFaceManager=new Q_r(e),this.createRasterizer=i}setURL(e){this.url=e}setFontFaces(e){this.fontFaceManager.setFontFaces(e),this.entries={}}getGlyphs(e){return Ki(this,null,function*(){let t=[];for(let n in e)for(let a of e[n])t.push(this._getAndCacheGlyphsPromise(n,a));let r=yield Promise.all(t),i={};for(let{stack:n,id:a,glyph:o}of r)i[n]||(i[n]={}),i[n][a]=o&&{id:o.id,bitmap:o.bitmap.clone(),metrics:o.metrics};return i})}_getAndCacheGlyphsPromise(e,t){return Ki(this,null,function*(){var o,s;(s=(o=this.entries)[e])!=null||(o[e]={glyphs:{},requests:{},ranges:{}});let r=this.entries[e],i=r.glyphs[t];if(i!==void 0)return{stack:e,id:t,glyph:i};let n=t.codePointAt(0),a=this.fontFaceManager.hasFontFaces()?yield this.fontFaceManager.getFontFamily(e,n):null;return a?(i=r.glyphs[t]=yield this._drawGlyph(r,e,t,a),{stack:e,id:t,glyph:i}):!this.url||r8(t)||this._charUsesLocalIdeographFontFamily(n)?(i=r.glyphs[t]=yield this._drawGlyph(r,e,t),{stack:e,id:t,glyph:i}):yield this._downloadAndCacheRangePromise(e,t)})}_downloadAndCacheRangePromise(e,t){return Ki(this,null,function*(){var a;let r=t.codePointAt(0),i=this.entries[e],n=Math.floor(r/256);if(i.ranges[n])return{stack:e,id:t,glyph:null};(a=i.requests)[n]||(a[n]=this._loadGlyphRange(e,n));try{let o=yield i.requests[n];for(let s in o)i.glyphs[String.fromCodePoint(+s)]=o[+s];return i.ranges[n]=!0,{stack:e,id:t,glyph:o[r]||null}}catch(o){let s=i.glyphs[t]=yield this._drawGlyph(i,e,t);return this._warnOnMissingGlyphRange(s,n,r,Ic(o)),{stack:e,id:t,glyph:s}}})}_loadGlyphRange(e,t){return Ki(this,null,function*(){let r=t*256,i=r+255,n=yield this.requestManager.transformRequest(this.url.replace("{fontstack}",e).replace("{range}",`${r}-${i}`),"Glyphs"),a=yield Sie(n,new AbortController);if(!(a!=null&&a.data))throw Error(`Could not load glyph range. range: ${t}, ${r}-${i}`);let o={};for(let s of Git(a.data))o[s.id]=s;return o})}_warnOnMissingGlyphRange(e,t,r,i){let n=t*256,a=n+255,o=r.toString(16).padStart(4,"0").toUpperCase();Ma(`Unable to load glyph range ${t}, ${n}-${a}. Rendering codepoint U+${o} locally instead. ${i}`)}_charUsesLocalIdeographFontFamily(e){return!!this.localIdeographFontFamily&&Iit(e)}_drawGlyph(e,t,r,i){return Ki(this,null,function*(){let n=(yield this._getTinySDF(e,t,r,i)).draw(r),a=new RegExp("^\\p{gc=Cf}+$","u").test(r);return{id:r.codePointAt(0),bitmap:new UB({width:n.width||60,height:n.height||60},n.data),metrics:{width:a?0:n.glyphWidth/2||24,height:n.glyphHeight/2||24,left:n.glyphLeft/2+.5||0,top:n.glyphTop/2-27.5||-8,advance:a?0:n.glyphAdvance/2||24,isDoubleResolution:!0}}})}_getTinySDF(e,t,r,i){var l,u,c,f;let n=r8(r);if(i){let h=n?"clusterTinySDFs":"fontFaceTinySDFs";return(l=e[h])!=null||(e[h]={}),(u=e[h])[i]||(u[i]=this._createTinySDF(i,!1,n?3:1)),e[h][i]}let a=t===tbr&&this.localIdeographFontFamily!==""&&this._charUsesLocalIdeographFontFamily(r.codePointAt(0)),o=a?this.localIdeographFontFamily:t;if(n)return(c=e.clusterTinySDFs)!=null||(e.clusterTinySDFs={}),(f=e.clusterTinySDFs)[o]||(f[o]=this._createTinySDF(o,!0,3)),e.clusterTinySDFs[o];let s=a?"ideographTinySDF":"tinySDF";return e[s]||(e[s]=this._createTinySDF(o)),e[s]}_createTinySDF(e,t=!0,r=1){return Ki(this,null,function*(){var s;let i=e?e.split(","):[];i.push("sans-serif");let n=i.map(l=>/[-\w]+/.test(l)?l:`'${CSS.escape(l)}'`).join(","),a=t?this._fontWeight(i[0]):void 0,o=t?this._fontStyle(i[0]):"normal";if(typeof document<"u"&&((s=document.fonts)!=null&&s.load))try{yield document.fonts.load(`${o} ${a||"normal"} 48px ${n}`)}catch(l){Ma(`Failed to load font "${n}": ${Ic(l).message}`)}return this.createRasterizer({fontSize:48,buffer:Math.max(6,Math.ceil(48*(r-1)/4)),radius:16,cutoff:.25,fontFamily:n,fontWeight:a,fontStyle:o,lang:this.lang},6)})}_fontStyle(e){return/italic/i.test(e)?"italic":/oblique/i.test(e)?"oblique":"normal"}_fontWeight(e){let t={thin:100,hairline:100,"extra light":200,"ultra light":200,light:300,normal:400,regular:400,medium:500,semibold:600,demibold:600,bold:700,"extra bold":800,"ultra bold":800,black:900,heavy:900,"extra black":950,"ultra black":950},r;for(let[i,n]of Object.entries(t))RegExp(`\\b${i}\\b`,"i").test(e)&&(r=`${n}`);return r}destroy(){for(let e in this.entries){let t=this.entries[e];t.tinySDF=null,t.ideographTinySDF=null,t.fontFaceTinySDFs={},t.glyphs={},t.requests={},t.ranges={}}this.entries={},this.fontFaceManager.destroy()}},abr=()=>nbr||(nbr=new uc({anchor:new Fi(_r.light.anchor,"anchor"),position:new Fi(_r.light.position,"position"),color:new Fi(_r.light.color,"color"),intensity:new Fi(_r.light.intensity,"intensity")})),obr=class extends mu{constructor(e,t){super(),this._transitionable=new Jk(abr(),"light",t),this.setLight(e),this._transitioning=this._transitionable.untransitioned()}getLight(){return this._transitionable.serialize()}getCartesianPosition(){return Zet(this.properties.get("position"))}setLight(e,t={}){if(!this._validate(ch.light,e,t))for(let r in e){let i=e[r];r.endsWith("-transition")?this._transitionable.setTransition(r.slice(0,-PB.length),i):this._transitionable.setValue(r,i)}}updateTransitions(e){this._transitioning=this._transitionable.transitioned(e,this._transitioning)}hasTransition(){return this._transitioning.hasTransition()}recalculate(e){this.properties=this._transitioning.possiblyEvaluate(e)}_validate(e,t,r){return qT(this,e,{value:t},r)}},lbr=()=>sbr||(sbr=new uc({"sky-color":new Fi(_r.sky["sky-color"],"sky-color"),"horizon-color":new Fi(_r.sky["horizon-color"],"horizon-color"),"fog-color":new Fi(_r.sky["fog-color"],"fog-color"),"fog-ground-blend":new Fi(_r.sky["fog-ground-blend"],"fog-ground-blend"),"horizon-fog-blend":new Fi(_r.sky["horizon-fog-blend"],"horizon-fog-blend"),"sky-horizon-blend":new Fi(_r.sky["sky-horizon-blend"],"sky-horizon-blend"),"atmosphere-blend":new Fi(_r.sky["atmosphere-blend"],"atmosphere-blend")})),ubr=class extends mu{constructor(e,t){super(),this._transitionable=new Jk(lbr(),"sky",t),this.setSky(e),this._transitioning=this._transitionable.untransitioned(),this.recalculate(new Co(0))}setSky(e,t={}){if(!this._validate(ch.sky,e,t)){e||(e={"sky-color":"transparent","horizon-color":"transparent","fog-color":"transparent","fog-ground-blend":1,"atmosphere-blend":0});for(let r in e){let i=e[r];r.endsWith("-transition")?this._transitionable.setTransition(r.slice(0,-PB.length),i):this._transitionable.setValue(r,i)}}}getSky(){return this._transitionable.serialize()}updateTransitions(e){this._transitioning=this._transitionable.transitioned(e,this._transitioning)}hasTransition(){return this._transitioning.hasTransition()}recalculate(e){this.properties=this._transitioning.possiblyEvaluate(e)}_validate(e,t,r={}){return qT(this,e,{value:t},r)}calculateFogBlendOpacity(e){return e<60?0:e<70?(e-60)/10:1}},cbr=class{constructor(e,t){this.width=e,this.height=t,this.nextRow=0,this.data=new Uint8Array(this.width*this.height),this.dashEntry={}}getDash(e,t){var i;let r=e.join(",")+String(t);return(i=this.dashEntry)[r]||(i[r]=this.addDash(e,t)),this.dashEntry[r]}getDashRanges(e,t,r){let i=e.length%2==1,n=[],a=i?-e[e.length-1]*r:0,o=e[0]*r,s=!0;n.push({left:a,right:o,isDash:s,zeroLength:e[0]===0});let l=e[0];for(let u=1;u1&&(l=e[++s]);let c=Math.abs(u-l.left),f=Math.abs(u-l.right),h=Math.min(c,f),d,p=n/r*(i+1);if(l.isDash){let v=i-Math.abs(p);d=Math.sqrt(h*h+v*v)}else d=i-Math.sqrt(h*h+p*p);this.data[o+u]=Math.max(0,Math.min(255,d+128))}}}addRegularDash(e){for(let o=e.length-1;o>=0;--o){let s=e[o],l=e[o+1];s.zeroLength?e.splice(o,1):(l==null?void 0:l.isDash)===s.isDash&&(l.left=s.left,e.splice(o,1))}let t=e[0],r=e[e.length-1];t.isDash===r.isDash&&(t.left=r.left-this.width,r.right=t.right+this.width);let i=this.width*this.nextRow,n=0,a=e[n];for(let o=0;o1&&(a=e[++n]);let s=Math.abs(o-a.left),l=Math.abs(o-a.right),u=Math.min(s,l),c=a.isDash?u:-u;this.data[i+o]=Math.max(0,Math.min(255,c+128))}}addDash(e,t){let r=t?7:0,i=2*r+1;if(this.nextRow+i>this.height)return Ma("LineAtlas out of space"),null;let n=0;for(let o of e)n+=o;if(n!==0){let o=this.width/n,s=this.getDashRanges(e,this.width,o);t?this.addRoundDash(s,o,r):this.addRegularDash(s)}let a={y:this.nextRow+r,height:2*r,width:n};return this.nextRow+=i,this.dirty=!0,a}bind(e){let t=e.gl;this.texture?(t.bindTexture(t.TEXTURE_2D,this.texture),this.dirty&&(this.dirty=!1,t.texSubImage2D(t.TEXTURE_2D,0,0,0,this.width,this.height,t.ALPHA,t.UNSIGNED_BYTE,this.data))):(this.texture=t.createTexture(),t.bindTexture(t.TEXTURE_2D,this.texture),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_S,t.REPEAT),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_T,t.REPEAT),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MIN_FILTER,t.LINEAR),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MAG_FILTER,t.LINEAR),t.texImage2D(t.TEXTURE_2D,0,t.ALPHA,this.width,this.height,0,t.ALPHA,t.UNSIGNED_BYTE,this.data))}};_ae="maplibre_preloaded_worker_pool",kq=class tot{constructor(){this.active={},this.workersPromise=null}acquire(t){return Ki(this,null,function*(){if(this.active[t]=!0,!this.workersPromise){let r=[];for(;r.length{for(let n of i)n.terminate()})}}isPreloaded(){return!!this.active[_ae]}numActive(){return Object.keys(this.active).length}},gbr=Math.floor(fh.hardwareConcurrency/2);kq.workerCount=Jet(globalThis)?Math.max(Math.min(gbr,3),1):1;rot=class{constructor(e,t){this.workerPool=e,this.actors=[],this.currentActor=0,this.id=t,this.removed=!1,this.actorsPromise=this.initActors(t)}initActors(e){return Ki(this,null,function*(){let t=yield this.workerPool.acquire(e);if(this.removed)return[];if(this.actors=t.map((r,i)=>{let n=new unt(r,e);return n.name=`Worker ${i}`,n}),!this.actors.length)throw Error("No actors found");return this.actors})}broadcast(e,t){return Ki(this,null,function*(){let r=yield this.actorsPromise;return Promise.all(r.map(i=>i.sendAsync({type:e,data:t})))})}getActor(){return Ki(this,null,function*(){let e=yield this.actorsPromise;return this.currentActor=(this.currentActor+1)%e.length,e[this.currentActor]})}waitForInitComplete(){return Ki(this,null,function*(){this.actors.length===0&&(yield this.actorsPromise)})}getReadyActor(){return this.currentActor=(this.currentActor+1)%this.actors.length,this.actors[this.currentActor]}remove(e=!0){this.removed=!0;for(let t of this.actors)t.remove();this.actors=[],e&&this.workerPool.release(this.id)}registerMessageHandler(e,t){return Ki(this,null,function*(){let r=yield this.actorsPromise;for(let i of r)i.registerMessageHandler(e,t)})}unregisterMessageHandler(e){return Ki(this,null,function*(){let t=yield this.actorsPromise;for(let r of t)r.unregisterMessageHandler(e)})}};Ev=class zm{constructor(t,r){t&&(r?this.setSouthWest(t).setNorthEast(r):Array.isArray(t)&&(t.length===4?this.setSouthWest([t[0],t[1]]).setNorthEast([t[2],t[3]]):this.setSouthWest(t[0]).setNorthEast(t[1])))}setNorthEast(t){return this._ne=t instanceof mn?new mn(t.lng,t.lat):mn.convert(t),this}setSouthWest(t){return this._sw=t instanceof mn?new mn(t.lng,t.lat):mn.convert(t),this}extend(t){let r=this._sw,i=this._ne,n,a;if(t instanceof mn)n=t,a=t;else if(t instanceof zm){if(n=t._sw,a=t._ne,!n||!a)return this}else{if(Array.isArray(t)){if(t.length===4||t.every(Array.isArray)){let o=t;return this.extend(zm.convert(o))}{let o=t;return this.extend(mn.convert(o))}}return t&&("lng"in t||"lon"in t)&&"lat"in t?this.extend(mn.convert(t)):this}return!r&&!i?(this._sw=new mn(n.lng,n.lat),this._ne=new mn(a.lng,a.lat)):(r.lng=Math.min(n.lng,r.lng),r.lat=Math.min(n.lat,r.lat),i.lng=Math.max(a.lng,i.lng),i.lat=Math.max(a.lat,i.lat)),this}getCenter(){return new mn((this._sw.lng+this._ne.lng)/2,(this._sw.lat+this._ne.lat)/2)}getSouthWest(){return this._sw}getNorthEast(){return this._ne}getNorthWest(){return new mn(this.getWest(),this.getNorth())}getSouthEast(){return new mn(this.getEast(),this.getSouth())}getWest(){return this._sw.lng}getSouth(){return this._sw.lat}getEast(){return this._ne.lng}getNorth(){return this._ne.lat}toArray(){return[this._sw.toArray(),this._ne.toArray()]}toString(){return`LngLatBounds(${this._sw.toString()}, ${this._ne.toString()})`}isEmpty(){return!(this._sw&&this._ne)}contains(t){let{lng:r,lat:i}=mn.convert(t),n=this._sw.lat<=i&&i<=this._ne.lat,a=this._sw.lng<=r&&r<=this._ne.lng;return this._sw.lng>this._ne.lng&&(a=this._sw.lng>=r&&r>=this._ne.lng),n&&a}intersects(t){if(t=zm.convert(t),!(t.getNorth()>=this.getSouth()&&t.getSouth()<=this.getNorth()))return!1;let r=Math.abs(this.getEast()-this.getWest()),i=Math.abs(t.getEast()-t.getWest());if(r>=360||i>=360)return!0;let n=B0(this.getWest(),-180,180),a=B0(this.getEast(),-180,180),o=B0(t.getWest(),-180,180),s=B0(t.getEast(),-180,180),l=n>a,u=o>s;return l&&u?!0:l?s>=n||o<=a:u?a>=o||n<=s:o<=a&&s>=n}static convert(t){return t instanceof zm||!t?t:new zm(t)}static fromLngLat(t,r=0){let i=360*r/40075017,n=i/Math.cos(Math.PI/180*t.lat);return new zm(new mn(t.lng-n,t.lat-i),new mn(t.lng+n,t.lat+i))}adjustAntiMeridian(){let t=new mn(this._sw.lng,this._sw.lat),r=new mn(this._ne.lng,this._ne.lat);return t.lng>r.lng?new zm(t,new mn(r.lng+360,r.lat)):new zm(t,r)}},oot=class{constructor(e,t,r){this.bounds=Ev.convert(this.validateBounds(e)),this.minzoom=t||0,this.maxzoom=r||24}validateBounds(e){return!Array.isArray(e)||e.length!==4?[-180,-90,180,90]:[Math.max(-180,e[0]),Math.max(-90,e[1]),Math.min(180,e[2]),Math.min(90,e[3])]}contains(e){let t=2**e.z,r={minX:Math.floor(e3(this.bounds.getWest())*t),minY:Math.floor(t3(this.bounds.getNorth())*t),maxX:Math.ceil(e3(this.bounds.getEast())*t),maxY:Math.ceil(t3(this.bounds.getSouth())*t)};return e.x>=r.minX&&e.x=r.minY&&e.y{this.tiles=e,this._options.tiles=e}),this}setUrl(e){return this.setSourceProperty(()=>{this.url=e,this._options.url=e}),this}onRemove(){this._tileJSONRequest&&(this._tileJSONRequest=(this._tileJSONRequest.abort(),null))}serialize(){return ln({},this._options)}loadTile(e){return Ki(this,null,function*(){let t=e.tileID.canonical.url(this.tiles,this.map.getPixelRatio(),this.scheme),r={request:yield this.map._requestManager.transformRequest(t,"Tile"),uid:e.uid,tileID:e.tileID,zoom:e.tileID.overscaledZ,tileSize:this.tileSize*e.tileID.overscaleFactor(),type:this.type,source:this.id,pixelRatio:this.map.getPixelRatio(),showCollisionBoxes:this.map.showCollisionBoxes,promoteId:this.promoteId,subdivisionGranularity:this.map.style.projection.subdivisionGranularity,encoding:this.encoding,overzoomParameters:yield this._getOverzoomParameters(e),etag:e.etag};r.request.collectResourceTiming=this._collectResourceTiming,yield this.dispatcher.waitForInitComplete();let i="RT";if(!e.actor||e.state==="expired")e.actor=this.dispatcher.getReadyActor(),i="LT";else if(e.state==="loading")return new Promise((n,a)=>{e.reloadPromise={resolve:n,reject:a}});e.abortController=new AbortController;try{let n=yield e.actor.sendAsync({type:i,data:r},e.abortController);if(delete e.abortController,e.aborted)return;this._afterTileLoadWorkerResponse(e,n);let a={};return n!=null&&n.etagUnmodified&&(a.unmodified=!0),a}catch(n){if(delete e.abortController,e.aborted||Fm(n))return;if(n&&n.status!==404)throw n;this._afterTileLoadWorkerResponse(e,null)}})}_getOverzoomParameters(e){return Ki(this,null,function*(){if(e.tileID.canonical.z<=this.maxzoom||this.map._zoomLevelsToOverscale===void 0)return;let t=e.tileID.scaledTo(this.maxzoom).canonical,r=t.url(this.tiles,this.map.getPixelRatio(),this.scheme);return{maxZoomTileID:t,overzoomRequest:yield this.map._requestManager.transformRequest(r,"Tile")}})}_afterTileLoadWorkerResponse(e,t){if(t!=null&&t.resourceTiming&&(e.resourceTiming=t.resourceTiming),t&&this.map._refreshExpiredTiles&&e.setExpiryData(t),e.etag=t==null?void 0:t.etag,e.loadVectorData(t,this.map.painter),e.reloadPromise){let r=e.reloadPromise;e.reloadPromise=null,this.loadTile(e).then(r.resolve).catch(r.reject)}}abortTile(e){return Ki(this,null,function*(){e.abortController&&(e.abortController.abort(),delete e.abortController),e.actor&&(yield e.actor.sendAsync({type:"AT",data:{uid:e.uid,type:this.type,source:this.id}}))})}unloadTile(e){return Ki(this,null,function*(){e.unloadVectorData(),e.actor&&(yield e.actor.sendAsync({type:"RMT",data:{uid:e.uid,type:this.type,source:this.id}}))})}hasTransition(){return!1}},Tae=class extends mu{constructor(e,t,r,i){super(),this.id=e,this.dispatcher=r,this.setEventedParent(i),this.type="raster",this.minzoom=0,this.maxzoom=22,this.roundZoom=!0,this.scheme="xyz",this.tileSize=512,this._loaded=!1,this._premultiplyAlpha=!0,this._options=ln({type:"raster"},t),ln(this,IT(t,["url","scheme","tileSize"]))}load(e=!1){return Ki(this,null,function*(){this._loaded=!1,this.fire(new Is("dataloading")),this._tileJSONRequest=new AbortController;try{let t=yield aot(this._options,this.map._requestManager,this._tileJSONRequest,this.map._ownerWindow);this._tileJSONRequest=null,this._loaded=!0,t&&(ln(this,t),t.bounds&&(this.tileBounds=new oot(t.bounds,this.minzoom,this.maxzoom)),this.fire(new Is("data",{sourceDataType:"metadata"})),this.fire(new Is("data",{sourceDataType:"content",sourceDataChanged:e})))}catch(t){this._tileJSONRequest=null,this._loaded=!0,Fm(t)||this.fire(new An(Ic(t)))}})}loaded(){return this._loaded}onAdd(e){this.map=e,this.load()}onRemove(){this._tileJSONRequest&&(this._tileJSONRequest=(this._tileJSONRequest.abort(),null))}setSourceProperty(e){this._tileJSONRequest&&(this._tileJSONRequest=(this._tileJSONRequest.abort(),null)),e(),this.load(!0)}setTiles(e){return this.setSourceProperty(()=>{this.tiles=e,this._options.tiles=e}),this}setUrl(e){return this.setSourceProperty(()=>{this.url=e,this._options.url=e}),this}serialize(){return ln({},this._options)}setPremultiplyAlpha(e){return this._premultiplyAlpha===e||this.setSourceProperty(()=>{this._premultiplyAlpha=e}),this}hasTile(e){return!this.tileBounds||this.tileBounds.contains(e.canonical)}loadTile(e){return Ki(this,null,function*(){var n;let t=e.tileID.canonical.url(this.tiles,this.map.getPixelRatio(),this.scheme),r=this._premultiplyAlpha,i=r?void 0:{premultiplyAlpha:"none"};e.abortController=new AbortController;try{let a=yield rg.transformAndGetImage(this.map._requestManager,t,"Tile",e.abortController,this.map._refreshExpiredTiles,i);if(delete e.abortController,e.aborted){e.state="unloaded";return}if(a){this.map._refreshExpiredTiles&&(a.cacheControl||a.expires)&&e.setExpiryData({cacheControl:a.cacheControl,expires:a.expires});let o=this.map.painter.context,s=o.gl,l=(n=a.data)!=null?n:new As({width:1,height:1},new Uint8Array(4));e.texture=this.map.painter.getTileTexture(l.width),e.texture?e.texture.update(l,{useMipmap:!0,premultiply:r}):(e.texture=new vu(o,l,s.RGBA,{useMipmap:!0,premultiply:r}),e.texture.bind(s.LINEAR,s.CLAMP_TO_EDGE,s.LINEAR_MIPMAP_NEAREST)),e.state="loaded"}}catch(a){if(delete e.abortController,e.aborted)e.state="unloaded";else if(a)throw e.state="errored",a}})}abortTile(e){return Ki(this,null,function*(){e.abortController&&(e.abortController.abort(),delete e.abortController)})}unloadTile(e){return Ki(this,null,function*(){e.texture&&this.map.painter.saveTileTexture(e.texture)})}hasTransition(){return!1}},lot=class extends Tae{constructor(e,t,r,i){super(e,t,r,i),this.type="raster-dem",this.maxzoom=22,this._options=ln({type:"raster-dem"},t),this.encoding=t.encoding||"mapbox",this.redFactor=t.redFactor,this.greenFactor=t.greenFactor,this.blueFactor=t.blueFactor,this.baseShift=t.baseShift}loadTile(e){return Ki(this,null,function*(){let t=e.tileID.canonical.url(this.tiles,this.map.getPixelRatio(),this.scheme);e.neighboringTiles=this._getNeighboringTiles(e.tileID),e.abortController=new AbortController;try{let r=yield rg.transformAndGetImage(this.map._requestManager,t,"Tile",e.abortController,this.map._refreshExpiredTiles,{colorSpaceConversion:"none"});if(delete e.abortController,e.aborted){e.state="unloaded";return}if(r){if(this.map._refreshExpiredTiles&&(r.cacheControl||r.expires)&&e.setExpiryData({cacheControl:r.cacheControl,expires:r.expires}),!r.data){e.state="loaded";return}let i=r.data,n=ex(i)&&nB()?i:yield this.readImageNow(i),a={type:this.type,uid:e.uid,source:this.id,rawImageData:n,encoding:this.encoding,redFactor:this.redFactor,greenFactor:this.greenFactor,blueFactor:this.blueFactor,baseShift:this.baseShift};if(e.actor&&e.state!=="expired"&&e.state!=="reloading")return;yield this.dispatcher.waitForInitComplete(),(!e.actor||e.state==="expired")&&(e.actor=this.dispatcher.getReadyActor()),e.dem=yield e.actor.sendAsync({type:"LDT",data:a}),e.needsHillshadePrepare=!0,e.needsTerrainPrepare=!0,e.needsColorReliefPrepare=!0,e.state="loaded"}}catch(r){if(delete e.abortController,e.aborted)e.state="unloaded";else if(r)throw e.state="errored",r}})}readImageNow(e){return Ki(this,null,function*(){if(typeof VideoFrame<"u"&&fie()){let t=e.width+4,r=e.height+4;try{return new As({width:t,height:r},yield ttt(e,-2,-2,t,r))}catch(i){}}return fh.getImageData(e,2)})}_getNeighboringTiles(e){let t=e.canonical,r=2**t.z,i=(t.x-1+r)%r,n=t.x===0?e.wrap-1:e.wrap,a=(t.x+1+r)%r,o=t.x+1===r?e.wrap+1:e.wrap,s={};return s[new Bc(e.overscaledZ,n,t.z,i,t.y).key]={backfilled:!1},s[new Bc(e.overscaledZ,o,t.z,a,t.y).key]={backfilled:!1},t.y>0&&(s[new Bc(e.overscaledZ,n,t.z,i,t.y-1).key]={backfilled:!1},s[new Bc(e.overscaledZ,e.wrap,t.z,t.x,t.y-1).key]={backfilled:!1},s[new Bc(e.overscaledZ,o,t.z,a,t.y-1).key]={backfilled:!1}),t.y+1Jnt(t))}}shouldReloadTile(e,{affectedBounds:t}){if(e.state==="loading")return!0;if(e.state==="unloaded")return!1;let{buffer:r,extent:i}=this.workerOptions.geojsonVtOptions,n=Ibr(e.tileID.canonical,r/i);for(let a of t)if(n.intersects(a))return!0;return!1}loaded(){return!this._isUpdatingWorker&&!this._hasPendingWorkerUpdate()}loadTile(e){return Ki(this,null,function*(){let t=e.actor?"RT":"LT";e.actor=yield this.actorPromise;let r={type:this.type,uid:e.uid,tileID:e.tileID,zoom:e.tileID.overscaledZ,maxZoom:this.maxzoom,tileSize:this.tileSize,source:this.id,pixelRatio:this.map.getPixelRatio(),showCollisionBoxes:this.map.showCollisionBoxes,promoteId:this.promoteId,subdivisionGranularity:this.map.style.projection.subdivisionGranularity};e.abortController=new AbortController;try{let i=yield(yield this.actorPromise).sendAsync({type:t,data:r},e.abortController);delete e.abortController,e.unloadVectorData(),e.aborted||e.loadVectorData(i,this.map.painter,t==="RT")}catch(i){if(delete e.abortController,e.aborted||Fm(i))return;throw i}})}abortTile(e){return Ki(this,null,function*(){e.abortController&&(e.abortController.abort(),delete e.abortController),e.aborted=!0})}unloadTile(e){return Ki(this,null,function*(){e.unloadVectorData(),yield(yield this.actorPromise).sendAsync({type:"RMT",data:{uid:e.uid,type:this.type,source:this.id}})})}onRemove(){this._removed=!0,this.actorPromise.then(e=>e.sendAsync({type:"RS",data:{type:this.type,source:this.id}}))}serialize(){return ln({},this._options,{type:this.type,data:this._data.updateable?{type:"FeatureCollection",features:Array.from(this._data.updateable.values())}:this._data.url||this._data.geojson})}hasTransition(){return!1}},$T=[0,0,1],Rbr=(e,t)=>({u_tl_parent:new pa(e,t.u_tl_parent),u_scale_parent:new qi(e,t.u_scale_parent),u_buffer_scale:new qi(e,t.u_buffer_scale),u_image_warp:new Rf(e,t.u_image_warp),u_fade_t:new qi(e,t.u_fade_t),u_opacity:new qi(e,t.u_opacity),u_image0:new wn(e,t.u_image0),u_image1:new wn(e,t.u_image1),u_brightness_low:new qi(e,t.u_brightness_low),u_brightness_high:new qi(e,t.u_brightness_high),u_saturation_factor:new qi(e,t.u_saturation_factor),u_contrast_factor:new qi(e,t.u_contrast_factor),u_spin_weights:new Rf(e,t.u_spin_weights),u_coords_top:new OT(e,t.u_coords_top),u_coords_bottom:new OT(e,t.u_coords_bottom)}),zbr=(e,t,r,i,n,a)=>({u_tl_parent:e,u_scale_parent:t,u_buffer_scale:1,u_image_warp:a,u_fade_t:r.mix,u_opacity:r.opacity*i.paint.get("raster-opacity"),u_image0:0,u_image1:1,u_brightness_low:i.paint.get("raster-brightness-min"),u_brightness_high:i.paint.get("raster-brightness-max"),u_saturation_factor:Obr(i.paint.get("raster-saturation")),u_contrast_factor:qbr(i.paint.get("raster-contrast")),u_spin_weights:Bbr(i.paint.get("raster-hue-rotate")),u_coords_top:[n[0].x,n[0].y,n[1].x,n[1].y],u_coords_bottom:[n[3].x,n[3].y,n[2].x,n[2].y]});M8=class{constructor(e,t,r){this.vertexBuffer=e,this.indexBuffer=t,this.segments=r}destroy(){this.vertexBuffer.destroy(),this.indexBuffer.destroy(),this.segments.destroy(),this.vertexBuffer=null,this.indexBuffer=null,this.segments=null}},l3=ol([{name:"a_pos",type:"Int16",components:2}]),rq=zr/128;XT=class extends mu{constructor(e,t,r,i){super(),this.imageWarp=$T,this.flippedWindingOrder=!1,this._warp="auto",this._imageDirty=!1,this._subdividedQuad=!1,this._subdividedMesh=null,this.id=e,this.dispatcher=r,this.coordinates=t.coordinates,this.type="image",this.minzoom=0,this.maxzoom=22,this.tileSize=512,this.tiles={},this._loaded=!1,this.setEventedParent(i),this.options=t}load(e){return Ki(this,null,function*(){if(this.options.url===void 0){this._loaded=!0,this._finishLoading();return}this._loaded=!1,this.fire(new Is("dataloading")),this.url=this.options.url,this._abortController=new AbortController;try{let t=yield rg.transformAndGetImage(this.map._requestManager,this.url,"Image",this._abortController);this._abortController=null,this._loaded=!0,t!=null&&t.data?(this._setImage(t.data),e&&(this.coordinates=e),this._finishLoading()):this.fire(new An(Error(`Could not load image ${this.url}: the response is empty`)))}catch(t){if(Fm(t))return;this._abortController=null,this._loaded=!0,this.fire(new An(Ic(t)))}})}loaded(){return this._loaded}updateImage(e){return this._abortController&&(this._abortController=(this._abortController.abort(),null)),"image"in e?(this._loaded=!0,this._setImage(e.image),e.coordinates&&(this.coordinates=e.coordinates),this._finishLoading(),this):e.url?(this.options.url=e.url,this.load(e.coordinates),this):this}_setImage(e){this.image=e,this._imageDirty=!0}getMesh(e,t){var r;return!this._subdividedQuad||t?null:((r=this._subdividedMesh)!=null||(this._subdividedMesh=fot(e,{granularity:16})),this._subdividedMesh)}_disposeTexture(){var e;(e=this.texture)==null||e.destroy(),this.texture=null}_finishLoading(){this.map&&(this.setCoordinates(this.coordinates),this.fire(new Is("data",{sourceDataType:"metadata"})))}onAdd(e){this.map=e,this.load()}onRemove(){var e;this._abortController&&(this._abortController=(this._abortController.abort(),null)),this._disposeTexture(),(e=this._subdividedMesh)==null||e.destroy(),this._subdividedMesh=null,this.image=null,this.tiles={}}setWarp(e){return this._warp===e?this:(this._warp=e,this.tileCoords&&this.setCoordinates(this.coordinates),this)}getWarp(){return this._warp}setCoordinates(e){this.coordinates=e;let t=e.map(wo.fromLngLat);return this.tileID=Nbr(t),this.terrainTileRanges=this._getOverlappingTileRanges(t),this.minzoom=this.maxzoom=this.tileID.z,this.tileCoords=t.map(r=>this.tileID.getTilePoint(r)._round()),this.imageWarp=Vbr(this.tileCoords,this._warp),this._subdividedQuad=this.imageWarp[2]>0&&!dot(this.tileCoords),this.flippedWindingOrder=Ubr(this.tileCoords),this.fire(new Is("data",{sourceDataType:"content"})),this}prepare(){if(Object.keys(this.tiles).length===0||!this.image)return;let e=this.map.painter.context,t=e.gl;this.texture?this._imageDirty&&(this.texture.update(this.image),this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE)):(this.texture=new vu(e,this.image,t.RGBA),this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE)),this._imageDirty=!1;let r=!1;for(let i in this.tiles){let n=this.tiles[i];n.state!=="loaded"&&(n.state="loaded",n.texture=this.texture,r=!0)}r&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}))}loadTile(e){return Ki(this,null,function*(){var t;(t=this.tileID)!=null&&t.equals(e.tileID.canonical)?(this.tiles[String(e.tileID.wrap)]=e,e.buckets={}):e.state="errored"})}serialize(){let e={type:"image",coordinates:this.coordinates};return this.options.url!==void 0&&(e.url=this.options.url),e}hasTransition(){return!1}_getOverlappingTileRanges(e){let{minX:t,minY:r,maxX:i,maxY:n}=Jd.fromPoints(e),a={};for(let o=0;o<=25;o++){let s=2**o,l=Math.floor(t*s),u=Math.floor(r*s),c=Math.floor(i*s),f=Math.floor(n*s),h=(l%s+s)%s,d=c%s,p=Math.floor(l/s),v=Math.floor(c/s);a[o]={minWrap:p,maxWrap:v,minTileXWrapped:h,maxTileXWrapped:d,minTileY:u,maxTileY:f}}return a}};pot=class extends XT{constructor(e,t,r,i){super(e,t,r,i),this._onPlayingHandler=()=>{var n;(n=this.map)==null||n.triggerRepaint()},this.roundZoom=!0,this.type="video",this.options=t}load(){return Ki(this,null,function*(){this._loaded=!1;let e=this.options;this.urls=[];for(let t of e.urls)this.urls.push((yield this.map._requestManager.transformRequest(t,"Source")).url);try{let t=yield ctt(this.urls);if(this._loaded=!0,!t)return;this.video=t,this.video.loop=!0,this.video.addEventListener("playing",this._onPlayingHandler),this.map&&this.video.play(),this._finishLoading()}catch(t){this.fire(new An(Ic(t)))}})}pause(){this.video&&this.video.pause()}play(){this.video&&this.video.play()}seek(e){if(this.video){let t=this.video.seekable;et.end(0)?this.fire(new An(new Qr(`sources.${this.id}`,null,`Playback for this video can be set only between the ${t.start(0)} and ${t.end(0)}-second mark.`))):this.video.currentTime=e}}getVideo(){return this.video}onAdd(e){this.map||(this.map=e,this.load(),this.video&&(this.video.play(),this.setCoordinates(this.coordinates)))}onRemove(){super.onRemove(),this.video&&(this.video.removeEventListener("playing",this._onPlayingHandler),this.video.pause())}prepare(){if(Object.keys(this.tiles).length===0||this.video.readyState<2)return;let e=this.map.painter.context,t=e.gl;this.texture?this.video.paused||(this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE),t.texSubImage2D(t.TEXTURE_2D,0,0,0,t.RGBA,t.UNSIGNED_BYTE,this.video)):(this.texture=new vu(e,this.video,t.RGBA),this.texture.bind(t.LINEAR,t.CLAMP_TO_EDGE));let r=!1;for(let i in this.tiles){let n=this.tiles[i];n.state!=="loaded"&&(n.state="loaded",n.texture=this.texture,r=!0)}r&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}))}serialize(){return{type:"video",urls:this.urls,coordinates:this.coordinates}}hasTransition(){return this.video&&!this.video.paused}},vot=class extends XT{constructor(e,t,r,i){super(e,t,r,i),t.coordinates?(!Array.isArray(t.coordinates)||t.coordinates.length!==4||t.coordinates.some(n=>!Array.isArray(n)||n.length!==2||n.some(a=>typeof a!="number")))&&this.fire(new An(new Qr(`sources.${e}`,null,'"coordinates" property must be an array of 4 longitude/latitude array pairs'))):this.fire(new An(new Qr(`sources.${e}`,null,'missing required property "coordinates"'))),t.animate&&typeof t.animate!="boolean"&&this.fire(new An(new Qr(`sources.${e}`,null,'optional "animate" property must be a boolean value'))),t.canvas?typeof t.canvas!="string"&&!(t.canvas instanceof HTMLCanvasElement)&&this.fire(new An(new Qr(`sources.${e}`,null,'"canvas" must be either a string representing the ID of the canvas element from which to read, or an HTMLCanvasElement instance'))):this.fire(new An(new Qr(`sources.${e}`,null,'missing required property "canvas"'))),this.options=t,this.animate=t.animate===void 0||t.animate}load(){return Ki(this,null,function*(){if(this._loaded=!0,this.canvas||(this.canvas=this.options.canvas instanceof HTMLCanvasElement?this.options.canvas:document.getElementById(this.options.canvas)),this.width=this.canvas.width,this.height=this.canvas.height,this._hasInvalidDimensions()){this.fire(new An(Error("Canvas dimensions cannot be less than or equal to zero.")));return}this.play=function(){this._playing=!0,this.map.triggerRepaint()},this.pause=function(){this._playing&&(this._playing=(this.prepare(),!1))},this._finishLoading()})}getCanvas(){return this.canvas}onAdd(e){this.map=e,this.load(),this.canvas&&this.animate&&this.play()}onRemove(){this._playing=!1,super.onRemove()}prepare(){let e=!1;if(this.canvas.width!==this.width&&(this.width=this.canvas.width,e=!0),this.canvas.height!==this.height&&(this.height=this.canvas.height,e=!0),this._hasInvalidDimensions()||Object.keys(this.tiles).length===0)return;let t=this.map.painter.context,r=t.gl;this.texture?(e||this._playing)&&this.texture.update(this.canvas,{premultiply:!0}):(this.texture=new vu(t,this.canvas,r.RGBA,{premultiply:!0}),this.texture.bind(r.LINEAR,r.CLAMP_TO_EDGE));let i=!1;for(let n in this.tiles){let a=this.tiles[n];a.state!=="loaded"&&(a.state="loaded",a.texture=this.texture,i=!0)}i&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}))}serialize(){return{type:"canvas",animate:this.animate,canvas:this.options.canvas,coordinates:this.coordinates}}hasTransition(){return this._playing}_hasInvalidDimensions(){for(let e of[this.canvas.width,this.canvas.height])if(isNaN(e)||e<=0)return!0;return!1}},got={},Hbr=(e,t,r,i)=>{let n=new(mot(t.type))(e,t,r,i);if(n.id!==e)throw Error(`Expected Source id to be ${e} instead of ${n.id}`);return n},mot=e=>{switch(e){case"geojson":return cot;case"image":return XT;case"raster":return Tae;case"raster-dem":return lot;case"vector":return sot;case"video":return pot;case"canvas":return vot}return got[e]},jbr=(e,t)=>{got[e]=t},$br=(e,t)=>Ki(null,null,function*(){if(mot(e))throw Error(`A source type called "${e}" already exists.`);jbr(e,t)});iae="RTLPluginLoaded",Ybr=class extends mu{constructor(...e){super(...e),this.status="unavailable",this.url=null,this.dispatcher=wae()}_syncState(e){return this.status=e,this.dispatcher.broadcast("SRPS",{pluginStatus:e,pluginURL:this.url}).catch(t=>{throw this.status="error",t})}getRTLTextPluginStatus(){return this.status}clearRTLTextPlugin(){this.status="unavailable",this.url=null}setRTLTextPlugin(e,t=!1){return Ki(this,null,function*(){if(this.url)throw Error("setRTLTextPlugin cannot be called multiple times.");if(this.url=fh.resolveURL(e),!this.url)throw Error(`requested url ${e} is invalid`);if(this.status==="unavailable")if(t)this.status="deferred",this._syncState(this.status);else return this._requestImport();else if(this.status==="requested")return this._requestImport()})}_requestImport(){return Ki(this,null,function*(){yield this._syncState("loading"),this.status="loaded",this.fire(new e0(iae))})}lazyLoad(){this.status==="unavailable"?this.status="requested":this.status==="deferred"&&this._requestImport()}},Qnt=null;yot=class{constructor(e,t){this.timeAdded=0,this.fadeEndTime=0,this.fadeOpacity=1,this.tileID=e,this.uid=_ie(),this.uses=0,this.tileSize=t,this.buckets={},this.expirationTime=null,this.queryPadding=0,this.hasSymbolBuckets=!1,this.hasRTLText=!1,this.dependencies={},this.rttObjects=[],this.rttFingerprint={},this.expiredRequestCount=0,this.state="loading",this.featureStateRevision=-1}isRenderable(e){return this.hasData()&&(!this.fadeEndTime||this.fadeOpacity>0)&&(e||!this.holdingForSymbolFade())}setCrossFadeLogic({fadingRole:e,fadingDirection:t,fadingParentID:r,fadeEndTime:i}){this.resetFadeLogic(),this.fadingRole=e,this.fadingDirection=t,this.fadingParentID=r,this.fadeEndTime=i}setSelfFadeLogic(e){this.resetFadeLogic(),this.selfFading=!0,this.fadeEndTime=e}resetFadeLogic(){this.fadingRole=null,this.fadingDirection=null,this.fadingParentID=null,this.selfFading=!1,this.timeAdded=Oo(),this.fadeEndTime=0,this.fadeOpacity=1}wasRequested(){return this.state==="errored"||this.state==="loaded"||this.state==="reloading"}clearTextures(e){this.demTexture&&e.saveTileTexture(this.demTexture),this.demTexture=null}getRTT(e){return this.rttObjects[e]}acquireRTT(e,t,r){return this.rttObjects[t]=e.acquireRTT(r)}releaseRTT(e){if(this.rttObjects.length!==0){for(let t of this.rttObjects)t&&e.releaseRTT(t);this.rttObjects.length=0}}loadVectorData(e,t,r){if((e==null?void 0:e.etagUnmodified)===!0){this.state="loaded";return}if(this.hasData()&&this.unloadVectorData(),this.state="loaded",!e){this.collisionBoxArray=new Xie;return}e.featureIndex&&(this.latestFeatureIndex=e.featureIndex,e.rawTileData?(this.latestRawTileData=e.rawTileData,this.latestEncoding=e.encoding,this.latestFeatureIndex.rawTileData=e.rawTileData,this.latestFeatureIndex.encoding=e.encoding):this.latestRawTileData&&(this.latestFeatureIndex.rawTileData=this.latestRawTileData,this.latestFeatureIndex.encoding=this.latestEncoding)),this.collisionBoxArray=e.collisionBoxArray,this.buckets=Wbr(e.buckets,t==null?void 0:t.style),this.hasSymbolBuckets=!1;for(let i in this.buckets){let n=this.buckets[i];if(n instanceof s8)if(this.hasSymbolBuckets=!0,r)n.justReloaded=!0;else break}if(this.hasRTLText=!1,this.hasSymbolBuckets)for(let i in this.buckets){let n=this.buckets[i];if(n instanceof s8&&n.hasRTLText){this.hasRTLText=!0,A8().lazyLoad();break}}this.queryPadding=0;for(let i in this.buckets){let n=this.buckets[i];this.queryPadding=Math.max(this.queryPadding,t.style.getLayer(i).queryRadius(n))}e.imageAtlas&&(this.imageAtlas=e.imageAtlas),e.glyphAtlasImage&&(this.glyphAtlasImage=e.glyphAtlasImage),this.dashPositions=e.dashPositions}unloadVectorData(){for(let e in this.buckets)this.buckets[e].destroy();this.buckets={},this.imageAtlasTexture&&this.imageAtlasTexture.destroy(),this.glyphAtlasTexture&&this.glyphAtlasTexture.destroy(),this.imageAtlas=null,this.dashPositions=null,this.latestFeatureIndex=null,this.state="unloaded"}getBucket(e){return this.buckets[e.id]}upload(e){for(let r in this.buckets){let i=this.buckets[r];i.uploadPending()&&i.upload(e)}let t=e.gl;this.imageAtlas&&!this.imageAtlas.uploaded&&(this.imageAtlasTexture=new vu(e,this.imageAtlas.image,t.RGBA),this.imageAtlas.uploaded=!0),this.glyphAtlasImage&&(this.glyphAtlasImage=(this.glyphAtlasTexture=new vu(e,this.glyphAtlasImage,t.ALPHA),null))}prepare(e){this.imageAtlas&&this.imageAtlas.patchUpdatedImages(e,this.imageAtlasTexture)}queryRenderedFeatures(e,t,r,i,n,a,o,s,l,u,c){var f;return(f=this.latestFeatureIndex)!=null&&f.rawTileData?this.latestFeatureIndex.query({queryGeometry:i,cameraQueryGeometry:n,scale:a,tileSize:this.tileSize,pixelPosMatrix:u,transform:s,params:o,queryPadding:this.queryPadding*l,getElevation:c},e,t,r):{}}querySourceFeatures(e,t){let r=this.latestFeatureIndex;if(!(r!=null&&r.rawTileData))return;let i=r.loadVTLayers(),n=t!=null&&t.sourceLayer?t.sourceLayer:"",a=i._geojsonTileLayer||i[n];if(!a)return;let o=CT(t==null?void 0:t.filter,`querySourceFeatures[${n}].filter`,t==null?void 0:t.globalState),{z:s,x:l,y:u}=this.tileID.canonical,c={z:s,x:l,y:u};for(let f=0;fr)i=!1;else if(!t)i=!0;else if(this.expirationTimethis.max[0]||t.aabb.min[1]>this.max[1]||t.aabb.min[2]>this.max[2]||t.aabb.max[0]0?(r+=t[n]*this.min[n],i+=t[n]*this.max[n]):(i+=t[n]*this.min[n],r+=t[n]*this.max[n]);return r>=0?2:i<0?0:1}},Mae=class _ot{constructor(t,r,i){this.points=t,this.planes=r,this.aabb=i}static fromInvProjectionMatrix(t,r=1,i=0,n,a){let o=[[-1,1,-1,1],[1,1,-1,1],[1,-1,-1,1],[-1,-1,-1,1],[-1,1,1,1],[1,1,1,1],[1,-1,1,1],[-1,-1,1,1]],s=a?[[6,5,4],[0,1,2],[0,3,7],[2,1,5],[3,2,6],[0,4,5]]:[[0,1,2],[6,5,4],[0,3,7],[2,1,5],[3,2,6],[0,4,5]],l=2**i,u=o.map(d=>Zbr(d,t,r,l));n&&Kbr(u,s[0],n,a);let c=s.map(d=>{let p=J1([],u[d[0]],u[d[1]]),v=J1([],u[d[2]],u[d[1]]),m=Pf([],uh([],p,v)),g=-gu(m,u[d[1]]);return m.concat(g)}),f=[1/0,1/0,1/0],h=[-1/0,-1/0,-1/0];for(let d of u)for(let p=0;p<3;p++)f[p]=Math.min(f[p],d[p]),h[p]=Math.max(h[p],d[p]);return new _ot(u,c,new Aae(f,h))}};t3r=nae(9.314,3);aat=class{constructor(){this._tiles={}}handleWrapJump(e){let t={};for(let r in this._tiles){let i=this._tiles[r];i.tileID=i.tileID.unwrapTo(i.tileID.wrap+e),t[i.tileID.key]=i}this._tiles=t}setFeatureState(e,t,r){for(let i in this._tiles)this._tiles[i].setFeatureState(e,t,r)}getAllTiles(){return Object.values(this._tiles)}getAllIds(e=!1){return e?Object.values(this._tiles).map(t=>t.tileID).sort(mne).map(t=>t.key):Object.keys(this._tiles)}getTileById(e){return this._tiles[e]}setTile(e,t){this._tiles[e]=t}deleteTileById(e){delete this._tiles[e]}getLoadedTile(e){let t=this.getTileById(e.key);return t!=null&&t.hasData()?t:null}isIdRenderable(e,t=!1){var r;return(r=this.getTileById(e))==null?void 0:r.isRenderable(t)}getRenderableIds(e=0,t){let r=[];for(let i of this.getAllIds())this.isIdRenderable(i,t)&&r.push(this.getTileById(i));return t?r.sort((i,n)=>{let a=i.tileID,o=n.tileID,s=new tr(a.canonical.x,a.canonical.y)._rotate(-e),l=new tr(o.canonical.x,o.canonical.y)._rotate(-e);return a.overscaledZ-o.overscaledZ||l.y-s.y||l.x-s.x}).map(i=>i.tileID.key):r.map(i=>i.tileID).sort(mne).map(i=>i.key)}},aae=(qm=class extends mu{constructor(t,r,i){super(),this._maxContentElevationSeen=0,this.id=t,this.dispatcher=i,this.on("data",n=>{this._dataHandler(n)}),this.on("dataloading",()=>{this._sourceErrored=!1}),this.on("error",()=>{this._sourceErrored=this._source.loaded()}),this._source=Hbr(t,r,i,this),this._inViewTiles=new aat,this._outOfViewCache=new Unt(0,n=>this._unloadTile(n)),this._timers={},this._maxTileCacheSize=null,this._maxTileCacheZoomLevels=null,this._rasterFadeDuration=0,this._maxFadingAncestorLevels=5,this._state=new Xbr,this._didEmitContent=!1,this._updated=!1}onAdd(t){var r;this.map=t,this._maxTileCacheSize=t?t._maxTileCacheSize:null,this._maxTileCacheZoomLevels=t?t._maxTileCacheZoomLevels:null,(r=this._source)!=null&&r.onAdd&&this._source.onAdd(t)}onRemove(t){var r;for(let i of this._inViewTiles.getAllTiles())i.unloadVectorData();this.clearTiles(),(r=this._source)!=null&&r.onRemove&&this._source.onRemove(t),this._inViewTiles=new aat}loaded(){if(this._sourceErrored)return!0;if(!this._sourceLoaded||!this._source.loaded())return!1;if((this.used!==void 0||this.usedForTerrain!==void 0)&&!this.used&&!this.usedForTerrain)return!0;if(!this._updated)return!1;for(let t of this._inViewTiles.getAllTiles())if(t.state!=="loaded"&&t.state!=="errored")return!1;return!0}getSource(){return this._source}getState(){return this._state}pause(){this._paused=!0}resume(){if(!this._paused)return;let t=this._shouldReloadOnResume;this._paused=!1,this._shouldReloadOnResume=!1,t&&this.reload(),this.transform&&this.update(this.transform,this.terrain)}_loadTile(t,r,i,n){return Ki(this,null,function*(){try{let a=yield this._source.loadTile(t);this._tileLoaded(t,r,i,n,a)}catch(a){t.state="errored",a.status===404?this.update(this.transform,this.terrain):this._source.fire(new An(Ic(a),{tile:t}))}})}_unloadTile(t){this._source.unloadTile&&this._source.unloadTile(t)}_abortTile(t){this._source.abortTile&&this._source.abortTile(t),this._source.fire(new Is("dataabort",{tile:t,coord:t.tileID}))}serialize(){return this._source.serialize()}prepare(t){this._source.prepare&&this._source.prepare(),this._state.coalesceChanges(this._inViewTiles,this.map?this.map.painter:null);for(let r of this._inViewTiles.getAllTiles())r.upload(t),r.prepare(this.map.style.imageManager)}getIds(){return this._inViewTiles.getAllIds(!0)}getRenderableIds(t){var r;return this._inViewTiles.getRenderableIds((r=this.transform)==null?void 0:r.bearingInRadians,t)}hasRenderableParent(t){let r=t.overscaledZ-1;if(r>=this._source.minzoom){let i=this.getLoadedTile(t.scaledTo(r));if(i)return this._inViewTiles.isIdRenderable(i.tileID.key)}return!1}reload(t,r=void 0){if(this._paused){this._shouldReloadOnResume=!0;return}this._outOfViewCache.reset();for(let i of this._inViewTiles.getAllIds()){let n=this._inViewTiles.getTileById(i);(!r||this._source.shouldReloadTile(n,r))&&(t?this._reloadTile(i,n.state==="errored"?"loading":"expired"):n.state!=="errored"&&this._reloadTile(i,"reloading"))}}_reloadTile(t,r){return Ki(this,null,function*(){let i=this._inViewTiles.getTileById(t);if(!i)return;let n=i.hasData();i.state!=="loading"&&(i.state=r),yield this._loadTile(i,t,r,n)})}_tileLoaded(t,r,i,n,a){n||(t.timeAdded=Oo(),t.selfFading&&(t.fadeEndTime=t.timeAdded+this._rasterFadeDuration)),i==="expired"&&(t.refreshedUponExpiration=!0),this._setTileReloadTimer(r,t),!(a!=null&&a.unmodified)&&(this.getSource().type==="raster-dem"&&t.dem&&u3r(t,this._inViewTiles),t.featureStateRevision=-1,this._state.initializeTileState(t,this.map?this.map.painter:null),t.aborted||this._source.fire(new Is("data",{tile:t,coord:t.tileID})))}getTile(t){return this.getTileByID(t.key)}getTileByID(t){return this._inViewTiles.getTileById(t)}_retainLoadedChildren(t,r){let i=this._getLoadedDescendents(r),n=new Set;for(let a of r){let o=i[a.key];if(!(o!=null&&o.length)){n.add(a);continue}let s=a.overscaledZ+qm.maxOverzooming,l=o.filter(f=>f.tileID.overscaledZ<=s);if(!l.length){n.add(a);continue}let u=Math.min(...l.map(f=>f.tileID.overscaledZ)),c=l.filter(f=>f.tileID.overscaledZ===u).map(f=>f.tileID);for(let f of c)t[f.key]=f;this._areDescendentsComplete(c,u,a.overscaledZ)||n.add(a)}return n}_getLoadedDescendents(t){var i;let r={};for(let n of this._inViewTiles.getAllTiles().filter(a=>a.hasData()))for(let a of t)n.tileID.isChildOf(a)&&(r[i=a.key]||(r[i]=[]),r[a.key].push(n));return r}_areDescendentsComplete(t,r,i){return t.length===1&&t[0].isOverscaled()?t[0].overscaledZ===r:4**(r-i)===t.length}getLoadedTile(t){return this._inViewTiles.getLoadedTile(t)}updateCacheSize(t){let r=(Math.ceil(t.width/this._source.tileSize)+1)*(Math.ceil(t.height/this._source.tileSize)+1),i=this._maxTileCacheZoomLevels===null?Qh.MAX_TILE_CACHE_ZOOM_LEVELS:this._maxTileCacheZoomLevels,n=Math.floor(r*i),a=typeof this._maxTileCacheSize=="number"?Math.min(this._maxTileCacheSize,n):n;this._outOfViewCache.setMaxSize(a)}handleWrapJump(t){let r=(t-(this._prevLng===void 0?t:this._prevLng))/360,i=Math.round(r);this._prevLng=t,i&&(this._inViewTiles.handleWrapJump(i),this._resetTileReloadTimers())}_updateMaxContentElevation(){var n,a;let t=this._maxContentElevationSeen,r=(a=(n=this.map)==null?void 0:n.style)==null?void 0:a._layers;if(!r)return t;let i=this._inViewTiles.getAllTiles();for(let o in r){let s=r[o];if(s.type!=="symbol"||s.source!==this.id||s.isHidden(this.transform.zoom))continue;let l=s;if(l.layout){t=Math.max(t,l.layout.get("symbol-height-offset").constantOr(0));for(let u of i){let c=u.getBucket(s);c&&c.maxHeightOffset>t&&(t=c.maxHeightOffset)}}}return this._maxContentElevationSeen=t,t}update(t,r){if(!this._sourceLoaded||this._paused)return;this.transform=t,this.terrain=r,this.updateCacheSize(t),this.handleWrapJump(this.transform.center.lng);let i;!this.used&&!this.usedForTerrain?i=[]:this._source.tileID?i=t.getVisibleUnwrappedCoordinates(this._source.tileID).map(l=>new Bc(l.canonical.z,l.wrap,l.canonical.z,l.canonical.x,l.canonical.y)):(i=ZT(t,{tileSize:this.usedForTerrain?this.tileSize:this._source.tileSize,minzoom:this._source.minzoom,maxzoom:this._source.type==="vector"&&this.map._zoomLevelsToOverscale!==void 0?Math.max(this._source.maxzoom,t.maxZoom-this.map._zoomLevelsToOverscale):this._source.maxzoom,roundZoom:!this.usedForTerrain&&this._source.roundZoom,reparseOverscaled:this._source.reparseOverscaled,terrain:r,calculateTileZoom:this._source.calculateTileZoom,maxContentElevation:this._updateMaxContentElevation()}),this._source.hasTile&&(i=i.filter(l=>this._source.hasTile(l)))),this.usedForTerrain&&(i=this._addTerrainIdealTiles(i));let n=i.length===0&&!this._updated&&this._didEmitContent;this._updated=!0,n&&this.fire(new Is("data",{sourceDataType:"idle",sourceId:this.id}));let a=Sae(t,this._source),o=this._updateRetainedTiles(i,a),s=rat(this._source.type);s&&this._rasterFadeDuration>0&&!r&&n3r(this._inViewTiles,i,o,this._maxFadingAncestorLevels,this._source.minzoom,this._source.maxzoom,this._rasterFadeDuration),s?this._cleanUpRasterTiles(o):this._cleanUpVectorTiles(o)}_cleanUpRasterTiles(t){for(let r of this._inViewTiles.getAllIds())t[r]||this._removeTile(r)}_cleanUpVectorTiles(t){for(let r of this._inViewTiles.getAllIds()){let i=this._inViewTiles.getTileById(r);if(t[r]){i.clearSymbolFadeHold();continue}if(!i.hasSymbolBuckets){this._removeTile(r);continue}i.holdingForSymbolFade()?i.symbolFadeFinished()&&this._removeTile(r):i.setSymbolHoldDuration(this.map._fadeDuration)}}_addTerrainIdealTiles(t){let r=[];for(let i of t)if(i.canonical.z>this._source.minzoom){let n=i.scaledTo(i.canonical.z-1);r.push(n);let a=i.scaledTo(Math.max(this._source.minzoom,Math.min(i.canonical.z,5)));r.push(a)}return t.concat(r)}releaseSymbolFadeTiles(){for(let t of this._inViewTiles.getAllIds())this._inViewTiles.getTileById(t).holdingForSymbolFade()&&this._removeTile(t)}_updateRetainedTiles(t,r){var l;let i=new Set;for(let u of t)this._addTile(u).hasData()||i.add(u);let n=t.reduce((u,c)=>(u[c.key]=c,u),{}),a=this._retainLoadedChildren(n,i),o={},s=Math.max(r-qm.maxUnderzooming,this._source.minzoom);for(let u of a){let c=this._inViewTiles.getTileById(u.key),f=c==null?void 0:c.wasRequested();for(let h=u.overscaledZ-1;h>=s;--h){let d=u.scaledTo(h);if(o[d.key])break;if(o[d.key]=!0,c=this.getTile(d),!c&&f&&(c=this._addTile(d)),c){let p=c.hasData();if((p||!((l=this.map)!=null&&l.cancelPendingTileRequestsWhileZooming)||f)&&(n[d.key]=d),f=c.wasRequested(),p)break}}}return n}_addTile(t){let r=this._inViewTiles.getTileById(t.key);if(r)return r;r=this._outOfViewCache.getAndRemove(t),r&&(r.resetFadeLogic(),this._setTileReloadTimer(t.key,r),r.tileID=t,this._state.initializeTileState(r,this.map?this.map.painter:null));let i=r;return r||(r=new yot(t,this._source.tileSize*t.overscaleFactor()),this._loadTile(r,t.key,r.state,!1)),r.uses++,this._inViewTiles.setTile(t.key,r),i||this._source.fire(new Is("dataloading",{tile:r,coord:r.tileID})),r}_setTileReloadTimer(t,r){this._clearTileReloadTimer(t);let i=r.getExpiryTimeout();if(i){let n=()=>{this._reloadTile(t,"expired"),delete this._timers[t]};this._timers[t]=setTimeout(n,i)}}_clearTileReloadTimer(t){let r=this._timers[t];r&&(clearTimeout(r),delete this._timers[t])}_resetTileReloadTimers(){for(let t in this._timers)clearTimeout(this._timers[t]),delete this._timers[t];for(let t of this._inViewTiles.getAllIds()){let r=this._inViewTiles.getTileById(t);this._setTileReloadTimer(t,r)}}refreshTiles(t){for(let r of this._inViewTiles.getAllIds()){let i=this._inViewTiles.getTileById(r);(this._inViewTiles.isIdRenderable(r)||i.state=="errored")&&t.some(n=>n.equals(i.tileID.canonical))&&this._reloadTile(r,"expired")}}_removeTile(t){let r=this._inViewTiles.getTileById(t);r&&(r.uses--,this._inViewTiles.deleteTileById(t),this._clearTileReloadTimer(t),!(r.uses>0)&&(r.hasData()&&r.state!=="reloading"?this._outOfViewCache.add(r.tileID,r,r.getExpiryTimeout()):(r.aborted=!0,this._abortTile(r),this._unloadTile(r))))}_dataHandler(t){if(t.dataType==="source"){if(t.sourceDataType==="metadata"){this._sourceLoaded=!0;return}t.sourceDataType==="content"&&this._sourceLoaded&&!this._paused&&(this.reload(t.sourceDataChanged,t.shouldReloadTileOptions),this.transform&&this.update(this.transform,this.terrain),this._didEmitContent=!0)}}resetMaxContentElevation(){this._maxContentElevationSeen=0}clearTiles(){this._shouldReloadOnResume=!1,this._paused=!1,this.resetMaxContentElevation();for(let t of this._inViewTiles.getAllIds())this._removeTile(t);this._outOfViewCache.reset()}tilesIn(t,r,i){let n=[],a=this.transform;if(!a)return n;let o=a.getCoveringTilesDetailsProvider().allowWorldCopies(),s=i?a.getCameraQueryGeometry(t):t,l=d=>a.screenPointToMercatorCoordinate(d,this.terrain),u=this.transformBbox(t,l,!o),c=this.transformBbox(s,l,!o),f=this.getIds(),h=Jd.fromPoints(c);for(let d of f){let p=this._inViewTiles.getTileById(d);if(p.holdingForSymbolFade())continue;let v=o?[p.tileID]:[p.tileID.unwrapTo(-1),p.tileID.unwrapTo(0)],m=2**(a.zoom-p.tileID.overscaledZ),g=r*p.queryPadding*zr/p.tileSize/m;for(let w of v){let b=h.map(_=>w.getTilePoint(new wo(_.x,_.y)));if(b.expandBy(g),b.intersects(wit)){let _=u.map(x=>w.getTilePoint(x)),M=c.map(x=>w.getTilePoint(x));n.push({tile:p,tileID:o?w:w.unwrapTo(0),queryGeometry:_,cameraQueryGeometry:M,scale:m})}}}return n}transformBbox(t,r,i){let n=t.map(r);if(i){let a=Jd.fromPoints(t);a.shrinkBy(Math.min(a.width(),a.height())*.001);let o=a.map(r);Jd.fromPoints(n).covers(o)||(n=n.map(s=>s.x>.5?new wo(s.x-1,s.y,s.z):s))}return n}getVisibleCoordinates(t){let r=this.getRenderableIds(t).map(i=>this._inViewTiles.getTileById(i).tileID);return this.transform&&this.transform.populateCache(r),r}hasTransition(){return this._source.hasTransition()?!0:rat(this._source.type)&&l3r(this._inViewTiles,this._rasterFadeDuration)}setRasterFadeDuration(t){this._rasterFadeDuration=t}setFeatureState(t,r,i){t||(t=c8),this._state.updateState(t,r,i)}removeFeatureState(t,r,i){t||(t=c8),this._state.removeFeatureState(t,r,i)}getFeatureState(t,r){return t||(t=c8),this._state.getState(t,r)}setDependencies(t,r,i){let n=this._inViewTiles.getTileById(t);n&&n.setDependencies(r,i)}reloadTilesForDependencies(t,r){for(let i of this._inViewTiles.getAllIds())this._inViewTiles.getTileById(i).hasDependency(t,r)&&this._reloadTile(i,"reloading");this._outOfViewCache.filter(i=>!i.hasDependency(t,r))}areTilesLoaded(){for(let t of this._inViewTiles.getAllTiles())if(t.state!=="loaded"&&t.state!=="errored")return!1;return!0}},qm.maxUnderzooming=10,qm.maxOverzooming=3,qm),c3r=class{constructor(e,t){this.reset(e,t)}reset(e,t){this.points=e||[],this._distances=[0];for(let r=1;r0?(i-a)/o:0;return this.points[n].mult(1-s).add(this.points[t].mult(s))}};oat=class{constructor(e,t,r){let i=this.boxCells=[],n=this.circleCells=[];this.xCellCount=Math.ceil(e/r),this.yCellCount=Math.ceil(t/r);for(let a=0;athis.width||i<0||t>this.height)return[];let s=[];if(e<=0&&t<=0&&this.width<=r&&this.height<=i){if(n)return[{key:null,x1:e,y1:t,x2:r,y2:i}];for(let l=0;l0}hitTestCircle(e,t,r,i,n){let a=e-r,o=e+r,s=t-r,l=t+r;if(o<0||a>this.width||l<0||s>this.height)return!1;let u=[],c={hitTest:!0,overlapMode:i,circle:{x:e,y:t,radius:r},seenUids:{box:{},circle:{}}};return this._forEachCell(a,s,o,l,this._queryCellCircle,u,c,n),u.length>0}_queryCell(e,t,r,i,n,a,o,s){let{seenUids:l,hitTest:u,overlapMode:c}=o,f=this.boxCells[n],h=1e-6;if(f!==null){let p=this.bboxes;for(let v of f)if(!l.box[v]){l.box[v]=!0;let m=v*4,g=this.boxKeys[v];if(e<=p[m+2]+h&&t<=p[m+3]+h&&r>=p[m+0]-h&&i>=p[m+1]-h&&(!s||s(g))&&(!u||!iq(c,g.overlapMode))&&(a.push({key:g,x1:p[m],y1:p[m+1],x2:p[m+2],y2:p[m+3]}),u))return!0}}let d=this.circleCells[n];if(d!==null){let p=this.circles;for(let v of d)if(!l.circle[v]){l.circle[v]=!0;let m=v*3,g=this.circleKeys[v];if(this._circleAndRectCollide(p[m],p[m+1],p[m+2],e,t,r,i)&&(!s||s(g))&&(!u||!iq(c,g.overlapMode))){let w=p[m],b=p[m+1],_=p[m+2];if(a.push({key:g,x1:w-_,y1:b-_,x2:w+_,y2:b+_}),u)return!0}}}return!1}_queryCellCircle(e,t,r,i,n,a,o,s){let{circle:l,seenUids:u,overlapMode:c}=o,f=this.boxCells[n];if(f!==null){let d=this.bboxes;for(let p of f)if(!u.box[p]){u.box[p]=!0;let v=p*4,m=this.boxKeys[p];if(this._circleAndRectCollide(l.x,l.y,l.radius,d[v+0],d[v+1],d[v+2],d[v+3])&&(!s||s(m))&&!iq(c,m.overlapMode))return a.push(!0),!0}}let h=this.circleCells[n];if(h!==null){let d=this.circles;for(let p of h)if(!u.circle[p]){u.circle[p]=!0;let v=p*3,m=this.circleKeys[p];if(this._circlesCollide(d[v],d[v+1],d[v+2],l.x,l.y,l.radius)&&(!s||s(m))&&!iq(c,m.overlapMode))return a.push(!0),!0}}}_forEachCell(e,t,r,i,n,a,o,s){let l=this._convertToXCellCoord(e),u=this._convertToYCellCoord(t),c=this._convertToXCellCoord(r),f=this._convertToYCellCoord(i);for(let h=l;h<=c;h++)for(let d=u;d<=f;d++){let p=this.xCellCount*d+h;if(n.call(this,e,t,r,i,p,a,o,s))return}}_convertToXCellCoord(e){return Math.max(0,Math.min(this.xCellCount-1,Math.floor(e*this.xScale)))}_convertToYCellCoord(e){return Math.max(0,Math.min(this.yCellCount-1,Math.floor(e*this.yScale)))}_circlesCollide(e,t,r,i,n,a){let o=i-e,s=n-t,l=r+a;return l*l>o*o+s*s}_circleAndRectCollide(e,t,r,i,n,a,o){let s=(a-i)/2,l=Math.abs(e-(i+s));if(l>s+r)return!1;let u=(o-n)/2,c=Math.abs(t-(n+u));if(c>u+r)return!1;if(l<=s||c<=u)return!0;let f=l-s,h=c-u;return f*f+h*h<=r*r}};p3r=Em();x3r=new Float32Array([-1/0,-1/0,0,-1/0,-1/0,0,-1/0,-1/0,0,-1/0,-1/0,0]);w3r=class{constructor(e,t=new oat(e.width+200,e.height+200,25),r=new oat(e.width+200,e.height+200,25)){this.transform=e,this.grid=t,this.ignoredGrid=r,this.pitchFactor=Math.cos(e.pitch*Math.PI/180)*e.cameraToCenterDistance,this.screenRightBoundary=e.width+100,this.screenBottomBoundary=e.height+100,this.gridRightBoundary=e.width+200,this.gridBottomBoundary=e.height+200,this.perspectiveRatioCutoff=.6}placeCollisionBox(e,t,r,i,n,a,o,s,l,u,c,f,h=0,d=!0){let p=e.anchorPointX+s[0],v=e.anchorPointY+s[1],m=this.projectAndGetPerspectiveRatio(p,v,n,mq(u,p,v,h,d),f),g=r*m.perspectiveRatio,w;if(!a&&!o){let y=m.x+(c?c.x*g:0),E=m.y+(c?c.y*g:0);w={allPointsOccluded:!1,box:[y+e.x1*g,E+e.y1*g,y+e.x2*g,E+e.y2*g]}}else w=this._projectCollisionBox(e,g,i,n,a,o,s,m,u,c,f,h,d);let[b,_,M,x]=w.box,T=a?w.allPointsOccluded:m.isOccluded,A=T;return A||(A=m.perspectiveRatio=1;I--)P.push(D.path[I]);for(let I=1;IB.signedDistanceFromCamera<=0)?[]:I.map(B=>B.point)}let L=[];if(P.length>0){let I=P[0].clone(),B=P[0].clone();for(let O=1;O=S.x&&B.x<=C.x&&I.y>=S.y&&B.y<=C.y?[P]:B.xC.x||B.yC.y?[]:dne([P],S.x,S.y,C.x,C.y)}for(let I of L){k.reset(I,E*.25);let B=0;B=k.length<=.5*E?1:Math.ceil(k.paddedLength/R)+1;for(let O=0;O=this.screenRightBoundary||i<100||t>this.screenBottomBoundary}isInsideGrid(e,t,r,i){return r>=0&&e=0&&tthis.projectAndGetPerspectiveRatio(P.x,P.y,i,mq(l,P.x,P.y,f,h),c));D=F.some(P=>!P.isOccluded),k=F.map(P=>new tr(P.x,P.y))}else D=!0;return{box:$et(k),allPointsOccluded:!D}}},uat=class{constructor(e,t,r,i){this.opacity=e?Math.max(0,Math.min(1,e.opacity+(e.placed?t:-t))):i&&r?1:0,this.placed=r}isHidden(){return this.opacity===0&&!this.placed}},d8=class{constructor(e,t,r,i,n){this.text=new uat(e?e.text:null,t,r,n),this.icon=new uat(e?e.icon:null,t,i,n)}isHidden(){return this.text.isHidden()&&this.icon.isHidden()}},cat=class{constructor(e,t,r){this.text=e,this.icon=t,this.skipFade=r}},T3r=class{constructor(e,t,r,i,n){this.bucketInstanceId=e,this.featureIndex=t,this.sourceLayerIndex=r,this.bucketIndex=i,this.tileID=n}},A3r=class{constructor(e){this.crossSourceCollisions=e,this.maxGroupID=0,this.collisionGroups={}}get(e){if(this.crossSourceCollisions)return{ID:0,predicate:null};if(!this.collisionGroups[e]){let t=++this.maxGroupID;this.collisionGroups[e]={ID:t,predicate:r=>r.collisionGroupID===t}}return this.collisionGroups[e]}};M3r=class{constructor(e,t,r,i,n){this.transform=e.clone(),this.terrain=t,this.collisionIndex=new w3r(this.transform),this.placements={},this.opacities={},this.variableOffsets={},this.stale=!1,this.commitTime=0,this.fadeDuration=r,this.retainedQueryData={},this.collisionGroups=new A3r(i),this.collisionCircleArrays={},this.collisionBoxArrays=new Map,this.prevPlacement=n,n&&(n.prevPlacement=void 0),this.placedOrientations={}}_getTerrainElevationFunc(e){let t=this.terrain;if(t)return(r,i)=>t.getElevation(e,r,i)}getBucketParts(e,t,r,i){let n=r.getBucket(t),a=r.latestFeatureIndex;if(!n||!a||t.id!==n.layerIds[0])return;let o=r.collisionBoxArray,s=n.layers[0].layout,l=n.layers[0].paint,u=2**(this.transform.zoom-r.tileID.overscaledZ),c=r.tileSize/zr,f=r.tileID.toUnwrapped(),h=s.get("text-rotation-alignment")==="map",d=Zh(r,1,this.transform.zoom),p=Dm(this.collisionIndex.transform,r,l.get("text-translate"),l.get("text-translate-anchor")),v=Dm(this.collisionIndex.transform,r,l.get("icon-translate"),l.get("icon-translate-anchor")),m=Eae(h,this.transform,d);this.retainedQueryData[n.bucketInstanceId]=new T3r(n.bucketInstanceId,a,n.sourceLayerIndex,n.index,r.tileID);let g={bucket:n,layout:s,translationText:p,translationIcon:v,unwrappedTileID:f,pitchedLabelPlaneMatrix:m,scale:u,textPixelRatio:c,holdingForFade:r.holdingForSymbolFade(),collisionBoxArray:o,partiallyEvaluatedTextSize:a8(n.textSizeData,this.transform.zoom),collisionGroup:this.collisionGroups.get(n.sourceID)};if(i)for(let w of n.sortKeyRanges){let{sortKey:b,symbolInstanceStart:_,symbolInstanceEnd:M}=w;e.push({sortKey:b,symbolInstanceStart:_,symbolInstanceEnd:M,parameters:g})}else e.push({symbolInstanceStart:0,symbolInstanceEnd:n.symbolInstances.length,parameters:g})}attemptAnchorPlacement(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w,b,_,M){var E,S,C;let x=XB[e.textAnchor],T=[e.textOffset0,e.textOffset1],A=fat(x,r,i,T,n),y=this.collisionIndex.placeCollisionBox(t,f,s,l,u,o,a,v,c.predicate,w,A,b,_,M);if((!g||this.collisionIndex.placeCollisionBox(g,f,s,l,u,o,a,m,c.predicate,w,A,b,_,M).placeable)&&y.placeable){let k;if((E=this.prevPlacement)!=null&&E.variableOffsets[h.crossTileID]&&((C=(S=this.prevPlacement)==null?void 0:S.placements[h.crossTileID])!=null&&C.text)&&(k=this.prevPlacement.variableOffsets[h.crossTileID].anchor),h.crossTileID===0)throw Error("symbolInstance.crossTileID can't be 0");return this.variableOffsets[h.crossTileID]={textOffset:T,width:r,height:i,anchor:x,textBoxScale:n,prevAnchor:k},this.markUsedJustification(d,x,h,p),d.allowVerticalPlacement&&(this.markUsedOrientation(d,p,h),this.placedOrientations[h.crossTileID]=p),{shift:A,placedGlyphBoxes:y}}}placeLayerBucketPart(e,t,r){let{bucket:i,layout:n,translationText:a,translationIcon:o,unwrappedTileID:s,pitchedLabelPlaneMatrix:l,textPixelRatio:u,holdingForFade:c,collisionBoxArray:f,partiallyEvaluatedTextSize:h,collisionGroup:d}=e.parameters,p=n.get("text-optional"),v=n.get("icon-optional"),m=zk(n,"text-overlap","text-allow-overlap"),g=m==="always",w=zk(n,"icon-overlap","icon-allow-overlap"),b=w==="always",_=n.get("text-rotation-alignment")==="map",M=n.get("text-pitch-alignment")==="map",x=n.get("icon-text-fit")!=="none",T=n.get("symbol-z-order")==="viewport-y",A=n.get("symbol-height-anchor")==="ground",y=g&&(b||!i.hasIconData()||v),E=b&&(g||!i.hasTextData()||p);!i.collisionArrays&&f&&i.deserializeCollisionBoxes(f);let S=this.retainedQueryData[i.bucketInstanceId].tileID,C=this._getTerrainElevationFunc(S),k=this.transform.getFastPathSimpleProjectionMatrix(S),D=(F,P,R)=>{var be,he;if(t[F.crossTileID])return;if(c){this.placements[F.crossTileID]=new cat(!1,!1,!1);return}let L=F.heightOffset,I=!1,B=!1,O=!0,$=null,Y={box:null,placeable:!1,offscreen:null,occluded:!1},K={box:null,placeable:!1,offscreen:null},j=null,q=null,J=null,U=0,V=0,X=0;P.textFeatureIndex?U=P.textFeatureIndex:F.useRuntimeCollisionCircles&&(U=F.featureIndex),P.verticalTextFeatureIndex&&(V=P.verticalTextFeatureIndex);let H=P.textBox;if(H){let oe=ee=>{let ae=1;if(i.allowVerticalPlacement&&!ee&&this.prevPlacement){let xe=this.prevPlacement.placedOrientations[F.crossTileID];xe&&(this.placedOrientations[F.crossTileID]=xe,ae=xe,this.markUsedOrientation(i,ae,F))}return ae},Ee=(ee,ae)=>{if(i.allowVerticalPlacement&&F.numVerticalGlyphVertices>0&&P.verticalTextBox){for(let xe of i.writingModes)if(xe===2?(Y=ae(),K=Y):Y=ee(),Y==null?void 0:Y.placeable)break}else Y=ee()},ye=F.textAnchorOffsetStartIndex,ue=F.textAnchorOffsetEndIndex;if(ue===ye){let ee=(ae,xe)=>{let re=this.collisionIndex.placeCollisionBox(ae,m,u,S,s,M,_,a,d.predicate,C,void 0,k,L,A);return re!=null&&re.placeable&&(this.markUsedOrientation(i,xe,F),this.placedOrientations[F.crossTileID]=xe),re};Ee(()=>ee(H,1),()=>{let ae=P.verticalTextBox;return i.allowVerticalPlacement&&F.numVerticalGlyphVertices>0&&ae?ee(ae,2):{box:null,offscreen:null}}),oe(Y==null?void 0:Y.placeable)}else{let ee=XB[(he=(be=this.prevPlacement)==null?void 0:be.variableOffsets[F.crossTileID])==null?void 0:he.anchor],ae=(re,pe,we)=>{let Fe=re.x2-re.x1,Se=re.y2-re.y1,ke=F.textBoxScale,_e=x&&w==="never"?pe:null,Ie=null,Oe=m==="never"?1:2,Qe="never";ee&&Oe++;for(let et=0;etae(H,P.iconBox,1),()=>{let re=P.verticalTextBox,pe=Y==null?void 0:Y.placeable;return i.allowVerticalPlacement&&!pe&&F.numVerticalGlyphVertices>0&&re?ae(re,P.verticalIconBox,2):{box:null,occluded:!0,offscreen:null}}),Y&&(I=Y.placeable,O=Y.offscreen);let xe=oe(Y==null?void 0:Y.placeable);if(!I&&this.prevPlacement){let re=this.prevPlacement.variableOffsets[F.crossTileID];re&&(this.variableOffsets[F.crossTileID]=re,this.markUsedJustification(i,re.anchor,F,xe))}}}if(j=Y,I=j==null?void 0:j.placeable,O=j==null?void 0:j.offscreen,F.useRuntimeCollisionCircles&&F.centerJustifiedTextSymbolIndex>=0){let oe=i.text.placedSymbolArray.get(F.centerJustifiedTextSymbolIndex),Ee=YB(i.textSizeData,h,oe),ye=n.get("text-padding"),ue=F.collisionCircleDiameter;q=this.collisionIndex.placeCollisionCircles(m,oe,i.lineVertexArray,i.glyphOffsetArray,Ee,s,l,r,M,d.predicate,ue,ye,a,C),q.circles.length&&q.collisionDetected&&!r&&Ma("Collisions detected, but collision boxes are not shown"),I=g||q.circles.length>0&&!q.collisionDetected,O&&(O=q.offscreen)}if(P.iconFeatureIndex&&(X=P.iconFeatureIndex),P.iconBox){let oe=Ee=>this.collisionIndex.placeCollisionBox(Ee,w,u,S,s,M,_,o,d.predicate,C,x&&$?$:void 0,k,L,A);K&&K.placeable&&P.verticalIconBox?(J=oe(P.verticalIconBox),B=J.placeable):(J=oe(P.iconBox),B=J.placeable),O&&(O=J.offscreen)}let G=p||F.numHorizontalGlyphVertices===0&&F.numVerticalGlyphVertices===0,Q=v||F.numIconVertices===0;!G&&!Q?B=I=B&&I:Q?G||B&&(B=I):I=B&&I;let te=I&&j.placeable,ce=B&&J.placeable;if(te&&(K&&K.placeable&&V?this.collisionIndex.insertCollisionBox(j.box,m,n.get("text-ignore-placement"),i.bucketInstanceId,V,d.ID):this.collisionIndex.insertCollisionBox(j.box,m,n.get("text-ignore-placement"),i.bucketInstanceId,U,d.ID)),ce&&this.collisionIndex.insertCollisionBox(J.box,w,n.get("icon-ignore-placement"),i.bucketInstanceId,X,d.ID),q&&I&&this.collisionIndex.insertCollisionCircles(q.circles,m,n.get("text-ignore-placement"),i.bucketInstanceId,U,d.ID),r&&this.storeCollisionData(i.bucketInstanceId,R,P,j,J,q),F.crossTileID===0)throw Error("symbolInstance.crossTileID can't be 0");if(i.bucketInstanceId===0)throw Error("bucket.bucketInstanceId can't be 0");let ge=(I||y)&&!(j!=null&&j.occluded),Ce=(B||E)&&!(J!=null&&J.occluded);this.placements[F.crossTileID]=new cat(ge,Ce,O||i.justReloaded),t[F.crossTileID]=!0};if(T){if(e.symbolInstanceStart!==0)throw Error("bucket.bucketInstanceId should be 0");let F=i.getSortedSymbolIndexes(-this.transform.bearingInRadians);for(let P=F.length-1;P>=0;--P){let R=F[P];D(i.symbolInstances.get(R),i.collisionArrays[R],R)}}else for(let F=e.symbolInstanceStart;F=0&&(a>=0&&s!==a?e.text.placedSymbolArray.get(s).crossTileID=0:e.text.placedSymbolArray.get(s).crossTileID=r.crossTileID)}markUsedOrientation(e,t,r){let i=t===1||t===3?t:0,n=t===2?t:0,a=[r.leftJustifiedTextSymbolIndex,r.centerJustifiedTextSymbolIndex,r.rightJustifiedTextSymbolIndex];for(let o of a)e.text.placedSymbolArray.get(o).placedOrientation=i;r.verticalPlacedTextSymbolIndex&&(e.text.placedSymbolArray.get(r.verticalPlacedTextSymbolIndex).placedOrientation=n)}commit(e){this.commitTime=e,this.zoomAtLastRecencyCheck=this.transform.zoom;let t=this.prevPlacement,r=!1;this.prevZoomAdjustment=t?t.zoomAdjustment(this.transform.zoom):0;let i=t?t.symbolFadeChange(e):1,n=t?t.opacities:{},a=t?t.variableOffsets:{},o=t?t.placedOrientations:{};for(let s in this.placements){let l=this.placements[s],u=n[s];u?(this.opacities[s]=new d8(u,i,l.text,l.icon),r||(r=l.text!==u.text.placed),r||(r=l.icon!==u.icon.placed)):(this.opacities[s]=new d8(null,i,l.text,l.icon,l.skipFade),r||(r=l.text||l.icon))}for(let s in n){let l=n[s];if(!this.opacities[s]){let u=new d8(l,i,!1,!1);u.isHidden()||(this.opacities[s]=u,r||(r=l.text.placed),r||(r=l.icon.placed))}}for(let s in a)!this.variableOffsets[s]&&this.opacities[s]&&!this.opacities[s].isHidden()&&(this.variableOffsets[s]=a[s]);for(let s in o)!this.placedOrientations[s]&&this.opacities[s]&&!this.opacities[s].isHidden()&&(this.placedOrientations[s]=o[s]);if(t&&t.lastPlacementChangeTime===void 0)throw Error("Last placement time for previous placement is not defined");r?this.lastPlacementChangeTime=e:typeof this.lastPlacementChangeTime!="number"&&(this.lastPlacementChangeTime=t?t.lastPlacementChangeTime:e)}updateLayerOpacities(e,t){let r={};for(let i of t){let n=i.getBucket(e);n&&i.latestFeatureIndex&&e.id===n.layerIds[0]&&this.updateBucketOpacities(n,i.tileID,r,i.collisionBoxArray)}}updateBucketOpacities(e,t,r,i){e.hasTextData()&&(e.text.opacityVertexArray.clear(),e.text.hasVisibleVertices=!1),e.hasIconData()&&(e.icon.opacityVertexArray.clear(),e.icon.hasVisibleVertices=!1),e.hasIconCollisionBoxData()&&e.iconCollisionBox.collisionVertexArray.clear(),e.hasTextCollisionBoxData()&&e.textCollisionBox.collisionVertexArray.clear();let n=e.layers[0],a=n.layout,o=new d8(null,0,!1,!1,!0),s=a.get("text-allow-overlap"),l=a.get("icon-allow-overlap"),u=n._unevaluatedLayout.hasValue("text-variable-anchor")||n._unevaluatedLayout.hasValue("text-variable-anchor-offset"),c=a.get("text-rotation-alignment")==="map",f=a.get("text-pitch-alignment")==="map",h=a.get("icon-text-fit")!=="none",d=new d8(null,0,s&&(l||!e.hasIconData()||a.get("icon-optional")),l&&(s||!e.hasTextData()||a.get("text-optional")),!0);!e.collisionArrays&&i&&(e.hasIconCollisionBoxData()||e.hasTextCollisionBoxData())&&e.deserializeCollisionBoxes(i);let p=(m,g,w)=>{for(let b=0;b0||b>0,A=g.numIconVertices>0,y=this.placedOrientations[g.crossTileID],E=y===2,S=y===1||y===3;if(T){let k=dat(x.text),D=E?p8:k;p(e.text,w,D);let F=S?p8:k;p(e.text,b,F);let P=x.text.isHidden(),R=[g.rightJustifiedTextSymbolIndex,g.centerJustifiedTextSymbolIndex,g.leftJustifiedTextSymbolIndex];for(let B of R)B>=0&&(e.text.placedSymbolArray.get(B).hidden=P||E?1:0);g.verticalPlacedTextSymbolIndex>=0&&(e.text.placedSymbolArray.get(g.verticalPlacedTextSymbolIndex).hidden=P||S?1:0);let L=this.variableOffsets[g.crossTileID];L&&this.markUsedJustification(e,L.anchor,g,y);let I=this.placedOrientations[g.crossTileID];I&&(this.markUsedJustification(e,"left",g,I),this.markUsedOrientation(e,I,g))}if(A){let k=dat(x.icon),D=!(h&&g.verticalPlacedIconSymbolIndex&&E);if(g.placedIconSymbolIndex>=0){let F=D?k:p8;p(e.icon,g.numIconVertices,F),e.icon.placedSymbolArray.get(g.placedIconSymbolIndex).hidden=x.icon.isHidden()}if(g.verticalPlacedIconSymbolIndex>=0){let F=D?p8:k;p(e.icon,g.numVerticalIconVertices,F),e.icon.placedSymbolArray.get(g.verticalPlacedIconSymbolIndex).hidden=x.icon.isHidden()}}let C=v!=null&&v.has(m)?v.get(m):{text:null,icon:null};if(e.hasIconCollisionBoxData()||e.hasTextCollisionBoxData()){let k=e.collisionArrays[m];if(k){let D=new tr(0,0);if(k.textBox||k.verticalTextBox){let F=!0;if(u){let P=this.variableOffsets[_];P?(D=fat(P.anchor,P.width,P.height,P.textOffset,P.textBoxScale),c&&D._rotate(f?-this.transform.bearingInRadians:this.transform.bearingInRadians)):F=!1}if(k.textBox||k.verticalTextBox){let P;k.textBox&&(P=E),k.verticalTextBox&&(P=S),hat(e.textCollisionBox.collisionVertexArray,x.text.placed,!F||P,C.text,D.x,D.y)}}if(k.iconBox||k.verticalIconBox){let F=!(S||!k.verticalIconBox),P;k.iconBox&&(P=F),k.verticalIconBox&&(P=!F),hat(e.iconCollisionBox.collisionVertexArray,x.icon.placed,P,C.icon,h?D.x:0,h?D.y:0)}}}}if(e.sortFeatures(-this.transform.bearingInRadians),this.retainedQueryData[e.bucketInstanceId]&&(this.retainedQueryData[e.bucketInstanceId].featureSortOrder=e.featureSortOrder),e.hasTextData()&&e.text.opacityVertexBuffer&&e.text.opacityVertexBuffer.updateData(e.text.opacityVertexArray),e.hasIconData()&&e.icon.opacityVertexBuffer&&e.icon.opacityVertexBuffer.updateData(e.icon.opacityVertexArray),e.hasIconCollisionBoxData()&&e.iconCollisionBox.collisionVertexBuffer&&e.iconCollisionBox.collisionVertexBuffer.updateData(e.iconCollisionBox.collisionVertexArray),e.hasTextCollisionBoxData()&&e.textCollisionBox.collisionVertexBuffer&&e.textCollisionBox.collisionVertexBuffer.updateData(e.textCollisionBox.collisionVertexArray),e.text.opacityVertexArray.length!==e.text.layoutVertexArray.length/4)throw Error(`bucket.text.opacityVertexArray.length (= ${e.text.opacityVertexArray.length}) !== bucket.text.layoutVertexArray.length (= ${e.text.layoutVertexArray.length}) / 4`);if(e.icon.opacityVertexArray.length!==e.icon.layoutVertexArray.length/4)throw Error(`bucket.icon.opacityVertexArray.length (= ${e.icon.opacityVertexArray.length}) !== bucket.icon.layoutVertexArray.length (= ${e.icon.layoutVertexArray.length}) / 4`);e.bucketInstanceId in this.collisionCircleArrays&&(e.collisionCircleArray=this.collisionCircleArrays[e.bucketInstanceId],delete this.collisionCircleArrays[e.bucketInstanceId])}symbolFadeChange(e){return this.fadeDuration===0?1:(e-this.commitTime)/this.fadeDuration+this.prevZoomAdjustment}zoomAdjustment(e){return Math.max(0,(this.transform.zoom-e)/1.5)}hasTransitions(e){return this.stale||e-this.lastPlacementChangeTimee}setStale(){this.stale=!0}};S3r=2**25,E3r=2**24,k3r=2**17,C3r=2**16;p8=0,D3r=class{constructor(e){this._sortAcrossTiles=e.layout.get("symbol-z-order")!=="viewport-y"&&!e.layout.get("symbol-sort-key").isConstant(),this._currentTileIndex=0,this._currentPartIndex=0,this._seenCrossTileIDs={},this._bucketParts=[]}continuePlacement(e,t,r,i,n){let a=this._bucketParts;for(;this._currentTileIndexo.sortKey-s.sortKey));this._currentPartIndex!this._forceFullPlacement&&Oo()-i>2;for(;this._currentPlacementIndex>=0;){let a=t[e[this._currentPlacementIndex]],o=this.placement.collisionIndex.transform.zoom;if(vne(a)&&a.layout&&(!a.minzoom||a.minzoom<=o)&&(!a.maxzoom||a.maxzoom>o)){if(this._inProgressLayer||(this._inProgressLayer=new D3r(a)),this._inProgressLayer.continuePlacement(r[a.source],this.placement,this._showCollisionBoxes,a,n))return;delete this._inProgressLayer}this._currentPlacementIndex--}this._done=!0}commit(e){return this.placement.commit(e),this.placement}},pat=[Int8Array,Uint8Array,Uint8ClampedArray,Int16Array,Uint16Array,Int32Array,Uint32Array,Float32Array,Float64Array],xl=new Uint32Array(96),L3r=class Mot{static from(t){if(!t||t.byteLength===void 0||t.buffer)throw Error("Data must be an instance of ArrayBuffer or SharedArrayBuffer.");let[r,i]=new Uint8Array(t,0,2);if(r!==219)throw Error("Data does not appear to be in a KDBush format.");let n=i>>4;if(n!==1)throw Error(`Got v${n} data when expected v1.`);let a=pat[i&15];if(!a)throw Error("Unrecognized array type.");let[o]=new Uint16Array(t,2,1),[s]=new Uint32Array(t,4,1);return new Mot(s,o,a,void 0,t)}constructor(t,r=64,i=Float64Array,n=ArrayBuffer,a){if(isNaN(t)||t<0)throw Error(`Unexpected numItems value: ${t}.`);this.numItems=+t,this.nodeSize=Math.min(Math.max(+r,2),65535),this.ArrayType=i,this.IndexArrayType=t<65536?Uint16Array:Uint32Array;let o=pat.indexOf(this.ArrayType),s=t*2*this.ArrayType.BYTES_PER_ELEMENT,l=t*this.IndexArrayType.BYTES_PER_ELEMENT,u=(8-l%8)%8;if(o<0)throw Error(`Unexpected typed array class: ${i}.`);if(a)this.data=a,this.ids=new this.IndexArrayType(a,8,t),this.coords=new i(a,8+l+u,t*2),this._pos=t*2,this._finished=!0;else{let c=this.data=new n(8+s+l+u);this.ids=new this.IndexArrayType(c,8,t),this.coords=new i(c,8+l+u,t*2),this._pos=0,this._finished=!1,new Uint8Array(c,0,2).set([219,16+o]),new Uint16Array(c,2,1)[0]=r,new Uint32Array(c,4,1)[0]=t}}add(t,r){let i=this._pos>>1;return this.ids[i]=i,this.coords[this._pos++]=t,this.coords[this._pos++]=r,i}finish(){let t=this._pos>>1;if(t!==this.numItems)throw Error(`Added ${t} items when expected ${this.numItems}.`);return lae(this.ids,this.coords,this.nodeSize,0,this.numItems-1,0),this._finished=!0,this}range(t,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:o,nodeSize:s}=this;xl[0]=0,xl[1]=a.length-1,xl[2]=0;let l=3,u=[];for(;l>0;){let c=xl[--l],f=xl[--l],h=xl[--l];if(f-h<=s){for(let m=h;m<=f;m++){let g=o[2*m],w=o[2*m+1];g>=t&&g<=i&&w>=r&&w<=n&&u.push(a[m])}continue}let d=h+f>>1,p=o[2*d],v=o[2*d+1];p>=t&&p<=i&&v>=r&&v<=n&&u.push(a[d]),(c===0?t<=p:r<=v)&&(xl[l++]=h,xl[l++]=d-1,xl[l++]=1-c),(c===0?i>=p:n>=v)&&(xl[l++]=d+1,xl[l++]=f,xl[l++]=1-c)}return u}within(t,r,i){let n=[];return this.withinInto(t,r,i,n),n}withinInto(t,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:o,nodeSize:s}=this;xl[0]=0,xl[1]=a.length-1,xl[2]=0;let l=3,u=0,c=i*i;for(;l>0;){let f=xl[--l],h=xl[--l],d=xl[--l];if(h-d<=s){for(let g=d;g<=h;g++)vat(o[2*g],o[2*g+1],t,r)<=c&&(n[u++]=a[g]);continue}let p=d+h>>1,v=o[2*p],m=o[2*p+1];vat(v,m,t,r)<=c&&(n[u++]=a[p]),(f===0?t-i<=v:r-i<=m)&&(xl[l++]=d,xl[l++]=p-1,xl[l++]=1-f),(f===0?t+i>=v:r+i>=m)&&(xl[l++]=p+1,xl[l++]=h,xl[l++]=1-f)}return u}};g8=512/zr/2,P3r=class{constructor(e,t,r){this.tileID=e,this.bucketInstanceId=r,this._symbolsByKey={};let i=new Map;for(let n=0;n({x:Math.floor(s.anchorX*g8),y:Math.floor(s.anchorY*g8)})),crossTileIDs:a.map(s=>s.crossTileID)};if(o.positions.length>128){let s=new L3r(o.positions.length,16,Uint16Array);for(let{x:l,y:u}of o.positions)s.add(l,u);s.finish(),delete o.positions,o.index=s}this._symbolsByKey[n]=o}}getScaledCoordinates(e,t){let{x:r,y:i,z:n}=this.tileID.canonical,{x:a,y:o,z:s}=t.canonical,l=s-n,u=g8/2**l,c=(a*zr+e.anchorX)*u,f=(o*zr+e.anchorY)*u,h=r*zr*g8,d=i*zr*g8;return{x:Math.floor(c-h),y:Math.floor(f-d)}}findMatches(e,t,r){let i=this.tileID.canonical.ze)}},I3r=class{constructor(){this.maxCrossTileID=0}generate(){return++this.maxCrossTileID}},R3r=class{constructor(){this.indexes={},this.usedCrossTileIDs={},this.lng=0}handleWrapJump(e){let t=Math.round((e-this.lng)/360);if(t!==0)for(let r in this.indexes){let i=this.indexes[r],n={};for(let a in i){let o=i[a];o.tileID=o.tileID.unwrapTo(o.tileID.wrap+t),n[o.tileID.key]=o}this.indexes[r]=n}this.lng=e}addBucket(e,t,r){var n,a,o;if((n=this.indexes[e.overscaledZ])!=null&&n[e.key]){if(this.indexes[e.overscaledZ][e.key].bucketInstanceId===t.bucketInstanceId)return!1;this.removeBucketCrossTileIDs(e.overscaledZ,this.indexes[e.overscaledZ][e.key])}for(let s=0;se.overscaledZ)for(let u in l){let c=l[u];c.tileID.isChildOf(e)&&c.findMatches(t.symbolInstances,e,i)}else{let u=l[e.scaledTo(Number(s)).key];u&&u.findMatches(t.symbolInstances,e,i)}}for(let s=0;s> 1u)/127.0,float(packedOpacity & 1u));}vec4 decode_color(const vec2 encodedColor) {return vec4(unpack_float(encodedColor[0])/255.0,unpack_float(encodedColor[1])/255.0 +);}float unpack_mix_vec2(const vec2 packedValue,const float t) {return mix(packedValue[0],packedValue[1],t);}vec4 unpack_mix_color(const vec4 packedColors,const float t) {vec4 minColor=decode_color(vec2(packedColors[0],packedColors[1]));vec4 maxColor=decode_color(vec2(packedColors[2],packedColors[3]));return mix(minColor,maxColor,t);}vec2 get_pattern_pos(const vec2 pixel_coord_upper,const vec2 pixel_coord_lower,const vec2 pattern_size,const float tile_units_to_pixels,const vec2 pos) {vec2 offset=mod(mod(mod(pixel_coord_upper,pattern_size)*256.0,pattern_size)*256.0+pixel_coord_lower,pattern_size);return (tile_units_to_pixels*pos+offset)/pattern_size;}mat3 rotationMatrixFromAxisAngle(vec3 u,float angle) {float c=cos(angle);float s=sin(angle);float c2=1.0-c;return mat3(u.x*u.x*c2+ c,u.x*u.y*c2-u.z*s,u.x*u.z*c2+u.y*s,u.y*u.x*c2+u.z*s,u.y*u.y*c2+ c,u.y*u.z*c2-u.x*s,u.z*u.x*c2-u.y*s,u.z*u.y*c2+u.x*s,u.z*u.z*c2+ c +);} +#ifdef TERRAIN3D +uniform sampler2D u_terrain;uniform highp sampler2D u_depth;layout(std140) uniform TerrainUBO {highp mat4 u_terrain_matrix;highp vec4 u_terrain_unpack;highp float u_terrain_dim;highp float u_terrain_exaggeration;}; +#endif +const highp vec4 bitSh=vec4(256.*256.*256.,256.*256.,256.,1.);const highp vec4 bitShifts=vec4(1.)/bitSh;highp float unpack(highp vec4 color) {return dot(color,bitShifts);}highp float depthOpacity(vec3 frag) { +#ifdef TERRAIN3D +highp float d=unpack(texture(u_depth,frag.xy*0.5+0.5))+0.0001-frag.z;return 1.0-max(0.0,min(1.0,-d*500.0)); +#else +return 1.0; +#endif +}float calculate_visibility(vec4 pos) { +#ifdef TERRAIN3D +vec3 frag=pos.xyz/pos.w;highp float d=depthOpacity(frag);if (d > 0.95) return 1.0;return (d+depthOpacity(frag+vec3(0.0,0.01,0.0)))/2.0; +#else +return 1.0; +#endif +}float ele(ivec2 pos) { +#ifdef TERRAIN3D +vec4 rgb=(texelFetch(u_terrain,pos,0)*255.0)*u_terrain_unpack;return rgb.r+rgb.g+rgb.b-u_terrain_unpack.a; +#else +return 0.0; +#endif +}float get_elevation(vec2 pos) { +#ifdef TERRAIN3D +#ifdef GLOBE +if ((pos.y <-32767.5) || (pos.y > 32766.5)) {return 0.0;} +#endif +vec2 coord=(u_terrain_matrix*vec4(pos,0.0,1.0)).xy*u_terrain_dim+2.0;vec2 f=fract(coord);ivec2 c=ivec2(floor(coord));ivec2 hi=textureSize(u_terrain,0)-1;float tl=ele(clamp(c,ivec2(0),hi));float tr=ele(clamp(c+ivec2(1,0),ivec2(0),hi));float bl=ele(clamp(c+ivec2(0,1),ivec2(0),hi));float br=ele(clamp(c+ivec2(1,1),ivec2(0),hi));float elevation=mix(mix(tl,tr,f.x),mix(bl,br,f.x),f.y);return elevation*u_terrain_exaggeration; +#else +return 0.0; +#endif +}const float PI=3.141592653589793; +#define PROJECTION_UBO +layout(std140) uniform ProjectionUBO {highp mat4 u_projection_matrix;highp mat4 u_projection_fallback_matrix;highp vec4 u_projection_tile_mercator_coords;highp vec4 u_projection_clipping_plane;highp float u_projection_transition;highp int u_projection_clip_antimeridian;};layout(std140) uniform FrameUBO {highp vec2 u_units_to_pixels;highp vec2 u_world_size;highp float u_camera_to_center_distance;highp float u_symbol_fade_change;highp float u_aspect_ratio;highp float u_device_pixel_ratio;highp vec2 u_viewport_size;highp vec2 u_pixel_extrude_scale;highp float u_pitch;};`,q3r=`uniform vec4 u_color;uniform float u_opacity;void main() {fragColor=u_color*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,O3r="layout(location=0) in vec2 a_pos;void main() {gl_Position=projectTile(a_pos);}",N3r=`uniform vec2 u_pattern_tl_a;uniform vec2 u_pattern_br_a;uniform vec2 u_pattern_tl_b;uniform vec2 u_pattern_br_b;uniform vec2 u_texsize;uniform float u_mix;uniform float u_opacity;uniform sampler2D u_image;in vec2 v_pos_a;in vec2 v_pos_b;void main() {vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(u_pattern_tl_a/u_texsize,u_pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(u_pattern_tl_b/u_texsize,u_pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);fragColor=mix(color1,color2,u_mix)*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,U3r="uniform vec2 u_pattern_size_a;uniform vec2 u_pattern_size_b;uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform float u_scale_a;uniform float u_scale_b;uniform float u_tile_units_to_pixels;layout(location=0) in vec2 a_pos;out vec2 v_pos_a;out vec2 v_pos_b;void main() {gl_Position=projectTile(a_pos);v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,u_scale_a*u_pattern_size_a,u_tile_units_to_pixels,a_pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,u_scale_b*u_pattern_size_b,u_tile_units_to_pixels,a_pos);}",V3r=`in vec3 v_data;flat in float v_visibility; +#pragma maplibre: define highp vec4 color +#pragma maplibre: define mediump float radius +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 stroke_color +#pragma maplibre: define mediump float stroke_width +#pragma maplibre: define lowp float stroke_opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump float radius +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 stroke_color +#pragma maplibre: initialize mediump float stroke_width +#pragma maplibre: initialize lowp float stroke_opacity +vec2 extrude=v_data.xy;float extrude_length=length(extrude);float antialiased_blur=v_data.z;float opacity_t=smoothstep(0.0,antialiased_blur,extrude_length-1.0);float color_t=stroke_width < 0.01 ? 0.0 : smoothstep(antialiased_blur,0.0,extrude_length-radius/(radius+stroke_width));fragColor=v_visibility*opacity_t*mix(color*opacity,stroke_color*stroke_opacity,color_t);const float epsilon=0.5/255.0;if (fragColor.r < epsilon && fragColor.g < epsilon && fragColor.b < epsilon && fragColor.a < epsilon) {discard;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,G3r=`uniform bool u_scale_with_map;uniform bool u_pitch_with_map;uniform vec2 u_extrude_scale;uniform highp float u_globe_extrude_scale;uniform vec2 u_translate;layout(location=0) in ivec2 a_pos;out vec3 v_data;flat out float v_visibility; +#pragma maplibre: define highp vec4 color +#pragma maplibre: define mediump float radius +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 stroke_color +#pragma maplibre: define mediump float stroke_width +#pragma maplibre: define lowp float stroke_opacity +void main(void) { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump float radius +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 stroke_color +#pragma maplibre: initialize mediump float stroke_width +#pragma maplibre: initialize lowp float stroke_opacity +ivec2 pos_raw=a_pos+32768;vec2 extrude=vec2(pos_raw & 7)/7.0*2.0-1.0;vec2 circle_center=vec2(pos_raw >> 3)+u_translate;float ele=get_elevation(circle_center);v_visibility=calculate_visibility(projectTileWithElevation(circle_center,ele));if (u_pitch_with_map) { +#ifdef GLOBE +vec3 center_vector=projectToSphere(circle_center); +#endif +float angle_scale=u_globe_extrude_scale;vec2 corner_position=circle_center;if (u_scale_with_map) {angle_scale*=(radius+stroke_width);corner_position+=extrude*u_extrude_scale*(radius+stroke_width);} else { +#ifdef GLOBE +vec4 projected_center=interpolateProjection(circle_center,center_vector,ele); +#else +vec4 projected_center=projectTileWithElevation(circle_center,ele); +#endif +corner_position+=extrude*u_extrude_scale*(radius+stroke_width)*(projected_center.w/u_camera_to_center_distance);angle_scale*=(radius+stroke_width)*(projected_center.w/u_camera_to_center_distance);} +#ifdef GLOBE +vec2 angles=extrude*angle_scale;vec3 corner_vector=globeRotateVector(center_vector,angles);gl_Position=interpolateProjection(corner_position,corner_vector,ele); +#else +gl_Position=projectTileWithElevation(corner_position,ele); +#endif +} else {gl_Position=projectTileWithElevation(circle_center,ele);if (gl_Position.z/gl_Position.w > 1.0) {gl_Position.xy=vec2(10000.0);}if (u_scale_with_map) {gl_Position.xy+=extrude*(radius+stroke_width)*u_extrude_scale*u_camera_to_center_distance;} else {gl_Position.xy+=extrude*(radius+stroke_width)*u_extrude_scale*gl_Position.w;}}float antialiasblur=-max(1.0/u_device_pixel_ratio/(radius+stroke_width),blur);v_data=vec3(extrude.x,extrude.y,antialiasblur);}`,gat="void main() {fragColor=vec4(1.0);}",tg={prelude:fo(z3r,B3r),projectionMercator:fo(` +void clipAntimeridian() {}`,"float projectLineThickness(float tileY) {return 1.0;}float projectCircleRadius(float tileY) {return 1.0;}vec4 projectTile(vec2 p) {vec4 result=u_projection_matrix*vec4(p,0.0,1.0);return result;}vec4 projectTile(vec2 p,vec2 rawPos) {vec4 result=u_projection_matrix*vec4(p,0.0,1.0);if (rawPos.y <-32767.5 || rawPos.y > 32766.5) {result.z=-10000000.0;}return result;}vec4 projectTileWithElevation(vec2 posInTile,float elevation) {return u_projection_matrix*vec4(posInTile,elevation,1.0);}vec4 projectTileFor3D(vec2 posInTile,float elevation) {return projectTileWithElevation(posInTile,elevation);}"),projectionGlobe:fo("in highp float v_projection_tile_x;void clipAntimeridian() {if (u_projection_clip_antimeridian !=0 && (v_projection_tile_x < 0.0 || v_projection_tile_x >=8192.0)) {discard;}}",`#define GLOBE_RADIUS 6371008.8 +#ifndef PROJECTION_UBO +uniform highp vec4 u_projection_tile_mercator_coords;uniform highp vec4 u_projection_clipping_plane;uniform highp float u_projection_transition;uniform mat4 u_projection_fallback_matrix; +#endif +out highp float v_projection_tile_x;vec3 globeRotateVector(vec3 vec,vec2 angles) {vec3 axisRight=vec3(vec.z,0.0,-vec.x);vec3 axisUp=cross(axisRight,vec);axisRight=normalize(axisRight);axisUp=normalize(axisUp);vec2 t=tan(angles);return normalize(vec+axisRight*t.x+axisUp*t.y);}mat3 globeGetRotationMatrix(vec3 spherePos) {vec3 axisRight=vec3(spherePos.z,0.0,-spherePos.x);vec3 axisDown=cross(axisRight,spherePos);axisRight=normalize(axisRight);axisDown=normalize(axisDown);return mat3(axisRight,axisDown,spherePos +);}float circumferenceRatioAtTileY(float tileY) {float mercator_pos_y=u_projection_tile_mercator_coords.y+u_projection_tile_mercator_coords.w*tileY;float t=exp(PI-(mercator_pos_y*PI*2.0));return (2.0*t)/(t*t+1.0);}float projectLineThickness(float tileY) {float thickness=1.0/circumferenceRatioAtTileY(tileY);if (u_projection_transition < 0.999) {return mix(1.0,thickness,u_projection_transition);} else {return thickness;}}vec3 projectToSphere(vec2 translatedPos,vec2 rawPos) {vec2 mercator_pos=u_projection_tile_mercator_coords.xy+u_projection_tile_mercator_coords.zw*translatedPos;float spherical_x=mercator_pos.x*PI*2.0+PI;float t=exp(PI-(mercator_pos.y*PI*2.0));float t2=t*t;float denom=t2+1.0;float sin_sy=(t2-1.0)/denom;float cos_sy=(2.0*t)/denom;vec3 pos=vec3(sin(spherical_x)*cos_sy,sin_sy,cos(spherical_x)*cos_sy +);if (rawPos.y <-32767.5) {pos=vec3(0.0,1.0,0.0);}if (rawPos.y > 32766.5) {pos=vec3(0.0,-1.0,0.0);}return pos;}vec3 projectToSphere(vec2 posInTile) {return projectToSphere(posInTile,vec2(0.0,0.0));}float globeComputeClippingZ(vec3 spherePos) {return (1.0-(dot(spherePos,u_projection_clipping_plane.xyz)+u_projection_clipping_plane.w));}vec4 interpolateProjection(vec2 posInTile,vec3 spherePos,float elevation) {v_projection_tile_x=posInTile.x;vec3 elevatedPos=spherePos*(1.0+elevation/GLOBE_RADIUS);vec4 globePosition=u_projection_matrix*vec4(elevatedPos,1.0);globePosition.z=globeComputeClippingZ(elevatedPos)*globePosition.w;if (u_projection_transition > 0.999) {return globePosition;}vec4 flatPosition=u_projection_fallback_matrix*vec4(posInTile,elevation,1.0);const float z_globeness_threshold=0.2;vec4 result=globePosition;result.z=mix(0.0,globePosition.z,clamp((u_projection_transition-z_globeness_threshold)/(1.0-z_globeness_threshold),0.0,1.0));result.xyw=mix(flatPosition.xyw,globePosition.xyw,u_projection_transition);if ((posInTile.y <-32767.5) || (posInTile.y > 32766.5)) {result=globePosition;const float poles_hidden_anim_percentage=0.02;result.z=mix(globePosition.z,100.0,pow(max((1.0-u_projection_transition)/poles_hidden_anim_percentage,0.0),8.0));}return result;}vec4 interpolateProjectionFor3D(vec2 posInTile,vec3 spherePos,float elevation) {v_projection_tile_x=posInTile.x;vec3 elevatedPos=spherePos*(1.0+elevation/GLOBE_RADIUS);vec4 globePosition=u_projection_matrix*vec4(elevatedPos,1.0);if (u_projection_transition > 0.999) {return globePosition;}vec4 fallbackPosition=u_projection_fallback_matrix*vec4(posInTile,elevation,1.0);return mix(fallbackPosition,globePosition,u_projection_transition);}vec4 projectTile(vec2 posInTile) {return interpolateProjection(posInTile,projectToSphere(posInTile),0.0);}vec4 projectTile(vec2 posInTile,vec2 rawPos) {return interpolateProjection(posInTile,projectToSphere(posInTile,rawPos),0.0);}vec4 projectTileWithElevation(vec2 posInTile,float elevation) {return interpolateProjection(posInTile,projectToSphere(posInTile),elevation);}vec4 projectTileFor3D(vec2 posInTile,float elevation) {vec3 spherePos=projectToSphere(posInTile,posInTile);return interpolateProjectionFor3D(posInTile,spherePos,elevation);}`),background:fo(q3r,O3r),backgroundPattern:fo(N3r,U3r),circle:fo(V3r,G3r),clippingMask:fo(gat,"layout(location=0) in vec2 a_pos;void main() {gl_Position=projectTile(a_pos);}"),heatmap:fo(`uniform highp float u_intensity;in vec2 v_extrude; +#pragma maplibre: define highp float weight +#define GAUSS_COEF 0.3989422804014327 +void main() { +#pragma maplibre: initialize highp float weight +float d=-0.5*3.0*3.0*dot(v_extrude,v_extrude);float val=weight*u_intensity*GAUSS_COEF*exp(d);fragColor=vec4(val,1.0,1.0,1.0); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform float u_extrude_scale;uniform float u_opacity;uniform float u_intensity;uniform highp float u_globe_extrude_scale;layout(location=0) in ivec2 a_pos;out vec2 v_extrude; +#pragma maplibre: define highp float weight +#pragma maplibre: define mediump float radius +const highp float ZERO=1.0/255.0/16.0; +#define GAUSS_COEF 0.3989422804014327 +void main(void) { +#pragma maplibre: initialize highp float weight +#pragma maplibre: initialize mediump float radius +ivec2 pos_raw=a_pos+32768;vec2 unscaled_extrude=vec2(pos_raw & 7)/7.0*2.0-1.0;float S=sqrt(-2.0*log(ZERO/weight/u_intensity/GAUSS_COEF))/3.0;v_extrude=S*unscaled_extrude;vec2 extrude=v_extrude*radius*u_extrude_scale;vec2 circle_center=vec2(pos_raw >> 3); +#ifdef GLOBE +vec2 angles=v_extrude*radius*u_globe_extrude_scale;vec3 center_vector=projectToSphere(circle_center);vec3 corner_vector=globeRotateVector(center_vector,angles);gl_Position=interpolateProjection(circle_center+extrude,corner_vector,0.0); +#else +gl_Position=projectTileFor3D(circle_center+extrude,get_elevation(circle_center)); +#endif +}`),heatmapTexture:fo(`uniform sampler2D u_image;uniform sampler2D u_color_ramp;uniform float u_opacity;in vec2 v_pos;void main() {float t=texture(u_image,v_pos).r;vec4 color=texture(u_color_ramp,vec2(t,0.5));fragColor=color*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(0.0); +#endif +}`,"uniform mat4 u_matrix;layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=u_matrix*vec4(a_pos*u_world_size,0,1);v_pos.x=a_pos.x;v_pos.y=1.0-a_pos.y;}"),collisionBox:fo("flat in float v_placed;flat in float v_notUsed;void main() {float alpha=0.5;fragColor=vec4(1.0,0.0,0.0,1.0)*alpha;if (v_placed > 0.5) {fragColor=vec4(0.0,0.0,1.0,0.5)*alpha;}if (v_notUsed > 0.5) {fragColor*=.1;}}","layout(location=0) in vec2 a_anchor_pos;layout(location=1) in vec2 a_placed;layout(location=2) in vec2 a_box_real;flat out float v_placed;flat out float v_notUsed;void main() {gl_Position=projectTileWithElevation(a_anchor_pos,get_elevation(a_anchor_pos));gl_Position.xy=((a_box_real+0.5)*u_pixel_extrude_scale*2.0-1.0)*vec2(1.0,-1.0)*gl_Position.w;if (gl_Position.z/gl_Position.w < 1.1) {gl_Position.z=0.5;}v_placed=a_placed.x;v_notUsed=a_placed.y;}"),collisionCircle:fo("flat in float v_radius;in vec2 v_extrude;flat in float v_collision;void main() {float alpha=0.5;float stroke_radius=0.9;float distance_to_center=length(v_extrude);float distance_to_edge=abs(distance_to_center-v_radius);float opacity_t=smoothstep(-stroke_radius,0.0,-distance_to_edge);vec4 color=mix(vec4(0.0,0.0,1.0,0.5),vec4(1.0,0.0,0.0,1.0),v_collision);fragColor=color*alpha*opacity_t;}","layout(location=0) in vec2 a_pos;layout(location=1) in float a_radius;layout(location=2) in vec2 a_flags;flat out float v_radius;out vec2 v_extrude;flat out float v_collision;void main() {float radius=a_radius;float collision=a_flags.x;float vertexIdx=a_flags.y;vec2 quadVertexOffset=vec2(mix(-1.0,1.0,float(vertexIdx >=2.0)),mix(-1.0,1.0,float(vertexIdx >=1.0 && vertexIdx <=2.0)));vec2 quadVertexExtent=quadVertexOffset*radius;float padding_factor=1.2;v_radius=radius;v_extrude=quadVertexExtent*padding_factor;v_collision=collision;gl_Position=vec4((a_pos/u_viewport_size*2.0-1.0)*vec2(1.0,-1.0),0.0,1.0)+vec4(quadVertexExtent*padding_factor/u_viewport_size*2.0,0.0,0.0);}"),colorRelief:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform sampler2D u_image;uniform vec4 u_unpack;uniform sampler2D u_elevation_stops;uniform sampler2D u_color_stops;uniform int u_color_ramp_size;uniform float u_opacity;in vec2 v_pos;float getElevation(vec2 coord) {vec4 data=texture(u_image,coord)*255.0;data.a=-1.0;return dot(data,u_unpack);}float getElevationStop(int stop) {vec4 data=texelFetch(u_elevation_stops,ivec2(stop,0),0)*255.0;data.a=-1.0;return dot(data,u_unpack);}void main() {float el=getElevation(v_pos);int r=(u_color_ramp_size-1);int l=0;float el_l=getElevationStop(l);float el_r=getElevationStop(r);while(r-l > 1){int m=(r+l)/2;float el_m=getElevationStop(m);if(el < el_m){r=m;el_r=el_m;}else +{l=m;el_l=el_m;}}float x=(float(l)+(el-el_l)/(el_r-el_l)+0.5)/float(u_color_ramp_size);fragColor=u_opacity*texture(u_color_stops,vec2(x,0)); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,"uniform vec2 u_dimension;layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=projectTile(a_pos,a_pos);highp vec2 epsilon=2.0/u_dimension;float scale=(u_dimension.x-4.0)/u_dimension.x;v_pos=(a_pos/8192.0)*scale+epsilon;if (a_pos.y <-32767.5) {v_pos.y=0.0;}if (a_pos.y > 32766.5) {v_pos.y=1.0;}}"),debug:fo("uniform highp vec4 u_color;uniform sampler2D u_overlay;in vec2 v_uv;void main() {vec4 overlay_color=texture(u_overlay,v_uv);fragColor=mix(u_color,overlay_color,overlay_color.a);}","layout(location=0) in vec2 a_pos;out vec2 v_uv;uniform float u_overlay_scale;void main() {v_uv=a_pos/8192.0;gl_Position=projectTileWithElevation(a_pos*u_overlay_scale,get_elevation(a_pos));}"),depth:fo(gat,`layout(location=0) in vec2 a_pos;void main() { +#ifdef GLOBE +gl_Position=projectTileFor3D(a_pos,0.0); +#else +gl_Position=u_projection_matrix*vec4(a_pos,0.0,1.0); +#endif +}`),fill:fo(`#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float opacity +fragColor=color*opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos; +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float opacity +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}gl_Position=projectTile(a_pos+u_fill_translate,a_pos);}`),fillOutline:fo(`in vec2 v_pos; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define highp vec4 outline_color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 outline_color +#pragma maplibre: initialize lowp float opacity +float dist=length(v_pos-gl_FragCoord.xy);float alpha=1.0-smoothstep(0.0,1.0,dist);fragColor=outline_color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;out vec2 v_pos; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define highp vec4 outline_color +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 outline_color +#pragma maplibre: initialize lowp float opacity +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}gl_Position=projectTile(a_pos+u_fill_translate,a_pos);v_pos=(gl_Position.xy/gl_Position.w+1.0)/2.0*u_world_size; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +}`),fillOutlinePattern:fo(`uniform vec2 u_texsize;uniform sampler2D u_image;uniform float u_fade;uniform bool u_sdf_pattern;in vec2 v_pos_a;in vec2 v_pos_b;in vec2 v_pos; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(pattern_tl_a/u_texsize,pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(pattern_tl_b/u_texsize,pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);float dist=length(v_pos-gl_FragCoord.xy);float alpha=1.0-smoothstep(0.0,1.0,dist);if (u_sdf_pattern) {highp float sdf_edge=(256.0-64.0)/256.0;highp float sdf_gamma_a=max(fwidth(color1.a)*0.5,1.0/255.0/16.0);highp float sdf_gamma_b=max(fwidth(color2.a)*0.5,1.0/255.0/16.0);float sdf_alpha_a=smoothstep(sdf_edge-sdf_gamma_a,sdf_edge+sdf_gamma_a,color1.a);float sdf_alpha_b=smoothstep(sdf_edge-sdf_gamma_b,sdf_edge+sdf_gamma_b,color2.a);fragColor=mix(color*sdf_alpha_a,color*sdf_alpha_b,u_fade)*alpha*opacity;} else {fragColor=mix(color1,color2,u_fade)*alpha*opacity;} +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform vec3 u_scale;uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;out vec2 v_pos_a;out vec2 v_pos_b;out vec2 v_pos; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;gl_Position=projectTile(a_pos+u_fill_translate,a_pos);vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to;v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,fromScale*display_size_a,tileRatio,a_pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,toScale*display_size_b,tileRatio,a_pos);v_pos=(gl_Position.xy/gl_Position.w+1.0)/2.0*u_world_size; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +}`),fillPattern:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform vec2 u_texsize;uniform float u_fade;uniform bool u_sdf_pattern;uniform sampler2D u_image;in vec2 v_pos_a;in vec2 v_pos_b; +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(pattern_tl_a/u_texsize,pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(pattern_tl_b/u_texsize,pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);if (u_sdf_pattern) {highp float sdf_edge=(256.0-64.0)/256.0;highp float sdf_gamma_a=max(fwidth(color1.a)*0.5,1.0/255.0/16.0);highp float sdf_gamma_b=max(fwidth(color2.a)*0.5,1.0/255.0/16.0);float sdf_alpha_a=smoothstep(sdf_edge-sdf_gamma_a,sdf_edge+sdf_gamma_a,color1.a);float sdf_alpha_b=smoothstep(sdf_edge-sdf_gamma_b,sdf_edge+sdf_gamma_b,color2.a);fragColor=mix(color*sdf_alpha_a,color*sdf_alpha_b,u_fade)*opacity;} else {fragColor=mix(color1,color2,u_fade)*opacity;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform vec3 u_scale;uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;out vec2 v_pos_a;out vec2 v_pos_b; +#pragma maplibre: define lowp float opacity +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileZoomRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to;gl_Position=projectTile(a_pos+u_fill_translate,a_pos);v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,fromScale*display_size_a,tileZoomRatio,a_pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,toScale*display_size_b,tileZoomRatio,a_pos);}`),fillExtrusion:fo(`in vec4 v_color;void main() {fragColor=v_color; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec3 u_lightcolor;uniform lowp vec3 u_lightpos;uniform lowp vec3 u_lightpos_globe;uniform lowp float u_lightintensity;uniform float u_vertical_gradient;uniform lowp float u_opacity;uniform vec2 u_fill_translate;layout(location=0) in vec2 a_pos;layout(location=1) in ivec4 a_normal_ed; +#ifdef TERRAIN3D +layout(location=2) in vec2 a_centroid; +#endif +out vec4 v_color; +#pragma maplibre: define highp float base +#pragma maplibre: define highp float height +#pragma maplibre: define highp vec4 color +void main() { +#pragma maplibre: initialize highp float base +#pragma maplibre: initialize highp float height +#pragma maplibre: initialize highp vec4 color +vec3 normal=vec3(a_normal_ed.xyz); +#ifdef TERRAIN3D +float height_terrain3d_offset=get_elevation(a_centroid);float base_terrain3d_offset=height_terrain3d_offset-(base > 0.0 ? 0.0 : 10.0); +#else +float height_terrain3d_offset=0.0;float base_terrain3d_offset=0.0; +#endif +base=max(0.0,base)+base_terrain3d_offset;height=max(0.0,height)+height_terrain3d_offset;float t=float(a_normal_ed.x & 1);float elevation=t > 0.0 ? height : base;vec2 posInTile=a_pos+u_fill_translate; +#ifdef GLOBE +vec3 spherePos=projectToSphere(posInTile,a_pos);gl_Position=interpolateProjectionFor3D(posInTile,spherePos,elevation); +#else +gl_Position=u_projection_matrix*vec4(posInTile,elevation,1.0); +#endif +float colorvalue=color.r*0.2126+color.g*0.7152+color.b*0.0722;v_color=vec4(0.0,0.0,0.0,1.0);vec4 ambientlight=vec4(0.03,0.03,0.03,1.0);color+=ambientlight;vec3 normalForLighting=normal/16384.0;float directional=clamp(dot(normalForLighting,u_lightpos),0.0,1.0); +#ifdef GLOBE +mat3 rotMatrix=globeGetRotationMatrix(spherePos);normalForLighting=rotMatrix*normalForLighting;directional=mix(directional,clamp(dot(normalForLighting,u_lightpos_globe),0.0,1.0),u_projection_transition); +#endif +directional=mix((1.0-u_lightintensity),max((1.0-colorvalue+u_lightintensity),1.0),directional);if (normal.y !=0.0) {directional*=((1.0-u_vertical_gradient)+(u_vertical_gradient*clamp((t+base)*pow(height/150.0,0.5),mix(0.7,0.98,1.0-u_lightintensity),1.0)));}v_color.r+=clamp(color.r*directional*u_lightcolor.r,mix(0.0,0.3,1.0-u_lightcolor.r),1.0);v_color.g+=clamp(color.g*directional*u_lightcolor.g,mix(0.0,0.3,1.0-u_lightcolor.g),1.0);v_color.b+=clamp(color.b*directional*u_lightcolor.b,mix(0.0,0.3,1.0-u_lightcolor.b),1.0);v_color*=u_opacity;}`),fillExtrusionPattern:fo(`uniform vec2 u_texsize;uniform float u_fade;uniform sampler2D u_image;in vec2 v_pos_a;in vec2 v_pos_b;in vec4 v_lighting; +#pragma maplibre: define lowp float base +#pragma maplibre: define lowp float height +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float base +#pragma maplibre: initialize lowp float height +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;vec2 imagecoord=mod(v_pos_a,1.0);vec2 pos=mix(pattern_tl_a/u_texsize,pattern_br_a/u_texsize,imagecoord);vec4 color1=texture(u_image,pos);vec2 imagecoord_b=mod(v_pos_b,1.0);vec2 pos2=mix(pattern_tl_b/u_texsize,pattern_br_b/u_texsize,imagecoord_b);vec4 color2=texture(u_image,pos2);vec4 mixedColor=mix(color1,color2,u_fade);fragColor=mixedColor*v_lighting; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_pixel_coord_upper;uniform vec2 u_pixel_coord_lower;uniform float u_height_factor;uniform vec3 u_scale;uniform float u_vertical_gradient;uniform lowp float u_opacity;uniform vec2 u_fill_translate;uniform vec3 u_lightcolor;uniform lowp vec3 u_lightpos;uniform lowp vec3 u_lightpos_globe;uniform lowp float u_lightintensity;layout(location=0) in vec2 a_pos;layout(location=1) in ivec4 a_normal_ed; +#ifdef TERRAIN3D +layout(location=2) in vec2 a_centroid; +#endif +#ifdef GLOBE +out vec3 v_sphere_pos; +#endif +out vec2 v_pos_a;out vec2 v_pos_b;out vec4 v_lighting; +#pragma maplibre: define lowp float base +#pragma maplibre: define lowp float height +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float base +#pragma maplibre: initialize lowp float height +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;vec3 normal=vec3(a_normal_ed.xyz);float edgedistance=float(a_normal_ed.w);vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to; +#ifdef TERRAIN3D +float height_terrain3d_offset=get_elevation(a_centroid);float base_terrain3d_offset=height_terrain3d_offset-(base > 0.0 ? 0.0 : 10.0); +#else +float height_terrain3d_offset=0.0;float base_terrain3d_offset=0.0; +#endif +base=max(0.0,base)+base_terrain3d_offset;height=max(0.0,height)+height_terrain3d_offset;float t=float(a_normal_ed.x & 1);float elevation=t > 0.0 ? height : base;vec2 posInTile=a_pos+u_fill_translate; +#ifdef GLOBE +vec3 spherePos=projectToSphere(posInTile,a_pos);vec3 elevatedPos=spherePos*(1.0+elevation/GLOBE_RADIUS);v_sphere_pos=elevatedPos;gl_Position=interpolateProjectionFor3D(posInTile,spherePos,elevation); +#else +gl_Position=u_projection_matrix*vec4(posInTile,elevation,1.0); +#endif +vec2 pos=a_normal_ed.x==1 && a_normal_ed.y==0 && a_normal_ed.z==16384 +? a_pos +: vec2(edgedistance,elevation*u_height_factor);v_pos_a=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,fromScale*display_size_a,tileRatio,pos);v_pos_b=get_pattern_pos(u_pixel_coord_upper,u_pixel_coord_lower,toScale*display_size_b,tileRatio,pos);v_lighting=vec4(0.0,0.0,0.0,1.0);float directional=clamp(dot(normal/16383.0,u_lightpos),0.0,1.0);directional=mix((1.0-u_lightintensity),max((0.5+u_lightintensity),1.0),directional);if (normal.y !=0.0) {directional*=((1.0-u_vertical_gradient)+(u_vertical_gradient*clamp((t+base)*pow(height/150.0,0.5),mix(0.7,0.98,1.0-u_lightintensity),1.0)));}v_lighting.rgb+=clamp(directional*u_lightcolor,mix(vec3(0.0),vec3(0.3),1.0-u_lightcolor),vec3(1.0));v_lighting*=u_opacity;}`),hillshadePrepare:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform sampler2D u_image;in vec2 v_pos;uniform vec2 u_dimension;uniform float u_zoom;uniform vec4 u_unpack;float getElevation(ivec2 texel) {vec4 data=texelFetch(u_image,texel,0)*255.0;data.a=-1.0;return dot(data,u_unpack);}void main() {ivec2 pos=ivec2(gl_FragCoord.xy)+ivec2(1);float tileSize=u_dimension.x-4.0;float a=getElevation(pos+ivec2(-1,-1));float b=getElevation(pos+ivec2(0,-1));float c=getElevation(pos+ivec2(1,-1));float d=getElevation(pos+ivec2(-1,0));float e=getElevation(pos);float f=getElevation(pos+ivec2(1,0));float g=getElevation(pos+ivec2(-1,1));float h=getElevation(pos+ivec2(0,1));float i=getElevation(pos+ivec2(1,1));float exaggerationFactor=u_zoom < 2.0 ? 0.4 : u_zoom < 4.5 ? 0.35 : 0.3;float exaggeration=u_zoom < 15.0 ? (u_zoom-15.0)*exaggerationFactor : 0.0;vec2 deriv=vec2((c+f+f+i)-(a+d+d+g),(g+h+h+i)-(a+b+b+c))*tileSize/pow(2.0,exaggeration+(28.2562-u_zoom));fragColor=clamp(vec4(deriv.x/8.0+0.5,deriv.y/8.0+0.5,1.0,1.0),0.0,1.0); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,"uniform mat4 u_matrix;uniform vec2 u_dimension;layout(location=0) in vec2 a_pos;layout(location=1) in vec2 a_texture_pos;out vec2 v_pos;void main() {gl_Position=u_matrix*vec4(a_pos,0,1);highp vec2 epsilon=1.0/u_dimension;float scale=(u_dimension.x-2.0)/u_dimension.x;v_pos=(a_texture_pos/8192.0)*scale+epsilon;}"),hillshade:fo(`uniform sampler2D u_image;in vec2 v_pos;uniform vec2 u_latrange;uniform float u_exaggeration;uniform vec4 u_accent;uniform int u_method;uniform float u_altitudes[NUM_ILLUMINATION_SOURCES];uniform float u_azimuths[NUM_ILLUMINATION_SOURCES];uniform vec4 u_shadows[NUM_ILLUMINATION_SOURCES];uniform vec4 u_highlights[NUM_ILLUMINATION_SOURCES]; +#define PI 3.141592653589793 +#define STANDARD 0 +#define COMBINED 1 +#define IGOR 2 +#define MULTIDIRECTIONAL 3 +#define BASIC 4 +float get_aspect(vec2 deriv){return deriv.x !=0.0 ? atan(deriv.y,-deriv.x) : PI/2.0*(deriv.y > 0.0 ? 1.0 :-1.0);}void igor_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;float aspect=get_aspect(deriv);float azimuth=u_azimuths[0]+PI;float slope_stength=atan(length(deriv))*2.0/PI;float aspect_strength=1.0-abs(mod((aspect+azimuth)/PI+0.5,2.0)-1.0);float shadow_strength=slope_stength*aspect_strength;float highlight_strength=slope_stength*(1.0-aspect_strength);fragColor=u_shadows[0]*shadow_strength+u_highlights[0]*highlight_strength;}void standard_hillshade(vec2 deriv){float azimuth=u_azimuths[0]+PI;float slope=atan(0.625*length(deriv));float aspect=get_aspect(deriv);float intensity=u_exaggeration;float base=1.875-intensity*1.75;float maxValue=0.5*PI;float scaledSlope=intensity !=0.5 ? ((pow(base,slope)-1.0)/(pow(base,maxValue)-1.0))*maxValue : slope;float accent=cos(scaledSlope);vec4 accent_color=(1.0-accent)*u_accent*clamp(intensity*2.0,0.0,1.0);float shade=abs(mod((aspect+azimuth)/PI+0.5,2.0)-1.0);vec4 shade_color=mix(u_shadows[0],u_highlights[0],shade)*sin(scaledSlope)*clamp(intensity*2.0,0.0,1.0);fragColor=accent_color*(1.0-shade_color.a)+shade_color;}void basic_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;float azimuth=u_azimuths[0]+PI;float cos_az=cos(azimuth);float sin_az=sin(azimuth);float cos_alt=cos(u_altitudes[0]);float sin_alt=sin(u_altitudes[0]);float cang=(sin_alt-(deriv.y*cos_az*cos_alt-deriv.x*sin_az*cos_alt))/sqrt(1.0+dot(deriv,deriv));float shade=clamp(cang,0.0,1.0);if(shade > 0.5){fragColor=u_highlights[0]*(2.0*shade-1.0);}else +{fragColor=u_shadows[0]*(1.0-2.0*shade);}}void multidirectional_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;fragColor=vec4(0,0,0,0);for(int i=0; i < NUM_ILLUMINATION_SOURCES; i++){float cos_alt=cos(u_altitudes[i]);float sin_alt=sin(u_altitudes[i]);float cos_az=-cos(u_azimuths[i]);float sin_az=-sin(u_azimuths[i]);float cang=(sin_alt-(deriv.y*cos_az*cos_alt-deriv.x*sin_az*cos_alt))/sqrt(1.0+dot(deriv,deriv));float shade=clamp(cang,0.0,1.0);if(shade > 0.5){fragColor+=u_highlights[i]*(2.0*shade-1.0)/float(NUM_ILLUMINATION_SOURCES);}else +{fragColor+=u_shadows[i]*(1.0-2.0*shade)/float(NUM_ILLUMINATION_SOURCES);}}}void combined_hillshade(vec2 deriv){deriv=deriv*u_exaggeration*2.0;float azimuth=u_azimuths[0]+PI;float cos_az=cos(azimuth);float sin_az=sin(azimuth);float cos_alt=cos(u_altitudes[0]);float sin_alt=sin(u_altitudes[0]);float cang=acos((sin_alt-(deriv.y*cos_az*cos_alt-deriv.x*sin_az*cos_alt))/sqrt(1.0+dot(deriv,deriv)));cang=clamp(cang,0.0,PI/2.0);float shade=cang*atan(length(deriv))*4.0/PI/PI;float highlight=(PI/2.0-cang)*atan(length(deriv))*4.0/PI/PI;fragColor=u_shadows[0]*shade+u_highlights[0]*highlight;}void main() {vec2 size=vec2(textureSize(u_image,0));vec2 texturePos=(v_pos*(size-2.0)+1.0)/size;vec4 pixel=texture(u_image,texturePos);float scaleFactor=cos(radians((u_latrange[0]-u_latrange[1])*(1.0-v_pos.y)+u_latrange[1]));vec2 deriv=((pixel.rg*8.0)-4.0)/scaleFactor;if (u_method==BASIC) {basic_hillshade(deriv);} else if (u_method==COMBINED) {combined_hillshade(deriv);} else if (u_method==IGOR) {igor_hillshade(deriv);} else if (u_method==MULTIDIRECTIONAL) {multidirectional_hillshade(deriv);} else if (u_method==STANDARD) {standard_hillshade(deriv);} else {standard_hillshade(deriv);} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,"uniform mat4 u_matrix;layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=projectTile(a_pos,a_pos);v_pos=a_pos/8192.0;if (a_pos.y <-32767.5) {v_pos.y=0.0;}if (a_pos.y > 32766.5) {v_pos.y=1.0;}}"),line:fo(`flat in vec2 v_width2;in vec2 v_normal;in float v_gamma_scale; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);fragColor=color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;uniform vec2 u_translation;uniform mediump float u_ratio;out vec2 v_normal;flat out vec2 v_width2;out float v_gamma_scale;out highp float v_linesofar; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);v_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*2.0;vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +v_width2=vec2(outset,inset);}`),lineGradient:fo(`uniform sampler2D u_image;flat in vec2 v_width2;in vec2 v_normal;in float v_gamma_scale;in highp vec2 v_uv; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);vec4 color=texture(u_image,v_uv);fragColor=color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;layout(location=2) in float a_uv_x;layout(location=3) in float a_split_index;uniform vec2 u_translation;uniform mediump float u_ratio;uniform float u_image_height;out vec2 v_normal;flat out vec2 v_width2;out float v_gamma_scale;out highp vec2 v_uv; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);highp float texel_height=1.0/u_image_height;highp float half_texel_height=0.5*texel_height;v_uv=vec2(a_uv_x,a_split_index*texel_height-half_texel_height);vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +v_width2=vec2(outset,inset);}`),linePattern:fo(`#ifdef GL_ES +precision highp float; +#endif +uniform vec2 u_texsize;uniform float u_fade;uniform mediump vec3 u_scale;uniform sampler2D u_image;in vec2 v_normal;flat in vec2 v_width2;in float v_linesofar;in float v_gamma_scale;flat in float v_width; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +clipAntimeridian();vec2 pattern_tl_a=pattern_from.xy;vec2 pattern_br_a=pattern_from.zw;vec2 pattern_tl_b=pattern_to.xy;vec2 pattern_br_b=pattern_to.zw;float tileZoomRatio=u_scale.x;float fromScale=u_scale.y;float toScale=u_scale.z;vec2 display_size_a=(pattern_br_a-pattern_tl_a)/pixel_ratio_from;vec2 display_size_b=(pattern_br_b-pattern_tl_b)/pixel_ratio_to;vec2 pattern_size_a=vec2(display_size_a.x*fromScale/tileZoomRatio,display_size_a.y);vec2 pattern_size_b=vec2(display_size_b.x*toScale/tileZoomRatio,display_size_b.y);float aspect_a=display_size_a.y/v_width;float aspect_b=display_size_b.y/v_width;float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);float x_a=mod(v_linesofar/pattern_size_a.x*aspect_a,1.0);float x_b=mod(v_linesofar/pattern_size_b.x*aspect_b,1.0);float y=0.5*v_normal.y+0.5;vec2 texel_size=1.0/u_texsize;vec2 pos_a=mix(pattern_tl_a*texel_size-texel_size,pattern_br_a*texel_size+texel_size,vec2(x_a,y));vec2 pos_b=mix(pattern_tl_b*texel_size-texel_size,pattern_br_b*texel_size+texel_size,vec2(x_b,y));vec4 color=mix(texture(u_image,pos_a),texture(u_image,pos_b),u_fade);fragColor=color*alpha*opacity; +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +#define LINE_DISTANCE_SCALE 2.0 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;uniform vec2 u_translation;uniform mediump float u_ratio;out vec2 v_normal;flat out vec2 v_width2;out float v_linesofar;out float v_gamma_scale;flat out float v_width; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define lowp vec4 pattern_from +#pragma maplibre: define lowp vec4 pattern_to +#pragma maplibre: define lowp float pixel_ratio_from +#pragma maplibre: define lowp float pixel_ratio_to +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 pattern_from +#pragma maplibre: initialize mediump vec4 pattern_to +#pragma maplibre: initialize lowp float pixel_ratio_from +#pragma maplibre: initialize lowp float pixel_ratio_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);float a_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*LINE_DISTANCE_SCALE;vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +v_linesofar=a_linesofar;v_width2=vec2(outset,inset);v_width=floorwidth;}`),lineSDF:fo(`uniform lowp float u_lineatlas_width;uniform sampler2D u_image;uniform float u_mix;in vec2 v_normal;flat in vec2 v_width2;in vec2 v_tex_a;in vec2 v_tex_b;in float v_gamma_scale; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);float sdfdist_a=texture(u_image,v_tex_a).a;float sdfdist_b=texture(u_image,v_tex_b).a;float sdfdist=mix(sdfdist_a,sdfdist_b,u_mix);float sdfgamma=(u_lineatlas_width/256.0/u_device_pixel_ratio)/min(dasharray_from.w,dasharray_to.w);alpha*=smoothstep(0.5-sdfgamma/floorwidth,0.5+sdfgamma/floorwidth,sdfdist);fragColor=color*(alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +#define LINE_DISTANCE_SCALE 2.0 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;uniform vec2 u_translation;uniform mediump float u_ratio;uniform float u_tileratio;uniform float u_crossfade_from;uniform float u_crossfade_to;uniform float u_lineatlas_height;out vec2 v_normal;flat out vec2 v_width2;out vec2 v_tex_a;out vec2 v_tex_b;out float v_gamma_scale; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define highp vec4 color +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize highp vec4 color +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);float a_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*LINE_DISTANCE_SCALE;vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +float u_patternscale_a_x=u_tileratio/dasharray_from.w/u_crossfade_from;float u_patternscale_a_y=-dasharray_from.z/2.0/u_lineatlas_height;float u_patternscale_b_x=u_tileratio/dasharray_to.w/u_crossfade_to;float u_patternscale_b_y=-dasharray_to.z/2.0/u_lineatlas_height;v_tex_a=vec2(a_linesofar*u_patternscale_a_x/floorwidth,normal.y*u_patternscale_a_y+(float(dasharray_from.y)+0.5)/u_lineatlas_height);v_tex_b=vec2(a_linesofar*u_patternscale_b_x/floorwidth,normal.y*u_patternscale_b_y+(float(dasharray_to.y)+0.5)/u_lineatlas_height);v_width2=vec2(outset,inset);}`),lineGradientSDF:fo(`uniform sampler2D u_image;uniform sampler2D u_image_dash;uniform float u_mix;uniform lowp float u_lineatlas_width;in vec2 v_normal;flat in vec2 v_width2;in vec2 v_tex_a;in vec2 v_tex_b;in float v_gamma_scale;in highp vec2 v_uv; +#ifdef GLOBE +in float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +clipAntimeridian();float dist=length(v_normal)*v_width2.s;float blur2=(blur+1.0/u_device_pixel_ratio)*v_gamma_scale;float alpha=clamp(min(dist-(v_width2.t-blur2),v_width2.s-dist)/blur2,0.0,1.0);vec4 color=texture(u_image,v_uv);float sdfdist_a=texture(u_image_dash,v_tex_a).a;float sdfdist_b=texture(u_image_dash,v_tex_b).a;float sdfdist=mix(sdfdist_a,sdfdist_b,u_mix);float sdfgamma=(u_lineatlas_width/256.0)/min(dasharray_from.w,dasharray_to.w);float dash_alpha=smoothstep(0.5-sdfgamma/floorwidth,0.5+sdfgamma/floorwidth,sdfdist);fragColor=color*(alpha*dash_alpha*opacity); +#ifdef GLOBE +if (v_depth > 1.0) {discard;} +#endif +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,` +#define scale 0.015873016 +#define LINE_DISTANCE_SCALE 2.0 +layout(location=0) in ivec2 a_pos_normal;layout(location=1) in uvec4 a_data;layout(location=2) in float a_uv_x;layout(location=3) in float a_split_index;uniform vec2 u_translation;uniform mediump float u_ratio;uniform float u_image_height;uniform float u_tileratio;uniform float u_crossfade_from;uniform float u_crossfade_to;uniform float u_lineatlas_height;out vec2 v_normal;flat out vec2 v_width2;out float v_gamma_scale;out highp vec2 v_uv;out vec2 v_tex_a;out vec2 v_tex_b; +#ifdef GLOBE +out float v_depth; +#endif +#pragma maplibre: define lowp float blur +#pragma maplibre: define lowp float opacity +#pragma maplibre: define mediump float gapwidth +#pragma maplibre: define lowp float offset +#pragma maplibre: define mediump float width +#pragma maplibre: define lowp float floorwidth +#pragma maplibre: define mediump vec4 dasharray_from +#pragma maplibre: define mediump vec4 dasharray_to +void main() { +#pragma maplibre: initialize lowp float blur +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize mediump float gapwidth +#pragma maplibre: initialize lowp float offset +#pragma maplibre: initialize mediump float width +#pragma maplibre: initialize lowp float floorwidth +#pragma maplibre: initialize mediump vec4 dasharray_from +#pragma maplibre: initialize mediump vec4 dasharray_to +if (opacity < 0.01) {gl_Position=vec4(-2.0,-2.0,-2.0,1.0);return;}float ANTIALIASING=1.0/u_device_pixel_ratio/2.0;vec2 a_extrude=vec2(ivec2(a_data.xy)-128);float a_direction=float(int(a_data.z & 3u)-1);float a_linesofar=float((a_data.z >> 2u)+a_data.w*64u)*LINE_DISTANCE_SCALE;float texel_height=1.0/u_image_height;float half_texel_height=0.5*texel_height;v_uv=vec2(a_uv_x,a_split_index*texel_height-half_texel_height);vec2 pos=vec2(a_pos_normal >> 1);mediump vec2 normal=vec2(a_pos_normal & 1);normal.y=normal.y*2.0-1.0;v_normal=normal;gapwidth=gapwidth/2.0;float halfwidth=width/2.0;offset=-1.0*offset;float inset=gapwidth+(gapwidth > 0.0 ? ANTIALIASING : 0.0);float outset=gapwidth+halfwidth*(gapwidth > 0.0 ? 2.0 : 1.0)+(halfwidth==0.0 ? 0.0 : ANTIALIASING);mediump vec2 dist=outset*a_extrude*scale;mediump float u=0.5*a_direction;mediump float t=1.0-abs(u);mediump vec2 offset2=offset*a_extrude*scale*normal.y*mat2(t,-u,u,t);float adjustedThickness=projectLineThickness(pos.y);vec4 projected_no_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation);vec4 projected_with_extrude=projectTile(pos+offset2/u_ratio*adjustedThickness+u_translation+dist/u_ratio*adjustedThickness);gl_Position=projected_with_extrude; +#ifdef GLOBE +v_depth=gl_Position.z/gl_Position.w; +#endif +#ifdef TERRAIN3D +v_gamma_scale=1.0; +#else +float extrude_length_without_perspective=length(dist);float extrude_length_with_perspective=length((projected_with_extrude.xy-projected_no_extrude.xy)/projected_with_extrude.w*u_units_to_pixels);v_gamma_scale=extrude_length_without_perspective/extrude_length_with_perspective; +#endif +float u_patternscale_a_x=u_tileratio/dasharray_from.w/u_crossfade_from;float u_patternscale_a_y=-dasharray_from.z/2.0/u_lineatlas_height;float u_patternscale_b_x=u_tileratio/dasharray_to.w/u_crossfade_to;float u_patternscale_b_y=-dasharray_to.z/2.0/u_lineatlas_height;v_tex_a=vec2(a_linesofar*u_patternscale_a_x/floorwidth,normal.y*u_patternscale_a_y+(float(dasharray_from.y)+0.5)/u_lineatlas_height);v_tex_b=vec2(a_linesofar*u_patternscale_b_x/floorwidth,normal.y*u_patternscale_b_y+(float(dasharray_to.y)+0.5)/u_lineatlas_height);v_width2=vec2(outset,inset);}`),layerOpacity:fo(`uniform sampler2D u_image;uniform float u_opacity;in vec2 v_pos;void main() {fragColor=texture(u_image,v_pos)*u_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(0.0); +#endif +}`,"layout(location=0) in vec2 a_pos;out vec2 v_pos;void main() {gl_Position=vec4(a_pos.x*2.0-1.0,1.0-a_pos.y*2.0,0.0,1.0);v_pos.x=a_pos.x;v_pos.y=1.0-a_pos.y;}"),raster:fo(`uniform float u_fade_t;uniform float u_opacity;uniform sampler2D u_image0;uniform sampler2D u_image1;in vec3 v_pos0;in vec3 v_pos1;uniform float u_brightness_low;uniform float u_brightness_high;uniform float u_saturation_factor;uniform float u_contrast_factor;uniform vec3 u_spin_weights;void main() {vec4 color0=texture(u_image0,v_pos0.xy/v_pos0.z);vec4 color1=texture(u_image1,v_pos1.xy/v_pos1.z);if (color0.a > 0.0) {color0.rgb=color0.rgb/color0.a;}if (color1.a > 0.0) {color1.rgb=color1.rgb/color1.a;}vec4 color=mix(color0,color1,u_fade_t);color.a*=u_opacity;vec3 rgb=color.rgb;rgb=vec3(dot(rgb,u_spin_weights.xyz),dot(rgb,u_spin_weights.zxy),dot(rgb,u_spin_weights.yzx));float average=(color.r+color.g+color.b)/3.0;rgb+=(average-rgb)*u_saturation_factor;rgb=(rgb-0.5)*u_contrast_factor+0.5;vec3 u_high_vec=vec3(u_brightness_low,u_brightness_low,u_brightness_low);vec3 u_low_vec=vec3(u_brightness_high,u_brightness_high,u_brightness_high);fragColor=vec4(mix(u_high_vec,u_low_vec,rgb)*color.a,color.a); +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`uniform vec2 u_tl_parent;uniform float u_scale_parent;uniform float u_buffer_scale;uniform vec3 u_image_warp;uniform vec4 u_coords_top;uniform vec4 u_coords_bottom;layout(location=0) in vec2 a_pos;out vec3 v_pos0;out vec3 v_pos1;void main() {vec2 fractionalPos=a_pos/8192.0;vec2 topLeft=u_coords_top.xy;vec2 topRight=u_coords_top.zw;vec2 bottomLeft=u_coords_bottom.xy;vec2 bottomRight=u_coords_bottom.zw;vec2 bilinearPos=mix(mix(topLeft,topRight,fractionalPos.x),mix(bottomLeft,bottomRight,fractionalPos.x),fractionalPos.y);float denominator=dot(u_image_warp.xy,fractionalPos)+1.0;vec2 acrossTop=topRight-topLeft+u_image_warp.x*topRight;vec2 downLeft=bottomLeft-topLeft+u_image_warp.y*bottomLeft;vec2 projectivePos=(acrossTop*fractionalPos.x+downLeft*fractionalPos.y+topLeft)/denominator;vec2 position=mix(projectivePos,bilinearPos,u_image_warp.z);gl_Position=projectTile(position,position);vec2 texturePos=((fractionalPos-0.5)/u_buffer_scale)+0.5; +#ifdef GLOBE +if (a_pos.y <-32767.5) {texturePos.y=0.0;}if (a_pos.y > 32766.5) {texturePos.y=1.0;} +#endif +float perspectiveRatio=mix(1.0/denominator,1.0,u_image_warp.z);v_pos0=vec3(texturePos*perspectiveRatio,perspectiveRatio);vec2 parentPos=(texturePos*u_scale_parent)+u_tl_parent;v_pos1=vec3(parentPos*perspectiveRatio,perspectiveRatio);}`),symbolIcon:fo(`uniform sampler2D u_texture;in vec2 v_tex;flat in float v_total_opacity;void main() {fragColor=texture(u_texture,v_tex)*v_total_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`layout(location=0) in vec4 a_pos_offset;layout(location=1) in uvec4 a_data;layout(location=2) in vec4 a_pixeloffset;layout(location=3) in vec3 a_projected_pos;layout(location=4) in uint a_fade_opacity;layout(location=5) in float a_height_offset;uniform bool u_is_size_zoom_constant;uniform bool u_is_size_feature_constant;uniform highp float u_size_t;uniform highp float u_size;uniform bool u_rotate_symbol;uniform mat4 u_label_plane_matrix;uniform mat4 u_coord_matrix;uniform bool u_is_text;uniform bool u_pitch_with_map;uniform vec2 u_texsize;uniform bool u_is_along_line;uniform bool u_is_variable_anchor;uniform vec2 u_translation;uniform float u_pitched_scale;uniform bool u_is_offset;uniform bool u_height_anchor_ground;out vec2 v_tex;flat out float v_total_opacity; +#pragma maplibre: define lowp float opacity +void main() { +#pragma maplibre: initialize lowp float opacity +vec2 a_pos=a_pos_offset.xy;vec2 a_offset=a_pos_offset.zw;vec2 a_tex=vec2(a_data.xy);vec2 a_size=vec2(a_data.zw);float a_size_min=float(a_data.z >> 1u);vec2 a_pxoffset=a_pixeloffset.xy;vec2 a_minFontScale=a_pixeloffset.zw/256.0;float ele=a_height_offset+(u_height_anchor_ground ? get_elevation(a_pos) : 0.0);highp float segment_angle=-a_projected_pos[2];float size;if (!u_is_size_zoom_constant && !u_is_size_feature_constant) {size=mix(a_size_min,a_size[1],u_size_t)/128.0;} else if (u_is_size_zoom_constant && !u_is_size_feature_constant) {size=a_size_min/128.0;} else {size=u_size;}vec2 translated_a_pos=a_pos+u_translation;vec4 projectedPoint=projectTileWithElevation(translated_a_pos,ele);vec2 fade_opacity=unpack_opacity(a_fade_opacity);float fade_change=fade_opacity[1] > 0.5 ? u_symbol_fade_change :-u_symbol_fade_change;float visibility=calculate_visibility(projectedPoint);v_total_opacity=opacity*max(0.0,min(visibility,fade_opacity[0]+fade_change));if (v_total_opacity < 0.1){gl_Position=vec4(-2.,-2.,-2.,1.);return;}highp float camera_to_anchor_distance=projectedPoint.w;highp float distance_ratio=u_pitch_with_map ? +camera_to_anchor_distance/u_camera_to_center_distance : +u_camera_to_center_distance/camera_to_anchor_distance;highp float perspective_ratio=clamp(0.5+0.5*distance_ratio,0.0,4.0);if (!u_is_offset) {size*=perspective_ratio;}float fontScale=u_is_text ? size/24.0 : size;highp float symbol_rotation=0.0;if (u_rotate_symbol) {vec4 offsetProjectedPoint=projectTileWithElevation(translated_a_pos+vec2(1,0),ele);vec2 a=projectedPoint.xy/projectedPoint.w;vec2 b=offsetProjectedPoint.xy/offsetProjectedPoint.w;symbol_rotation=atan((b.y-a.y)/u_aspect_ratio,b.x-a.x);}highp float angle_sin=sin(segment_angle+symbol_rotation);highp float angle_cos=cos(segment_angle+symbol_rotation);mat2 rotation_matrix=mat2(angle_cos,-1.0*angle_sin,angle_sin,angle_cos);vec4 projected_pos;if (u_is_along_line || u_is_variable_anchor) {projected_pos=vec4(a_projected_pos.xy,ele,1.0);} else if (u_pitch_with_map) {projected_pos=u_label_plane_matrix*vec4(a_projected_pos.xy+u_translation,ele,1.0);} else {projected_pos=u_label_plane_matrix*projectTileWithElevation(a_projected_pos.xy+u_translation,ele);}float z=float(u_pitch_with_map)*projected_pos.z/projected_pos.w;float projectionScaling=1.0; +#ifdef GLOBE +if(u_pitch_with_map) {float anchor_pos_tile_y=(u_coord_matrix*vec4(projected_pos.xy/projected_pos.w,z,1.0)).y;projectionScaling=mix(projectionScaling,1.0/circumferenceRatioAtTileY(anchor_pos_tile_y)*u_pitched_scale,u_projection_transition);} +#endif +vec4 finalPos=u_coord_matrix*vec4(projected_pos.xy/projected_pos.w+rotation_matrix*(a_offset/32.0*max(a_minFontScale,fontScale)+a_pxoffset/16.0)*projectionScaling,z,1.0);if(u_pitch_with_map) {finalPos=projectTileWithElevation(finalPos.xy,finalPos.z);}gl_Position=finalPos;v_tex=a_tex/u_texsize;}`),symbolSDF:fo(`#define SDF_PX 8.0 +uniform bool u_is_halo;uniform bool u_is_plain;uniform sampler2D u_texture;uniform highp float u_gamma_scale;uniform bool u_is_text;in vec2 v_data0;in vec3 v_data1; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +float EDGE_GAMMA=0.105/u_device_pixel_ratio;vec2 tex=v_data0.xy;float gamma_scale=v_data1.x;float size=v_data1.y;float total_opacity=v_data1[2];float fontScale=u_is_text ? size/24.0 : size;highp float gamma=EDGE_GAMMA/(fontScale*u_gamma_scale);lowp float inner_edge=(256.0-64.0)/256.0;lowp float dist=texture(u_texture,tex).a;lowp vec4 color_alpha_out_text,color_alpha_out_halo;if (u_is_plain){highp float gamma_scaled=gamma*gamma_scale;highp float alpha=smoothstep(inner_edge-gamma_scaled,inner_edge+gamma_scaled,dist);color_alpha_out_text=total_opacity*alpha*fill_color;}if (u_is_halo) {float gamma_halo=(halo_blur*1.19/SDF_PX+EDGE_GAMMA)/(fontScale*u_gamma_scale);float inner_edge_halo=inner_edge+gamma_halo*gamma_scale;highp float gamma_scaled_halo=gamma_halo*gamma_scale;highp float alpha_halo=smoothstep(inner_edge_halo-gamma_scaled_halo,inner_edge_halo+gamma_scaled_halo,dist);highp float halo_edge=(6.0-halo_width/fontScale)/SDF_PX;alpha_halo= min(smoothstep(halo_edge-gamma_scaled_halo,halo_edge+gamma_scaled_halo,dist),1.0-alpha_halo);color_alpha_out_halo=total_opacity*alpha_halo*halo_color;}if (u_is_plain && u_is_halo) {fragColor=color_alpha_out_text+(1.-color_alpha_out_text.a)*color_alpha_out_halo;} else if (u_is_halo){fragColor=color_alpha_out_halo;} else {fragColor=color_alpha_out_text;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`layout(location=0) in vec4 a_pos_offset;layout(location=1) in uvec4 a_data;layout(location=2) in vec4 a_pixeloffset;layout(location=3) in vec3 a_projected_pos;layout(location=4) in uint a_fade_opacity;layout(location=5) in float a_height_offset;uniform bool u_is_size_zoom_constant;uniform bool u_is_size_feature_constant;uniform highp float u_size_t;uniform highp float u_size;uniform mat4 u_label_plane_matrix;uniform mat4 u_coord_matrix;uniform bool u_is_text;uniform bool u_pitch_with_map;uniform bool u_is_along_line;uniform bool u_is_variable_anchor;uniform bool u_rotate_symbol;uniform vec2 u_texsize;uniform vec2 u_translation;uniform float u_pitched_scale;uniform bool u_is_offset;uniform bool u_height_anchor_ground;out vec2 v_data0;out vec3 v_data1; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float opacity +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +vec2 a_pos=a_pos_offset.xy;vec2 a_offset=a_pos_offset.zw;vec2 a_tex=vec2(a_data.xy);vec2 a_size=vec2(a_data.zw);float a_size_min=float(a_data.z >> 1u);vec2 a_pxoffset=a_pixeloffset.xy/16.0;vec2 a_minFontScale=a_pixeloffset.zw/256.0;float ele=a_height_offset+(u_height_anchor_ground ? get_elevation(a_pos) : 0.0);highp float segment_angle=-a_projected_pos[2];float size;if (!u_is_size_zoom_constant && !u_is_size_feature_constant) {size=mix(a_size_min,a_size[1],u_size_t)/128.0;} else if (u_is_size_zoom_constant && !u_is_size_feature_constant) {size=a_size_min/128.0;} else {size=u_size;}vec2 translated_a_pos=a_pos+u_translation;vec4 projectedPoint=projectTileWithElevation(translated_a_pos,ele);vec2 fade_opacity=unpack_opacity(a_fade_opacity);float visibility=calculate_visibility(projectedPoint);float fade_change=fade_opacity[1] > 0.5 ? u_symbol_fade_change :-u_symbol_fade_change;float interpolated_fade_opacity=max(0.0,min(visibility,fade_opacity[0]+fade_change));float total_opacity=opacity*interpolated_fade_opacity;if (total_opacity < 0.1){gl_Position=vec4(-2.,-2.,-2.,1.);return;}highp float camera_to_anchor_distance=projectedPoint.w;highp float distance_ratio=u_pitch_with_map ? +camera_to_anchor_distance/u_camera_to_center_distance : +u_camera_to_center_distance/camera_to_anchor_distance;highp float perspective_ratio=clamp(0.5+0.5*distance_ratio,0.0,4.0);if (!u_is_offset) {size*=perspective_ratio;}float fontScale=u_is_text ? size/24.0 : size;highp float symbol_rotation=0.0;if (u_rotate_symbol) {vec4 offsetProjectedPoint=projectTileWithElevation(translated_a_pos+vec2(1,0),ele);vec2 a=projectedPoint.xy/projectedPoint.w;vec2 b=offsetProjectedPoint.xy/offsetProjectedPoint.w;symbol_rotation=atan((b.y-a.y)/u_aspect_ratio,b.x-a.x);}highp float angle_sin=sin(segment_angle+symbol_rotation);highp float angle_cos=cos(segment_angle+symbol_rotation);mat2 rotation_matrix=mat2(angle_cos,-1.0*angle_sin,angle_sin,angle_cos);vec4 projected_pos;if (u_is_along_line || u_is_variable_anchor) {projected_pos=vec4(a_projected_pos.xy,ele,1.0);} else if (u_pitch_with_map) {projected_pos=u_label_plane_matrix*vec4(a_projected_pos.xy+u_translation,ele,1.0);} else {projected_pos=u_label_plane_matrix*projectTileWithElevation(a_projected_pos.xy+u_translation,ele);}float z=float(u_pitch_with_map)*projected_pos.z/projected_pos.w;float projectionScaling=1.0; +#ifdef GLOBE +if(u_pitch_with_map) {float anchor_pos_tile_y=(u_coord_matrix*vec4(projected_pos.xy/projected_pos.w,z,1.0)).y;projectionScaling=mix(projectionScaling,1.0/circumferenceRatioAtTileY(anchor_pos_tile_y)*u_pitched_scale,u_projection_transition);} +#endif +vec4 finalPos=u_coord_matrix*vec4(projected_pos.xy/projected_pos.w+rotation_matrix*(a_offset/32.0*max(a_minFontScale,fontScale)+a_pxoffset)*projectionScaling,z,1.0);if(u_pitch_with_map) {finalPos=projectTileWithElevation(finalPos.xy,finalPos.z);}float gamma_scale=finalPos.w;gl_Position=finalPos;v_data0=a_tex/u_texsize;v_data1=vec3(gamma_scale,size,total_opacity);}`),symbolTextAndIcon:fo(`#define SDF_PX 8.0 +#define SDF 1.0 +#define ICON 0.0 +uniform bool u_is_halo;uniform bool u_is_text;uniform sampler2D u_texture;uniform sampler2D u_texture_icon;uniform highp float u_gamma_scale;in vec4 v_data0;in vec3 v_data1;flat in float v_is_sdf; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +float total_opacity=v_data1[2];if (v_is_sdf==ICON) {vec2 tex_icon=v_data0.zw;fragColor=texture(u_texture_icon,tex_icon)*total_opacity; +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +return;}vec2 tex=v_data0.xy;float EDGE_GAMMA=0.105/u_device_pixel_ratio;float gamma_scale=v_data1.x;float size=v_data1.y;float fontScale=size/24.0;highp float gamma=EDGE_GAMMA/(fontScale*u_gamma_scale);lowp float buff=(256.0-64.0)/256.0;lowp float dist=texture(u_texture,tex).a;lowp vec4 color_alpha_out,color_alpha_out_halo;if (u_is_text) {highp float gamma_scaled=gamma*gamma_scale;highp float alpha=smoothstep(buff-gamma_scaled,buff+gamma_scaled,dist);color_alpha_out=fill_color*(alpha*total_opacity);}if (u_is_halo) {highp float gamma_halo=(halo_blur*1.19/SDF_PX+EDGE_GAMMA)/(fontScale*u_gamma_scale);lowp float buff_halo=(6.0-halo_width/fontScale)/SDF_PX;highp float gamma_scaled_halo=gamma_halo*gamma_scale;highp float alpha_halo=smoothstep(buff_halo-gamma_scaled_halo,buff_halo+gamma_scaled_halo,dist);color_alpha_out_halo=halo_color*(alpha_halo*total_opacity);}if (u_is_text && u_is_halo) {fragColor=color_alpha_out+(1.-color_alpha_out.a)*color_alpha_out_halo;} else if (u_is_halo) {fragColor=color_alpha_out_halo;} else {fragColor=color_alpha_out;} +#ifdef OVERDRAW_INSPECTOR +fragColor=vec4(1.0); +#endif +}`,`layout(location=0) in vec4 a_pos_offset;layout(location=1) in uvec4 a_data;layout(location=2) in vec3 a_projected_pos;layout(location=3) in uint a_fade_opacity;layout(location=4) in float a_height_offset;uniform bool u_is_size_zoom_constant;uniform bool u_is_size_feature_constant;uniform highp float u_size_t;uniform highp float u_size;uniform mat4 u_label_plane_matrix;uniform mat4 u_coord_matrix;uniform bool u_is_text;uniform bool u_pitch_with_map;uniform bool u_rotate_symbol;uniform vec2 u_texsize;uniform vec2 u_texsize_icon;uniform bool u_is_along_line;uniform bool u_is_variable_anchor;uniform vec2 u_translation;uniform float u_pitched_scale;uniform bool u_is_offset;uniform bool u_height_anchor_ground;out vec4 v_data0;out vec3 v_data1;flat out float v_is_sdf; +#pragma maplibre: define highp vec4 fill_color +#pragma maplibre: define highp vec4 halo_color +#pragma maplibre: define lowp float opacity +#pragma maplibre: define lowp float halo_width +#pragma maplibre: define lowp float halo_blur +void main() { +#pragma maplibre: initialize highp vec4 fill_color +#pragma maplibre: initialize highp vec4 halo_color +#pragma maplibre: initialize lowp float opacity +#pragma maplibre: initialize lowp float halo_width +#pragma maplibre: initialize lowp float halo_blur +vec2 a_pos=a_pos_offset.xy;vec2 a_offset=a_pos_offset.zw;vec2 a_tex=vec2(a_data.xy);vec2 a_size=vec2(a_data.zw);float a_size_min=float(a_data.z >> 1u);float is_sdf=float(a_data.z & 1u);float ele=a_height_offset+(u_height_anchor_ground ? get_elevation(a_pos) : 0.0);highp float segment_angle=-a_projected_pos[2];float size;if (!u_is_size_zoom_constant && !u_is_size_feature_constant) {size=mix(a_size_min,a_size[1],u_size_t)/128.0;} else if (u_is_size_zoom_constant && !u_is_size_feature_constant) {size=a_size_min/128.0;} else {size=u_size;}vec2 translated_a_pos=a_pos+u_translation;vec4 projectedPoint=projectTileWithElevation(translated_a_pos,ele);vec2 fade_opacity=unpack_opacity(a_fade_opacity);float visibility=calculate_visibility(projectedPoint);float fade_change=fade_opacity[1] > 0.5 ? u_symbol_fade_change :-u_symbol_fade_change;float interpolated_fade_opacity=max(0.0,min(visibility,fade_opacity[0]+fade_change));float total_opacity=opacity*interpolated_fade_opacity;if (total_opacity < 0.1){gl_Position=vec4(-2.,-2.,-2.,1.);return;}highp float camera_to_anchor_distance=projectedPoint.w;highp float distance_ratio=u_pitch_with_map ? +camera_to_anchor_distance/u_camera_to_center_distance : +u_camera_to_center_distance/camera_to_anchor_distance;highp float perspective_ratio=clamp(0.5+0.5*distance_ratio,0.0,4.0);if (!u_is_offset) {size*=perspective_ratio;}float fontScale=size/24.0;highp float symbol_rotation=0.0;if (u_rotate_symbol) {vec4 offsetProjectedPoint=projectTileWithElevation(translated_a_pos+vec2(1,0),ele);vec2 a=projectedPoint.xy/projectedPoint.w;vec2 b=offsetProjectedPoint.xy/offsetProjectedPoint.w;symbol_rotation=atan((b.y-a.y)/u_aspect_ratio,b.x-a.x);}highp float angle_sin=sin(segment_angle+symbol_rotation);highp float angle_cos=cos(segment_angle+symbol_rotation);mat2 rotation_matrix=mat2(angle_cos,-1.0*angle_sin,angle_sin,angle_cos);vec4 projected_pos;if (u_is_along_line || u_is_variable_anchor) {projected_pos=vec4(a_projected_pos.xy,ele,1.0);} else if (u_pitch_with_map) {projected_pos=u_label_plane_matrix*vec4(a_projected_pos.xy+u_translation,ele,1.0);} else {projected_pos=u_label_plane_matrix*projectTileWithElevation(a_projected_pos.xy+u_translation,ele);}float z=float(u_pitch_with_map)*projected_pos.z/projected_pos.w;float projectionScaling=1.0; +#ifdef GLOBE +if(u_pitch_with_map && !u_is_along_line) {float anchor_pos_tile_y=(u_coord_matrix*vec4(projected_pos.xy/projected_pos.w,z,1.0)).y;projectionScaling=mix(projectionScaling,1.0/circumferenceRatioAtTileY(anchor_pos_tile_y)*u_pitched_scale,u_projection_transition);} +#endif +vec4 finalPos=u_coord_matrix*vec4(projected_pos.xy/projected_pos.w+rotation_matrix*(a_offset/32.0*fontScale)*projectionScaling,z,1.0);if(u_pitch_with_map) {finalPos=projectTileWithElevation(finalPos.xy,finalPos.z);}float gamma_scale=finalPos.w;gl_Position=finalPos;v_data0.xy=a_tex/u_texsize;v_data0.zw=a_tex/u_texsize_icon;v_data1=vec3(gamma_scale,size,total_opacity);v_is_sdf=is_sdf;}`),terrain:fo("uniform sampler2D u_texture;uniform vec4 u_fog_color;uniform vec4 u_horizon_color;uniform float u_fog_ground_blend;uniform float u_fog_ground_blend_opacity;uniform float u_horizon_fog_blend;uniform bool u_is_globe_mode;in vec2 v_texture_pos;in float v_fog_depth;const float gamma=2.2;vec4 gammaToLinear(vec4 color) {return pow(color,vec4(gamma));}vec4 linearToGamma(vec4 color) {return pow(color,vec4(1.0/gamma));}void main() {vec4 surface_color=texture(u_texture,vec2(v_texture_pos.x,1.0-v_texture_pos.y));if (!u_is_globe_mode && u_fog_ground_blend_opacity > 0.0 && v_fog_depth > u_fog_ground_blend) {vec4 surface_color_linear=gammaToLinear(surface_color);float blend_color=smoothstep(0.0,1.0,max((v_fog_depth-u_horizon_fog_blend)/(1.0-u_horizon_fog_blend),0.0));vec4 fog_horizon_color_linear=mix(gammaToLinear(u_fog_color),gammaToLinear(u_horizon_color),blend_color);float factor_fog=max(v_fog_depth-u_fog_ground_blend,0.0)/(1.0-u_fog_ground_blend);fragColor=linearToGamma(mix(surface_color_linear,fog_horizon_color_linear,pow(factor_fog,2.0)*u_fog_ground_blend_opacity));} else {fragColor=surface_color;}}","layout(location=0) in vec3 a_pos3d;uniform mat4 u_fog_matrix;uniform float u_ele_delta;out vec2 v_texture_pos;out float v_fog_depth;void main() {float ele=get_elevation(a_pos3d.xy);float ele_delta=a_pos3d.z==1.0 ? u_ele_delta : 0.0;v_texture_pos=a_pos3d.xy/8192.0;gl_Position=projectTileFor3D(a_pos3d.xy,ele-ele_delta);vec4 pos=u_fog_matrix*vec4(a_pos3d.xy,ele,1.0);v_fog_depth=pos.z/pos.w*0.5+0.5;}"),terrainDepth:fo("in float v_depth;const highp vec4 bitSh=vec4(256.*256.*256.,256.*256.,256.,1.);const highp vec4 bitMsk=vec4(0.,vec3(1./256.0));highp vec4 pack(highp float value) {highp vec4 comp=fract(value*bitSh);comp-=comp.xxyz*bitMsk;return comp;}void main() {fragColor=pack(v_depth);}","layout(location=0) in vec3 a_pos3d;uniform float u_ele_delta;out float v_depth;void main() {float ele=get_elevation(a_pos3d.xy);float ele_delta=a_pos3d.z==1.0 ? u_ele_delta : 0.0;gl_Position=projectTileFor3D(a_pos3d.xy,ele-ele_delta);v_depth=gl_Position.z/gl_Position.w;}"),atmosphere:fo(`#ifdef GL_ES +precision highp float; +#endif +in vec3 view_direction;uniform vec3 u_sun_pos;uniform vec3 u_globe_position;uniform float u_globe_radius;uniform float u_atmosphere_blend;/**Shader use from https:*Made some change to adapt to MapLibre Globe geometry*/const float PI=3.141592653589793;const int iSteps=5;const int jSteps=3;/*radius of the planet*/const float EARTH_RADIUS=6371e3;/*radius of the atmosphere*/const float ATMOS_RADIUS=6471e3;vec2 rsi(vec3 r0,vec3 rd,float sr) {float a=dot(rd,rd);float b=2.0*dot(rd,r0);float c=dot(r0,r0)-(sr*sr);float d=(b*b)-4.0*a*c;if (d < 0.0) return vec2(1e5,-1e5);return vec2((-b-sqrt(d))/(2.0*a),(-b+sqrt(d))/(2.0*a));}vec4 atmosphere(vec3 r,vec3 r0,vec3 pSun,float iSun,float rPlanet,float rAtmos,vec3 kRlh,float kMie,float shRlh,float shMie,float g) {pSun=normalize(pSun);r=normalize(r);vec2 p=rsi(r0,r,rAtmos);if (p.x > p.y) {return vec4(0.0,0.0,0.0,1.0);}if (p.x < 0.0) {p.x=0.0;}vec3 pos=r0+r*p.x;vec2 p2=rsi(r0,r,rPlanet);if (p2.x <=p2.y && p2.x > 0.0) {p.y=min(p.y,p2.x);}float iStepSize=(p.y-p.x)/float(iSteps);float iTime=p.x+iStepSize*0.5;vec3 totalRlh=vec3(0,0,0);vec3 totalMie=vec3(0,0,0);float iOdRlh=0.0;float iOdMie=0.0;float mu=dot(r,pSun);float mumu=mu*mu;float gg=g*g;float pRlh=3.0/(16.0*PI)*(1.0+mumu);float pMie=3.0/(8.0*PI)*((1.0-gg)*(mumu+1.0))/(pow(1.0+gg-2.0*mu*g,1.5)*(2.0+gg));for (int i=0; i < iSteps; i++) {vec3 iPos=r0+r*iTime;float iHeight=length(iPos)-rPlanet;float odStepRlh=exp(-iHeight/shRlh)*iStepSize;float odStepMie=exp(-iHeight/shMie)*iStepSize;iOdRlh+=odStepRlh;iOdMie+=odStepMie;float jStepSize=rsi(iPos,pSun,rAtmos).y/float(jSteps);float jTime=jStepSize*0.5;float jOdRlh=0.0;float jOdMie=0.0;for (int j=0; j < jSteps; j++) {vec3 jPos=iPos+pSun*jTime;float jHeight=length(jPos)-rPlanet;jOdRlh+=exp(-jHeight/shRlh)*jStepSize;jOdMie+=exp(-jHeight/shMie)*jStepSize;jTime+=jStepSize;}vec3 attn=exp(-(kMie*(iOdMie+jOdMie)+kRlh*(iOdRlh+jOdRlh)));totalRlh+=odStepRlh*attn;totalMie+=odStepMie*attn;iTime+=iStepSize;}float opacity=exp(-(length(kRlh)*length(totalRlh)+kMie*length(totalMie)));vec3 color=iSun*(pRlh*kRlh*totalRlh+pMie*kMie*totalMie);return vec4(color,opacity);}void main() {vec3 scale_camera_pos=-u_globe_position*EARTH_RADIUS/u_globe_radius;vec4 color=atmosphere(normalize(view_direction),scale_camera_pos,u_sun_pos,22.0,EARTH_RADIUS,ATMOS_RADIUS,vec3(5.5e-6,13.0e-6,22.4e-6),21e-6,8e3,1.2e3,0.758 +);color.rgb=1.0-exp(-1.0*color.rgb);color=pow(color,vec4(1.0/2.2));fragColor=vec4(color.rgb,1.0-color.a)*u_atmosphere_blend;}`,"layout(location=0) in vec2 a_pos;uniform mat4 u_inv_proj_matrix;out vec3 view_direction;void main() {view_direction=(u_inv_proj_matrix*vec4(a_pos,0.0,1.0)).xyz;gl_Position=vec4(a_pos,0.0,1.0);}"),sky:fo("uniform vec4 u_sky_color;uniform vec4 u_horizon_color;uniform vec2 u_horizon;uniform vec2 u_horizon_normal;uniform float u_sky_horizon_blend;uniform float u_sky_blend;uniform vec3 u_globe_position;uniform float u_globe_radius;in vec3 v_view_direction;void main() {float x=gl_FragCoord.x;float y=gl_FragCoord.y;float blend=(y-u_horizon.y)*u_horizon_normal.y+(x-u_horizon.x)*u_horizon_normal.x;if (u_sky_blend > 0.0) {vec3 ray=normalize(v_view_direction);float globe_distance=length(u_globe_position);float angle_to_globe_center=acos(clamp(dot(ray,u_globe_position)/globe_distance,-1.0,1.0));float horizon_angle=asin(min(u_globe_radius/globe_distance,1.0));blend=mix(blend,(angle_to_globe_center-horizon_angle)*u_camera_to_center_distance*u_device_pixel_ratio,u_sky_blend);}if (blend > 0.0) {if (blend < u_sky_horizon_blend) {fragColor=mix(u_sky_color,u_horizon_color,pow(1.0-blend/u_sky_horizon_blend,2.0));} else {fragColor=u_sky_color;}}fragColor=mix(fragColor,vec4(vec3(0.0),0.0),u_sky_blend);}","layout(location=0) in vec2 a_pos;uniform mat4 u_inv_proj_matrix;out vec3 v_view_direction;void main() {v_view_direction=(u_inv_proj_matrix*vec4(a_pos,0.0,1.0)).xyz;gl_Position=vec4(a_pos,1.0,1.0);}")};kot="#define PROJECTION_MERCATOR",Cot="mercator",uae=class{constructor(){this._cachedMesh=null}get name(){return"mercator"}get useSubdivision(){return!1}get shaderVariantName(){return Cot}get shaderDefine(){return kot}get shaderPreludeCode(){return tg.projectionMercator}get vertexShaderPreludeCode(){return tg.projectionMercator.vertexSource}get subdivisionGranularity(){return VB.noSubdivision}get useGlobeControls(){return!1}get transitionState(){return 0}destroy(){}getMeshFromTileID(e,t,r,i,n){if(this._cachedMesh)return this._cachedMesh;let a=new Pm;a.emplaceBack(0,0),a.emplaceBack(zr,0),a.emplaceBack(0,zr),a.emplaceBack(zr,zr);let o=e.createVertexBuffer(a,l3.members),s=Ws.simpleSegment(0,0,4,2),l=new Mv;l.emplaceBack(1,0,2),l.emplaceBack(1,2,3);let u=e.createIndexBuffer(l);return this._cachedMesh=new M8(o,u,s),this._cachedMesh}recalculate(){}hasTransition(){return!1}},cae=class Dot{constructor(t=0,r=0,i=0,n=0){if(isNaN(t)||t<0||isNaN(r)||r<0||isNaN(i)||i<0||isNaN(n)||n<0)throw Error("Invalid value for edge-insets, top, bottom, left and right must all be numbers");this.top=t,this.bottom=r,this.left=i,this.right=n}interpolate(t,r,i){return r.top!=null&&t.top!=null&&(this.top=$s.number(t.top,r.top,i)),r.bottom!=null&&t.bottom!=null&&(this.bottom=$s.number(t.bottom,r.bottom,i)),r.left!=null&&t.left!=null&&(this.left=$s.number(t.left,r.left,i)),r.right!=null&&t.right!=null&&(this.right=$s.number(t.right,r.right,i)),this}getCenter(t,r){let i=Jn((this.left+t-this.right)/2,0,t),n=Jn((this.top+r-this.bottom)/2,0,r);return new tr(i,n)}equals(t){return this.top===t.top&&this.bottom===t.bottom&&this.left===t.left&&this.right===t.right}clone(){return new Dot(this.top,this.bottom,this.left,this.right)}toJSON(){return{top:this.top,bottom:this.bottom,left:this.left,right:this.right}}};Fae=class{constructor(e,t){var r;this.applyConstrain=(i,n)=>this._constrainOverride===null?this._callbacks.defaultConstrain(i,n):this._constrainOverride(i,n),this._callbacks=e,this._tileSize=512,this._renderWorldCopies=(t==null?void 0:t.renderWorldCopies)===void 0||!!(t!=null&&t.renderWorldCopies),this._minZoom=(t==null?void 0:t.minZoom)||0,this._maxZoom=(t==null?void 0:t.maxZoom)||22,this._minPitch=(t==null?void 0:t.minPitch)===void 0||(t==null?void 0:t.minPitch)===null?0:t==null?void 0:t.minPitch,this._maxPitch=(t==null?void 0:t.maxPitch)===void 0||(t==null?void 0:t.maxPitch)===null?60:t==null?void 0:t.maxPitch,this._constrainOverride=(r=t==null?void 0:t.constrainOverride)!=null?r:null,this.setMaxBounds(),this._width=0,this._height=0,this._center=new mn(0,0),this._elevation=0,this._zoom=0,this._tileZoom=mat(this._zoom),this._scale=If(this._zoom),this._bearingInRadians=0,this._fovInRadians=.6435011087932844,this._pitchInRadians=0,this._rollInRadians=0,this._unmodified=!0,this._edgeInsets=new cae,this._minElevationForCurrentTile=0,this._autoCalculateNearFarZ=!0}apply(e,t,r){this._constrainOverride=e.constrainOverride,this._latRange=e.latRange,this._lngRange=e.lngRange,this._width=e.width,this._height=e.height,this._center=e.center,this._elevation=e.elevation,this._minElevationForCurrentTile=e.minElevationForCurrentTile,this._zoom=e.zoom,this._tileZoom=mat(this._zoom),this._scale=If(this._zoom),this._bearingInRadians=e.bearingInRadians,this._fovInRadians=e.fovInRadians,this._pitchInRadians=e.pitchInRadians,this._rollInRadians=e.rollInRadians,this._unmodified=e.unmodified,this._edgeInsets=new cae(e.padding.top,e.padding.bottom,e.padding.left,e.padding.right),this._minZoom=e.minZoom,this._maxZoom=e.maxZoom,this._minPitch=e.minPitch,this._maxPitch=e.maxPitch,this._renderWorldCopies=e.renderWorldCopies,this._cameraToCenterDistance=e.cameraToCenterDistance,this._nearZ=e.nearZ,this._farZ=e.farZ,this._autoCalculateNearFarZ=!r&&e.autoCalculateNearFarZ,t&&this.constrainInternal(),this._calcMatrices()}get pixelsToClipSpaceMatrix(){return this._pixelsToClipSpaceMatrix}get clipSpaceToPixelsMatrix(){return this._clipSpaceToPixelsMatrix}get minElevationForCurrentTile(){return this._minElevationForCurrentTile}setMinElevationForCurrentTile(e){this._minElevationForCurrentTile=e}get tileSize(){return this._tileSize}get tileZoom(){return this._tileZoom}get scale(){return this._scale}get width(){return this._width}get height(){return this._height}get bearingInRadians(){return this._bearingInRadians}get lngRange(){return this._lngRange}get latRange(){return this._latRange}get pixelsToGLUnits(){return this._pixelsToGLUnits}get minZoom(){return this._minZoom}setMinZoom(e){if(this._minZoom===e)return;this._minZoom=e;let t=this._unmodified;this.setZoom(this.applyConstrain(this._center,this.zoom).zoom),this._unmodified=t}get maxZoom(){return this._maxZoom}setMaxZoom(e){if(this._maxZoom===e)return;this._maxZoom=e;let t=this._unmodified;this.setZoom(this.applyConstrain(this._center,this.zoom).zoom),this._unmodified=t}get minPitch(){return this._minPitch}setMinPitch(e){if(this._minPitch===e)return;this._minPitch=e;let t=this._unmodified;this.setPitch(Math.max(this.pitch,e)),this._unmodified=t}get maxPitch(){return this._maxPitch}setMaxPitch(e){if(this._maxPitch===e)return;this._maxPitch=e;let t=this._unmodified;this.setPitch(Math.min(this.pitch,e)),this._unmodified=t}get renderWorldCopies(){return this._renderWorldCopies}setRenderWorldCopies(e){e===void 0?e=!0:e===null&&(e=!1),this._renderWorldCopies=e}get constrainOverride(){return this._constrainOverride}setConstrainOverride(e){e===void 0&&(e=null),this._constrainOverride!==e&&(this._constrainOverride=e,this.constrainInternal(),this._calcMatrices())}get worldSize(){return this._tileSize*this._scale}get centerOffset(){return this.centerPoint._sub(this.size._div(2))}get size(){return new tr(this._width,this._height)}get bearing(){return this._bearingInRadians/Math.PI*180}setBearing(e){let t=B0(e,-180,180)*Math.PI/180;this._bearingInRadians!==t&&(this._unmodified=!1,this._bearingInRadians=t,this._calcMatrices(),this._rotationMatrix=Yat(),P_r(this._rotationMatrix,this._rotationMatrix,-this._bearingInRadians))}get rotationMatrix(){return this._rotationMatrix}get pitchInRadians(){return this._pitchInRadians}get pitch(){return this._pitchInRadians/Math.PI*180}setPitch(e){let t=Jn(e,this.minPitch,this.maxPitch)/180*Math.PI;this._pitchInRadians!==t&&(this._unmodified=!1,this._pitchInRadians=t,this._calcMatrices())}get rollInRadians(){return this._rollInRadians}get roll(){return this._rollInRadians/Math.PI*180}setRoll(e){let t=e/180*Math.PI;this._rollInRadians!==t&&(this._unmodified=!1,this._rollInRadians=t,this._calcMatrices())}get fovInRadians(){return this._fovInRadians}get fov(){return yv(this._fovInRadians)}setFov(e){e=Jn(e,.1,150),this.fov!==e&&(this._unmodified=!1,this._fovInRadians=js(e),this._calcMatrices())}get zoom(){return this._zoom}setZoom(e){let t=this.applyConstrain(this._center,e).zoom;this._zoom!==t&&(this._unmodified=!1,this._zoom=t,this._tileZoom=Math.max(0,Math.floor(t)),this._scale=If(t),this.constrainInternal(),this._calcMatrices())}get center(){return this._center}setCenter(e){(e.lat!==this._center.lat||e.lng!==this._center.lng)&&(this._unmodified=!1,this._center=e,this.constrainInternal(),this._calcMatrices())}get elevation(){return this._elevation}setElevation(e){e!==this._elevation&&(this._elevation=e,this.constrainInternal(),this._calcMatrices())}get padding(){return this._edgeInsets.toJSON()}setPadding(e){this._edgeInsets.equals(e)||(this._unmodified=!1,this._edgeInsets.interpolate(this._edgeInsets,e,1),this._calcMatrices())}get centerPoint(){return this._edgeInsets.getCenter(this._width,this._height)}get pixelsPerMeter(){return this._pixelPerMeter}get unmodified(){return this._unmodified}get cameraToCenterDistance(){return this._cameraToCenterDistance}get nearZ(){return this._nearZ}get farZ(){return this._farZ}get autoCalculateNearFarZ(){return this._autoCalculateNearFarZ}overrideNearFarZ(e,t){this._autoCalculateNearFarZ=!1,this._nearZ=e,this._farZ=t,this._calcMatrices()}clearNearFarZOverride(){this._autoCalculateNearFarZ=!0,this._calcMatrices()}isPaddingEqual(e){return this._edgeInsets.equals(e)}interpolatePadding(e,t,r){this._unmodified=!1,this._edgeInsets.interpolate(e,t,r),this.constrainInternal(),this._calcMatrices()}resize(e,t,r=!0){this._width=e,this._height=t,r&&this.constrainInternal(),this._calcMatrices()}getMaxBounds(){var e,t;return((e=this._latRange)==null?void 0:e.length)!==2||((t=this._lngRange)==null?void 0:t.length)!==2?null:new Ev([this._lngRange[0],this._latRange[0]],[this._lngRange[1],this._latRange[1]])}setMaxBounds(e){e?(this._lngRange=[e.getWest(),e.getEast()],this._latRange=[e.getSouth(),e.getNorth()],this.constrainInternal()):(this._lngRange=null,this._latRange=[-Tv,Tv])}getCameraQueryGeometry(e,t){if(t.length===1)return[t[0],e];{let{minX:r,minY:i,maxX:n,maxY:a}=Jd.fromPoints(t).extend(e);return[new tr(r,i),new tr(n,i),new tr(n,a),new tr(r,a),new tr(r,i)]}}constrainInternal(){if(!this.center||!this._width||!this._height||this._constraining)return;this._constraining=!0;let e=this._unmodified,{center:t,zoom:r}=this.applyConstrain(this.center,this.zoom);this.setCenter(t),this.setZoom(r),this._unmodified=e,this._constraining=!1}_calcMatrices(){if(this._pixelPerMeter=rx(1,this.center.lat)*this.worldSize,!this._width||!this._height)return;this._pixelsToGLUnits=[2/this._width,-2/this._height];let e=Qd(new Float64Array(16));Rc(e,e,[this._width/2,-this._height/2,1]),eu(e,e,[1,-1,0]),this._clipSpaceToPixelsMatrix=e,e=Qd(new Float64Array(16)),Rc(e,e,[1,-1,1]),eu(e,e,[-1,-1,0]),Rc(e,e,[2/this._width,2/this._height,1]),this._pixelsToClipSpaceMatrix=e;let t=this.fovInRadians/2;this._cameraToCenterDistance=.5/Math.tan(t)*this._height,this._callbacks.calcMatrices()}calculateCenterFromCameraLngLatAlt(e,t,r,i){let n=r===void 0?this.bearing:r,a=i=i===void 0?this.pitch:i,{distanceToCenter:o,clampedElevation:s}=this._distanceToCenterFromAltElevationPitch(t,this.elevation,a),{x:l,y:u}=jB(a,n),c=wo.fromLngLat(e,t),f=one(1,c.y),h,d,p=0;do{if(p+=1,p>10)break;d=o/f;let v=l*d,m=u*d;h=new wo(c.x+v,c.y+m),f=1/h.meterInMercatorCoordinateUnits()}while(Math.abs(o-d*f)>1e-12);return{center:h.toLngLat(),elevation:s,zoom:zc(this.height/2/Math.tan(this.fovInRadians/2)/d/this.tileSize)}}recalculateZoomAndCenter(e){if(this.elevation-e===0)return;let t=1/this.worldSize,r=rx(1,this.center.lat)*this.worldSize,i=wo.fromLngLat(this.center,this.elevation),n=i.x/t,a=i.y/t,o=i.z/t,s=this.pitch,l=this.bearing,{x:u,y:c,z:f}=jB(s,l),h=this.cameraToCenterDistance,d=n+h*-u,p=a+h*-c,v=o+h*f,{distanceToCenter:m,clampedElevation:g}=this._distanceToCenterFromAltElevationPitch(v/r,e,s),w=m*r,b=d+u*w,_=p+c*w,M=new wo(b*t,_*t,0).toLngLat(),x=rx(1,M.lat),T=zc(this.height/2/Math.tan(this.fovInRadians/2)/m/x/this.tileSize);this._elevation=g,this._center=M,this.setZoom(T)}_distanceToCenterFromAltElevationPitch(e,t,r){let i=-Math.cos(js(r)),n=e-t,a,o=t;return i*n>=0||Math.abs(i)<.1?(a=1e4,o=e+a*i):a=-n/i,{distanceToCenter:a,clampedElevation:o}}getCameraPoint(){let e=this.pitchInRadians,t=Math.tan(e)*(this.cameraToCenterDistance||1);return this.centerPoint.add(new tr(t*Math.sin(this.rollInRadians),t*Math.cos(this.rollInRadians)))}getMercatorTileCoordinates(e){if(!e)return[0,0,1,1];let t=e.canonical.z>=0?1<i}allowWorldCopies(){return!0}prepareNextFrame(){}},j3r=ol([{name:"a_pos3d",type:"Int16",components:3}]),$3r=class extends mu{constructor(e){super(),this._lastTilesetChange=Oo(),this.tileManager=e,this._tiles={},this._renderableTilesKeys=[],this._sourceTileCache={},this.minzoom=0,this.maxzoom=22,this.deltaZoom=1,this.tileSize=e._source.tileSize*2**this.deltaZoom,e.usedForTerrain=!0,e.tileSize=this.tileSize}destruct(){this.tileManager.usedForTerrain=!1,this.tileManager.tileSize=null,this.releaseAllRTT()}getSource(){return this.tileManager._source}update(e,t){this.tileManager.update(e,t),this._renderableTilesKeys=[];let r={},i=!1;for(let n of ZT(e,{tileSize:this.tileSize,minzoom:this.minzoom,maxzoom:this.maxzoom,reparseOverscaled:!1,terrain:t,calculateTileZoom:this.tileManager._source.calculateTileZoom}))r[n.key]=!0,this._renderableTilesKeys.push(n.key),this._tiles[n.key]||(n.terrainRttPosMatrix32f=new Float32Array(16),wv(n.terrainRttPosMatrix32f,0,zr,zr,0,0,1),this._tiles[n.key]=new yot(n,this.tileSize),this._lastTilesetChange=Oo(),i=!0);for(let n in this._tiles)r[n]||(this._tiles[n].releaseRTT(this.tileManager.map.painter),delete this._tiles[n],i=!0);return i}releaseRTT(e){for(let t in this._tiles){let r=this._tiles[t];(r.tileID.equals(e)||r.tileID.isChildOf(e)||e.isChildOf(r.tileID))&&r.releaseRTT(this.tileManager.map.painter)}}releaseAllRTT(){for(let e in this._tiles)this._tiles[e].releaseRTT(this.tileManager.map.painter)}getRenderableTiles(){return this._renderableTilesKeys.map(e=>this.getTileByID(e))}getTileByID(e){return this._tiles[e]}getTerrainCoords(e,t){return t?this._getTerrainCoordsForTileRanges(e,t):this._getTerrainCoordsForRegularTile(e)}_getTerrainCoordsForRegularTile(e){let t={};for(let r of this._renderableTilesKeys){let i=this._tiles[r].tileID,n=e.clone(),a=Q2();if(i.canonical.equals(e.canonical))wv(a,0,zr,zr,0,0,1);else if(i.canonical.isChildOf(e.canonical)){let o=i.canonical.z-e.canonical.z,s=i.canonical.x-(i.canonical.x>>o<>o<>o;wv(a,0,u,u,0,0,1),eu(a,a,[-s*u,-l*u,0])}else if(e.canonical.isChildOf(i.canonical)){let o=e.canonical.z-i.canonical.z,s=e.canonical.x-(e.canonical.x>>o<>o<>o;wv(a,0,zr,zr,0,0,1),eu(a,a,[s*u,l*u,0]),Rc(a,a,[1/2**o,1/2**o,0])}else continue;n.terrainRttPosMatrix32f=new Float32Array(a),t[r]=n}return t}_getTerrainCoordsForTileRanges(e,t){let r={};for(let i of this._renderableTilesKeys){let n=this._tiles[i].tileID;if(!this._isWithinTileRanges(n,t))continue;let a=e.clone(),o=Q2();if(n.canonical.z===e.canonical.z){let s=e.canonical.x-n.canonical.x+e.wrap*(1<e.canonical.z){let s=n.canonical.z-e.canonical.z,l=n.canonical.x-(n.canonical.x>>s<>s<>s),f=e.canonical.y-(n.canonical.y>>s),h=zr>>s;wv(o,0,h,h,0,0,1),eu(o,o,[-l*h+c*zr,-u*h+f*zr,0])}else{let s=e.canonical.z-n.canonical.z,l=e.canonical.x-(e.canonical.x>>s<>s<>s)-n.canonical.x,f=(e.canonical.y>>s)-n.canonical.y,h=zr<r.maxzoom&&(i=r.maxzoom),i=r.minzoom&&!(n!=null&&n.dem);)n=this.findTileInCaches(e.scaledTo(i--).key);return n}findTileInCaches(e){let t=this.tileManager.getTileByID(e);return t||(t=this.tileManager._outOfViewCache.getByKey(e),t)}anyTilesAfterTime(e=Oo()){return this._lastTilesetChange>=e}_isWithinTileRanges(e,t){let r=t[e.canonical.z];return!!r&&(e.wrap>r.minWrap||e.wrap=r.minTileXWrapped&&e.canonical.x<=r.maxTileXWrapped&&e.canonical.y>=r.minTileY&&e.canonical.y<=r.maxTileY)}},yat=zr*(1-1e-12),W3r=class{constructor(e,t,r,i="auto"){this._meshCache={},this.painter=e,this.tileManager=new $3r(t),this.options=r,this.exaggeration=typeof r.exaggeration=="number"?r.exaggeration:1,this._terrainSkirtLength=i,this.qualityFactor=2,this.meshSize=128,this._demMatrixCache=new Map,this._elevationSamplerCache=new Map}destroy(){this._fbo&&(this._fbo=(this._fbo.destroy(),null)),this._fboDepthTexture&&(this._fboDepthTexture=(this._fboDepthTexture.destroy(),null)),this._emptyDemTexture&&(this._emptyDemTexture=(this._emptyDemTexture.destroy(),null)),this._emptyDepthTexture&&(this._emptyDepthTexture=(this._emptyDepthTexture.destroy(),null));for(let e in this._meshCache)this._meshCache[e].destroy();this._meshCache={},this.tileManager.destruct()}getDEMElevation(e,t,r,i=zr){let n=e.normalizeCoordinates(t,r,i);if(!n)return 0;let a=this.getElevationSampler(n.tileID);return a?a(n.x,n.y,i):0}getElevationForLngLatZoom(e,t){if(!gne(t,e.wrap()))return 0;let{tileID:r,mercatorX:i,mercatorY:n}=this._getOverscaledTileIDFromLngLatZoom(e,t);return this.getElevation(r,i%zr,n%zr,zr)}getElevationForLngLat(e,t){let r=this.getCoverageIndex();if(r){let a=wo.fromLngLat(e),o=Lae(r,this.exaggeration,a.x,a.y);if(o.demLoaded)return o.elevation}let i=ZT(t,{maxzoom:this.tileManager.maxzoom,minzoom:this.tileManager.minzoom,tileSize:512,terrain:this}),n=0;for(let a of i)a.canonical.z>n&&(n=Math.min(a.canonical.z,this.tileManager.maxzoom));return this.getElevationForLngLatZoom(e,n)}getElevation(e,t,r,i=zr){return this.getDEMElevation(e,t,r,i)*this.exaggeration}resetElevationCache(){this._elevationSamplerCache.clear(),this._coverageIndex=void 0}getCoverageIndex(){return this._coverageIndex===void 0&&(this._coverageIndex=this._buildCoverageIndex()),this._coverageIndex}_buildCoverageIndex(){let e=[],t=new Map,r=0,i=0;for(let n of this.tileManager.getRenderableTiles()){if(!n)continue;let{canonical:a,wrap:o}=n.tileID;e.includes(a.z)||e.push(a.z);let s=this.getElevationSampler(n.tileID);t.set(`${o}/${a.z}/${a.x}/${a.y}`,s);let{minElevation:l,maxElevation:u}=this.getMinMaxElevation(n.tileID);r=Math.min(r,l!=null?l:0),i=Math.max(i,u!=null?u:0)}return t.size===0?null:(e.sort((n,a)=>a-n),{zooms:e,samplerPerTile:t,minElevation:r-10,maxElevation:i+10})}getElevationSampler(e){let t=e.key,r=this._elevationSamplerCache.get(t);if(r)return r;let i=this.tileManager.getSourceTile(e,!0),n=i==null?void 0:i.dem;if(!i||!n)return null;let a=this._getDEMTileMatrix(e,i),o=a[0]*n.dim,s=a[5]*n.dim,l=a[12]*n.dim,u=a[13]*n.dim,c=(f,h,d)=>{let p=d===8192?1:zr/d;return n.sampleBilinear(f*p*o+l,h*p*s+u)};return this._elevationSamplerCache.set(t,c),c}_getDEMTileMatrix(e,t){let r=`${t.tileID.key}/${e.key}`,i=this._demMatrixCache.get(r);if(i)return i;let n=this.tileManager.getSource().maxzoom,a=e.canonical.z-t.tileID.canonical.z;e.overscaledZ>e.canonical.z&&(e.canonical.z>=n?a=e.canonical.z-n:Ma("cannot calculate elevation if elevation maxzoom > source.maxzoom"));let o=e.canonical.x-(e.canonical.x>>a<>a<0,r=t&&e.canonical.y===0,i=t&&e.canonical.y===(1<{i=Jn(+i,this.minZoom,this.maxZoom);let n={center:new mn(r.lng,r.lat),zoom:i},a=this._helper._lngRange;!this._helper._renderWorldCopies&&a===null&&(a=[-179.9999999999,180-1e-10]);let o=this.tileSize*If(n.zoom),s=0,l=o,u=0,c=o,f=0,h=0,{x:d,y:p}=this.size;if(this._helper._latRange){let _=this._helper._latRange;s=t3(_[1])*o,l=t3(_[0])*o,l-sl&&(w=l-_)}if(a){let _=(u+c)/2,M=v;this._helper._renderWorldCopies&&(M=B0(v,_-o/2,_+o/2));let x=d/2;M-xc&&(g=c-x)}if(g!==void 0||w!==void 0){let _=new tr(g!=null?g:v,w!=null?w:m);n.center=NT(o,_).wrap()}return n},this.applyConstrain=(r,i)=>this._helper.applyConstrain(r,i),this._helper=new Fae({calcMatrices:()=>this._calcMatrices(),defaultConstrain:(r,i)=>this.defaultConstrain(r,i)},t),this._coveringTilesDetailsProvider=new H3r}clone(){let t=new Pot;return t.apply(this,!1),t}apply(t,r,i){this._helper.apply(t,r,i)}get cameraPosition(){return this._cameraPosition}get projectionMatrix(){return this._projectionMatrix}get modelViewProjectionMatrix(){return this._viewProjMatrix}get inverseProjectionMatrix(){return this._invProjMatrix}get mercatorMatrix(){return this._mercatorMatrix}getVisibleUnwrappedCoordinates(t){let r=[new u8(0,t)];if(this._helper._renderWorldCopies){let i=this.screenPointToMercatorCoordinate(new tr(0,0)),n=this.screenPointToMercatorCoordinate(new tr(this._helper._width,0)),a=this.screenPointToMercatorCoordinate(new tr(this._helper._width,this._helper._height)),o=this.screenPointToMercatorCoordinate(new tr(0,this._helper._height)),s=Math.floor(Math.min(i.x,n.x,a.x,o.x)),l=Math.floor(Math.max(i.x,n.x,a.x,o.x));for(let u=s-1;u<=l+1;u++)u!==0&&r.push(new u8(u,t))}return r}getCameraFrustum(){return Mae.fromInvProjectionMatrix(this._invViewProjMatrix,this.worldSize)}getClippingPlane(){return null}getCoveringTilesDetailsProvider(){return this._coveringTilesDetailsProvider}recalculateZoomAndCenter(t){let r=this.screenPointToLocation(this.centerPoint,t),i=t?t.getElevationForLngLat(r,this):0;this._helper.recalculateZoomAndCenter(i)}setLocationAtPoint(t,r,i=this.elevation){let n=i-this.elevation,a=this.screenPointToMercatorCoordinateAtZ(r,n),o=this.screenPointToMercatorCoordinateAtZ(this.centerPoint,0),s=wo.fromLngLat(t),l=new wo(s.x-(a.x-o.x),s.y-(a.y-o.y));this.setCenter(l==null?void 0:l.toLngLat()),this._helper._renderWorldCopies&&this.setCenter(this.center.wrap())}locationToScreenPoint(t,r){return r?this.coordinatePoint(wo.fromLngLat(t),r.getElevationForLngLat(t,this),this._pixelMatrix3D):this.coordinatePoint(wo.fromLngLat(t))}screenPointToLocation(t,r){var i;return(i=this.screenPointToMercatorCoordinate(t,r))==null?void 0:i.toLngLat()}screenPointToLocationAtElevation(t,r){var i;return(i=this.screenPointToMercatorCoordinateAtZ(t,r-this.elevation))==null?void 0:i.toLngLat()}screenPointToMercatorCoordinate(t,r){if(r){let i=this.screenTerrainPointToMercatorCoordinate(t,r);if(i!=null)return i}return this.screenPointToMercatorCoordinateAtZ(t)}screenTerrainPointToMercatorCoordinate(t,r){let i=r.getCoverageIndex();if(!i)return null;let{near:n,far:a}=this.getRaySegmentFromPixel(t),o=this.worldSize,s=a[0]-n[0],l=a[1]-n[1],u=a[2]-n[2],c={index:i,exaggeration:r.exaggeration,near:n,dx:s,dy:l,dz:u,worldSize:o},f=0,h=1;if(u===0){if(n[2]>i.maxElevation||n[2]h)return null}let d=Math.hypot(s,l),p=Jn(Math.ceil(d*(h-f)/4),1,512),v=0,m=!aq(c,0);for(let g=0;g<=p;g++){let w=f+(h-f)*g/p;if(!m)m=!aq(c,w);else if(aq(c,w)){let{lo:b,hi:_}=Lot(c,aq,v,w,.001/d),M=yq(c,b),x=yq(c,_),T=n[2]+b*u-M.elevation,A=n[2]+_*u-x.elevation,y=M.covered&&T>A?Jn(b+T*(_-b)/(T-A),b,_):_;return new wo((n[0]+y*s)/o,(n[1]+y*l)/o,yq(c,y).elevation)}v=w}return null}getRaySegmentFromPixel(t){let r=[t.x,t.y,0,1],i=[t.x,t.y,1,1];Uu(r,r,this._pixelMatrixInverse),Uu(i,i,this._pixelMatrixInverse);let n=r[3],a=i[3],o=this.elevation;return{near:[r[0]/n,r[1]/n,r[2]/n+o],far:[i[0]/a,i[1]/a,i[2]/a+o]}}screenPointToMercatorCoordinateAtZ(t,r){let i=r||0,{near:n,far:a}=this.getRaySegmentFromPixel(t),o=n[2]===a[2]?0:(i+this.elevation-n[2])/(a[2]-n[2]);return new wo($s.number(n[0],a[0],o)/this.worldSize,$s.number(n[1],a[1],o)/this.worldSize,i)}coordinatePoint(t,r=0,i=this._pixelMatrix){let n=[t.x*this.worldSize,t.y*this.worldSize,r,1];return Uu(n,n,i),new tr(n[0]/n[3],n[1]/n[3])}getBounds(){let t=Math.max(0,this._helper._height/2-UT(this));return new Ev().extend(this.screenPointToLocation(new tr(0,t))).extend(this.screenPointToLocation(new tr(this._helper._width,t))).extend(this.screenPointToLocation(new tr(this._helper._width,this._helper._height))).extend(this.screenPointToLocation(new tr(0,this._helper._height)))}isPointOnMapSurface(t,r){return r?this.screenTerrainPointToMercatorCoordinate(t,r)!=null:t.y>this.height/2-UT(this)}calculatePosMatrix(t,r=!1,i=!1){var l;let n=(l=t.key)!=null?l:Vb(t.wrap,t.canonical.z,t.canonical.z,t.canonical.x,t.canonical.y),a=r?this._alignedPosMatrixCache:this._posMatrixCache;if(a.has(n)){let u=a.get(n);return i?u.f32:u.f64}let o=HB(t,this.worldSize);Yb(o,r?this._alignedProjMatrix:this._viewProjMatrix,o);let s={f64:o,f32:new Float32Array(o)};return a.set(n,s),i?s.f32:s.f64}calculateFogMatrix(t){let r=t.key,i=this._fogMatrixCacheF32;if(i.has(r))return i.get(r);let n=HB(t,this.worldSize);return Yb(n,this._fogMatrix,n),i.set(r,new Float32Array(n)),i.get(r)}calculateCenterFromCameraLngLatAlt(t,r,i,n){return this._helper.calculateCenterFromCameraLngLatAlt(t,r,i,n)}calculateCameraOptionsFromTo(t,r,i,n){let a=wo.fromLngLat(t,r),o=wo.fromLngLat(i,n),s=o.x-a.x,l=o.y-a.y,u=o.z-a.z,c=Math.hypot(s,l,u);if(c===0)throw Error("Can't calculate camera options with same From and To");let f=Math.hypot(s,l),h=zc(this.cameraToCenterDistance/c/this.tileSize),d=yv(Math.atan2(s,-l)),p=yv(Math.acos(f/c));return p=u<0?90-p:90+p,{center:o.toLngLat(),elevation:n,zoom:h,pitch:p,bearing:d}}_calculateNearFarZIfNeeded(t,r,i){if(!this._helper.autoCalculateNearFarZ)return;let n=Math.min(this.elevation,this.minElevationForCurrentTile,this.getCameraAltitude()-100),a=t-n*this._helper._pixelPerMeter/Math.cos(r),o=n<0?a:t,s=Math.PI/2+this.pitchInRadians,l=js(this.fov)*(Math.abs(Math.cos(js(this.roll)))*this.height+Math.abs(Math.sin(js(this.roll)))*this.width)/this.height*(.5+i.y/this.height),u=Math.sin(l)*o/Math.sin(Jn(Math.PI-s-l,.01,Math.PI-.01)),c=UT(this),f=Math.atan(c/this._helper.cameraToCenterDistance),h=js(90-ix),d=f>h?2*f*(.5+i.y/(c*2)):h,p=Math.sin(d)*o/Math.sin(Jn(Math.PI-s-d,.01,Math.PI-.01)),v=Math.min(u,p);this._helper._farZ=(Math.cos(Math.PI/2-r)*v+o)*1.01,this._helper._nearZ=this._helper._height/50}_calcMatrices(){let t=this.centerOffset,r=Sv(this.worldSize,this.center),i=r.x,n=r.y,a=js(Math.min(this.pitch,ix)),o=Math.max(this._helper.cameraToCenterDistance/2,this._helper.cameraToCenterDistance+this._helper._elevation*this._helper._pixelPerMeter/Math.cos(a));this._calculateNearFarZIfNeeded(o,a,t);let s;s=new Float64Array(16),oB(s,this.fovInRadians,this._helper._width/this._helper._height,this._helper._nearZ,this._helper._farZ),this._invProjMatrix=new Float64Array(16),h3r(this._invProjMatrix,s),s[8]=-t.x*2/this._helper._width,s[9]=t.y*2/this._helper._height,this._projectionMatrix=aB(s),Rc(s,s,[1,-1,1]),eu(s,s,[0,0,-this._helper.cameraToCenterDistance]),km(s,s,-this.rollInRadians),Xb(s,s,this.pitchInRadians),km(s,s,-this.bearingInRadians),eu(s,s,[-i,-n,0]),this._mercatorMatrix=Rc([],s,[this.worldSize,this.worldSize,this.worldSize]),Rc(s,s,[1,1,this._helper._pixelPerMeter]),this._pixelMatrix=Yb(new Float64Array(16),this.clipSpaceToPixelsMatrix,s),eu(s,s,[0,0,-this.elevation]),this._viewProjMatrix=s,this._invViewProjMatrix=Bk([],s);let l=[0,0,-1,1];Uu(l,l,this._invViewProjMatrix),this._cameraPosition=[l[0]/l[3],l[1]/l[3],l[2]/l[3]],this._fogMatrix=new Float64Array(16),oB(this._fogMatrix,this.fovInRadians,this.width/this.height,o,this._helper._farZ),this._fogMatrix[8]=-t.x*2/this.width,this._fogMatrix[9]=t.y*2/this.height,Rc(this._fogMatrix,this._fogMatrix,[1,-1,1]),eu(this._fogMatrix,this._fogMatrix,[0,0,-this.cameraToCenterDistance]),km(this._fogMatrix,this._fogMatrix,-this.rollInRadians),Xb(this._fogMatrix,this._fogMatrix,this.pitchInRadians),km(this._fogMatrix,this._fogMatrix,-this.bearingInRadians),eu(this._fogMatrix,this._fogMatrix,[-i,-n,0]),Rc(this._fogMatrix,this._fogMatrix,[1,1,this._helper._pixelPerMeter]),eu(this._fogMatrix,this._fogMatrix,[0,0,-this.elevation]),this._pixelMatrix3D=Yb(new Float64Array(16),this.clipSpaceToPixelsMatrix,s);let u=this._helper._width%2/2,c=this._helper._height%2/2,f=Math.cos(this.bearingInRadians),h=Math.sin(-this.bearingInRadians),d=i-Math.round(i)+f*u+h*c,p=n-Math.round(n)+f*c+h*u,v=new Float64Array(s);if(eu(v,v,[d>.5?d-1:d,p>.5?p-1:p,0]),this._alignedProjMatrix=v,s=Bk(new Float64Array(16),this._pixelMatrix),!s)throw Error("failed to invert matrix");this._pixelMatrixInverse=s,this._clearMatrixCaches()}_clearMatrixCaches(){this._posMatrixCache.clear(),this._alignedPosMatrixCache.clear(),this._fogMatrixCacheF32.clear()}maxPitchScaleFactor(){if(!this._pixelMatrixInverse)return 1;let t=this.screenPointToMercatorCoordinate(new tr(0,0)),r=[t.x*this.worldSize,t.y*this.worldSize,0,1];return Uu(r,r,this._pixelMatrix)[3]/this._helper.cameraToCenterDistance}getCameraPoint(){return this._helper.getCameraPoint()}getCameraAltitude(){return Math.cos(this.pitchInRadians)*this.cameraToCenterDistance/this.pixelsPerMeter+this.elevation}getCameraLngLat(){let t=rx(1,this.center.lat)*this.worldSize,r=this._helper.cameraToCenterDistance/t;return lne(this.center,this.elevation,this.pitch,this.bearing,r).toLngLat()}lngLatToCameraDepth(t,r){let i=wo.fromLngLat(t),n=[i.x*this.worldSize,i.y*this.worldSize,r,1];return Uu(n,n,this._viewProjMatrix),n[2]/n[3]}getProjectionData(t){let{overscaledTileID:r,aligned:i,applyTerrainMatrix:n}=t,a=this._helper.getMercatorTileCoordinates(r),o=r?this.calculatePosMatrix(r,i,!0):null,s;return s=r!=null&&r.terrainRttPosMatrix32f&&n?r.terrainRttPosMatrix32f:o||xie(),{mainMatrix:s,tileMercatorCoords:a,clippingPlane:[0,0,0,0],projectionTransition:0,fallbackMatrix:s,clipAntimeridian:!1}}isLocationOccluded(t){return!1}getPixelScale(){return 1}getCircleRadiusCorrection(){return 1}getPitchedTextCorrection(t,r,i){return 1}transformLightDirection(t){return sB(t)}getRayDirectionFromPixel(t){throw Error("Not implemented.")}projectTileCoordinates(t,r,i,n){let a=this.calculatePosMatrix(i),o;n==null?(o=[t,r,0,1],Dae(o,o,a)):(o=[t,r,n,1],Uu(o,o,a));let s=o[3];return{point:new tr(o[0]/s,o[1]/s),signedDistanceFromCamera:s,isOccluded:!1}}populateCache(t){for(let r of t)this.calculatePosMatrix(r)}getProjectionDataForCustomLayer(t=!0){let r=new Bc(0,0,0,0,0),i=this.getProjectionData({overscaledTileID:r,applyGlobeMatrix:t}),n=HB(r,this.worldSize);Yb(n,this._viewProjMatrix,n);let a=[zr,zr,this.worldSize/this._helper.pixelsPerMeter],o=Q2();return Rc(o,n,a),ma(fn({},i),{tileMercatorCoords:[0,0,1,1],fallbackMatrix:o,mainMatrix:o})}getFastPathSimpleProjectionMatrix(t){return this.calculatePosMatrix(t)}};Aq=class{get useGlobeControls(){return!1}handlePanInertia(e,t){let r=e.mag(),i=Math.abs(UT(t));return{easingOffset:e.mult(Math.min(i*.75/r,1)),easingCenter:t.center}}handleMapControlsRollPitchBearingZoom(e,t){e.bearingDelta&&t.setBearing(t.bearing+e.bearingDelta),e.pitchDelta&&t.setPitch(t.pitch+e.pitchDelta),e.rollDelta&&t.setRoll(t.roll+e.rollDelta),e.zoomDelta&&t.setZoom(t.zoom+e.zoomDelta)}handleMapControlsPan(e,t,r){e.around.distSqr(t.centerPoint)<.01||t.setLocationAtPoint(r,e.around,e.aroundElevation)}cameraForBoxAndBearing(e,t,r,i,n){return zot(e,t,r,i,n)}handleJumpToCenterZoom(e,t){let r=t.zoom===void 0?e.zoom:+t.zoom;e.zoom!==r&&e.setZoom(+t.zoom),t.center!==void 0&&e.setCenter(mn.convert(t.center))}handleEaseTo(e,t){let r=e.zoom,i=e.padding,n={roll:e.roll,pitch:e.pitch,bearing:e.bearing},a={roll:t.roll===void 0?e.roll:t.roll,pitch:t.pitch===void 0?e.pitch:t.pitch,bearing:t.bearing===void 0?e.bearing:t.bearing},o=t.zoom!==void 0,s=!e.isPaddingEqual(t.padding),l=!1,u=o?+t.zoom:e.zoom,c=e.centerPoint.add(t.offsetAsPoint),f=e.screenPointToLocation(c),{center:h,zoom:d}=e.applyConstrain(mn.convert(t.center||f),u!=null?u:r);wq(e,h);let p=Sv(e.worldSize,f),v=Sv(e.worldSize,h).sub(p),m=If(d-r);return l=d!==r,{easeFunc:g=>{if(l&&e.setZoom($s.number(r,d,g)),wie(n,a)||Rot({startEulerAngles:n,endEulerAngles:a,tr:e,k:g,useSlerp:n.roll!=a.roll}),s&&(e.interpolatePadding(i,t.padding,g),c=e.centerPoint.add(t.offsetAsPoint)),t.around)e.setLocationAtPoint(t.around,t.aroundPoint);else{let w=If(e.zoom-r),b=(d>r?Math.min(2,m):Math.max(.5,m))**(1-g),_=NT(e.worldSize,p.add(v.mult(g*b)).mult(w));e.setLocationAtPoint(e.renderWorldCopies?_.wrap():_,c)}},isZooming:l,elevationCenter:h}}handleFlyTo(e,t){let r=t.zoom!==void 0,i=e.zoom,n=e.applyConstrain(mn.convert(t.center||t.locationAtOffset),r?+t.zoom:i),a=n.center,o=n.zoom;wq(e,a);let s=e.worldSize,l=Sv(s,t.locationAtOffset),u=Sv(s,a).sub(l),c=u.mag(),f=If(o-i),h=t.minZoom===void 0?e.minZoom:+t.minZoom,d=Math.max(h,e.minZoom),p=Math.min(d,i,o),v=e.applyConstrain(a,p).zoom;return{easeFunc:(m,g,w,b)=>{e.setZoom(m===1?o:i+zc(g));let _=m===1?a:NT(s,l.add(u.mult(w)));e.setLocationAtPoint(e.renderWorldCopies?_.wrap():_,b)},scaleOfZoom:f,targetCenter:a,scaleOfMinZoom:If(v-i),pixelPathLength:c}}},X3r=()=>Y3r||(Y3r=new uc({type:new Fi(_r.projection.type,"type")})),qne=new VB({fill:new W1(128,2),line:new W1(512,0),tile:new W1(128,32),stencil:new W1(128,1),circle:3}),Bot=class{constructor(){this._tileMeshCache={}}get name(){return"vertical-perspective"}get transitionState(){return 1}get useSubdivision(){return!0}get shaderVariantName(){return"globe"}get shaderDefine(){return"#define GLOBE"}get shaderPreludeCode(){return tg.projectionGlobe}get vertexShaderPreludeCode(){return tg.projectionMercator.vertexSource}get subdivisionGranularity(){return qne}get useGlobeControls(){return!0}destroy(){}_getMeshKey(e){return`${e.granularity.toString(36)}_${e.generateBorders?"b":""}${e.extendToNorthPole?"n":""}${e.extendToSouthPole?"s":""}`}getMeshFromTileID(e,t,r,i,n){let a=(n==="stencil"?qne.stencil:qne.tile).getGranularityForZoomLevel(t.z),o=t.y===0&&i,s=t.y===(1<0}get currentProjection(){return this.useGlobeRendering?this._verticalPerspectiveProjection:this._mercatorProjection}get name(){return"globe"}get useSubdivision(){return this.currentProjection.useSubdivision}get shaderVariantName(){return this.currentProjection.shaderVariantName}get shaderDefine(){return this.currentProjection.shaderDefine}get shaderPreludeCode(){return this.currentProjection.shaderPreludeCode}get vertexShaderPreludeCode(){return this.currentProjection.vertexShaderPreludeCode}get subdivisionGranularity(){return this.currentProjection.subdivisionGranularity}get useGlobeControls(){return this.transitionState>0}destroy(){this._mercatorProjection.destroy(),this._verticalPerspectiveProjection.destroy()}getMeshFromTileID(e,t,r,i,n){return this.currentProjection.getMeshFromTileID(e,t,r,i,n)}setProjection(e){this._transitionable.setValue("type",(e==null?void 0:e.type)||"mercator")}updateTransitions(e){this._transitioning=this._transitionable.transitioned(e,this._transitioning)}hasTransition(){return this._transitioning.hasTransition()||this.currentProjection.hasTransition()}recalculate(e){this.properties=this._transitioning.possiblyEvaluate(e)}};One=Math.PI*.98;swr=class{constructor(e){this._cachePrevious=new Map,this._cache=new Map,this._hadAnyChanges=!1,this._boundingVolumeFactory=e}swapBuffers(){if(!this._hadAnyChanges)return;let e=this._cachePrevious;this._cachePrevious=this._cache,this._cache=e,this._cache.clear(),this._hadAnyChanges=!1}getTileBoundingVolume(e,t,r,i){let n=`${e.z}_${e.x}_${e.y}_${i!=null&&i.terrain?"t":""}_${Math.round(r)}`,a=this._cache.get(n);if(a)return a;let o=this._cachePrevious.get(n);if(o)return this._cache.set(n,o),o;let s=this._boundingVolumeFactory(e,t,r,i);return this._cache.set(n,s),this._hadAnyChanges=!0,s}},Une=class fae{constructor(t,r,i,n){this.min=i,this.max=n,this.points=t,this.planes=r}static fromAabb(t,r){let i=[];for(let n=0;n<8;n++)i.push([(n>>0&1)==1?r[0]:t[0],(n>>1&1)==1?r[1]:t[1],(n>>2&1)==1?r[2]:t[2]]);return new fae(i,[[-1,0,0,r[0]],[1,0,0,-t[0]],[0,-1,0,r[1]],[0,1,0,-t[1]],[0,0,-1,r[2]],[0,0,1,-t[2]]],t,r)}static fromCenterSizeAngles(t,r,i){let n=cB([],i[0],i[1],i[2]),a=lB([],[r[0],0,0],n),o=lB([],[0,r[1],0],n),s=lB([],[0,0,r[2]],n),l=[...t],u=[...t];for(let f=0;f<8;f++)for(let h=0;h<3;h++){let d=t[h]+a[h]*((f>>0&1)==1?1:-1)+o[h]*((f>>1&1)==1?1:-1)+s[h]*((f>>2&1)==1?1:-1);l[h]=Math.min(l[h],d),u[h]=Math.max(u[h],d)}let c=[];for(let f=0;f<8;f++){let h=[...t];R0(h,h,Ps([],a,(f>>0&1)==1?1:-1)),R0(h,h,Ps([],o,(f>>1&1)==1?1:-1)),R0(h,h,Ps([],s,(f>>2&1)==1?1:-1)),c.push(h)}return new fae(c,[[...a,-gu(a,c[0])],[...o,-gu(o,c[0])],[...s,-gu(s,c[0])],[-a[0],-a[1],-a[2],-gu(a,c[7])],[-o[0],-o[1],-o[2],-gu(o,c[7])],[-s[0],-s[1],-s[2],-gu(s,c[7])]],l,u)}intersectsFrustum(t){let r=!0,i=this.points.length,n=this.planes.length,a=t.planes.length,o=t.points.length;for(let s=0;s=0&&u++}if(u===0)return 0;u=0&&u++}if(u===0)return 0}return 1}intersectsPlane(t){let r=this.points.length,i=0;for(let n=0;n=0&&i++}return i===r?2:i===0?0:1}};lwr=class{constructor(){this._boundingVolumeCache=new swr(this._computeTileBoundingVolume)}prepareNextFrame(){this._boundingVolumeCache.swapBuffers()}distanceToTile2d(e,t,r,i){let n=1<4}allowWorldCopies(){return!1}getTileBoundingVolume(e,t,r,i){return this._boundingVolumeCache.getTileBoundingVolume(e,t,r,i)}_computeTileBoundingVolume(e,t,r,i){var o,s;let n=Math.min(0,r),a=Math.max(0,r);if(i!=null&&i.terrain){let l=new Bc(e.z,t,e.z,e.x,e.y),u=i.terrain.getMinMaxElevation(l);n=(o=u.minElevation)!=null?o:n,a=Math.max((s=u.maxElevation)!=null?s:a,a)}if(n/=zf,a/=zf,n+=1,a+=1,e.z<=0)return Une.fromAabb([-a,-a,-a],[a,a,a]);if(e.z===1)return Une.fromAabb([e.x===0?-a:0,e.y===0?0:-a,-a],[e.x===0?0:a,e.y===0?a:0,a]);{let l=[nx(0,0,e.x,e.y,e.z),nx(zr,0,e.x,e.y,e.z),nx(zr,zr,e.x,e.y,e.z),nx(0,zr,e.x,e.y,e.z)],u=[];for(let E of l)u.push(Ps([],E,a));if(a!==n)for(let E of l)u.push(Ps([],E,n));e.y===0&&u.push([0,1,0]),e.y===(1<=(1<{let n=Jn(r.lat,-Tv,Tv),a=Jn(+i,this.minZoom+qc(0,n),this.maxZoom);return{center:new mn(r.lng,n),zoom:a}},this.applyConstrain=(r,i)=>this._helper.applyConstrain(r,i),this._helper=new Fae({calcMatrices:()=>this._calcMatrices(),defaultConstrain:(r,i)=>this.defaultConstrain(r,i)},t),this._coveringTilesDetailsProvider=new lwr}clone(){let t=new Uot;return t.apply(this,!1),t}apply(t,r){this._helper.apply(t,r)}get projectionMatrix(){return this._projectionMatrix}get modelViewProjectionMatrix(){return this._globeViewProjMatrixF64}get inverseProjectionMatrix(){return this._globeProjMatrixInverted}get cameraPosition(){let t=Do();return t[0]=this._cameraPosition[0],t[1]=this._cameraPosition[1],t[2]=this._cameraPosition[2],t}get cameraToCenterDistance(){return this._helper.cameraToCenterDistance}getProjectionData(t){let{overscaledTileID:r,applyGlobeMatrix:i}=t,n=this._helper.getMercatorTileCoordinates(r);return{mainMatrix:this._globeViewProjMatrix32f,tileMercatorCoords:n,clippingPlane:this._cachedClippingPlane,projectionTransition:+!!i,fallbackMatrix:this._globeViewProjMatrix32f,clipAntimeridian:(r==null?void 0:r.canonical.z)===0}}_computeClippingPlane(t){let r=this.pitchInRadians,i=this.cameraToCenterDistance/t,n=Math.sin(r)*i,a=Math.cos(r)*i+1,o=1/Math.sqrt(n*n+a*a)*1,s=-n,l=a,u=Math.sqrt(s*s+l*l);s/=u,l/=u;let c=[0,s,l];uB(c,c,[0,0,0],-this.bearingInRadians),PT(c,c,[0,0,0],-1*this.center.lat*Math.PI/180),Zb(c,c,[0,0,0],this.center.lng*Math.PI/180);let f=1/K1(c);return Ps(c,c,f),[...c,-o*f]}isLocationOccluded(t){return!this.isSurfacePointVisible(Vu(t))}transformLightDirection(t){let r=this._helper._center.lng*Math.PI/180,i=this._helper._center.lat*Math.PI/180,n=Math.cos(i),a=[Math.sin(r)*n,Math.sin(i),Math.cos(r)*n],o=[a[2],0,-a[0]],s=[0,0,0];uh(s,o,a),Pf(o,o),Pf(s,s);let l=[o[0]*t[0]+s[0]*t[1]+a[0]*t[2],o[1]*t[0]+s[1]*t[1]+a[1]*t[2],o[2]*t[0]+s[2]*t[1]+a[2]*t[2]],u=[0,0,0];return Pf(u,l),u}getPixelScale(){return 1/Math.cos(this._helper._center.lat*Math.PI/180)}getCircleRadiusCorrection(){return Math.cos(this._helper._center.lat*Math.PI/180)}getPitchedTextCorrection(t,r,i){let n=sne(t,r,i.canonical),a=K3r(n.x,n.y);return this.getCircleRadiusCorrection()/Math.cos(a[1])}projectTileCoordinates(t,r,i,n){let a=i.canonical,o=nx(t,r,a.x,a.y,a.z),s=1+(n!=null?n:0)/zf,l=o[0]*s,u=o[1]*s,c=o[2]*s,f=[l,u,c,1];Uu(f,f,this._globeViewProjMatrixF64);let h;if(s<=1){let d=this._cachedClippingPlane;h=d[0]*o[0]+d[1]*o[1]+d[2]*o[2]+d[3]<0}else h=this._isLineOfSightBlocked(l,u,c);return{point:new tr(f[0]/f[3],f[1]/f[3]),signedDistanceFromCamera:f[3],isOccluded:h}}_isLineOfSightBlocked(t,r,i){let n=this._cameraPosition,a=t-n[0],o=r-n[1],s=i-n[2],l=a*a+o*o+s*s;if(l===0)return!1;let u=Jn(-(n[0]*a+n[1]*o+n[2]*s)/l,0,1),c=n[0]+u*a,f=n[1]+u*o,h=n[2]+u*s;return c*c+f*f+h*h<1}_calcMatrices(){let t=YT(this.worldSize,this.center.lat),r=Q2();this._helper.autoCalculateNearFarZ&&(this._helper._nearZ=.5,this._helper._farZ=this.cameraToCenterDistance+t*2),oB(r,this.fovInRadians,this.width/this.height,this._helper._nearZ,this._helper._farZ);let i=this.centerOffset;r[8]=-i.x*2/this._helper._width,r[9]=i.y*2/this._helper._height,this._projectionMatrix=aB(r),this._globeProjMatrixInverted=Q2(),Bk(this._globeProjMatrixInverted,r),eu(r,r,[0,0,-this.cameraToCenterDistance]),km(r,r,this.rollInRadians),Xb(r,r,-this.pitchInRadians),km(r,r,this.bearingInRadians),eu(r,r,[0,0,-t]);let n=Do();n[0]=t,n[1]=t,n[2]=t,Xb(r,r,this.center.lat*Math.PI/180),die(r,r,-this.center.lng*Math.PI/180),Rc(r,r,n),this._globeViewProjMatrixF64=r,this._globeViewProjMatrix32f=new Float32Array(r),this._globeViewProjMatrixF64Inverted=Q2(),Bk(this._globeViewProjMatrixF64Inverted,r);let a=Do();this._cameraPosition=Do(),this._cameraPosition[2]=this.cameraToCenterDistance/t,uB(this._cameraPosition,this._cameraPosition,a,-this.rollInRadians),PT(this._cameraPosition,this._cameraPosition,a,this.pitchInRadians),uB(this._cameraPosition,this._cameraPosition,a,-this.bearingInRadians),R0(this._cameraPosition,this._cameraPosition,[0,0,1]),PT(this._cameraPosition,this._cameraPosition,a,-this.center.lat*Math.PI/180),Zb(this._cameraPosition,this._cameraPosition,a,this.center.lng*Math.PI/180),this._cachedClippingPlane=this._computeClippingPlane(t);let o=aB(this._globeViewProjMatrixF64Inverted);Rc(o,o,[1,1,-1]),this._cachedFrustum=Mae.fromInvProjectionMatrix(o,1,0,this._cachedClippingPlane,!0)}calculateFogMatrix(t){Ma("calculateFogMatrix is not supported on globe projection.");let r=Q2();return Qd(r),r}getVisibleUnwrappedCoordinates(t){return[new u8(0,t)]}getCameraFrustum(){return this._cachedFrustum}getClippingPlane(){return this._cachedClippingPlane}getCoveringTilesDetailsProvider(){return this._coveringTilesDetailsProvider}recalculateZoomAndCenter(t){if(t){Ma("terrain is not fully supported on vertical perspective projection.");return}this._helper.recalculateZoomAndCenter(0)}maxPitchScaleFactor(){return 1}getCameraPoint(){return this._helper.getCameraPoint()}getCameraAltitude(){return(K1(this._cameraPosition)-1)*zf}getCameraLngLat(){let t=Do();return Pf(t,this._cameraPosition),w8(t)}lngLatToCameraDepth(t,r){let i=Vu(t);Ps(i,i,1+r/zf);let n=Cm();return Uu(n,[i[0],i[1],i[2],1],this._globeViewProjMatrixF64),n[2]/n[3]}populateCache(t){}getBounds(){let t=this.width*.5,r=this.height*.5,i=[new tr(0,0),new tr(t,0),new tr(this.width,0),new tr(this.width,r),new tr(this.width,this.height),new tr(t,this.height),new tr(0,this.height),new tr(0,r)],n=[];for(let f of i)n.push(this.unprojectScreenPoint(f));let a=0,o=0,s=0,l=0,u=this.center;for(let f of n){let h=Kh(u.lng,f.lng),d=Kh(u.lat,f.lat);ha&&(a=h),ds&&(s=d)}let c=[u.lng+o,u.lat+l,u.lng+a,u.lat+s];return this.isSurfacePointOnScreen([0,1,0])&&(c[3]=90,c[0]=-180,c[2]=180),this.isSurfacePointOnScreen([0,-1,0])&&(c[1]=-90,c[0]=-180,c[2]=180),new Ev(c)}calculateCenterFromCameraLngLatAlt(t,r,i,n){return this._helper.calculateCenterFromCameraLngLatAlt(t,r,i,n)}calculateCameraOptionsFromTo(t,r,i,n){let a=mn.convert(i),o=Vu(mn.convert(t));Ps(o,o,1+r/zf);let s=Vu(a),l=Ps(Do(),s,1+n/zf),u=pie(Do(),o,s),c=K1(u);if(c=-w&&v<=w,_=g>=-w&&g<=w,M,x;if(b&&_){let E=this.center.lng*Math.PI/180,S=this.center.lat*Math.PI/180,C=Vk(h,E),k=Vk(v,S),D=Vk(d,E),F=Vk(g,S);C+k=0}isSurfacePointOnScreen(t){if(!this.isSurfacePointVisible(t))return!1;let r=Cm();return Uu(r,[...t,1],this._globeViewProjMatrixF64),r[0]/=r[3],r[1]/=r[3],r[2]/=r[3],r[0]>-1&&r[0]<1&&r[1]>-1&&r[1]<1&&r[2]>-1&&r[2]<1}unprojectScreenPoint(t){let r=this._cameraPosition,i=this.getRayDirectionFromPixel(t),n=oq(r,i);if(n){let c=Do();R0(c,r,[i[0]*n.tMin,i[1]*n.tMin,i[2]*n.tMin]);let f=Do();return Pf(f,c),w8(f)}let a=this._cachedClippingPlane,o=a[0]*i[0]+a[1]*i[1]+a[2]*i[2],s=-hB(a,r)/o,l=Do();if(s>0)R0(l,r,[i[0]*s,i[1]*s,i[2]*s]);else{let c=Do();R0(c,r,[i[0]*2,i[1]*2,i[2]*2]);let f=hB(this._cachedClippingPlane,c);J1(l,c,[this._cachedClippingPlane[0]*f,this._cachedClippingPlane[1]*f,this._cachedClippingPlane[2]*f])}let u=iwr(a);return w8(nwr(u.center,u.radius,l))}getProjectionDataForCustomLayer(t=!0){let r=this.getProjectionData({overscaledTileID:new Bc(0,0,0,0,0),applyGlobeMatrix:t});return r.tileMercatorCoords=[0,0,1,1],r}getFastPathSimpleProjectionMatrix(t){}};Sat=class Got{get pixelsToClipSpaceMatrix(){return this._helper.pixelsToClipSpaceMatrix}get clipSpaceToPixelsMatrix(){return this._helper.clipSpaceToPixelsMatrix}get pixelsToGLUnits(){return this._helper.pixelsToGLUnits}get centerOffset(){return this._helper.centerOffset}get size(){return this._helper.size}get rotationMatrix(){return this._helper.rotationMatrix}get centerPoint(){return this._helper.centerPoint}get pixelsPerMeter(){return this._helper.pixelsPerMeter}setMinZoom(t){this._helper.setMinZoom(t)}setMaxZoom(t){this._helper.setMaxZoom(t)}setMinPitch(t){this._helper.setMinPitch(t)}setMaxPitch(t){this._helper.setMaxPitch(t)}setRenderWorldCopies(t){this._helper.setRenderWorldCopies(t)}setBearing(t){this._helper.setBearing(t)}setPitch(t){this._helper.setPitch(t)}setRoll(t){this._helper.setRoll(t)}setFov(t){this._helper.setFov(t)}setZoom(t){this._helper.setZoom(t)}setCenter(t){this._helper.setCenter(t)}setElevation(t){this._helper.setElevation(t)}setMinElevationForCurrentTile(t){this._helper.setMinElevationForCurrentTile(t)}setPadding(t){this._helper.setPadding(t)}interpolatePadding(t,r,i){this._helper.interpolatePadding(t,r,i)}isPaddingEqual(t){return this._helper.isPaddingEqual(t)}resize(t,r,i=!0){this._helper.resize(t,r,i)}getMaxBounds(){return this._helper.getMaxBounds()}setMaxBounds(t){this._helper.setMaxBounds(t)}setConstrainOverride(t){this._helper.setConstrainOverride(t)}overrideNearFarZ(t,r){this._helper.overrideNearFarZ(t,r)}clearNearFarZOverride(){this._helper.clearNearFarZOverride()}getCameraQueryGeometry(t){return this._helper.getCameraQueryGeometry(this.getCameraPoint(),t)}get tileSize(){return this._helper.tileSize}get tileZoom(){return this._helper.tileZoom}get scale(){return this._helper.scale}get worldSize(){return this._helper.worldSize}get width(){return this._helper.width}get height(){return this._helper.height}get lngRange(){return this._helper.lngRange}get latRange(){return this._helper.latRange}get minZoom(){return this._helper.minZoom}get maxZoom(){return this._helper.maxZoom}get zoom(){return this._helper.zoom}get center(){return this._helper.center}get minPitch(){return this._helper.minPitch}get maxPitch(){return this._helper.maxPitch}get pitch(){return this._helper.pitch}get pitchInRadians(){return this._helper.pitchInRadians}get roll(){return this._helper.roll}get rollInRadians(){return this._helper.rollInRadians}get bearing(){return this._helper.bearing}get bearingInRadians(){return this._helper.bearingInRadians}get fov(){return this._helper.fov}get fovInRadians(){return this._helper.fovInRadians}get elevation(){return this._helper.elevation}get minElevationForCurrentTile(){return this._helper.minElevationForCurrentTile}get padding(){return this._helper.padding}get unmodified(){return this._helper.unmodified}get renderWorldCopies(){return this._helper.renderWorldCopies}get cameraToCenterDistance(){return this._helper.cameraToCenterDistance}get constrainOverride(){return this._helper.constrainOverride}get nearZ(){return this._helper.nearZ}get farZ(){return this._helper.farZ}get autoCalculateNearFarZ(){return this._helper.autoCalculateNearFarZ}get isGlobeRendering(){return this._globeness>0}setTransitionState(t){this._globeness=t,this._calcMatrices(),this._verticalPerspectiveTransform.getCoveringTilesDetailsProvider().prepareNextFrame(),this._mercatorTransform.getCoveringTilesDetailsProvider().prepareNextFrame()}get currentTransform(){return this.isGlobeRendering?this._verticalPerspectiveTransform:this._mercatorTransform}constructor(t){this._globeness=1,this.defaultConstrain=(r,i)=>this.currentTransform.defaultConstrain(r,i),this.applyConstrain=(r,i)=>this._helper.applyConstrain(r,i),this._helper=new Fae({calcMatrices:()=>this._calcMatrices(),defaultConstrain:(r,i)=>this.defaultConstrain(r,i)},t),this._globeness=1,this._mercatorTransform=new Tq,this._verticalPerspectiveTransform=new Not}clone(){let t=new Got;return t._globeness=this._globeness,t.apply(this,!1),t}apply(t,r){this._helper.apply(t,r),this._mercatorTransform.apply(this,!1),this._verticalPerspectiveTransform.apply(this,!1)}get projectionMatrix(){return this.currentTransform.projectionMatrix}get modelViewProjectionMatrix(){return this.currentTransform.modelViewProjectionMatrix}get inverseProjectionMatrix(){return this.currentTransform.inverseProjectionMatrix}get cameraPosition(){return this.currentTransform.cameraPosition}getProjectionData(t){let r=this._mercatorTransform.getProjectionData(t),i=this._verticalPerspectiveTransform.getProjectionData(t);return{mainMatrix:this.isGlobeRendering?i.mainMatrix:r.mainMatrix,clippingPlane:i.clippingPlane,tileMercatorCoords:i.tileMercatorCoords,projectionTransition:t.applyGlobeMatrix?this._globeness:0,fallbackMatrix:r.fallbackMatrix,clipAntimeridian:i.clipAntimeridian}}isLocationOccluded(t){return this.currentTransform.isLocationOccluded(t)}transformLightDirection(t){return this.currentTransform.transformLightDirection(t)}getPixelScale(){return Kb(this._mercatorTransform.getPixelScale(),this._verticalPerspectiveTransform.getPixelScale(),this._globeness)}getCircleRadiusCorrection(){return Kb(this._mercatorTransform.getCircleRadiusCorrection(),this._verticalPerspectiveTransform.getCircleRadiusCorrection(),this._globeness)}getPitchedTextCorrection(t,r,i){let n=this._mercatorTransform.getPitchedTextCorrection(t,r,i),a=this._verticalPerspectiveTransform.getPitchedTextCorrection(t,r,i);return Kb(n,a,this._globeness)}projectTileCoordinates(t,r,i,n){return this.currentTransform.projectTileCoordinates(t,r,i,n)}_calcMatrices(){this._helper._width&&this._helper._height&&(this._verticalPerspectiveTransform.apply(this,!1),this._helper._nearZ=this._verticalPerspectiveTransform.nearZ,this._helper._farZ=this._verticalPerspectiveTransform.farZ,this._mercatorTransform.apply(this,!0,this.isGlobeRendering),this._helper._nearZ=this._mercatorTransform.nearZ,this._helper._farZ=this._mercatorTransform.farZ)}calculateFogMatrix(t){return this.currentTransform.calculateFogMatrix(t)}getVisibleUnwrappedCoordinates(t){return this.currentTransform.getVisibleUnwrappedCoordinates(t)}getCameraFrustum(){return this.currentTransform.getCameraFrustum()}getClippingPlane(){return this.currentTransform.getClippingPlane()}getCoveringTilesDetailsProvider(){return this.currentTransform.getCoveringTilesDetailsProvider()}recalculateZoomAndCenter(t){this.currentTransform.recalculateZoomAndCenter(t)}maxPitchScaleFactor(){return this._mercatorTransform.maxPitchScaleFactor()}getCameraPoint(){return this._helper.getCameraPoint()}getCameraAltitude(){return this.currentTransform.getCameraAltitude()}getCameraLngLat(){return this.currentTransform.getCameraLngLat()}lngLatToCameraDepth(t,r){return this.currentTransform.lngLatToCameraDepth(t,r)}populateCache(t){this._mercatorTransform.populateCache(t),this._verticalPerspectiveTransform.populateCache(t)}getBounds(){return this.currentTransform.getBounds()}calculateCenterFromCameraLngLatAlt(t,r,i,n){return this._helper.calculateCenterFromCameraLngLatAlt(t,r,i,n)}calculateCameraOptionsFromTo(t,r,i,n){return this.currentTransform.calculateCameraOptionsFromTo(t,r,i,n)}setLocationAtPoint(t,r,i){if(!this.isGlobeRendering){this._mercatorTransform.setLocationAtPoint(t,r,i),this.apply(this._mercatorTransform,!1);return}this._verticalPerspectiveTransform.setLocationAtPoint(t,r,i),this.apply(this._verticalPerspectiveTransform,!1)}locationToScreenPoint(t,r){return this.currentTransform.locationToScreenPoint(t,r)}screenPointToMercatorCoordinate(t,r){return this.currentTransform.screenPointToMercatorCoordinate(t,r)}screenTerrainPointToMercatorCoordinate(t,r){return this.currentTransform.screenTerrainPointToMercatorCoordinate(t,r)}screenPointToLocation(t,r){return this.currentTransform.screenPointToLocation(t,r)}screenPointToLocationAtElevation(t,r){return this.currentTransform.screenPointToLocationAtElevation(t,r)}isPointOnMapSurface(t,r){return this.currentTransform.isPointOnMapSurface(t,r)}getRayDirectionFromPixel(t){return this._verticalPerspectiveTransform.getRayDirectionFromPixel(t)}getProjectionDataForCustomLayer(t=!0){let r=this._mercatorTransform.getProjectionDataForCustomLayer(t);if(!this.isGlobeRendering)return r;let i=this._verticalPerspectiveTransform.getProjectionDataForCustomLayer(t);return i.fallbackMatrix=r.mainMatrix,i.projectionTransition=this._globeness,i}getFastPathSimpleProjectionMatrix(t){return this.currentTransform.getFastPathSimpleProjectionMatrix(t)}},Hot=class Bm{get useGlobeControls(){return!0}handlePanInertia(t,r){let i=owr(t,r);return Math.abs(i.lng-r.center.lng)>180&&(i.lng=r.center.lng+179.5*Math.sign(i.lng-r.center.lng)),{easingCenter:i,easingOffset:new tr(0,0)}}handleMapControlsRollPitchBearingZoom(t,r){let i=t.around,n=r.screenPointToLocation(i);t.bearingDelta&&r.setBearing(r.bearing+t.bearingDelta),t.pitchDelta&&r.setPitch(r.pitch+t.pitchDelta),t.rollDelta&&r.setRoll(r.roll+t.rollDelta);let a=r.zoom;t.zoomDelta&&r.setZoom(r.zoom+t.zoomDelta);let o=r.zoom-a;if(o===0)return;let s=Kh(r.center.lng,n.lng),l=s/(Math.abs(s/180)+1),u=Kh(r.center.lat,n.lat),c=r.getRayDirectionFromPixel(i),f=r.cameraPosition,h=gu(f,c)*-1,d=Do();R0(d,f,[c[0]*h,c[1]*h,c[2]*h]);let p=K1(d),v=p-1,m=Math.exp(-Math.max(v-.3,0)*.5),g=Gk(p,.95,.999,0,1),w=YT(r.worldSize,r.center.lat)/Math.min(r.width,r.height),b=Gk(w,.9,.5,1,.25),_=Math.min(m,Kb(1,b,g)),M=(1-If(-o))*_,x=r.center.lat,T=r.zoom,A=new mn(r.center.lng+l*M,Jn(r.center.lat+u*M,-Tv,Tv));r.setLocationAtPoint(n,i);let y=r.center,E=Gk(Math.abs(s),45,85,0,1),S=Math.max(E,g)**.25,C=Kh(y.lng,A.lng),k=Kh(y.lat,A.lat);r.setCenter(new mn(y.lng+C*S,y.lat+k*S).wrap()),r.setZoom(T+qc(x,r.center.lat))}handleMapControlsPan(t,r,i){t.panDelta&&twr(r,i,r.isPointOnMapSurface(t.around)?t.around:r.centerPoint,t.panDelta)}cameraForBoxAndBearing(t,r,i,n,a){let o=zot(t,r,i,n,a),s=r.left/a.width*2-1,l=(a.width-r.right)/a.width*2-1,u=r.top/a.height*-2+1,c=(a.height-r.bottom)/a.height*-2+1,f=Kh(i.getWest(),i.getEast())<0,h=f?i.getEast():i.getWest(),d=f?i.getWest():i.getEast(),p=Math.max(i.getNorth(),i.getSouth()),v=Math.min(i.getNorth(),i.getSouth()),m=h+Kh(h,d)*.5,g=p+Kh(p,v)*.5,w=a.clone();w.setCenter(o.center),w.setBearing(o.bearing),w.setPitch(0),w.setRoll(0),w.setZoom(o.zoom);let b=w.modelViewProjectionMatrix,_=[Vu(i.getNorthWest()),Vu(i.getNorthEast()),Vu(i.getSouthWest()),Vu(i.getSouthEast()),Vu(new mn(d,g)),Vu(new mn(h,g)),Vu(new mn(m,p)),Vu(new mn(m,v))],M=Vu(o.center),x=1/0;for(let T of _)s<0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"x",s))),l>0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"x",l))),u>0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"y",u))),c<0&&(x=Bm.getLesserNonNegativeNonNull(x,Bm.solveVectorScale(T,M,b,"y",c)));if(!Number.isFinite(x)||x===0){Iot();return}return o.zoom=Math.min(w.zoom+zc(x),t.maxZoom),o}handleJumpToCenterZoom(t,r){let i=t.center.lat,n=t.applyConstrain(r.center?mn.convert(r.center):t.center,t.zoom).center;t.setCenter(n.wrap());let a=r.zoom===void 0?t.zoom+qc(i,n.lat):+r.zoom;t.zoom!==a&&t.setZoom(a)}handleEaseTo(t,r){let i=t.zoom,n=t.center,a=t.padding,o={roll:t.roll,pitch:t.pitch,bearing:t.bearing},s={roll:r.roll===void 0?t.roll:r.roll,pitch:r.pitch===void 0?t.pitch:r.pitch,bearing:r.bearing===void 0?t.bearing:r.bearing},l=r.zoom!==void 0,u=!t.isPaddingEqual(r.padding),c=!1,f=r.center?mn.convert(r.center):n,h=t.applyConstrain(f,i).center;wq(t,h);let d=t.clone();d.setCenter(h),d.setZoom(l?+r.zoom:i+qc(n.lat,f.lat)),d.setBearing(r.bearing);let p=new tr(Jn(t.centerPoint.x+r.offsetAsPoint.x,0,t.width),Jn(t.centerPoint.y+r.offsetAsPoint.y,0,t.height));d.setLocationAtPoint(h,p);let v=(r.offset&&r.offsetAsPoint.mag())>0?d.center:h,m=l?+r.zoom:i+qc(n.lat,v.lat),g=i+qc(n.lat,0),w=m+qc(v.lat,0),b=Kh(n.lng,v.lng),_=Kh(n.lat,v.lat),M=If(w-g);return c=m!==i,{easeFunc:x=>{if(wie(o,s)||Rot({startEulerAngles:o,endEulerAngles:s,tr:t,k:x,useSlerp:o.roll!=s.roll}),u&&t.interpolatePadding(a,r.padding,x),r.around)Ma("Easing around a point is not supported under globe projection."),t.setLocationAtPoint(r.around,r.aroundPoint);else{let T=x*(w>g?Math.min(2,M):Math.max(.5,M))**(1-x),A=wat(n,b,_,T);t.setCenter(A.wrap())}if(c){let T=$s.number(g,w,x)+qc(0,t.center.lat);t.setZoom(T)}},isZooming:c,elevationCenter:v}}handleFlyTo(t,r){let i=r.zoom!==void 0,n=t.center,a=t.zoom,o=t.padding,s=!t.isPaddingEqual(r.padding),l=t.applyConstrain(mn.convert(r.center||r.locationAtOffset),a).center,u=i?+r.zoom:t.zoom+qc(t.center.lat,l.lat),c=t.clone();c.setCenter(l),c.setZoom(u),c.setBearing(r.bearing);let f=new tr(Jn(t.centerPoint.x+r.offsetAsPoint.x,0,t.width),Jn(t.centerPoint.y+r.offsetAsPoint.y,0,t.height));c.setLocationAtPoint(l,f);let h=c.center;wq(t,h);let d=Z3r(t,n,h),p=a+qc(n.lat,0),v=u+qc(h.lat,0),m=If(v-p),g=typeof r.minZoom=="number"?+r.minZoom:t.minZoom,w=Math.max(g,t.minZoom)+qc(h.lat,0),b=Math.min(w,p,v)+qc(0,h.lat),_=t.applyConstrain(h,b).zoom+qc(h.lat,0),M=If(_-p),x=Kh(n.lng,h.lng),T=Kh(n.lat,h.lat);return{easeFunc:(A,y,E,S)=>{let C=wat(n,x,T,E);s&&t.interpolatePadding(o,r.padding,A);let k=A===1?h:C;t.setCenter(k.wrap());let D=p+zc(y);t.setZoom(A===1?u:D+qc(0,k.lat))},scaleOfZoom:m,targetCenter:h,scaleOfMinZoom:M,pixelPathLength:d}}static solveVectorScale(t,r,i,n,a){let o=a,s=n==="x"?[i[0],i[4],i[8],i[12]]:[i[1],i[5],i[9],i[13]],l=[i[3],i[7],i[11],i[15]],u=t[0]*s[0]+t[1]*s[1]+t[2]*s[2],c=t[0]*l[0]+t[1]*l[1]+t[2]*l[2],f=r[0]*s[0]+r[1]*s[1]+r[2]*s[2],h=r[0]*l[0]+r[1]*l[1]+r[2]*l[2],d=(f+s[3]-o*h-o*l[3])/(f-u-o*h+o*c);return f+o*c===u+o*h||l[3]*(u-f)+s[3]*(h-c)+u*h===f*c?null:d}static getLesserNonNegativeNonNull(t,r){return r!==null&&r>=0&&r{for(let a in this.tileManagers){let o=this.tileManagers[a].getSource().type;(o==="vector"||o==="geojson")&&this.tileManagers[a].reload()}},this.map=e,this.dispatcher=new rot(bae(),e._getMapId()),this.dispatcher.registerMessageHandler("GG",(a,o)=>this.getGlyphs(a,o)),this.dispatcher.registerMessageHandler("GI",(a,o)=>this.getImages(a,o)),this.dispatcher.registerMessageHandler("GDA",(a,o)=>this.getDashes(a,o)),this.imageManager=new W_r,this.imageManager.setEventedParent(this),this.imageManager.setMissingImageResolver(e._missingStyleImageResolver),this.patternAtlas=new Y_r(this.imageManager);let r=((i=e._container)==null?void 0:i.lang)||typeof document<"u"&&((n=document.documentElement)==null?void 0:n.lang)||void 0;this.glyphManager=new ibr(e._requestManager,t.localIdeographFontFamily,r),this.lineAtlas=new cbr(256,512),this.crossTileSymbolIndex=new Eot,this._setInitialValues(),this._resetUpdates(),this.dispatcher.broadcast("SR",mB()),A8().on(iae,this._rtlPluginLoaded),this.on("data",a=>{if(a.dataType!=="source"||a.sourceDataType!=="metadata")return;let o=this.tileManagers[a.sourceId];if(!o)return;let s=o.getSource();if(s!=null&&s.vectorLayerIds)for(let l in this._layers){let u=this._layers[l];u.source===s.id&&this._validateLayer(u)}})}_setInitialValues(){var e;this._layers={},this._order=[],this.tileManagers={},this.zoomHistory=new Yz,this._imagesListDirty=!1,this._globalState={},this._serializedLayers={},this.stylesheet=null,this.light=null,this.sky=null,this.projection&&(this.projection.destroy(),delete this.projection),this._loaded=!1,this._changed=!1,this._updatedLayers={},this._updatedSources={},this._changedImages={},this._glyphsDidChange=!1,this._updatedPaintProps={},this._layerOrderChanged=!1,this._symbolPlacementTriggered=!1,this._placedProjectionTransition=void 0,this.crossTileSymbolIndex=new(((e=this.crossTileSymbolIndex)==null?void 0:e.constructor)||Object),this.pauseablePlacement=void 0,this.placement=void 0,this.z=0}setGlobalStateProperty(e,t){var i,n,a;this._checkLoaded();let r=t===null?(a=(n=(i=this.stylesheet.state)==null?void 0:i[e])==null?void 0:n.default)!=null?a:null:t;if(_v(r,this._globalState[e]))return this;this._globalState[e]=r,this._applyGlobalStateChanges([e])}getGlobalState(){return this._globalState}setGlobalState(e){this._checkLoaded();let t=[];for(let r in e)_v(this._globalState[r],e[r].default)||(t.push(r),this._globalState[r]=e[r].default);this._applyGlobalStateChanges(t)}_applyGlobalStateChanges(e){if(e.length===0)return;let t=new Set,r={};for(let i of e){r[i]=this._globalState[i];for(let n in this._layers){let a=this._layers[n],o=a.getLayoutAffectingGlobalStateRefs(),s=a.getPaintAffectingGlobalStateRefs(),l=a.getVisibilityAffectingGlobalStateRefs();if(o.has(i)&&t.add(a.source),s.has(i))for(let{name:u,value:c}of s.get(i))this._updatePaintProperty(a,u,c);l!=null&&l.has(i)&&(a.recalculateVisibility(),this._updateLayer(a))}}this.dispatcher.broadcast("UGS",r);for(let i in this.tileManagers)t.has(i)&&(this._reloadSource(i),this._changed=!0)}loadURL(i){return Ki(this,arguments,function*(e,t={},r){this.fire(new rp("dataloading")),t.validate=typeof t.validate!="boolean"||t.validate,this._loadStyleRequest=new AbortController;let n=this._loadStyleRequest;try{let a=yield this.map._requestManager.transformRequest(e,"Style");gB(n.signal);let o=yield jk(a,n);this._loadStyleRequest===n&&(this._loadStyleRequest=null),this._load(o.data,t,r)}catch(a){this._loadStyleRequest===n&&(this._loadStyleRequest=null),a&&!n.signal.aborted&&this.fire(new An(Ic(a)))}})}loadJSON(e,t={},r){this.fire(new rp("dataloading")),this._frameRequest=new AbortController,fh.frameAsync(this._frameRequest,this.map._ownerWindow).then(()=>{this._frameRequest=null,t.validate=t.validate!==!1,this._load(e,t,r)}).catch(()=>{})}loadEmpty(){this.fire(new rp("dataloading")),this._load(cwr,{validate:!1})}_load(e,t,r){var n,a,o;let i=t.transformStyle?t.transformStyle(r,e):e;if(!(t.validate&&Wie(this,i))){i=fn({},i),this._loaded=!0,this.stylesheet=i;for(let s in i.sources)this.addSource(s,i.sources[s],{validate:!1});i.sprite?this._loadSprite(i.sprite):this.imageManager.setLoaded(!0),this.glyphManager.setURL(i.glyphs),this.glyphManager.setFontFaces(i["font-faces"]),this._createLayers(),this.light=new obr((n=this.stylesheet.light)!=null?n:{},this._globalState),this._setProjectionInternal(((a=this.stylesheet.projection)==null?void 0:a.type)||"mercator"),this.sky=new ubr(this.stylesheet.sky,this._globalState),this.map.setTerrain((o=this.stylesheet.terrain)!=null?o:null,{validate:!1}),this.fire(new rp("data")),this.fire(new Qne)}}_createLayers(){var t,r,i;let e=Gnt(this.stylesheet.layers);this.setGlobalState((t=this.stylesheet.state)!=null?t:null),this.dispatcher.broadcast("SL",e),this._order=e.map(n=>n.id),this._layers={},this._serializedLayers=null;for(let n of e){let a=ZB(n,this._globalState);if(a.setEventedParent(this,{layer:{id:n.id}}),this._layers[n.id]=a,BB(a)&&this.tileManagers[a.source]){let o=(i=(r=n.paint)==null?void 0:r["raster-fade-duration"])!=null?i:a.paint.get("raster-fade-duration");this.tileManagers[a.source].setRasterFadeDuration(o)}}}_loadSprite(e,t=!1,r=void 0){return Ki(this,null,function*(){this.imageManager.setLoaded(!1);let i=new AbortController;this._spriteRequest=i;let n;try{let a=yield j_r(e,this.map._requestManager,this.map.getPixelRatio(),i);if(!a)return;for(let o in a){let{loaded:s,removed:l}=this.imageManager.setSpriteImages(o,a[o]);this._markImagesChanged(l),t&&this._markImagesChanged(s)}}catch(a){n=a,i.signal.aborted||this.fire(new An(n))}finally{this._spriteRequest=null,this.imageManager.setLoaded(!0),t&&(this._changed=!0),this.dispatcher.broadcast("SI",this.imageManager.listImages()),this.fire(new rp("data")),r==null||r(n)}})}_unloadSprite(){this._markImagesChanged(this.imageManager.removeAllSpriteImages()),this._imagesListDirty=!0,this._changed=!0,this.fire(new rp("data"))}_validateLayer(e){let t=this.tileManagers[e.source];if(!t)return;let r=e.sourceLayer;if(!r)return;let i=t.getSource();(i.type==="geojson"||i.vectorLayerIds&&!i.vectorLayerIds.includes(r))&&this.fire(new An(Error(`Source layer "${r}" does not exist on source "${i.id}" as specified by style layer "${e.id}".`)))}loaded(){if(!this._loaded||Object.keys(this._updatedSources).length)return!1;for(let e in this.tileManagers)if(!this.tileManagers[e].loaded())return!1;return this.imageManager.isLoaded()}_serializeByIds(e,t=!1){let r=this._serializedAllLayers();if(!e||e.length===0)return Object.values(t?lh(r):r);let i=[];for(let n of e)if(r[n]){let a=t?lh(r[n]):r[n];i.push(a)}return i}_serializedAllLayers(){let e=this._serializedLayers;if(e)return e;e=this._serializedLayers={};let t=Object.keys(this._layers);for(let r of t){let i=this._layers[r];i.type!=="custom"&&(e[r]=i.serialize())}return e}hasTransitions(){var e,t,r;if((e=this.light)!=null&&e.hasTransition()||(t=this.sky)!=null&&t.hasTransition()||(r=this.projection)!=null&&r.hasTransition())return!0;for(let i in this.tileManagers)if(this.tileManagers[i].hasTransition())return!0;for(let i in this._layers)if(this._layers[i].hasTransition())return!0;return!1}_checkLoaded(){if(!this._loaded)throw Error("Style is not done loading.")}update(e){if(!this._loaded)return;let t=this._changed;if(t){this._imagesListDirty&&(this._imagesListDirty=(this.dispatcher.broadcast("SI",this.imageManager.listImages()),!1));let n=Object.keys(this._updatedLayers),a=Object.keys(this._removedLayers);(n.length||a.length)&&this._updateWorkerLayers(n,a);for(let o in this._updatedSources){let s=this._updatedSources[o];if(s==="reload")this._reloadSource(o);else if(s==="clear")this._clearSource(o);else throw Error(`Invalid action ${s}`)}this._updateTilesForChangedImages(),this._updateTilesForChangedGlyphs();for(let o in this._updatedPaintProps)this._layers[o].updateTransitions(e);this._resetUpdates()}let r={};for(let n in this.tileManagers){let a=this.tileManagers[n];r[n]=a.used,a.used=!1}let i=this.imageManager.listImages();for(let n of this._order){let a=this._layers[n];a.recalculate(e,i),!a.isHidden(e.zoom)&&a.source&&(this.tileManagers[a.source].used=!0)}for(let n in r){let a=this.tileManagers[n];!!r[n]!=!!a.used&&a.fire(new Is("data",{sourceDataType:"visibility",sourceId:n}))}this.light.recalculate(e),this.sky.recalculate(e),this.projection.recalculate(e),this.z=e.zoom,t&&this.fire(new rp("data"))}_updateTilesForChangedImages(){let e=Object.keys(this._changedImages);if(e.length){for(let t in this.tileManagers)this.tileManagers[t].reloadTilesForDependencies(["icons","patterns"],e);this._changedImages={}}}_updateTilesForChangedGlyphs(){if(this._glyphsDidChange){for(let e in this.tileManagers)this.tileManagers[e].reloadTilesForDependencies(["glyphs"],[""]);this._glyphsDidChange=!1}}_updateWorkerLayers(e,t){this.dispatcher.broadcast("UL",{layers:this._serializeByIds(e,!1),removedIds:t})}_resetUpdates(){this._changed=!1,this._updatedLayers={},this._removedLayers={},this._updatedSources={},this._updatedPaintProps={},this._changedImages={},this._glyphsDidChange=!1}setState(e,t={}){var a;this._checkLoaded();let r=this.serialize();if(e=t.transformStyle?t.transformStyle(r,e):e,((a=t.validate)!=null?a:!0)&&Wie(this,e))return!1;e=lh(e),e.layers=Gnt(e.layers);let i=G_r(r,e),n=this._getOperationsToPerform(i);if(n.unimplemented.length>0)throw Error(`Unimplemented: ${n.unimplemented.join(", ")}.`);if(n.operations.length===0)return!1;for(let o of n.operations)o();return this.stylesheet=e,this._serializedLayers=null,this.fire(new Qne({style:this})),!0}_getOperationsToPerform(e){let t=[],r=[];for(let i of e)switch(i.command){case"setCenter":case"setZoom":case"setBearing":case"setPitch":case"setRoll":continue;case"addLayer":t.push(()=>this.addLayer.apply(this,i.args));break;case"removeLayer":t.push(()=>this.removeLayer.apply(this,i.args));break;case"setPaintProperty":t.push(()=>this.setPaintProperty.apply(this,i.args));break;case"setLayoutProperty":t.push(()=>this.setLayoutProperty.apply(this,i.args));break;case"setFilter":t.push(()=>this.setFilter.apply(this,i.args));break;case"addSource":t.push(()=>this.addSource.apply(this,i.args));break;case"removeSource":t.push(()=>this.removeSource.apply(this,i.args));break;case"setLayerZoomRange":t.push(()=>this.setLayerZoomRange.apply(this,i.args));break;case"setLight":t.push(()=>this.setLight.apply(this,i.args));break;case"setGeoJSONSourceData":t.push(()=>this.setGeoJSONSourceData.apply(this,i.args));break;case"setGlyphs":t.push(()=>this.setGlyphs.apply(this,i.args));break;case"setFontFaces":t.push(()=>this.setFontFaces.apply(this,i.args));break;case"setSprite":t.push(()=>this.setSprite.apply(this,i.args));break;case"setTerrain":t.push(()=>this.map.setTerrain.apply(this,i.args));break;case"setSky":t.push(()=>this.setSky.apply(this,i.args));break;case"setProjection":this.setProjection.apply(this,i.args);break;case"setGlobalState":t.push(()=>this.setGlobalState.apply(this,i.args));break;case"setTransition":t.push(()=>{});break;default:r.push(i.command)}return{operations:t,unimplemented:r}}addImage(e,t){if(this.getImage(e)){this.fire(new An(Error(`An image named "${e}" already exists.`)));return}this.imageManager.addImage(e,t),this._afterImageUpdated(e)}updateImage(e,t){this.imageManager.updateImage(e,t)}getImage(e){return this.imageManager.getImage(e)}setMissingImageResolver(e){this.imageManager.setMissingImageResolver(e)}removeImage(e){if(!this.getImage(e)){this.fire(new An(Error(`An image named "${e}" does not exist.`)));return}this.imageManager.removeImage(e),this._afterImageUpdated(e)}_markImagesChanged(e){for(let t of e)this._changedImages[t]=!0}_afterImageUpdated(e){this._changedImages[e]=!0,this._imagesListDirty=!0,this._changed=!0,this.fire(new rp("data"))}listImages(){return this._checkLoaded(),this.imageManager.listImages()}addSource(e,t,r={}){var n;if(this._checkLoaded(),this.tileManagers[e]!==void 0)throw Error(`Source "${e}" already exists.`);if(!t.type)throw Error(`The type property must be defined, but only the following properties were given: ${Object.keys(t).join(", ")}.`);if($ie.has(t.type)&&this._validate(ch.source,`sources.${e}`,t,null,r))return;(n=this.map)!=null&&n._collectResourceTiming&&(t.collectResourceTiming=!0);let i=this.tileManagers[e]=new aae(e,t,this.dispatcher);i.style=this,i.setEventedParent(this,()=>({isSourceLoaded:i.loaded(),source:i.serialize(),sourceId:e})),i.onAdd(this.map),this._changed=!0}removeSource(e){if(this._checkLoaded(),this.tileManagers[e]===void 0)throw Error(`There is no source with this ID=${e}`);for(let r in this._layers)if(this._layers[r].source===e)return this.fire(new An(Error(`Source "${e}" cannot be removed while layer "${r}" is using it.`)));let t=this.tileManagers[e];delete this.tileManagers[e],delete this._updatedSources[e],t.fire(new Is("data",{sourceDataType:"metadata",sourceId:e})),t.setEventedParent(null),t.onRemove(this.map),this._changed=!0}setGeoJSONSourceData(e,t){if(this._checkLoaded(),this.tileManagers[e]===void 0)throw Error(`There is no source with this ID=${e}`);let r=this.tileManagers[e].getSource();if(r.type!=="geojson")throw Error(`geojsonSource.type is ${r.type}, which is !== 'geojson`);r.setData(t),this._changed=!0}getSource(e){var t;return(t=this.tileManagers[e])==null?void 0:t.getSource()}addLayer(e,t,r={}){this._checkLoaded();let i=e.id;if(this.getLayer(i)){this.fire(new An(Error(`Layer "${i}" already exists on this map.`)));return}let n;if(e.type==="custom"){if(LB(this,snt(e)))return;n=ZB(e,this._globalState)}else{if("source"in e&&typeof e.source=="object"&&(this.addSource(i,e.source),e=lh(e),e=ln(e,{source:i})),this._validate(ch.layer,`layers.${i}`,e,{arrayIndex:-1},r))return;n=ZB(e,this._globalState),this._validateLayer(n),n.setEventedParent(this,{layer:{id:i}})}let a=t?this._order.indexOf(t):this._order.length;if(t&&a===-1){this.fire(new An(Error(`Cannot add layer "${i}" before non-existing layer "${t}".`)));return}if(this._order.splice(a,0,i),this._layerOrderChanged=!0,this._layers[i]=n,this._removedLayers[i]&&n.source&&n.type!=="custom"){let o=this._removedLayers[i];delete this._removedLayers[i],o.type===n.type?(this._updatedSources[n.source]="reload",this.tileManagers[n.source].pause()):this._updatedSources[n.source]="clear"}this._updateLayer(n),n.onAdd&&n.onAdd(this.map)}moveLayer(e,t){if(this._checkLoaded(),this._changed=!0,!this._layers[e]){this.fire(new An(Error(`The layer '${e}' does not exist in the map's style and cannot be moved.`)));return}if(e===t)return;if(t&&!this._order.includes(t)){this.fire(new An(Error(`Cannot move layer "${e}" before non-existing layer "${t}".`)));return}let r=this._order.indexOf(e);this._order.splice(r,1);let i=t?this._order.indexOf(t):this._order.length;this._order.splice(i,0,e),this._layerOrderChanged=!0}removeLayer(e){var i;this._checkLoaded();let t=this._layers[e];if(!t){this.fire(new An(Error(`Cannot remove non-existing layer "${e}".`)));return}t.setEventedParent(null);let r=this._order.indexOf(e);this._order.splice(r,1),this._layerOrderChanged=!0,this._changed=!0,this._removedLayers[e]=t,delete this._layers[e],this._serializedLayers&&delete this._serializedLayers[e],delete this._updatedLayers[e],delete this._updatedPaintProps[e],t.type==="symbol"&&t.source&&((i=this.tileManagers[t.source])==null||i.resetMaxContentElevation()),t.onRemove&&t.onRemove(this.map)}getLayer(e){return this._layers[e]}getLayersOrder(){return[...this._order]}hasLayer(e){return e in this._layers}setLayerZoomRange(e,t,r){this._checkLoaded();let i=this.getLayer(e);if(!i){this.fire(new An(Error(`Cannot set the zoom range of non-existing layer "${e}".`)));return}(i.minzoom!==t||i.maxzoom!==r)&&(t!=null&&(i.minzoom=t),r!=null&&(i.maxzoom=r),this._updateLayer(i))}setFilter(e,t,r={}){this._checkLoaded();let i=this.getLayer(e);if(!i){this.fire(new An(Error(`Cannot filter non-existing layer "${e}".`)));return}if(!_v(i.filter,t)){if(t==null){i.setFilter(void 0),this._updateLayer(i);return}this._validate(ch.filter,`layers.${i.id}.filter`,t,null,r)||(i.setFilter(lh(t)),this._updateLayer(i))}}getFilter(e){return lh(this.getLayer(e).filter)}setLayoutProperty(e,t,r,i={}){this._checkLoaded();let n=this.getLayer(e);if(!n){this.fire(new An(Error(`Cannot style non-existing layer "${e}".`)));return}_v(n.getLayoutProperty(t),r)||(n.setLayoutProperty(t,r,i),this._updateLayer(n))}getLayoutProperty(e,t){let r=this.getLayer(e);if(!r){this.fire(new An(Error(`Cannot get style of non-existing layer "${e}".`)));return}return r.getLayoutProperty(t)}setPaintProperty(e,t,r,i={}){this._checkLoaded();let n=this.getLayer(e);if(!n){this.fire(new An(Error(`Cannot style non-existing layer "${e}".`)));return}_v(n.getPaintProperty(t),r)||this._updatePaintProperty(n,t,r,i)}_updatePaintProperty(e,t,r,i={}){e.setPaintProperty(t,r,i)&&this._updateLayer(e),BB(e)&&t==="raster-fade-duration"&&this.tileManagers[e.source].setRasterFadeDuration(r),this._changed=!0,this._updatedPaintProps[e.id]=!0,e.type==="symbol"&&this.triggerSymbolPlacement(),this._serializedLayers=null}getPaintProperty(e,t){return this.getLayer(e).getPaintProperty(t)}setFeatureState(e,t){this._checkLoaded();let r=e.source,i=e.sourceLayer,n=this.tileManagers[r];if(n===void 0){this.fire(new An(Error(`The source '${r}' does not exist in the map's style.`)));return}let a=n.getSource().type;if(a==="geojson"&&i){this.fire(new An(Error("GeoJSON sources cannot have a sourceLayer parameter.")));return}if(a==="vector"&&!i){this.fire(new An(Error("The sourceLayer parameter must be provided for vector source types.")));return}if(e.id===void 0){this.fire(new An(Error("The feature id parameter must be provided.")));return}let o=["__proto__","constructor","prototype"];if(t&&Object.keys(t).some(s=>o.includes(s))){this.fire(new An(Error(`The feature state should not include one of the following keys: ${o}`)));return}n.setFeatureState(i,e.id,t)}removeFeatureState(e,t){this._checkLoaded();let r=e.source,i=this.tileManagers[r];if(i===void 0){this.fire(new An(Error(`The source '${r}' does not exist in the map's style.`)));return}let n=i.getSource().type,a=n==="vector"?e.sourceLayer:void 0;if(n==="vector"&&!a){this.fire(new An(Error("The sourceLayer parameter must be provided for vector source types.")));return}if(t&&typeof e.id!="string"&&typeof e.id!="number"){this.fire(new An(Error("A feature id is required to remove its specific state property.")));return}i.removeFeatureState(a,e.id,t)}getFeatureState(e){this._checkLoaded();let t=e.source,r=e.sourceLayer,i=this.tileManagers[t];if(i===void 0){this.fire(new An(Error(`The source '${t}' does not exist in the map's style.`)));return}if(i.getSource().type==="vector"&&!r){this.fire(new An(Error("The sourceLayer parameter must be provided for vector source types.")));return}return e.id===void 0&&this.fire(new An(Error("The feature id parameter must be provided."))),i.getFeatureState(r,e.id)}getTransition(){var e;return ln({duration:300,delay:0},(e=this.stylesheet)==null?void 0:e.transition)}serialize(){if(!this._loaded)return;let e=vB(this.tileManagers,n=>n.serialize()),t=this._serializeByIds(this._order,!0),r=this.map.getTerrain()||void 0,i=this.stylesheet;return bie({version:i.version,name:i.name,metadata:i.metadata,light:i.light,sky:i.sky,center:i.center,zoom:i.zoom,bearing:i.bearing,pitch:i.pitch,sprite:i.sprite,glyphs:i.glyphs,"font-faces":i["font-faces"],transition:i.transition,projection:i.projection,state:i.state,sources:e,layers:t,terrain:r},n=>n!==void 0)}_updateLayer(e){this._updatedLayers[e.id]=!0,e.source&&!this._updatedSources[e.source]&&this.tileManagers[e.source].getSource().type!=="raster"&&(this._updatedSources[e.source]="reload",this.tileManagers[e.source].pause()),this._serializedLayers=null,this._changed=!0}_flattenAndSortRenderedFeatures(e){let t=a=>this._layers[a].type==="fill-extrusion",r={},i=[];for(let a=this._order.length-1;a>=0;a--){let o=this._order[a];if(t(o)){r[o]=a;for(let s of e){let l=s[o];if(l)for(let u of l)i.push(u)}}}i.sort((a,o)=>o.intersectionZ-a.intersectionZ);let n=[];for(let a=this._order.length-1;a>=0;a--){let o=this._order[a];if(t(o))for(let s=i.length-1;s>=0;s--){let l=i[s].feature;if(r[l.layer.id]this.map.terrain.getElevation(u,c,f):void 0));return this.placement&&n.push(wbr(this._layers,a,this.tileManagers,e,s,this.placement.collisionIndex,this.placement.retainedQueryData)),this._flattenAndSortRenderedFeatures(n)}querySourceFeatures(e,t){t!=null&&t.filter&&this._validate(ch.filter,"querySourceFeatures.filter",t.filter,null,t);let r=this.tileManagers[e];return r?Tbr(r,t?ma(fn({},t),{globalState:this._globalState}):{globalState:this._globalState}):[]}getLight(){return this.light.getLight()}setLight(e,t={}){this._checkLoaded();let r=this.light.getLight(),i=!1;for(let a in e)if(!_v(e[a],r[a])){i=!0;break}if(!i)return;let n={now:Oo(),transition:ln({duration:300,delay:0},this.stylesheet.transition)};this.light.setLight(e,t),this.light.updateTransitions(n)}getProjection(){var e;return(e=this.stylesheet)==null?void 0:e.projection}setProjection(e){this._checkLoaded();let t=e!=null?e:{type:"mercator"};if(this.stylesheet.projection=e,this.projection){if(this.projection.name===t.type)return;this.projection.destroy(),delete this.projection}this._setProjectionInternal(t.type)}getSky(){var e;return(e=this.stylesheet)==null?void 0:e.sky}setSky(e,t={}){this._checkLoaded();let r=this.getSky(),i=!1;if(!e&&!r)return;if(e&&!r)i=!0;else if(!e&&r)i=!0;else for(let a in e)if(!_v(e[a],r[a])){i=!0;break}if(!i)return;let n={now:Oo(),transition:ln({duration:300,delay:0},this.stylesheet.transition)};this.stylesheet.sky=e,this.sky.setSky(e,t),this.sky.updateTransitions(n)}_setProjectionInternal(e){var r;let t=uwr(e,(r=this.map._camera)==null?void 0:r.transform.constrainOverride,this._globalState);this.projection=t.projection,this.map.migrateProjection(t.transform,t.cameraHelper);for(let i in this.tileManagers)this.tileManagers[i].reload()}_validate(e,t,r,i,n={}){return n.validate!==!1&&qT(this,e,fn({key:t,style:this.serialize(),value:r},i),n)}_remove(e=!0){this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._loadStyleRequest&&(this._loadStyleRequest=(this._loadStyleRequest.abort(),null)),this._spriteRequest&&(this._spriteRequest=(this._spriteRequest.abort(),null)),A8().off(iae,this._rtlPluginLoaded);for(let t in this._layers)this._layers[t].setEventedParent(null);for(let t in this.tileManagers){let r=this.tileManagers[t];r.setEventedParent(null),r.onRemove(this.map)}this.imageManager.setEventedParent(null),this.setEventedParent(null),e&&this.dispatcher.broadcast("RM",void 0),this.dispatcher.remove(e)}_clearSource(e){this.tileManagers[e].clearTiles()}_reloadSource(e){this.tileManagers[e].resume(),this.tileManagers[e].reload()}_updateSources(e){for(let t in this.tileManagers)this.tileManagers[t].update(e,this.map.terrain)}_generateCollisionBoxes(){for(let e in this.tileManagers)this._reloadSource(e)}triggerSymbolPlacement(){this._symbolPlacementTriggered=!0}_placementInputsChanged(e,t,r){var n;let i=this.pauseablePlacement;return!i||this._symbolPlacementTriggered||this._placedProjectionTransition!==((n=this.projection)==null?void 0:n.transitionState)||i._showCollisionBoxes!==t||i.placement.collisionGroups.crossSourceCollisions!==r||i.placement.transform.renderWorldCopies!==e.renderWorldCopies||!Pet(i.placement.transform.modelViewProjectionMatrix,e.modelViewProjectionMatrix)}_updatePlacement(e,t,r,i,n=!1){var c,f;let a=!1,o=!1,s={};for(let h of this._order){let d=this._layers[h];if(d.type!=="symbol")continue;if(!s[d.source]){let v=this.tileManagers[d.source];s[d.source]=v.getRenderableIds(!0).map(m=>v.getTileByID(m)).sort((m,g)=>g.tileID.overscaledZ-m.tileID.overscaledZ||(m.tileID.isLessThan(g.tileID)?-1:1))}let p=this.crossTileSymbolIndex.addLayer(d,s[d.source],e.center.lng);a||(a=p)}this.crossTileSymbolIndex.pruneUnusedLayers(this._order),n||(n=this._layerOrderChanged||r===0);let l=a||this._placementInputsChanged(e,t,i),u=((c=this.pauseablePlacement)==null?void 0:c.isDone())&&!this.placement.stillRecent(Oo(),e.zoom);if((n||!this.pauseablePlacement||u&&(l||this.placement.stale))&&(this._symbolPlacementTriggered=!1,this._placedProjectionTransition=(f=this.projection)==null?void 0:f.transitionState,this.pauseablePlacement=new F3r(e,this.map.terrain,this._order,n,t,r,i,this.placement),this._layerOrderChanged=!1),this.pauseablePlacement.isDone()?l&&this.placement.setStale():(this.pauseablePlacement.continuePlacement(this._order,this._layers,s),this.pauseablePlacement.isDone()&&(this.placement=this.pauseablePlacement.commit(Oo()),o=!0),a&&this.pauseablePlacement.placement.setStale()),o||a)for(let h of this._order){let d=this._layers[h];d.type==="symbol"&&this.placement.updateLayerOpacities(d,s[d.source])}return!this.pauseablePlacement.isDone()||this.placement.hasTransitions(Oo())}_releaseSymbolFadeTiles(){for(let e in this.tileManagers)this.tileManagers[e].releaseSymbolFadeTiles()}getImages(e,t){return Ki(this,null,function*(){let r=yield this.imageManager.getImages(t.icons);this._updateTilesForChangedImages();let i=this.tileManagers[t.source];return i&&i.setDependencies(t.tileID.key,t.type,t.icons),r})}getGlyphs(e,t){return Ki(this,null,function*(){let r=yield this.glyphManager.getGlyphs(t.stacks),i=this.tileManagers[t.source];return i&&i.setDependencies(t.tileID.key,t.type,[""]),r})}getGlyphsUrl(){return this.stylesheet.glyphs||null}setGlyphs(e,t={}){this._checkLoaded(),!(e&&this._validate(ch.glyphs,"glyphs",e,null,t))&&(this._changed=!0,this._glyphsDidChange=!0,this.stylesheet.glyphs=e,this.glyphManager.entries={},this.glyphManager.setURL(e))}getFontFaces(){return this.stylesheet["font-faces"]||null}setFontFaces(e){this._checkLoaded(),this._changed=!0,this._glyphsDidChange=!0,this.stylesheet["font-faces"]=e,this.glyphManager.setFontFaces(e)}getDashes(e,t){return Ki(this,null,function*(){let r={};for(let[i,n]of Object.entries(t.dashes))r[i]=this.lineAtlas.getDash(n.dasharray,n.round);return r})}addSprite(e,t,r={},i){this._checkLoaded();let n=[{id:e,url:t}],a=[...vq(this.stylesheet.sprite),...n];this._validate(ch.sprite,"sprite",a,null,r)||(this.stylesheet.sprite=a,this._loadSprite(n,!0,i))}removeSprite(e){this._checkLoaded();let t=vq(this.stylesheet.sprite);if(!t.find(i=>i.id===e)){this.fire(new An(Error(`Sprite "${e}" doesn't exists on this map.`)));return}let r=this.imageManager.removeSpriteImages(e);this._markImagesChanged(r),t.splice(t.findIndex(i=>i.id===e),1),this.stylesheet.sprite=t.length>0?t:void 0,this._imagesListDirty=!0,this._changed=!0,this.fire(new rp("data"))}getSprite(){return vq(this.stylesheet.sprite)}setSprite(e,t={},r){this._checkLoaded(),!(e&&this._validate(ch.sprite,"sprite",e,null,t))&&(this.stylesheet.sprite=e,e?this._loadSprite(e,!0,r):(this._unloadSprite(),r&&r(null)))}destroy(){this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._loadStyleRequest&&(this._loadStyleRequest=(this._loadStyleRequest.abort(),null)),this._spriteRequest&&(this._spriteRequest=(this._spriteRequest.abort(),null));for(let e in this.tileManagers){let t=this.tileManagers[e];t.setEventedParent(null),t.onRemove(this.map)}this.tileManagers={},this.imageManager&&(this.imageManager.setEventedParent(null),this.imageManager.destroy(),this.patternAtlas.destroy()),this.glyphManager&&this.glyphManager.destroy();for(let e in this._layers){let t=this._layers[e];t.setEventedParent(null),t.onRemove&&t.onRemove(this.map)}this._setInitialValues(),this.setEventedParent(null),this.dispatcher.unregisterMessageHandler("GG"),this.dispatcher.unregisterMessageHandler("GI"),this.dispatcher.unregisterMessageHandler("GDA"),this.dispatcher.remove(!0),this._listeners={},this._oneTimeListeners={}}},fwr=ol([{name:"a_pos",type:"Int16",components:2},{name:"a_texture_pos",type:"Int16",components:2}]),hwr=class{constructor(){this.boundProgram=null,this.boundLayoutVertexBuffer=null,this.boundPaintVertexBuffers=[],this.boundIndexBuffer=null,this.boundVertexOffset=null,this.boundDynamicVertexBuffer=null,this.vao=null}bind(e,t,r,i,n,a,o,s,l){this.context=e;let u=this.boundPaintVertexBuffers.length!==i.length;for(let c=0;!u&&c({u_depth:new wn(e,t.u_depth),u_terrain:new wn(e,t.u_terrain)}),pwr=(e,t)=>({u_texture:new wn(e,t.u_texture),u_ele_delta:new qi(e,t.u_ele_delta),u_fog_matrix:new ep(e,t.u_fog_matrix),u_fog_color:new Rm(e,t.u_fog_color),u_fog_ground_blend:new qi(e,t.u_fog_ground_blend),u_fog_ground_blend_opacity:new qi(e,t.u_fog_ground_blend_opacity),u_horizon_color:new Rm(e,t.u_horizon_color),u_horizon_fog_blend:new qi(e,t.u_horizon_fog_blend),u_is_globe_mode:new qi(e,t.u_is_globe_mode)}),vwr=(e,t)=>({u_ele_delta:new qi(e,t.u_ele_delta)}),gwr=(e,t,r,i,n)=>({u_texture:0,u_ele_delta:e,u_fog_matrix:t,u_fog_color:r?r.properties.get("fog-color"):ea.white,u_fog_ground_blend:r?r.properties.get("fog-ground-blend"):1,u_fog_ground_blend_opacity:n?0:r?r.calculateFogBlendOpacity(i):0,u_horizon_color:r?r.properties.get("horizon-color"):ea.white,u_horizon_fog_blend:r?r.properties.get("horizon-fog-blend"):1,u_is_globe_mode:+!!n}),mwr=e=>({u_ele_delta:e}),Cq={ProjectionUBO:0,TerrainUBO:1,FrameUBO:2};xwr={float:[1,1],int:[1,1],vec2:[2,2],vec4:[4,4],mat4:[16,4]};Iae=class{constructor(e,t,r){this.context=e,this.binding=t,this.contentWords=r.contentWords;let i=e.gl;this.buffer=i.createBuffer(),i.bindBuffer(i.UNIFORM_BUFFER,this.buffer),i.bufferData(i.UNIFORM_BUFFER,r.sizeWords*4,i.DYNAMIC_DRAW),i.bindBufferBase(i.UNIFORM_BUFFER,t,this.buffer),this.uploaded=new Float32Array(r.sizeWords),this.pending=new Float32Array(r.sizeWords),this.uploadedWords=new Uint32Array(this.uploaded.buffer),this.pendingWords=new Uint32Array(this.pending.buffer),this.hasData=!1,this.bindingDirty=!1}upload(){let e=this.context.gl,t=!this.hasData;if(!t){let r=this.pendingWords,i=this.uploadedWords;for(let n=0;n=0&&(this.attributes[y]={location:E,isInteger:A.has(y)})}u.deleteShader(x),u.deleteShader(M);for(let y of g)if(y&&!T[y]){let E=u.getUniformLocation(this.program,y);E&&(T[y]=E)}this.fixedUniforms=i(e,T),this.terrainUniforms=dwr(e,T),this.binderUniforms=r?r.getUniforms(e,T):[]}draw(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v,m,g,w){var M;let b=e.gl;if(this.failedToCreate)return;if(e.program.set(this.program),e.setDepthMode(r),e.setStencilMode(i),e.setColorMode(n),e.setCullFace(a),s){e.activeTexture.set(b.TEXTURE2),b.bindTexture(b.TEXTURE_2D,s.depthTexture),e.activeTexture.set(b.TEXTURE3),b.bindTexture(b.TEXTURE_2D,s.texture);for(let x in this.terrainUniforms)this.terrainUniforms[x].set(s[x]);Twr(e.terrainUniformBuffer,s)}if(l&&bwr(e.projectionUniformBuffer,l),o)for(let x in this.fixedUniforms)this.fixedUniforms[x].set(o[x]);v&&v.setUniforms(e,this.binderUniforms,d,{zoom:p});let _=0;switch(t){case b.LINES:_=2;break;case b.TRIANGLES:_=3;break;case b.LINE_STRIP:_=1}for(let x of h.get())x.vaos||(x.vaos={}),(M=x.vaos)[u]||(M[u]=new hwr),x.vaos[u].bind(e,this,c,v?v.getPaintVertexBuffers():[],f,x.vertexOffset,m,g,w),b.drawElements(t,x.primitiveLength*_,b.UNSIGNED_SHORT,x.primitiveOffset*_*2)}};Ewr=(e,t)=>({u_lightpos:new Rf(e,t.u_lightpos),u_lightpos_globe:new Rf(e,t.u_lightpos_globe),u_lightintensity:new qi(e,t.u_lightintensity),u_lightcolor:new Rf(e,t.u_lightcolor),u_vertical_gradient:new qi(e,t.u_vertical_gradient),u_opacity:new qi(e,t.u_opacity),u_fill_translate:new pa(e,t.u_fill_translate)}),kwr=(e,t)=>({u_lightpos:new Rf(e,t.u_lightpos),u_lightpos_globe:new Rf(e,t.u_lightpos_globe),u_lightintensity:new qi(e,t.u_lightintensity),u_lightcolor:new Rf(e,t.u_lightcolor),u_vertical_gradient:new qi(e,t.u_vertical_gradient),u_height_factor:new qi(e,t.u_height_factor),u_opacity:new qi(e,t.u_opacity),u_fill_translate:new pa(e,t.u_fill_translate),u_image:new wn(e,t.u_image),u_texsize:new pa(e,t.u_texsize),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade)}),Yot=(e,t,r,i)=>{let n=e.style.light,a=n.getCartesianPosition(),o=hie();n.properties.get("anchor")==="viewport"&&Det(o,e.transform.bearingInRadians),Oet(a,a,o);let s=e.transform.transformLightDirection(a),l=n.properties.get("color");return{u_lightpos:a,u_lightpos_globe:s,u_lightintensity:n.properties.get("intensity"),u_lightcolor:[l.r,l.g,l.b],u_vertical_gradient:+t,u_opacity:r,u_fill_translate:i}},Cwr=(e,t,r,i,n,a,o)=>ln(Yot(e,t,r,i),Wot(a,e,o),{u_height_factor:-(2**n.overscaledZ)/o.tileSize/8}),Dwr=(e,t)=>({u_fill_translate:new pa(e,t.u_fill_translate)}),Fwr=(e,t)=>({u_image:new wn(e,t.u_image),u_texsize:new pa(e,t.u_texsize),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade),u_sdf_pattern:new wn(e,t.u_sdf_pattern),u_fill_translate:new pa(e,t.u_fill_translate)}),Lwr=(e,t)=>({u_fill_translate:new pa(e,t.u_fill_translate)}),Pwr=(e,t)=>({u_image:new wn(e,t.u_image),u_texsize:new pa(e,t.u_texsize),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade),u_sdf_pattern:new wn(e,t.u_sdf_pattern),u_fill_translate:new pa(e,t.u_fill_translate)}),Xot=(e,t,r,i,n)=>ln(Wot(t,e,r),{u_fill_translate:i,u_sdf_pattern:+!!n}),Iwr=e=>({u_fill_translate:e}),Rwr=e=>({u_fill_translate:e}),zwr=(e,t,r,i,n)=>Xot(e,t,r,i,n),Bwr=(e,t)=>({u_scale_with_map:new wn(e,t.u_scale_with_map),u_pitch_with_map:new wn(e,t.u_pitch_with_map),u_extrude_scale:new pa(e,t.u_extrude_scale),u_globe_extrude_scale:new qi(e,t.u_globe_extrude_scale),u_translate:new pa(e,t.u_translate)}),qwr=(e,t,r,i,n)=>{let a=e.transform,o,s,l=0;if(r.paint.get("circle-pitch-alignment")==="map"){let u=Zh(t,1,a.zoom);o=!0,s=[u,u],l=u/(zr*2**t.tileID.overscaledZ)*2*Math.PI*n}else o=!1,s=a.pixelsToGLUnits;return{u_scale_with_map:+(r.paint.get("circle-pitch-scale")==="map"),u_pitch_with_map:+o,u_extrude_scale:s,u_globe_extrude_scale:l,u_translate:i}},Owr=(e,t)=>({u_color:new Rm(e,t.u_color),u_overlay:new wn(e,t.u_overlay),u_overlay_scale:new qi(e,t.u_overlay_scale)}),kat=(e,t=1)=>({u_color:e,u_overlay:0,u_overlay_scale:t}),Nwr=(e,t)=>({u_extrude_scale:new qi(e,t.u_extrude_scale),u_intensity:new qi(e,t.u_intensity),u_globe_extrude_scale:new qi(e,t.u_globe_extrude_scale)}),Uwr=(e,t)=>({u_matrix:new ep(e,t.u_matrix),u_image:new wn(e,t.u_image),u_color_ramp:new wn(e,t.u_color_ramp),u_opacity:new qi(e,t.u_opacity)}),Zot=(e,t,r,i)=>{let n=Zh(e,1,t)/(zr*2**e.tileID.overscaledZ)*2*Math.PI*i;return{u_extrude_scale:Zh(e,1,t),u_intensity:r,u_globe_extrude_scale:n}},Kot=(e,t,r,i)=>{let n=Em();return wv(n,0,e.width,e.height,0,0,1),{u_matrix:n,u_image:r,u_color_ramp:i,u_opacity:t.paint.get("heatmap-opacity")}},Vwr=(e,t)=>({u_image:new wn(e,t.u_image),u_latrange:new pa(e,t.u_latrange),u_exaggeration:new qi(e,t.u_exaggeration),u_altitudes:new Kie(e,t.u_altitudes),u_azimuths:new Kie(e,t.u_azimuths),u_accent:new Rm(e,t.u_accent),u_method:new wn(e,t.u_method),u_shadows:new Zie(e,t.u_shadows),u_highlights:new Zie(e,t.u_highlights)}),Gwr=(e,t)=>({u_matrix:new ep(e,t.u_matrix),u_image:new wn(e,t.u_image),u_dimension:new pa(e,t.u_dimension),u_zoom:new qi(e,t.u_zoom),u_unpack:new OT(e,t.u_unpack)}),Hwr=(e,t,r)=>{let i=r.paint.get("hillshade-accent-color"),n;switch(r.paint.get("hillshade-method")){case"basic":n=4;break;case"combined":n=1;break;case"igor":n=2;break;case"multidirectional":n=3;break;default:n=0}let a=r.getIlluminationProperties();for(let o=0;o{let r=t.stride,i=Em();return wv(i,0,zr,-zr,0,0,1),eu(i,i,[0,-zr,0]),{u_matrix:i,u_image:1,u_dimension:[r,r],u_zoom:e.overscaledZ,u_unpack:t.getUnpackVector()}};Wwr=(e,t)=>({u_image:new wn(e,t.u_image),u_unpack:new OT(e,t.u_unpack),u_dimension:new pa(e,t.u_dimension),u_elevation_stops:new wn(e,t.u_elevation_stops),u_color_stops:new wn(e,t.u_color_stops),u_color_ramp_size:new wn(e,t.u_color_ramp_size),u_opacity:new qi(e,t.u_opacity)}),Ywr=(e,t,r=0)=>({u_image:0,u_unpack:t.getUnpackVector(),u_dimension:[t.stride,t.stride],u_elevation_stops:1,u_color_stops:4,u_color_ramp_size:r,u_opacity:e.paint.get("color-relief-opacity")}),Xwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio)}),Zwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_image_height:new qi(e,t.u_image_height)}),Kwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_texsize:new pa(e,t.u_texsize),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_scale:new Rf(e,t.u_scale),u_fade:new qi(e,t.u_fade)}),Jwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_mix:new qi(e,t.u_mix),u_tileratio:new qi(e,t.u_tileratio),u_crossfade_from:new qi(e,t.u_crossfade_from),u_crossfade_to:new qi(e,t.u_crossfade_to),u_lineatlas_width:new qi(e,t.u_lineatlas_width),u_lineatlas_height:new qi(e,t.u_lineatlas_height)}),Qwr=(e,t)=>({u_translation:new pa(e,t.u_translation),u_ratio:new qi(e,t.u_ratio),u_image:new wn(e,t.u_image),u_image_height:new qi(e,t.u_image_height),u_tileratio:new qi(e,t.u_tileratio),u_crossfade_from:new qi(e,t.u_crossfade_from),u_crossfade_to:new qi(e,t.u_crossfade_to),u_image_dash:new wn(e,t.u_image_dash),u_mix:new qi(e,t.u_mix),u_lineatlas_width:new qi(e,t.u_lineatlas_width),u_lineatlas_height:new qi(e,t.u_lineatlas_height)}),Dq=(e,t,r,i)=>{let n=e.transform;return{u_translation:Jot(e,t,r),u_ratio:i/Zh(t,1,n.zoom)}},e5r=(e,t,r,i,n)=>ln(Dq(e,t,r,i),{u_image:0,u_image_height:n}),t5r=(e,t,r,i,n)=>{let a=e.transform,o=Rae(t,a);return{u_translation:Jot(e,t,r),u_texsize:t.imageAtlasTexture.size,u_ratio:i/Zh(t,1,a.zoom),u_image:0,u_scale:[o,n.fromScale,n.toScale],u_fade:n.t}},r5r=(e,t,r,i,n)=>{let a=e.transform,o=Rae(t,a);return ln(Dq(e,t,r,i),{u_tileratio:o,u_crossfade_from:n.fromScale,u_crossfade_to:n.toScale,u_image:0,u_mix:n.t,u_lineatlas_width:e.lineAtlas.width,u_lineatlas_height:e.lineAtlas.height})},i5r=(e,t,r,i,n,a)=>{let o=e.transform,s=Rae(t,o);return ln(Dq(e,t,r,i),{u_image:0,u_image_height:a,u_tileratio:s,u_crossfade_from:n.fromScale,u_crossfade_to:n.toScale,u_image_dash:1,u_mix:n.t,u_lineatlas_width:e.lineAtlas.width,u_lineatlas_height:e.lineAtlas.height})};n5r=(e,t)=>({u_image:new wn(e,t.u_image),u_opacity:new qi(e,t.u_opacity)}),a5r=(e,t)=>({u_image:t,u_opacity:e}),o5r=(e,t)=>({u_is_size_zoom_constant:new wn(e,t.u_is_size_zoom_constant),u_is_size_feature_constant:new wn(e,t.u_is_size_feature_constant),u_size_t:new qi(e,t.u_size_t),u_size:new qi(e,t.u_size),u_rotate_symbol:new wn(e,t.u_rotate_symbol),u_label_plane_matrix:new ep(e,t.u_label_plane_matrix),u_coord_matrix:new ep(e,t.u_coord_matrix),u_is_text:new wn(e,t.u_is_text),u_pitch_with_map:new wn(e,t.u_pitch_with_map),u_is_along_line:new wn(e,t.u_is_along_line),u_is_variable_anchor:new wn(e,t.u_is_variable_anchor),u_texsize:new pa(e,t.u_texsize),u_texture:new wn(e,t.u_texture),u_translation:new pa(e,t.u_translation),u_pitched_scale:new qi(e,t.u_pitched_scale),u_is_offset:new wn(e,t.u_is_offset),u_height_anchor_ground:new wn(e,t.u_height_anchor_ground)}),s5r=(e,t)=>({u_is_size_zoom_constant:new wn(e,t.u_is_size_zoom_constant),u_is_size_feature_constant:new wn(e,t.u_is_size_feature_constant),u_size_t:new qi(e,t.u_size_t),u_size:new qi(e,t.u_size),u_rotate_symbol:new wn(e,t.u_rotate_symbol),u_label_plane_matrix:new ep(e,t.u_label_plane_matrix),u_coord_matrix:new ep(e,t.u_coord_matrix),u_is_text:new wn(e,t.u_is_text),u_pitch_with_map:new wn(e,t.u_pitch_with_map),u_is_along_line:new wn(e,t.u_is_along_line),u_is_variable_anchor:new wn(e,t.u_is_variable_anchor),u_texsize:new pa(e,t.u_texsize),u_texture:new wn(e,t.u_texture),u_gamma_scale:new qi(e,t.u_gamma_scale),u_is_halo:new wn(e,t.u_is_halo),u_is_plain:new wn(e,t.u_is_plain),u_translation:new pa(e,t.u_translation),u_pitched_scale:new qi(e,t.u_pitched_scale),u_is_offset:new wn(e,t.u_is_offset),u_height_anchor_ground:new wn(e,t.u_height_anchor_ground)}),l5r=(e,t)=>({u_is_size_zoom_constant:new wn(e,t.u_is_size_zoom_constant),u_is_size_feature_constant:new wn(e,t.u_is_size_feature_constant),u_size_t:new qi(e,t.u_size_t),u_size:new qi(e,t.u_size),u_rotate_symbol:new wn(e,t.u_rotate_symbol),u_label_plane_matrix:new ep(e,t.u_label_plane_matrix),u_coord_matrix:new ep(e,t.u_coord_matrix),u_is_text:new wn(e,t.u_is_text),u_pitch_with_map:new wn(e,t.u_pitch_with_map),u_is_along_line:new wn(e,t.u_is_along_line),u_is_variable_anchor:new wn(e,t.u_is_variable_anchor),u_texsize:new pa(e,t.u_texsize),u_texsize_icon:new pa(e,t.u_texsize_icon),u_texture:new wn(e,t.u_texture),u_texture_icon:new wn(e,t.u_texture_icon),u_gamma_scale:new qi(e,t.u_gamma_scale),u_is_halo:new wn(e,t.u_is_halo),u_translation:new pa(e,t.u_translation),u_pitched_scale:new qi(e,t.u_pitched_scale),u_is_offset:new wn(e,t.u_is_offset),u_height_anchor_ground:new wn(e,t.u_height_anchor_ground)}),Qot=(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p)=>({u_is_size_zoom_constant:+(e==="constant"||e==="source"),u_is_size_feature_constant:+(e==="constant"||e==="camera"),u_size_t:t?t.uSizeT:0,u_size:t?t.uSize:0,u_rotate_symbol:+r,u_label_plane_matrix:s,u_coord_matrix:l,u_is_text:+c,u_pitch_with_map:+i,u_is_along_line:n,u_is_variable_anchor:a,u_texsize:f,u_texture:0,u_translation:u,u_pitched_scale:h,u_is_offset:d,u_height_anchor_ground:+p}),est=(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p,v)=>{let m=o.transform;return ln(Qot(e,t,r,i,n,a,o,s,l,u,c,f,d,p,v),{u_gamma_scale:i?Math.cos(m.pitch*Math.PI/180)*m.cameraToCenterDistance:1,u_is_halo:+!!h,u_is_plain:1})},u5r=(e,t,r,i,n,a,o,s,l,u,c,f,h,d,p)=>ln(est(e,t,r,i,n,a,o,s,l,u,!0,c,!0,h,d,p),{u_texsize_icon:f,u_texture_icon:1}),c5r=(e,t)=>({u_opacity:new qi(e,t.u_opacity),u_color:new Rm(e,t.u_color)}),f5r=(e,t)=>({u_opacity:new qi(e,t.u_opacity),u_image:new wn(e,t.u_image),u_pattern_tl_a:new pa(e,t.u_pattern_tl_a),u_pattern_br_a:new pa(e,t.u_pattern_br_a),u_pattern_tl_b:new pa(e,t.u_pattern_tl_b),u_pattern_br_b:new pa(e,t.u_pattern_br_b),u_texsize:new pa(e,t.u_texsize),u_mix:new qi(e,t.u_mix),u_pattern_size_a:new pa(e,t.u_pattern_size_a),u_pattern_size_b:new pa(e,t.u_pattern_size_b),u_scale_a:new qi(e,t.u_scale_a),u_scale_b:new qi(e,t.u_scale_b),u_pixel_coord_upper:new pa(e,t.u_pixel_coord_upper),u_pixel_coord_lower:new pa(e,t.u_pixel_coord_lower),u_tile_units_to_pixels:new qi(e,t.u_tile_units_to_pixels)}),h5r=(e,t)=>({u_opacity:e,u_color:t}),d5r=(e,t,r,i,n)=>ln(Swr(r,n,t,i),{u_opacity:e}),p5r=(e,t)=>({u_sun_pos:new Rf(e,t.u_sun_pos),u_atmosphere_blend:new qi(e,t.u_atmosphere_blend),u_globe_position:new Rf(e,t.u_globe_position),u_globe_radius:new qi(e,t.u_globe_radius),u_inv_proj_matrix:new ep(e,t.u_inv_proj_matrix)}),v5r=(e,t,r,i,n)=>({u_sun_pos:e,u_atmosphere_blend:t,u_globe_position:r,u_globe_radius:i,u_inv_proj_matrix:n}),g5r=(e,t)=>({u_sky_color:new Rm(e,t.u_sky_color),u_horizon_color:new Rm(e,t.u_horizon_color),u_horizon:new pa(e,t.u_horizon),u_horizon_normal:new pa(e,t.u_horizon_normal),u_sky_horizon_blend:new qi(e,t.u_sky_horizon_blend),u_sky_blend:new qi(e,t.u_sky_blend),u_inv_proj_matrix:new ep(e,t.u_inv_proj_matrix),u_globe_position:new Rf(e,t.u_globe_position),u_globe_radius:new qi(e,t.u_globe_radius)}),m5r=(e,t,r)=>{let i=Math.cos(t.rollInRadians),n=Math.sin(t.rollInRadians),a=UT(t),o=t.getProjectionData({overscaledTileID:null,applyGlobeMatrix:!0,applyTerrainMatrix:!0}).projectionTransition;return{u_sky_color:e.properties.get("sky-color"),u_horizon_color:e.properties.get("horizon-color"),u_horizon:[(t.width/2-a*n)*r,(t.height/2+a*i)*r],u_horizon_normal:[-n,i],u_sky_horizon_blend:e.properties.get("sky-horizon-blend")*t.height/2*r,u_sky_blend:o,u_inv_proj_matrix:t.inverseProjectionMatrix,u_globe_position:Oot(t),u_globe_radius:YT(t.worldSize,t.center.lat)}},lq=(e,t)=>({}),y5r={fillExtrusion:Ewr,fillExtrusionPattern:kwr,fill:Dwr,fillPattern:Fwr,fillOutline:Lwr,fillOutlinePattern:Pwr,circle:Bwr,collisionBox:lq,collisionCircle:lq,debug:Owr,depth:lq,clippingMask:lq,heatmap:Nwr,heatmapTexture:Uwr,hillshade:Vwr,hillshadePrepare:Gwr,colorRelief:Wwr,line:Xwr,lineGradient:Zwr,linePattern:Kwr,lineSDF:Jwr,lineGradientSDF:Qwr,layerOpacity:n5r,raster:Rbr,symbolIcon:o5r,symbolSDF:s5r,symbolTextAndIcon:l5r,background:c5r,backgroundPattern:f5r,terrain:pwr,terrainDepth:vwr,atmosphere:p5r,sky:g5r},x5r=class{constructor(e,t,r){this.context=e;let i=e.gl;this.buffer=i.createBuffer(),this.dynamicDraw=!!r,this.context.unbindVAO(),e.bindElementBuffer.set(this.buffer),i.bufferData(i.ELEMENT_ARRAY_BUFFER,t.arrayBuffer,this.dynamicDraw?i.DYNAMIC_DRAW:i.STATIC_DRAW),this.dynamicDraw||t.freeBufferAfterUpload()}bind(){this.context.bindElementBuffer.set(this.buffer)}updateData(e){let t=this.context.gl;if(!this.dynamicDraw)throw Error("Attempted to update data while not in dynamic mode.");this.context.unbindVAO(),this.bind(),t.bufferSubData(t.ELEMENT_ARRAY_BUFFER,0,e.arrayBuffer)}destroy(){let e=this.context.gl;this.buffer&&(e.deleteBuffer(this.buffer),delete this.buffer)}},Cat={Int8:"BYTE",Uint8:"UNSIGNED_BYTE",Int16:"SHORT",Uint16:"UNSIGNED_SHORT",Int32:"INT",Uint32:"UNSIGNED_INT",Float32:"FLOAT"},_5r=class{constructor(e,t,r,i){this.length=t.length,this.attributes=r,this.itemSize=t.bytesPerElement,this.dynamicDraw=i,this.context=e;let n=e.gl;this.buffer=n.createBuffer(),e.bindVertexBuffer.set(this.buffer),n.bufferData(n.ARRAY_BUFFER,t.arrayBuffer,this.dynamicDraw?n.DYNAMIC_DRAW:n.STATIC_DRAW),this.dynamicDraw||t.freeBufferAfterUpload()}bind(){this.context.bindVertexBuffer.set(this.buffer)}updateData(e){if(e.length!==this.length)throw Error(`Length of new data is ${e.length}, which doesn't match current length of ${this.length}`);let t=this.context.gl;this.bind(),t.bufferSubData(t.ARRAY_BUFFER,0,e.arrayBuffer)}enableAttributes(e,t){for(let r of this.attributes){let i=t.attributes[r.name];i!==void 0&&e.enableVertexAttribArray(i.location)}}setVertexAttribPointers(e,t,r){for(let i of this.attributes){let n=t.attributes[i.name];if(n!==void 0){let a=i.offset+this.itemSize*(r||0);n.isInteger?e.vertexAttribIPointer(n.location,i.components,e[Cat[i.type]],this.itemSize,a):e.vertexAttribPointer(n.location,i.components,e[Cat[i.type]],!1,this.itemSize,a)}}}destroy(){let e=this.context.gl;this.buffer&&(e.deleteBuffer(this.buffer),delete this.buffer)}},No=class{constructor(e){this.gl=e.gl,this.default=this.getDefault(),this.current=this.default,this.dirty=!1}get(){return this.current}set(e){}getDefault(){return this.default}setDefault(){this.set(this.default)}},b5r=class extends No{getDefault(){return ea.transparent}set(e){let t=this.current;(e.r!==t.r||e.g!==t.g||e.b!==t.b||e.a!==t.a||this.dirty)&&(this.gl.clearColor(e.r,e.g,e.b,e.a),this.current=e,this.dirty=!1)}},w5r=class extends No{getDefault(){return 1}set(e){(e!==this.current||this.dirty)&&(this.gl.clearDepth(e),this.current=e,this.dirty=!1)}},T5r=class extends No{getDefault(){return 0}set(e){(e!==this.current||this.dirty)&&(this.gl.clearStencil(e),this.current=e,this.dirty=!1)}},A5r=class extends No{getDefault(){return[!0,!0,!0,!0]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||e[2]!==t[2]||e[3]!==t[3]||this.dirty)&&(this.gl.colorMask(e[0],e[1],e[2],e[3]),this.current=e,this.dirty=!1)}},M5r=class extends No{getDefault(){return!0}set(e){(e!==this.current||this.dirty)&&(this.gl.depthMask(e),this.current=e,this.dirty=!1)}},S5r=class extends No{getDefault(){return 255}set(e){(e!==this.current||this.dirty)&&(this.gl.stencilMask(e),this.current=e,this.dirty=!1)}},E5r=class extends No{getDefault(){return{func:this.gl.ALWAYS,ref:0,mask:255}}set(e){let t=this.current;(e.func!==t.func||e.ref!==t.ref||e.mask!==t.mask||this.dirty)&&(this.gl.stencilFunc(e.func,e.ref,e.mask),this.current=e,this.dirty=!1)}},k5r=class extends No{getDefault(){let e=this.gl;return[e.KEEP,e.KEEP,e.KEEP]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||e[2]!==t[2]||this.dirty)&&(this.gl.stencilOp(e[0],e[1],e[2]),this.current=e,this.dirty=!1)}},C5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.STENCIL_TEST):t.disable(t.STENCIL_TEST),this.current=e,this.dirty=!1}},D5r=class extends No{getDefault(){return[0,1]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||this.dirty)&&(this.gl.depthRange(e[0],e[1]),this.current=e,this.dirty=!1)}},F5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.DEPTH_TEST):t.disable(t.DEPTH_TEST),this.current=e,this.dirty=!1}},L5r=class extends No{getDefault(){return this.gl.LESS}set(e){(e!==this.current||this.dirty)&&(this.gl.depthFunc(e),this.current=e,this.dirty=!1)}},P5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.BLEND):t.disable(t.BLEND),this.current=e,this.dirty=!1}},I5r=class extends No{getDefault(){let e=this.gl;return[e.ONE,e.ZERO]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||this.dirty)&&(this.gl.blendFunc(e[0],e[1]),this.current=e,this.dirty=!1)}},R5r=class extends No{getDefault(){return ea.transparent}set(e){let t=this.current;(e.r!==t.r||e.g!==t.g||e.b!==t.b||e.a!==t.a||this.dirty)&&(this.gl.blendColor(e.r,e.g,e.b,e.a),this.current=e,this.dirty=!1)}},z5r=class extends No{getDefault(){return this.gl.FUNC_ADD}set(e){(e!==this.current||this.dirty)&&(this.gl.blendEquation(e),this.current=e,this.dirty=!1)}},B5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;e?t.enable(t.CULL_FACE):t.disable(t.CULL_FACE),this.current=e,this.dirty=!1}},q5r=class extends No{getDefault(){return this.gl.BACK}set(e){(e!==this.current||this.dirty)&&(this.gl.cullFace(e),this.current=e,this.dirty=!1)}},O5r=class extends No{getDefault(){return this.gl.CCW}set(e){(e!==this.current||this.dirty)&&(this.gl.frontFace(e),this.current=e,this.dirty=!1)}},N5r=class extends No{getDefault(){return null}set(e){(e!==this.current||this.dirty)&&(this.gl.useProgram(e),this.current=e,this.dirty=!1)}},U5r=class extends No{getDefault(){return this.gl.TEXTURE0}set(e){(e!==this.current||this.dirty)&&(this.gl.activeTexture(e),this.current=e,this.dirty=!1)}},V5r=class extends No{getDefault(){let e=this.gl;return[0,0,e.drawingBufferWidth,e.drawingBufferHeight]}set(e){let t=this.current;(e[0]!==t[0]||e[1]!==t[1]||e[2]!==t[2]||e[3]!==t[3]||this.dirty)&&(this.gl.viewport(e[0],e[1],e[2],e[3]),this.current=e,this.dirty=!1)}},G5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindFramebuffer(t.FRAMEBUFFER,e),this.current=e,this.dirty=!1}},H5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindRenderbuffer(t.RENDERBUFFER,e),this.current=e,this.dirty=!1}},j5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindTexture(t.TEXTURE_2D,e),this.current=e,this.dirty=!1}},$5r=class extends No{getDefault(){return null}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.bindBuffer(t.ARRAY_BUFFER,e),this.current=e,this.dirty=!1}},W5r=class extends No{getDefault(){return null}set(e){let t=this.gl;t.bindBuffer(t.ELEMENT_ARRAY_BUFFER,e),this.current=e,this.dirty=!1}},Y5r=class extends No{getDefault(){return null}set(e){(e!==this.current||this.dirty)&&(this.gl.bindVertexArray(e),this.current=e,this.dirty=!1)}},X5r=class extends No{getDefault(){return 4}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.pixelStorei(t.UNPACK_ALIGNMENT,e),this.current=e,this.dirty=!1}},Z5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.pixelStorei(t.UNPACK_PREMULTIPLY_ALPHA_WEBGL,e),this.current=e,this.dirty=!1}},K5r=class extends No{getDefault(){return!1}set(e){if(e===this.current&&!this.dirty)return;let t=this.gl;t.pixelStorei(t.UNPACK_FLIP_Y_WEBGL,e),this.current=e,this.dirty=!1}},zae=class extends No{constructor(e,t){super(e),this.context=e,this.parent=t}getDefault(){return null}},J5r=class extends zae{setDirty(){this.dirty=!0}set(e){if(e===this.current&&!this.dirty)return;this.context.bindFramebuffer.set(this.parent);let t=this.gl;t.framebufferTexture2D(t.FRAMEBUFFER,t.COLOR_ATTACHMENT0,t.TEXTURE_2D,e,0),this.current=e,this.dirty=!1}},Q5r=class extends zae{set(e){if(e===this.current&&!this.dirty)return;this.context.bindFramebuffer.set(this.parent);let t=this.gl;t.framebufferRenderbuffer(t.FRAMEBUFFER,t.DEPTH_ATTACHMENT,t.RENDERBUFFER,e),this.current=e,this.dirty=!1}},e4r=class extends zae{set(e){if(e===this.current&&!this.dirty)return;this.context.bindFramebuffer.set(this.parent);let t=this.gl;t.framebufferRenderbuffer(t.FRAMEBUFFER,t.DEPTH_STENCIL_ATTACHMENT,t.RENDERBUFFER,e),this.current=e,this.dirty=!1}},t4r=class{constructor(e,t,r,i,n){this.context=e,this.width=t,this.height=r;let a=e.gl,o=this.framebuffer=a.createFramebuffer();if(this.colorAttachment=new J5r(e,o),i)this.depthAttachment=n?new e4r(e,o):new Q5r(e,o);else if(n)throw Error("Stencil cannot be set without depth")}destroy(){let e=this.context.gl,t=this.colorAttachment.get();if(t&&e.deleteTexture(t),this.depthAttachment){let r=this.depthAttachment.get();r&&e.deleteRenderbuffer(r)}e.deleteFramebuffer(this.framebuffer)}},tst=Pae([{name:"u_units_to_pixels",type:"vec2"},{name:"u_world_size",type:"vec2"},{name:"u_camera_to_center_distance",type:"float"},{name:"u_symbol_fade_change",type:"float"},{name:"u_aspect_ratio",type:"float"},{name:"u_device_pixel_ratio",type:"float"},{name:"u_viewport_size",type:"vec2"},{name:"u_pixel_extrude_scale",type:"vec2"},{name:"u_pitch",type:"float"}]),q0=tst.offsets;ql=class{constructor(e,t,r){this.blendFunction=e,this.blendColor=t,this.mask=r}};ql.Replace=[1,0],ql.disabled=new ql(ql.Replace,ea.transparent,[!1,!1,!1,!1]),ql.unblended=new ql(ql.Replace,ea.transparent,[!0,!0,!0,!0]),ql.alphaBlended=new ql([1,771],ea.transparent,[!0,!0,!0,!0]);n4r=class{constructor(e){this.gl=e,this.clearColor=new b5r(this),this.clearDepth=new w5r(this),this.clearStencil=new T5r(this),this.colorMask=new A5r(this),this.depthMask=new M5r(this),this.stencilMask=new S5r(this),this.stencilFunc=new E5r(this),this.stencilOp=new k5r(this),this.stencilTest=new C5r(this),this.depthRange=new D5r(this),this.depthTest=new F5r(this),this.depthFunc=new L5r(this),this.blend=new P5r(this),this.blendFunc=new I5r(this),this.blendColor=new R5r(this),this.blendEquation=new z5r(this),this.cullFace=new B5r(this),this.cullFaceSide=new q5r(this),this.frontFace=new O5r(this),this.program=new N5r(this),this.activeTexture=new U5r(this),this.viewport=new V5r(this),this.bindFramebuffer=new G5r(this),this.bindRenderbuffer=new H5r(this),this.bindTexture=new j5r(this),this.bindVertexBuffer=new $5r(this),this.bindElementBuffer=new W5r(this),this.bindVertexArray=new Y5r(this),this.pixelStoreUnpack=new X5r(this),this.pixelStoreUnpackPremultiplyAlpha=new Z5r(this),this.pixelStoreUnpackFlipY=new K5r(this),this.extTextureFilterAnisotropic=e.getExtension("EXT_texture_filter_anisotropic"),this.extTextureFilterAnisotropic&&(this.extTextureFilterAnisotropicMax=e.getParameter(this.extTextureFilterAnisotropic.MAX_TEXTURE_MAX_ANISOTROPY_EXT)),this.maxTextureSize=e.getParameter(e.MAX_TEXTURE_SIZE),e.getExtension("EXT_color_buffer_half_float"),e.getExtension("EXT_color_buffer_float"),this.projectionUniformBuffer=_wr(this),this.terrainUniformBuffer=wwr(this),this.frameUniformBuffer=r4r(this)}setDefault(){this.unbindVAO(),this.clearColor.setDefault(),this.clearDepth.setDefault(),this.clearStencil.setDefault(),this.colorMask.setDefault(),this.depthMask.setDefault(),this.stencilMask.setDefault(),this.stencilFunc.setDefault(),this.stencilOp.setDefault(),this.stencilTest.setDefault(),this.depthRange.setDefault(),this.depthTest.setDefault(),this.depthFunc.setDefault(),this.blend.setDefault(),this.blendFunc.setDefault(),this.blendColor.setDefault(),this.blendEquation.setDefault(),this.cullFace.setDefault(),this.cullFaceSide.setDefault(),this.frontFace.setDefault(),this.program.setDefault(),this.activeTexture.setDefault(),this.bindFramebuffer.setDefault(),this.pixelStoreUnpack.setDefault(),this.pixelStoreUnpackPremultiplyAlpha.setDefault(),this.pixelStoreUnpackFlipY.setDefault()}setDirty(){this.clearColor.dirty=!0,this.clearDepth.dirty=!0,this.clearStencil.dirty=!0,this.colorMask.dirty=!0,this.depthMask.dirty=!0,this.stencilMask.dirty=!0,this.stencilFunc.dirty=!0,this.stencilOp.dirty=!0,this.stencilTest.dirty=!0,this.depthRange.dirty=!0,this.depthTest.dirty=!0,this.depthFunc.dirty=!0,this.blend.dirty=!0,this.blendFunc.dirty=!0,this.blendColor.dirty=!0,this.blendEquation.dirty=!0,this.cullFace.dirty=!0,this.cullFaceSide.dirty=!0,this.frontFace.dirty=!0,this.program.dirty=!0,this.activeTexture.dirty=!0,this.viewport.dirty=!0,this.bindFramebuffer.dirty=!0,this.bindRenderbuffer.dirty=!0,this.bindTexture.dirty=!0,this.bindVertexBuffer.dirty=!0,this.bindElementBuffer.dirty=!0,this.bindVertexArray.dirty=!0,this.pixelStoreUnpack.dirty=!0,this.pixelStoreUnpackPremultiplyAlpha.dirty=!0,this.pixelStoreUnpackFlipY.dirty=!0,this.projectionUniformBuffer.bindingDirty=!0,this.terrainUniformBuffer.bindingDirty=!0,this.frameUniformBuffer.bindingDirty=!0}setCustomLayerDefaults(){this.unbindVAO(),this.cullFace.setDefault(),this.activeTexture.setDefault(),this.pixelStoreUnpack.setDefault(),this.pixelStoreUnpackPremultiplyAlpha.setDefault(),this.pixelStoreUnpackFlipY.setDefault()}createIndexBuffer(e,t){return new x5r(this,e,t)}createVertexBuffer(e,t,r){return new _5r(this,e,t,r)}createRenderbuffer(e,t,r){let i=this.gl,n=i.createRenderbuffer();return this.bindRenderbuffer.set(n),i.renderbufferStorage(i.RENDERBUFFER,e,t,r),this.bindRenderbuffer.set(null),n}createFramebuffer(e,t,r,i){return new t4r(this,e,t,r,i)}clear({color:e,depth:t,stencil:r}){let i=this.gl,n=0;e&&(n|=i.COLOR_BUFFER_BIT,this.clearColor.set(e),this.colorMask.set([!0,!0,!0,!0])),t!==void 0&&(n|=i.DEPTH_BUFFER_BIT,this.depthRange.set([0,1]),this.clearDepth.set(t),this.depthMask.set(!0)),r!==void 0&&(n|=i.STENCIL_BUFFER_BIT,this.clearStencil.set(r),this.stencilMask.set(255)),i.clear(n)}setCullFace(e){e.enable===!1?this.cullFace.set(!1):(this.cullFace.set(!0),this.cullFaceSide.set(e.mode),this.frontFace.set(e.frontFace))}setDepthMode(e){e.func===this.gl.ALWAYS&&!e.mask?this.depthTest.set(!1):(this.depthTest.set(!0),this.depthFunc.set(e.func),this.depthMask.set(e.mask),this.depthRange.set(e.range))}setStencilMode(e){e.test.func===this.gl.ALWAYS&&!e.mask?this.stencilTest.set(!1):(this.stencilTest.set(!0),this.stencilMask.set(e.mask),this.stencilOp.set([e.fail,e.depthFail,e.pass]),this.stencilFunc.set({func:e.test.func,ref:e.ref,mask:e.test.mask}))}setColorMode(e){_v(e.blendFunction,ql.Replace)?this.blend.set(!1):(this.blend.set(!0),this.blendFunc.set(e.blendFunction),this.blendColor.set(e.blendColor)),this.colorMask.set(e.mask)}createVertexArray(){return this.gl.createVertexArray()}deleteVertexArray(e){this.gl.deleteVertexArray(e)}unbindVAO(){this.bindVertexArray.set(null)}},Ba=class{constructor(e,t,r){this.func=e,this.mask=t,this.range=r}};Ba.ReadOnly=!1,Ba.ReadWrite=!0,Ba.disabled=new Ba(519,Ba.ReadOnly,[0,1]);Hne=7680,Fo=class{constructor(e,t,r,i,n,a){this.test=e,this.ref=t,this.mask=r,this.fail=i,this.depthFail=n,this.pass=a}};Fo.disabled=new Fo({func:519,mask:0},0,0,Hne,Hne,Hne);Dat=1029,jne=2305,To=class{constructor(e,t,r){this.enable=e,this.mode=t,this.frontFace=r}};To.disabled=new To(!1,Dat,jne),To.backCCW=new To(!0,Dat,jne),To.frontCCW=new To(!0,1028,jne);o4r=Qd(new Float32Array(16));zat=0;Xne=[new tr(0,0),new tr(zr,0),new tr(zr,zr),new tr(0,zr)];z4r=new ea(1,0,0,1),B4r=new ea(0,1,0,1),q4r=new ea(0,0,1,1),O4r=new ea(1,0,1,1),N4r=new ea(0,1,1,1);Q4r={symbol:s4r,circle:d4r,heatmap:p4r,line:M4r,fill:S4r,fillExtrusion:E4r,hillshade:k4r,colorRelief:D4r,raster:F4r,background:R4r,sky:Z4r,atmosphere:J4r,custom:W4r,debug:G4r,debugPadding:U4r,terrainDepth:Y4r};tTr=(u3=class{constructor(t,r){this.drawFunctions=Q4r,this.context=new n4r(t),this.transform=r,this.layerOpacityFbo=null,this._tileTextures={},this._rttObjectRecyclePool=[],this._rttSharedFbo=null,this.terrainFacilitator={depthDirty:!0,matrix:Qd(new Float64Array(16)),renderTime:0},this.setup(),this.numSublayers=aae.maxOverzooming+aae.maxUnderzooming+1,this.depthEpsilon=1/2**16,this.crossTileSymbolIndex=new Eot}resize(t,r,i){if(this.width=Math.floor(t*i),this.height=Math.floor(r*i),this.pixelRatio=i,this.context.viewport.set([0,0,this.width,this.height]),this.style)for(let n of this.style._order)this.style._layers[n].resize()}setup(){let t=this.context,r=new Pm;r.emplaceBack(0,0),r.emplaceBack(zr,0),r.emplaceBack(0,zr),r.emplaceBack(zr,zr),this.tileExtentBuffer=t.createVertexBuffer(r,l3.members),this.tileExtentSegments=Ws.simpleSegment(0,0,4,2);let i=new Pm;i.emplaceBack(0,0),i.emplaceBack(zr,0),i.emplaceBack(0,zr),i.emplaceBack(zr,zr),this.debugBuffer=t.createVertexBuffer(i,l3.members),this.debugSegments=Ws.simpleSegment(0,0,4,5);let n=new Wrt;n.emplaceBack(0,0,0,0),n.emplaceBack(zr,0,zr,0),n.emplaceBack(0,zr,0,zr),n.emplaceBack(zr,zr,zr,zr),this.rasterBoundsBuffer=t.createVertexBuffer(n,fwr.members),this.rasterBoundsSegments=Ws.simpleSegment(0,0,4,2);let a=new Pm;a.emplaceBack(0,0),a.emplaceBack(zr,0),a.emplaceBack(0,zr),a.emplaceBack(zr,zr),this.rasterBoundsBufferPosOnly=t.createVertexBuffer(a,l3.members),this.rasterBoundsSegmentsPosOnly=Ws.simpleSegment(0,0,4,5);let o=new Pm;o.emplaceBack(0,0),o.emplaceBack(1,0),o.emplaceBack(0,1),o.emplaceBack(1,1),this.viewportBuffer=t.createVertexBuffer(o,l3.members),this.viewportSegments=Ws.simpleSegment(0,0,4,2);let s=new Zrt;s.emplaceBack(0),s.emplaceBack(1),s.emplaceBack(3),s.emplaceBack(2),s.emplaceBack(0),this.tileBorderIndexBuffer=t.createIndexBuffer(s);let l=new Mv;l.emplaceBack(1,0,2),l.emplaceBack(1,2,3),this.quadTriangleIndexBuffer=t.createIndexBuffer(l);let u=this.context.gl;this.stencilClearMode=new Fo({func:u.ALWAYS,mask:0},0,255,u.ZERO,u.ZERO,u.ZERO),this.tileExtentMesh=new M8(this.tileExtentBuffer,this.quadTriangleIndexBuffer,this.tileExtentSegments)}clearStencil(){let t=this.context,r=t.gl;this.nextStencilID=1,this.currentStencilSource=void 0;let i=Em();wv(i,0,this.width,this.height,0,0,1),Rc(i,i,[r.drawingBufferWidth,r.drawingBufferHeight,0]);let n={mainMatrix:i,tileMercatorCoords:[0,0,1,1],clippingPlane:[0,0,0,0],projectionTransition:0,fallbackMatrix:i,clipAntimeridian:!1};this.useProgram("clippingMask",null,!0).draw(t,r.TRIANGLES,Ba.disabled,this.stencilClearMode,ql.disabled,To.disabled,null,null,n,"$clipping",this.viewportBuffer,this.quadTriangleIndexBuffer,this.viewportSegments)}renderTileClippingMasks(t,r,i){if(this.currentStencilSource===t.source||!t.isTileClipped()||!(r!=null&&r.length))return;this.currentStencilSource=t.source,this.nextStencilID+r.length>256&&this.clearStencil();let n=this.context;n.setColorMode(ql.disabled),n.setDepthMode(Ba.disabled);let a={};for(let o of r)a[o.key]=this.nextStencilID++;this.style.projection.useSubdivision&&this._renderTileMasks(a,r,i,!0),this._renderTileMasks(a,r,i,!1),this._tileClippingMaskIDs=a}_renderTileMasks(t,r,i,n){let a=this.context,o=a.gl,s=this.style.projection,l=this.transform,u=this.useProgram("clippingMask");for(let c of r){let f=t[c.key],h=this.getTerrainDataForTile(c,i),d=s.getMeshFromTileID(this.context,c.canonical,n,!0,"stencil"),p=l.getProjectionData({overscaledTileID:c,applyGlobeMatrix:!i,applyTerrainMatrix:!0});u.draw(a,o.TRIANGLES,Ba.disabled,new Fo({func:o.ALWAYS,mask:0},f,255,o.KEEP,o.KEEP,o.REPLACE),ql.disabled,i?To.disabled:To.backCCW,null,h,p,"$clipping",d.vertexBuffer,d.indexBuffer,d.segments)}}getTerrainDataForTile(t,r){var i,n;return r&&((i=this.style.projection)==null?void 0:i.name)==="mercator"?null:((n=this.style.map.terrain)==null?void 0:n.getTerrainData(t))||null}_renderTilesDepthBuffer(){var l;let t=this.context,r=t.gl,i=this.style.projection,n=this.transform,a=this.useProgram("depth"),o=this.getDepthModeFor3D(),s=ZT(n,{tileSize:n.tileSize});for(let u of s){let c=(l=this.style.map.terrain)==null?void 0:l.getTerrainData(u),f=i.getMeshFromTileID(this.context,u.canonical,!0,!0,"raster"),h=n.getProjectionData({overscaledTileID:u,applyGlobeMatrix:!0,applyTerrainMatrix:!0});a.draw(t,r.TRIANGLES,o,Fo.disabled,ql.disabled,To.backCCW,null,c,h,"$clipping",f.vertexBuffer,f.indexBuffer,f.segments)}}stencilModeFor3D(){this.currentStencilSource=void 0,this.nextStencilID+1>256&&this.clearStencil();let t=this.nextStencilID++,r=this.context.gl;return new Fo({func:r.NOTEQUAL,mask:255},t,255,r.KEEP,r.KEEP,r.REPLACE)}stencilModeForClipping(t){let r=this.context.gl;return new Fo({func:r.EQUAL,mask:255},this._tileClippingMaskIDs[t.key],0,r.KEEP,r.KEEP,r.REPLACE)}getStencilConfigForOverlapAndUpdateStencilID(t){let r=this.context.gl,i=t.sort((o,s)=>s.overscaledZ-o.overscaledZ),n=i[i.length-1].overscaledZ,a=i[0].overscaledZ-n+1;if(a>1){this.currentStencilSource=void 0,this.nextStencilID+a>256&&this.clearStencil();let o={};for(let s=0;ss.overscaledZ-o.overscaledZ),n=i[i.length-1].overscaledZ,a=i[0].overscaledZ-n+1;if(this.clearStencil(),a>1){let o={},s={};for(let l=0;l=0;i.currentLayer--){let h=this.style._layers[n[i.currentLayer]];if(h.isHidden(this.transform.zoom))continue;let d=a[h.source],p=o[h.source];this.renderTileClippingMasks(h,p,!1),this.renderLayer(this,d,h,p,i)}i.currentPass="translucent";let u=!1;for(i.currentLayer=0;i.currentLayer0?r.pop():null}acquireRTT(t){let r=this.context.gl,i=this._rttObjectRecyclePool.pop();if(i)return i.size!==t&&(i.texture.update({width:t,height:t,data:null},{premultiply:!1,useMipmap:!0}),i.texture.bind(r.LINEAR,r.CLAMP_TO_EDGE,r.LINEAR_MIPMAP_LINEAR),this.context.extTextureFilterAnisotropic&&r.texParameterf(r.TEXTURE_2D,this.context.extTextureFilterAnisotropic.TEXTURE_MAX_ANISOTROPY_EXT,this.context.extTextureFilterAnisotropicMax),i.size=t),i;let n=new vu(this.context,{width:t,height:t,data:null},r.RGBA,{premultiply:!1,useMipmap:!0});return n.bind(r.LINEAR,r.CLAMP_TO_EDGE,r.LINEAR_MIPMAP_LINEAR),this.context.extTextureFilterAnisotropic&&r.texParameterf(r.TEXTURE_2D,this.context.extTextureFilterAnisotropic.TEXTURE_MAX_ANISOTROPY_EXT,this.context.extTextureFilterAnisotropicMax),{texture:n,size:t}}bindRTT(t){let r=this.context.gl,i=t.size;if(!this._rttSharedFbo){let n=this.context.createFramebuffer(i,i,!0,!0),a=this.context.createRenderbuffer(r.DEPTH_STENCIL,i,i);n.depthAttachment.set(a),this._rttSharedFbo={fbo:n,depthRenderbuffer:a,size:i}}this._rttSharedFbo.size!==i&&(this.context.bindRenderbuffer.set(this._rttSharedFbo.depthRenderbuffer),r.renderbufferStorage(r.RENDERBUFFER,r.DEPTH_STENCIL,i,i),this.context.bindRenderbuffer.set(null),this._rttSharedFbo.fbo.width=i,this._rttSharedFbo.fbo.height=i,this._rttSharedFbo.size=i),this._rttSharedFbo.fbo.colorAttachment.set(t.texture.texture),this.context.bindFramebuffer.set(this._rttSharedFbo.fbo.framebuffer)}releaseRTT(t){this._rttObjectRecyclePool.push(t)}isPatternMissing(t){if(!t)return!1;if(!t.from||!t.to)return!0;let r=this.patternAtlas.getPattern(t.from.toString()),i=this.patternAtlas.getPattern(t.to.toString());return!r||!i}useProgram(t,r,i=!1,n=[]){var v;this.cache||(this.cache={});let a=!!this.style.map.terrain,o=this.style.projection,s=i?tg.projectionMercator:o.shaderPreludeCode,l=i?kot:o.shaderDefine,u=`/${i?Cot:o.shaderVariantName}`,c=r?r.cacheKey:"",f=this._showOverdrawInspector?"/overdraw":"",h=a?"/terrain":"",d=n?`/${n.join("/")}`:"",p=t+c+u+f+h+d;return(v=this.cache)[p]||(v[p]=new Mwr(this.context,tg[t],r,y5r[t],this._showOverdrawInspector,a,s,l,n)),this.cache[p]}setCustomLayerDefaults(){this.context.setCustomLayerDefaults()}setBaseState(){let t=this.context.gl;this.context.cullFace.set(!1),this.context.viewport.set([0,0,this.width,this.height]),this.context.blendEquation.set(t.FUNC_ADD)}initDebugOverlayCanvas(){if(this.debugOverlayCanvas==null){this.debugOverlayCanvas=document.createElement("canvas"),this.debugOverlayCanvas.width=512,this.debugOverlayCanvas.height=512;let t=this.context.gl;this.debugOverlayTexture=new vu(this.context,this.debugOverlayCanvas,t.RGBA)}}destroy(){var t,r,i;if(this._tileTextures){for(let n in this._tileTextures){let a=this._tileTextures[n];if(a)for(let o of a)o.destroy()}this._tileTextures={}}for(let n of this._rttObjectRecyclePool)n.texture.destroy();if(this._rttObjectRecyclePool=[],this._rttSharedFbo){this._rttSharedFbo.fbo.colorAttachment.set(null),this._rttSharedFbo.fbo.depthAttachment.set(null);let n=this.context.gl;n.deleteRenderbuffer(this._rttSharedFbo.depthRenderbuffer),n.deleteFramebuffer(this._rttSharedFbo.fbo.framebuffer),this._rttSharedFbo=null}if((t=this.layerOpacityFbo)==null||t.destroy(),this.layerOpacityFbo=null,this.tileExtentBuffer&&this.tileExtentBuffer.destroy(),this.debugBuffer&&this.debugBuffer.destroy(),this.rasterBoundsBuffer&&this.rasterBoundsBuffer.destroy(),this.rasterBoundsBufferPosOnly&&this.rasterBoundsBufferPosOnly.destroy(),this.viewportBuffer&&this.viewportBuffer.destroy(),this.tileBorderIndexBuffer&&this.tileBorderIndexBuffer.destroy(),this.quadTriangleIndexBuffer&&this.quadTriangleIndexBuffer.destroy(),this.tileExtentMesh&&((r=this.tileExtentMesh.vertexBuffer)==null||r.destroy()),this.tileExtentMesh&&((i=this.tileExtentMesh.indexBuffer)==null||i.destroy()),this.debugOverlayTexture&&this.debugOverlayTexture.destroy(),this.context.projectionUniformBuffer.destroy(),this.context.terrainUniformBuffer.destroy(),this.context.frameUniformBuffer.destroy(),this.cache){for(let n in this.cache){let a=this.cache[n];a!=null&&a.program&&this.context.gl.deleteProgram(a.program)}this.cache={}}this.context&&this.context.setDefault()}overLimit(){let{drawingBufferWidth:t,drawingBufferHeight:r}=this.context.gl;return this.width!==t||this.height!==r}},u3.MAX_TEXTURE_POOL_SIZE_PER_BUCKET=50,u3),cst=class extends Error{constructor(e,t){var r;super("WebGL2 is required to display this map. We are sorry, but it seems that your browser does not support WebGL2, a technology for rendering 3D graphics on the web. Read more on https://wiki.openstreetmap.org/wiki/This_map_requires_WebGL"),this.name="GPUInitializationError",this.requestedAttributes=e,this.statusMessage=(r=t==null?void 0:t.statusMessage)!=null?r:null}};hst=class{constructor(e){this._getHashParams=()=>new URLSearchParams(window.location.hash.replace("#","")),this._getCurrentHash=()=>{var r;let t=this._getHashParams();return this._hashName?(t.get(this._hashName)||"").split("/"):((r=[...t.keys()][0])!=null?r:"").split("/")},this._onHashChange=()=>{let t=this._getCurrentHash();if(!this._isValidHash(t))return!1;let r=this._map.dragRotate.isEnabled()&&this._map.touchZoomRotate.isEnabled()?+(t[3]||0):this._map.getBearing();return this._map.jumpTo({center:[+t[2],+t[1]],zoom:+t[0],bearing:r,pitch:+(t[4]||0)}),!0},this._updateHashUnthrottled=()=>{let t=window.location.href.replace(/(#.*)?$/,this.getHashString());window.history.replaceState(window.history.state,null,t)},this._removeHash=()=>{let t=this._getHashParams();if(this._hashName)t.delete(this._hashName);else{let a=Array.from(t.keys());a.length>0&&t.delete(a[0])}let r=decodeURIComponent(t.toString()).replace(/=&/g,"&").replace(/=$/g,""),i=r?`#${r}`:"",n=window.location.href.replace(/(#.+)?$/,i);n=n.replace("&&","&"),window.history.replaceState(window.history.state,null,n)},this._updateHash=fst(this._updateHashUnthrottled,300),this._hashName=e&&encodeURIComponent(e)}addTo(e){return this._map=e,addEventListener("hashchange",this._onHashChange,!1),this._map.on("moveend",this._updateHash),this}remove(){return removeEventListener("hashchange",this._onHashChange,!1),this._map.off("moveend",this._updateHash),clearTimeout(this._updateHash()),this._removeHash(),delete this._map,this}getHashString(e){let t=this._map.getCenter(),r=Math.round(this._map.getZoom()*100)/100,i=10**Math.ceil((r*Math.LN2+Math.log(512/360/.5))/Math.LN10),n=Math.round(t.lng*i)/i,a=Math.round(t.lat*i)/i,o=this._map.getBearing(),s=this._map.getPitch(),l="";if(l+=e?`/${n}/${a}/${r}`:`${r}/${a}/${n}`,(o||s)&&(l+=`/${Math.round(o*10)/10}`),s&&(l+=`/${Math.round(s)}`),this._hashName){let u=this._getHashParams();return u.set(this._hashName,l),`#${decodeURIComponent(u.toString()).replace(/=&/g,"&").replace(/=$/g,"")}`}return`#${l}`}_isValidHash(e){if(e.length<3||e.some(n=>isNaN(+n)))return!1;try{new mn(+e[2],+e[1])}catch(n){return!1}let t=+e[0],r=+(e[3]||0),i=+(e[4]||0);return t>=this._map.getMinZoom()&&t<=this._map.getMaxZoom()&&r>=-180&&r<=180&&i>=this._map.getMinPitch()&&i<=this._map.getMaxPitch()}},S8={linearity:.3,easing:dB(0,0,.3,1)},rTr=ln({deceleration:2500,maxSpeed:1400},S8),iTr=ln({deceleration:20,maxSpeed:1400},S8),nTr=ln({deceleration:1e3,maxSpeed:360},S8),aTr=ln({deceleration:1e3,maxSpeed:90},S8),oTr=ln({deceleration:1e3,maxSpeed:360},S8),sTr=class{constructor(e){this._map=e,this.clear()}clear(){this._inertiaBuffer=[]}record(e){this._drainInertiaBuffer(),this._inertiaBuffer.push({time:Oo(),settings:e})}_drainInertiaBuffer(){let e=this._inertiaBuffer,t=Oo();for(;e.length>0&&t-e[0].time>160;)e.shift()}_getVelocityEntries(){let e=this._inertiaBuffer,t=Oo()-60,r=Math.max(0,e.length-2);for(;r>0&&e[r-1].time>=t;)r--;return e.slice(r)}_onMoveEnd(e){this._drainInertiaBuffer();let t=this._getVelocityEntries();if(t.length<2){this.clear();return}let r={zoom:0,bearing:0,pitch:0,roll:0,pan:new tr(0,0),pinchAround:void 0,around:void 0};for(let{settings:a}of t)a.around&&(r.around=a.around),a.pinchAround&&(r.pinchAround=a.pinchAround);for(let{settings:a}of t.slice(1))r.zoom+=a.zoomDelta||0,r.bearing+=a.bearingDelta||0,r.pitch+=a.pitchDelta||0,r.roll+=a.rollDelta||0,a.panDelta&&r.pan._add(a.panDelta);if(!r.pan.mag()&&!r.zoom&&!r.bearing&&!r.pitch&&!r.roll){this.clear();return}let i=Oo()-t[0].time,n={};if(r.pan.mag()){let a=y8(r.pan.mag(),i,ln({},rTr,e||{})),o=r.pan.mult(a.amount/r.pan.mag()),s=this._map._camera.cameraHelper.handlePanInertia(o,this._map._camera.transform);n.center=s.easingCenter,n.offset=s.easingOffset,m8(n,a)}if(r.zoom){let a=y8(r.zoom,i,iTr);n.zoom=Jh(this._map.getZoom()+a.amount,this._map.getZoomSnap(),a.amount),m8(n,a)}if(r.bearing){let a=y8(r.bearing,i,nTr);n.bearing=this._map.getBearing()+Jn(a.amount,-179,179),m8(n,a)}if(r.pitch){let a=y8(r.pitch,i,aTr);n.pitch=this._map.getPitch()+a.amount,m8(n,a)}if(r.roll){let a=y8(r.roll,i,oTr);n.roll=this._map.getRoll()+Jn(a.amount,-179,179),m8(n,a)}if(n.zoom||n.bearing){let a=r.pinchAround===void 0?r.around:r.pinchAround;n.around=a?this._map.unproject(a):this._map.getCenter()}return this.clear(),ln(n,{noMoveStart:!0})}};lTr=class{constructor(e,t){this._map=e,this._clickTolerance=t.clickTolerance}reset(){delete this._mousedownPos}wheel(e){return this._firePreventable(new Xat(this._map,e))}mousedown(e,t){return this._mousedownPos=t,this._firePreventable(new O0(e.type,this._map,e))}mouseup(e){this._map.fire(new O0(e.type,this._map,e))}click(e,t){this._mousedownPos&&this._mousedownPos.dist(t)>=this._clickTolerance||this._map.fire(new O0(e.type,this._map,e))}dblclick(e){return this._firePreventable(new O0(e.type,this._map,e))}mouseover(e){this._map.fire(new O0(e.type,this._map,e))}mouseout(e){this._map.fire(new O0(e.type,this._map,e))}touchstart(e){return this._firePreventable(new b8(e.type,this._map,e))}touchmove(e){this._map.fire(new b8(e.type,this._map,e))}touchend(e){this._map.fire(new b8(e.type,this._map,e))}touchcancel(e){this._map.fire(new b8(e.type,this._map,e))}_firePreventable(e){if(this._map.fire(e),e.defaultPrevented)return{}}isEnabled(){return!0}isActive(){return!1}enable(){}disable(){}},uTr=class{constructor(e){this._map=e}reset(){this._delayContextMenu=!1,this._ignoreContextMenu=!0,delete this._contextMenuEvent}mousemove(e){this._map.fire(new O0(e.type,this._map,e))}mousedown(){this._delayContextMenu=!0,this._ignoreContextMenu=!1}mouseup(){this._delayContextMenu=!1,this._contextMenuEvent&&(this._map.fire(new O0("contextmenu",this._map,this._contextMenuEvent)),delete this._contextMenuEvent)}contextmenu(e){this._delayContextMenu?this._contextMenuEvent=e:this._ignoreContextMenu||this._map.fire(new O0(e.type,this._map,e)),this._map.listens("contextmenu")&&e.preventDefault()}isEnabled(){return!0}isActive(){return!1}enable(){}disable(){}},dst=class{constructor(e,t,r){this._map=e,this._tr=r,this._el=e.getCanvasContainer(),this._container=e.getContainer(),this._clickTolerance=t.clickTolerance||1,t.boxZoom&&typeof t.boxZoom=="object"&&(this._boxZoomEnd=t.boxZoom.boxZoomEnd)}isEnabled(){return!!this._enabled}isActive(){return!!this._active}enable(){this.isEnabled()||(this._enabled=!0)}disable(){this.isEnabled()&&(this._enabled=!1)}mousedown(e,t){this.isEnabled()&&e.shiftKey&&e.button===0&&($n.disableDrag(),this._startPos=this._lastPos=t,this._active=!0)}mousemoveWindow(e,t){if(!this._active)return;let r=t;if(this._lastPos.equals(r)||!this._box&&r.dist(this._startPos)n.fitScreenCoordinates(r,i,this._tr.bearing,{linear:!0})}}}keydown(e){this._active&&e.keyCode===27&&(this.reset(),this._fireEvent("boxzoomcancel",e))}reset(){this._active=!1,this._container.classList.remove("maplibregl-crosshair"),this._box&&(this._box=(this._box.remove(),null)),$n.enableDrag(),delete this._startPos,delete this._lastPos}_fireEvent(e,t){return this._map.fire(new eae(e,{originalEvent:t}))}};fTr=class{constructor(e){this.reset(),this.numTouches=e.numTouches}reset(){delete this.centroid,delete this.startTime,delete this.touches,this.aborted=!1}touchstart(e,t,r){(this.centroid||r.length>this.numTouches)&&(this.aborted=!0),!this.aborted&&(this.startTime===void 0&&(this.startTime=e.timeStamp),r.length===this.numTouches&&(this.centroid=cTr(t),this.touches=dae(r,t)))}touchmove(e,t,r){if(this.aborted||!this.centroid)return;let i=dae(r,t);for(let n in this.touches){let a=this.touches[n],o=i[n];(!o||o.dist(a)>30)&&(this.aborted=!0)}}touchend(e,t,r){if((!this.centroid||e.timeStamp-this.startTime>500)&&(this.aborted=!0),r.length===0){let i=!this.aborted&&this.centroid;if(this.reset(),i)return i}}},pae=class{constructor(e){this.singleTap=new fTr(e),this.numTaps=e.numTaps,this.reset()}reset(){this.lastTime=1/0,delete this.lastTap,this.count=0,this.singleTap.reset()}touchstart(e,t,r){this.singleTap.touchstart(e,t,r)}touchmove(e,t,r){this.singleTap.touchmove(e,t,r)}touchend(e,t,r){let i=this.singleTap.touchend(e,t,r);if(i){let n=e.timeStamp-this.lastTime<500,a=!this.lastTap||this.lastTap.dist(i)<30;if((!n||!a)&&this.reset(),this.count++,this.lastTime=e.timeStamp,this.lastTap=i,this.count===this.numTaps)return this.reset(),i}}},hTr=class{constructor(e,t){this._tr=t,this._zoomIn=new pae({numTouches:1,numTaps:2}),this._zoomOut=new pae({numTouches:2,numTaps:1}),this.reset()}reset(){this._active=!1,this._zoomIn.reset(),this._zoomOut.reset()}touchstart(e,t,r){this._zoomIn.touchstart(e,t,r),this._zoomOut.touchstart(e,t,r)}touchmove(e,t,r){this._zoomIn.touchmove(e,t,r),this._zoomOut.touchmove(e,t,r)}touchend(e,t,r){let i=this._zoomIn.touchend(e,t,r),n=this._zoomOut.touchend(e,t,r),a=this._tr;if(i)return this._active=!0,e.preventDefault(),setTimeout(()=>this.reset(),0),{cameraAnimation:o=>o.easeTo({duration:300,zoom:Jh(a.zoom+1,o.getZoomSnap()),around:a.unproject(i)},{originalEvent:e})};if(n)return this._active=!0,e.preventDefault(),setTimeout(()=>this.reset(),0),{cameraAnimation:o=>o.easeTo({duration:300,zoom:Jh(a.zoom-1,o.getZoomSnap()),around:a.unproject(n)},{originalEvent:e})}}touchcancel(){this.reset()}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}},E8=class{constructor(e){this._enabled=!!e.enable,this._moveStateManager=e.moveStateManager,this._clickTolerance=e.clickTolerance||1,this._moveFunction=e.move,this._activateOnStart=!!e.activateOnStart,e.assignEvents(this),this.reset()}reset(e){this._active=!1,this._moved=!1,delete this._lastPoint,this._moveStateManager.endMove(e)}_move(...e){let t=this._moveFunction(...e);if(t.bearingDelta||t.pitchDelta||t.rollDelta||t.around||t.panDelta)return this._active=!0,t}dragStart(e,t){this.isEnabled()&&!this._lastPoint&&this._moveStateManager.isValidStartEvent(e)&&(this._moveStateManager.startMove(e),this._lastPoint=Array.isArray(t)?t[0]:t,this._activateOnStart&&this._lastPoint&&(this._active=!0))}dragMove(e,t){if(!this.isEnabled())return;let r=this._lastPoint;if(!r)return;if(e.preventDefault(),!this._moveStateManager.isValidMoveEvent(e)){this.reset(e);return}let i=Array.isArray(t)?t[0]:t;if(!(!this._moved&&i.dist(r)!0}),t=new vTr){this.mouseMoveStateManager=e,this.oneFingerTouchMoveStateManager=t}_executeRelevantHandler(e,t,r){if(e instanceof MouseEvent)return t(e);if(typeof TouchEvent<"u"&&e instanceof TouchEvent)return r(e)}startMove(e){this._executeRelevantHandler(e,t=>{this.mouseMoveStateManager.startMove(t)},t=>{this.oneFingerTouchMoveStateManager.startMove(t)})}endMove(e){this._executeRelevantHandler(e,t=>{this.mouseMoveStateManager.endMove(t)},t=>{this.oneFingerTouchMoveStateManager.endMove(t)})}isValidStartEvent(e){return!!this._executeRelevantHandler(e,t=>this.mouseMoveStateManager.isValidStartEvent(t),t=>this.oneFingerTouchMoveStateManager.isValidStartEvent(t))}isValidMoveEvent(e){return!!this._executeRelevantHandler(e,t=>this.mouseMoveStateManager.isValidMoveEvent(t),t=>this.oneFingerTouchMoveStateManager.isValidMoveEvent(t))}isValidEndEvent(e){return!!this._executeRelevantHandler(e,t=>this.mouseMoveStateManager.isValidEndEvent(t),t=>this.oneFingerTouchMoveStateManager.isValidEndEvent(t))}},Fq=e=>{e.mousedown=e.dragStart,e.mousemoveWindow=e.dragMove,e.mouseup=e.dragEnd,e.contextmenu=t=>{t.preventDefault()}};bTr=class{constructor(e,t){this._clickTolerance=e.clickTolerance||1,this._map=t,this.reset()}reset(){this._active=!1,this._touches={},this._sum=new tr(0,0)}_shouldBePrevented(e){return e<(this._map.cooperativeGestures.isEnabled()?2:1)}touchstart(e,t,r){return this._calculateTransform(e,t,r)}touchmove(e,t,r){if(this._active){if(this._shouldBePrevented(r.length)){this._map.cooperativeGestures.notifyGestureBlocked("touch_pan",e);return}return e.preventDefault(),this._calculateTransform(e,t,r)}}touchend(e,t,r){this._calculateTransform(e,t,r),this._active&&this._shouldBePrevented(r.length)&&this.reset()}touchcancel(){this.reset()}_calculateTransform(e,t,r){r.length>0&&(this._active=!0);let i=dae(r,t),n=new tr(0,0),a=new tr(0,0),o=0;for(let l in i){let u=i[l],c=this._touches[l];c&&(n._add(u),a._add(u.sub(c)),o++,i[l]=u)}if(this._touches=i,this._shouldBePrevented(o)||!a.mag())return;let s=a.div(o);if(this._sum._add(s),!(this._sum.mag()=2,n=t.mag()>=2;if(!i&&!n)return;if(!i||!n)return this._firstMove===void 0&&(this._firstMove=r),r-this._firstMove<100&&void 0;let a=e.y>0==t.y>0;return Zne(e)&&Zne(t)&&a}},wTr={panStep:100,bearingStep:15,pitchStep:10},mst=class{constructor(e,t){this._tr=t;let r=wTr;this._panStep=r.panStep,this._bearingStep=r.bearingStep,this._pitchStep=r.pitchStep,this._rotationDisabled=!1}reset(){this._active=!1}keydown(e){if(e.altKey||e.ctrlKey||e.metaKey)return;let t=0,r=0,i=0,n=0,a=0;switch(e.keyCode){case 61:case 107:case 171:case 187:t=1;break;case 189:case 109:case 173:t=-1;break;case 37:e.shiftKey?r=-1:(e.preventDefault(),n=-1);break;case 39:e.shiftKey?r=1:(e.preventDefault(),n=1);break;case 38:e.shiftKey?i=1:(e.preventDefault(),a=-1);break;case 40:e.shiftKey?i=-1:(e.preventDefault(),a=1);break;default:return}return this._rotationDisabled&&(r=0,i=0),{cameraAnimation:o=>{let s=this._tr;o.easeTo({duration:300,easeId:"keyboardHandler",easing:TTr,zoom:t?Jh(s.zoom+t*(e.shiftKey?2:1),o.getZoomSnap()):s.zoom,bearing:s.bearing+r*this._bearingStep,pitch:s.pitch+i*this._pitchStep,offset:[-n*this._panStep,-a*this._panStep],center:s.center},{originalEvent:e})}}}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}disableRotation(){this._rotationDisabled=!0}enableRotation(){this._rotationDisabled=!1}};Vat=4.000244140625,yst=class{constructor(e,t,r){this._onTimeout=i=>{this._type="wheel",this._delta-=this._lastValue,this._active||this._start(i)},this._map=e,this._tr=r,this._triggerRenderFrame=t,this._delta=0,this._defaultZoomRate=.01,this._wheelZoomRate=.0022222222222222222}setZoomRate(e){this._defaultZoomRate=e}setWheelZoomRate(e){this._wheelZoomRate=e}isEnabled(){return!!this._enabled}isActive(){return!!this._active||this._finishTimeout!==void 0}isZooming(){return!!this._zooming}enable(e){this.isEnabled()||(this._enabled=!0,this._aroundCenter=!!e&&e.around==="center")}disable(){this.isEnabled()&&(this._enabled=!1)}_shouldBePrevented(e){return this._map.cooperativeGestures.isEnabled()?!(e.ctrlKey||this._map.cooperativeGestures.isBypassed(e)):!1}wheel(e){if(!this.isEnabled())return;if(this._shouldBePrevented(e)){this._map.cooperativeGestures.notifyGestureBlocked("wheel_zoom",e);return}let t=e.deltaMode===WheelEvent.DOM_DELTA_LINE?e.deltaY*40:e.deltaY,r=Oo(),i=r-(this._lastWheelEventTime||0);this._lastWheelEventTime=r,t!==0&&t%Vat==0?this._type="wheel":t!==0&&Math.abs(t)<4?this._type="trackpad":i>400?(this._type=null,this._lastValue=t,this._timeout=setTimeout(this._onTimeout,40,e)):this._type||(this._type=Math.abs(i*t)<200?"trackpad":"wheel",this._timeout&&(clearTimeout(this._timeout),this._timeout=null,t+=this._lastValue)),e.shiftKey&&t&&(t/=4),this._type&&(this._lastWheelEvent=e,this._delta-=t,this._active||this._start(e)),e.preventDefault()}_start(e){if(!this._delta)return;this._needsRerender=!1,this._active=!0,this.isZooming()||(this._zooming=!0),this._finishTimeout&&(clearTimeout(this._finishTimeout),delete this._finishTimeout);let t=$n.mousePos(this._map.getCanvas(),e),r=this._tr;this._aroundPoint=this._aroundCenter?r.transform.locationToScreenPoint(mn.convert(r.center)):t,this._needsRerender||(this._needsRerender=!0,this._triggerRenderFrame())}renderFrame(){if(!this._needsRerender||(this._needsRerender=!1,!this.isActive()))return;let e=this._tr.transform;if(typeof this._lastExpectedZoom=="number"){let o=e.zoom-this._lastExpectedZoom;typeof this._startZoom=="number"&&(this._startZoom+=o),typeof this._targetZoom=="number"&&(this._targetZoom+=o)}if(this._delta!==0){let o=this._type==="wheel"&&Math.abs(this._delta)>Vat?this._wheelZoomRate:this._defaultZoomRate,s=2/(1+Math.exp(-Math.abs(this._delta*o)));this._delta<0&&s!==0&&(s=1/s);let l=typeof this._targetZoom=="number"?If(this._targetZoom):e.scale,u=e.applyConstrain(e.getCameraLngLat(),zc(l*s)).zoom,c=this._map.getZoomSnap();if(this._type==="wheel"&&c>0){let f=Jh(e.zoom,c);this._targetZoom=Jh(u,c,u-f)}else this._targetZoom=u;this._type==="wheel"&&(this._startZoom=e.zoom,this._easing=this._smoothOutEasing(200)),this._delta=0}let t=typeof this._targetZoom=="number"?this._targetZoom:e.zoom,r=this._startZoom,i=this._easing,n=!1,a;if(this._type==="wheel"&&r&&i){let o=Oo()-this._lastWheelEventTime,s=Math.min((o+5)/200,1),l=i(s);a=$s.number(r,t,l),s<1?this._needsRerender=!0:n=!0}else a=t,n=!0;return this._active=!0,n&&(this._active=!1,this._finishTimeout=setTimeout(()=>{this._zooming=!1,this._triggerRenderFrame(),delete this._targetZoom,delete this._lastExpectedZoom,delete this._finishTimeout},200)),this._lastExpectedZoom=a,{noInertia:!0,needsRenderFrame:!n,zoomDelta:a-e.zoom,around:this._aroundPoint,originalEvent:this._lastWheelEvent}}_smoothOutEasing(e){let t=pB;if(this._prevEase){let r=this._prevEase,i=(Oo()-r.start)/r.duration,n=r.easing(i+.01)-r.easing(i),a=.27/Math.sqrt(n*n+1e-4)*.01,o=Math.sqrt(.0729-a*a);t=dB(a,o,.25,1)}return this._prevEase={start:Oo(),duration:e,easing:t},t}reset(){this._active=!1,this._zooming=!1,delete this._targetZoom,delete this._lastExpectedZoom,this._finishTimeout&&(clearTimeout(this._finishTimeout),delete this._finishTimeout)}},xst=class{constructor(e,t){this._clickZoom=e,this._tapZoom=t}enable(){this._clickZoom.enable(),this._tapZoom.enable()}disable(){this._clickZoom.disable(),this._tapZoom.disable()}isEnabled(){return this._clickZoom.isEnabled()&&this._tapZoom.isEnabled()}isActive(){return this._clickZoom.isActive()||this._tapZoom.isActive()}},ATr=class{constructor(e,t){this._tr=t,this.reset()}reset(){this._active=!1}dblclick(e,t){return e.preventDefault(),{cameraAnimation:r=>{r.easeTo({duration:300,zoom:Jh(this._tr.zoom+(e.shiftKey?-1:1),r.getZoomSnap()),around:this._tr.unproject(t)},{originalEvent:e})}}}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}},MTr=class{constructor(){this._tap=new pae({numTouches:1,numTaps:1}),this._zoomRate=1,this.reset()}setZoomRate(e){this._zoomRate=e!=null?e:1}reset(){this._active=!1,delete this._swipePoint,delete this._swipeTouch,delete this._tapTime,delete this._tapPoint,this._tap.reset()}touchstart(e,t,r){if(!this._swipePoint)if(!this._tapTime)this._tap.touchstart(e,t,r);else{let i=t[0],n=e.timeStamp-this._tapTime<500,a=this._tapPoint.dist(i)<30;!n||!a?this.reset():r.length>0&&(this._swipePoint=i,this._swipeTouch=r[0].identifier)}}touchmove(e,t,r){if(!this._tapTime)this._tap.touchmove(e,t,r);else if(this._swipePoint){if(r[0].identifier!==this._swipeTouch)return;let i=t[0],n=i.y-this._swipePoint.y;return this._swipePoint=i,e.preventDefault(),this._active=!0,{zoomDelta:n/128*this._zoomRate}}}touchend(e,t,r){if(this._tapTime)this._swipePoint&&r.length===0&&this.reset();else{let i=this._tap.touchend(e,t,r);i&&(this._tapTime=e.timeStamp,this._tapPoint=i)}}touchcancel(){this.reset()}enable(){this._enabled=!0}disable(){this._enabled=!1,this.reset()}isEnabled(){return this._enabled}isActive(){return this._active}},_st=class{constructor(e,t,r){this._el=e,this._mousePan=t,this._touchPan=r}enable(e){this._inertiaOptions=e||{},this._mousePan.enable(),this._touchPan.enable(),this._el.classList.add("maplibregl-touch-drag-pan")}disable(){this._mousePan.disable(),this._touchPan.disable(),this._el.classList.remove("maplibregl-touch-drag-pan")}isEnabled(){return this._mousePan.isEnabled()&&this._touchPan.isEnabled()}isActive(){return this._mousePan.isActive()||this._touchPan.isActive()}},bst=class{constructor(e,t,r,i){this._pitchWithRotate=e.pitchWithRotate,this._rollEnabled=e.rollEnabled,this._mouseRotate=t,this._mousePitch=r,this._mouseRoll=i}enable(){this._mouseRotate.enable(),this._pitchWithRotate&&this._mousePitch.enable(),this._rollEnabled&&this._mouseRoll.enable()}disable(){this._mouseRotate.disable(),this._mousePitch.disable(),this._mouseRoll.disable()}isEnabled(){return this._mouseRotate.isEnabled()&&(!this._pitchWithRotate||this._mousePitch.isEnabled())&&(!this._rollEnabled||this._mouseRoll.isEnabled())}isActive(){return this._mouseRotate.isActive()||this._mousePitch.isActive()||this._mouseRoll.isActive()}},wst=class{constructor(e,t,r,i){this._el=e,this._touchZoom=t,this._touchRotate=r,this._tapDragZoom=i,this._rotationDisabled=!1,this._enabled=!0}enable(e){this._touchZoom.enable(e),this._rotationDisabled||this._touchRotate.enable(e),this._tapDragZoom.enable(),this._el.classList.add("maplibregl-touch-zoom-rotate")}disable(){this._touchZoom.disable(),this._touchRotate.disable(),this._tapDragZoom.disable(),this._el.classList.remove("maplibregl-touch-zoom-rotate")}isEnabled(){return this._touchZoom.isEnabled()&&(this._rotationDisabled||this._touchRotate.isEnabled())&&this._tapDragZoom.isEnabled()}isActive(){return this._touchZoom.isActive()||this._touchRotate.isActive()||this._tapDragZoom.isActive()}setZoomRate(e){this._touchZoom.setZoomRate(e),this._tapDragZoom.setZoomRate(e)}setZoomThreshold(e){this._touchZoom.setZoomThreshold(e)}disableRotation(){this._rotationDisabled=!0,this._touchRotate.disable()}enableRotation(){this._rotationDisabled=!1,this._touchZoom.isEnabled()&&this._touchRotate.enable()}},Tst=class{constructor(e,t){this._bypassKey=navigator.userAgent.includes("Mac")?"metaKey":"ctrlKey",this._map=e,this._options=t,this._enabled=!1}isActive(){return!1}reset(){}_setupUI(){if(this._container)return;let e=this._map.getCanvasContainer();e.classList.add("maplibregl-cooperative-gestures"),this._container=$n.create("div","maplibregl-cooperative-gesture-screen",e);let t=this._map._getUIString("CooperativeGesturesHandler.WindowsHelpText");this._bypassKey==="metaKey"&&(t=this._map._getUIString("CooperativeGesturesHandler.MacHelpText"));let r=this._map._getUIString("CooperativeGesturesHandler.MobileHelpText"),i=document.createElement("div");i.className="maplibregl-desktop-message",i.textContent=t,this._container.appendChild(i);let n=document.createElement("div");n.className="maplibregl-mobile-message",n.textContent=r,this._container.appendChild(n),this._container.setAttribute("aria-hidden","true")}_destroyUI(){this._container&&(this._container.remove(),this._map.getCanvasContainer().classList.remove("maplibregl-cooperative-gestures")),delete this._container}enable(){this._setupUI(),this._enabled=!0}disable(){this._enabled=!1,this._destroyUI()}isEnabled(){return this._enabled}isBypassed(e){return e[this._bypassKey]}notifyGestureBlocked(e,t){this._enabled&&(this._map.fire(new cc("cooperativegestureprevented",{gestureType:e,originalEvent:t})),this._container.classList.add("maplibregl-show"),setTimeout(()=>{this._container.classList.remove("maplibregl-show")},100))}},STr=class{constructor(e){this._camera=e}get transform(){return this._camera._requestedCameraState||this._camera.transform}get center(){return{lng:this.transform.center.lng,lat:this.transform.center.lat}}get zoom(){return this.transform.zoom}get pitch(){return this.transform.pitch}get bearing(){return this.transform.bearing}unproject(e){return this.transform.screenPointToLocation(tr.convert(e),this._camera.terrain)}},hq=e=>e.zoom||e.drag||e.roll||e.pitch||e.rotate,ETr=class extends e0{};kTr=class{get _ownerDocument(){var e;return((e=this._el)==null?void 0:e.ownerDocument)||document}get _ownerWindow(){var e,t;return((t=(e=this._el)==null?void 0:e.ownerDocument)==null?void 0:t.defaultView)||window}constructor(e,t,r){this._terrainGestureAnchorElevation=null,this.handleWindowEvent=n=>{this.handleEvent(n,`${n.type}Window`)},this.handleEvent=(n,a)=>{if(n.type==="blur"){this.stop(!0);return}this._updatingCamera=!0;let o=n.type==="renderFrame"?void 0:n,s={needsRenderFrame:!1},l={},u={};for(let{handlerName:h,handler:d,allowed:p}of this._handlers){if(!d.isEnabled())continue;let v;if(this._blockedByActive(u,p,h))d.reset();else if(d[a||n.type]){if(ott(n,a||n.type)){let m=$n.mousePos(this._map.getCanvas(),n);v=d[a||n.type](n,m)}else if(att(n,a||n.type)){let m=n.touches,g=this._getMapTouches(m),w=$n.touchPos(this._map.getCanvas(),g);v=d[a||n.type](n,w,g)}else stt(a||n.type)||(v=d[a||n.type](n));this.mergeHandlerResult(s,l,v,h,o),v!=null&&v.needsRenderFrame&&this._triggerRenderFrame()}(v||d.isActive())&&(u[h]=d)}let c={};for(let h in this._previousActiveHandlers)u[h]||(c[h]=o);this._previousActiveHandlers=u,(Object.keys(c).length||Kne(s))&&(this._changes.push([s,l,c]),this._triggerRenderFrame()),(Object.keys(u).length||Kne(s))&&this._camera.stop(!0),this._updatingCamera=!1;let{cameraAnimation:f}=s;f&&(this._inertia.clear(),this._fireEvents({},{},!0),this._changes=[],f(this._map))},this._map=e,this._camera=t,this._transformProvider=new STr(this._camera),this._el=this._map.getCanvasContainer(),this._handlers=[],this._handlersById={},this._changes=[],this._inertia=new sTr(e),this._bearingSnap=r.bearingSnap,this._previousActiveHandlers={},this._eventsInProgress={},this._addDefaultHandlers(r);let i=this._el;this._listeners=[[i,"touchstart",{passive:!0}],[i,"touchmove",{passive:!1}],[i,"touchend",void 0],[i,"touchcancel",void 0],[i,"mousedown",void 0],[i,"mousemove",void 0],[i,"mouseup",void 0],[this._ownerDocument,"mousemove",{capture:!0}],[this._ownerDocument,"mouseup",void 0],[i,"mouseover",void 0],[i,"mouseout",void 0],[i,"dblclick",void 0],[i,"click",void 0],[i,"keydown",{capture:!1}],[i,"keyup",void 0],[i,"wheel",{passive:!1}],[i,"contextmenu",void 0],[this._ownerWindow,"blur",void 0]];for(let[n,a,o]of this._listeners)n.addEventListener(a,n===this._ownerDocument?this.handleWindowEvent:this.handleEvent,o)}destroy(){for(let[e,t,r]of this._listeners)e.removeEventListener(t,e===this._ownerDocument?this.handleWindowEvent:this.handleEvent,r)}_addDefaultHandlers(e){let t=this._map,r=t.getCanvasContainer();this._add("mapEvent",new lTr(t,e));let i=t.boxZoom=new dst(t,e,this._transformProvider);this._add("boxZoom",i),e.interactive&&e.boxZoom&&i.enable();let n=t.cooperativeGestures=new Tst(t,e.cooperativeGestures);this._add("cooperativeGestures",n),e.cooperativeGestures&&n.enable();let a=new hTr(t,this._transformProvider),o=new ATr(t,this._transformProvider);t.doubleClickZoom=new xst(o,a),this._add("tapZoom",a),this._add("clickZoom",o),e.interactive&&e.doubleClickZoom&&t.doubleClickZoom.enable();let s=new MTr;this._add("tapDragZoom",s);let l=t.touchPitch=new gst(t);this._add("touchPitch",l),e.interactive&&e.touchPitch&&t.touchPitch.enable(e.touchPitch);let u=()=>t.project(t.getCenter()),c=yTr(e,u),f=xTr(e),h=_Tr(e,u);t.dragRotate=new bst(e,c,f,h),this._add("mouseRotate",c,["mousePitch"]),this._add("mousePitch",f,["mouseRotate","mouseRoll"]),this._add("mouseRoll",h,["mousePitch"]),e.interactive&&e.dragRotate&&t.dragRotate.enable();let d=mTr(e),p=new bTr(e,t);t.dragPan=new _st(r,d,p),this._add("mousePan",d),this._add("touchPan",p,["touchZoom","touchRotate"]),e.interactive&&e.dragPan&&t.dragPan.enable(e.dragPan);let v=new vst,m=new pst;t.touchZoomRotate=new wst(r,m,v,s),this._add("touchRotate",v,["touchPan","touchZoom"]),this._add("touchZoom",m,["touchPan","touchRotate"]),e.interactive&&e.touchZoomRotate&&t.touchZoomRotate.enable(e.touchZoomRotate),this._add("blockableMapEvent",new uTr(t));let g=t.scrollZoom=new yst(t,()=>this._triggerRenderFrame(),this._transformProvider);this._add("scrollZoom",g,["mousePan"]),e.interactive&&e.scrollZoom&&t.scrollZoom.enable(e.scrollZoom);let w=t.keyboard=new mst(t,this._transformProvider);this._add("keyboard",w),e.interactive&&e.keyboard&&t.keyboard.enable()}_add(e,t,r){this._handlers.push({handlerName:e,handler:t,allowed:r}),this._handlersById[e]=t}stop(e){if(!this._updatingCamera){for(let{handler:t}of this._handlers)t.reset();this._inertia.clear(),this._fireEvents({},{},e),this._changes=[]}}isActive(){for(let{handler:e}of this._handlers)if(e.isActive())return!0;return!1}isZooming(){return!!this._eventsInProgress.zoom||this._map.scrollZoom.isZooming()}isRotating(){return!!this._eventsInProgress.rotate}isMoving(){return!!hq(this._eventsInProgress)||this.isZooming()}_blockedByActive(e,t,r){for(let i in e)if(i!==r&&!(t!=null&&t.includes(i)))return!0;return!1}_getMapTouches(e){let t=[];for(let r of e){let i=r.target;this._el.contains(i)&&t.push(r)}return t}mergeHandlerResult(e,t,r,i,n){if(!r)return;ln(e,r);let a={handlerName:i,originalEvent:r.originalEvent||n};r.zoomDelta!==void 0&&(t.zoom=a),r.panDelta!==void 0&&(t.drag=a),r.rollDelta!==void 0&&(t.roll=a),r.pitchDelta!==void 0&&(t.pitch=a),r.bearingDelta!==void 0&&(t.rotate=a)}_applyChanges(){let e={},t={},r={};for(let[i,n,a]of this._changes)i.panDelta&&(e.panDelta=(e.panDelta||new tr(0,0))._add(i.panDelta)),i.zoomDelta&&(e.zoomDelta=(e.zoomDelta||0)+i.zoomDelta),i.bearingDelta&&(e.bearingDelta=(e.bearingDelta||0)+i.bearingDelta),i.pitchDelta&&(e.pitchDelta=(e.pitchDelta||0)+i.pitchDelta),i.rollDelta&&(e.rollDelta=(e.rollDelta||0)+i.rollDelta),i.around!==void 0&&(e.around=i.around),i.pinchAround!==void 0&&(e.pinchAround=i.pinchAround),i.noInertia&&(e.noInertia=i.noInertia),ln(t,n),ln(r,a);this._updateMapTransform(e,t,r),this._changes=[]}_updateMapTransform(e,t,r){let i=this._map,n=this._camera.getTransformForUpdate(),a=i.terrain;if(!Kne(e)&&!(a&&this._terrainMovement)){this._fireEvents(t,r,!0);return}this._camera.stop(!0);let{panDelta:o,zoomDelta:s,bearingDelta:l,pitchDelta:u,rollDelta:c}=e,{around:f,aroundOnSurface:h}=this._resolveAround(e,a,n),d=a?this._terrainGestureElevation(a,f,h,n,t):void 0,p={panDelta:o,zoomDelta:s,rollDelta:c,pitchDelta:u,bearingDelta:l,around:f,aroundElevation:d};this._camera.cameraHelper.useGlobeControls&&!n.isPointOnMapSurface(f)&&(f=n.centerPoint);let v=this._computePreZoomAroundLoc(n,f,o,d);this._handleMapControls({terrain:a,tr:n,deltasForHelper:p,preZoomAroundLoc:v,combinedEventsInProgress:t,panDelta:o}),this._camera.applyUpdatedTransform(n),this._map._update(),e.noInertia||this._inertia.record(e),this._fireEvents(t,r,!0)}_resolveAround(e,t,r){let i=e.pinchAround===void 0?e.around:e.pinchAround;return i||(i=this._camera.transform.centerPoint),t&&!r.isPointOnMapSurface(i)?{around:r.centerPoint,aroundOnSurface:!1}:{around:i,aroundOnSurface:!0}}_terrainGestureElevation(e,t,r,i,n){if(!r)return;if(!this._terrainMovement&&(n.drag||n.zoom)){let o=i.screenTerrainPointToMercatorCoordinate(t,e);this._terrainGestureAnchorElevation=o?o.z:null}if(this._terrainGestureAnchorElevation===null)return;let a=this._terrainGestureAnchorElevation;if(!(t.distSqr(i.centerPoint)<.01)&&!(a-i.elevation>=.9*(i.getCameraAltitude()-i.elevation)))return a}_computePreZoomAroundLoc(e,t,r,i){if(t.distSqr(e.centerPoint)<.01)return e.center;let n=r?t.sub(r):t;return i===void 0?e.screenPointToLocation(n):e.screenPointToLocationAtElevation(n,i)}_handleMapControls({terrain:e,tr:t,deltasForHelper:r,preZoomAroundLoc:i,combinedEventsInProgress:n,panDelta:a}){let o=this._camera.cameraHelper;if(o.handleMapControlsRollPitchBearingZoom(r,t),!e){o.handleMapControlsPan(r,t,i);return}if(o.useGlobeControls){!this._terrainMovement&&(n.drag||n.zoom)&&(this._terrainMovement=!0,this._camera.elevationFreeze=!0),o.handleMapControlsPan(r,t,i);return}if(!this._terrainMovement&&(n.drag||n.zoom)){this._terrainMovement=!0,this._camera.elevationFreeze=!0,o.handleMapControlsPan(r,t,i);return}if(r.aroundElevation===void 0&&n.drag&&this._terrainMovement&&a){t.setCenter(t.screenPointToLocation(t.centerPoint.sub(a)));return}o.handleMapControlsPan(r,t,i)}_fireEvents(e,t,r){let i=hq(this._eventsInProgress),n=hq(e),a={};for(let c in e){let{originalEvent:f}=e[c];this._eventsInProgress[c]||(a[`${c}start`]=f),this._eventsInProgress[c]=e[c]}!i&&n&&this._fireEvent("movestart",n.originalEvent);for(let c in a)this._fireEvent(c,a[c]);n&&this._fireEvent("move",n.originalEvent);for(let c in e){let{originalEvent:f}=e[c];this._fireEvent(c,f)}let o={},s;for(let c in this._eventsInProgress){let{handlerName:f,originalEvent:h}=this._eventsInProgress[c];this._handlersById[f].isActive()||(delete this._eventsInProgress[c],s=t[f]||h,o[`${c}end`]=s)}for(let c in o)this._fireEvent(c,o[c]);let l=hq(this._eventsInProgress),u=(i||n)&&!l;if(u&&this._terrainMovement){this._camera.elevationFreeze=!1,this._terrainMovement=!1,this._terrainGestureAnchorElevation=null;let c=this._camera.getTransformForUpdate();this._map.getCenterClampedToGround()&&c.recalculateZoomAndCenter(this._map.terrain),this._camera.applyUpdatedTransform(c)}if(r&&u){this._updatingCamera=!0;let c=this._inertia._onMoveEnd(this._map.dragPan._inertiaOptions),f=h=>h!==0&&-this._bearingSnap{delete this._frameId,this.handleEvent(new ETr("renderFrame",{timeStamp:e})),this._applyChanges()})}_triggerRenderFrame(){this._frameId===void 0&&(this._frameId=this._requestFrame())}},CTr=class extends mu{constructor(e){var t,r,i;super(),this._renderFrameCallback=()=>{let n=Math.min((Oo()-this._easeStart)/this._easeOptions.duration,1);this._onEaseFrame(this._easeOptions.easing(n)),n<1&&this._easeFrameId?this._easeFrameId=this._requestRenderFrame(this._renderFrameCallback):this.stop()},this.transform=new Tq,this.cameraHelper=new Aq,e.minZoom!==void 0&&this.transform.setMinZoom(e.minZoom),e.maxZoom!==void 0&&this.transform.setMaxZoom(e.maxZoom),e.minPitch!==void 0&&this.transform.setMinPitch(e.minPitch),e.maxPitch!==void 0&&this.transform.setMaxPitch(e.maxPitch),e.renderWorldCopies!==void 0&&this.transform.setRenderWorldCopies(e.renderWorldCopies),e.transformConstrain!==null&&this.transform.setConstrainOverride(e.transformConstrain),this._moving=!1,this._zooming=!1,this._bearingSnap=e.bearingSnap,this._zoomSnap=e.zoomSnap,this._requestRenderFrame=e.requestRenderFrame,this._cancelRenderFrame=e.cancelRenderFrame,this.terrain=e.terrain,this._centerClampedToGround=(t=e.centerClampedToGround)!=null?t:!0,this.transformCameraUpdate=(r=e.transformCameraUpdate)!=null?r:null,this._stopHandlers=(i=e.stopHandlers)!=null?i:(()=>{}),this.on("moveend",()=>{delete this._requestedCameraState})}migrateProjection(e,t){if(e.apply(this.transform,!0),this.transform=e,this.cameraHelper=t,this._requestedCameraState){let r=e.clone();r.apply(this._requestedCameraState,!0),this._requestedCameraState=r}}getCenter(){return new mn(this.transform.center.lng,this.transform.center.lat)}setCenter(e,t){return this.jumpTo({center:e},t)}getCenterElevation(){return this.transform.elevation}setCenterElevation(e,t){return this.jumpTo({elevation:e},t),this}getCenterClampedToGround(){return this._centerClampedToGround}setCenterClampedToGround(e){this._centerClampedToGround=e}panBy(e,t,r){return e=tr.convert(e).mult(-1),this.panTo(this.transform.center,ln({offset:e},t),r)}panTo(e,t,r){return this.easeTo(ln({center:e},t),r)}getZoom(){return this.transform.zoom}setZoom(e,t){return this.jumpTo({zoom:e},t),this}zoomTo(e,t,r){return this.easeTo(ln({zoom:e},t),r)}zoomIn(e,t){return this.zoomTo(Jh(this.getZoom()+1,this._zoomSnap),e,t),this}zoomOut(e,t){return this.zoomTo(Jh(this.getZoom()-1,this._zoomSnap),e,t),this}getVerticalFieldOfView(){return this.transform.fov}setVerticalFieldOfView(e,t){return e!=this.transform.fov&&(this.transform.setFov(e),this.fire(new Mn("movestart",t)).fire(new Mn("move",t)).fire(new Mn("moveend",t))),this}getBearing(){return this.transform.bearing}setZoomSnap(e){return this._zoomSnap=e,this}getZoomSnap(){return this._zoomSnap}setBearing(e,t){return this.jumpTo({bearing:e},t),this}getPadding(){return this.transform.padding}setPadding(e,t){return this.jumpTo({padding:e},t),this}rotateTo(e,t,r){return this.easeTo(ln({bearing:e},t),r)}resetNorth(e,t){return this.rotateTo(0,ln({duration:1e3},e),t),this}resetNorthPitch(e,t){return this.easeTo(ln({bearing:0,pitch:0,roll:0,duration:1e3},e),t),this}snapToNorth(e,t){return Math.abs(this.getBearing()){p.easeFunc(v),this.terrain&&!e.freezeElevation&&this._updateElevation(v),this.applyUpdatedTransform(r),this._fireMoveEvents(t)},v=>{this.terrain&&e.freezeElevation&&this._finalizeElevation(),this._afterEase(t,v)},e),this}_prepareEase(e,t,r={}){this._moving=!0,!t&&!r.moving&&this.fire(new Mn("movestart",e)),this._zooming&&!r.zooming&&this.fire(new Mn("zoomstart",e)),this._rotating&&!r.rotating&&this.fire(new Mn("rotatestart",e)),this._pitching&&!r.pitching&&this.fire(new Mn("pitchstart",e)),this._rolling&&!r.rolling&&this.fire(new Mn("rollstart",e))}_prepareElevation(e){this._elevationCenter=e,this._elevationStart=this.transform.elevation,this._elevationTarget=this.terrain.getElevationForLngLat(e,this.transform),this.elevationFreeze=!0}_updateElevation(e){(this._elevationStart===void 0||this._elevationCenter===void 0)&&this._prepareElevation(this.transform.center),this.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._elevationCenter,this.transform.tileZoom));let t=this.terrain.getElevationForLngLat(this._elevationCenter,this.transform);if(e<1&&t!==this._elevationTarget){let r=this._elevationTarget-this._elevationStart,i=(t-(r*e+this._elevationStart))/(1-e);this._elevationStart+=e*(r-i),this._elevationTarget=t}this.transform.setElevation($s.number(this._elevationStart,this._elevationTarget,e))}_finalizeElevation(){this.elevationFreeze=!1,this.getCenterClampedToGround()&&this.transform.recalculateZoomAndCenter(this.terrain)}getTransformForUpdate(){return!this.transformCameraUpdate&&!this.terrain?this.transform:(this._requestedCameraState||(this._requestedCameraState=this.transform.clone()),this._requestedCameraState)}_elevateCameraIfInsideTerrain(e){if(!this.terrain&&e.elevation>=0&&e.pitch<=90)return{};let t=e.getCameraLngLat(),r=e.getCameraAltitude(),i=this.terrain?this.terrain.getElevationForLngLatZoom(t,e.zoom):0;if(rthis._elevateCameraIfInsideTerrain(i)),this.transformCameraUpdate&&t.push(i=>this.transformCameraUpdate(i)),!t.length)return;let r=e.clone();for(let i of t){let n=r.clone(),{center:a,zoom:o,roll:s,pitch:l,bearing:u,elevation:c}=i(n);a&&n.setCenter(a),c!==void 0&&n.setElevation(c),o!==void 0&&n.setZoom(o),s!==void 0&&n.setRoll(s),l!==void 0&&n.setPitch(l),u!==void 0&&n.setBearing(u),r.apply(n,!1)}this.transform.apply(r,!1)}_fireMoveEvents(e){this.fire(new Mn("move",e)),this._zooming&&this.fire(new Mn("zoom",e)),this._rotating&&this.fire(new Mn("rotate",e)),this._pitching&&this.fire(new Mn("pitch",e)),this._rolling&&this.fire(new Mn("roll",e))}_afterEase(e,t){if(this._easeId&&t&&this._easeId===t)return;delete this._easeId;let r=this._zooming,i=this._rotating,n=this._pitching,a=this._rolling;this._moving=!1,this._zooming=!1,this._rotating=!1,this._pitching=!1,this._rolling=!1,this._padding=!1,r&&this.fire(new Mn("zoomend",e)),i&&this.fire(new Mn("rotateend",e)),n&&this.fire(new Mn("pitchend",e)),a&&this.fire(new Mn("rollend",e)),this.fire(new Mn("moveend",e))}flyTo(e,t){if(!e.essential&&fh.prefersReducedMotion){let k=IT(e,["center","zoom","bearing","pitch","roll","elevation","padding"]);return this.jumpTo(k,t)}this.stop(),e=ln({offset:[0,0],speed:1.2,curve:1.42,easing:pB},e),e.zoom!==void 0&&this._zoomSnap&&(e.zoom=Jh(e.zoom,this._zoomSnap));let r=this.getTransformForUpdate(),i=r.bearing,n=r.pitch,a=r.roll,o=r.padding,s=e.bearing===void 0?i:this._normalizeBearing(e.bearing,i),l=e.pitch===void 0?n:+e.pitch,u=e.roll===void 0?a:this._normalizeBearing(e.roll,a),c=e.padding===void 0?r.padding:e.padding,f=tr.convert(e.offset),h=r.centerPoint.add(f),d=r.screenPointToLocation(h),p=this.cameraHelper.handleFlyTo(r,{bearing:s,pitch:l,roll:u,padding:c,locationAtOffset:d,offsetAsPoint:f,center:e.center,minZoom:e.minZoom,zoom:e.zoom}),v=e.curve,m=Math.max(r.width,r.height),g=m/p.scaleOfZoom,w=p.pixelPathLength,b=m/p.scaleOfMinZoom;v=Math.min(v,Math.sqrt(b/w*2));let _=v*v;function M(k){let D=(g*g-m*m+(k?-1:1)*_*_*w*w)/(2*(k?g:m)*_*w);return Math.log(Math.sqrt(D*D+1)-D)}function x(k){return(Math.exp(k)-Math.exp(-k))/2}function T(k){return(Math.exp(k)+Math.exp(-k))/2}function A(k){return x(k)/T(k)}let y=M(!1),E=function(k){return T(y)/T(y+v*k)},S=function(k){return m*((T(y)*A(y+v*k)-x(y))/_)/w},C=(M(!0)-y)/v;if(Math.abs(w)<2e-6||!isFinite(C)){if(Math.abs(m-g)<1e-6)return this.easeTo(e,t);let k=g0,E=D=>Math.exp(k*v*D)}if(e.duration!==void 0)e.duration=+e.duration;else{let k=e.screenSpeed===void 0?+e.speed:+e.screenSpeed/v;e.duration=1e3*C/k}return e.maxDuration&&e.duration>e.maxDuration&&(e.duration=0),this._zooming=!0,this._rotating=i!==s,this._pitching=l!==n,this._rolling=u!==a,this._padding=!r.isPaddingEqual(c),this._prepareEase(t,!1),this.terrain&&this._prepareElevation(p.targetCenter),this._ease(k=>{let D=k*C,F=1/E(D),P=S(D);this._rotating&&r.setBearing($s.number(i,s,k)),this._pitching&&r.setPitch($s.number(n,l,k)),this._rolling&&r.setRoll($s.number(a,u,k)),this._padding&&(r.interpolatePadding(o,c,k),h=r.centerPoint.add(f)),p.easeFunc(k,F,P,h),this.terrain&&!e.freezeElevation&&this._updateElevation(k),this.applyUpdatedTransform(r),this._fireMoveEvents(t)},()=>{this.terrain&&e.freezeElevation&&this._finalizeElevation(),this._afterEase(t)},e),this}isEasing(){return!!this._easeFrameId}stop(e){return this._stop(e)}_stop(e,t){if(this._easeFrameId&&(this._cancelRenderFrame(this._easeFrameId),delete this._easeFrameId,delete this._onEaseFrame),this._onEaseEnd){let r=this._onEaseEnd;delete this._onEaseEnd,r.call(this,t)}return e||this._stopHandlers(),this}_ease(e,t,r){r.animate===!1||r.duration===0?(e(1),t()):(this._easeStart=Oo(),this._easeOptions=r,this._onEaseFrame=e,this._onEaseEnd=t,this._easeFrameId=this._requestRenderFrame(this._renderFrameCallback))}_normalizeBearing(e,t){e=B0(e,-180,180);let r=Math.abs(e-t);return Math.abs(e-360-t)MapLibre'},Mst=class{constructor(e=Ast){this._toggleAttribution=()=>{this._container.classList.contains("maplibregl-compact")&&(this._container.classList.contains("maplibregl-compact-show")?(this._container.setAttribute("open",""),this._container.classList.remove("maplibregl-compact-show")):(this._container.classList.add("maplibregl-compact-show"),this._container.removeAttribute("open")))},this._updateData=t=>{t&&(t.type==="terrain"||t.dataType==="style"||t.dataType==="source"&&(t.sourceDataType==="metadata"||t.sourceDataType==="visibility"))&&this._updateAttributions()},this._updateCompact=()=>{this._map.getCanvasContainer().offsetWidth<=640||this._compact?this._compact===!1?this._container.setAttribute("open",""):!this._container.classList.contains("maplibregl-compact")&&!this._container.classList.contains("maplibregl-attrib-empty")&&(this._container.setAttribute("open",""),this._container.classList.add("maplibregl-compact","maplibregl-compact-show")):(this._container.setAttribute("open",""),this._container.classList.contains("maplibregl-compact")&&this._container.classList.remove("maplibregl-compact","maplibregl-compact-show"))},this._updateCompactMinimize=()=>{this._container.classList.contains("maplibregl-compact")&&this._container.classList.contains("maplibregl-compact-show")&&this._container.classList.remove("maplibregl-compact-show")},this.options=e}getDefaultPosition(){return"bottom-right"}onAdd(e){return this._map=e,this._compact=this.options.compact,this._container=$n.create("details","maplibregl-ctrl maplibregl-ctrl-attrib"),this._compactButton=$n.create("summary","maplibregl-ctrl-attrib-button",this._container),this._compactButton.addEventListener("click",this._toggleAttribution),this._setElementTitle(this._compactButton,"ToggleAttribution"),this._innerContainer=$n.create("div","maplibregl-ctrl-attrib-inner",this._container),this._updateAttributions(),this._updateCompact(),this._map.on("styledata",this._updateData),this._map.on("sourcedata",this._updateData),this._map.on("terrain",this._updateData),this._map.on("resize",this._updateCompact),this._map.on("drag",this._updateCompactMinimize),this._container}onRemove(){this._container.remove(),this._map.off("styledata",this._updateData),this._map.off("sourcedata",this._updateData),this._map.off("terrain",this._updateData),this._map.off("resize",this._updateCompact),this._map.off("drag",this._updateCompactMinimize),this._map=void 0,this._compact=void 0,this._attribHTML=void 0}_setElementTitle(e,t){let r=this._map._getUIString(`AttributionControl.${t}`);e.title=r,e.setAttribute("aria-label",r)}_updateAttributions(){if(!this._map.style)return;let e=[];if(this.options.customAttribution&&(Array.isArray(this.options.customAttribution)?e=e.concat(this.options.customAttribution.map(i=>typeof i=="string"?i:"")):typeof this.options.customAttribution=="string"&&e.push(this.options.customAttribution)),this._map.style.stylesheet){let i=this._map.style.stylesheet;this.styleOwner=i.owner,this.styleId=i.id}let t=this._map.style.tileManagers;for(let i in t){let n=t[i];if(n.used||n.usedForTerrain){let a=n.getSource();a.attribution&&!e.includes(a.attribution)&&e.push(a.attribution)}}e=e.filter(i=>String(i).trim()),e.sort((i,n)=>i.length-n.length),e=e.filter((i,n)=>{for(let a=n+1;a{let t=this._container.children;if(t.length){let r=t[0];this._map.getCanvasContainer().offsetWidth<=640||this._compact?this._compact!==!1&&r.classList.add("maplibregl-compact"):r.classList.remove("maplibregl-compact")}},this.options=e}getDefaultPosition(){return"bottom-left"}onAdd(e){var r;this._map=e,this._compact=(r=this.options)==null?void 0:r.compact,this._container=$n.create("div","maplibregl-ctrl");let t=$n.create("a","maplibregl-ctrl-logo");return t.target="_blank",t.rel="noopener nofollow",t.href="https://maplibre.org/",t.setAttribute("aria-label",this._map._getUIString("LogoControl.Title")),t.setAttribute("rel","noopener nofollow"),this._container.appendChild(t),this._container.style.display="block",this._map.on("resize",this._updateCompact),this._updateCompact(),this._container}onRemove(){this._container.remove(),this._map.off("resize",this._updateCompact),this._map=void 0,this._compact=void 0}},DTr=class{constructor(){this._queue=[],this._id=0,this._cleared=!1,this._currentlyRunning=!1}add(e){let t=++this._id;return this._queue.push({callback:e,id:t,cancelled:!1}),t}remove(e){let t=this._currentlyRunning,r=t?this._queue.concat(t):this._queue;for(let i of r)if(i.id===e){i.cancelled=!0;return}}run(e=0){if(this._currentlyRunning)throw Error("Attempting to run(), but is already running.");let t=this._currentlyRunning=this._queue;this._queue=[];let r=!1,i;for(let n of t)if(!n.cancelled){try{n.callback(e)}catch(a){r||(r=!0,i=a)}if(this._cleared)break}if(this._cleared=!1,this._currentlyRunning=!1,r)throw i}clear(){this._currentlyRunning&&(this._cleared=!0),this._queue=[]}},Gat=["none","zoom","sourceTiles","visibleLayers","revision"],FTr=class{constructor(e,t,r,i){this._tileKeys=e.map(n=>n.key).sort().join(),this._revision=t,this._zoom=r,this._visibleLayerIds=i}difference(e){return this._revision===(e==null?void 0:e._revision)?this._visibleLayerIds===e._visibleLayerIds?this._tileKeys===e._tileKeys?this._zoom===e._zoom?"none":"zoom":"sourceTiles":"visibleLayers":"revision"}},jT={background:!0,fill:!0,line:!0,raster:!0,hillshade:!0,"color-relief":!0},LTr=class{constructor(e,t){this.needsFollowUpFrame=!1,this.painter=e,this.terrain=t,this.rttSize=t.tileManager.tileSize*t.qualityFactor}getTexture(e){return e.getRTT(this._stacks.length-1).texture}prepareForRender(e,t){let r=t!==this._lastPrepareZoom;this._lastPrepareZoom=t,this._stacks=[],this._prevType=null,this._rttTiles=[],this._renderableTiles=this.terrain.tileManager.getRenderableTiles(),this._renderableLayerIds=e._order.filter(s=>!e._layers[s].isHidden(t));let i=this._renderableLayerIds.join(),n=new Set;for(let s of this._renderableLayerIds){let l=e._layers[s],u=l.source;u&&jT[l.type]&&n.add(u)}this._coordsAscending={},this._rttFingerprints={};for(let s of n){let l=e.tileManagers[s];if(!l)continue;this._coordsAscending[s]={};let u=this._coordsAscending[s],c=l.getSource(),f=c instanceof XT?c.terrainTileRanges:null;for(let p of l.getVisibleCoordinates()){let v=this.terrain.tileManager.getTerrainCoords(p,f);for(let m in v)u[m]||(u[m]=[]),u[m].push(v[m])}this._rttFingerprints[s]={};let h=this._rttFingerprints[s],d=l.getState().revision;for(let p in u)h[p]=new FTr(u[p],d,t,i)}this.needsFollowUpFrame=!1;let a=r||this.painter.options.moving,o=!1;for(let s of this._renderableTiles){let l=this._textureDifference(s);l!=="none"&&(l==="zoom"&&a||l==="visibleLayers"&&r?this.needsFollowUpFrame=!0:l==="zoom"||l==="sourceTiles"?(o?this.needsFollowUpFrame=!0:s.releaseRTT(this.painter),o=!0):s.releaseRTT(this.painter))}}_textureDifference(e){let t="none";for(let r in this._rttFingerprints){let i=this._rttFingerprints[r][e.tileID.key];if(!i)continue;let n=i.difference(e.rttFingerprint[r]);Gat.indexOf(n)>Gat.indexOf(t)&&(t=n)}return t}renderLayer(e,t){if(e.isHidden(this.painter.transform.zoom))return!1;let r=ma(fn({},t),{isRenderingToTexture:!0}),i=e.type,n=this.painter,a=this._renderableLayerIds[this._renderableLayerIds.length-1]===e.id;if(jT[i]&&((!this._prevType||!jT[this._prevType])&&this._stacks.push([]),this._prevType=i,this._stacks[this._stacks.length-1].push(e.id),!a))return!0;if(jT[this._prevType]||jT[i]&&a){this._prevType=i;let o=this._stacks.length-1,s=this._stacks[o]||[];for(let l of this._renderableTiles){if(this._rttTiles.push(l),l.getRTT(o))continue;let u=l.acquireRTT(n,o,this.rttSize);n.bindRTT(u),n.context.clear({color:ea.transparent,stencil:0}),n.currentStencilSource=void 0;for(let c of s){let f=n.style._layers[c],h=f.source?this._coordsAscending[f.source][l.tileID.key]:[l.tileID];n.context.viewport.set([0,0,this.rttSize,this.rttSize]),n.renderTileClippingMasks(f,h,!0),n.renderLayer(n,n.style.tileManagers[f.source],f,h,r),f.source&&(l.rttFingerprint[f.source]=this._rttFingerprints[f.source][l.tileID.key])}u.texture.generateMipmap()}return X4r(this.painter,this.terrain,this._rttTiles,r),this._rttTiles=[],jT[i]}return!1}},PTr={"AttributionControl.ToggleAttribution":"Toggle attribution","AttributionControl.MapFeedback":"Map feedback","FullscreenControl.Enter":"Enter fullscreen","FullscreenControl.Exit":"Exit fullscreen","GeolocateControl.FindMyLocation":"Find my location","GeolocateControl.LocationNotAvailable":"Location not available","LogoControl.Title":"MapLibre logo","Map.Title":"Map","Marker.Title":"Map marker","NavigationControl.ResetBearing":"Drag to rotate map, click to reset north","NavigationControl.ZoomIn":"Zoom in","NavigationControl.ZoomOut":"Zoom out","Popup.Close":"Close popup","ScaleControl.Feet":"ft","ScaleControl.Meters":"m","ScaleControl.Kilometers":"km","ScaleControl.Miles":"mi","ScaleControl.NauticalMiles":"nm","GlobeControl.Enable":"Enable globe","GlobeControl.Disable":"Disable globe","TerrainControl.Enable":"Enable terrain","TerrainControl.Disable":"Disable terrain","CooperativeGesturesHandler.WindowsHelpText":"Use Ctrl + scroll to zoom the map","CooperativeGesturesHandler.MacHelpText":"Use \u2318 + scroll to zoom the map","CooperativeGesturesHandler.MobileHelpText":"Use two fingers to move the map"},ITr=Wat,Hat={hash:!1,interactive:!0,bearingSnap:7,zoomSnap:0,attributionControl:Ast,maplibreLogo:!1,refreshExpiredTiles:!0,canvasContextAttributes:{antialias:!1,preserveDrawingBuffer:!1,powerPreference:"high-performance",failIfMajorPerformanceCaveat:!1,desynchronized:!1,contextType:void 0},scrollZoom:!0,minZoom:-2,maxZoom:22,minPitch:0,maxPitch:60,boxZoom:!0,dragRotate:!0,dragPan:!0,keyboard:!0,doubleClickZoom:!0,touchZoomRotate:!0,touchPitch:!0,cooperativeGestures:!1,trackResize:!0,center:[0,0],elevation:0,zoom:0,bearing:0,pitch:0,roll:0,renderWorldCopies:!0,maxTileCacheSize:null,maxTileCacheZoomLevels:Qh.MAX_TILE_CACHE_ZOOM_LEVELS,transformRequest:null,transformCameraUpdate:null,transformConstrain:null,fadeDuration:300,crossSourceCollisions:!0,clickTolerance:3,localIdeographFontFamily:"sans-serif",pitchWithRotate:!0,rollEnabled:!1,rotateSpeed:.8,pitchSpeed:-.5,reduceMotion:void 0,validateStyle:!0,maxCanvasSize:[4096,4096],cancelPendingTileRequestsWhileZooming:!0,centerClampedToGround:!0,terrainSkirtLength:"auto",zoomLevelsToOverscale:4,anisotropicFilterPitch:20},RTr=class extends mu{get _ownerWindow(){var e,t;return((t=(e=this._container)==null?void 0:e.ownerDocument)==null?void 0:t.defaultView)||window}constructor(e){var n,a,o;super(),this._idleTriggered=!1,this._crossFadingFactor=1,this._renderTaskQueue=new DTr,this._controls=[],this._mapId=_ie(),this._styleUrl=null,this._missingStyleImageResolver=null,this._lostContextStyle={style:null,images:null},this._contextLost=s=>{if(s.preventDefault(),this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this.painter.destroy(),this._lostContextStyle=this._getStyleAndImages(),!this.style){this.fire(new pq("webglcontextlost",{originalEvent:s}));return}for(let l of Object.values(this.style._layers))if(l.type==="custom"&&console.warn(`Custom layer with id '${l.id}' cannot be restored after WebGL context loss. You will need to re-add it manually after context restoration.`),l._listeners)for(let[u]of Object.entries(l._listeners))console.warn(`Custom layer with id '${l.id}' had event listeners for event '${u}' which cannot be restored after WebGL context loss. You will need to re-add them manually after context restoration.`);this.style.destroy(),this.style=null,this.fire(new pq("webglcontextlost",{originalEvent:s}))},this._contextRestored=s=>{if(this._lostContextStyle.style&&this.setStyle(this._lostContextStyle.style,{diff:!1}),this._lostContextStyle.images&&this.style){this.style.imageManager.images=this._lostContextStyle.images;for(let l in this._lostContextStyle.images){let u=this._lostContextStyle.images[l];u.isWebGLImage&&this.style.imageManager.updateImage(l,u,!1)}}this._lostContextStyle={style:null,images:null};try{this._setupPainter()}catch(l){this.fire(new An(l));return}this.resize(),this._update(),this._resizeInternal(),this.fire(new pq("webglcontextrestored",{originalEvent:s}))},this._onMapScroll=s=>{if(s.target===this._container)return this._container.scrollTop=0,this._container.scrollLeft=0,!1},this._onWindowOnline=()=>{this._update()};let t=ma(fn(fn({},Hat),e),{canvasContextAttributes:fn(fn({},Hat.canvasContextAttributes),e.canvasContextAttributes)});if(t.minZoom!=null&&t.maxZoom!=null&&t.minZoom>t.maxZoom)throw Error("maxZoom must be greater than or equal to minZoom");if(t.minPitch!=null&&t.maxPitch!=null&&t.minPitch>t.maxPitch)throw Error("maxPitch must be greater than or equal to minPitch");if(t.minPitch!=null&&t.minPitch<0)throw Error("minPitch must be greater than or equal to 0");if(t.maxPitch!=null&&t.maxPitch>180)throw Error("maxPitch must be less than or equal to 180");this._camera=new CTr({minZoom:t.minZoom,maxZoom:t.maxZoom,minPitch:t.minPitch,maxPitch:t.maxPitch,bearingSnap:t.bearingSnap,zoomSnap:t.zoomSnap,renderWorldCopies:t.renderWorldCopies,centerClampedToGround:t.centerClampedToGround,terrain:this.terrain,transformConstrain:t.transformConstrain,requestRenderFrame:s=>this._requestRenderFrame(s),cancelRenderFrame:s=>this._cancelRenderFrame(s),transformCameraUpdate:t.transformCameraUpdate,stopHandlers:()=>{var s;return(s=this._handlers)==null?void 0:s.stop(!1)}}),this._camera.setEventedParent(this),this._interactive=t.interactive,this._maxTileCacheSize=t.maxTileCacheSize,this._maxTileCacheZoomLevels=t.maxTileCacheZoomLevels,this._canvasContextAttributes=fn({},t.canvasContextAttributes),this._trackResize=t.trackResize===!0,this._terrainSkirtLength=t.terrainSkirtLength,this._refreshExpiredTiles=t.refreshExpiredTiles===!0,this._fadeDuration=t.fadeDuration,this._crossSourceCollisions=t.crossSourceCollisions===!0,this._collectResourceTiming=t.collectResourceTiming===!0,this._locale=fn(fn({},PTr),t.locale),this._clickTolerance=t.clickTolerance,this._overridePixelRatio=t.pixelRatio,this._maxCanvasSize=t.maxCanvasSize,this._zoomLevelsToOverscale=t.zoomLevelsToOverscale,this.cancelPendingTileRequestsWhileZooming=t.cancelPendingTileRequestsWhileZooming===!0,this.setAnisotropicFilterPitch(t.anisotropicFilterPitch),t.reduceMotion!==void 0&&(fh.prefersReducedMotion=t.reduceMotion),this._requestManager=new B_r(t.transformRequest),this._container=this._resolveContainer(t.container),t.maxBounds&&this.setMaxBounds(t.maxBounds),this._setupContainer();try{this._setupPainter()}catch(s){throw this._cleanupContainer(),s}this._imageQueueHandle=rg.addThrottleControl(()=>this.isMoving()),this.on("move",()=>this._update(!1)),this.on("moveend",()=>this._update(!1)),this.on("zoom",()=>this._update(!0)),this.on("terrain",()=>{this.painter.terrainFacilitator.depthDirty=!0,this._update(!0)}),this.once("idle",()=>this._idleTriggered=!0),this._handlers=new kTr(this,this._camera,t),typeof window<"u"&&(this._ownerWindow.addEventListener("online",this._onWindowOnline,!1),this._setupResizeObserver());let r=typeof t.hash=="string"&&t.hash||void 0;this._hash=t.hash?new hst(r).addTo(this):void 0,(n=this._hash)!=null&&n._onHashChange()||(this.jumpTo({center:t.center,elevation:t.elevation,zoom:t.zoom,bearing:t.bearing,pitch:t.pitch,roll:t.roll}),t.bounds&&(this.resize(),this.fitBounds(t.bounds,ln({},t.fitBoundsOptions,{duration:0}))));let i=typeof t.style=="string"||((o=(a=t.style)==null?void 0:a.projection)==null?void 0:o.type)!=="globe";this.resize(null,i),this._localIdeographFontFamily=t.localIdeographFontFamily,this._validateStyle=t.validateStyle,t.style&&this.setStyle(t.style,{localIdeographFontFamily:t.localIdeographFontFamily}),t.attributionControl&&this.addControl(new Mst(typeof t.attributionControl=="boolean"?void 0:t.attributionControl)),t.maplibreLogo&&this.addControl(new Sst,t.logoPosition),this.on("style.load",()=>{if(i||this._resizeTransform(),this._camera.transform.unmodified){let s=IT(this.style.stylesheet,["center","zoom","bearing","pitch","roll"]);this.jumpTo(s)}}),this.on("data",s=>{this._update(s.dataType==="style"),this.fire(s.dataType==="style"?new rp("styledata",s):new Is("sourcedata",s))}),this.on("dataloading",s=>{this.fire(s.dataType==="style"?new rp("styledataloading",s):new Is("sourcedataloading",s))}),this.on("dataabort",s=>{this.fire(new Is("sourcedataabort",s))})}_getMapId(){return this._mapId}setGlobalStateProperty(e,t){return this.style.setGlobalStateProperty(e,t),this._update(!0)}getGlobalState(){return this.style.getGlobalState()}addControl(e,t){if(t===void 0&&(t=e.getDefaultPosition?e.getDefaultPosition():"top-right"),!(e!=null&&e.onAdd))return this.fire(new An(Error("Invalid argument to map.addControl(). Argument must be a control with onAdd and onRemove methods.")));let r=e.onAdd(this);this._controls.push(e);let i=this._controlPositions[t];return t.includes("bottom")?i.insertBefore(r,i.firstChild):i.appendChild(r),this}removeControl(e){if(!(e!=null&&e.onRemove))return this.fire(new An(Error("Invalid argument to map.removeControl(). Argument must be a control with onAdd and onRemove methods.")));let t=this._controls.indexOf(e);return t>-1&&this._controls.splice(t,1),e.onRemove(this),this}hasControl(e){return this._controls.includes(e)}coveringTiles(e){return ZT(this._camera.transform,e)}setTransformCameraUpdate(e){this._camera.transformCameraUpdate=e}getCenter(){return new mn(this._camera.transform.center.lng,this._camera.transform.center.lat)}setCenter(e,t){return this._camera.setCenter(e,t),this}getCenterElevation(){return this._camera.transform.elevation}setCenterElevation(e,t){return this._camera.setCenterElevation(e,t),this}setCenterClampedToGround(e){this._camera.setCenterClampedToGround(e)}panBy(e,t,r){return this._camera.panBy(e,t,r),this}panTo(e,t,r){return this._camera.panTo(e,t,r),this}getZoom(){return this._camera.transform.zoom}setZoom(e,t){return this._camera.setZoom(e,t),this}zoomTo(e,t,r){return this._camera.zoomTo(e,t,r),this}zoomIn(e,t){return this._camera.zoomIn(e,t),this}zoomOut(e,t){return this._camera.zoomOut(e,t),this}getVerticalFieldOfView(){return this._camera.transform.fov}setVerticalFieldOfView(e,t){return this._camera.setVerticalFieldOfView(e,t),this}getBearing(){return this._camera.transform.bearing}setBearing(e,t){return this._camera.setBearing(e,t),this}getZoomSnap(){return this._camera.getZoomSnap()}setZoomSnap(e){return this._camera.setZoomSnap(e),this}getPadding(){return this._camera.transform.padding}setPadding(e,t){return this._camera.setPadding(e,t),this}rotateTo(e,t,r){return this._camera.rotateTo(e,t,r),this}resetNorth(e,t){return this._camera.resetNorth(e,t),this}resetNorthPitch(e,t){return this._camera.resetNorthPitch(e,t),this}snapToNorth(e,t){return this._camera.snapToNorth(e,t),this}getPitch(){return this._camera.transform.pitch}setPitch(e,t){return this._camera.setPitch(e,t),this}getRoll(){return this._camera.transform.roll}setRoll(e,t){return this._camera.setRoll(e,t),this}cameraForBounds(e,t){return this._camera.cameraForBounds(e,t)}fitBounds(e,t,r){return this._camera.fitBounds(e,t,r),this}fitScreenCoordinates(e,t,r,i,n){return this._camera.fitScreenCoordinates(e,t,r,i,n),this}jumpTo(e,t){return this._camera.jumpTo(e,t),this}calculateCameraOptionsFromCameraLngLatAltRotation(e,t,r,i,n){return this._camera.calculateCameraOptionsFromCameraLngLatAltRotation(e,t,r,i,n)}easeTo(e,t){return this._camera.easeTo(e,t),this}flyTo(e,t){return this._camera.flyTo(e,t),this}stop(){return this._camera.stop(),this}queryTerrainElevation(e){return this.terrain?this.terrain.getElevationForLngLat(mn.convert(e),this._camera.transform):null}getCenterClampedToGround(){return this._camera.getCenterClampedToGround()}calculateCameraOptionsFromTo(e,t,r,i){return i==null&&this.terrain&&(i=this.terrain.getElevationForLngLat(r,this._camera.transform)),this._camera.transform.calculateCameraOptionsFromTo(e,t,r,i!=null?i:0)}resize(e,t=!0){if(this._lostContextStyle.style!==null)return this;this._resizeInternal(t);let r=!this._camera._moving;return r&&(this.stop(),this.fire(new Mn("movestart",e)).fire(new Mn("move",e))),this.fire(new cc("resize",e)),r&&this.fire(new Mn("moveend",e)),this}_resizeInternal(e=!0){let[t,r]=this._containerDimensions(),i=this._getClampedPixelRatio(t,r);if(this._resizeCanvas(t,r,i),this.painter.resize(t,r,i),this.painter.overLimit()){let n=this.painter.context.gl;this._maxCanvasSize=[n.drawingBufferWidth,n.drawingBufferHeight];let a=this._getClampedPixelRatio(t,r);this._resizeCanvas(t,r,a),this.painter.resize(t,r,a)}this._resizeTransform(e)}_resizeTransform(e=!0){var i;let[t,r]=this._containerDimensions();this._camera.transform.resize(t,r,e),(i=this._camera._requestedCameraState)==null||i.resize(t,r,e)}_getClampedPixelRatio(e,t){let{0:r,1:i}=this._maxCanvasSize,n=this.getPixelRatio(),a=e*n,o=t*n,s=a>r?r/a:1,l=o>i?i/o:1,u=Math.min(s,l);return u<1&&Ma("The canvas is larger than maxCanvasSize and is rendered at a lower pixel ratio to fit. Increase maxCanvasSize, within MAX_TEXTURE_SIZE, to render at full resolution."),u*n}getPixelRatio(){var e;return(e=this._overridePixelRatio)!=null?e:devicePixelRatio}setPixelRatio(e){this._overridePixelRatio=e,this.resize()}getBounds(){return this._camera.transform.getBounds()}getMaxBounds(){return this._camera.transform.getMaxBounds()}setMaxBounds(e){return this._camera.transform.setMaxBounds(Ev.convert(e)),this._update()}setMinZoom(e){if(e!=null||(e=-2),e>=-2&&e<=this._camera.transform.maxZoom){let t=this._camera.transform.zoom,r=this._camera.getTransformForUpdate();return r.setMinZoom(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.zoom&&this.fire(new Mn("zoomstart")).fire(new Mn("zoom")).fire(new Mn("zoomend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("minZoom must be between -2 and the current maxZoom, inclusive")}getMinZoom(e=!1){let t=this._camera.transform;return e?t.applyConstrain(t.center,t.minZoom).zoom:t.minZoom}setMaxZoom(e){if(e!=null||(e=22),e>=this._camera.transform.minZoom){let t=this._camera.transform.zoom,r=this._camera.getTransformForUpdate();return r.setMaxZoom(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.zoom&&this.fire(new Mn("zoomstart")).fire(new Mn("zoom")).fire(new Mn("zoomend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("maxZoom must be greater than the current minZoom")}getMaxZoom(){return this._camera.transform.maxZoom}setMinPitch(e){if(e!=null||(e=0),e<0)throw Error("minPitch must be greater than or equal to 0");if(e>=0&&e<=this._camera.transform.maxPitch){let t=this._camera.transform.pitch,r=this._camera.getTransformForUpdate();return r.setMinPitch(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.pitch&&this.fire(new Mn("pitchstart")).fire(new Mn("pitch")).fire(new Mn("pitchend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("minPitch must be between 0 and the current maxPitch, inclusive")}getMinPitch(){return this._camera.transform.minPitch}setMaxPitch(e){if(e!=null||(e=60),e>180)throw Error("maxPitch must be less than or equal to 180");if(e>=this._camera.transform.minPitch){let t=this._camera.transform.pitch,r=this._camera.getTransformForUpdate();return r.setMaxPitch(e),this._camera.applyUpdatedTransform(r),this._update(),t!==this._camera.transform.pitch&&this.fire(new Mn("pitchstart")).fire(new Mn("pitch")).fire(new Mn("pitchend")).fire(new Mn("movestart")).fire(new Mn("move")).fire(new Mn("moveend")),this}throw Error("maxPitch must be greater than the current minPitch")}getMaxPitch(){return this._camera.transform.maxPitch}getAnisotropicFilterPitch(){return this._anisotropicFilterPitch}setAnisotropicFilterPitch(e){if(e!=null||(e=20),e>180)throw Error("anisotropicFilterPitch must be less than or equal to 180");if(e<0)throw Error("anisotropicFilterPitch must be greater than or equal to 0");return this._anisotropicFilterPitch=e,this._update()}getRenderWorldCopies(){return this._camera.transform.renderWorldCopies}setRenderWorldCopies(e){return this._camera.transform.setRenderWorldCopies(e),this._update()}setTransformConstrain(e){return this._camera.transform.setConstrainOverride(e),this._update()}project(e){return this._camera.transform.locationToScreenPoint(mn.convert(e),this.style&&this.terrain)}unproject(e){return this._camera.transform.screenPointToLocation(tr.convert(e),this.terrain)}isMoving(){var e;return this._camera.isMoving()||((e=this._handlers)==null?void 0:e.isMoving())||!1}isZooming(){var e;return this._camera.isZooming()||((e=this._handlers)==null?void 0:e.isZooming())||!1}isRotating(){var e;return this._camera.isRotating()||((e=this._handlers)==null?void 0:e.isRotating())||!1}_createDelegatedListener(e,t,r){if(e==="mouseenter"||e==="mouseover"){let i=!1;return{layers:t,listener:r,delegates:{mousemove:n=>{let a=t.filter(s=>this.getLayer(s)),o=a.length===0?[]:this.queryRenderedFeatures(n.point,{layers:a});o.length?i||(i=!0,r.call(this,new O0(e,this,n.originalEvent,{features:o}))):i=!1},mouseout:()=>{i=!1}}}}if(e==="mouseleave"||e==="mouseout"){let i=!1;return{layers:t,listener:r,delegates:{mousemove:n=>{let a=t.filter(o=>this.getLayer(o));(a.length===0?[]:this.queryRenderedFeatures(n.point,{layers:a})).length?i=!0:i&&(i=!1,r.call(this,new O0(e,this,n.originalEvent)))},mouseout:n=>{i&&(i=!1,r.call(this,new O0(e,this,n.originalEvent)))}}}}{let i=n=>{let a=t.filter(s=>this.getLayer(s)),o=a.length===0?[]:this.queryRenderedFeatures(n.point,{layers:a});o.length&&(n.features=o,r.call(this,n),delete n.features)};return{layers:t,listener:r,delegates:{[e]:i}}}}_saveDelegatedListener(e,t){var r;this._delegatedListeners||(this._delegatedListeners={}),(r=this._delegatedListeners)[e]||(r[e]=[]),this._delegatedListeners[e].push(t)}_removeDelegatedListener(e,t,r){var n;if(!((n=this._delegatedListeners)!=null&&n[e]))return;let i=this._delegatedListeners[e];for(let a=0;at.includes(s))){for(let s in o.delegates)this.off(s,o.delegates[s]);i.splice(a,1);return}}}on(e,t,r){if(r===void 0)return super.on(e,t);let i=typeof t=="string"?[t]:t,n=this._createDelegatedListener(e,i,r);this._saveDelegatedListener(e,n);for(let a in n.delegates)this.on(a,n.delegates[a]);return{unsubscribe:()=>{this._removeDelegatedListener(e,i,r)}}}once(e,t,r){if(r===void 0)return super.once(e,t);let i=typeof t=="string"?[t]:t,n=this._createDelegatedListener(e,i,r);for(let a in n.delegates){let o=n.delegates[a];n.delegates[a]=(...s)=>{this._removeDelegatedListener(e,i,r),o(...s)}}this._saveDelegatedListener(e,n);for(let a in n.delegates)this.once(a,n.delegates[a]);return this}off(e,t,r){if(r===void 0)return super.off(e,t);let i=typeof t=="string"?[t]:t;return this._removeDelegatedListener(e,i,r),this}queryRenderedFeatures(e,t){if(!this.style)return[];let r,i=e instanceof tr||Array.isArray(e),n=i?e:[[0,0],[this._camera.transform.width,this._camera.transform.height]];if(t||(t=(i?{}:e)||{}),n instanceof tr||typeof n[0]=="number")r=[tr.convert(n)];else{let a=tr.convert(n[0]),o=tr.convert(n[1]);r=[a,new tr(o.x,a.y),o,new tr(a.x,o.y),a]}return this.style.queryRenderedFeatures(r,t,this._camera.transform)}querySourceFeatures(e,t){return this.style.querySourceFeatures(e,t)}setStyle(e,t){return t=ln({},{localIdeographFontFamily:this._localIdeographFontFamily,validate:this._validateStyle},t),this._styleUrl=typeof e=="string"?e:null,t.diff!==!1&&t.localIdeographFontFamily===this._localIdeographFontFamily&&this.style&&e?(this._diffStyle(e,t),this):(this._localIdeographFontFamily=t.localIdeographFontFamily,this._updateStyle(e,t))}setTransformRequest(e){return this._requestManager.setTransformRequest(e),this}_getUIString(e){let t=this._locale[e];if(t==null)throw Error(`Missing UI string '${e}'`);return t}_updateStyle(e,t){var i,n,a;if((i=this._diffStyleRequest)==null||i.abort(),this._diffStyleRequest=null,t.transformStyle&&this.style&&!this.style._loaded){this.style.once("style.load",()=>this._updateStyle(e,t));return}let r=this.style&&t.transformStyle?this.style.serialize():void 0;if(this.style&&(this.style.setEventedParent(null),this.style._remove(!e)),e)this.style=new hae(this,t||{});else return this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),(a=(n=this.style)==null?void 0:n.projection)==null||a.destroy(),delete this.style,this;return this.style.setEventedParent(this,{style:this.style}),typeof e=="string"?this.style.loadURL(e,t,r):this.style.loadJSON(e,t,r),this}_lazyInitEmptyStyle(){this.style||(this.style=new hae(this,{}),this.style.setEventedParent(this,{style:this.style}),this.style.loadEmpty())}_diffStyle(e,t){return Ki(this,null,function*(){var r;if((r=this._diffStyleRequest)==null||r.abort(),typeof e=="string"){let i=e;this._diffStyleRequest=new AbortController;let n=this._diffStyleRequest;try{let a=yield this._requestManager.transformRequest(i,"Style");if(n.signal.aborted){this._diffStyleRequest=null;return}let o=yield jk(a,n);this._diffStyleRequest=null,this._updateDiff(o.data,t)}catch(a){this._diffStyleRequest=null,Fm(a)||this.fire(new An(Ic(a)))}}else typeof e=="object"&&(this._diffStyleRequest=null,this._updateDiff(e,t))})}_updateDiff(e,t){try{this.style.setState(e,t)&&this._update(!0)}catch(r){Ma(`Unable to perform style diff: ${Ic(r).message}. Rebuilding the style from scratch.`),this._updateStyle(e,t)}}getStyle(){if(this.style)return this.style.serialize()}getStyleUrl(){return this._styleUrl}_getStyleAndImages(){return this.style?{style:this.style.serialize(),images:this.style.imageManager.cloneImages()}:{style:null,images:{}}}isStyleLoaded(){if(!this.style){Ma("There is no style added to the map.");return}return this.style.loaded()}addSource(e,t){return this._lazyInitEmptyStyle(),this.style.addSource(e,t),this._update(!0)}isSourceLoaded(e){var r;let t=(r=this.style)==null?void 0:r.tileManagers[e];if(t===void 0){this.fire(new An(Error(`There is no tile manager with ID '${e}'`)));return}return t.loaded()}setTerrain(e,t={}){if(this.style._checkLoaded(),e&&qT(this,ch.terrain,{value:e},t))return this;if(this._terrainDataCallback&&this.style.off("data",this._terrainDataCallback),!e)this.terrain&&this.terrain.destroy(),this.terrain=null,this.painter.renderToTexture=null,this._camera.terrain=null,this._camera.transform.setMinElevationForCurrentTile(0),this.getCenterClampedToGround()&&this._camera.transform.setElevation(0);else{let r=this.style.tileManagers[e.source];if(!r)throw Error(`cannot load terrain, because there exists no source with ID: ${e.source}`);this.terrain===null&&r.reload();for(let i in this.style._layers){let n=this.style._layers[i];n.type==="hillshade"&&n.source===e.source&&Ma("You are using the same source for a hillshade layer and for 3D terrain. Please consider using two separate sources to improve rendering quality."),n.type==="color-relief"&&n.source===e.source&&Ma("You are using the same source for a color-relief layer and for 3D terrain. Please consider using two separate sources to improve rendering quality.")}this.terrain&&this.terrain.destroy(),this.terrain=new W3r(this.painter,r,e,this._terrainSkirtLength),this.painter.renderToTexture=new LTr(this.painter,this.terrain),this._camera.terrain=this.terrain,this._camera.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._camera.transform.center,this._camera.transform.tileZoom)),this._camera.transform.setElevation(this.terrain.getElevationForLngLat(this._camera.transform.center,this._camera.transform)),this._terrainDataCallback=i=>this._handleTerrainDataEvent(i,e.source),this.style.on("data",this._terrainDataCallback)}return this.style.triggerSymbolPlacement(),this.fire(new Zat({terrain:e})),this}_handleTerrainDataEvent(e,t){var i;if(e.dataType==="style"){this.terrain.tileManager.releaseAllRTT();return}let r=e.sourceId===t;if(r&&(this.terrain.resetElevationCache(),this.style.triggerSymbolPlacement()),r&&e.tile&&!this._camera.elevationFreeze&&(this._camera.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._camera.transform.center,this._camera.transform.tileZoom)),this.getCenterClampedToGround()&&this._camera.transform.setElevation(this.terrain.getElevationForLngLat(this._camera.transform.center,this._camera.transform))),e.tile){if(((i=e.source)==null?void 0:i.type)==="image"){this.terrain.tileManager.releaseAllRTT();return}this.terrain.tileManager.releaseRTT(e.tile.tileID)}}getTerrain(){var e,t;return(t=(e=this.terrain)==null?void 0:e.options)!=null?t:null}areTilesLoaded(){var t;let e=(t=this.style)==null?void 0:t.tileManagers;for(let r of Object.values(e))if(!r.areTilesLoaded())return!1;return!0}removeSource(e){return this.style.removeSource(e),this._update(!0)}getSource(e){var t;return(t=this.style)==null?void 0:t.getSource(e)}setSourceTileLodParams(e,t,r){if(r){let i=this.getSource(r);if(!i)throw Error(`There is no source with ID "${r}", cannot set LOD parameters`);i.calculateTileZoom=nae(Math.max(1,e),Math.max(1,t))}else for(let i in this.style.tileManagers)this.style.tileManagers[i].getSource().calculateTileZoom=nae(Math.max(1,e),Math.max(1,t));return this._update(!0),this}refreshTiles(e,t){let r=this.style.tileManagers[e];if(!r)throw Error(`There is no tile manager with ID "${e}", cannot refresh tile`);t===void 0?r.reload(!0):r.refreshTiles(t.map(i=>new l8(i.z,i.x,i.y)))}addImage(e,t,r={}){var n;this._lazyInitEmptyStyle();let i=this._createStyleImage(t,r);return i?(this.style.addImage(e,i),(n=i.userImage)!=null&&n.onAdd&&i.userImage.onAdd(this,e),this):this}setMissingStyleImageResolver(e){var t;return this._missingStyleImageResolver=e,(t=this.style)==null||t.setMissingImageResolver(e),this}_createStyleImage(e,t={}){let{pixelRatio:r=1,sdf:i=!1,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l}=t;if(e instanceof HTMLImageElement||ex(e)){let{width:u,height:c,data:f}=fh.getImageData(e);return{data:new As({width:u,height:c},f),pixelRatio:r,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l,sdf:i,version:0}}if(e.width===void 0||e.height===void 0)return this.fire(new An(Error("Invalid arguments to map.addImage(). The second argument must be an `HTMLImageElement`, `ImageData`, `ImageBitmap`, or object with `width`, `height`, and `data` properties with the same format as `ImageData`"))),null;{let{width:u,height:c,data:f}=e,h=e,d=i8(h.data);return{data:d?new As({width:u,height:c}):new As({width:u,height:c},new Uint8Array(f)),pixelRatio:r,stretchX:n,stretchY:a,content:o,textFitWidth:s,textFitHeight:l,sdf:i,version:0,isWebGLImage:d,userImage:h}}}updateImage(e,t){let r=this.style.getImage(e);if(!r)return this.fire(new An(Error("The map has no image with that id. If you are adding a new image use `map.addImage(...)` instead.")));let{width:i,height:n,data:a}=t instanceof HTMLImageElement||ex(t)?fh.getImageData(t):t;if(i===void 0||n===void 0)return this.fire(new An(Error("Invalid arguments to map.updateImage(). The second argument must be an `HTMLImageElement`, `ImageData`, `ImageBitmap`, or object with `width`, `height`, and `data` properties with the same format as `ImageData`")));if(i!==r.data.width||n!==r.data.height)return this.fire(new An(Error("The width and height of the updated image must be that same as the previous version of the image")));if(r.isWebGLImage=i8(a),r.isWebGLImage)r.userImage=t;else{let o=!(t instanceof HTMLImageElement||ex(t));r.data.replace(a,o)}return this.style.updateImage(e,r),this}getImage(e){return this.style.getImage(e)}hasImage(e){return e?!!this.style.getImage(e):(this.fire(new An(Error("Missing required image id"))),!1)}removeImage(e){this.style.removeImage(e)}loadImage(e){return Ki(this,null,function*(){let t=yield rg.getImage(yield this._requestManager.transformRequest(e,"Image"),new AbortController);if(!t.data)throw Error(`Could not load image ${e}: the response is empty`);return t})}listImages(){var e,t;return(t=(e=this.style)==null?void 0:e.listImages())!=null?t:[]}addLayer(e,t){return this._lazyInitEmptyStyle(),this.style.addLayer(e,t),this._update(!0)}moveLayer(e,t){return this.style.moveLayer(e,t),this._update(!0)}removeLayer(e){return this.style.removeLayer(e),this._update(!0)}getLayer(e){var t;return(t=this.style)==null?void 0:t.getLayer(e)}getLayersOrder(){var e,t;return(t=(e=this.style)==null?void 0:e.getLayersOrder())!=null?t:[]}setLayerZoomRange(e,t,r){return this.style.setLayerZoomRange(e,t,r),this._update(!0)}setFilter(e,t,r={}){var i;return(i=this.style)==null||i.setFilter(e,t,r),this._update(!0)}getFilter(e){return this.style.getFilter(e)}setPaintProperty(e,t,r,i={}){var n;return(n=this.style)==null||n.setPaintProperty(e,t,r,i),this._update(!0)}getPaintProperty(e,t){return this.style.getPaintProperty(e,t)}setLayoutProperty(e,t,r,i={}){return this.style.setLayoutProperty(e,t,r,i),this._update(!0)}getLayoutProperty(e,t){return this.style.getLayoutProperty(e,t)}setGlyphs(e,t={}){return this._lazyInitEmptyStyle(),this.style.setGlyphs(e,t),this._update(!0)}getGlyphs(){return this.style.getGlyphsUrl()}setFontFaces(e){return this._lazyInitEmptyStyle(),this.style.setFontFaces(e),this._update(!0)}getFontFaces(){return this.style.getFontFaces()}addSprite(e,t,r={}){return this._lazyInitEmptyStyle(),this.style.addSprite(e,t,r,i=>{i||this._update(!0)}),this}removeSprite(e){return this._lazyInitEmptyStyle(),this.style.removeSprite(e),this._update(!0)}getSprite(){return this.style.getSprite()}setSprite(e,t={}){return this._lazyInitEmptyStyle(),this.style.setSprite(e,t,r=>{r||this._update(!0)}),this}setLight(e,t={}){return this._lazyInitEmptyStyle(),this.style.setLight(e,t),this._update(!0)}getLight(){return this.style.getLight()}setSky(e,t={}){return this._lazyInitEmptyStyle(),this.style.setSky(e,t),this._update(!0)}getSky(){return this.style.getSky()}setFeatureState(e,t){return this.style.setFeatureState(e,t),this._update()}removeFeatureState(e,t){return this.style.removeFeatureState(e,t),this._update()}getFeatureState(e){return this.style.getFeatureState(e)}getContainer(){return this._container}getCanvasContainer(){return this._canvasContainer}getCanvas(){return this._canvas}_containerDimensions(){let e=0,t=0;return this._container&&(e=this._container.clientWidth||400,t=this._container.clientHeight||300),[e,t]}_shouldHandleInitialResize(){var r;if(!((r=this._container)!=null&&r.clientWidth)||!this._container.clientHeight)return!1;let[e,t]=this._containerDimensions();return e!==this._camera.transform.width||t!==this._camera.transform.height}_setupResizeObserver(){var i;let e=!1,t=fst(n=>{this._trackResize&&!this._removed&&(this.resize(n),this.redraw())},50),r=(i=this._ownerWindow.ResizeObserver)!=null?i:ResizeObserver;this._resizeObserver=new r(n=>{!e&&(e=!0,!this._shouldHandleInitialResize())||t(n)}),this._resizeObserver.observe(this._container)}_resolveContainer(e){if(typeof e=="string"){let t=document.getElementById(e);if(!t)throw Error(`Container '${e}' not found.`);return t}if(e instanceof HTMLElement||e&&typeof e=="object"&&e.nodeType===1)return e;throw Error("Invalid type: 'container' must be a String or HTMLElement.")}_setupContainer(){let e=this._container;e.classList.add("maplibregl-map");let t=this._canvasContainer=$n.create("div","maplibregl-canvas-container",e);this._interactive&&t.classList.add("maplibregl-interactive"),this._canvas=$n.create("canvas","maplibregl-canvas",t),this._canvas.addEventListener("webglcontextlost",this._contextLost,!1),this._canvas.addEventListener("webglcontextrestored",this._contextRestored,!1),this._canvas.setAttribute("tabindex",this._interactive?"0":"-1"),this._canvas.setAttribute("aria-label",this._getUIString("Map.Title")),this._canvas.setAttribute("role","region");let r=this._containerDimensions(),i=this._getClampedPixelRatio(r[0],r[1]);this._resizeCanvas(r[0],r[1],i);let n=this._controlContainer=$n.create("div","maplibregl-control-container",e),a=this._controlPositions={};for(let o of["top-left","top-right","bottom-left","bottom-right"])a[o]=$n.create("div",`maplibregl-ctrl-${o} `,n);this._container.addEventListener("scroll",this._onMapScroll,!1)}_cleanupContainer(){this._canvas.removeEventListener("webglcontextrestored",this._contextRestored,!1),this._canvas.removeEventListener("webglcontextlost",this._contextLost,!1),this._canvasContainer.remove(),this._controlContainer.remove(),this._container.removeEventListener("scroll",this._onMapScroll,!1),this._container.classList.remove("maplibregl-map")}_resizeCanvas(e,t,r){this._canvas.width=Math.floor(r*e),this._canvas.height=Math.floor(r*t),this._canvas.style.width=`${e}px`,this._canvas.style.height=`${t}px`}_setupPainter(){let e=ma(fn({},this._canvasContextAttributes),{alpha:!0,depth:!0,stencil:!0,premultipliedAlpha:!0}),t=null;this._canvas.addEventListener("webglcontextcreationerror",i=>{t=i},{once:!0});let r=this._canvas.getContext("webgl2",e);if(!r)throw new cst(e,t);this.painter=new tTr(r,this._camera.transform)}migrateProjection(e,t){this._camera.migrateProjection(e,t),this.painter.transform=e,this.fire(new Kat({newProjection:this.style.projection.name}))}loaded(){return!this._styleDirty&&!this._sourcesDirty&&!!this.style&&this.style.loaded()}_update(e){var t;return(t=this.style)!=null&&t._loaded?(this._styleDirty||(this._styleDirty=e),this._sourcesDirty=!0,this.triggerRepaint(),this):this}_requestRenderFrame(e){return this._update(),this._renderTaskQueue.add(e)}_cancelRenderFrame(e){this._renderTaskQueue.remove(e)}_render(e){var o,s,l,u,c;let t=this._idleTriggered?this._fadeDuration:0,r=((o=this.style.projection)==null?void 0:o.transitionState)>0;if(this.painter.context.setDirty(),this.painter.setBaseState(),this._renderTaskQueue.run(e),this._removed)return;let i=!1;if(this.style&&this._styleDirty){this._styleDirty=!1;let f=this._camera.transform.zoom,h=Oo();this.style.zoomHistory.update(f,h);let d=new Co(f,{now:h,fadeDuration:t,zoomHistory:this.style.zoomHistory,transition:this.style.getTransition()}),p=d.crossFadingFactor();(p!==1||p!==this._crossFadingFactor)&&(i=!0,this._crossFadingFactor=p),this.style.update(d)}let n=((s=this.style.projection)==null?void 0:s.transitionState)>0!==r;this._camera.transform.setTransitionState((l=this.style.projection)==null?void 0:l.transitionState),this.style&&(this._sourcesDirty||n)&&(this._sourcesDirty=!1,this.style._updateSources(this._camera.transform)),this.terrain?(this.terrain.tileManager.update(this._camera.transform,this.terrain)&&this.terrain.resetElevationCache(),this._camera.transform.setMinElevationForCurrentTile(this.terrain.getMinTileElevationForLngLatZoom(this._camera.transform.center,this._camera.transform.tileZoom)),!this._camera.elevationFreeze&&this.getCenterClampedToGround()&&this._camera.transform.setElevation(this.terrain.getElevationForLngLat(this._camera.transform.center,this._camera.transform))):(this._camera.transform.setMinElevationForCurrentTile(0),this.getCenterClampedToGround()&&this._camera.transform.setElevation(0)),this._placementDirty=(u=this.style)==null?void 0:u._updatePlacement(this._camera.transform,this.showCollisionBoxes,t,this._crossSourceCollisions,n),this.painter.render(this.style,{showTileBoundaries:this.showTileBoundaries,showOverdrawInspector:this._showOverdrawInspector,rotating:this.isRotating(),zooming:this.isZooming(),moving:this.isMoving(),fadeDuration:t,showPadding:this.showPadding,anisotropicFilterPitch:this.getAnisotropicFilterPitch()}),this.fire(new cc("render")),this.loaded()&&!this._loaded&&(this._loaded=!0,this.fire(new cc("load"))),this.style&&(this.style.hasTransitions()||i)&&(this._styleDirty=!0),this.style&&!this._placementDirty&&this.style._releaseSymbolFadeTiles();let a=this._sourcesDirty||this._styleDirty||this._placementDirty||((c=this.painter.renderToTexture)==null?void 0:c.needsFollowUpFrame);return a||this._repaint?this.triggerRepaint():!this.isMoving()&&this.loaded()&&this.fire(new cc("idle")),this._loaded&&!this._fullyLoaded&&!a&&(this._fullyLoaded=!0),this}redraw(){return this.style&&(this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._render(0)),this}remove(){var t,r;this._hash&&this._hash.remove();for(let i of this._controls)i.onRemove(this);this._controls=[],this._frameRequest&&(this._frameRequest=(this._frameRequest.abort(),null)),this._renderTaskQueue.clear(),(t=this._diffStyleRequest)==null||t.abort(),this.painter.destroy(),this._handlers.destroy(),this.setStyle(null),typeof window<"u"&&this._ownerWindow.removeEventListener("online",this._onWindowOnline,!1),rg.removeThrottleControl(this._imageQueueHandle),(r=this._resizeObserver)==null||r.disconnect();let e=this.painter.context.gl.getExtension("WEBGL_lose_context");e!=null&&e.loseContext&&e.loseContext(),this._cleanupContainer(),this._removed=!0,this.fire(new cc("remove"))}triggerRepaint(){this.style&&!this._frameRequest&&(this._frameRequest=new AbortController,fh.frame(this._frameRequest,e=>{this._frameRequest=null;try{this._render(e)}catch(t){if(!Fm(t))throw t}},()=>{},this._ownerWindow))}get showTileBoundaries(){return!!this._showTileBoundaries}set showTileBoundaries(e){this._showTileBoundaries!==e&&(this._showTileBoundaries=e,this._update())}get showPadding(){return!!this._showPadding}set showPadding(e){this._showPadding!==e&&(this._showPadding=e,this._update())}get showCollisionBoxes(){return!!this._showCollisionBoxes}set showCollisionBoxes(e){this._showCollisionBoxes!==e&&(this._showCollisionBoxes=e,e?this.style._generateCollisionBoxes():this._update())}get showOverdrawInspector(){return!!this._showOverdrawInspector}set showOverdrawInspector(e){this._showOverdrawInspector!==e&&(this._showOverdrawInspector=e,this._update())}get repaint(){return!!this._repaint}set repaint(e){this._repaint!==e&&(this._repaint=e,this.triggerRepaint())}get vertices(){return!!this._vertices}set vertices(e){this._vertices=e,this._update()}get version(){return ITr}getCameraTargetElevation(){return this._camera.transform.elevation}getProjection(){return this.style.getProjection()}setProjection(e){return this._lazyInitEmptyStyle(),this.style.setProjection(e),this._update(!0)}},zTr={showCompass:!0,showZoom:!0,visualizePitch:!1,visualizeRoll:!0},BTr=class{constructor(e){this._updateZoomButtons=()=>{let t=this._map.getZoom(),r=t===this._map.getMaxZoom(),i=t===this._map.getMinZoom(!0);this._zoomInButton.disabled=r,this._zoomOutButton.disabled=i,this._zoomInButton.setAttribute("aria-disabled",r.toString()),this._zoomOutButton.setAttribute("aria-disabled",i.toString())},this._rotateCompassArrow=()=>{let t=this._map.getPitch(),r=this._map.getRoll(),i=this._map.getBearing(),n=1/Math.cos(js(t))**.5;if(this.options.visualizePitch&&this.options.visualizeRoll){this._compassIcon.style.transform=`scale(${n}) rotateZ(${-r}deg) rotateX(${t}deg) rotateZ(${-i}deg)`;return}if(this.options.visualizePitch){this._compassIcon.style.transform=`scale(${n}) rotateX(${t}deg) rotateZ(${-i}deg)`;return}if(this.options.visualizeRoll){this._compassIcon.style.transform=`rotate(${-i-r}deg)`;return}this._compassIcon.style.transform=`rotate(${-i}deg)`},this._setButtonTitle=(t,r)=>{let i=this._map._getUIString(`NavigationControl.${r}`);t.title=i,t.setAttribute("aria-label",i)},this.options=ln({},zTr,e),this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._container.addEventListener("contextmenu",t=>t.preventDefault()),this.options.showZoom&&(this._zoomInButton=this._createButton("maplibregl-ctrl-zoom-in",t=>this._map.zoomIn({},{originalEvent:t})),$n.create("span","maplibregl-ctrl-icon",this._zoomInButton).setAttribute("aria-hidden","true"),this._zoomOutButton=this._createButton("maplibregl-ctrl-zoom-out",t=>this._map.zoomOut({},{originalEvent:t})),$n.create("span","maplibregl-ctrl-icon",this._zoomOutButton).setAttribute("aria-hidden","true")),this.options.showCompass&&(this._compass=this._createButton("maplibregl-ctrl-compass",t=>{this.options.visualizePitch?this._map.resetNorthPitch({},{originalEvent:t}):this._map.resetNorth({},{originalEvent:t})}),this._compassIcon=$n.create("span","maplibregl-ctrl-icon",this._compass),this._compassIcon.setAttribute("aria-hidden","true"))}onAdd(e){return this._map=e,this.options.showZoom&&(this._setButtonTitle(this._zoomInButton,"ZoomIn"),this._setButtonTitle(this._zoomOutButton,"ZoomOut"),this._map.on("move",this._updateZoomButtons),this._updateZoomButtons()),this.options.showCompass&&(this._setButtonTitle(this._compass,"ResetBearing"),this.options.visualizePitch&&this._map.on("pitch",this._rotateCompassArrow),this.options.visualizeRoll&&this._map.on("roll",this._rotateCompassArrow),this._map.on("rotate",this._rotateCompassArrow),this._rotateCompassArrow(),this._handler=new qTr(this._map,this._compass,this.options.visualizePitch)),this._container}onRemove(){this._container.remove(),this.options.showZoom&&this._map.off("move",this._updateZoomButtons),this.options.showCompass&&(this.options.visualizePitch&&this._map.off("pitch",this._rotateCompassArrow),this.options.visualizeRoll&&this._map.off("roll",this._rotateCompassArrow),this._map.off("rotate",this._rotateCompassArrow),this._handler.off(),delete this._handler),delete this._map}_createButton(e,t){let r=$n.create("button",e,this._container);return r.type="button",r.addEventListener("click",t),r}},qTr=class{constructor(e,t,r=!1){this.mousedown=n=>{this.startMove(n,$n.mousePos(this.element,n)),window.addEventListener("mousemove",this.mousemove),window.addEventListener("mouseup",this.mouseup)},this.mousemove=n=>{this.move(n,$n.mousePos(this.element,n))},this.mouseup=n=>{this._rotatePitchHandler.dragEnd(n),this.offTemp()},this.touchstart=n=>{n.targetTouches.length===1?(this._startPos=this._lastPos=$n.touchPos(this.element,n.targetTouches)[0],this.startMove(n,this._startPos),window.addEventListener("touchmove",this.touchmove,{passive:!1}),window.addEventListener("touchend",this.touchend)):this.reset()},this.touchmove=n=>{n.targetTouches.length===1?(this._lastPos=$n.touchPos(this.element,n.targetTouches)[0],this.move(n,this._lastPos)):this.reset()},this.touchend=n=>{n.targetTouches.length===0&&this._startPos&&this._lastPos&&this._startPos.dist(this._lastPos){this._rotatePitchHandler.reset(),delete this._startPos,delete this._lastPos,this.offTemp()},this._clickTolerance=10,this.element=t;let i=new gTr;this._rotatePitchHandler=new E8({clickTolerance:3,move:(n,a)=>{let o=t.getBoundingClientRect(),s=new tr((o.bottom-o.top)/2,(o.right-o.left)/2);return{bearingDelta:Tie(new tr(n.x,a.y),a,s),pitchDelta:r?(a.y-n.y)*-.5:void 0}},moveStateManager:i,enable:!0,assignEvents:()=>{}}),this.map=e,t.addEventListener("mousedown",this.mousedown),t.addEventListener("touchstart",this.touchstart,{passive:!1}),t.addEventListener("touchcancel",this.reset)}startMove(e,t){this._rotatePitchHandler.dragStart(e,t),$n.disableDrag()}move(e,t){let r=this.map,{bearingDelta:i,pitchDelta:n}=this._rotatePitchHandler.dragMove(e,t)||{};i&&r.setBearing(r.getBearing()+i),n&&r.setPitch(r.getPitch()+n)}off(){let e=this.element;e.removeEventListener("mousedown",this.mousedown),e.removeEventListener("touchstart",this.touchstart),window.removeEventListener("touchmove",this.touchmove),window.removeEventListener("touchend",this.touchend),e.removeEventListener("touchcancel",this.reset),this.offTemp()}offTemp(){$n.enableDrag(),window.removeEventListener("mousemove",this.mousemove),window.removeEventListener("mouseup",this.mouseup),window.removeEventListener("touchmove",this.touchmove),window.removeEventListener("touchend",this.touchend)}};Oae={center:"translate(-50%,-50%)",top:"translate(-50%,0)","top-left":"translate(0,0)","top-right":"translate(-100%,0)",bottom:"translate(-50%,-100%)","bottom-left":"translate(0,-100%)","bottom-right":"translate(-100%,-100%)",left:"translate(0,-50%)",right:"translate(-100%,-50%)"};jat={ArrowLeft:[-1,0],ArrowRight:[1,0],ArrowUp:[0,-1],ArrowDown:[0,1]},Cst="#3FB1CE";o3=class extends e0{},Dst=class extends e0{},vae=class extends mu{constructor(e){if(super(),this._onClick=t=>{this.fire(new Dst("click",{originalEvent:t}))},this._onKeyPress=t=>{(t.code==="Space"||t.code==="Enter")&&this.togglePopup()},this._onKeyDown=t=>{if(!this._defaultMarker||!this._draggable||!this._map||!this._lngLat||t.composedPath()[0]!==this._element||t.altKey||t.ctrlKey||t.metaKey)return;let r=jat[t.key];if(!r)return;t.preventDefault(),t.stopPropagation();let i=t.shiftKey?10:1,n=this._map.project(this._lngLat);this.setLngLat(this._map.unproject(new tr(n.x+r[0]*i,n.y+r[1]*i))),this._keyboardDragActive||(this._keyboardDragActive=!0,this.fire(new o3("dragstart"))),this.fire(new o3("drag"))},this._onKeyUp=t=>{jat[t.key]&&this._endKeyboardDrag()},this._onBlur=()=>{this._endKeyboardDrag()},this._onMapClick=t=>{let r=t.originalEvent.target,i=this._element;this._popup&&(r===i||i.contains(r))&&this.togglePopup()},this._update=t=>{if(!this._map)return;let r=this._map.loaded()&&!this._map.isMoving();((t==null?void 0:t.type)==="terrain"||(t==null?void 0:t.type)==="render"&&!r)&&this._map.once("render",this._update),this._lngLat=Est(this._lngLat,this._flatPos,this._map._camera.transform),this._flatPos=this._pos=this._map.project(this._lngLat)._add(this._offset),this._map.terrain&&(this._flatPos=this._map._camera.transform.locationToScreenPoint(this._lngLat)._add(this._offset));let i="";this._rotationAlignment==="viewport"||this._rotationAlignment==="auto"?i=`rotateZ(${this._rotation}deg)`:this._rotationAlignment==="map"&&(i=`rotateZ(${this._rotation-this._map.getBearing()}deg)`);let n="";this._pitchAlignment==="viewport"||this._pitchAlignment==="auto"?n="rotateX(0deg)":this._pitchAlignment==="map"&&(n=`rotateX(${this._map.getPitch()}deg)`),!this._subpixelPositioning&&(!t||t.type==="moveend")&&(this._pos=this._pos.round()),this._element.style.transform=`${Oae[this._anchor]} translate(${this._pos.x}px, ${this._pos.y}px) ${n} ${i}`,fh.frameAsync(new AbortController,this._map._ownerWindow).then(()=>{this._updateOpacity((t==null?void 0:t.type)==="moveend")}).catch(()=>{})},this._onMove=t=>{if(!this._isDragging){let r=this._clickTolerance||this._map._clickTolerance;this._isDragging=t.point.dist(this._pointerdownPos)>=r}this._isDragging&&(this._pos=t.point.sub(this._positionDelta),this._lngLat=this._map.unproject(this._pos),this.setLngLat(this._lngLat),this._element.style.pointerEvents="none",this._state==="pending"&&(this._state="active",this.fire(new o3("dragstart"))),this.fire(new o3("drag")))},this._onUp=()=>{this._element.style.pointerEvents="auto",this._positionDelta=null,this._pointerdownPos=null,this._isDragging=!1,this._map.off("mousemove",this._onMove),this._map.off("touchmove",this._onMove),this._state==="active"&&this.fire(new o3("dragend")),this._state="inactive"},this._addDragHandler=t=>{this._element.contains(t.originalEvent.target)&&(t.preventDefault(),this._positionDelta=t.point.sub(this._pos).add(this._offset),this._pointerdownPos=t.point,this._state="pending",this._map.on("mousemove",this._onMove),this._map.on("touchmove",this._onMove),this._map.once("mouseup",this._onUp),this._map.once("touchend",this._onUp))},this._anchor=(e==null?void 0:e.anchor)||"center",this._color=(e==null?void 0:e.color)||Cst,this._scale=(e==null?void 0:e.scale)||1,this._draggable=(e==null?void 0:e.draggable)||!1,this._clickTolerance=(e==null?void 0:e.clickTolerance)||0,this._subpixelPositioning=(e==null?void 0:e.subpixelPositioning)||!1,this._isDragging=!1,this._roleManaged=!1,this._tabIndexManaged=!1,this._keyboardDragActive=!1,this._state="inactive",this._rotation=(e==null?void 0:e.rotation)||0,this._rotationAlignment=(e==null?void 0:e.rotationAlignment)||"auto",this._pitchAlignment=e!=null&&e.pitchAlignment&&e.pitchAlignment!=="auto"?e.pitchAlignment:this._rotationAlignment,this.setOpacity(e==null?void 0:e.opacity,e==null?void 0:e.opacityWhenCovered),e==null?void 0:e.element)this._element=e.element,this._offset=tr.convert((e==null?void 0:e.offset)||[0,0]);else{this._defaultMarker=!0,this._element=$n.create("div");let t=NTr().cloneNode(!0);t.setAttributeNS(null,"height",`${41*this._scale}px`),t.setAttributeNS(null,"width",`${27*this._scale}px`),UTr(t).setAttributeNS(null,"fill",this._color),this._element.appendChild(t),this._offset=tr.convert((e==null?void 0:e.offset)||[0,-14])}if(this._element.classList.add("maplibregl-marker"),this._element.addEventListener("dragstart",t=>{t.preventDefault()}),this._element.addEventListener("mousedown",t=>{t.preventDefault()}),kst(this._element,this._anchor,"marker"),e==null?void 0:e.className)for(let t of e.className.split(" "))this._element.classList.add(t);this._popup=null}addTo(e){return this.remove(),this._map=e,this._defaultMarker&&!this._element.hasAttribute("aria-label")&&this._element.setAttribute("aria-label",e._getUIString("Marker.Title")),this._updateAccessibilityRole(),e.getCanvasContainer().appendChild(this._element),e.on("move",this._update),e.on("moveend",this._update),e.on("terrain",this._update),e.on("projectiontransition",this._update),this._element.addEventListener("click",this._onClick),this.setDraggable(this._draggable),this._update(),this._map.on("click",this._onMapClick),this}remove(){return this._opacityTimeout&&(clearTimeout(this._opacityTimeout),delete this._opacityTimeout),this._map&&(this._map.off("click",this._onMapClick),this._map.off("move",this._update),this._map.off("moveend",this._update),this._map.off("terrain",this._update),this._map.off("projectiontransition",this._update),this._map.off("mousedown",this._addDragHandler),this._map.off("touchstart",this._addDragHandler),this._map.off("mouseup",this._onUp),this._map.off("touchend",this._onUp),this._map.off("mousemove",this._onMove),this._map.off("touchmove",this._onMove),delete this._map),this._element.removeEventListener("click",this._onClick),this._element.removeEventListener("keydown",this._onKeyDown),this._element.removeEventListener("keyup",this._onKeyUp),this._element.removeEventListener("blur",this._onBlur),this._element.removeEventListener("keypress",this._onKeyPress),this._keyboardDragActive=!1,this._element.remove(),this._popup&&this._popup.remove(),this}getLngLat(){return this._lngLat}setLngLat(e){return this._lngLat=mn.convert(e),this._pos=null,this._update(),this._popup&&this._popup.setLngLat(this._lngLat),this}getElement(){return this._element}setPopup(e){if(this._popup&&(this._popup.remove(),this._popup=null,this._element.removeEventListener("keypress",this._onKeyPress)),e){if(!("offset"in e.options)){let t=13.5/Math.SQRT2;e.options.offset=this._defaultMarker?{top:[0,0],"top-left":[0,0],"top-right":[0,0],bottom:[0,-38.1],"bottom-left":[t,(24.6+t)*-1],"bottom-right":[-t,(24.6+t)*-1],left:[13.5,-24.6],right:[-13.5,-24.6]}:this._offset}this._popup=e,this._element.addEventListener("keypress",this._onKeyPress)}return this._updateTabIndex(),this._updateAccessibilityRole(),this}setSubpixelPositioning(e){return this._subpixelPositioning=e,this}_endKeyboardDrag(){this._keyboardDragActive&&(this._keyboardDragActive=!1,this.fire(new o3("dragend")))}getPopup(){return this._popup}togglePopup(){let e=this._popup;if(this._element.style.opacity===this._opacityWhenCovered)return this;if(e)e.isOpen()?e.remove():(e.setLngLat(this._lngLat),e.addTo(this._map));else return this;return this}_updateOpacity(e=!1){var h,d;let t=(h=this._map)==null?void 0:h.terrain,r=this._map._camera.transform.isLocationOccluded(this._lngLat);if(!t||r){let p=r?this._opacityWhenCovered:this._opacity;this._element.style.opacity!==p&&(this._element.style.opacity=p,this._element.classList.toggle("maplibregl-marker-covered",r));return}if(e)this._opacityTimeout=null;else{if(this._opacityTimeout)return;this._opacityTimeout=setTimeout(()=>{this._opacityTimeout=null},100)}let i=this._map,n=i.terrain.depthAtPoint(this._pos),a=i.terrain.getElevationForLngLat(this._lngLat,i._camera.transform),o=i._camera.transform.lngLatToCameraDepth(this._lngLat,a),s=.006;if(o-ns;(d=this._popup)!=null&&d.isOpen()&&f&&this._popup.remove(),this._element.style.opacity=f?this._opacityWhenCovered:this._opacity,this._element.classList.toggle("maplibregl-marker-covered",f)}getOffset(){return this._offset}setOffset(e){return this._offset=tr.convert(e),this._update(),this}addClassName(e){this._element.classList.add(e)}removeClassName(e){this._element.classList.remove(e)}toggleClassName(e){return this._element.classList.toggle(e)}setDraggable(e){return this._draggable=!!e,this._element.classList.toggle("maplibregl-marker-draggable",this._draggable),this._map&&(e?(this._map.on("mousedown",this._addDragHandler),this._map.on("touchstart",this._addDragHandler)):(this._map.off("mousedown",this._addDragHandler),this._map.off("touchstart",this._addDragHandler))),this._defaultMarker&&(this._draggable?(this._element.addEventListener("keydown",this._onKeyDown),this._element.addEventListener("keyup",this._onKeyUp),this._element.addEventListener("blur",this._onBlur)):(this._element.removeEventListener("keydown",this._onKeyDown),this._element.removeEventListener("keyup",this._onKeyUp),this._element.removeEventListener("blur",this._onBlur),this._endKeyboardDrag())),this._updateTabIndex(),this._updateAccessibilityRole(),this}isDraggable(){return this._draggable}_updateTabIndex(){this._popup||this._defaultMarker&&this._draggable?this._element.hasAttribute("tabindex")||(this._element.setAttribute("tabindex","0"),this._tabIndexManaged=!0):this._tabIndexManaged&&(this._tabIndexManaged=(this._element.getAttribute("tabindex")==="0"&&this._element.removeAttribute("tabindex"),!1))}_updateAccessibilityRole(){if(!this._defaultMarker||this._element.hasAttribute("role")&&!this._roleManaged)return;let e=this._draggable||this._popup?"button":"img";this._element.setAttribute("role",e),this._roleManaged=!0}setRotation(e){return this._rotation=e||0,this._update(),this}getRotation(){return this._rotation}setRotationAlignment(e){return this._rotationAlignment=e||"auto",this._update(),this}getRotationAlignment(){return this._rotationAlignment}setPitchAlignment(e){return this._pitchAlignment=e&&e!=="auto"?e:this._rotationAlignment,this._update(),this}getPitchAlignment(){return this._pitchAlignment}setOpacity(e,t){return(this._opacity===void 0||e===void 0&&t===void 0)&&(this._opacity="1",this._opacityWhenCovered="0.2"),e!==void 0&&(this._opacity=String(e)),t!==void 0&&(this._opacityWhenCovered=String(t)),this._map&&this._updateOpacity(!0),this}},VTr={positionOptions:{enableHighAccuracy:!1,maximumAge:0,timeout:6e3},fitBoundsOptions:{maxZoom:15},trackUserLocation:!1,showAccuracyCircle:!0,showUserLocation:!0},dq=0,x8=!1,s3=class extends e0{},gae=class extends e0{},Fst=class extends e0{},GTr=class extends mu{constructor(e){super(),this._onSuccess=t=>{if(this._map){if(this._isOutOfMapMaxBounds(t)){this._setErrorState(),this.fire(new gae("outofmaxbounds",t)),this._updateMarker(),this._finish();return}if(this.options.trackUserLocation)switch(this._lastKnownPosition=t,this._watchState){case"WAITING_ACTIVE":case"ACTIVE_LOCK":case"ACTIVE_ERROR":this._watchState="ACTIVE_LOCK",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active");break;case"BACKGROUND":case"BACKGROUND_ERROR":this._watchState="BACKGROUND",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-background");break;default:throw Error(`Unexpected watchState ${this._watchState}`)}this.options.showUserLocation&&this._watchState!=="OFF"&&this._updateMarker(t),(!this.options.trackUserLocation||this._watchState==="ACTIVE_LOCK")&&this._updateCamera(t),this.options.showUserLocation&&this._dotElement.classList.remove("maplibregl-user-location-dot-stale"),this.fire(new gae("geolocate",t)),this._finish()}},this._updateCamera=t=>{let r=new mn(t.coords.longitude,t.coords.latitude),i=t.coords.accuracy,n=this._map.getBearing(),a=ln({bearing:n},this.options.fitBoundsOptions),o=Ev.fromLngLat(r,i);this._map.fitBounds(o,a,{geolocateSource:!0})},this._updateMarker=t=>{if(t){let r=new mn(t.coords.longitude,t.coords.latitude);this._accuracyCircleMarker.setLngLat(r).addTo(this._map),this._userLocationDotMarker.setLngLat(r).addTo(this._map),this._accuracy=t.coords.accuracy,this._updateCircleRadiusIfNeeded()}else this._userLocationDotMarker.remove(),this._accuracyCircleMarker.remove()},this._onUpdate=()=>{this._updateCircleRadiusIfNeeded()},this._onError=t=>{if(this._map){if(t.code===1){this._watchState="OFF",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background-error"),this._geolocateButton.disabled=!0;let r=this._map._getUIString("GeolocateControl.LocationNotAvailable");this._geolocateButton.title=r,this._geolocateButton.setAttribute("aria-label",r),this._geolocationWatchID!==void 0&&this._clearWatch()}else{if(t.code===3&&x8)return;this._setErrorState()}this._watchState!=="OFF"&&this.options.showUserLocation&&this._dotElement.classList.add("maplibregl-user-location-dot-stale"),this.fire(new Fst("error",t)),this._finish()}},this._finish=()=>{this._timeoutId&&clearTimeout(this._timeoutId),this._timeoutId=void 0},this._onMoveStart=t=>{if(!this._map)return;let r=(t==null?void 0:t[0])instanceof ResizeObserverEntry;!t.geolocateSource&&this._watchState==="ACTIVE_LOCK"&&!r&&!this._map.isZooming()&&(this._watchState="BACKGROUND",this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this.fire(new s3("trackuserlocationend")),this.fire(new s3("userlocationlostfocus")))},this._setupUI=()=>{this._map&&(this._container.addEventListener("contextmenu",t=>{t.preventDefault()}),this._geolocateButton=$n.create("button","maplibregl-ctrl-geolocate",this._container),$n.create("span","maplibregl-ctrl-icon",this._geolocateButton).setAttribute("aria-hidden","true"),this._geolocateButton.type="button",this._geolocateButton.disabled=!0)},this._finishSetupUI=t=>{if(this._map){if(t===!1){Ma("Geolocation support is not available so the GeolocateControl will be disabled.");let r=this._map._getUIString("GeolocateControl.LocationNotAvailable");this._geolocateButton.disabled=!0,this._geolocateButton.title=r,this._geolocateButton.setAttribute("aria-label",r)}else{let r=this._map._getUIString("GeolocateControl.FindMyLocation");this._geolocateButton.disabled=!1,this._geolocateButton.title=r,this._geolocateButton.setAttribute("aria-label",r)}this.options.trackUserLocation&&(this._geolocateButton.setAttribute("aria-pressed","false"),this._watchState="OFF"),this.options.showUserLocation&&(this._dotElement=$n.create("div","maplibregl-user-location-dot"),this._userLocationDotMarker=new vae({element:this._dotElement}),this._circleElement=$n.create("div","maplibregl-user-location-accuracy-circle"),this._accuracyCircleMarker=new vae({element:this._circleElement,pitchAlignment:"map"}),this.options.trackUserLocation&&(this._watchState="OFF"),this._map.on("zoom",this._onUpdate),this._map.on("move",this._onUpdate),this._map.on("rotate",this._onUpdate),this._map.on("pitch",this._onUpdate)),this._geolocateButton.addEventListener("click",()=>this.trigger()),this._setup=!0,this.options.trackUserLocation&&this._map.on("movestart",this._onMoveStart)}},this.options=ln({},VTr,e)}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._setupUI(),OTr().then(t=>this._finishSetupUI(t)),this._container}onRemove(){this._geolocationWatchID!==void 0&&(window.navigator.geolocation.clearWatch(this._geolocationWatchID),this._geolocationWatchID=void 0),this.options.showUserLocation&&this._userLocationDotMarker&&this._userLocationDotMarker.remove(),this.options.showAccuracyCircle&&this._accuracyCircleMarker&&this._accuracyCircleMarker.remove(),this._container.remove(),this._map.off("movestart",this._onMoveStart),this._map.off("zoom",this._onUpdate),this._map.off("move",this._onUpdate),this._map.off("rotate",this._onUpdate),this._map.off("pitch",this._onUpdate),this._map=void 0,dq=0,x8=!1}_isOutOfMapMaxBounds(e){let t=this._map.getMaxBounds(),r=e.coords;return t&&(r.longitudet.getEast()||r.latitudet.getNorth())}_setErrorState(){switch(this._watchState){case"WAITING_ACTIVE":this._watchState="ACTIVE_ERROR",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active-error");break;case"ACTIVE_LOCK":this._watchState="ACTIVE_ERROR",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting");break;case"BACKGROUND":this._watchState="BACKGROUND_ERROR",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-background-error"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting");break;case"ACTIVE_ERROR":case"BACKGROUND_ERROR":break;case"OFF":case void 0:break;default:throw Error(`Unexpected watchState ${this._watchState}`)}}_updateCircleRadiusIfNeeded(){let e=this._userLocationDotMarker.getLngLat();if(!this.options.showUserLocation||!this.options.showAccuracyCircle||!this._accuracy||!e)return;let t=this._map.project(e),r=this._map.unproject([t.x+100,t.y]),i=e.distanceTo(r)/100,n=2*this._accuracy/i;this._circleElement.style.width=`${n.toFixed(2)}px`,this._circleElement.style.height=`${n.toFixed(2)}px`}trigger(){if(!this._setup)return Ma("Geolocate control triggered before added to a map"),!1;if(this.options.trackUserLocation){switch(this._watchState){case"OFF":this._watchState="WAITING_ACTIVE",this.fire(new s3("trackuserlocationstart"));break;case"WAITING_ACTIVE":case"ACTIVE_LOCK":case"ACTIVE_ERROR":case"BACKGROUND_ERROR":dq--,x8=!1,this._watchState="OFF",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-active-error"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background-error"),this.fire(new s3("trackuserlocationend"));break;case"BACKGROUND":this._watchState="ACTIVE_LOCK",this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-background"),this._lastKnownPosition&&this._updateCamera(this._lastKnownPosition),this.fire(new s3("trackuserlocationstart")),this.fire(new s3("userlocationfocus"));break;default:throw Error(`Unexpected watchState ${this._watchState}`)}switch(this._watchState){case"WAITING_ACTIVE":this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active");break;case"ACTIVE_LOCK":this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-active");break;case"OFF":break;default:throw Error(`Unexpected watchState ${this._watchState}`)}if(this._watchState==="OFF"&&this._geolocationWatchID!==void 0)this._clearWatch();else if(this._geolocationWatchID===void 0){this._geolocateButton.classList.add("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.setAttribute("aria-pressed","true"),dq++;let e;dq>1?(e={maximumAge:6e5,timeout:0},x8=!0):(e=this.options.positionOptions,x8=!1),this._geolocationWatchID=window.navigator.geolocation.watchPosition(this._onSuccess,this._onError,e)}}else window.navigator.geolocation.getCurrentPosition(this._onSuccess,this._onError,this.options.positionOptions),this._timeoutId=setTimeout(this._finish,1e4);return!0}_clearWatch(){window.navigator.geolocation.clearWatch(this._geolocationWatchID),this._geolocationWatchID=void 0,this._geolocateButton.classList.remove("maplibregl-ctrl-geolocate-waiting"),this._geolocateButton.setAttribute("aria-pressed","false"),this.options.showUserLocation&&this._updateMarker(null)}},HTr={maxWidth:100,unit:"metric"},jTr=class{constructor(e){this._onMove=()=>{$at(this._map,this._container,this.options)},this.setUnit=t=>{this.options.unit=t,$at(this._map,this._container,this.options)},this.options=fn(fn({},HTr),e)}getDefaultPosition(){return"bottom-left"}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-scale",e.getContainer()),this._map.on("move",this._onMove),this._onMove(),this._container}onRemove(){this._container.remove(),this._map.off("move",this._onMove),this._map=void 0}};mae=class extends e0{},YTr=class extends mu{constructor(e={}){var t;super(),this._onFullscreenChange=()=>{var i;let r=window.document.fullscreenElement||window.document.webkitFullscreenElement;for(;(i=r==null?void 0:r.shadowRoot)!=null&&i.fullscreenElement;)r=r.shadowRoot.fullscreenElement;r===this._container!==this._fullscreen&&this._handleFullscreenChange()},this._onClickFullscreen=()=>{this._isFullscreen()?this._exitFullscreen():this._requestFullscreen()},this._fullscreen=!1,this._pseudo=(t=e.pseudo)!=null?t:!1,e!=null&&e.container&&(e.container instanceof HTMLElement?this._container=e.container:Ma("Full screen control 'container' must be a DOM element.")),"onfullscreenchange"in document?this._fullscreenchange="fullscreenchange":"onmozfullscreenchange"in document?this._fullscreenchange="mozfullscreenchange":"onwebkitfullscreenchange"in document?this._fullscreenchange="webkitfullscreenchange":"onmsfullscreenchange"in document&&(this._fullscreenchange="MSFullscreenChange")}onAdd(e){return this._map=e,this._container||(this._container=this._map.getContainer()),this._controlContainer=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._setupUI(),this._controlContainer}onRemove(){this._controlContainer.remove(),this._map=null,window.document.removeEventListener(this._fullscreenchange,this._onFullscreenChange)}_setupUI(){let e=this._fullscreenButton=$n.create("button","maplibregl-ctrl-fullscreen",this._controlContainer);$n.create("span","maplibregl-ctrl-icon",e).setAttribute("aria-hidden","true"),e.type="button",this._updateTitle(),this._fullscreenButton.addEventListener("click",this._onClickFullscreen),window.document.addEventListener(this._fullscreenchange,this._onFullscreenChange)}_updateTitle(){let e=this._getTitle();this._fullscreenButton.setAttribute("aria-label",e),this._fullscreenButton.title=e}_getTitle(){return this._map._getUIString(this._isFullscreen()?"FullscreenControl.Exit":"FullscreenControl.Enter")}_isFullscreen(){return this._fullscreen}_handleFullscreenChange(){this._fullscreen=!this._fullscreen,this._fullscreenButton.classList.toggle("maplibregl-ctrl-shrink"),this._fullscreenButton.classList.toggle("maplibregl-ctrl-fullscreen"),this._updateTitle(),this._fullscreen?(this.fire(new mae("fullscreenstart")),this._prevCooperativeGesturesEnabled=this._map.cooperativeGestures.isEnabled(),this._map.cooperativeGestures.disable()):(this.fire(new mae("fullscreenend")),this._prevCooperativeGesturesEnabled&&this._map.cooperativeGestures.enable())}_exitFullscreen(){this._pseudo?this._togglePseudoFullScreen():window.document.exitFullscreen?window.document.exitFullscreen():window.document.webkitCancelFullScreen?window.document.webkitCancelFullScreen():this._togglePseudoFullScreen()}_requestFullscreen(){this._pseudo?this._togglePseudoFullScreen():this._container.requestFullscreen?this._container.requestFullscreen():this._container.webkitRequestFullscreen?this._container.webkitRequestFullscreen():this._togglePseudoFullScreen()}_togglePseudoFullScreen(){this._container.classList.toggle("maplibregl-pseudo-fullscreen"),this._handleFullscreenChange(),this._map.resize()}},XTr=class{constructor(e){this._toggleTerrain=()=>{this._map.getTerrain()?this._map.setTerrain(null):this._map.setTerrain(this.options),this._updateTerrainIcon()},this._updateTerrainIcon=()=>{this._terrainButton.classList.remove("maplibregl-ctrl-terrain"),this._terrainButton.classList.remove("maplibregl-ctrl-terrain-enabled"),this._map.terrain?(this._terrainButton.classList.add("maplibregl-ctrl-terrain-enabled"),this._terrainButton.title=this._map._getUIString("TerrainControl.Disable")):(this._terrainButton.classList.add("maplibregl-ctrl-terrain"),this._terrainButton.title=this._map._getUIString("TerrainControl.Enable"))},this.options=e}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._terrainButton=$n.create("button","maplibregl-ctrl-terrain",this._container),$n.create("span","maplibregl-ctrl-icon",this._terrainButton).setAttribute("aria-hidden","true"),this._terrainButton.type="button",this._terrainButton.addEventListener("click",this._toggleTerrain),this._updateTerrainIcon(),this._map.on("terrain",this._updateTerrainIcon),this._container}onRemove(){this._container.remove(),this._map.off("terrain",this._updateTerrainIcon),this._map=void 0}},ZTr=class{constructor(){this._toggleProjection=()=>{var t;let e=(t=this._map.getProjection())==null?void 0:t.type;e==="mercator"||!e?this._map.setProjection({type:"globe"}):this._map.setProjection({type:"mercator"}),this._updateGlobeIcon()},this._updateGlobeIcon=()=>{var e;this._globeButton.classList.remove("maplibregl-ctrl-globe"),this._globeButton.classList.remove("maplibregl-ctrl-globe-enabled"),((e=this._map.getProjection())==null?void 0:e.type)==="globe"?(this._globeButton.classList.add("maplibregl-ctrl-globe-enabled"),this._globeButton.title=this._map._getUIString("GlobeControl.Disable")):(this._globeButton.classList.add("maplibregl-ctrl-globe"),this._globeButton.title=this._map._getUIString("GlobeControl.Enable"))}}onAdd(e){return this._map=e,this._container=$n.create("div","maplibregl-ctrl maplibregl-ctrl-group"),this._globeButton=$n.create("button","maplibregl-ctrl-globe",this._container),$n.create("span","maplibregl-ctrl-icon",this._globeButton).setAttribute("aria-hidden","true"),this._globeButton.type="button",this._globeButton.addEventListener("click",this._toggleProjection),this._updateGlobeIcon(),this._map.on("styledata",this._updateGlobeIcon),this._map.on("projectiontransition",this._updateGlobeIcon),this._container}onRemove(){this._container.remove(),this._map.off("styledata",this._updateGlobeIcon),this._map.off("projectiontransition",this._updateGlobeIcon),this._globeButton.removeEventListener("click",this._toggleProjection),this._map=void 0}},KTr={closeButton:!0,closeOnClick:!0,focusAfterOpen:!0,className:"",maxWidth:"240px",subpixelPositioning:!1,locationOccludedOpacity:void 0,padding:void 0},JTr=["a[href]","[tabindex]:not([tabindex='-1'])","[contenteditable]:not([contenteditable='false'])","button:not([disabled])","input:not([disabled])","select:not([disabled])","textarea:not([disabled])"].join(", "),yae=class extends e0{},QTr=class extends mu{constructor(e){super(),this._updateOpacity=()=>{this.options.locationOccludedOpacity!==void 0&&(this._map._camera.transform.isLocationOccluded(this.getLngLat())?this._container.style.opacity=`${this.options.locationOccludedOpacity}`:this._container.style.opacity="")},this.remove=()=>(this._content&&this._content.remove(),this._container&&(this._container.remove(),delete this._container),this._map&&(this._map.off("move",this._update),this._map.off("move",this._onClose),this._map.off("click",this._onClose),this._map.off("remove",this.remove),this._map.off("terrain",this._update),this._map.off("projectiontransition",this._update),this._map.off("mousemove",this._update),this._map.off("mouseup",this._update),this._map.off("drag",this._update),this._map._canvasContainer.classList.remove("maplibregl-track-pointer"),delete this._map,this.fire(new yae("close"))),this),this._update=t=>{let r=this._lngLat||this._trackPointer;if(!this._map||!r||!this._content)return;if(!this._container){if(this._container=$n.create("div","maplibregl-popup",this._map.getContainer()),this._tip=$n.create("div","maplibregl-popup-tip",this._container),this._container.appendChild(this._content),this.options.className)for(let l of this.options.className.split(" "))this._container.classList.add(l);this._closeButton&&this._closeButton.setAttribute("aria-label",this._map._getUIString("Popup.Close")),this._trackPointer&&this._container.classList.add("maplibregl-popup-track-pointer")}this.options.maxWidth&&this._container.style.maxWidth!==this.options.maxWidth&&(this._container.style.maxWidth=this.options.maxWidth),this._lngLat=Est(this._lngLat,this._flatPos,this._map._camera.transform,this._trackPointer);let i;if(t&&"point"in t&&t.point&&(i=t.point),this._trackPointer&&!i)return;let n=this._flatPos=this._pos=this._trackPointer&&i?i:this._map.project(this._lngLat);this._map.terrain&&(this._flatPos=this._trackPointer&&i?i:this._map._camera.transform.locationToScreenPoint(this._lngLat));let a=this.options.anchor,o=Lst(this.options.offset);if(!a){let l=this._container.offsetWidth,u=this._container.offsetHeight,c=e6r(this.options.padding),f;f=n.y+o.bottom.ythis._map._camera.transform.height-u-c.bottom?["bottom"]:[],n.xthis._map._camera.transform.width-l/2-c.right&&f.push("right"),a=f.length===0?"bottom":f.join("-")}let s=n.add(o[a]);this.options.subpixelPositioning||(s=s.round()),this._container.style.transform=`${Oae[a]} translate(${s.x}px,${s.y}px)`,kst(this._container,a,"popup"),this._updateOpacity()},this._onClose=()=>{this.remove()},this.options=ln(Object.create(KTr),e)}addTo(e){return this._map&&this.remove(),this._map=e,this.options.closeOnClick&&this._map.on("click",this._onClose),this.options.closeOnMove&&this._map.on("move",this._onClose),this._map.on("remove",this.remove),this._map.on("terrain",this._update),this._map.on("projectiontransition",this._update),this._update(),this._focusFirstElement(),this._trackPointer?(this._map.on("mousemove",this._update),this._map.on("mouseup",this._update),this._container&&this._container.classList.add("maplibregl-popup-track-pointer"),this._map._canvasContainer.classList.add("maplibregl-track-pointer")):this._map.on("move",this._update),this.fire(new yae("open")),this}isOpen(){return!!this._map}getLngLat(){return this._lngLat}setLngLat(e){return this._lngLat=mn.convert(e),this._pos=null,this._flatPos=null,this._trackPointer=!1,this._update(),this._map&&(this._map.on("move",this._update),this._map.off("mousemove",this._update),this._container&&this._container.classList.remove("maplibregl-popup-track-pointer"),this._map._canvasContainer.classList.remove("maplibregl-track-pointer")),this}trackPointer(){return this._trackPointer=!0,this._pos=null,this._flatPos=null,this._update(),this._map&&(this._map.off("move",this._update),this._map.on("mousemove",this._update),this._map.on("drag",this._update),this._container&&this._container.classList.add("maplibregl-popup-track-pointer"),this._map._canvasContainer.classList.add("maplibregl-track-pointer")),this}getElement(){return this._container}setText(e){return this.setDOMContent(document.createTextNode(e))}setHTML(e){let t=document.createDocumentFragment(),r=document.createElement("body"),i;for(r.innerHTML=e;i=r.firstChild,i;)t.appendChild(i);return this.setDOMContent(t)}getMaxWidth(){var e;return(e=this._container)==null?void 0:e.style.maxWidth}setMaxWidth(e){return this.options.maxWidth=e,this._update(),this}setDOMContent(e){if(this._content)for(;this._content.hasChildNodes();)this._content.firstChild&&this._content.removeChild(this._content.firstChild);else this._content=$n.create("div","maplibregl-popup-content",this._container);return this._content.appendChild(e),this._createCloseButton(),this._update(),this._focusFirstElement(),this}addClassName(e){return this._container&&this._container.classList.add(e),this}removeClassName(e){return this._container&&this._container.classList.remove(e),this}setOffset(e){return this.options.offset=e,this._update(),this}toggleClassName(e){if(this._container)return this._container.classList.toggle(e)}setSubpixelPositioning(e){this.options.subpixelPositioning=e}setPadding(e){this.options.padding=e,this._update()}_createCloseButton(){this.options.closeButton&&(this._closeButton=$n.create("button","maplibregl-popup-close-button",this._content),this._closeButton.type="button",this._closeButton.innerHTML="×",this._closeButton.addEventListener("click",this._onClose))}_focusFirstElement(){if(!this.options.focusAfterOpen||!this._container)return;let e=this._container.querySelector(JTr);e&&e.focus()}};t6r=Wat});var Bst=W((sri,zst)=>{"use strict";zst.exports='var t1=Object.defineProperty,e1=Object.defineProperties;var r1=Object.getOwnPropertyDescriptors;var nh=Object.getOwnPropertySymbols;var i1=Object.prototype.hasOwnProperty,n1=Object.prototype.propertyIsEnumerable;var ah=(t,e,r)=>e in t?t1(t,e,{enumerable:!0,configurable:!0,writable:!0,value:r}):t[e]=r,je=(t,e)=>{for(var r in e||(e={}))i1.call(e,r)&&ah(t,r,e[r]);if(nh)for(var r of nh(e))n1.call(e,r)&&ah(t,r,e[r]);return t},Si=(t,e)=>e1(t,r1(e));var rt=(t,e,r)=>new Promise((i,n)=>{var a=l=>{try{o(r.next(l))}catch(u){n(u)}},s=l=>{try{o(r.throw(l))}catch(u){n(u)}},o=l=>l.done?i(l.value):Promise.resolve(l.value).then(a,s);o((r=r.apply(t,e)).next())});var a1=Object.create,ep=Object.defineProperty,s1=Object.getOwnPropertyDescriptor,o1=Object.getOwnPropertyNames,l1=Object.getPrototypeOf,rp=Object.prototype.hasOwnProperty,fl=(t,e)=>()=>(e||(t((e={exports:{}}).exports,e),t=null),e.exports),u1=(t,e,r,i)=>{if(e&&typeof e=="object"||typeof e=="function")for(var n=o1(e),a=0,s=n.length,o;ae[l]).bind(null,o),enumerable:!(i=s1(e,o))||i.enumerable});return t},h1=(t,e,r)=>(r=t==null?{}:a1(l1(t)),u1(e||!t||!t.__esModule||!rp.call(t,"default")?ep(r,"default",{value:t,enumerable:!0}):r,t));function B(t,e){this.x=t,this.y=e}B.prototype={clone(){return new B(this.x,this.y)},add(t){return this.clone()._add(t)},sub(t){return this.clone()._sub(t)},multByPoint(t){return this.clone()._multByPoint(t)},divByPoint(t){return this.clone()._divByPoint(t)},mult(t){return this.clone()._mult(t)},div(t){return this.clone()._div(t)},rotate(t){return this.clone()._rotate(t)},rotateAround(t,e){return this.clone()._rotateAround(t,e)},matMult(t){return this.clone()._matMult(t)},unit(){return this.clone()._unit()},perp(){return this.clone()._perp()},round(){return this.clone()._round()},mag(){return Math.sqrt(this.x*this.x+this.y*this.y)},equals(t){return this.x===t.x&&this.y===t.y},dist(t){return Math.sqrt(this.distSqr(t))},distSqr(t){let e=t.x-this.x,r=t.y-this.y;return e*e+r*r},angle(){return Math.atan2(this.y,this.x)},angleTo(t){return Math.atan2(this.y-t.y,this.x-t.x)},angleWith(t){return this.angleWithSep(t.x,t.y)},angleWithSep(t,e){return Math.atan2(this.x*e-this.y*t,this.x*t+this.y*e)},_matMult(t){let e=t[0]*this.x+t[1]*this.y,r=t[2]*this.x+t[3]*this.y;return this.x=e,this.y=r,this},_add(t){return this.x+=t.x,this.y+=t.y,this},_sub(t){return this.x-=t.x,this.y-=t.y,this},_mult(t){return this.x*=t,this.y*=t,this},_div(t){return this.x/=t,this.y/=t,this},_multByPoint(t){return this.x*=t.x,this.y*=t.y,this},_divByPoint(t){return this.x/=t.x,this.y/=t.y,this},_unit(){return this._div(this.mag()),this},_perp(){let t=this.y;return this.y=this.x,this.x=-t,this},_rotate(t){let e=Math.cos(t),r=Math.sin(t),i=e*this.x-r*this.y,n=r*this.x+e*this.y;return this.x=i,this.y=n,this},_rotateAround(t,e){let r=Math.cos(t),i=Math.sin(t),n=e.x+r*(this.x-e.x)-i*(this.y-e.y),a=e.y+i*(this.x-e.x)+r*(this.y-e.y);return this.x=n,this.y=a,this},_round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this},constructor:B},B.convert=function(t){if(t instanceof B)return t;if(Array.isArray(t))return new B(+t[0],+t[1]);if(t.x!==void 0&&t.y!==void 0)return new B(+t.x,+t.y);throw Error("Expected [x, y] or {x, y} point format")};function c1(t,e,r,i){let n=3*t,a=3*(r-t)-n,s=1-n-a,o=3*e,l=3*(i-e)-o,u=1-o-l;return function(h,c=1e-6){if(h<=0)return 0;if(h>=1)return 1;let p=h;for(let y=0;y<8;y++){let m=((s*p+a)*p+n)*p-h;if(Math.abs(m)m?f=p:d=p,p=(f+d)*.5}return((u*p+l)*p+o)*p}}var Nn;function p1(){return Nn!=null||(Nn=typeof OffscreenCanvas<"u"&&!!new OffscreenCanvas(1,1).getContext("2d")&&typeof createImageBitmap=="function"),Nn}var Un;function f1(){if(Un==null&&(Un=!1,p1())){let t=new OffscreenCanvas(5,5).getContext("2d",{willReadFrequently:!0});if(t){for(let r=0;r<25;r++){let i=r*4;t.fillStyle=`rgb(${i},${i+1},${i+2})`,t.fillRect(r%5,Math.floor(r/5),1,1)}let e=t.getImageData(0,0,5,5).data;for(let r=0;r<100;r++)if(r%4!=3&&e[r]!==r){Un=!0;break}}}return Un||!1}var pe=typeof Float32Array<"u"?Float32Array:Array;Math.PI/180,180/Math.PI;function d1(){var t=new pe(9);return pe!=Float32Array&&(t[1]=0,t[2]=0,t[3]=0,t[5]=0,t[6]=0,t[7]=0),t[0]=1,t[4]=1,t[8]=1,t}function ip(){var t=new pe(3);return pe!=Float32Array&&(t[0]=0,t[1]=0,t[2]=0),t}function y1(t){var e=t[0],r=t[1],i=t[2];return Math.sqrt(e*e+r*r+i*i)}function sh(t,e,r){var i=new pe(3);return i[0]=t,i[1]=e,i[2]=r,i}function m1(t,e){var r=e[0],i=e[1],n=e[2],a=r*r+i*i+n*n;return a>0&&(a=1/Math.sqrt(a)),t[0]=e[0]*a,t[1]=e[1]*a,t[2]=e[2]*a,t}function g1(t,e){return t[0]*e[0]+t[1]*e[1]+t[2]*e[2]}function ks(t,e,r){var i=e[0],n=e[1],a=e[2],s=r[0],o=r[1],l=r[2];return t[0]=n*l-a*o,t[1]=a*s-i*l,t[2]=i*o-n*s,t}var x1=y1;(function(){var t=ip();return function(e,r,i,n,a,s){var o,l;for(r||(r=3),i||(i=0),l=n?Math.min(n*r+i,e.length):e.length,o=i;o0&&(s=1/Math.sqrt(s)),t[0]=r*s,t[1]=i*s,t[2]=n*s,t[3]=a*s,t}function w1(t,e,r){var i=e[0],n=e[1],a=e[2],s=e[3];return t[0]=r[0]*i+r[4]*n+r[8]*a+r[12]*s,t[1]=r[1]*i+r[5]*n+r[9]*a+r[13]*s,t[2]=r[2]*i+r[6]*n+r[10]*a+r[14]*s,t[3]=r[3]*i+r[7]*n+r[11]*a+r[15]*s,t}(function(){var t=v1();return function(e,r,i,n,a,s){var o,l;for(r||(r=4),i||(i=0),l=n?Math.min(n*r+i,e.length):e.length,o=i;o1e-6?(p=Math.acos(f),d=Math.sin(p),y=Math.sin((1-i)*p)/d,m=Math.sin(i*p)/d):(y=1-i,m=i),t[0]=y*n+m*l,t[1]=y*a+m*u,t[2]=y*s+m*h,t[3]=y*o+m*c,t}function _1(t,e){var r=e[0]+e[4]+e[8],i;if(r>0)i=Math.sqrt(r+1),t[3]=.5*i,i=.5/i,t[0]=(e[5]-e[7])*i,t[1]=(e[6]-e[2])*i,t[2]=(e[1]-e[3])*i;else{var n=0;e[4]>e[0]&&(n=1),e[8]>e[n*3+n]&&(n=2);var a=(n+1)%3,s=(n+2)%3;i=Math.sqrt(e[n*3+n]-e[a*3+a]-e[s*3+s]+1),t[n]=.5*i,i=.5/i,t[3]=(e[a*3+s]-e[s*3+a])*i,t[a]=(e[a*3+n]+e[n*3+a])*i,t[s]=(e[s*3+n]+e[n*3+s])*i}return t}var lh=b1;(function(){var t=ip(),e=sh(1,0,0),r=sh(0,1,0);return function(i,n,a){var s=g1(n,a);return s<-.999999?(ks(t,e,n),x1(t)<1e-6&&ks(t,r,n),m1(t,t),D1(i,t,Math.PI),i):s>.999999?(i[0]=0,i[1]=0,i[2]=0,i[3]=1,i):(ks(t,n,a),i[0]=t[0],i[1]=t[1],i[2]=t[2],i[3]=1+s,lh(i,i))}})(),(function(){var t=oh(),e=oh();return function(r,i,n,a,s,o){return Ts(t,i,s,o),Ts(e,n,a,o),Ts(r,t,e,2*o*(1-o)),r}})(),(function(){var t=d1();return function(e,r,i,n){return t[0]=i[0],t[3]=i[1],t[6]=i[2],t[1]=n[0],t[4]=n[1],t[7]=n[2],t[2]=-r[0],t[5]=-r[1],t[8]=-r[2],lh(e,_1(e,t))}})();function A1(){var t=new pe(2);return pe!=Float32Array&&(t[0]=0,t[1]=0),t}(function(){var t=A1();return function(e,r,i,n,a,s){var o,l;for(r||(r=2),i||(i=0),l=n?Math.min(n*r+i,e.length):e.length,o=i;o=1)return 1;let e=t*t,r=e*t;return 4*(t<.5?r:3*(t-e)+r-.75)}function E1(t,e,r,i){return c1(t,e,r,i)}var d5=E1(.25,.1,.25,1);function Ji(t,e,r){return Math.min(r,Math.max(e,t))}function F1(t,e,r){let i=r-e,n=((t-e)%i+i)%i+e;return n===e?r:n}function Gt(t,...e){for(let r of e)for(let i in r)t[i]=r[i];return t}function k1(t){return Math.log(t)/Math.LN2%1==0}function Ia(t,e,r){let i={};for(let n in t)i[n]=e.call(r||this,t[n],n,t);return i}function T1(t,e,r){let i={};for(let n in t)e.call(r||this,t[n],n,t)&&(i[n]=t[n]);return i}function He(t){return Array.isArray(t)?t.map(He):typeof t=="object"&&t?Ia(t,He):t}var uh={};function Bt(t){uh[t]||(typeof console<"u"&&console.warn(t),uh[t]=!0)}function Ke(t,e,r){return(r.y-t.y)*(e.x-t.x)>(e.y-t.y)*(r.x-t.x)}function mr(t){return typeof WorkerGlobalScope<"u"&&t!==void 0&&t instanceof WorkerGlobalScope}function Ca(t){return typeof ImageBitmap<"u"&&t instanceof ImageBitmap}function I1(t,e,r,i,n){let a=Math.max(-e,0)*4,s=(Math.max(0,r)-r)*i*4+a,o=i*4,l=Math.max(0,e),u=Math.max(0,r),h=Math.min(t.width,e+i),c=Math.min(t.height,r+n);return{rect:{x:l,y:u,width:h-l,height:c-u},layout:[{offset:s,stride:o}]}}function C1(t,e,r,i,n){return rt(this,null,function*(){if(typeof VideoFrame>"u")throw Error("VideoFrame not supported");let a=new VideoFrame(t,{timestamp:0});try{let s=a==null?void 0:a.format;if(!s||!(s.startsWith("BGR")||s.startsWith("RGB")))throw Error(`Unrecognized format ${s}`);let o=s.startsWith("BGR"),l=new Uint8ClampedArray(i*n*4);if(yield a.copyTo(l,I1(t,e,r,i,n)),o)for(let u=0;u{t.removeEventListener(e,r,i)}}}function ch(t){return t*Math.PI/180}var ph="AbortError",dl=class extends Error{constructor(t=ph){super(t instanceof Error?t.message:t),this.name=ph,t instanceof Error&&t.stack&&(this.stack=t.stack)}};function yl(t){return t instanceof Error&&t.name==="AbortError"}function B1(t){if(t.aborted)throw new dl(t.reason)}var ml={MAX_PARALLEL_IMAGE_REQUESTS:16,MAX_PARALLEL_IMAGE_REQUESTS_PER_FRAME:8,MAX_TILE_CACHE_ZOOM_LEVELS:5,REGISTERED_PROTOCOLS:{},WORKER_URL:""};function P1(t){return ml.REGISTERED_PROTOCOLS[t.substring(0,t.indexOf("://"))]}function sp(t,e){ml.REGISTERED_PROTOCOLS[t]=e}function op(t){delete ml.REGISTERED_PROTOCOLS[t]}var fh="global-dispatcher",ya=class extends Error{constructor(t,e,r,i){super(`AJAXError: ${e} (${t}): ${r}`),this.status=t,this.statusText=e,this.url=r,this.body=i}};function lp(){var t;if(mr(self))return(t=self.worker)==null?void 0:t.referrer;if(window.location.protocol==="blob:")try{return window.parent.location.href}catch(e){}return window.location.href}var z1=t=>{var e;return t.startsWith("file:")||((e=lp())==null?void 0:e.startsWith("file:"))&&!/^\\w+:/.test(t)};function L1(t,e){return rt(this,null,function*(){let r=new Request(t.url,{method:t.method||"GET",body:t.body,credentials:t.credentials,headers:t.headers,cache:t.cache,referrer:lp(),referrerPolicy:t.referrerPolicy,signal:e.signal});t.type==="json"&&!r.headers.has("Accept")&&r.headers.set("Accept","application/json");let i;try{i=yield fetch(r)}catch(s){throw yl(s)?s:new ya(0,Ki(s).message,t.url,new Blob)}if(!i.ok){let s=yield i.blob();throw new ya(i.status,i.statusText,t.url,s)}let n;n=t.type==="arrayBuffer"||t.type==="image"?i.arrayBuffer():t.type==="json"?i.json():i.text();let a=yield n;return B1(e.signal),{data:a,cacheControl:i.headers.get("Cache-Control"),expires:i.headers.get("Expires"),etag:i.headers.get("ETag")}})}function V1(t,e){return new Promise((r,i)=>{var a;let n=new XMLHttpRequest;n.open(t.method||"GET",t.url,!0),(t.type==="arrayBuffer"||t.type==="image")&&(n.responseType="arraybuffer");for(let s in t.headers)n.setRequestHeader(s,t.headers[s]);t.type==="json"&&(n.responseType="text",(a=t.headers)!=null&&a.Accept||n.setRequestHeader("Accept","application/json")),n.withCredentials=t.credentials==="include",n.onerror=()=>{i(Error(n.statusText))},n.onload=()=>{if(!e.signal.aborted)if((n.status>=200&&n.status<300||n.status===0)&&n.response!==null){let s=n.response;if(t.type==="json")try{s=JSON.parse(n.response)}catch(o){i(o);return}r({data:s,cacheControl:n.getResponseHeader("Cache-Control"),expires:n.getResponseHeader("Expires"),etag:n.getResponseHeader("ETag")})}else{let s=new Blob([n.response],{type:n.getResponseHeader("Content-Type")});i(new ya(n.status,n.statusText,t.url,s))}},e.signal.addEventListener("abort",()=>{n.abort(),i(new dl(e.signal.reason))}),n.send(t.body)})}var Ma=function(t,e){return rt(this,null,function*(){var r,i;if(t.url.includes("://")&&!/^https?:|^file:/.test(t.url)){let n=P1(t.url);if(n){let a=yield n(t,e);return!a.data&&t.type==="arrayBuffer"?Gt(a,{data:new ArrayBuffer(0)}):a}if(mr(self)&&((r=self.worker)!=null&&r.actor))return self.worker.actor.sendAsync({type:"GR",data:t,targetMapId:fh},e)}if(!z1(t.url)){if(fetch&&Request&&AbortController&&Object.hasOwn(Request.prototype,"signal"))return L1(t,e);if(mr(self)&&((i=self.worker)!=null&&i.actor))return self.worker.actor.sendAsync({type:"GR",data:t,mustQueue:!0,targetMapId:fh},e)}return V1(t,e)})},up=(t,e)=>Ma(Gt(t,{type:"json"}),e),hp=(t,e)=>Ma(Gt(t,{type:"arrayBuffer"}),e);function dh(t,e,r){var i;(i=r[t])!=null&&i.includes(e)||(r[t]||(r[t]=[]),r[t].push(e))}function Is(t,e,r){if(r!=null&&r[t]){let i=r[t].indexOf(e);i!==-1&&r[t].splice(i,1)}}var cp=class{constructor(t,e={}){Gt(this,e),this.type=t}},ma=class extends cp{constructor(t,e={}){super("error",Gt({error:t},e))}},O1=class{on(t,e){return this._listeners||(this._listeners={}),dh(t,e,this._listeners),{unsubscribe:()=>{this.off(t,e)}}}off(t,e){return Is(t,e,this._listeners),Is(t,e,this._oneTimeListeners),this}once(t,e){return e?(this._oneTimeListeners||(this._oneTimeListeners={}),dh(t,e,this._oneTimeListeners),this):new Promise(r=>this.once(t,r))}fire(t,e){var n,a,s,o,l,u;let r=typeof t=="string"?new cp(t,e||{}):t,i=r.type;if(this.listens(i)){r.target=this;let h=(s=(a=(n=this._listeners)==null?void 0:n[i])==null?void 0:a.slice())!=null?s:[];for(let f of h)f.call(this,r);let c=(u=(l=(o=this._oneTimeListeners)==null?void 0:o[i])==null?void 0:l.slice())!=null?u:[];for(let f of c)Is(i,f,this._oneTimeListeners),f.call(this,r);let p=this._eventedParent;p&&(Gt(r,typeof this._eventedParentData=="function"?this._eventedParentData():this._eventedParentData),p.fire(r))}else r instanceof ma&&console.error(r.error);return this}listens(t){var e,r,i,n,a;return!!((r=(e=this._listeners)==null?void 0:e[t])!=null&&r.length||(n=(i=this._oneTimeListeners)==null?void 0:i[t])!=null&&n.length||(a=this._eventedParent)!=null&&a.listens(t))}setEventedParent(t,e){return this._eventedParent=t,this._eventedParentData=e,this}},pp={$version:8,$root:{version:{required:!0,type:"enum",values:[8]},name:{type:"string"},metadata:{type:"*"},center:{type:"array",value:"number",length:2},centerAltitude:{type:"number"},zoom:{type:"number"},bearing:{type:"number",default:0,period:360,units:"degrees"},pitch:{type:"number",default:0,units:"degrees"},roll:{type:"number",default:0,units:"degrees"},state:{type:"state",default:{}},light:{type:"light"},sky:{type:"sky"},projection:{type:"projection"},terrain:{type:"terrain"},sources:{required:!0,type:"sources"},sprite:{type:"sprite"},glyphs:{type:"string"},"font-faces":{type:"fontFaces"},transition:{type:"transition"},layers:{required:!0,type:"array",value:"layer"}},sources:{"*":{type:"source"}},source:["source_vector","source_raster","source_raster_dem","source_geojson","source_video","source_image"],source_vector:{type:{required:!0,type:"enum",values:{vector:{}}},url:{type:"string"},tiles:{type:"array",value:"string"},bounds:{type:"array",value:"number",length:4,default:[-180,-85.051129,180,85.051129]},scheme:{type:"enum",values:{xyz:{},tms:{}},default:"xyz"},minzoom:{type:"number",default:0},maxzoom:{type:"number",default:22},attribution:{type:"string"},promoteId:{type:"promoteId"},volatile:{type:"boolean",default:!1},encoding:{type:"enum",values:{mvt:{},mlt:{}},default:"mvt"},"*":{type:"*"}},source_raster:{type:{required:!0,type:"enum",values:{raster:{}}},url:{type:"string"},tiles:{type:"array",value:"string"},bounds:{type:"array",value:"number",length:4,default:[-180,-85.051129,180,85.051129]},minzoom:{type:"number",default:0},maxzoom:{type:"number",default:22},tileSize:{type:"number",default:512,units:"pixels"},scheme:{type:"enum",values:{xyz:{},tms:{}},default:"xyz"},attribution:{type:"string"},volatile:{type:"boolean",default:!1},"*":{type:"*"}},source_raster_dem:{type:{required:!0,type:"enum",values:{"raster-dem":{}}},url:{type:"string"},tiles:{type:"array",value:"string"},bounds:{type:"array",value:"number",length:4,default:[-180,-85.051129,180,85.051129]},minzoom:{type:"number",default:0},maxzoom:{type:"number",default:22},tileSize:{type:"number",default:512,units:"pixels"},attribution:{type:"string"},encoding:{type:"enum",values:{terrarium:{},mapbox:{},custom:{}},default:"mapbox"},redFactor:{type:"number",default:1},blueFactor:{type:"number",default:1},greenFactor:{type:"number",default:1},baseShift:{type:"number",default:0},volatile:{type:"boolean",default:!1},"*":{type:"*"}},source_geojson:{type:{required:!0,type:"enum",values:{geojson:{}}},data:{required:!0,type:"*"},maxzoom:{type:"number",default:18},attribution:{type:"string"},buffer:{type:"number",default:128,maximum:512,minimum:0},filter:{type:"filter"},tolerance:{type:"number",default:.375},cluster:{type:"boolean",default:!1},clusterRadius:{type:"number",default:50,minimum:0},clusterMaxZoom:{type:"number"},clusterMinPoints:{type:"number"},clusterProperties:{type:"*"},lineMetrics:{type:"boolean",default:!1},generateId:{type:"boolean",default:!1},promoteId:{type:"promoteId"}},source_video:{type:{required:!0,type:"enum",values:{video:{}}},urls:{required:!0,type:"array",value:"string"},coordinates:{required:!0,type:"array",length:4,value:{type:"array",length:2,value:"number"}}},source_image:{type:{required:!0,type:"enum",values:{image:{}}},url:{type:"string"},coordinates:{required:!0,type:"array",length:4,value:{type:"array",length:2,value:"number"}}},layer:{id:{type:"string",required:!0},type:{type:"enum",values:{fill:{},line:{},symbol:{},circle:{},heatmap:{},"fill-extrusion":{},raster:{},hillshade:{},"color-relief":{},background:{}},required:!0},metadata:{type:"*"},source:{type:"string"},"source-layer":{type:"string"},minzoom:{type:"number",minimum:0,maximum:24},maxzoom:{type:"number",minimum:0,maximum:24},filter:{type:"filter"},layout:{type:"layout"},paint:{type:"paint"}},layout:["layout_fill","layout_line","layout_circle","layout_heatmap","layout_fill-extrusion","layout_symbol","layout_raster","layout_hillshade","layout_color-relief","layout_background"],layout_background:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_fill:{"fill-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_circle:{"circle-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_heatmap:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},"layout_fill-extrusion":{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"},"fill-extrusion-rounded-corner-distance":{type:"number",default:0,minimum:0,units:"meters","property-type":"constant"}},layout_line:{"line-cap":{type:"enum",values:{butt:{},round:{},square:{}},default:"butt",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-join":{type:"enum",values:{bevel:{},round:{},miter:{}},default:"miter",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-miter-limit":{type:"number",default:2,requires:[{"line-join":"miter"}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-round-limit":{type:"number",default:1.05,requires:[{"line-join":"round"}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"line-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_symbol:{"symbol-placement":{type:"enum",values:{point:{},line:{},"line-center":{}},default:"point",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"symbol-spacing":{type:"number",default:250,minimum:1,units:"pixels",requires:[{"symbol-placement":"line"}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"symbol-avoid-edges":{type:"boolean",default:!1,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"symbol-sort-key":{type:"number",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"symbol-z-order":{type:"enum",values:{auto:{},"viewport-y":{},source:{}},default:"auto",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-allow-overlap":{type:"boolean",default:!1,requires:["icon-image",{"!":"icon-overlap"}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-overlap":{type:"enum",values:{never:{},always:{},cooperative:{}},requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-ignore-placement":{type:"boolean",default:!1,requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-optional":{type:"boolean",default:!1,requires:["icon-image","text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-rotation-alignment":{type:"enum",values:{map:{},viewport:{},auto:{}},default:"auto",requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-size":{type:"number",default:1,minimum:0,units:"factor of the original icon size",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-text-fit":{type:"enum",values:{none:{},width:{},height:{},both:{}},default:"none",requires:["icon-image","text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-text-fit-padding":{type:"array",value:"number",length:4,default:[0,0,0,0],units:"pixels",requires:["icon-image","text-field",{"icon-text-fit":["both","width","height"]}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"icon-image":{type:"resolvedImage",tokens:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-rotate":{type:"number",default:0,period:360,units:"degrees",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-padding":{type:"padding",default:[2],units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-keep-upright":{type:"boolean",default:!1,requires:["icon-image",{"icon-rotation-alignment":"map"},{"symbol-placement":["line","line-center"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"icon-offset":{type:"array",value:"number",length:2,default:[0,0],requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-anchor":{type:"enum",values:{center:{},left:{},right:{},top:{},bottom:{},"top-left":{},"top-right":{},"bottom-left":{},"bottom-right":{}},default:"center",requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"icon-pitch-alignment":{type:"enum",values:{map:{},viewport:{},auto:{}},default:"auto",requires:["icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-pitch-alignment":{type:"enum",values:{map:{},viewport:{},auto:{}},default:"auto",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-rotation-alignment":{type:"enum",values:{map:{},viewport:{},"viewport-glyph":{},auto:{}},default:"auto",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-field":{type:"formatted",default:"",tokens:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-font":{type:"array",value:"string",default:["Open Sans Regular","Arial Unicode MS Regular"],requires:["text-field"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-size":{type:"number",default:16,minimum:0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-max-width":{type:"number",default:10,minimum:0,units:"ems",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-line-height":{type:"number",default:1.2,units:"ems",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-letter-spacing":{type:"number",default:0,units:"ems",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-justify":{type:"enum",values:{auto:{},left:{},center:{},right:{}},default:"center",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-radial-offset":{type:"number",units:"ems",default:0,requires:["text-field"],"property-type":"data-driven",expression:{interpolated:!0,parameters:["zoom","feature"]}},"text-variable-anchor":{type:"array",value:"enum",values:{center:{},left:{},right:{},top:{},bottom:{},"top-left":{},"top-right":{},"bottom-left":{},"bottom-right":{}},requires:["text-field",{"symbol-placement":["point"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-variable-anchor-offset":{type:"variableAnchorOffsetCollection",requires:["text-field",{"symbol-placement":["point"]}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-anchor":{type:"enum",values:{center:{},left:{},right:{},top:{},bottom:{},"top-left":{},"top-right":{},"bottom-left":{},"bottom-right":{}},default:"center",requires:["text-field",{"!":"text-variable-anchor"}],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-max-angle":{type:"number",default:45,units:"degrees",requires:["text-field",{"symbol-placement":["line","line-center"]}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-writing-mode":{type:"array",value:"enum",values:{horizontal:{},vertical:{}},requires:["text-field",{"symbol-placement":["point"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-rotate":{type:"number",default:0,period:360,units:"degrees",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-padding":{type:"number",default:2,minimum:0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-keep-upright":{type:"boolean",default:!0,requires:["text-field",{"text-rotation-alignment":"map"},{"symbol-placement":["line","line-center"]}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-transform":{type:"enum",values:{none:{},uppercase:{},lowercase:{}},default:"none",requires:["text-field"],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-offset":{type:"array",value:"number",units:"ems",length:2,default:[0,0],requires:["text-field",{"!":"text-radial-offset"}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"text-allow-overlap":{type:"boolean",default:!1,requires:["text-field",{"!":"text-overlap"}],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-overlap":{type:"enum",values:{never:{},always:{},cooperative:{}},requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-ignore-placement":{type:"boolean",default:!1,requires:["text-field"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-optional":{type:"boolean",default:!1,requires:["text-field","icon-image"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"symbol-height-offset":{type:"number",default:0,units:"meters",requires:[{"symbol-placement":["point"]}],expression:{interpolated:!0,parameters:["zoom","feature"]},"property-type":"data-driven"},"symbol-height-anchor":{type:"enum",values:{ground:{},absolute:{}},default:"ground",requires:["symbol-height-offset"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_raster:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},layout_hillshade:{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},"layout_color-relief":{visibility:{type:"enum",values:{visible:{},none:{}},default:"visible",expression:{interpolated:!1,parameters:["global-state"]},"property-type":"data-constant"}},filter:{type:"boolean",expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"data-driven"},filter_operator:{type:"enum",values:{"==":{},"!=":{},">":{},">=":{},"<":{},"<=":{},in:{},"!in":{},all:{},any:{},none:{},has:{},"!has":{}}},geometry_type:{type:"enum",values:{Point:{},LineString:{},Polygon:{}}},function:{expression:{type:"expression"},stops:{type:"array",value:"function_stop"},base:{type:"number",default:1,minimum:0},property:{type:"string",default:"$zoom"},type:{type:"enum",values:{identity:{},exponential:{},interval:{},categorical:{}},default:"exponential"},colorSpace:{type:"enum",values:{rgb:{},lab:{},hcl:{}},default:"rgb"},default:{type:"*",required:!1}},function_stop:{type:"array",minimum:0,maximum:24,value:["number","color"],length:2},expression:{type:"array",value:"expression_name",minimum:1},light:{anchor:{type:"enum",default:"viewport",values:{map:{},viewport:{}},"property-type":"data-constant",transition:!1,expression:{interpolated:!1,parameters:["zoom"]}},position:{type:"array",default:[1.15,210,30],length:3,value:"number","property-type":"data-constant",transition:!0,expression:{interpolated:!0,parameters:["zoom"]}},color:{type:"color","property-type":"data-constant",default:"#ffffff",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},intensity:{type:"number","property-type":"data-constant",default:.5,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0}},sky:{"sky-color":{type:"color","property-type":"data-constant",default:"#88C6FC",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"horizon-color":{type:"color","property-type":"data-constant",default:"#ffffff",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"fog-color":{type:"color","property-type":"data-constant",default:"#ffffff",expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"fog-ground-blend":{type:"number","property-type":"data-constant",default:.5,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"horizon-fog-blend":{type:"number","property-type":"data-constant",default:.8,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"sky-horizon-blend":{type:"number","property-type":"data-constant",default:.8,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0},"atmosphere-blend":{type:"number","property-type":"data-constant",default:.8,minimum:0,maximum:1,expression:{interpolated:!0,parameters:["zoom"]},transition:!0}},terrain:{source:{type:"string",required:!0},exaggeration:{type:"number",minimum:0,default:1}},projection:{type:{type:"projectionDefinition",default:"mercator","property-type":"data-constant",transition:!1,expression:{interpolated:!0,parameters:["zoom"]}}},paint:["paint_fill","paint_line","paint_circle","paint_heatmap","paint_fill-extrusion","paint_symbol","paint_raster","paint_hillshade","paint_color-relief","paint_background"],paint_fill:{"fill-antialias":{type:"boolean",default:!0,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"fill-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-layer-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","global-state"]},"property-type":"data-constant"},"fill-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-outline-color":{type:"color",transition:!0,requires:[{"!":"fill-pattern"},{"fill-antialias":!0}],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"fill-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["fill-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"fill-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"}},"paint_fill-extrusion":{"fill-extrusion-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"fill-extrusion-color":{type:"color",default:"#000000",transition:!0,requires:[{"!":"fill-extrusion-pattern"}],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-extrusion-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"fill-extrusion-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["fill-extrusion-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"fill-extrusion-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"},"fill-extrusion-height":{type:"number",default:0,units:"meters",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-extrusion-base":{type:"number",default:0,units:"meters",transition:!0,requires:["fill-extrusion-height"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"fill-extrusion-vertical-gradient":{type:"boolean",default:!0,transition:!1,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},paint_line:{"line-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-layer-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","global-state"]},"property-type":"data-constant"},"line-color":{type:"color",default:"#000000",transition:!0,requires:[{"!":"line-pattern"}],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"line-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["line-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"line-width":{type:"number",default:1,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-gap-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-offset":{type:"number",default:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-blur":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"line-dasharray":{type:"array",value:"number",minimum:0,transition:!0,units:"line widths",requires:[{"!":"line-pattern"}],expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"},"line-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom","feature"]},"property-type":"cross-faded-data-driven"},"line-gradient":{type:"color",transition:!1,requires:[{"!":"line-dasharray"},{"!":"line-pattern"},{source:"geojson",has:{lineMetrics:!0}}],expression:{interpolated:!0,parameters:["line-progress"]},"property-type":"color-ramp"}},paint_circle:{"circle-radius":{type:"number",default:5,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-blur":{type:"number",default:0,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"circle-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["circle-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"circle-pitch-scale":{type:"enum",values:{map:{},viewport:{}},default:"map",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"circle-pitch-alignment":{type:"enum",values:{map:{},viewport:{}},default:"viewport",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"circle-stroke-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-stroke-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"circle-stroke-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"}},paint_heatmap:{"heatmap-radius":{type:"number",default:30,minimum:1,transition:!0,units:"pixels",expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"heatmap-weight":{type:"number",default:1,minimum:0,transition:!1,expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"heatmap-intensity":{type:"number",default:1,minimum:0,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"heatmap-color":{type:"color",default:["interpolate",["linear"],["heatmap-density"],0,"rgba(0, 0, 255, 0)",.1,"royalblue",.3,"cyan",.5,"lime",.7,"yellow",1,"red"],transition:!1,expression:{interpolated:!0,parameters:["heatmap-density"]},"property-type":"color-ramp"},"heatmap-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"}},paint_symbol:{"icon-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-color":{type:"color",default:"#000000",transition:!0,requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-halo-color":{type:"color",default:"rgba(0, 0, 0, 0)",transition:!0,requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-halo-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-halo-blur":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"icon-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",requires:["icon-image"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"icon-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["icon-image","icon-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"text-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-color":{type:"color",default:"#000000",transition:!0,overridable:!0,requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-halo-color":{type:"color",default:"rgba(0, 0, 0, 0)",transition:!0,requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-halo-width":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-halo-blur":{type:"number",default:0,minimum:0,transition:!0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom","feature","feature-state"]},"property-type":"data-driven"},"text-translate":{type:"array",value:"number",length:2,default:[0,0],transition:!0,units:"pixels",requires:["text-field"],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"text-translate-anchor":{type:"enum",values:{map:{},viewport:{}},default:"map",requires:["text-field","text-translate"],expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},paint_raster:{"raster-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-hue-rotate":{type:"number",default:0,period:360,transition:!0,units:"degrees",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-brightness-min":{type:"number",default:0,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-brightness-max":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-saturation":{type:"number",default:0,minimum:-1,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"raster-contrast":{type:"number",default:0,minimum:-1,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},resampling:{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"raster-resampling":{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"raster-fade-duration":{type:"number",default:300,minimum:0,transition:!1,units:"milliseconds",expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"}},paint_hillshade:{"hillshade-illumination-direction":{type:"numberArray",default:335,minimum:0,maximum:359,transition:!1,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-illumination-altitude":{type:"numberArray",default:45,minimum:0,maximum:90,transition:!1,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-illumination-anchor":{type:"enum",values:{map:{},viewport:{}},default:"viewport",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-exaggeration":{type:"number",default:.5,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-shadow-color":{type:"colorArray",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-highlight-color":{type:"colorArray",default:"#FFFFFF",transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-accent-color":{type:"color",default:"#000000",transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"hillshade-method":{type:"enum",values:{standard:{},basic:{},combined:{},igor:{},multidirectional:{}},default:"standard",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"},resampling:{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},"paint_color-relief":{"color-relief-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"color-relief-color":{type:"color",transition:!1,expression:{interpolated:!0,parameters:["elevation"]},"property-type":"color-ramp"},resampling:{type:"enum",values:{linear:{},nearest:{}},default:"linear",expression:{interpolated:!1,parameters:["zoom"]},"property-type":"data-constant"}},paint_background:{"background-color":{type:"color",default:"#000000",transition:!0,requires:[{"!":"background-pattern"}],expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"},"background-pattern":{type:"resolvedImage",transition:!0,expression:{interpolated:!1,parameters:["zoom"]},"property-type":"cross-faded"},"background-opacity":{type:"number",default:1,minimum:0,maximum:1,transition:!0,expression:{interpolated:!0,parameters:["zoom"]},"property-type":"data-constant"}},transition:{duration:{type:"number",default:300,minimum:0,units:"milliseconds"},delay:{type:"number",default:0,minimum:0,units:"milliseconds"}},"property-type":{"data-driven":{type:"property-type"},"cross-faded":{type:"property-type"},"cross-faded-data-driven":{type:"property-type"},"color-ramp":{type:"property-type"},"data-constant":{type:"property-type"},constant:{type:"property-type"}},promoteId:{"*":{type:"string"}},interpolation:{type:"array",value:"interpolation_name",minimum:1},interpolation_name:{type:"enum",values:{linear:{syntax:{overloads:[{parameters:[],"output-type":"interpolation"}],parameters:[]}},exponential:{syntax:{overloads:[{parameters:["base"],"output-type":"interpolation"}],parameters:[{name:"base",type:"number literal"}]}},"cubic-bezier":{syntax:{overloads:[{parameters:["x1","y1","x2","y2"],"output-type":"interpolation"}],parameters:[{name:"x1",type:"number literal"},{name:"y1",type:"number literal"},{name:"x2",type:"number literal"},{name:"y2",type:"number literal"}]}}}}},w=pp,fp=["type","source","source-layer","minzoom","maxzoom","filter","layout"],E=class{constructor(t,e,r,i,n="error"){this.message=(t?`${t}: `:"")+r,i&&(this.identifier=i),this.severity=n,e!=null&&e.__line__&&(this.line=e.__line__)}},dn={kind:"null"},I={kind:"number"},Y={kind:"string"},tt={kind:"boolean"},ce={kind:"color"},Ba={kind:"projectionDefinition"},fr={kind:"object"},Z={kind:"value"},R1={kind:"error"},Pa={kind:"collator"},yn={kind:"formatted"},za={kind:"padding"},Qi={kind:"colorArray"},La={kind:"numberArray"},mn={kind:"resolvedImage"},Va={kind:"variableAnchorOffsetCollection"};function Ut(t,e){return{kind:"array",itemType:t,N:e}}function yt(t){if(t.kind==="array"){let e=yt(t.itemType);return typeof t.N=="number"?`array<${e}, ${t.N}>`:t.itemType.kind==="value"?"array":`array<${e}>`}return t.kind}var $1=[dn,I,Y,tt,ce,Ba,yn,fr,Ut(Z),za,La,Qi,mn,Va];function tn(t,e){if(e.kind==="error")return null;if(t.kind==="array"){if(e.kind==="array"&&(e.N===0&&e.itemType.kind==="value"||!tn(t.itemType,e.itemType))&&(typeof t.N!="number"||t.N===e.N))return null}else{if(t.kind===e.kind)return null;if(t.kind==="value"){for(let r of $1)if(!tn(r,e))return null}}return`Expected ${yt(t)} but found ${yt(e)} instead.`}function gl(t,e){return e.some(r=>r.kind===t.kind)}function dr(t,e){return e.some(r=>r==="null"?t===null:r==="array"?Array.isArray(t):r==="object"?t&&!Array.isArray(t)&&typeof t=="object":r===typeof t)}function Ge(t,e){return t.kind==="array"&&e.kind==="array"?t.itemType.kind===e.itemType.kind&&typeof t.N=="number":t.kind===e.kind}var dp=.96422,yp=.82521,mp=4/29,Ks=6/29,gp=3*Ks*Ks,N1=Math.PI/180,U1=180/Math.PI;function xp(t){return t%=360,t<0&&(t+=360),t}function vp([t,e,r,i]){t=Cs(t),e=Cs(e),r=Cs(r);let n,a,s=Ms((.2225045*t+.7168786*e+.0606169*r)/1);t===e&&e===r?n=a=s:(n=Ms((.4360747*t+.3850649*e+.1430804*r)/dp),a=Ms((.0139322*t+.0971045*e+.7141733*r)/yp));let o=116*s-16;return[o<0?0:o,500*(n-s),200*(s-a),i]}function Cs(t){return t<=.04045?t/12.92:((t+.055)/1.055)**2.4}function Ms(t){return t>.008856451679035631?t**(1/3):t/gp+mp}function bp([t,e,r,i]){let n=(t+16)/116,a=isNaN(e)?n:n+e/500,s=isNaN(r)?n:n-r/200;return n=1*Ps(n),a=dp*Ps(a),s=yp*Ps(s),[Bs(3.1338561*a-1.6168667*n-.4906146*s),Bs(-.9787684*a+1.9161415*n+.033454*s),Bs(.0719453*a-.2289914*n+1.4052427*s),i]}function Bs(t){return t=t<=.00304?12.92*t:1.055*t**(1/2.4)-.055,t<0?0:t>1?1:t}function Ps(t){return t>Ks?t*t*t:gp*(t-mp)}function q1(t){let[e,r,i,n]=vp(t),a=Math.sqrt(r*r+i*i);return[Math.round(a*1e4)?xp(Math.atan2(i,r)*U1):NaN,a,e,n]}function j1([t,e,r,i]){return t=isNaN(t)?0:t*N1,bp([r,Math.cos(t)*e,Math.sin(t)*e,i])}function G1([t,e,r,i]){t=xp(t),e/=100,r/=100;function n(a){let s=(a+t/30)%12,o=e*Math.min(r,1-r);return r-o*Math.max(-1,Math.min(s-3,9-s,1))}return[n(0),n(8),n(4),i]}var X1=Object.hasOwn||function(t,e){return Object.prototype.hasOwnProperty.call(t,e)};function ji(t,e){return X1(t,e)?t[e]:void 0}function Y1(t){if(t=t.toLowerCase().trim(),t==="transparent")return[0,0,0,0];let e=ji(W1,t);if(e){let[i,n,a]=e;return[i/255,n/255,a/255,1]}if(t.startsWith("#")&&/^#(?:[0-9a-f]{3,4}|[0-9a-f]{6}|[0-9a-f]{8})$/.test(t)){let i=t.length<6?1:2,n=1;return[qn(t.slice(n,n+=i)),qn(t.slice(n,n+=i)),qn(t.slice(n,n+=i)),qn(t.slice(n,n+i)||"ff")]}if(t.startsWith("rgb")){let i=t.match(/^rgba?\\(\\s*([\\de.+-]+)(%)?(?:\\s+|\\s*(,)\\s*)([\\de.+-]+)(%)?(?:\\s+|\\s*(,)\\s*)([\\de.+-]+)(%)?(?:\\s*([,\\/])\\s*([\\de.+-]+)(%)?)?\\s*\\)$/);if(i){let[n,a,s,o,l,u,h,c,p,f,d,y]=i,m=[o||" ",h||" ",f].join("");if(m===" "||m===" /"||m===",,"||m===",,,"){let g=[s,u,p].join(""),x=g==="%%%"?100:g===""?255:0;if(x){let v=[Rr(+a/x,0,1),Rr(+l/x,0,1),Rr(+c/x,0,1),d?yh(+d,y):1];if(mh(v))return v}}return}}let r=t.match(/^hsla?\\(\\s*([\\de.+-]+)(?:deg)?(?:\\s+|\\s*(,)\\s*)([\\de.+-]+)%(?:\\s+|\\s*(,)\\s*)([\\de.+-]+)%(?:\\s*([,\\/])\\s*([\\de.+-]+)(%)?)?\\s*\\)$/);if(r){let[i,n,a,s,o,l,u,h,c]=r,p=[a||" ",o||" ",u].join("");if(p===" "||p===" /"||p===",,"||p===",,,"){let f=[+n,Rr(+s,0,100),Rr(+l,0,100),h?yh(+h,c):1];if(mh(f))return G1(f)}}}function qn(t){return parseInt(t.padEnd(2,t),16)/255}function yh(t,e){return Rr(e?t/100:t,0,1)}function Rr(t,e,r){return Math.min(Math.max(e,t),r)}function mh(t){return!t.some(Number.isNaN)}var W1={aliceblue:[240,248,255],antiquewhite:[250,235,215],aqua:[0,255,255],aquamarine:[127,255,212],azure:[240,255,255],beige:[245,245,220],bisque:[255,228,196],black:[0,0,0],blanchedalmond:[255,235,205],blue:[0,0,255],blueviolet:[138,43,226],brown:[165,42,42],burlywood:[222,184,135],cadetblue:[95,158,160],chartreuse:[127,255,0],chocolate:[210,105,30],coral:[255,127,80],cornflowerblue:[100,149,237],cornsilk:[255,248,220],crimson:[220,20,60],cyan:[0,255,255],darkblue:[0,0,139],darkcyan:[0,139,139],darkgoldenrod:[184,134,11],darkgray:[169,169,169],darkgreen:[0,100,0],darkgrey:[169,169,169],darkkhaki:[189,183,107],darkmagenta:[139,0,139],darkolivegreen:[85,107,47],darkorange:[255,140,0],darkorchid:[153,50,204],darkred:[139,0,0],darksalmon:[233,150,122],darkseagreen:[143,188,143],darkslateblue:[72,61,139],darkslategray:[47,79,79],darkslategrey:[47,79,79],darkturquoise:[0,206,209],darkviolet:[148,0,211],deeppink:[255,20,147],deepskyblue:[0,191,255],dimgray:[105,105,105],dimgrey:[105,105,105],dodgerblue:[30,144,255],firebrick:[178,34,34],floralwhite:[255,250,240],forestgreen:[34,139,34],fuchsia:[255,0,255],gainsboro:[220,220,220],ghostwhite:[248,248,255],gold:[255,215,0],goldenrod:[218,165,32],gray:[128,128,128],green:[0,128,0],greenyellow:[173,255,47],grey:[128,128,128],honeydew:[240,255,240],hotpink:[255,105,180],indianred:[205,92,92],indigo:[75,0,130],ivory:[255,255,240],khaki:[240,230,140],lavender:[230,230,250],lavenderblush:[255,240,245],lawngreen:[124,252,0],lemonchiffon:[255,250,205],lightblue:[173,216,230],lightcoral:[240,128,128],lightcyan:[224,255,255],lightgoldenrodyellow:[250,250,210],lightgray:[211,211,211],lightgreen:[144,238,144],lightgrey:[211,211,211],lightpink:[255,182,193],lightsalmon:[255,160,122],lightseagreen:[32,178,170],lightskyblue:[135,206,250],lightslategray:[119,136,153],lightslategrey:[119,136,153],lightsteelblue:[176,196,222],lightyellow:[255,255,224],lime:[0,255,0],limegreen:[50,205,50],linen:[250,240,230],magenta:[255,0,255],maroon:[128,0,0],mediumaquamarine:[102,205,170],mediumblue:[0,0,205],mediumorchid:[186,85,211],mediumpurple:[147,112,219],mediumseagreen:[60,179,113],mediumslateblue:[123,104,238],mediumspringgreen:[0,250,154],mediumturquoise:[72,209,204],mediumvioletred:[199,21,133],midnightblue:[25,25,112],mintcream:[245,255,250],mistyrose:[255,228,225],moccasin:[255,228,181],navajowhite:[255,222,173],navy:[0,0,128],oldlace:[253,245,230],olive:[128,128,0],olivedrab:[107,142,35],orange:[255,165,0],orangered:[255,69,0],orchid:[218,112,214],palegoldenrod:[238,232,170],palegreen:[152,251,152],paleturquoise:[175,238,238],palevioletred:[219,112,147],papayawhip:[255,239,213],peachpuff:[255,218,185],peru:[205,133,63],pink:[255,192,203],plum:[221,160,221],powderblue:[176,224,230],purple:[128,0,128],rebeccapurple:[102,51,153],red:[255,0,0],rosybrown:[188,143,143],royalblue:[65,105,225],saddlebrown:[139,69,19],salmon:[250,128,114],sandybrown:[244,164,96],seagreen:[46,139,87],seashell:[255,245,238],sienna:[160,82,45],silver:[192,192,192],skyblue:[135,206,235],slateblue:[106,90,205],slategray:[112,128,144],slategrey:[112,128,144],snow:[255,250,250],springgreen:[0,255,127],steelblue:[70,130,180],tan:[210,180,140],teal:[0,128,128],thistle:[216,191,216],tomato:[255,99,71],turquoise:[64,224,208],violet:[238,130,238],wheat:[245,222,179],white:[255,255,255],whitesmoke:[245,245,245],yellow:[255,255,0],yellowgreen:[154,205,50]};function Je(t,e,r){return t+r*(e-t)}function ti(t,e,r){return t.map((i,n)=>Je(i,e[n],r))}function Z1(t){return t==="rgb"||t==="hcl"||t==="lab"}var Pt,gt=(Pt=class{constructor(e,r,i,n=1,a=!0){this.r=e,this.g=r,this.b=i,this.a=n,a||(this.r*=n,this.g*=n,this.b*=n,n||this.overwriteGetter("rgb",[e,r,i,n]))}static parse(e){if(e instanceof Pt)return e;if(typeof e!="string")return;let r=Y1(e);if(r)return new Pt(...r,!1)}get rgb(){let{r:e,g:r,b:i,a:n}=this,a=n||1/0;return this.overwriteGetter("rgb",[e/a,r/a,i/a,n])}get hcl(){return this.overwriteGetter("hcl",q1(this.rgb))}get lab(){return this.overwriteGetter("lab",vp(this.rgb))}overwriteGetter(e,r){return Object.defineProperty(this,e,{value:r}),r}toString(){let[e,r,i,n]=this.rgb;return`rgba(${[e,r,i].map(a=>Math.round(a*255)).join(",")},${n})`}static interpolate(e,r,i,n="rgb"){switch(n){case"rgb":{let[a,s,o,l]=ti(e.rgb,r.rgb,i);return new Pt(a,s,o,l,!1)}case"hcl":{let[a,s,o,l]=e.hcl,[u,h,c,p]=r.hcl,f,d;if(!isNaN(a)&&!isNaN(u)){let v=u-a;u>a&&v>180?v-=360:u180&&(v+=360),f=a+i*v}else isNaN(a)?isNaN(u)?f=NaN:(f=u,(o===1||o===0)&&(d=h)):(f=a,(c===1||c===0)&&(d=s));let[y,m,g,x]=j1([f,d!=null?d:Je(s,h,i),Je(o,c,i),Je(l,p,i)]);return new Pt(y,m,g,x,!1)}case"lab":{let[a,s,o,l]=bp(ti(e.lab,r.lab,i));return new Pt(a,s,o,l,!1)}}}},Pt.black=new Pt(0,0,0,1),Pt.white=new Pt(1,1,1,1),Pt.transparent=new Pt(0,0,0,0),Pt.red=new Pt(1,0,0,1),Pt),H1=["bottom","center","top"],Js=class{constructor(t,e,r,i,n,a){this.text=t,this.image=e,this.scale=r,this.fontStack=i,this.textColor=n,this.verticalAlign=a}},ze=class la{constructor(e){this.sections=e}static fromString(e){return new la([new Js(e,null,null,null,null,null)])}isEmpty(){return this.sections.length===0||!this.sections.some(e=>e.text.length!==0||e.image&&e.image.name.length!==0)}static factory(e){return e instanceof la?e:la.fromString(e)}toString(){return this.sections.length===0?"":this.sections.map(e=>e.text).join("")}},Ae=class Li{constructor(e){this.values=e.slice()}static parse(e){if(e instanceof Li)return e;if(typeof e=="number")return new Li([e,e,e,e]);if(Array.isArray(e)&&!(e.length<1||e.length>4)){for(let r of e)if(typeof r!="number")return;switch(e.length){case 1:e=[e[0],e[0],e[0],e[0]];break;case 2:e=[e[0],e[1],e[0],e[1]];break;case 3:e=[e[0],e[1],e[2],e[1]]}return new Li(e)}}toString(){return JSON.stringify(this.values)}static interpolate(e,r,i){return new Li(ti(e.values,r.values,i))}},Se=class Vi{constructor(e){this.values=e.slice()}static parse(e){if(e instanceof Vi)return e;if(typeof e=="number")return new Vi([e]);if(Array.isArray(e)){for(let r of e)if(typeof r!="number")return;return new Vi(e)}}toString(){return JSON.stringify(this.values)}static interpolate(e,r,i){return new Vi(ti(e.values,r.values,i))}},oe=class Oi{constructor(e){this.values=e.slice()}static parse(e){if(e instanceof Oi)return e;if(typeof e=="string"){let i=gt.parse(e);return i?new Oi([i]):void 0}if(!Array.isArray(e))return;let r=[];for(let i of e){if(typeof i!="string")return;let n=gt.parse(i);if(!n)return;r.push(n)}return new Oi(r)}toString(){return JSON.stringify(this.values)}static interpolate(e,r,i,n="rgb"){let a=[];if(e.values.length!=r.values.length)throw Error(`colorArray: Arrays have mismatched length (${e.values.length} vs. ${r.values.length}), cannot interpolate.`);for(let s=0;s=0&&t<=255&&typeof e=="number"&&e>=0&&e<=255&&typeof r=="number"&&r>=0&&r<=255?i===void 0||typeof i=="number"&&i>=0&&i<=1?null:`Invalid rgba value [${[t,e,r,i].join(", ")}]: \'a\' must be between 0 and 1.`:`Invalid rgba value [${(typeof i=="number"?[t,e,r,i]:[t,e,r]).join(", ")}]: \'r\', \'g\', and \'b\' must be between 0 and 255.`}function ei(t){if(t===null||typeof t=="string"||typeof t=="boolean"||typeof t=="number"||t instanceof Dr||t instanceof gt||t instanceof xl||t instanceof ze||t instanceof Ae||t instanceof Se||t instanceof oe||t instanceof De||t instanceof _e)return!0;if(Array.isArray(t)){for(let e of t)if(!ei(e))return!1;return!0}if(typeof t=="object"){for(let e in t)if(!ei(t[e]))return!1;return!0}return!1}function _t(t){if(t===null)return dn;if(typeof t=="string")return Y;if(typeof t=="boolean")return tt;if(typeof t=="number")return I;if(t instanceof gt)return ce;if(t instanceof Dr)return Ba;if(t instanceof xl)return Pa;if(t instanceof ze)return yn;if(t instanceof Ae)return za;if(t instanceof Se)return La;if(t instanceof oe)return Qi;if(t instanceof De)return Va;if(t instanceof _e)return mn;if(Array.isArray(t)){let e=t.length,r;for(let i of t){let n=_t(i);if(!r)r=n;else{if(r===n)continue;r=Z;break}}return Ut(r||Z,e)}return fr}function Gi(t){let e=typeof t;return t===null?"":e==="string"||e==="number"||e==="boolean"?String(t):t instanceof gt||t instanceof Dr||t instanceof ze||t instanceof Ae||t instanceof Se||t instanceof oe||t instanceof De||t instanceof _e?t.toString():JSON.stringify(t)}var ri=class _p{constructor(e,r){this.type=e,this.value=r}static parse(e,r){if(e.length!==2)return r.error(`\'literal\' expression requires exactly one argument, but found ${e.length-1} instead.`);if(!ei(e[1]))return r.error(`invalid value of type "${typeof e[1]}"`);let i=e[1],n=_t(i),a=r.expectedType;return n.kind==="array"&&n.N===0&&a&&a.kind==="array"&&(typeof a.N!="number"||a.N===0)&&(n=a),new _p(n,i)}evaluate(){return this.value}eachChild(){}outputDefined(){return!0}},J1=["Unknown","Point","LineString","Polygon"],Ap=class{constructor(){this.globals=null,this.feature=null,this.featureState=null,this.formattedSection=null,this._parseColorCache=new Map,this.availableImages=null,this.canonical=null}id(){return this.feature&&"id"in this.feature?this.feature.id:null}geometryType(){return this.feature?typeof this.feature.type=="number"?J1[this.feature.type]:this.feature.type:null}geometry(){return this.feature&&"geometry"in this.feature?this.feature.geometry:null}canonicalID(){return this.canonical}properties(){return this.feature&&this.feature.properties||{}}parseColor(t){let e=this._parseColorCache.get(t);return e||(e=gt.parse(t),this._parseColorCache.set(t,e)),e}};function Oa(t,e,r){let i=t.length-1,n=0,a=i,s=0,o,l;for(;n<=a;)if(s=Math.floor((n+a)/2),o=t[s],l=t[s+1],o<=e){if(s===i||ee)a=s-1;else throw new ft("Input is not a number.",r);return 0}var vl=class Sp{constructor(e,r,i,n){this.type=e,this.input=r,this.key=n,this.labels=[],this.outputs=[];for(let[a,s]of i)this.labels.push(a),this.outputs.push(s)}static parse(e,r){if(e.length-1<4)return r.error(`Expected at least 4 arguments, but found only ${e.length-1}.`);if((e.length-1)%2!=0)return r.error("Expected an even number of arguments.");let i=r.parse(e[1],1,I);if(!i)return null;let n=[],a=null;r.expectedType&&r.expectedType.kind!=="value"&&(a=r.expectedType);for(let s=1;s=o)return r.error(\'Input/output pairs for "step" expressions must be arranged with input values in strictly ascending order.\',u);let c=r.parse(l,h,a);if(!c)return null;a||(a=c.type),n.push([o,c])}return new Sp(a,i,n,r.key)}evaluate(e){let r=this.labels,i=this.outputs;if(r.length===1)return i[0].evaluate(e);let n=this.input.evaluate(e);if(n<=r[0])return i[0].evaluate(e);let a=r.length;return n>=r[a-1]?i[a-1].evaluate(e):i[Oa(r,n,this.key)].evaluate(e)}eachChild(e){e(this.input);for(let r of this.outputs)e(r)}outputDefined(){return this.outputs.every(e=>e.outputDefined())}};function Q1(t,e,r,i){let n=3*t,a=3*(r-t)-n,s=1-n-a,o=3*e,l=3*(i-e)-o,u=1-o-l;return function(h,c=1e-6){if(h<=0)return 0;if(h>=1)return 1;let p=h;for(let y=0;y<8;y++){let m=((s*p+a)*p+n)*p-h;if(Math.abs(m)m?f=p:d=p,p=(f+d)*.5}return((u*p+l)*p+o)*p}}var be=class Qs{constructor(e,r,i,n,a,s){this.type=e,this.operator=r,this.interpolation=i,this.input=n,this.key=s,this.labels=[],this.outputs=[];for(let[o,l]of a)this.labels.push(o),this.outputs.push(l)}static interpolationFactor(e,r,i,n){let a=0;if(e.name==="exponential")a=zs(r,e.base,i,n);else if(e.name==="linear")a=zs(r,1,i,n);else if(e.name==="cubic-bezier"){let s=e.controlPoints;a=Q1(s[0],s[1],s[2],s[3])(zs(r,1,i,n))}return a}static parse(e,r){let[i,n,a,...s]=e;if(!Array.isArray(n)||n.length===0)return r.error("Expected an interpolation type expression.",1);if(n[0]==="linear")n={name:"linear"};else if(n[0]==="exponential"){let u=n[1];if(typeof u!="number")return r.error("Exponential interpolation requires a numeric base.",1,1);n={name:"exponential",base:u}}else if(n[0]==="cubic-bezier"){let u=n.slice(1);if(u.length!==4||u.some(h=>typeof h!="number"||h<0||h>1))return r.error("Cubic bezier interpolation requires four numeric arguments with values between 0 and 1.",1);n={name:"cubic-bezier",controlPoints:u}}else return r.error(`Unknown interpolation type ${String(n[0])}`,1,0);if(e.length-1<4)return r.error(`Expected at least 4 arguments, but found only ${e.length-1}.`);if((e.length-1)%2!=0)return r.error("Expected an even number of arguments.");if(a=r.parse(a,2,I),!a)return null;let o=[],l=null;(i==="interpolate-hcl"||i==="interpolate-lab")&&r.expectedType!=Qi?l=ce:r.expectedType&&r.expectedType.kind!=="value"&&(l=r.expectedType);for(let u=0;u=h)return r.error(\'Input/output pairs for "interpolate" expressions must be arranged with input values in strictly ascending order.\',p);let d=r.parse(c,f,l);if(!d)return null;l||(l=d.type),o.push([h,d])}return!Ge(l,I)&&!Ge(l,Ba)&&!Ge(l,ce)&&!Ge(l,za)&&!Ge(l,La)&&!Ge(l,Qi)&&!Ge(l,Va)&&!Ge(l,Ut(I))?r.error(`Type ${yt(l)} is not interpolatable.`):new Qs(l,i,n,a,o,r.key)}evaluate(e){let r=this.labels,i=this.outputs;if(r.length===1)return i[0].evaluate(e);let n=this.input.evaluate(e);if(n<=r[0])return i[0].evaluate(e);let a=r.length;if(n>=r[a-1])return i[a-1].evaluate(e);let s=Oa(r,n,this.key),o=r[s],l=r[s+1],u=Qs.interpolationFactor(this.interpolation,n,o,l),h=i[s].evaluate(e),c=i[s+1].evaluate(e);switch(this.operator){case"interpolate":switch(this.type.kind){case"number":return Je(h,c,u);case"color":return gt.interpolate(h,c,u);case"padding":return Ae.interpolate(h,c,u);case"colorArray":return oe.interpolate(h,c,u);case"numberArray":return Se.interpolate(h,c,u);case"variableAnchorOffsetCollection":return De.interpolate(h,c,u,this.key);case"array":return ti(h,c,u);case"projectionDefinition":return Dr.interpolate(h,c,u)}case"interpolate-hcl":switch(this.type.kind){case"color":return gt.interpolate(h,c,u,"hcl");case"colorArray":return oe.interpolate(h,c,u,"hcl")}case"interpolate-lab":switch(this.type.kind){case"color":return gt.interpolate(h,c,u,"lab");case"colorArray":return oe.interpolate(h,c,u,"lab")}}}eachChild(e){e(this.input);for(let r of this.outputs)e(r)}outputDefined(){return this.outputs.every(e=>e.outputDefined())}};function zs(t,e,r,i){let n=i-r,a=t-r;return n===0?0:e===1?a/n:(e**+a-1)/(e**+n-1)}var gr={color:gt.interpolate,number:Je,padding:Ae.interpolate,numberArray:Se.interpolate,colorArray:oe.interpolate,variableAnchorOffsetCollection:De.interpolate,array:ti},Ep=class Fp{constructor(e){this.type=yn,this.sections=e}static parse(e,r){if(e.length<2)return r.error("Expected at least one argument.");let i=e[1];if(!Array.isArray(i)&&typeof i=="object")return r.error("First argument must be an image or text section.");let n=[],a=!1;for(let s=1;s<=e.length-1;++s){let o=e[s];if(a&&typeof o=="object"&&!Array.isArray(o)){a=!1;let l=null;if(o["font-scale"]&&(l=r.parse(o["font-scale"],1,I),!l))return null;let u=null;if(o["text-font"]&&(u=r.parse(o["text-font"],1,Ut(Y)),!u))return null;let h=null;if(o["text-color"]&&(h=r.parse(o["text-color"],1,ce),!h))return null;let c=null;if(o["vertical-align"]){if(typeof o["vertical-align"]=="string"&&!H1.includes(o["vertical-align"]))return r.error(`\'vertical-align\' must be one of: \'bottom\', \'center\', \'top\' but found \'${o["vertical-align"]}\' instead.`);if(c=r.parse(o["vertical-align"],1,Y),!c)return null}let p=n[n.length-1];p.scale=l,p.font=u,p.textColor=h,p.verticalAlign=c}else{let l=r.parse(e[s],1,Z);if(!l)return null;let u=l.type.kind;if(u!=="string"&&u!=="value"&&u!=="null"&&u!=="resolvedImage")return r.error("Formatted text type must be \'string\', \'value\', \'image\' or \'null\'.");a=!0,n.push({content:l,scale:null,font:null,textColor:null,verticalAlign:null})}}return new Fp(n)}evaluate(e){return new ze(this.sections.map(r=>{let i=r.content.evaluate(e);return _t(i)===mn?new Js("",i,null,null,null,r.verticalAlign?r.verticalAlign.evaluate(e):null):new Js(Gi(i),null,r.scale?r.scale.evaluate(e):null,r.font?r.font.evaluate(e).join(","):null,r.textColor?r.textColor.evaluate(e):null,r.verticalAlign?r.verticalAlign.evaluate(e):null)}))}eachChild(e){for(let r of this.sections)e(r.content),r.scale&&e(r.scale),r.font&&e(r.font),r.textColor&&e(r.textColor),r.verticalAlign&&e(r.verticalAlign)}outputDefined(){return!1}};function kp(t,e,r=0,i=t.length-1,n=t0){for(;i>r;){if(i-r>600){let l=i-r+1,u=e-r+1,h=Math.log(l),c=.5*Math.exp(2*h/3),p=.5*Math.sqrt(h*c*(l-c)/l)*(u-l/2<0?-1:1);kp(t,e,Math.max(r,Math.floor(e-u*c/l+p)),Math.min(i,Math.floor(e+(l-u)*c/l+p)),n)}let a=t[e],s=r,o=i;for(ki(t,r,e),n(t[i],a)>0&&ki(t,r,i);s0;)o--}n(t[r],a)===0?ki(t,r,o):(o++,ki(t,o,i)),o<=e&&(r=o+1),e<=o&&(i=o-1)}}function ki(t,e,r){let i=t[e];t[e]=t[r],t[r]=i}function t0(t,e){return te)}function Ra(t,e){if(t.length<=1)return[t];let r=[],i,n;for(let a of t){let s=r0(a);s!==0&&(a.area=Math.abs(s),n===void 0&&(n=s<0),n===s<0?(i&&r.push(i),i=[a]):i.push(a))}if(i&&r.push(i),e>1)for(let a=0;a2){let u=e[1];if(typeof u!="string"||!(u in jn)||u==="object")return r.error(\'The item type argument of "array" must be one of string, number, boolean\',1);o=jn[u],i++}else o=Z;let l;if(e.length>3){if(e[2]!==null&&(typeof e[2]!="number"||e[2]<0||e[2]!==Math.floor(e[2])))return r.error(\'The length argument to "array" must be a positive integer literal\',2);l=e[2],i++}n=Ut(o,l)}else{if(!jn[a])throw Error(`Types doesn\'t contain name = ${a}`);n=jn[a]}let s=[];for(;ie.outputDefined())}},gh={"to-boolean":tt,"to-color":ce,"to-number":I,"to-string":Y},jr=class Ip{constructor(e,r,i){this.type=e,this.args=r,this.key=i}static parse(e,r){if(e.length<2)return r.error("Expected at least one argument.");let i=e[0];if(!gh[i])throw Error(`Can\'t parse ${i} as it is not part of the known types`);if((i==="to-boolean"||i==="to-string")&&e.length!==2)return r.error("Expected one argument.");let n=gh[i],a=[];for(let s=1;s4?`Invalid rgba value ${JSON.stringify(r)}: expected an array containing either three or four numeric values.`:Dp(r[0],r[1],r[2],r[3]),!i))return new gt(r[0]/255,r[1]/255,r[2]/255,r[3])}throw new ft(i||`Could not parse color from value \'${typeof r=="string"?r:JSON.stringify(r)}\'`,this.key)}case"padding":{let r;for(let i of this.args){r=i.evaluate(e);let n=Ae.parse(r);if(n)return n}throw new ft(`Could not parse padding from value \'${typeof r=="string"?r:JSON.stringify(r)}\'`,this.key)}case"numberArray":{let r;for(let i of this.args){r=i.evaluate(e);let n=Se.parse(r);if(n)return n}throw new ft(`Could not parse numberArray from value \'${typeof r=="string"?r:JSON.stringify(r)}\'`,this.key)}case"colorArray":{let r;for(let i of this.args){r=i.evaluate(e);let n=oe.parse(r);if(n)return n}throw new ft(`Could not parse colorArray from value \'${typeof r=="string"?r:JSON.stringify(r)}\'`,this.key)}case"variableAnchorOffsetCollection":{let r;for(let i of this.args){r=i.evaluate(e);let n=De.parse(r);if(n)return n}throw new ft(`Could not parse variableAnchorOffsetCollection from value \'${typeof r=="string"?r:JSON.stringify(r)}\'`,this.key)}case"number":{let r=null;for(let i of this.args){if(r=i.evaluate(e),r===null)return 0;let n=Number(r);if(!isNaN(n))return n}throw new ft(`Could not convert ${JSON.stringify(r)} to number.`,this.key)}case"formatted":return ze.fromString(Gi(this.args[0].evaluate(e)));case"resolvedImage":return _e.fromString(Gi(this.args[0].evaluate(e)));case"projectionDefinition":{let r=this.args[0].evaluate(e);if(Dr.parse(r))return r;throw new ft(`Could not parse projectionDefinition from value \'${typeof r=="string"?r:JSON.stringify(r)}\'`,this.key)}default:return Gi(this.args[0].evaluate(e))}}eachChild(e){this.args.forEach(e)}outputDefined(){return this.args.every(e=>e.outputDefined())}},Cp=class Mp{constructor(e,r){this.type=r.type,this.bindings=[].concat(e),this.result=r}evaluate(e){return this.result.evaluate(e)}eachChild(e){for(let r of this.bindings)e(r[1]);e(this.result)}static parse(e,r){if(e.length<4)return r.error(`Expected at least 3 arguments, but found ${e.length-1} instead.`);let i=[];for(let a=1;a=i.length)throw new ft(`Array index out of bounds: ${r} > ${i.length-1}.`,this.key);if(r!==Math.floor(r))throw new ft(`Array index must be an integer, but found ${r} instead.`,this.key);return i[r]}eachChild(e){e(this.index),e(this.input)}outputDefined(){return!1}},n0=class Lp{constructor(e,r,i){this.needle=e,this.haystack=r,this.key=i,this.type=tt}static parse(e,r){if(e.length!==3)return r.error(`Expected 2 arguments, but found ${e.length-1} instead.`);let i=r.parse(e[1],1,Z),n=r.parse(e[2],2,Z);return!i||!n?null:gl(i.type,[tt,Y,I,dn,Z])?new Lp(i,n,r.key):r.error(`Expected first argument to be of type boolean, string, number or null, but found ${yt(i.type)} instead`)}evaluate(e){let r=this.needle.evaluate(e),i=this.haystack.evaluate(e);if(!i)return!1;if(!dr(r,["boolean","string","number","null"]))throw new ft(`Expected first argument to be of type boolean, string, number or null, but found ${yt(_t(r))} instead.`,this.key);if(!dr(i,["string","array"]))throw new ft(`Expected second argument to be of type array or string, but found ${yt(_t(i))} instead.`,this.key);return i.indexOf(r)>=0}eachChild(e){e(this.needle),e(this.haystack)}outputDefined(){return!0}},a0=class to{constructor(e,r,i,n){this.needle=e,this.haystack=r,this.key=i,this.fromIndex=n,this.type=I}static parse(e,r){if(e.length<=2||e.length>=5)return r.error(`Expected 2 or 3 arguments, but found ${e.length-1} instead.`);let i=r.parse(e[1],1,Z),n=r.parse(e[2],2,Z);if(!i||!n)return null;if(!gl(i.type,[tt,Y,I,dn,Z]))return r.error(`Expected first argument to be of type boolean, string, number or null, but found ${yt(i.type)} instead`);if(e.length===4){let a=r.parse(e[3],3,I);return a?new to(i,n,r.key,a):null}return new to(i,n,r.key)}evaluate(e){let r=this.needle.evaluate(e),i=this.haystack.evaluate(e);if(!dr(r,["boolean","string","number","null"]))throw new ft(`Expected first argument to be of type boolean, string, number or null, but found ${yt(_t(r))} instead.`,this.key);let n;if(this.fromIndex&&(n=this.fromIndex.evaluate(e)),dr(i,["string"])){let a=i.indexOf(r,n);return a===-1?-1:[...i.slice(0,a)].length}if(dr(i,["array"]))return i.indexOf(r,n);throw new ft(`Expected second argument to be of type array or string, but found ${yt(_t(i))} instead.`,this.key)}eachChild(e){e(this.needle),e(this.haystack),this.fromIndex&&e(this.fromIndex)}outputDefined(){return!1}},s0=class Vp{constructor(e,r,i,n,a,s){this.inputType=e,this.type=r,this.input=i,this.cases=n,this.outputs=a,this.otherwise=s}static parse(e,r){if(e.length<5)return r.error(`Expected at least 4 arguments, but found only ${e.length-1}.`);if(e.length%2!=1)return r.error("Expected an even number of arguments.");let i,n;r.expectedType&&r.expectedType.kind!=="value"&&(n=r.expectedType);let a={},s=[];for(let u=2;u2**53-1)return p.error(`Branch labels must be integers no larger than ${2**53-1}.`);if(typeof d=="number"&&Math.floor(d)!==d)return p.error("Numeric branch labels must be integer values.");if(!i)i=_t(d);else if(p.checkSubtype(i,_t(d)))return null;if(a[String(d)]!==void 0)return p.error("Branch labels must be unique.");a[String(d)]=s.length}let f=r.parse(c,u,n);if(!f)return null;n||(n=f.type),s.push(f)}let o=r.parse(e[1],1,Z);if(!o)return null;let l=r.parse(e[e.length-1],e.length-1,n);return!l||o.type.kind!=="value"&&r.concat(1).checkSubtype(i,o.type)?null:new Vp(i,n,o,a,s,l)}evaluate(e){let r=this.input.evaluate(e);return(_t(r)===this.inputType&&this.outputs[this.cases[r]]||this.otherwise).evaluate(e)}eachChild(e){e(this.input),this.outputs.forEach(e),e(this.otherwise)}outputDefined(){return this.outputs.every(e=>e.outputDefined())&&this.otherwise.outputDefined()}},o0=class Op{constructor(e,r,i){this.type=e,this.branches=r,this.otherwise=i}static parse(e,r){if(e.length<4)return r.error(`Expected at least 3 arguments, but found only ${e.length-1}.`);if(e.length%2!=0)return r.error("Expected an odd number of arguments.");let i;r.expectedType&&r.expectedType.kind!=="value"&&(i=r.expectedType);let n=[];for(let s=1;sr.outputDefined())&&this.otherwise.outputDefined()}},l0=class eo{constructor(e,r,i,n,a){this.type=e,this.input=r,this.beginIndex=i,this.key=n,this.endIndex=a}static parse(e,r){if(e.length<=2||e.length>=5)return r.error(`Expected 2 or 3 arguments, but found ${e.length-1} instead.`);let i=r.parse(e[1],1,Z),n=r.parse(e[2],2,I);if(!i||!n)return null;if(!gl(i.type,[Ut(Z),Y,Z]))return r.error(`Expected first argument to be of type array or string, but found ${yt(i.type)} instead`);if(e.length===4){let a=r.parse(e[3],3,I);return a?new eo(i.type,i,n,r.key,a):null}return new eo(i.type,i,n,r.key)}evaluate(e){let r=this.input.evaluate(e),i=this.beginIndex.evaluate(e),n;if(this.endIndex&&(n=this.endIndex.evaluate(e)),dr(r,["string"]))return[...r].slice(i,n).join("");if(dr(r,["array"]))return r.slice(i,n);throw new ft(`Expected first argument to be of type array or string, but found ${yt(_t(r))} instead.`,this.key)}eachChild(e){e(this.input),e(this.beginIndex),this.endIndex&&e(this.endIndex)}outputDefined(){return!1}},Rp=class ro{constructor(e,r){this.type=e,this.args=r}static parse(e,r){if(e.length<2)return r.error("Expected at least one argument.");let i=null,n=r.expectedType;n&&n.kind!=="value"&&(i=n);let a=[];for(let s of e.slice(1)){let o=r.parse(s,1+a.length,i,void 0,{typeAnnotation:"omit"});if(!o)return null;i||(i=o.type),a.push(o)}if(!i)throw Error("No output type");return n&&a.some(s=>tn(n,s.type))?new ro(Z,a):new ro(i,a)}evaluate(e){let r=null,i=0,n;for(let a of this.args)if(i++,r=a.evaluate(e),r&&r instanceof _e&&!r.available&&(n||(n=r.name),r=null,i===this.args.length&&(r=n)),r!==null)break;return r}eachChild(e){this.args.forEach(e)}outputDefined(){return this.args.every(e=>e.outputDefined())}};function xh(t,e){return t==="=="||t==="!="?e.kind==="boolean"||e.kind==="string"||e.kind==="number"||e.kind==="null"||e.kind==="value":e.kind==="string"||e.kind==="number"||e.kind==="value"}function u0(t,e,r){return e===r}function h0(t,e,r){return e!==r}function c0(t,e,r){return er}function f0(t,e,r){return e<=r}function d0(t,e,r){return e>=r}function $p(t,e,r,i){return i.compare(e,r)===0}function y0(t,e,r,i){return!$p(t,e,r,i)}function m0(t,e,r,i){return i.compare(e,r)<0}function g0(t,e,r,i){return i.compare(e,r)>0}function x0(t,e,r,i){return i.compare(e,r)<=0}function v0(t,e,r,i){return i.compare(e,r)>=0}function li(t,e,r){let i=t!=="=="&&t!=="!=";return class Np{constructor(a,s,o,l){this.lhs=a,this.rhs=s,this.key=o,this.collator=l,this.type=tt,this.hasUntypedArgument=a.type.kind==="value"||s.type.kind==="value"}static parse(a,s){if(a.length!==3&&a.length!==4)return s.error("Expected two or three arguments.");let o=a[0],l=s.parse(a[1],1,Z);if(!l)return null;if(!xh(o,l.type))return s.concat(1).error(`"${o}" comparisons are not supported for type \'${yt(l.type)}\'.`);let u=s.parse(a[2],2,Z);if(!u)return null;if(!xh(o,u.type))return s.concat(2).error(`"${o}" comparisons are not supported for type \'${yt(u.type)}\'.`);if(l.type.kind!==u.type.kind&&l.type.kind!=="value"&&u.type.kind!=="value")return s.error(`Cannot compare types \'${yt(l.type)}\' and \'${yt(u.type)}\'.`);i&&(l.type.kind==="value"&&u.type.kind!=="value"?l=new Ie(u.type,[l],s.key):l.type.kind!=="value"&&u.type.kind==="value"&&(u=new Ie(l.type,[u],s.key)));let h=null;if(a.length===4){if(l.type.kind!=="string"&&u.type.kind!=="string"&&l.type.kind!=="value"&&u.type.kind!=="value")return s.error("Cannot use collator to compare non-string types.");if(h=s.parse(a[3],3,Pa),!h)return null}return new Np(l,u,s.key,h)}evaluate(a){let s=this.lhs.evaluate(a),o=this.rhs.evaluate(a);if(i&&this.hasUntypedArgument){let l=_t(s),u=_t(o);if(l.kind!==u.kind||l.kind!=="string"&&l.kind!=="number")throw new ft(`Expected arguments for "${t}" to be (string, string) or (number, number), but found (${l.kind}, ${u.kind}) instead.`,this.key)}if(this.collator&&!i&&this.hasUntypedArgument){let l=_t(s),u=_t(o);if(l.kind!=="string"||u.kind!=="string")return e(a,s,o)}return this.collator?r(a,s,o,this.collator.evaluate(a)):e(a,s,o)}eachChild(a){a(this.lhs),a(this.rhs),this.collator&&a(this.collator)}outputDefined(){return!0}}}var b0=li("==",u0,$p),w0=li("!=",h0,y0),D0=li("<",c0,m0),_0=li(">",p0,g0),A0=li("<=",f0,x0),S0=li(">=",d0,v0),Up=class qp{constructor(e,r,i){this.type=Pa,this.locale=i,this.caseSensitive=e,this.diacriticSensitive=r}static parse(e,r){if(e.length!==2)return r.error("Expected one argument.");let i=e[1];if(typeof i!="object"||Array.isArray(i))return r.error("Collator options argument must be an object.");let n=r.parse(i["case-sensitive"]!==void 0&&i["case-sensitive"],1,tt);if(!n)return null;let a=r.parse(i["diacritic-sensitive"]!==void 0&&i["diacritic-sensitive"],1,tt);if(!a)return null;let s=null;return i.locale&&(s=r.parse(i.locale,1,Y),!s)?null:new qp(n,a,s)}evaluate(e){return new xl(this.caseSensitive.evaluate(e),this.diacriticSensitive.evaluate(e),this.locale?this.locale.evaluate(e):null)}eachChild(e){e(this.caseSensitive),e(this.diacriticSensitive),this.locale&&e(this.locale)}outputDefined(){return!1}},E0=class jp{constructor(e,r,i,n,a,s){this.type=Y,this.number=e,this.locale=r,this.currency=i,this.unit=n,this.minFractionDigits=a,this.maxFractionDigits=s}static parse(e,r){if(e.length!==3)return r.error("Expected two arguments.");let i=r.parse(e[1],1,I);if(!i)return null;let n=e[2];if(typeof n!="object"||Array.isArray(n))return r.error("NumberFormat options argument must be an object.");let a=null;if(n.locale&&(a=r.parse(n.locale,1,Y),!a))return null;let s=null;if(n.currency&&(s=r.parse(n.currency,1,Y),!s))return null;let o=null;if(n.unit&&(o=r.parse(n.unit,1,Y),!o))return null;if(s&&o)return r.error("NumberFormat options `currency` and `unit` are mutually exclusive");let l=null;if(n["min-fraction-digits"]&&(l=r.parse(n["min-fraction-digits"],1,I),!l))return null;let u=null;return n["max-fraction-digits"]&&(u=r.parse(n["max-fraction-digits"],1,I),!u)?null:new jp(i,a,s,o,l,u)}evaluate(e){return new Intl.NumberFormat(this.locale?this.locale.evaluate(e):[],{style:this.currency?"currency":this.unit?"unit":"decimal",currency:this.currency?this.currency.evaluate(e):void 0,unit:this.unit?this.unit.evaluate(e):void 0,minimumFractionDigits:this.minFractionDigits?this.minFractionDigits.evaluate(e):void 0,maximumFractionDigits:this.maxFractionDigits?this.maxFractionDigits.evaluate(e):void 0}).format(this.number.evaluate(e))}eachChild(e){e(this.number),this.locale&&e(this.locale),this.currency&&e(this.currency),this.unit&&e(this.unit),this.minFractionDigits&&e(this.minFractionDigits),this.maxFractionDigits&&e(this.maxFractionDigits)}outputDefined(){return!1}},F0=class Gp{constructor(e){this.type=mn,this.input=e}static parse(e,r){if(e.length!==2)return r.error("Expected two arguments.");let i=r.parse(e[1],1,Y);return i?new Gp(i):r.error("No image name provided.")}evaluate(e){let r=this.input.evaluate(e),i=_e.fromString(r);return i&&e.availableImages&&(i.available=e.availableImages.indexOf(r)>-1),i}eachChild(e){e(this.input)}outputDefined(){return!1}},k0=class Xp{constructor(e,r){this.input=e,this.key=r,this.type=I}static parse(e,r){if(e.length!==2)return r.error(`Expected 1 argument, but found ${e.length-1} instead.`);let i=r.parse(e[1],1);return i?i.type.kind!=="array"&&i.type.kind!=="string"&&i.type.kind!=="value"?r.error(`Expected argument of type string or array, but found ${yt(i.type)} instead.`):new Xp(i,r.key):null}evaluate(e){let r=this.input.evaluate(e);if(typeof r=="string")return[...r].length;if(Array.isArray(r))return r.length;throw new ft(`Expected value to be of type string or array, but found ${yt(_t(r))} instead.`,this.key)}eachChild(e){e(this.input)}outputDefined(){return!1}},we=8192;function T0(t,e){let r=I0(t[0]),i=M0(t[1]),n=2**e.z;return[Math.round(r*n*we),Math.round(i*n*we)]}function bl(t,e){let r=2**e.z,i=(t[0]/we+e.x)/r,n=(t[1]/we+e.y)/r;return[C0(i),B0(n)]}function I0(t){return(180+t)/360}function C0(t){return t*360-180}function M0(t){return(180-180/Math.PI*Math.log(Math.tan(Math.PI/4+t*Math.PI/360)))/360}function B0(t){return 360/Math.PI*Math.atan(Math.exp((180-t*360)*Math.PI/180))-90}function gn(t,e){t[0]=Math.min(t[0],e[0]),t[1]=Math.min(t[1],e[1]),t[2]=Math.max(t[2],e[0]),t[3]=Math.max(t[3],e[1])}function en(t,e){return!(t[0]<=e[0]||t[2]>=e[2]||t[1]<=e[1]||t[3]>=e[3])}function P0(t,e,r){return e[1]>t[1]!=r[1]>t[1]&&t[0]<(r[0]-e[0])*(t[1]-e[1])/(r[1]-e[1])+e[0]}function z0(t,e,r){let i=t[0]-e[0],n=t[1]-e[1],a=t[0]-r[0],s=t[1]-r[1];return i*s-a*n===0&&i*a<=0&&n*s<=0}function $a(t,e,r,i){let n=[e[0]-t[0],e[1]-t[1]];return R0([i[0]-r[0],i[1]-r[1]],n)!==0&&!!(vh(t,e,r,i)&&vh(r,i,t,e))}function L0(t,e,r){for(let i of r)for(let n=0;n0&&c<0||h<0&&c>0}function wl(t,e,r){let i=[];for(let n=0;nr[2]){let n=i*.5,a=t[0]-r[0]>n?-i:r[0]-t[0]>n?i:0;a===0&&(a=t[0]-r[2]>n?-i:r[2]-t[0]>n?i:0),t[0]+=a}gn(e,t)}function $0(t){t[0]=t[1]=1/0,t[2]=t[3]=-1/0}function bh(t,e,r,i){let n=2**i.z*we,a=[i.x*we,i.y*we],s=[];for(let o of t)for(let l of o){let u=[l.x+a[0],l.y+a[1]];Zp(u,e,r,n),s.push(u)}return s}function wh(t,e,r,i){let n=2**i.z*we,a=[i.x*we,i.y*we],s=[];for(let o of t){let l=[];for(let u of o){let h=[u.x+a[0],u.y+a[1]];gn(e,h),l.push(h)}s.push(l)}if(e[2]-e[0]<=n/2){$0(e);for(let o of s)for(let l of o)Zp(l,e,r,n)}return s}function N0(t,e){let r=[1/0,1/0,-1/0,-1/0],i=[1/0,1/0,-1/0,-1/0],n=t.canonicalID();if(e.type==="Polygon"){let a=wl(e.coordinates,i,n),s=bh(t.geometry(),r,i,n);if(!en(r,i))return!1;for(let o of s)if(!ui(o,a))return!1}if(e.type==="MultiPolygon"){let a=Wp(e.coordinates,i,n),s=bh(t.geometry(),r,i,n);if(!en(r,i))return!1;for(let o of s)if(!V0(o,a))return!1}return!0}function U0(t,e){let r=[1/0,1/0,-1/0,-1/0],i=[1/0,1/0,-1/0,-1/0],n=t.canonicalID();if(e.type==="Polygon"){let a=wl(e.coordinates,i,n),s=wh(t.geometry(),r,i,n);if(!en(r,i))return!1;for(let o of s)if(!Yp(o,a))return!1}if(e.type==="MultiPolygon"){let a=Wp(e.coordinates,i,n),s=wh(t.geometry(),r,i,n);if(!en(r,i))return!1;for(let o of s)if(!O0(o,a))return!1}return!0}var Dl=class ha{constructor(e,r){this.type=tt,this.geojson=e,this.geometries=r}static parse(e,r){if(e.length!==2)return r.error(`\'within\' expression requires exactly one argument, but found ${e.length-1} instead.`);if(ei(e[1])){let i=e[1];if(i.type==="FeatureCollection"){let n=[];for(let a of i.features){let{type:s,coordinates:o}=a.geometry;s==="Polygon"&&n.push(o),s==="MultiPolygon"&&n.push(...o)}if(n.length)return new ha(i,{type:"MultiPolygon",coordinates:n})}else if(i.type==="Feature"){let n=i.geometry.type;if(n==="Polygon"||n==="MultiPolygon")return new ha(i,i.geometry)}else if(i.type==="Polygon"||i.type==="MultiPolygon")return new ha(i,i)}return r.error("\'within\' expression requires valid geojson object that contains polygon geometry type.")}evaluate(e){if(e.geometry()!=null&&e.canonicalID()!=null){if(e.geometryType()==="Point")return N0(e,this.geometries);if(e.geometryType()==="LineString")return U0(e,this.geometries)}return!1}eachChild(){}outputDefined(){return!0}},Hp=class{constructor(t=[],e=(r,i)=>ri)){if(this.data=t,this.length=this.data.length,this.compare=e,this.length>0)for(let r=(this.length>>1)-1;r>=0;r--)this._down(r)}push(t){this.data.push(t),this._up(this.length++)}pop(){if(this.length===0)return;let t=this.data[0],e=this.data.pop();return--this.length>0&&(this.data[0]=e,this._down(0)),t}peek(){return this.data[0]}_up(t){let{data:e,compare:r}=this,i=e[t];for(;t>0;){let n=t-1>>1,a=e[n];if(r(i,a)>=0)break;e[t]=a,t=n}e[t]=i}_down(t){let{data:e,compare:r}=this,i=this.length>>1,n=e[t];for(;t=0)break;e[t]=e[a],t=a}e[t]=n}},Dh=Math.PI/180,_l=class{constructor(t){let e=Dh*6378.137*1e3,r=Math.cos(t*Dh),i=1/(1-.0066943799901413165*(1-r*r)),n=Math.sqrt(i);this.kx=e*n*r,this.ky=e*n*i*.9933056200098587}distance(t,e){let r=this.wrap(t[0]-e[0])*this.kx,i=(t[1]-e[1])*this.ky;return Math.sqrt(r*r+i*i)}pointOnLine(t,e){let r=1/0,i,n,a,s;for(let o=0;o1?(l=t[o+1][0],u=t[o+1][1]):p>0&&(l+=h/this.kx*p,u+=c/this.ky*p)),h=this.wrap(e[0]-l)*this.kx,c=(e[1]-u)*this.ky;let f=h*h+c*c;f180;)t-=360;return t}};function Kp(t,e){return e[0]-t[0]}function ga(t){return t[1]-t[0]+1}function Le(t,e){return t[1]>=t[0]&&t[1]t[1])return[null,null];let r=ga(t);if(e){if(r===2)return[t,null];let n=Math.floor(r/2);return[[t[0],t[0]+n],[t[0]+n,t[1]]]}if(r===1)return[t,null];let i=Math.floor(r/2)-1;return[[t[0],t[0]+i],[t[0]+i+1,t[1]]]}function no(t,e){if(!Le(e,t.length))return[1/0,1/0,-1/0,-1/0];let r=[1/0,1/0,-1/0,-1/0];for(let i=e[0];i<=e[1];++i)gn(r,t[i]);return r}function ao(t){let e=[1/0,1/0,-1/0,-1/0];for(let r of t)for(let i of r)gn(e,i);return e}function _h(t){return t[0]!==-1/0&&t[1]!==-1/0&&t[2]!==1/0&&t[3]!==1/0}function Al(t,e,r){if(!_h(t)||!_h(e))return NaN;let i=0,n=0;return t[2]e[2]&&(i=t[0]-e[2]),t[1]>e[3]&&(n=t[1]-e[3]),t[3]=i)return i;if(en(n,a)){if(Ah(t,e))return 0}else if(Ah(e,t))return 0;let s=1/0;for(let o of t)for(let l=0,u=o.length,h=u-1;l0;){let l=s.pop();if(l[0]>=a)continue;let u=l[1],h=e?50:100;if(ga(u)<=h){if(!Le(u,t.length))return NaN;if(e){let c=X0(t,u,r,i);if(isNaN(c)||c===0)return c;a=Math.min(a,c)}else for(let c=u[0];c<=u[1];++c){let p=G0(t[c],r,i);if(a=Math.min(a,p),a===0)return 0}}else{let c=io(u,e);Sh(s,a,i,t,o,c[0]),Sh(s,a,i,t,o,c[1])}}return a}function va(t,e,r,i,n,a=1/0){let s=Math.min(a,n.distance(t[0],r[0]));if(s===0)return s;let o=new Hp([[0,[0,t.length-1],[0,r.length-1]]],Kp);for(;o.length>0;){let l=o.pop();if(l[0]>=s)continue;let u=l[1],h=l[2],c=e?50:100,p=i?50:100;if(ga(u)<=c&&ga(h)<=p){if(!Le(u,t.length)&&Le(h,r.length))return NaN;let f;if(e&&i)f=q0(t,u,r,h,n),s=Math.min(s,f);else if(e&&!i){let d=t.slice(u[0],u[1]+1);for(let y=h[0];y<=h[1];++y)if(f=hr(r[y],d,n),s=Math.min(s,f),s===0)return s}else if(!e&&i){let d=r.slice(h[0],h[1]+1);for(let y=u[0];y<=u[1];++y)if(f=hr(t[y],d,n),s=Math.min(s,f),s===0)return s}else f=j0(t,u,r,h,n),s=Math.min(s,f)}else{let f=io(u,e),d=io(h,i);Gn(o,s,n,t,r,f[0],d[0]),Gn(o,s,n,t,r,f[0],d[1]),Gn(o,s,n,t,r,f[1],d[0]),Gn(o,s,n,t,r,f[1],d[1])}}return s}function W0(t,e){let r=t.geometry(),i=r.flat().map(s=>bl([s.x,s.y],t.canonical));if(r.length===0)return NaN;let n=new _l(i[0][1]),a=1/0;for(let s of e){switch(s.type){case"Point":a=Math.min(a,va(i,!1,[s.coordinates],!1,n,a));break;case"LineString":a=Math.min(a,va(i,!1,s.coordinates,!0,n,a));break;case"Polygon":a=Math.min(a,xa(i,!1,s.coordinates,n,a))}if(a===0)return a}return a}function Z0(t,e){let r=t.geometry(),i=r.flat().map(s=>bl([s.x,s.y],t.canonical));if(r.length===0)return NaN;let n=new _l(i[0][1]),a=1/0;for(let s of e){switch(s.type){case"Point":a=Math.min(a,va(i,!0,[s.coordinates],!1,n,a));break;case"LineString":a=Math.min(a,va(i,!0,s.coordinates,!0,n,a));break;case"Polygon":a=Math.min(a,xa(i,!0,s.coordinates,n,a))}if(a===0)return a}return a}function H0(t,e){let r=t.geometry();if(r.length===0||r[0].length===0)return NaN;let i=Ra(r,0).map(s=>s.map(o=>o.map(l=>bl([l.x,l.y],t.canonical)))),n=new _l(i[0][0][0][1]),a=1/0;for(let s of e)for(let o of i){switch(s.type){case"Point":a=Math.min(a,xa([s.coordinates],!1,o,n,a));break;case"LineString":a=Math.min(a,xa(s.coordinates,!0,o,n,a));break;case"Polygon":a=Math.min(a,Y0(o,s.coordinates,n,a))}if(a===0)return a}return a}function Ls(t){return t.type==="MultiPolygon"?t.coordinates.map(e=>({type:"Polygon",coordinates:e})):t.type==="MultiLineString"?t.coordinates.map(e=>({type:"LineString",coordinates:e})):t.type==="MultiPoint"?t.coordinates.map(e=>({type:"Point",coordinates:e})):[t]}var El=class ca{constructor(e,r){this.type=I,this.geojson=e,this.geometries=r}static parse(e,r){if(e.length!==2)return r.error(`\'distance\' expression requires exactly one argument, but found ${e.length-1} instead.`);if(ei(e[1])){let i=e[1];if(i.type==="FeatureCollection")return new ca(i,i.features.map(n=>Ls(n.geometry)).flat());if(i.type==="Feature")return new ca(i,Ls(i.geometry));if("type"in i&&"coordinates"in i)return new ca(i,Ls(i))}return r.error("\'distance\' expression requires valid geojson object that contains polygon geometry type.")}evaluate(e){if(e.geometry()!=null&&e.canonicalID()!=null){if(e.geometryType()==="Point")return W0(e,this.geometries);if(e.geometryType()==="LineString")return Z0(e,this.geometries);if(e.geometryType()==="Polygon")return H0(e,this.geometries)}return NaN}eachChild(){}outputDefined(){return!0}},K0=class Jp{constructor(e){let r=null;for(let i of e)if(!r)r=i.type;else{if(r===i.type)continue;r=Z;break}this.type=Ut(r!=null?r:Z,e.length),this.arr=e}static parse(e,r){if(e.length!==2)return r.error(`\'semiliteral\' expression requires exactly one argument, but found ${e.length-1} instead.`);if(!ei(e[1]))return r.error(`invalid value of type "${typeof e[1]}"`);let i=e[1],n=_t(i);if(n.kind==="array"){let a=i.map(s=>r.parse(s,null,Z));return new Jp(a)}return new ri(n,i)}evaluate(e){return this.arr.map(r=>r.evaluate(e))}eachChild(e){this.arr.forEach(e)}outputDefined(){return this.arr.every(e=>e.outputDefined())}},Fl=class Qp{constructor(e){this.key=e,this.type=Z}static parse(e,r){if(e.length!==2)return r.error(`Expected 1 argument, but found ${e.length-1} instead.`);let i=e[1];return i==null?r.error("Global state property must be defined."):typeof i=="string"?new Qp(i):r.error(`Global state property must be string, but found ${typeof e[1]} instead.`)}evaluate(e){var i,n;let r=(i=e.globals)==null?void 0:i.globalState;return!r||Object.keys(r).length===0?null:(n=ji(r,this.key))!=null?n:null}eachChild(){}outputDefined(){return!1}},Yr={"==":b0,"!=":w0,">":_0,"<":D0,">=":S0,"<=":A0,array:Ie,at:i0,boolean:Ie,case:o0,coalesce:Rp,collator:Up,format:Ep,image:F0,in:n0,"index-of":a0,interpolate:be,"interpolate-hcl":be,"interpolate-lab":be,length:k0,let:Cp,literal:ri,match:s0,number:Ie,"number-format":E0,object:Ie,semiliteral:K0,slice:l0,step:vl,string:Ie,"to-boolean":jr,"to-color":jr,"to-number":jr,"to-string":jr,var:Bp,within:Dl,distance:El,"global-state":Fl},ve=class extends Error{constructor(t,e){super(e),this.message=e,this.key=t}},J0=class tf{constructor(e,r=[]){this.parent=e,this.bindings={};for(let[i,n]of r)this.bindings[i]=n}concat(e){return new tf(this,e)}get(e){if(this.bindings[e])return this.bindings[e];if(this.parent)return this.parent.get(e);throw Error(`${e} not found in scope.`)}has(e){return this.bindings[e]?!0:this.parent?this.parent.has(e):!1}},ef=class rf{constructor(e,r,i=[],n,a=new J0,s=[]){this.registry=e,this.path=i,this.key=i.map(o=>`[${o}]`).join(""),this.scope=a,this.errors=s,this.expectedType=n,this._isConstant=r}parse(e,r,i,n,a={}){return r?this.concat(r,i,n)._parse(e,a):this._parse(e,a)}_parse(e,r){(e===null||typeof e=="string"||typeof e=="boolean"||typeof e=="number")&&(e=["literal",e]);let i=this.key;function n(a,s,o){return o==="assert"?new Ie(s,[a],i):o==="coerce"?new jr(s,[a],i):a}if(Array.isArray(e)){if(e.length===0)return this.error(\'Expected an array with at least one element. If you wanted a literal array, use ["literal", []].\');let a=e[0];if(typeof a!="string")return this.error(`Expression name must be a string, but found ${typeof a} instead. If you wanted a literal array, use ["literal", [...]].`,0),null;let s=this.registry[a];if(s){let o=s.parse(e,this);if(!o)return null;if(this.expectedType){let l=this.expectedType,u=o.type;if((l.kind==="string"||l.kind==="number"||l.kind==="boolean"||l.kind==="object"||l.kind==="array")&&u.kind==="value")o=n(o,l,r.typeAnnotation||"assert");else if(l.kind==="projectionDefinition"&&["string","array","value"].includes(u.kind)||["color","formatted","resolvedImage"].includes(l.kind)&&["value","string"].includes(u.kind)||["padding","numberArray"].includes(l.kind)&&["value","number","array"].includes(u.kind)||l.kind==="colorArray"&&["value","string","array"].includes(u.kind)||l.kind==="variableAnchorOffsetCollection"&&["value","array"].includes(u.kind))o=n(o,l,r.typeAnnotation||"coerce");else if(this.checkSubtype(l,u))return null}if(!(o instanceof ri)&&o.type.kind!=="resolvedImage"&&this._isConstant(o)){let l=new Ap;try{o=new ri(o.type,o.evaluate(l))}catch(u){return this.error(u.message),null}}return o}return this.error(`Unknown expression "${a}". If you wanted a literal array, use ["literal", [...]].`,0)}return e===void 0?this.error("\'undefined\' value invalid. Use null instead."):typeof e=="object"?this.error(\'Bare objects invalid. Use ["literal", {...}] instead.\'):this.error(`Expected an array, but found ${typeof e} instead.`)}concat(e,r,i){let n=typeof e=="number"?this.path.concat(e):this.path,a=i?this.scope.concat(i):this.scope;return new rf(this.registry,this._isConstant,n,r||null,a,this.errors)}error(e,...r){let i=`${this.key}${r.map(n=>`[${n}]`).join("")}`;this.errors.push(new ve(i,e))}checkSubtype(e,r){let i=tn(e,r);return i&&this.error(i),i}},_r=class Ri{constructor(e,r,i,n,a){this.name=e,this.type=r,this._evaluate=i,this.args=n,this.key=a}evaluate(e){return this._evaluate(e,this.args,this.key)}eachChild(e){this.args.forEach(e)}outputDefined(){return!1}static parse(e,r){let i=e[0],n=Ri.definitions[i];if(!n)return r.error(`Unknown expression "${i}". If you wanted a literal array, use ["literal", [...]].`,0);let a=Array.isArray(n)?n[0]:n.type,s=Array.isArray(n)?[[n[1],n[2]]]:n.overloads,o=s.filter(([u])=>!Array.isArray(u)||u.length===e.length-1),l=null;for(let[u,h]of o){l=new ef(r.registry,ba,r.path,null,r.scope);let c=[],p=!1;for(let f=1;ftm(c)).join(" | "),h=[];for(let c=1;c>1;if(e[n]===t)return!0;e[n]>t?i=n-1:r=n+1}return!1}function sr(t){return{type:t}}_r.register(Yr,{error:[R1,[Y],(t,[e],r)=>{throw new ft(e.evaluate(t),r)}],typeof:[Y,[Z],(t,[e])=>yt(_t(e.evaluate(t)))],"to-rgba":[Ut(I,4),[ce],(t,[e])=>{let[r,i,n,a]=e.evaluate(t).rgb;return[r*255,i*255,n*255,a]}],rgb:[ce,[I,I,I],Eh],rgba:[ce,[I,I,I,I],Eh],has:{type:tt,overloads:[[[Y],(t,[e])=>Fh(e.evaluate(t),t.properties())],[[Y,fr],(t,[e,r])=>Fh(e.evaluate(t),r.evaluate(t))]]},get:{type:Z,overloads:[[[Y],(t,[e])=>Vs(e.evaluate(t),t.properties())],[[Y,fr],(t,[e,r])=>Vs(e.evaluate(t),r.evaluate(t))]]},"feature-state":[Z,[Y],(t,[e])=>Vs(e.evaluate(t),t.featureState||{})],properties:[fr,[],t=>t.properties()],"geometry-type":[Y,[],t=>t.geometryType()],id:[Z,[],t=>t.id()],zoom:[I,[],t=>t.globals.zoom],"heatmap-density":[I,[],t=>t.globals.heatmapDensity||0],elevation:[I,[],t=>t.globals.elevation||0],"line-progress":[I,[],t=>t.globals.lineProgress||0],accumulated:[Z,[],t=>t.globals.accumulated===void 0?null:t.globals.accumulated],"+":[I,sr(I),(t,e)=>{let r=0;for(let i of e)r+=i.evaluate(t);return r}],"*":[I,sr(I),(t,e)=>{let r=1;for(let i of e)r*=i.evaluate(t);return r}],"-":{type:I,overloads:[[[I,I],(t,[e,r])=>e.evaluate(t)-r.evaluate(t)],[[I],(t,[e])=>-e.evaluate(t)]]},"/":[I,[I,I],(t,[e,r])=>e.evaluate(t)/r.evaluate(t)],"%":[I,[I,I],(t,[e,r])=>e.evaluate(t)%r.evaluate(t)],ln2:[I,[],()=>Math.LN2],pi:[I,[],()=>Math.PI],e:[I,[],()=>Math.E],"^":[I,[I,I],(t,[e,r])=>e.evaluate(t)**+r.evaluate(t)],sqrt:[I,[I],(t,[e])=>Math.sqrt(e.evaluate(t))],log10:[I,[I],(t,[e])=>Math.log(e.evaluate(t))/Math.LN10],ln:[I,[I],(t,[e])=>Math.log(e.evaluate(t))],log2:[I,[I],(t,[e])=>Math.log(e.evaluate(t))/Math.LN2],sin:[I,[I],(t,[e])=>Math.sin(e.evaluate(t))],cos:[I,[I],(t,[e])=>Math.cos(e.evaluate(t))],tan:[I,[I],(t,[e])=>Math.tan(e.evaluate(t))],asin:[I,[I],(t,[e])=>Math.asin(e.evaluate(t))],acos:[I,[I],(t,[e])=>Math.acos(e.evaluate(t))],atan:[I,[I],(t,[e])=>Math.atan(e.evaluate(t))],min:[I,sr(I),(t,e)=>Math.min(...e.map(r=>r.evaluate(t)))],max:[I,sr(I),(t,e)=>Math.max(...e.map(r=>r.evaluate(t)))],abs:[I,[I],(t,[e])=>Math.abs(e.evaluate(t))],round:[I,[I],(t,[e])=>{let r=e.evaluate(t);return r<0?-Math.round(-r):Math.round(r)}],floor:[I,[I],(t,[e])=>Math.floor(e.evaluate(t))],ceil:[I,[I],(t,[e])=>Math.ceil(e.evaluate(t))],"filter-==":[tt,[Y,Z],(t,[e,r])=>t.properties()[e.value]===r.value],"filter-id-==":[tt,[Z],(t,[e])=>t.id()===e.value],"filter-type-==":[tt,[Y],(t,[e])=>t.geometryType()===e.value],"filter-<":[tt,[Y,Z],(t,[e,r])=>{let i=t.properties()[e.value],n=r.value;return typeof i==typeof n&&i{let r=t.id(),i=e.value;return typeof r==typeof i&&r":[tt,[Y,Z],(t,[e,r])=>{let i=t.properties()[e.value],n=r.value;return typeof i==typeof n&&i>n}],"filter-id->":[tt,[Z],(t,[e])=>{let r=t.id(),i=e.value;return typeof r==typeof i&&r>i}],"filter-<=":[tt,[Y,Z],(t,[e,r])=>{let i=t.properties()[e.value],n=r.value;return typeof i==typeof n&&i<=n}],"filter-id-<=":[tt,[Z],(t,[e])=>{let r=t.id(),i=e.value;return typeof r==typeof i&&r<=i}],"filter->=":[tt,[Y,Z],(t,[e,r])=>{let i=t.properties()[e.value],n=r.value;return typeof i==typeof n&&i>=n}],"filter-id->=":[tt,[Z],(t,[e])=>{let r=t.id(),i=e.value;return typeof r==typeof i&&r>=i}],"filter-has":[tt,[Z],(t,[e])=>{let r=e.value,i=t.properties();return r in i&&i[r]!==void 0}],"filter-has-id":[tt,[],t=>t.id()!==null&&t.id()!==void 0],"filter-type-in":[tt,[Ut(Y)],(t,[e])=>e.value.indexOf(t.geometryType())>=0],"filter-id-in":[tt,[Ut(Z)],(t,[e])=>e.value.indexOf(t.id())>=0],"filter-in-small":[tt,[Y,Ut(Z)],(t,[e,r])=>r.value.indexOf(t.properties()[e.value])>=0],"filter-in-large":[tt,[Y,Ut(Z)],(t,[e,r])=>Q0(t.properties()[e.value],r.value,0,r.value.length-1)],all:{type:tt,overloads:[[[tt,tt],(t,[e,r])=>e.evaluate(t)&&r.evaluate(t)],[sr(tt),(t,e)=>{for(let r of e)if(!r.evaluate(t))return!1;return!0}]]},any:{type:tt,overloads:[[[tt,tt],(t,[e,r])=>e.evaluate(t)||r.evaluate(t)],[sr(tt),(t,e)=>{for(let r of e)if(r.evaluate(t))return!0;return!1}]]},"!":[tt,[tt],(t,[e])=>!e.evaluate(t)],"is-supported-script":[tt,[Y],(t,[e])=>{let r=t.globals&&t.globals.isSupportedScript;return!r||r(e.evaluate(t))}],upcase:[Y,[Y],(t,[e])=>e.evaluate(t).toUpperCase()],downcase:[Y,[Y],(t,[e])=>e.evaluate(t).toLowerCase()],concat:[Y,sr(Z),(t,e)=>e.map(r=>Gi(r.evaluate(t))).join("")],split:[Ut(Y),[Y,Y],(t,[e,r])=>e.evaluate(t).split(r.evaluate(t))],join:[Y,[Ut(Y),Y],(t,[e,r])=>e.evaluate(t).join(r.evaluate(t))],"resolved-locale":[Y,[Pa],(t,[e])=>e.evaluate(t).resolvedLocale()]});function tm(t){return Array.isArray(t)?`(${t.map(yt).join(", ")})`:`(${yt(t.type)}...)`}function ba(t){if(t instanceof Bp)return ba(t.boundExpression);if(t instanceof _r&&t.name==="error"||t instanceof Up||t instanceof Dl||t instanceof El||t instanceof Fl)return!1;let e=t instanceof jr||t instanceof Ie,r=!0;return t.eachChild(i=>{r&&(r=e?ba(i):i instanceof ri)}),r?Na(t)&&Ua(t,["zoom","heatmap-density","elevation","line-progress","accumulated","is-supported-script"]):!1}function Na(t){if(t instanceof _r&&(t.name==="get"&&t.args.length===1||t.name==="feature-state"||t.name==="has"&&t.args.length===1||t.name==="properties"||t.name==="geometry-type"||t.name==="id"||/^filter-/.test(t.name))||t instanceof Dl||t instanceof El)return!1;let e=!0;return t.eachChild(r=>{e&&!Na(r)&&(e=!1)}),e}function rn(t){if(t instanceof _r&&t.name==="feature-state")return!1;let e=!0;return t.eachChild(r=>{e&&!rn(r)&&(e=!1)}),e}function Ua(t,e){if(t instanceof _r&&e.indexOf(t.name)>=0)return!1;let r=!0;return t.eachChild(i=>{r&&!Ua(i,e)&&(r=!1)}),r}function ii(t){return t["property-type"]==="data-driven"||t["property-type"]==="cross-faded-data-driven"}function nf(t){return!!t.expression&&t.expression.parameters.indexOf("zoom")>-1}function kl(t){return!!t.expression&&t.expression.interpolated}var Tl=/^(.*)-transition$/;function nn(t,...e){for(let r of e)for(let i in r)t[i]=r[i];return t}function Q(t){return t instanceof Number?"number":t instanceof String?"string":t instanceof Boolean?"boolean":Array.isArray(t)?"array":t===null?"null":typeof t}function qa(t){return typeof t=="object"&&!!t&&!Array.isArray(t)&&_t(t)===fr}function em(t){return t}function rm(t){switch(t.type){case"color":return gt.parse;case"padding":return Ae.parse;case"numberArray":return Se.parse;case"colorArray":return oe.parse;default:return null}}function im(t){switch(t){case"exponential":return sf;case"interval":return am;case"categorical":return nm;case"identity":return sm;default:throw Error(`Unknown function type "${t}"`)}}function af(t,e){let r=t.stops&&typeof t.stops[0][0]=="object",i=r||t.property!==void 0,n=r||!i,a=t.type||(kl(e)?"exponential":"interval"),s=rm(e);if(s&&(t=nn({},t),t.stops&&(t.stops=t.stops.map(h=>[h[0],s(h[1])])),t.default?t.default=s(t.default):t.default=s(e.default)),t.colorSpace&&!Z1(t.colorSpace))throw Error(`Unknown color space: "${t.colorSpace}"`);let o=im(a),l,u;if(a==="categorical"){l=Object.create(null);for(let h of t.stops)l[h[0]]=h[1];u=typeof t.stops[0][0]}if(r){let h={},c=[];for(let d=0;dd[0]),evaluate({zoom:d},y){return sf({stops:p,base:t.base},e,d).evaluate(d,y)}}}if(n){let h=a==="exponential"?{name:"exponential",base:t.base===void 0?1:t.base}:null;return{kind:"camera",interpolationType:h,interpolationFactor:be.interpolationFactor.bind(void 0,h),zoomStops:t.stops.map(c=>c[0]),evaluate:({zoom:c})=>o(t,e,c,l,u)}}return{kind:"source",evaluate(h,c){let p=c&&c.properties?c.properties[t.property]:void 0;return p===void 0?xn(t.default,e.default):o(t,e,p,l,u)}}}function xn(t,e,r){if(t!==void 0)return t;if(e!==void 0)return e;if(r!==void 0)return r}function nm(t,e,r,i,n){return xn(typeof r===n?i[r]:void 0,t.default,e.default)}function am(t,e,r){if(Q(r)!=="number")return xn(t.default,e.default);let i=t.stops.length;if(i===1||r<=t.stops[0][0])return t.stops[0][1];if(r>=t.stops[i-1][0])return t.stops[i-1][1];let n=Oa(t.stops.map(a=>a[0]),r,"");return t.stops[n][1]}function sf(t,e,r){let i=t.base===void 0?1:t.base;if(Q(r)!=="number")return xn(t.default,e.default);let n=t.stops.length;if(n===1||r<=t.stops[0][0])return t.stops[0][1];if(r>=t.stops[n-1][0])return t.stops[n-1][1];let a=Oa(t.stops.map(h=>h[0]),r,""),s=om(r,i,t.stops[a][0],t.stops[a+1][0]),o=t.stops[a][1],l=t.stops[a+1][1],u=gr[e.type]||em;return typeof o.evaluate=="function"?{evaluate(...h){let c=o.evaluate.apply(void 0,h),p=l.evaluate.apply(void 0,h);if(c!==void 0&&p!==void 0)return u(c,p,s,t.colorSpace)}}:u(o,l,s,t.colorSpace)}function sm(t,e,r){switch(e.type){case"color":r=gt.parse(r);break;case"formatted":r=ze.fromString(r.toString());break;case"resolvedImage":r=_e.fromString(r.toString());break;case"padding":r=Ae.parse(r);break;case"colorArray":r=oe.parse(r);break;case"numberArray":r=Se.parse(r);break;default:Q(r)!==e.type&&(e.type!=="enum"||!e.values[r])&&(r=void 0)}return xn(r,t.default,e.default)}function om(t,e,r,i){let n=i-r,a=t-r;return n===0?0:e===1?a/n:(e**+a-1)/(e**+n-1)}function so(t){return{result:"success",value:t}}function Nr(t){return{result:"error",value:t}}var Il=class{constructor(t,e,r,i){this.expression=t,this._warningHistory={},this._evaluator=new Ap,this._defaultValue=r?pf(r):null,this._enumValues=r&&r.type==="enum"?r.values:null,this._globalState=i,this._rootKey=e}evaluateWithoutErrorHandling(t,e,r,i,n,a){return this._globalState&&(t=ni(t,this._globalState)),this._evaluator.globals=t,this._evaluator.feature=e,this._evaluator.featureState=r,this._evaluator.canonical=i,this._evaluator.availableImages=n||null,this._evaluator.formattedSection=a,this.expression.evaluate(this._evaluator)}evaluate(t,e,r,i,n,a){this._globalState&&(t=ni(t,this._globalState)),this._evaluator.globals=t,this._evaluator.feature=e||null,this._evaluator.featureState=r||null,this._evaluator.canonical=i,this._evaluator.availableImages=n||null,this._evaluator.formattedSection=a||null;try{let s=this.expression.evaluate(this._evaluator);if(s==null||typeof s=="number"&&s!==s)return this._defaultValue;if(this._enumValues&&!(s in this._enumValues))throw new ft(`Expected value to be one of ${Object.keys(this._enumValues).map(o=>JSON.stringify(o)).join(", ")}, but found ${JSON.stringify(s)} instead.`,"");return s}catch(s){let o=s instanceof ft?s.path:"",l=`${o}|${s.message}`;return this._warningHistory[l]||(this._warningHistory[l]=!0,typeof console<"u"&&console.warn(of(this._rootKey,o,s.message,this._defaultValue))),this._defaultValue}}};function of(t,e,r,i){return`${t}${e}: ${r}${i==null?"":` Falling back to ${String(i)}.`}`}function lf(t){if(!t)throw Error(\'rootKey must identify the location of the expression in the style JSON, e.g. "layers[3].paint.line-width".\')}function ja(t){return Array.isArray(t)&&t.length>0&&typeof t[0]=="string"&&t[0]in Yr}function er(t,e,r,i){lf(e);let n=new ef(Yr,ba,[],r?hm(r):void 0),a=n.parse(t,void 0,void 0,void 0,r&&r.type==="string"?{typeAnnotation:"coerce"}:void 0);return a?so(new Il(a,e,r,i)):Nr(n.errors)}var an=class{constructor(t,e,r){this.kind=t,this._styleExpression=e,this.isStateDependent=t!=="constant"&&!rn(e.expression),this.globalStateRefs=vn(e.expression),this._globalState=r}evaluateWithoutErrorHandling(t,e,r,i,n,a){return this._globalState&&(t=ni(t,this._globalState)),this._styleExpression.evaluateWithoutErrorHandling(t,e,r,i,n,a)}evaluate(t,e,r,i,n,a){return this._globalState&&(t=ni(t,this._globalState)),this._styleExpression.evaluate(t,e,r,i,n,a)}},wa=class{constructor(t,e,r,i,n){this.kind=t,this.zoomStops=r,this._styleExpression=e,this.isStateDependent=t!=="camera"&&!rn(e.expression),this.globalStateRefs=vn(e.expression),this.interpolationType=i,this._globalState=n}evaluateWithoutErrorHandling(t,e,r,i,n,a){return this._globalState&&(t=ni(t,this._globalState)),this._styleExpression.evaluateWithoutErrorHandling(t,e,r,i,n,a)}evaluate(t,e,r,i,n,a){return this._globalState&&(t=ni(t,this._globalState)),this._styleExpression.evaluate(t,e,r,i,n,a)}interpolationFactor(t,e,r){return this.interpolationType?be.interpolationFactor(this.interpolationType,t,e,r):0}};function lm(t){return t._styleExpression!==void 0}function uf(t,e,r,i){let n=er(t,e,r,i);if(n.result==="error")return n;let a=n.value.expression,s=Na(a);if(!s&&!ii(r))return Nr([new ve("","data expressions not supported")]);let o=Ua(a,["zoom"]);if(!o&&!nf(r))return Nr([new ve("","zoom expressions not supported")]);let l=pa(a);if(!l&&!o)return Nr([new ve("",\'"zoom" expression may only be used as input to a top-level "step" or "interpolate" expression.\')]);if(l instanceof ve)return Nr([l]);if(l instanceof be&&!kl(r))return Nr([new ve("",\'"interpolate" expressions cannot be used with this property\')]);if(!l)return so(s?new an("constant",n.value,i):new an("source",n.value,i));let u=l instanceof be?l.interpolation:void 0;return so(s?new wa("camera",n.value,l.labels,u,i):new wa("composite",n.value,l.labels,u,i))}var hf=class cf{constructor(e,r,i){this.isStateDependent=!1,this.globalStateRefs=new Set,this._globalState=null,lf(r),this._parameters=e,this._specification=i,this._rootKey=r,this._defaultValue=pf(i),this._warningHistory={};let n=af(this._parameters,this._specification);this.kind=n.kind,this.interpolationFactor=n.interpolationFactor,this.zoomStops=n.zoomStops,this.interpolationType=n.interpolationType,this._innerEvaluate=n.evaluate}evaluate(e,r){try{return this._innerEvaluate(e,r)}catch(i){let n=i instanceof Error?i.message:String(i),a=`|${n}`;return this._warningHistory[a]||(this._warningHistory[a]=!0,typeof console<"u"&&console.warn(of(this._rootKey,"",n,this._defaultValue))),this._defaultValue}}static deserialize(e){return new cf(e._parameters,e._rootKey,e._specification)}static serialize(e){return{_parameters:e._parameters,_specification:e._specification,_rootKey:e._rootKey}}};function um(t,e,r,i){if(qa(t))return new hf(t,e,r);if(ja(t)){let n=uf(t,e,r,i);if(n.result==="error")throw Error(n.value.map(a=>`${a.key}: ${a.message}`).join(", "));return n.value}{let n=t;return r.type==="color"&&typeof t=="string"?n=gt.parse(t):r.type==="padding"&&(typeof t=="number"||Array.isArray(t))?n=Ae.parse(t):r.type==="numberArray"&&(typeof t=="number"||Array.isArray(t))?n=Se.parse(t):r.type==="colorArray"&&(typeof t=="string"||Array.isArray(t))?n=oe.parse(t):r.type==="variableAnchorOffsetCollection"&&Array.isArray(t)?n=De.parse(t):r.type==="projectionDefinition"&&typeof t=="string"&&(n=Dr.parse(t)),{globalStateRefs:new Set,_globalState:null,kind:"constant",evaluate:()=>n}}}function pa(t){let e=null;if(t instanceof Cp)e=pa(t.result);else if(t instanceof Rp){for(let r of t.args)if(e=pa(r),e)break}else(t instanceof vl||t instanceof be)&&t.input instanceof _r&&t.input.name==="zoom"&&(e=t);return e instanceof ve||t.eachChild(r=>{let i=pa(r);i instanceof ve?e=i:!e&&i?e=new ve("",\'"zoom" expression may only be used as input to a top-level "step" or "interpolate" expression.\'):e&&i&&e!==i&&(e=new ve("",\'Only one zoom-based "step" or "interpolate" subexpression may be used in an expression.\'))}),e}function vn(t,e=new Set){return t instanceof Fl&&e.add(t.key),t.eachChild(r=>{vn(r,e)}),e}function hm(t){let e={color:ce,string:Y,number:I,enum:Y,boolean:tt,formatted:yn,padding:za,numberArray:La,colorArray:Qi,projectionDefinition:Ba,resolvedImage:mn,variableAnchorOffsetCollection:Va};return t.type==="array"?Ut(e[t.value]||Z,t.length):e[t.type]}function pf(t){if(t.type==="color"&&qa(t.default))return new gt(0,0,0,0);switch(t.type){case"color":return gt.parse(t.default)||null;case"padding":return Ae.parse(t.default)||null;case"numberArray":return Se.parse(t.default)||null;case"colorArray":return oe.parse(t.default)||null;case"variableAnchorOffsetCollection":return De.parse(t.default)||null;case"projectionDefinition":return Dr.parse(t.default)||null;default:return t.default===void 0?null:t.default}}function ni(t,e){let{zoom:r,heatmapDensity:i,elevation:n,lineProgress:a,isSupportedScript:s,accumulated:o}=t!=null?t:{};return{zoom:r,heatmapDensity:i,elevation:n,lineProgress:a,isSupportedScript:s,accumulated:o,globalState:e}}function cm(t){let e=!1;for(let r of t){let i=ff(r);if(i==="expression")return"expression";i==="legacy"&&(e=!0)}return e?"legacy":"neutral"}function ff(t){if(typeof t=="boolean")return"neutral";if(!Array.isArray(t)||t.length===0)return"legacy";switch(t[0]){case"has":return t.length<2||t[1]==="$id"||t[1]==="$type"?"legacy":t.length===2?"neutral":"expression";case"in":return t.length>=3&&(typeof t[1]!="string"||Array.isArray(t[2]))?"expression":"legacy";case"!in":case"!has":return"legacy";case"==":case"!=":case">":case">=":case"<":case"<=":return t.length!==3||Array.isArray(t[1])||Array.isArray(t[2])?"expression":"legacy";case"none":return"legacy";case"any":case"all":return cm(t.slice(1));default:return"expression"}}function Cl(t){return ff(t)!=="legacy"}function kh(t){return t==="$type"?["geometry-type"]:t==="$id"?["id"]:["get",t]}function pm(t){switch(t[0]){case"==":case"!=":case"<":case"<=":case">":case">=":return t.length!==3||typeof t[1]!="string"?null:[t[0],kh(t[1]),t[2]];case"in":case"!in":{if(t.length<2||typeof t[1]!="string")return null;let e=["in",kh(t[1]),["literal",t.slice(2)]];return t[0]==="!in"?["!",e]:e}case"has":case"!has":{if(t.length!==2||typeof t[1]!="string"||t[1]==="$type"||t[1]==="$id")return null;let e=["has",t[1]];return t[0]==="!has"?["!",e]:e}default:return null}}function df(t){if((t[0]==="<"||t[0]==="<="||t[0]===">"||t[0]===">=")&&t[1]==="$type")return`"$type" cannot be use with operator "${t[0]}"`;let e=pm(t);return e?`Mixing deprecated filter syntax with expression syntax is not supported. Replace ${JSON.stringify(t)} with ${JSON.stringify(e)}.`:`Mixing deprecated filter syntax with expression syntax is not supported. Convert ${JSON.stringify(t)} to expression syntax.`}function Os(t,e,r){let i=r[t];return Array.isArray(i)?Cl(i)?Ml(i,e.concat(t)):{path:e.concat(t),legacyFilter:i}:null}function Ml(t,e=[]){if(!Array.isArray(t)||t.length<1)return null;switch(t[0]){case"all":case"any":case"none":for(let r=1;r"u")return;let i=r.path.map(n=>`[${n}]`).join("");console.warn(`${e}${i}: ${df(r.legacyFilter)}`)}var dm={type:"boolean",default:!1,transition:!1,"property-type":"data-driven",expression:{interpolated:!1,parameters:["zoom","feature"]}};function ai(t,e,r){if(t==null)return{filter:()=>!0,needGeometry:!1,getGlobalStateRefs:()=>new Set};Cl(t)?fm(t,e):t=Da(t);let i=er(t,e,dm,r);if(i.result==="error")throw Error(i.value.map(n=>`${n.key}: ${n.message}`).join(", "));return{filter:(n,a,s)=>i.value.evaluate(n,a,{},s),needGeometry:yf(t),getGlobalStateRefs:()=>vn(i.value.expression)}}function ym(t,e){return te)}function yf(t){if(!Array.isArray(t))return!1;if(t[0]==="within"||t[0]==="distance")return!0;for(let e=1;e"||e==="<="||e===">="?Rs(t[1],t[2],e):e==="any"?mm(t.slice(1)):e==="all"?["all"].concat(t.slice(1).map(Da)):e==="none"?["all"].concat(t.slice(1).map(Da).map(Xn)):e==="in"?Th(t[1],t.slice(2)):e==="!in"?Xn(Th(t[1],t.slice(2))):e==="has"?Ih(t[1]):e!=="!has"||Xn(Ih(t[1]))}function Rs(t,e,r){switch(t){case"$type":return[`filter-type-${r}`,e];case"$id":return[`filter-id-${r}`,e];default:return[`filter-${r}`,t,e]}}function mm(t){return["any"].concat(t.map(Da))}function Th(t,e){if(e.length===0)return!1;switch(t){case"$type":return["filter-type-in",["literal",e]];case"$id":return["filter-id-in",["literal",e]];default:return e.length>200&&!e.some(r=>typeof r!=typeof e[0])?["filter-in-large",t,["literal",e.sort(ym)]]:["filter-in-small",t,["literal",e]]}}function Ih(t){switch(t){case"$type":return!0;case"$id":return["filter-has-id"];default:return["filter-has",t]}}function Xn(t){return["!",t]}function mf(t){let e=t.key,r=t.value;return r?[new E(e,r,"constants have been deprecated as of v8")]:[]}function Dt(t){return t instanceof Number||t instanceof String||t instanceof Boolean?t.valueOf():t}function xr(t){if(Array.isArray(t))return t.map(xr);if(t instanceof Object&&!(t instanceof Number||t instanceof String||t instanceof Boolean)){let e={};for(let r in t)e[r]=xr(t[r]);return e}return Dt(t)}function te(t){let e=t.key,r=t.value,i=t.valueSpec||{},n=t.objectElementValidators||{},a=t.style,s=t.styleSpec,o=t.validateSpec,l=[],u=Q(r);if(u!=="object")return[new E(e,r,`object expected, ${u} found`)];for(let h in r){let c=h.split(".")[0],p=ji(i,c)||i["*"],f;if(ji(n,c))f=n[c];else if(ji(i,c)){if(r[h]===void 0)continue;f=o}else if(n["*"])f=n["*"];else if(i["*"])f=o;else{l.push(new E(e,r[h],`unknown property "${h}"`));continue}l=l.concat(f({key:(e&&`${e}.`)+h,value:r[h],valueSpec:p,style:a,styleSpec:s,object:r,objectKey:h,validateSpec:o},r))}for(let h in i)n[h]||i[h].required&&i[h].default===void 0&&r[h]===void 0&&l.push(new E(e,r,`missing required property "${h}"`));return l}function Bl(t){let e=t.value,r=t.valueSpec,i=t.validateSpec,n=t.style,a=t.styleSpec,s=t.key,o=t.arrayElementValidator||i;if(Q(e)!=="array")return[new E(s,e,`array expected, ${Q(e)} found`)];if(r.length&&e.length!==r.length)return[new E(s,e,`array length ${r.length} expected, length ${e.length} found`)];let l={type:r.value,values:r.values};a.$version<7&&(l.function=r.function),Q(r.value)==="object"&&(l=r.value);let u=[];for(let h=0;hi.maximum?[new E(e,r,`${r} is greater than the maximum value ${i.maximum}`)]:[]:[new E(e,r,`number expected, ${n} found`)]}function gf(t){let e=t.valueSpec,r=Dt(t.value.type),i,n={},a,s,o=r!=="categorical"&&t.value.property===void 0,l=!o,u=Q(t.value.stops)==="array"&&Q(t.value.stops[0])==="array"&&Q(t.value.stops[0][0])==="object",h=te({key:t.key,value:t.value,valueSpec:t.styleSpec.function,validateSpec:t.validateSpec,style:t.style,styleSpec:t.styleSpec,objectElementValidators:{stops:c,default:d}});return r==="identity"&&o&&h.push(new E(t.key,t.value,\'missing required property "property"\')),r!=="identity"&&!t.value.stops&&h.push(new E(t.key,t.value,\'missing required property "stops"\')),r==="exponential"&&t.valueSpec.expression&&!kl(t.valueSpec)&&h.push(new E(t.key,t.value,"exponential functions not supported")),t.styleSpec.$version>=8&&(l&&!ii(t.valueSpec)?h.push(new E(t.key,t.value,"property functions not supported")):o&&!nf(t.valueSpec)&&h.push(new E(t.key,t.value,"zoom functions not supported"))),(r==="categorical"||u)&&t.value.property===void 0&&h.push(new E(t.key,t.value,\'"property" property is required\')),h;function c(y){if(r==="identity")return[new E(y.key,y.value,\'identity function may not have a "stops" property\')];let m=[],g=y.value;return m=m.concat(Bl({key:y.key,value:g,valueSpec:y.valueSpec,validateSpec:y.validateSpec,style:y.style,styleSpec:y.styleSpec,arrayElementValidator:p})),Q(g)==="array"&&g.length===0&&m.push(new E(y.key,g,"array must have at least one stop")),m}function p(y){let m=[],g=y.value,x=y.key;if(Q(g)!=="array")return[new E(x,g,`array expected, ${Q(g)} found`)];if(g.length!==2)return[new E(x,g,`array length 2 expected, length ${g.length} found`)];if(u){if(Q(g[0])!=="object")return[new E(x,g,`object expected, ${Q(g[0])} found`)];if(g[0].zoom===void 0)return[new E(x,g,"object stop key must have zoom")];if(g[0].value===void 0)return[new E(x,g,"object stop key must have value")];if(s&&s>Dt(g[0].zoom))return[new E(x,g[0].zoom,"stop zoom values must appear in ascending order")];Dt(g[0].zoom)!==s&&(s=Dt(g[0].zoom),a=void 0,n={}),m=m.concat(te({key:`${x}[0]`,value:g[0],valueSpec:{zoom:{}},validateSpec:y.validateSpec,style:y.style,styleSpec:y.styleSpec,objectElementValidators:{zoom:Ga,value:f}}))}else m=m.concat(f({key:`${x}[0]`,value:g[0],valueSpec:{},validateSpec:y.validateSpec,style:y.style,styleSpec:y.styleSpec},g));return ja(xr(g[1]))?m.concat([new E(`${x}[1]`,g[1],"expressions are not allowed in function stops.")]):m.concat(y.validateSpec({key:`${x}[1]`,value:g[1],valueSpec:e,validateSpec:y.validateSpec,style:y.style,styleSpec:y.styleSpec}))}function f(y,m){let g=Q(y.value),x=Dt(y.value),v=y.value===null?m:y.value;if(!i)i=g;else if(g!==i)return[new E(y.key,v,`${g} stop domain type must match previous stop domain type ${i}`)];if(g!=="number"&&g!=="string"&&g!=="boolean")return[new E(y.key,v,"stop domain value must be a number, string, or boolean")];if(g!=="number"&&r!=="categorical"){let b=`number expected, ${g} found`;return ii(e)&&r===void 0&&(b+=\'\\nIf you intended to use a categorical function, specify `"type": "categorical"`.\'),[new E(y.key,v,b)]}return r==="categorical"&&g==="number"&&(!isFinite(x)||Math.floor(x)!==x)?[new E(y.key,v,`integer expected, found ${x}`)]:r!=="categorical"&&g==="number"&&a!==void 0&&xnew E(`${t.key}${i.key}`,t.value,i.message));let r=e.value.expression||e.value._styleExpression.expression;if(t.expressionContext==="property"&&t.propertyKey==="text-font"&&!r.outputDefined())return[new E(t.key,t.value,`Invalid data expression for "${t.propertyKey}". Output values must be contained as literals within the expression.`)];if(t.expressionContext==="property"&&t.propertyType==="layout"&&!rn(r))return[new E(t.key,t.value,\'"feature-state" data expressions are not supported with layout properties.\')];if(t.expressionContext==="filter"&&!rn(r))return[new E(t.key,t.value,\'"feature-state" data expressions are not supported with filters.\')];if(t.expressionContext&&t.expressionContext.indexOf("cluster")===0){if(!Ua(r,["zoom","feature-state"]))return[new E(t.key,t.value,\'"zoom" and "feature-state" expressions are not supported with cluster properties.\')];if(t.expressionContext==="cluster-initial"&&!Na(r))return[new E(t.key,t.value,"Feature data expressions are not supported with initial expression part of cluster properties.")]}return[]}function gm(t){let e=t.value,r=t.key,i=Q(e);return i==="boolean"?[]:[new E(r,e,`boolean expected, ${i} found`)]}function oo(t){let e=t.key,r=t.value,i=Q(r);return i==="string"?gt.parse(String(r))?[]:[new E(e,r,`color expected, "${r}" found`)]:[new E(e,r,`color expected, ${i} found`)]}function sn(t){let e=t.key,r=t.value,i=t.valueSpec,n=[];return Array.isArray(i.values)?i.values.indexOf(Dt(r))===-1&&n.push(new E(e,r,`expected one of [${i.values.join(", ")}], ${JSON.stringify(r)} found`)):Object.keys(i.values).indexOf(Dt(r))===-1&&n.push(new E(e,r,`expected one of [${Object.keys(i.values).join(", ")}], ${JSON.stringify(r)} found`)),n}function xm(t,e){let r=t;for(let i of e)r=r[i];return r}function vm(t,e){let r=Ml(e);return r?[new E(`${t.key}${r.path.map(i=>`[${i}]`).join("")}`,xm(t.value,r.path),df(r.legacyFilter),null,"warning")]:[]}function Pl(t){let e=xr(t.value);return Cl(e)?[...vm(t,e),...si(nn({},t,{expressionContext:"filter",valueSpec:{value:"boolean"}}))]:xf(t)}function xf(t){let e=t.value,r=t.key;if(Q(e)!=="array")return[new E(r,e,`array expected, ${Q(e)} found`)];let i=t.styleSpec,n,a=[];if(e.length<1)return[new E(r,e,"filter array must have at least 1 element")];switch(a=a.concat(sn({key:`${r}[0]`,value:e[0],valueSpec:i.filter_operator,style:t.style,styleSpec:t.styleSpec})),Dt(e[0])){case"<":case"<=":case">":case">=":e.length>=2&&Dt(e[1])==="$type"&&a.push(new E(r,e,`"$type" cannot be use with operator "${e[0]}"`));case"==":case"!=":e.length!==3&&a.push(new E(r,e,`filter array for operator "${e[0]}" must have 3 elements`));case"in":case"!in":e.length>=2&&(n=Q(e[1]),n!=="string"&&a.push(new E(`${r}[1]`,e[1],`string expected, ${n} found`)));for(let s=2;s{c in r&&e.push(new E(i,r[c],`"${c}" is prohibited for ref layers`))});let h;n.layers.forEach(c=>{Dt(c.id)===o&&(h=c)}),h?h.ref?e.push(new E(i,r.ref,"ref cannot reference another ref layer")):s=Dt(h.type):e.push(new E(i,r.ref,`ref layer "${o}" not found`))}else if(s!=="background")if(!r.source)e.push(new E(i,r,\'missing required property "source"\'));else{let h=n.sources&&n.sources[r.source],c=h&&Dt(h.type);h?c==="vector"&&s==="raster"?e.push(new E(i,r.source,`layer "${r.id}" requires a raster source`)):c!=="raster-dem"&&s==="hillshade"||c!=="raster-dem"&&s==="color-relief"?e.push(new E(i,r.source,`layer "${r.id}" requires a raster-dem source`)):c==="raster"&&s!=="raster"?e.push(new E(i,r.source,`layer "${r.id}" requires a vector source`)):c==="vector"&&!r["source-layer"]?e.push(new E(i,r,`layer "${r.id}" must specify a "source-layer"`)):c==="raster-dem"&&s!=="hillshade"&&s!=="color-relief"?e.push(new E(i,r.source,"raster-dem source can only be used with layer type \'hillshade\' or \'color-relief\'.")):s==="line"&&r.paint&&r.paint["line-gradient"]&&(c!=="geojson"||!h.lineMetrics)&&e.push(new E(i,r,`layer "${r.id}" specifies a line-gradient, which requires a GeoJSON source with \\`lineMetrics\\` enabled.`)):e.push(new E(i,r.source,`source "${r.source}" not found`))}return s==="raster"&&((l=r.paint)!=null&&l.resampling)&&((u=r.paint)!=null&&u["raster-resampling"])&&e.push(new E(i,r.paint,`layer "${r.id}" redundantly specifies "resampling" and "raster-resampling" paint properties, but only one is allowed. It is advised to use "resampling".`)),e=e.concat(te({key:i,value:r,valueSpec:a.layer,style:t.style,styleSpec:t.styleSpec,validateSpec:t.validateSpec,objectElementValidators:{"*"(){return[]},type(){return t.validateSpec({key:`${i}.type`,value:r.type,valueSpec:a.layer.type,style:t.style,styleSpec:t.styleSpec,validateSpec:t.validateSpec,object:r,objectKey:"type"})},filter:Pl,layout(h){return te({layer:r,key:h.key,value:h.value,style:h.style,styleSpec:h.styleSpec,validateSpec:h.validateSpec,objectElementValidators:{"*"(c){return wf(nn({layerType:s},c))}}})},paint(h){return te({layer:r,key:h.key,value:h.value,style:h.style,styleSpec:h.styleSpec,validateSpec:h.validateSpec,objectElementValidators:{"*"(c){return bf(nn({layerType:s},c))}}})}}})),e}function tr(t){let e=t.value,r=t.key,i=Q(e);return i==="string"?[]:[new E(r,e,`string expected, ${i} found`)]}function bm(t){var c;let e=(c=t.sourceName)!=null?c:"",r=t.value,i=t.styleSpec,n=i.source_raster_dem,a=t.style,s=[],o=Q(r);if(r===void 0)return s;if(o!=="object")return s.push(new E("source_raster_dem",r,`object expected, ${o} found`)),s;let l=Dt(r.encoding)==="custom",u=["redFactor","greenFactor","blueFactor","baseShift"],h=t.value.encoding?`"${t.value.encoding}"`:"Default";for(let p in r)!l&&u.includes(p)?s.push(new E(p,r[p],`In "${e}": "${p}" is only valid when "encoding" is set to "custom". ${h} encoding found`)):n[p]?s=s.concat(t.validateSpec({key:p,value:r[p],valueSpec:n[p],validateSpec:t.validateSpec,style:a,styleSpec:i})):s.push(new E(p,r[p],`unknown property "${p}"`));return s}var Ch={promoteId:wm};function _f(t){let e=t.value,r=t.key,i=t.styleSpec,n=t.style,a=t.validateSpec;if(!e.type)return[new E(r,e,\'"type" is required\')];let s=Dt(e.type),o;switch(s){case"vector":case"raster":return o=te({key:r,value:e,valueSpec:i[`source_${s.replace("-","_")}`],style:t.style,styleSpec:i,objectElementValidators:Ch,validateSpec:a}),o;case"raster-dem":return o=bm({sourceName:r,value:e,style:t.style,styleSpec:i,validateSpec:a}),o;case"geojson":if(o=te({key:r,value:e,valueSpec:i.source_geojson,style:n,styleSpec:i,validateSpec:a,objectElementValidators:Ch}),e.cluster)for(let l in e.clusterProperties){let[u,h]=e.clusterProperties[l],c=typeof u=="string"?[u,["accumulated"],["get",l]]:u;o.push(...si({key:`${r}.${l}.map`,value:h,validateSpec:a,expressionContext:"cluster-map"})),o.push(...si({key:`${r}.${l}.reduce`,value:c,validateSpec:a,expressionContext:"cluster-reduce"}))}return o;case"video":return te({key:r,value:e,valueSpec:i.source_video,style:n,validateSpec:a,styleSpec:i});case"image":return te({key:r,value:e,valueSpec:i.source_image,style:n,validateSpec:a,styleSpec:i});case"canvas":return[new E(r,null,"Please use runtime APIs to add canvas sources, rather than including them in stylesheets.","source.canvas")];default:return sn({key:`${r}.type`,value:e.type,valueSpec:{values:["vector","raster","raster-dem","geojson","video","image"]},style:n,validateSpec:a,styleSpec:i})}}function wm({key:t,value:e}){if(Q(e)==="string")return tr({key:t,value:e});{let r=[];for(let i in e)r.push(...tr({key:`${t}.${i}`,value:e[i]}));return r}}function Af(t){let e=t.value,r=t.styleSpec,i=r.light,n=t.style,a=[],s=Q(e);if(e===void 0)return a;if(s!=="object")return a=a.concat([new E("light",e,`object expected, ${s} found`)]),a;for(let o in e){let l=o.match(Tl);a=l&&i[l[1]]&&i[l[1]].transition?a.concat(t.validateSpec({key:o,value:e[o],valueSpec:r.transition,validateSpec:t.validateSpec,style:n,styleSpec:r})):i[o]?a.concat(t.validateSpec({key:o,value:e[o],valueSpec:i[o],validateSpec:t.validateSpec,style:n,styleSpec:r})):a.concat([new E(o,e[o],`unknown property "${o}"`)])}return a}function Sf(t){let e=t.value,r=t.styleSpec,i=r.sky,n=t.style,a=Q(e);if(e===void 0)return[];if(a!=="object")return[new E("sky",e,`object expected, ${a} found`)];let s=[];for(let o in e){let l=o.match(Tl);s=l&&i[l[1]]&&i[l[1]].transition?s.concat(t.validateSpec({key:o,value:e[o],valueSpec:r.transition,style:n,styleSpec:r})):i[o]?s.concat(t.validateSpec({key:o,value:e[o],valueSpec:i[o],style:n,styleSpec:r})):s.concat([new E(o,e[o],`unknown property "${o}"`)])}return s}function Ef(t){let e=t.value,r=t.styleSpec,i=r.terrain,n=t.style,a=[],s=Q(e);if(e===void 0)return a;if(s!=="object")return a=a.concat([new E("terrain",e,`object expected, ${s} found`)]),a;for(let o in e)a=i[o]?a.concat(t.validateSpec({key:o,value:e[o],valueSpec:i[o],validateSpec:t.validateSpec,style:n,styleSpec:r})):a.concat([new E(o,e[o],`unknown property "${o}"`)]);return a}function Dm(t){return tr(t).length===0?[]:si(t)}function _m(t){return tr(t).length===0?[]:si(t)}function Am(t){let e=t.key,r=t.value;if(Q(r)==="array"){if(r.length<1||r.length>4)return[new E(e,r,`padding requires 1 to 4 values; ${r.length} values found`)];let i={type:"number"},n=[];for(let a=0;a[new E(t,e,\'invalid unicode range, expected a value such as "U+26", "U+0-10FFFF" or "U+4??"\')],n=r.match(Mm);if(!n)return i();let[,a,s,o]=n;if(o!==void 0)return o.length>6?i():[];let l=parseInt(a,16),u=s===void 0?l:parseInt(s,16);return l>Mh||u>Mh?[new E(t,e,"unicode range is out of bounds, the maximum code point is U+10FFFF")]:l>u?[new E(t,e,`unicode range start must not be greater than its end, but ${r} is`)]:[]}function Tf(t){var o,l;let e=(o=t.key)!=null?o:"font-faces",r=t.value,i=t.validateSpec,n=(l=t.styleSpec)!=null?l:pp,a=t.style;if(!lo(r))return[new E(e,r,`object expected, ${Q(r)} found`)];let s=[];for(let u in r){let h=r[u],c=Q(h);if(c==="string")s.push(...tr({key:`${e}.${u}`,value:h}));else if(c==="array"){let p={url:{type:"string",required:!0},"unicode-range":{type:"array",value:"string"}};for(let[f,d]of h.entries()){let y=`${e}.${u}[${f}]`;s.push(...te({key:y,value:d,valueSpec:p,styleSpec:n,style:a,validateSpec:i}));let m=lo(d)?d["unicode-range"]:void 0;if(Q(m)==="array")for(let[g,x]of m.entries())s.push(...Bm(`${y}.unicode-range[${g}]`,x))}}else s.push(new E(`${e}.${u}`,h,`string or array expected, ${c} found`))}return s}var Bh={"*"(){return[]},array:Bl,boolean:gm,number:Ga,color:oo,constants:mf,enum:sn,filter:Pl,function:gf,layer:Df,object:te,source:_f,light:Af,sky:Sf,terrain:Ef,projection:km,projectionDefinition:Tm,string:tr,formatted:Dm,resolvedImage:_m,padding:Am,numberArray:Sm,colorArray:Em,variableAnchorOffsetCollection:Fm,sprite:Ff,state:kf,fontFaces:Tf};function Xi(t){let e=t.value,r=t.valueSpec,i=t.styleSpec;return t.validateSpec=Xi,r.expression&&qa(Dt(e))?gf(t):r.expression&&ja(xr(e))?si(t):r.type&&Bh[r.type]?Bh[r.type](t):te(nn({},t,{valueSpec:r.type?i[r.type]:r}))}function If(t){let e=t.value,r=t.key,i=tr(t);return i.length||(e.indexOf("{fontstack}")===-1&&i.push(new E(r,e,\'"glyphs" url must include a "{fontstack}" token\')),e.indexOf("{range}")===-1&&i.push(new E(r,e,\'"glyphs" url must include a "{range}" token\'))),i}function Qt(t,e=w){let r=[];return r=r.concat(Xi({key:"",value:t,valueSpec:e.$root,styleSpec:e,style:t,validateSpec:Xi,objectElementValidators:{glyphs:If,"*"(){return[]}}})),t.constants&&(r=r.concat(mf({key:"constants",value:t.constants,style:t,styleSpec:e,validateSpec:Xi}))),Cf(r)}Qt.source=ie(re(_f)),Qt.sprite=ie(re(Ff)),Qt.glyphs=ie(re(If)),Qt.fontFaces=ie(re(Tf)),Qt.light=ie(re(Af)),Qt.sky=ie(re(Sf)),Qt.terrain=ie(re(Ef)),Qt.state=ie(re(kf)),Qt.layer=ie(re(Df)),Qt.filter=ie(re(Pl)),Qt.paintProperty=ie(re(bf)),Qt.layoutProperty=ie(re(wf));function re(t){return function(e){return t(Object.assign({},e,{validateSpec:Xi}))}}function Cf(t){return[].concat(t).sort((e,r)=>e.line-r.line)}function ie(t){return function(...e){return Cf(t.apply(this,e))}}var Pm={type:"enum","property-type":"data-constant",expression:{interpolated:!1,parameters:["global-state"]},values:{visible:{},none:{}},transition:!1,default:"visible"},zm=class{constructor(t,e,r){this._rootKey=e,this._globalState=r,this.setValue(t)}evaluate(){var t;return(t=this._literalValue)!=null?t:this._compiledValue.evaluate({})}setValue(t){if(t==null||t==="visible"||t==="none"){this._literalValue=t==="none"?"none":"visible",this._compiledValue=void 0,this._globalStateRefs=new Set;return}let e=er(t,this._rootKey,Pm,this._globalState);if(e.result==="error")throw this._literalValue="visible",this._compiledValue=void 0,Error(e.value.map(r=>`${r.key}: ${r.message}`).join(", "));this._literalValue=void 0,this._compiledValue=e.value,this._globalStateRefs=vn(e.value.expression)}getGlobalStateRefs(){return this._globalStateRefs}};function Lm(t,e,r){return new zm(t,e,r)}var Ph=Qt,y5=new Set(Object.keys(w).filter(t=>t.startsWith("source_")).map(t=>t.slice(7).replaceAll("_","-")));function Vm(t,e){let r=!1;for(let i of e){if(i.severity==="warning"){Bt(i.message);continue}t.fire(new ma(Error(i.message))),r=!0}return r}function Om(t,e,r,i){return(i==null?void 0:i.validate)!==!1&&Vm(t,e(je({styleSpec:w},r)))}var uo=class Mf{constructor(e,r,i){let n=this.cells=[];if(e instanceof ArrayBuffer){this.arrayBuffer=e;let s=new Int32Array(this.arrayBuffer);e=s[0],r=s[1],i=s[2],this.d=r+2*i;for(let u=0;u=c[f+0]&&n>=c[f+1])?(o[p]=!0,s.push(h[p])):o[p]=!1}}}_forEachCell(e,r,i,n,a,s,o,l){let u=this._convertToCellCoord(e),h=this._convertToCellCoord(r),c=this._convertToCellCoord(i),p=this._convertToCellCoord(n);for(let f=u;f<=c;f++)for(let d=h;d<=p;d++){let y=this.d*d+f;if((!l||l(this._convertFromCellCoord(f),this._convertFromCellCoord(d),this._convertFromCellCoord(f+1),this._convertFromCellCoord(d+1)))&&a.call(this,e,r,i,n,y,s,o,l))return}}_convertFromCellCoord(e){return(e-this.padding)/this.scale}_convertToCellCoord(e){return Math.max(0,Math.min(this.d-1,Math.floor(e*this.scale)+this.padding))}toArrayBuffer(){if(this.arrayBuffer)return this.arrayBuffer;let e=this.cells,r=3+this.cells.length+1+1,i=0;for(let s of this.cells)i+=s.length;let n=new Int32Array(r+i+this.keys.length+this.bboxes.length);n[0]=this.extent,n[1]=this.n,n[2]=this.padding;let a=r;for(let s=0;sr?(this.lastIntegerZoom=r+1,this.lastIntegerZoomTime=e):this.lastFloorZoomthis.zoomHistory.lastIntegerZoom?{fromScale:2,toScale:1,t:e+(1-e)*r}:{fromScale:.5,toScale:1,t:1-(1-r)*e}}},$m="-transition",Xa=class{constructor(t,e,r,i){this.property=t,this.value=e,this.expression=um(e===void 0?t.specification.default:e,r,t.specification,i)}isDataDriven(){return this.expression.kind==="source"||this.expression.kind==="composite"}getGlobalStateRefs(){return this.expression.globalStateRefs||new Set}possiblyEvaluate(t,e,r){return this.property.possiblyEvaluate(this,t,e,r)}},ho=class{constructor(t,e,r){this.property=t,this.value=new Xa(t,void 0,e,r)}transitioned(t,e){return new Lh(this.property,this.value,e,Gt({},t.transition,this.transition),t.now)}untransitioned(){return new Lh(this.property,this.value,null,{},0)}},Nm=class{constructor(t,e,r){this._properties=t,this._values=Object.create(t.defaultTransitionablePropertyValues),this._globalState=r,this._rootKey=e}_propertyRootKey(t){return`${this._rootKey}.${String(t)}`}hasProperty(t){return t in this._properties.defaultTransitionablePropertyValues}getValue(t){return He(this._values[t].value.value)}setValue(t,e){Object.hasOwn(this._values,t)||(this._values[t]=new ho(this._values[t].property,this._propertyRootKey(t),this._globalState)),this._values[t].value=new Xa(this._values[t].property,e===null?void 0:He(e),this._propertyRootKey(t),this._globalState)}getTransition(t){return He(this._values[t].transition)}setTransition(t,e){Object.hasOwn(this._values,t)||(this._values[t]=new ho(this._values[t].property,this._propertyRootKey(t),this._globalState)),this._values[t].transition=He(e)||void 0}serialize(){let t={};for(let e of Object.keys(this._values)){let r=this.getValue(e);r!==void 0&&(t[e]=r);let i=this.getTransition(e);i!==void 0&&(t[`${e}${$m}`]=i)}return t}transitioned(t,e){let r=new Vh(this._properties);for(let i of Object.keys(this._values))r._values[i]=this._values[i].transitioned(t,e._values[i]);return r}untransitioned(){let t=new Vh(this._properties);for(let e of Object.keys(this._values))t._values[e]=this._values[e].untransitioned();return t}},Lh=class{constructor(t,e,r,i,n){this.property=t,this.value=e,this.begin=n+i.delay||0,this.end=this.begin+i.duration||0,t.specification.transition&&(i.delay||i.duration)&&(this.prior=r)}possiblyEvaluate(t,e,r){let i=t.now||0,n=this.value.possiblyEvaluate(t,e,r),a=this.prior;if(!a)return n;if(i>this.end||this.value.isDataDriven())return this.prior=null,n;if(ii.zoomHistory.lastIntegerZoom?{from:t,to:e}:{from:r,to:e}}interpolate(t){return t}},Lf=class{constructor(t,e){this.specification=t,this.name=e}possiblyEvaluate(t,e,r,i){if(t.value!==void 0){if(t.expression.kind==="constant"){let n=t.expression.evaluate(e,null,{},r,i);return this._calculate(n,n,n,e)}return this._calculate(t.expression.evaluate(new st(Math.floor(e.zoom-1),e)),t.expression.evaluate(new st(Math.floor(e.zoom),e)),t.expression.evaluate(new st(Math.floor(e.zoom+1),e)),e)}}_calculate(t,e,r,i){return i.zoom>i.zoomHistory.lastIntegerZoom?{from:t,to:e}:{from:r,to:e}}interpolate(t){return t}},Wa=class{constructor(t,e){this.specification=t,this.name=e}possiblyEvaluate(t,e,r,i){return!!t.expression.evaluate(e,null,{},r,i)}interpolate(){return!1}},Xt=class{constructor(t){this.properties=t,this.defaultPropertyValues={},this.defaultTransitionablePropertyValues={},this.defaultTransitioningPropertyValues={},this.defaultPossiblyEvaluatedValues={},this.overridableProperties=[];for(let e in t){let r=t[e];r.specification.overridable&&this.overridableProperties.push(e);let i=this.defaultPropertyValues[e]=new Xa(r,void 0,r.name,void 0),n=this.defaultTransitionablePropertyValues[e]=new ho(r,r.name,void 0);this.defaultTransitioningPropertyValues[e]=n.untransitioned(),this.defaultPossiblyEvaluatedValues[e]=i.possiblyEvaluate({})}}};C("DataDrivenProperty",N),C("DataConstantProperty",V),C("CrossFadedDataDrivenProperty",on),C("CrossFadedProperty",Lf),C("ColorRampProperty",Wa);var Rh=" is a PAINT property not a LAYOUT property. Use get/setPaintProperty instead?",$s=" is a LAYOUT property not a PAINT property. Use get/setLayoutProperty instead?",de=class extends O1{constructor(t,e,r){if(super(),this.id=t.id,this.type=t.type,this._globalState=r,this._featureFilter={filter:()=>!0,needGeometry:!1,getGlobalStateRefs:()=>new Set},this._visibilityExpression=Lm(this.visibility,`layers[${this.id}].layout.visibility`,r),t.type!=="custom"&&(this.metadata=t.metadata,this.minzoom=t.minzoom,this.maxzoom=t.maxzoom,t.type!=="background"&&(this.source=t.source,this.sourceLayer=t["source-layer"],this.filter=t.filter,this._featureFilter=ai(t.filter,`layers[${this.id}].filter`,r)),e.layout&&(this._unevaluatedLayout=new Um(e.layout,`layers[${this.id}].layout`,r)),e.paint)){this._transitionablePaint=new Nm(e.paint,`layers[${this.id}].paint`,r);for(let i in t.paint)this.setPaintProperty(i,t.paint[i],{validate:!1});for(let i in t.layout)this.setLayoutProperty(i,t.layout[i],{validate:!1});this._transitioningPaint=this._transitionablePaint.untransitioned(),this.paint=new Ya(e.paint)}}setFilter(t){this.filter=t,this._featureFilter=ai(t,`layers[${this.id}].filter`,this._globalState)}getCrossfadeParameters(){return this._crossfadeParameters}getLayoutProperty(t){var e;if(t==="visibility")return this.visibility;if((e=this._transitionablePaint)!=null&&e.hasProperty(t))throw Error(t+Rh);if(!this._unevaluatedLayout)throw Error(`Cannot get layout property "${t}" on layer type "${this.type}" which has no layout properties.`);return this._unevaluatedLayout.getValue(t)}getLayoutAffectingGlobalStateRefs(){let t=new Set;for(let e of this._visibilityExpression.getGlobalStateRefs())t.add(e);if(this._unevaluatedLayout)for(let e in this._unevaluatedLayout._values){let r=this._unevaluatedLayout._values[e];for(let i of r.getGlobalStateRefs())t.add(i)}for(let e of this._featureFilter.getGlobalStateRefs())t.add(e);return t}getPaintAffectingGlobalStateRefs(){var e;let t=new globalThis.Map;if(this._transitionablePaint)for(let r in this._transitionablePaint._values){let i=this._transitionablePaint._values[r].value;for(let n of i.getGlobalStateRefs()){let a=(e=t.get(n))!=null?e:[];a.push({name:r,value:i.value}),t.set(n,a)}}return t}getVisibilityAffectingGlobalStateRefs(){return this._visibilityExpression.getGlobalStateRefs()}setLayoutProperty(t,e,r={}){var i;if(t==="visibility"){this.visibility=e,this._visibilityExpression.setValue(e),this.recalculateVisibility();return}if((i=this._transitionablePaint)!=null&&i.hasProperty(t)){this.fire(new ma(Error(t+Rh)));return}e!=null&&this._validate(Ph.layoutProperty,`layers.${this.id}.layout.${t}`,t,e,r)||this._unevaluatedLayout.setValue(t,e)}getPaintProperty(t){var e,r;if(t.endsWith("-transition")){let i=t.slice(0,-11);if(i==="visibility"||(e=this._unevaluatedLayout)!=null&&e.hasProperty(i))throw Error(t+$s);return this._transitionablePaint.getTransition(i)}if(t==="visibility"||(r=this._unevaluatedLayout)!=null&&r.hasProperty(t))throw Error(t+$s);return this._transitionablePaint.getValue(t)}setPaintProperty(t,e,r={}){var i;if(t==="visibility"||(i=this._unevaluatedLayout)!=null&&i.hasProperty(t))return this.fire(new ma(Error(t+$s))),!1;if(e!=null&&this._validate(Ph.paintProperty,`layers.${this.id}.paint.${t}`,t,e,r))return!1;if(t.endsWith("-transition"))return this._transitionablePaint.setTransition(t.slice(0,-11),e||void 0),!1;{let n=this._transitionablePaint._values[t],a=n.property.specification["property-type"]==="cross-faded-data-driven",s=n.value.isDataDriven(),o=n.value;this._transitionablePaint.setValue(t,e),this._handleSpecialPaintPropertyUpdate(t);let l=this._transitionablePaint._values[t].value;return l.isDataDriven()||s||a||this._handleOverridablePaintPropertyUpdate(t,o,l)}}_handleSpecialPaintPropertyUpdate(t){}_handleOverridablePaintPropertyUpdate(t,e,r){return!1}isHidden(t=this.minzoom,e=!1){return this.minzoom&&t<(e?Math.floor(this.minzoom):this.minzoom)||this.maxzoom&&t>=this.maxzoom?!0:this._evaluatedVisibility==="none"}updateTransitions(t){this._transitioningPaint=this._transitionablePaint.transitioned(t,this._transitioningPaint)}hasTransition(){return this._transitioningPaint.hasTransition()}recalculateVisibility(){this._evaluatedVisibility=this._visibilityExpression.evaluate()}recalculate(t,e){t.getCrossfadeParameters&&(this._crossfadeParameters=t.getCrossfadeParameters()),this._unevaluatedLayout&&(this.layout=this._unevaluatedLayout.possiblyEvaluate(t,void 0,e)),this.paint=this._transitioningPaint.possiblyEvaluate(t,void 0,e)}serialize(){var e,r;let t={id:this.id,type:this.type,source:this.source,"source-layer":this.sourceLayer,metadata:this.metadata,minzoom:this.minzoom,maxzoom:this.maxzoom,filter:this.filter,layout:(e=this._unevaluatedLayout)==null?void 0:e.serialize(),paint:(r=this._transitionablePaint)==null?void 0:r.serialize()};return this.visibility&&(t.layout||(t.layout={}),t.layout.visibility=this.visibility),T1(t,(i,n)=>i!==void 0&&!(n==="layout"&&!Object.keys(i).length)&&!(n==="paint"&&!Object.keys(i).length))}_validate(t,e,r,i,n={}){return Om(this,t,{key:e,layerType:this.type,objectKey:r,value:i},n)}is3D(){return!1}isTileClipped(){return!1}hasOffscreenPass(){return!1}resize(){}isStateDependent(){for(let t in this.paint._values){let e=this.paint.get(t);if(e instanceof se&&ii(e.property.specification)&&(e.value.kind==="source"||e.value.kind==="composite")&&e.value.isStateDependent)return!0}return!1}},qm,jm=()=>qm||(qm=new Xt({"raster-opacity":new V(w.paint_raster["raster-opacity"],"raster-opacity"),"raster-hue-rotate":new V(w.paint_raster["raster-hue-rotate"],"raster-hue-rotate"),"raster-brightness-min":new V(w.paint_raster["raster-brightness-min"],"raster-brightness-min"),"raster-brightness-max":new V(w.paint_raster["raster-brightness-max"],"raster-brightness-max"),"raster-saturation":new V(w.paint_raster["raster-saturation"],"raster-saturation"),"raster-contrast":new V(w.paint_raster["raster-contrast"],"raster-contrast"),resampling:new V(w.paint_raster.resampling,"resampling"),"raster-resampling":new V(w.paint_raster["raster-resampling"],"raster-resampling"),"raster-fade-duration":new V(w.paint_raster["raster-fade-duration"],"raster-fade-duration")})),Gm={get paint(){return jm()}};var Xm=class extends de{constructor(t,e){super(t,Gm,e)}},Ym={Int8:Int8Array,Uint8:Uint8Array,Int16:Int16Array,Uint16:Uint16Array,Int32:Int32Array,Uint32:Uint32Array,Float32:Float32Array},bn=class{constructor(t,e){this._structArray=t,this._pos1=e*this.size,this._pos2=this._pos1/2,this._pos4=this._pos1/4,this._pos8=this._pos1/8}},xt=class{constructor(){this.isTransferred=!1,this.capacity=-1,this.resize(0)}static serialize(t,e){return t._trim(),e&&(t.isTransferred=!0,e.push(t.arrayBuffer)),{length:t.length,arrayBuffer:t.arrayBuffer}}static deserialize(t){let e=Object.create(this.prototype);return e.arrayBuffer=t.arrayBuffer,e.length=t.length,e.capacity=t.arrayBuffer.byteLength/e.bytesPerElement,e._refreshViews(),e}_trim(){this.length!==this.capacity&&(this.capacity=this.length,this.arrayBuffer=this.arrayBuffer.slice(0,this.length*this.bytesPerElement),this._refreshViews())}clear(){this.length=0}resize(t){this.reserve(t),this.length=t}reserve(t){if(t>this.capacity){this.capacity=Math.max(t,Math.floor(this.capacity*5),128),this.arrayBuffer=new ArrayBuffer(this.capacity*this.bytesPerElement);let e=this.uint8;this._refreshViews(),e&&this.uint8.set(e)}}_refreshViews(){throw Error("_refreshViews() must be implemented by each concrete StructArray layout")}freeBufferAfterUpload(){this.arrayBuffer=new ArrayBuffer(0),this._refreshViews()}};function At(t,e=1){let r=0,i=0;return{members:t.map(n=>{let a=Wm(n.type),s=r=$h(r,Math.max(e,a)),o=n.components||1;return i=Math.max(i,a),r+=a*o,{name:n.name,type:n.type,components:o,offset:s}}),size:$h(r,Math.max(i,e)),alignment:e}}function Wm(t){return Ym[t].BYTES_PER_ELEMENT}function $h(t,e){return Math.ceil(t/e)*e}var ln=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e){let r=this.length;return this.resize(r+1),this.emplace(r,t,e)}emplace(t,e,r){let i=t*2;return this.int16[i+0]=e,this.int16[i+1]=r,t}};ln.prototype.bytesPerElement=4,C("StructArrayLayout2i4",ln);var co=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*3;return this.int16[n+0]=e,this.int16[n+1]=r,this.int16[n+2]=i,t}};co.prototype.bytesPerElement=6,C("StructArrayLayout3i6",co);var Nh=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,t,e,r,i)}emplace(t,e,r,i,n){let a=t*4;return this.int16[a+0]=e,this.int16[a+1]=r,this.int16[a+2]=i,this.int16[a+3]=n,t}};Nh.prototype.bytesPerElement=8,C("StructArrayLayout4i8",Nh);var po=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*6;return this.int16[o+0]=e,this.int16[o+1]=r,this.int16[o+2]=i,this.int16[o+3]=n,this.int16[o+4]=a,this.int16[o+5]=s,t}};po.prototype.bytesPerElement=12,C("StructArrayLayout2i4i12",po);var fo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*4,l=t*8;return this.int16[o+0]=e,this.int16[o+1]=r,this.uint8[l+4]=i,this.uint8[l+5]=n,this.uint8[l+6]=a,this.uint8[l+7]=s,t}};fo.prototype.bytesPerElement=8,C("StructArrayLayout2i4ub8",fo);var un=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e){let r=this.length;return this.resize(r+1),this.emplace(r,t,e)}emplace(t,e,r){let i=t*2;return this.float32[i+0]=e,this.float32[i+1]=r,t}};un.prototype.bytesPerElement=8,C("StructArrayLayout2f8",un);var yo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u){let h=this.length;return this.resize(h+1),this.emplace(h,t,e,r,i,n,a,s,o,l,u)}emplace(t,e,r,i,n,a,s,o,l,u,h){let c=t*10;return this.uint16[c+0]=e,this.uint16[c+1]=r,this.uint16[c+2]=i,this.uint16[c+3]=n,this.uint16[c+4]=a,this.uint16[c+5]=s,this.uint16[c+6]=o,this.uint16[c+7]=l,this.uint16[c+8]=u,this.uint16[c+9]=h,t}};yo.prototype.bytesPerElement=20,C("StructArrayLayout10ui20",yo);var mo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o){let l=this.length;return this.resize(l+1),this.emplace(l,t,e,r,i,n,a,s,o)}emplace(t,e,r,i,n,a,s,o,l){let u=t*8;return this.uint16[u+0]=e,this.uint16[u+1]=r,this.uint16[u+2]=i,this.uint16[u+3]=n,this.uint16[u+4]=a,this.uint16[u+5]=s,this.uint16[u+6]=o,this.uint16[u+7]=l,t}};mo.prototype.bytesPerElement=16,C("StructArrayLayout8ui16",mo);var go=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u,h,c,p){let f=this.length;return this.resize(f+1),this.emplace(f,t,e,r,i,n,a,s,o,l,u,h,c,p)}emplace(t,e,r,i,n,a,s,o,l,u,h,c,p,f){let d=t*14,y=t*7;return this.int16[d+0]=e,this.int16[d+1]=r,this.int16[d+2]=i,this.int16[d+3]=n,this.uint16[d+4]=a,this.uint16[d+5]=s,this.uint16[d+6]=o,this.uint16[d+7]=l,this.int16[d+8]=u,this.int16[d+9]=h,this.int16[d+10]=c,this.int16[d+11]=p,this.float32[y+6]=f,t}};go.prototype.bytesPerElement=28,C("StructArrayLayout4i4ui4i1f28",go);var xo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*3;return this.float32[n+0]=e,this.float32[n+1]=r,this.float32[n+2]=i,t}};xo.prototype.bytesPerElement=12,C("StructArrayLayout3f12",xo);var vo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer)}emplaceBack(t){let e=this.length;return this.resize(e+1),this.emplace(e,t)}emplace(t,e){let r=t*1;return this.uint32[r+0]=e,t}};vo.prototype.bytesPerElement=4,C("StructArrayLayout1ul4",vo);var bo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l){let u=this.length;return this.resize(u+1),this.emplace(u,t,e,r,i,n,a,s,o,l)}emplace(t,e,r,i,n,a,s,o,l,u){let h=t*10,c=t*5;return this.int16[h+0]=e,this.int16[h+1]=r,this.int16[h+2]=i,this.int16[h+3]=n,this.int16[h+4]=a,this.int16[h+5]=s,this.uint32[c+3]=o,this.uint16[h+8]=l,this.uint16[h+9]=u,t}};bo.prototype.bytesPerElement=20,C("StructArrayLayout6i1ul2ui20",bo);var wo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*6;return this.int16[o+0]=e,this.int16[o+1]=r,this.int16[o+2]=i,this.int16[o+3]=n,this.int16[o+4]=a,this.int16[o+5]=s,t}};wo.prototype.bytesPerElement=12,C("StructArrayLayout2i2i2i12",wo);var Uh=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n){let a=this.length;return this.resize(a+1),this.emplace(a,t,e,r,i,n)}emplace(t,e,r,i,n,a){let s=t*4,o=t*8;return this.float32[s+0]=e,this.float32[s+1]=r,this.float32[s+2]=i,this.int16[o+6]=n,this.int16[o+7]=a,t}};Uh.prototype.bytesPerElement=16,C("StructArrayLayout2f1f2i16",Uh);var Do=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a){let s=this.length;return this.resize(s+1),this.emplace(s,t,e,r,i,n,a)}emplace(t,e,r,i,n,a,s){let o=t*16,l=t*4,u=t*8;return this.uint8[o+0]=e,this.uint8[o+1]=r,this.float32[l+1]=i,this.float32[l+2]=n,this.int16[u+6]=a,this.int16[u+7]=s,t}};Do.prototype.bytesPerElement=16,C("StructArrayLayout2ub2f2i16",Do);var _o=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*3;return this.uint16[n+0]=e,this.uint16[n+1]=r,this.uint16[n+2]=i,t}};_o.prototype.bytesPerElement=6,C("StructArrayLayout3ui6",_o);var Ao=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g){let x=this.length;return this.resize(x+1),this.emplace(x,t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g)}emplace(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x){let v=t*26,b=t*13,D=t*52;return this.int16[v+0]=e,this.int16[v+1]=r,this.uint16[v+2]=i,this.uint16[v+3]=n,this.uint32[b+2]=a,this.uint32[b+3]=s,this.uint32[b+4]=o,this.uint16[v+10]=l,this.uint16[v+11]=u,this.uint16[v+12]=h,this.float32[b+7]=c,this.float32[b+8]=p,this.uint8[D+36]=f,this.uint8[D+37]=d,this.uint8[D+38]=y,this.uint32[b+10]=m,this.int16[v+22]=g,this.float32[b+12]=x,t}};Ao.prototype.bytesPerElement=52,C("StructArrayLayout2i2ui3ul3ui2f3ub1ul1i1f52",Ao);var So=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.int16=new Int16Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S,k,z,O,P){let L=this.length;return this.resize(L+1),this.emplace(L,t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S,k,z,O,P)}emplace(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S,k,z,O,P,L){let F=t*34,$=t*17;return this.int16[F+0]=e,this.int16[F+1]=r,this.int16[F+2]=i,this.int16[F+3]=n,this.int16[F+4]=a,this.int16[F+5]=s,this.int16[F+6]=o,this.int16[F+7]=l,this.uint16[F+8]=u,this.uint16[F+9]=h,this.uint16[F+10]=c,this.uint16[F+11]=p,this.uint16[F+12]=f,this.uint16[F+13]=d,this.uint16[F+14]=y,this.uint16[F+15]=m,this.uint16[F+16]=g,this.uint16[F+17]=x,this.uint16[F+18]=v,this.uint16[F+19]=b,this.uint16[F+20]=D,this.uint16[F+21]=A,this.uint16[F+22]=_,this.uint32[$+12]=S,this.float32[$+13]=k,this.float32[$+14]=z,this.uint16[F+30]=O,this.uint16[F+31]=P,this.float32[$+16]=L,t}};So.prototype.bytesPerElement=68,C("StructArrayLayout8i15ui1ul2f2ui1f68",So);var _a=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t){let e=this.length;return this.resize(e+1),this.emplace(e,t)}emplace(t,e){let r=t*1;return this.float32[r+0]=e,t}};_a.prototype.bytesPerElement=4,C("StructArrayLayout1f4",_a);var Eo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*6,a=t*3;return this.uint16[n+0]=e,this.float32[a+1]=r,this.float32[a+2]=i,t}};Eo.prototype.bytesPerElement=12,C("StructArrayLayout1ui2f12",Eo);var Fo=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint32=new Uint32Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e,r){let i=this.length;return this.resize(i+1),this.emplace(i,t,e,r)}emplace(t,e,r,i){let n=t*2,a=t*4;return this.uint32[n+0]=e,this.uint16[a+2]=r,this.uint16[a+3]=i,t}};Fo.prototype.bytesPerElement=8,C("StructArrayLayout1ul2ui8",Fo);var ko=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t,e){let r=this.length;return this.resize(r+1),this.emplace(r,t,e)}emplace(t,e,r){let i=t*2;return this.uint16[i+0]=e,this.uint16[i+1]=r,t}};ko.prototype.bytesPerElement=4,C("StructArrayLayout2ui4",ko);var qh=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.uint16=new Uint16Array(this.arrayBuffer)}emplaceBack(t){let e=this.length;return this.resize(e+1),this.emplace(e,t)}emplace(t,e){let r=t*1;return this.uint16[r+0]=e,t}};qh.prototype.bytesPerElement=2,C("StructArrayLayout1ui2",qh);var To=class extends xt{_refreshViews(){this.uint8=new Uint8Array(this.arrayBuffer),this.float32=new Float32Array(this.arrayBuffer)}emplaceBack(t,e,r,i){let n=this.length;return this.resize(n+1),this.emplace(n,t,e,r,i)}emplace(t,e,r,i,n){let a=t*4;return this.float32[a+0]=e,this.float32[a+1]=r,this.float32[a+2]=i,this.float32[a+3]=n,t}};To.prototype.bytesPerElement=16,C("StructArrayLayout4f16",To);var Vf=class extends bn{get anchorPointX(){return this._structArray.int16[this._pos2+0]}get anchorPointY(){return this._structArray.int16[this._pos2+1]}get x1(){return this._structArray.int16[this._pos2+2]}get y1(){return this._structArray.int16[this._pos2+3]}get x2(){return this._structArray.int16[this._pos2+4]}get y2(){return this._structArray.int16[this._pos2+5]}get featureIndex(){return this._structArray.uint32[this._pos4+3]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+8]}get bucketIndex(){return this._structArray.uint16[this._pos2+9]}get anchorPoint(){return new B(this.anchorPointX,this.anchorPointY)}};Vf.prototype.size=20;var Ll=class extends bo{get(t){return new Vf(this,t)}};C("CollisionBoxArray",Ll);var Of=class extends bn{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get glyphStartIndex(){return this._structArray.uint16[this._pos2+2]}get numGlyphs(){return this._structArray.uint16[this._pos2+3]}get vertexStartIndex(){return this._structArray.uint32[this._pos4+2]}get lineStartIndex(){return this._structArray.uint32[this._pos4+3]}get lineLength(){return this._structArray.uint32[this._pos4+4]}get segment(){return this._structArray.uint16[this._pos2+10]}get lowerSize(){return this._structArray.uint16[this._pos2+11]}get upperSize(){return this._structArray.uint16[this._pos2+12]}get lineOffsetX(){return this._structArray.float32[this._pos4+7]}get lineOffsetY(){return this._structArray.float32[this._pos4+8]}get writingMode(){return this._structArray.uint8[this._pos1+36]}get placedOrientation(){return this._structArray.uint8[this._pos1+37]}set placedOrientation(t){this._structArray.uint8[this._pos1+37]=t}get hidden(){return this._structArray.uint8[this._pos1+38]}set hidden(t){this._structArray.uint8[this._pos1+38]=t}get crossTileID(){return this._structArray.uint32[this._pos4+10]}set crossTileID(t){this._structArray.uint32[this._pos4+10]=t}get associatedIconIndex(){return this._structArray.int16[this._pos2+22]}get heightOffset(){return this._structArray.float32[this._pos4+12]}};Of.prototype.size=52;var Rf=class extends Ao{get(t){return new Of(this,t)}};C("PlacedSymbolArray",Rf);var $f=class extends bn{get anchorX(){return this._structArray.int16[this._pos2+0]}get anchorY(){return this._structArray.int16[this._pos2+1]}get rightJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+2]}get centerJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+3]}get leftJustifiedTextSymbolIndex(){return this._structArray.int16[this._pos2+4]}get verticalPlacedTextSymbolIndex(){return this._structArray.int16[this._pos2+5]}get placedIconSymbolIndex(){return this._structArray.int16[this._pos2+6]}get verticalPlacedIconSymbolIndex(){return this._structArray.int16[this._pos2+7]}get key(){return this._structArray.uint16[this._pos2+8]}get textBoxStartIndex(){return this._structArray.uint16[this._pos2+9]}get textBoxEndIndex(){return this._structArray.uint16[this._pos2+10]}get verticalTextBoxStartIndex(){return this._structArray.uint16[this._pos2+11]}get verticalTextBoxEndIndex(){return this._structArray.uint16[this._pos2+12]}get iconBoxStartIndex(){return this._structArray.uint16[this._pos2+13]}get iconBoxEndIndex(){return this._structArray.uint16[this._pos2+14]}get verticalIconBoxStartIndex(){return this._structArray.uint16[this._pos2+15]}get verticalIconBoxEndIndex(){return this._structArray.uint16[this._pos2+16]}get featureIndex(){return this._structArray.uint16[this._pos2+17]}get numHorizontalGlyphVertices(){return this._structArray.uint16[this._pos2+18]}get numVerticalGlyphVertices(){return this._structArray.uint16[this._pos2+19]}get numIconVertices(){return this._structArray.uint16[this._pos2+20]}get numVerticalIconVertices(){return this._structArray.uint16[this._pos2+21]}get useRuntimeCollisionCircles(){return this._structArray.uint16[this._pos2+22]}get crossTileID(){return this._structArray.uint32[this._pos4+12]}set crossTileID(t){this._structArray.uint32[this._pos4+12]=t}get textBoxScale(){return this._structArray.float32[this._pos4+13]}get collisionCircleDiameter(){return this._structArray.float32[this._pos4+14]}get textAnchorOffsetStartIndex(){return this._structArray.uint16[this._pos2+30]}get textAnchorOffsetEndIndex(){return this._structArray.uint16[this._pos2+31]}get heightOffset(){return this._structArray.float32[this._pos4+16]}};$f.prototype.size=68;var Nf=class extends So{get(t){return new $f(this,t)}};C("SymbolInstanceArray",Nf);var Uf=class extends _a{getoffsetX(t){return this.float32[t*1+0]}};C("GlyphOffsetArray",Uf);var qf=class extends co{getx(t){return this.int16[t*3+0]}gety(t){return this.int16[t*3+1]}gettileUnitDistanceFromAnchor(t){return this.int16[t*3+2]}};C("SymbolLineVertexArray",qf);var jf=class extends bn{get textAnchor(){return this._structArray.uint16[this._pos2+0]}get textOffset0(){return this._structArray.float32[this._pos4+1]}get textOffset1(){return this._structArray.float32[this._pos4+2]}};jf.prototype.size=12;var Gf=class extends Eo{get(t){return new jf(this,t)}};C("TextAnchorOffsetArray",Gf);var Xf=class extends bn{get featureIndex(){return this._structArray.uint32[this._pos4+0]}get sourceLayerIndex(){return this._structArray.uint16[this._pos2+2]}get bucketIndex(){return this._structArray.uint16[this._pos2+3]}};Xf.prototype.size=8;var Yf=class extends Fo{get(t){return new Xf(this,t)}};C("FeatureIndexArray",Yf);var Zm=class extends ln{};var Hm=class extends ln{},Km=class extends ln{},Jm=class extends po{},Qm=class extends fo{},tg=class extends un{},Vr=class extends yo{},jh=class extends mo{},eg=class extends go{},rg=class extends xo{},ig=class extends vo{},Gh=class extends wo{};var ng=class extends Do{};var wn=class extends _o{},Io=class extends ko{};var Co=At([{name:"a_pos",components:2,type:"Int16"}],4),ag=Co.members;Co.size,Co.alignment;var ee=class Ur{constructor(e=[]){this._forceNewSegmentOnNextPrepare=!1,this.segments=e}prepareSegment(e,r,i,n){let a=this.segments[this.segments.length-1];return e>Ur.MAX_VERTEX_ARRAY_LENGTH&&Bt(`Max vertices per segment is ${Ur.MAX_VERTEX_ARRAY_LENGTH}: bucket requested ${e}. Consider using the \\`fillLargeMeshArrays\\` function if you require meshes with more than ${Ur.MAX_VERTEX_ARRAY_LENGTH} vertices.`),this._forceNewSegmentOnNextPrepare||!a||a.vertexLength+e>Ur.MAX_VERTEX_ARRAY_LENGTH||a.sortKey!==n?this.createNewSegment(r,i,n):a}createNewSegment(e,r,i){let n={vertexOffset:e.length,primitiveOffset:r.length,vertexLength:0,primitiveLength:0,vaos:{}};return i!==void 0&&(n.sortKey=i),this._forceNewSegmentOnNextPrepare=!1,this.segments.push(n),n}getOrCreateLatestSegment(e,r,i){return this.prepareSegment(0,e,r,i)}forceNewSegmentOnNextPrepare(){this._forceNewSegmentOnNextPrepare=!0}get(){return this.segments}destroy(){for(let e of this.segments)for(let r in e.vaos)e.vaos[r].destroy()}static simpleSegment(e,r,i,n){return new Ur([{vertexOffset:e,primitiveOffset:r,vertexLength:i,primitiveLength:n,vaos:{},sortKey:0}])}};ee.MAX_VERTEX_ARRAY_LENGTH=2**16-1,C("SegmentVector",ee);function Xh(t,e){return t=Ji(Math.floor(t),0,255),e=Ji(Math.floor(e),0,255),256*t+e}var sg=At([{name:"a_pattern_from",components:4,type:"Uint16"},{name:"a_pattern_to",components:4,type:"Uint16"},{name:"a_pixel_ratio_from",components:1,type:"Uint16"},{name:"a_pixel_ratio_to",components:1,type:"Uint16"}]),og=At([{name:"a_dasharray_from",components:4,type:"Uint16"},{name:"a_dasharray_to",components:4,type:"Uint16"}]),lg=fl(((t,e)=>{function r(i,n){for(var a=i.length&3,s=i.length-a,o=n,l,u=3432918353,h=461845907,c,p=0;p>>16)*u&65535)<<16)&4294967295,c=c<<15|c>>>17,c=(c&65535)*h+(((c>>>16)*h&65535)<<16)&4294967295,o^=c,o=o<<13|o>>>19,l=(o&65535)*5+(((o>>>16)*5&65535)<<16)&4294967295,o=(l&65535)+27492+(((l>>>16)+58964&65535)<<16);switch(c=0,a){case 3:c^=(i.charCodeAt(p+2)&255)<<16;case 2:c^=(i.charCodeAt(p+1)&255)<<8;case 1:c^=i.charCodeAt(p)&255,c=(c&65535)*u+(((c>>>16)*u&65535)<<16)&4294967295,c=c<<15|c>>>17,c=(c&65535)*h+(((c>>>16)*h&65535)<<16)&4294967295,o^=c}return o^=i.length,o^=o>>>16,o=(o&65535)*2246822507+(((o>>>16)*2246822507&65535)<<16)&4294967295,o^=o>>>13,o=(o&65535)*3266489909+(((o>>>16)*3266489909&65535)<<16)&4294967295,o^=o>>>16,o>>>0}e!==void 0&&(e.exports=r)})),ug=fl(((t,e)=>{function r(i,n){for(var a=i.length,s=n^a,o=0,l;a>=4;)l=i.charCodeAt(o)&255|(i.charCodeAt(++o)&255)<<8|(i.charCodeAt(++o)&255)<<16|(i.charCodeAt(++o)&255)<<24,l=(l&65535)*1540483477+(((l>>>16)*1540483477&65535)<<16),l^=l>>>24,l=(l&65535)*1540483477+(((l>>>16)*1540483477&65535)<<16),s=(s&65535)*1540483477+(((s>>>16)*1540483477&65535)<<16)^l,a-=4,++o;switch(a){case 3:s^=(i.charCodeAt(o+2)&255)<<16;case 2:s^=(i.charCodeAt(o+1)&255)<<8;case 1:s^=i.charCodeAt(o)&255,s=(s&65535)*1540483477+(((s>>>16)*1540483477&65535)<<16)}return s^=s>>>13,s=(s&65535)*1540483477+(((s>>>16)*1540483477&65535)<<16),s^=s>>>15,s>>>0}e.exports=r})),Mo=h1(fl(((t,e)=>{var r=lg(),i=ug();e.exports=r,e.exports.murmur3=r,e.exports.murmur2=i}))(),1),Wf=class Zf{constructor(){this.ids=[],this.positions=[],this.indexed=!1}add(e,r,i,n){this.ids.push(Yh(e)),this.positions.push(r,i,n)}getPositions(e){if(!this.indexed)throw Error("Trying to get index, but feature positions are not indexed");let r=Yh(e),i=0,n=this.ids.length-1;for(;i>1;this.ids[s]>=r?n=s:i=s+1}let a=[];for(;this.ids[i]===r;){let s=this.positions[3*i],o=this.positions[3*i+1],l=this.positions[3*i+2];a.push({index:s,start:o,end:l}),i++}return a}static serialize(e,r){let i=new Float64Array(e.ids),n=new Uint32Array(e.positions);return Bo(i,n,0,i.length-1),r&&r.push(i.buffer,n.buffer),{ids:i,positions:n}}static deserialize(e){let r=new Zf;return r.ids=e.ids,r.positions=e.positions,r.indexed=!0,r}};function Yh(t){let e=+t;return!isNaN(e)&&e<=2**53-1?e:(0,Mo.default)(String(t))}function Bo(t,e,r,i){for(;r>1],a=r-1,s=i+1;for(;;){do a++;while(t[a]n);if(a>=s)break;Yn(t,a,s),Yn(e,3*a,3*s),Yn(e,3*a+1,3*s+1),Yn(e,3*a+2,3*s+2)}s-r`u_${i}`),this.type=r}setUniform(t,e,r){t.set(r.constantOr(this.value))}getBinding(t,e,r){return this.type==="color"?new cg(t,e):new Ol(t,e)}},ur=class{constructor(t,e){this.uniformNames=e.map(r=>`u_${r}`),this.patternFrom=null,this.patternTo=null,this.pixelRatioFrom=1,this.pixelRatioTo=1}setConstantPatternPositions(t,e){this.pixelRatioFrom=e.pixelRatio,this.pixelRatioTo=t.pixelRatio,this.patternFrom=e.tlbr,this.patternTo=t.tlbr}setConstantDashPositions(t,e){this.dashTo=[0,t.y,t.height,t.width],this.dashFrom=[0,e.y,e.height,e.width]}setUniform(t,e,r,i){let n=null;i==="u_pattern_to"?n=this.patternTo:i==="u_pattern_from"?n=this.patternFrom:i==="u_dasharray_to"?n=this.dashTo:i==="u_dasharray_from"?n=this.dashFrom:i==="u_pixel_ratio_to"?n=this.pixelRatioTo:i==="u_pixel_ratio_from"&&(n=this.pixelRatioFrom),n!==null&&t.set(n)}getBinding(t,e,r){return r.startsWith("u_pattern")||r.startsWith("u_dasharray_")?new hg(t,e):new Ol(t,e)}},ke=class{constructor(t,e,r,i){this.expression=t,this.type=r,this.maxValue=0,this.paintVertexAttributes=e.map(n=>({name:`a_${n}`,type:"Float32",components:r==="color"?2:1,offset:0})),this.paintVertexArray=new i}populatePaintArray(t,e,r){let i=this.paintVertexArray.length,n=this.expression.evaluate(new st(0,r),e,{},r.canonical,[],r.formattedSection);this.paintVertexArray.resize(t),this._setPaintValue(i,t,n)}updatePaintArray(t,e,r,i,n){let a=this.expression.evaluate(new st(0,n),r,i);this._setPaintValue(t,e,a)}_setPaintValue(t,e,r){if(this.type==="color"){let i=Po(r);for(let n=t;n`u_${s}_t`),this.type=r,this.useIntegerZoom=i,this.zoom=n,this.maxValue=0,this.paintVertexAttributes=e.map(s=>({name:`a_${s}`,type:"Float32",components:r==="color"?4:2,offset:0})),this.paintVertexArray=new a}populatePaintArray(t,e,r){let i=this.expression.evaluate(new st(this.zoom,r),e,{},r.canonical,[],r.formattedSection),n=this.expression.evaluate(new st(this.zoom+1,r),e,{},r.canonical,[],r.formattedSection),a=this.paintVertexArray.length;this.paintVertexArray.resize(t),this._setPaintValue(a,t,i,n)}updatePaintArray(t,e,r,i,n){let a=this.expression.evaluate(new st(this.zoom,n),r,i),s=this.expression.evaluate(new st(this.zoom+1,n),r,i);this._setPaintValue(t,e,a,s)}_setPaintValue(t,e,r,i){if(this.type==="color"){let n=Po(r),a=Po(i);for(let s=t;s`#define HAS_UNIFORM_${i}`))}return t}getBinderAttributes(){let t=[];for(let e in this.binders){let r=this.binders[e];if(r instanceof ke||r instanceof he)for(let i of r.paintVertexAttributes)t.push(i.name);else if(r instanceof Ye){let i=r.getVertexAttributes();for(let n of i)t.push(n.name)}}return t}getBinderUniforms(){let t=[];for(let e in this.binders){let r=this.binders[e];if(r instanceof $i||r instanceof ur||r instanceof he)for(let i of r.uniformNames)t.push(i)}return t}getPaintVertexBuffers(){return this._buffers}getUniforms(t,e){let r=[];for(let i in this.binders){let n=this.binders[i];if(n instanceof $i||n instanceof ur||n instanceof he){for(let a of n.uniformNames)if(e[a]){let s=n.getBinding(t,e[a],a);r.push({name:a,property:i,binding:s})}}}return r}setUniforms(t,e,r,i){for(let{name:n,property:a,binding:s}of e)this.binders[a].setUniform(s,i,r.get(a),n)}updatePaintBuffers(t){this._buffers=[];for(let e in this.binders){let r=this.binders[e];if(t&&r instanceof Ye){let i=t.fromScale===2?r.zoomInPaintVertexBuffer:r.zoomOutPaintVertexBuffer;i&&this._buffers.push(i)}else(r instanceof ke||r instanceof he)&&r.paintVertexBuffer&&this._buffers.push(r.paintVertexBuffer)}}upload(t){for(let e in this.binders){let r=this.binders[e];(r instanceof ke||r instanceof he||r instanceof Ye)&&r.upload(t)}this.updatePaintBuffers()}destroy(){for(let t in this.binders){let e=this.binders[t];(e instanceof ke||e instanceof he||e instanceof Ye)&&e.destroy()}}},vr=class{constructor(t,e,r=()=>!0){this.programConfigurations={};for(let i of t)this.programConfigurations[i.id]=new Jf(i,e,r);this.needsUpload=!1,this._featureMap=new Wf,this._bufferOffset=0}populatePaintArrays(t,e,r,i){for(let n in this.programConfigurations)this.programConfigurations[n].populatePaintArrays(t,e,i);e.id!==void 0&&this._featureMap.add(e.id,r,this._bufferOffset,t),this._bufferOffset=t,this.needsUpload=!0}updatePaintArrays(t,e,r,i){for(let n of r)this.needsUpload=this.programConfigurations[n.id].updatePaintArrays(t,this._featureMap,e,n,i)||this.needsUpload}get(t){return this.programConfigurations[t]}upload(t){if(this.needsUpload){for(let e in this.programConfigurations)this.programConfigurations[e].upload(t);this.needsUpload=!1}}destroy(){for(let t in this.programConfigurations)this.programConfigurations[t].destroy()}};function pg(t,e){return{"text-opacity":["opacity"],"icon-opacity":["opacity"],"text-color":["fill_color"],"icon-color":["fill_color"],"text-halo-color":["halo_color"],"icon-halo-color":["halo_color"],"text-halo-blur":["halo_blur"],"icon-halo-blur":["halo_blur"],"text-halo-width":["halo_width"],"icon-halo-width":["halo_width"],"line-gap-width":["gapwidth"],"line-dasharray":["dasharray_to","dasharray_from"],"line-pattern":["pattern_to","pattern_from","pixel_ratio_to","pixel_ratio_from"],"fill-pattern":["pattern_to","pattern_from","pixel_ratio_to","pixel_ratio_from"],"fill-extrusion-pattern":["pattern_to","pattern_from","pixel_ratio_to","pixel_ratio_from"]}[t]||[t.replace(`${e}-`,"").replace(/-/g,"_")]}function fg(t){return{"line-pattern":{source:Vr,composite:Vr},"fill-pattern":{source:Vr,composite:Vr},"fill-extrusion-pattern":{source:Vr,composite:Vr},"line-dasharray":{source:jh,composite:jh}}[t]}function Wh(t,e,r){var n;let i={color:{source:un,composite:To},number:{source:_a,composite:un}};return((n=fg(t))==null?void 0:n[r])||i[e][r]}C("ConstantBinder",$i),C("CrossFadedConstantBinder",ur),C("SourceExpressionBinder",ke),C("CrossFadedPatternBinder",Hf),C("CrossFadedDasharrayBinder",Kf),C("CompositeExpressionBinder",he),C("ProgramConfiguration",Jf,{omit:["_buffers"]}),C("ProgramConfigurationSet",vr);var zo=2**14-1,Zh=-zo-1;function Ar(t){let e=mt/t.extent,r=t.loadGeometry();for(let i of r)for(let n of i){let a=Math.round(n.x*e),s=Math.round(n.y*e);n.x=Ji(a,Zh,zo),n.y=Ji(s,Zh,zo),(an.x+1||sn.y+1)&&Bt("Geometry exceeds allowed extent, reduce your vector tile buffer size")}return r}function hi(t,e){return{type:t.type,id:t.id,properties:t.properties,geometry:e?Ar(t):[]}}var Hh=-32768;function dg(t,e,r,i,n){t.emplaceBack(Hh+e*8+i,Hh+r*8+n)}var Rl=class{constructor(t){this.zoom=t.zoom,this.overscaling=t.overscaling,this.layers=t.layers,this.layerIds=this.layers.map(e=>e.id),this.index=t.index,this.hasDependencies=!1,this.layoutVertexArray=new Hm,this.indexArray=new wn,this.segments=new ee,this.programConfigurations=new vr(t.layers,t.zoom),this.stateDependentLayerIds=this.layers.filter(e=>e.isStateDependent()).map(e=>e.id)}populate(t,e,r){let i=this.layers[0],n=[],a=null,s=!1,o=i.type==="heatmap";if(i.type==="circle"){let c=i;a=c.layout.get("circle-sort-key"),s=!a.isConstant(),o||(o=c.paint.get("circle-pitch-alignment")==="map")}let l=o?e.subdivisionGranularity.circle:1,u=new st(this.zoom),h=this.layers[0]._featureFilter.needGeometry;for(let{feature:c,id:p,index:f,sourceLayerIndex:d}of t){let y=hi(c,h);if(!this.layers[0]._featureFilter.filter(u,y,r))continue;let m=s?a.evaluate(y,{},r):void 0,g={id:p,properties:c.properties,type:c.type,sourceLayerIndex:d,index:f,geometry:h?y.geometry:Ar(c),patterns:{},sortKey:m};n.push(g)}s&&n.sort((c,p)=>c.sortKey-p.sortKey);for(let c of n){let{geometry:p,index:f,sourceLayerIndex:d}=c,y=t[f].feature;this.addFeature(c,p,f,r,l),e.featureIndex.insert(y,p,f,d,this.index)}}update(t,e,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(t,e,this.stateDependentLayers,{imagePositions:r})}addFeatures(t){}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(t){this.uploaded||(this.layoutVertexBuffer=t.createVertexBuffer(this.layoutVertexArray,ag),this.indexBuffer=t.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(t),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}addFeature(t,e,r,i,n=1){let a;switch(n){case 1:a=[0,7];break;case 3:a=[0,2,5,7];break;case 5:a=[0,1,3,4,6,7];break;case 7:a=[0,1,2,3,4,5,6,7];break;default:throw Error(`Invalid circle bucket granularity: ${n}; valid values are 1, 3, 5, 7.`)}let s=a.length;for(let o of e)for(let l of o){let u=l.x,h=l.y;if(u<0||u>=8192||h<0||h>=8192)continue;let c=this.segments.prepareSegment(s*s,this.layoutVertexArray,this.indexArray,t.sortKey),p=c.vertexLength;for(let f=0;f=3){for(let n of i)if(oi(t,n))return!0}if(gg(t,i,r))return!0}return!1}function gg(t,e,r){if(t.length>1){if($l(t,e))return!0;for(let i of e)if(Lo(i,t,r))return!0}for(let i of t)if(Lo(i,e,r))return!0;return!1}function $l(t,e){if(t.length===0||e.length===0)return!1;for(let r=0;r1?t.distSqr(r):t.distSqr(r.sub(e)._mult(n)._add(e))}function Kh(t,e){let r=!1,i,n,a;for(let s of t){i=s;for(let o=0,l=i.length-1;oe.y!=a.y>e.y&&e.x<(a.x-n.x)*(e.y-n.y)/(a.y-n.y)+n.x&&(r=!r)}return r}function oi(t,e){let r=!1;for(let i=0,n=t.length-1;ie.y!=s.y>e.y&&e.x<(s.x-a.x)*(e.y-a.y)/(s.y-a.y)+a.x&&(r=!r)}return r}function vg(t,e,r,i,n){for(let s of t)if(e<=s.x&&r<=s.y&&i>=s.x&&n>=s.y)return!0;let a=[new B(e,r),new B(e,n),new B(i,n),new B(i,r)];if(t.length>2){for(let s of a)if(oi(t,s))return!0}for(let s=0;sn.x&&e.x>n.x||t.yn.y&&e.y>n.y)return!1;let a=Ke(t,e,r[0]);return a!==Ke(t,e,r[1])||a!==Ke(t,e,r[2])||a!==Ke(t,e,r[3])}function Wr(t,e,r){let i=e.paint.get(t).value;return i.kind==="constant"?i.value:r.programConfigurations.get(e.id).getMaxValue(t)}function Ha(t){return Math.sqrt(t[0]*t[0]+t[1]*t[1])}function Ka(t,e,r,i,n){if(!e[0]&&!e[1])return t;let a=B.convert(e)._mult(n);r==="viewport"&&a._rotate(-i);let s=[];for(let o of t)s.push(o.sub(a));return s}function wg(t){let e=[];for(let r=0;rNl(n,e,r,i))}var kg,Tg=()=>kg||(kg=new Xt({"circle-sort-key":new N(w.layout_circle["circle-sort-key"],"circle-sort-key")})),Ig,Cg=()=>Ig||(Ig=new Xt({"circle-radius":new N(w.paint_circle["circle-radius"],"circle-radius"),"circle-color":new N(w.paint_circle["circle-color"],"circle-color"),"circle-blur":new N(w.paint_circle["circle-blur"],"circle-blur"),"circle-opacity":new N(w.paint_circle["circle-opacity"],"circle-opacity"),"circle-translate":new V(w.paint_circle["circle-translate"],"circle-translate"),"circle-translate-anchor":new V(w.paint_circle["circle-translate-anchor"],"circle-translate-anchor"),"circle-pitch-scale":new V(w.paint_circle["circle-pitch-scale"],"circle-pitch-scale"),"circle-pitch-alignment":new V(w.paint_circle["circle-pitch-alignment"],"circle-pitch-alignment"),"circle-stroke-width":new N(w.paint_circle["circle-stroke-width"],"circle-stroke-width"),"circle-stroke-color":new N(w.paint_circle["circle-stroke-color"],"circle-stroke-color"),"circle-stroke-opacity":new N(w.paint_circle["circle-stroke-opacity"],"circle-stroke-opacity")})),Mg={get paint(){return Cg()},get layout(){return Tg()}};var Bg=class extends de{constructor(t,e){super(t,Mg,e)}createBucket(t){return new Rl(t)}queryRadius(t){let e=t;return Wr("circle-radius",this,e)+Wr("circle-stroke-width",this,e)+Ha(this.paint.get("circle-translate"))}queryIntersectsFeature({queryGeometry:t,feature:e,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,unwrappedTileID:s,getElevation:o}){let l=Ka(t,this.paint.get("circle-translate"),this.paint.get("circle-translate-anchor"),-n.bearingInRadians,a),u=this.paint.get("circle-radius").evaluate(e,r)+this.paint.get("circle-stroke-width").evaluate(e,r),h=this.paint.get("circle-pitch-scale"),c=this.paint.get("circle-pitch-alignment"),p,f;return c==="map"?(p=l,f=u*a):(p=Fg(l,n,s,o),f=u),ed({queryGeometry:p,size:f,transform:n,unwrappedTileID:s,getElevation:o,pitchAlignment:c,pitchScale:h},i)}},rd=class extends Rl{};C("HeatmapBucket",rd,{omit:["layers"]});var Pg,zg=()=>Pg||(Pg=new Xt({"heatmap-radius":new N(w.paint_heatmap["heatmap-radius"],"heatmap-radius"),"heatmap-weight":new N(w.paint_heatmap["heatmap-weight"],"heatmap-weight"),"heatmap-intensity":new V(w.paint_heatmap["heatmap-intensity"],"heatmap-intensity"),"heatmap-color":new Wa(w.paint_heatmap["heatmap-color"],"heatmap-color"),"heatmap-opacity":new V(w.paint_heatmap["heatmap-opacity"],"heatmap-opacity")})),Lg={get paint(){return zg()}};function Ul(t,{width:e,height:r},i,n){if(!n)n=new Uint8Array(e*r*i);else if(n instanceof Uint8ClampedArray)n=new Uint8Array(n.buffer);else if(n.length!==e*r*i)throw RangeError(`mismatched image size. expected: ${n.length} but got: ${e*r*i}`);return t.width=e,t.height=r,t.data=n,t}function id(t,{width:e,height:r},i){if(e===t.width&&r===t.height)return;let n=Ul({},{width:e,height:r},i);ql(t,n,{x:0,y:0},{x:0,y:0},{width:Math.min(t.width,e),height:Math.min(t.height,r)},i),t.width=e,t.height=r,t.data=n.data}function ql(t,e,r,i,n,a){if(n.width===0||n.height===0)return e;if(n.width>t.width||n.height>t.height||r.x>t.width-n.width||r.y>t.height-n.height)throw RangeError("out of range source coordinates for image copy");if(n.width>e.width||n.height>e.height||i.x>e.width-n.width||i.y>e.height-n.height)throw RangeError("out of range destination coordinates for image copy");let s=t.data,o=e.data;if(s===o)throw Error("srcData equals dstData, so image is already copied");for(let l=0;l{e[t.evaluationKey]=l;let u=t.expression.evaluate(e);n.setPixel(s/4/r,o/4,u)};if(t.clips)for(let s=0,o=0;s$g||($g=new Xt({"hillshade-illumination-direction":new V(w.paint_hillshade["hillshade-illumination-direction"],"hillshade-illumination-direction"),"hillshade-illumination-altitude":new V(w.paint_hillshade["hillshade-illumination-altitude"],"hillshade-illumination-altitude"),"hillshade-illumination-anchor":new V(w.paint_hillshade["hillshade-illumination-anchor"],"hillshade-illumination-anchor"),"hillshade-exaggeration":new V(w.paint_hillshade["hillshade-exaggeration"],"hillshade-exaggeration"),"hillshade-shadow-color":new V(w.paint_hillshade["hillshade-shadow-color"],"hillshade-shadow-color"),"hillshade-highlight-color":new V(w.paint_hillshade["hillshade-highlight-color"],"hillshade-highlight-color"),"hillshade-accent-color":new V(w.paint_hillshade["hillshade-accent-color"],"hillshade-accent-color"),"hillshade-method":new V(w.paint_hillshade["hillshade-method"],"hillshade-method"),resampling:new V(w.paint_hillshade.resampling,"resampling")})),Ug={get paint(){return Ng()}};var qg=class extends de{constructor(t,e){super(t,Ug,e),this.recalculate({zoom:0,zoomHistory:{}},void 0)}getIlluminationProperties(){let t=this.paint.get("hillshade-illumination-direction").values,e=this.paint.get("hillshade-illumination-altitude").values,r=this.paint.get("hillshade-highlight-color").values,i=this.paint.get("hillshade-shadow-color").values,n=Math.max(t.length,e.length,r.length,i.length);t=t.concat(Array(n-t.length).fill(t.at(-1))),e=e.concat(Array(n-e.length).fill(e.at(-1))),r=r.concat(Array(n-r.length).fill(r.at(-1))),i=i.concat(Array(n-i.length).fill(i.at(-1)));let a=e.map(ch);return{directionRadians:t.map(ch),altitudeRadians:a,shadowColor:i,highlightColor:r}}hasOffscreenPass(){return this.paint.get("hillshade-exaggeration")!==0&&!this.isHidden()}},jg,Gg=()=>jg||(jg=new Xt({"color-relief-opacity":new V(w["paint_color-relief"]["color-relief-opacity"],"color-relief-opacity"),"color-relief-color":new Wa(w["paint_color-relief"]["color-relief-color"],"color-relief-color"),resampling:new V(w["paint_color-relief"].resampling,"resampling")})),Xg={get paint(){return Gg()}};function Wn(t){return"data"in t}var Jh=class{constructor(t,e,r,i){this.context=t,this.format=r,this.texture=t.gl.createTexture(),this._ownedHandle=this.texture,this.update(e,i)}update(t,e,r){var u;let{width:i,height:n}=t,a=(((u=this.size)==null?void 0:u[0])!==i||this.size[1]!==n)&&!r,{context:s}=this,{gl:o}=s;this.useMipmap=!!(e!=null&&e.useMipmap),a&&this.size&&this.format===o.RGBA&&(o.deleteTexture(this.texture),this.texture=o.createTexture(),this._ownedHandle=this.texture,this.magFilter=void 0,this.minFilter=void 0,this.wrap=void 0),o.bindTexture(o.TEXTURE_2D,this.texture),s.pixelStoreUnpackFlipY.set(!1),s.pixelStoreUnpack.set(1);let l=this.format===o.RGBA&&(e==null?void 0:e.premultiply)!==!1;if(a)if(this.size=[i,n],this.format===o.RGBA&&i>0&&n>0){let h=this.useMipmap?Math.floor(Math.log2(Math.max(i,n)))+1:1;if(o.texStorage2D(o.TEXTURE_2D,h,o.RGBA8,i,n),Wn(t)){s.pixelStoreUnpackPremultiplyAlpha.set(!1);let{data:c}=t;l&&c&&(c=Ns(c)),c&&o.texSubImage2D(o.TEXTURE_2D,0,0,0,i,n,o.RGBA,o.UNSIGNED_BYTE,c)}else s.pixelStoreUnpackPremultiplyAlpha.set(l),o.texSubImage2D(o.TEXTURE_2D,0,0,0,o.RGBA,o.UNSIGNED_BYTE,t)}else Wn(t)?(s.pixelStoreUnpackPremultiplyAlpha.set(!1),this._uploadRawData(t,l,i,n,o)):(s.pixelStoreUnpackPremultiplyAlpha.set(l),this._uploadDomImage(t,o));else{let{x:h,y:c}=r||{x:0,y:0};Wn(t)?(s.pixelStoreUnpackPremultiplyAlpha.set(!1),this._updateRawData(t,l,h,c,i,n,o)):(s.pixelStoreUnpackPremultiplyAlpha.set(l),this._updateDomImage(t,h,c,o))}this.useMipmap&&!(Wn(t)&&t.data===null)&&o.generateMipmap(o.TEXTURE_2D),s.pixelStoreUnpackFlipY.setDefault(),s.pixelStoreUnpack.setDefault(),s.pixelStoreUnpackPremultiplyAlpha.setDefault()}_uploadDomImage(t,e){e.texImage2D(e.TEXTURE_2D,0,this.format,this.format,e.UNSIGNED_BYTE,t)}_uploadRawData(t,e,r,i,n){let{data:a}=t;e&&a&&(a=Ns(a)),n.texImage2D(n.TEXTURE_2D,0,this.format,r,i,0,this.format,n.UNSIGNED_BYTE,a)}_updateDomImage(t,e,r,i){i.texSubImage2D(i.TEXTURE_2D,0,e,r,i.RGBA,i.UNSIGNED_BYTE,t)}_updateRawData(t,e,r,i,n,a,s){let{data:o}=t;e&&o&&(o=Ns(o)),s.texSubImage2D(s.TEXTURE_2D,0,r,i,n,a,s.RGBA,s.UNSIGNED_BYTE,o)}bind(t,e,r){let{context:i}=this,{gl:n}=i;this.texture!==this._ownedHandle&&(this.texture=this._ownedHandle),n.bindTexture(n.TEXTURE_2D,this.texture),(r===n.LINEAR_MIPMAP_NEAREST||r===n.LINEAR_MIPMAP_LINEAR)&&!this.useMipmap&&(r=n.LINEAR);let a=r||t;t!==this.magFilter&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_MAG_FILTER,t),this.magFilter=t),a!==this.minFilter&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_MIN_FILTER,a),this.minFilter=a),e!==this.wrap&&(n.texParameteri(n.TEXTURE_2D,n.TEXTURE_WRAP_S,e),n.texParameteri(n.TEXTURE_2D,n.TEXTURE_WRAP_T,e),this.wrap=e)}generateMipmap(){if(!this.useMipmap)return;let{gl:t}=this.context;t.bindTexture(t.TEXTURE_2D,this.texture),t.generateMipmap(t.TEXTURE_2D)}destroy(){let{gl:t}=this.context;t.deleteTexture(this.texture),this.texture=null,this._ownedHandle=null}},Pe,jl=(Pe=class{constructor(e,r,i,n=1,a=1,s=1,o=0){if(this.uid=e,r.height!==r.width)throw RangeError("DEM tiles must be square");if(i&&!["mapbox","terrarium","custom"].includes(i)){Bt(`"${i}" is not a valid encoding type. Valid types include "mapbox", "terrarium" and "custom".`);return}this.stride=r.height;let l=this.dim=r.height-4;switch(this.data=new Uint32Array(r.data.buffer),Pe.byteViewCache.set(this,new Uint8Array(this.data.buffer)),i){case"terrarium":this.redFactor=256,this.greenFactor=1,this.blueFactor=1/256,this.baseShift=32768;break;case"custom":this.redFactor=n,this.greenFactor=a,this.blueFactor=s,this.baseShift=o;break;default:this.redFactor=6553.6,this.greenFactor=25.6,this.blueFactor=.1,this.baseShift=1e4}for(let h=-2;h=l)&&this.data.copyWithin(this._idx(0,h),c,c+l),this.data.fill(this.data[c],this._idx(-2,h),this._idx(0,h)),this.data.fill(this.data[c+l-1],this._idx(l,h),this._idx(l+1,h)+1)}let u=this._getByteView();this.min=2**53-1,this.max=-(2**53-1);for(let h=0;hthis.max&&(this.max=f),f=this.dim||n<-1||n>=this.dim)throw RangeError(`Out of range source coordinates for DEM data. x: ${e}, y: ${r}, dim: ${this.dim}`);let a=this._getByteView(),s=((n+2)*this.stride+i+2)*4,o=this.stride*4,l=e-i,u=r-n,h=this._unpackAtIndex(a,s),c=this._unpackAtIndex(a,s+4),p=this._unpackAtIndex(a,s+o),f=this._unpackAtIndex(a,s+o+4);return h*(1-l)*(1-u)+c*l*(1-u)+p*(1-l)*u+f*l*u}getUnpackVector(){return[this.redFactor,this.greenFactor,this.blueFactor,this.baseShift]}_idx(e,r){if(e<-2||e>=this.dim+2||r<-2||r>=this.dim+2)throw RangeError(`Out of range source coordinates for DEM data. x: ${e}, y: ${r}, dim: ${this.dim}`);return(r+2)*this.stride+(e+2)}unpack(e,r,i){return e*this.redFactor+r*this.greenFactor+i*this.blueFactor-this.baseShift}pack(e){return sd(e,this.getUnpackVector())}getPixels(){return new Zt({width:this.stride,height:this.stride},this._getByteView())}backfillBorder(e,r,i){if(this.dim!==e.dim)throw Error("dem dimension mismatch");let n=r*this.dim,a=r*this.dim+this.dim,s=i*this.dim,o=i*this.dim+this.dim;switch(r){case-1:n=a-2;break;case 1:a=n+2}switch(i){case-1:s=o-2;break;case 1:o=s+2}let l=-r*this.dim,u=-i*this.dim;for(let h=s;h80*r){o=t[0],l=t[1];let h=o,c=l;for(let p=r;ph&&(h=f),d>c&&(c=d)}u=Math.max(h-o,c-l),u=u===0?0:32767/u}return Ro(a,s,o,l,u),s}function od(t,e,r,i,n){let a=null;if(n===fx(t,e,r,i)>0)for(let s=e;s=e;s-=i)a=ec(s/i|0,t[s],t[s+1],a);return a&&cn(a,a.next)&&(fn(a),a=a.next),a}function br(t,e=t){let r=e===t,i=t,n;do n=!1,i!==i.next&&(hn.size===0||!hn.has(i))&&(cn(i,i.next)||Ft(i.prev,i,i.next)===0)?((r||i===e)&&(e=i.prev),Oo=!0,fn(i),i=i.prev,n=!0):(r||i!==e)&&(i=i.next,n=!r);while(n||i!==e);return e}function Ro(t,e,r,i,n){n&&ox(t,r,i,n);let a=t,s=!1;for(;t.prev!==t.next;){let o=t.prev,l=t.next;if(Ft(o,t,l)<0&&(n?Kg(t,r,i,n):Hg(t))){e.push(o.i,t.i,l.i),fn(t),t=l,a=l;continue}if(t=l,t===a){if(Oo=!1,t=br(t),Oo){a=t;continue}if(!s){t=Jg(t,e),a=t,s=!0;continue}Qg(t,e,r,i,n);break}}}function Hg(t){let e=t.prev,r=t,i=t.next,n=e.x,a=r.x,s=i.x,o=e.y,l=r.y,u=i.y,h=Math.min(n,a,s),c=Math.min(o,l,u),p=Math.max(n,a,s),f=Math.max(o,l,u),d=i.next;for(;d!==e;){if(d.x>=h&&d.x<=p&&d.y>=c&&d.y<=f&&(n!==d.x||o!==d.y)&&Ea(n,o,a,l,s,u,d.x,d.y)&&Ft(d.prev,d,d.next)>=0)return!1;d=d.next}return!0}function Kg(t,e,r,i){let n=t.prev,a=t,s=t.next,o=n.x,l=a.x,u=s.x,h=n.y,c=a.y,p=s.y,f=Math.min(o,l,u),d=Math.min(h,c,p),y=Math.max(o,l,u),m=Math.max(h,c,p),g=qo(f,d,e,r,i),x=qo(y,m,e,r,i),v=t.prevZ;for(;v&&v.z>=g;){if(v.x>=f&&v.x<=y&&v.y>=d&&v.y<=m&&v!==s&&(o!==v.x||h!==v.y)&&Ea(o,h,l,c,u,p,v.x,v.y)&&Ft(v.prev,v,v.next)>=0)return!1;v=v.prevZ}let b=t.nextZ;for(;b&&b.z<=x;){if(b.x>=f&&b.x<=y&&b.y>=d&&b.y<=m&&b!==s&&(o!==b.x||h!==b.y)&&Ea(o,h,l,c,u,p,b.x,b.y)&&Ft(b.prev,b,b.next)>=0)return!1;b=b.nextZ}return!0}function Jg(t,e){let r=t,i=!1;do{let n=r.prev,a=r.next.next;ud(n,r,r.next,a,!1)&&pn(n,a)&&pn(a,n)&&(e.push(n.i,r.i,a.i),fn(r),fn(r.next),r=t=a,i=!0),r=r.next}while(r!==t);return i?br(r):r}function Qg(t,e,r,i,n){let a=t;do{let s=a.next.next;for(;s!==a.prev;){if(a.i!==s.i&&hx(a,s)){let o=hd(a,s);a=br(a,a.next),o=br(o,o.next),Ro(a,e,r,i,n),Ro(o,e,r,i,n);return}s=s.next}a=a.next}while(a!==t)}var $o=!1;function tx(t,e,r,i){let n=[];for(let a=0,s=e.length;as&&(s=r.x),r.yo&&(o=r.y),h.xs&&(s=h.x),h.yo&&(o=h.y),r=h}while(++l<16&&r!==e);Uo[i]=r;let u=i*4;wt[u]=n,wt[u+1]=a,wt[u+2]=s,wt[u+3]=o}while(r!==e)}function nx(t,e){let r=t.z*4;e.xwt[r+2]&&(wt[r+2]=e.x),e.y>wt[r+3]&&(wt[r+3]=e.y)}function Qh(t){let e=Uo[t];for(;e.prev.next!==e;)e=e.next;return Uo[t]=e,e}function tc(t){let e=No[t];for(;e.prev.next!==e;)e=e.next;return No[t]=e,e}function ax(t,e){let r=e,i=t.x,n=t.y,a=-1/0,s;if(cn(t,r))return r;for(let p=0,f=0;pwt[f+3]||wt[f]>i||wt[f+2]<=a)continue;let d=Qh(p);r=tc(p);do{if(r.prev.next===r){if(cn(t,r.next))return r.next;if(n<=r.y&&n>=r.next.y&&r.next.y!==r.y){let y=r.x+(n-r.y)*(r.next.x-r.x)/(r.next.y-r.y);if(y<=i&&y>a&&(a=y,s=r.xi||wt[f+3]h)continue;let d=Qh(p);r=tc(p);do{if(r.prev.next===r&&i>=r.x&&r.x>=o&&i!==r.x&&Ea(ni)&&(ys.x||r.x===s.x&&sx(s,r)))&&(s=r,c=y)}r=r.next}while(r!==d)}return s}function sx(t,e){return Ft(t.prev,t,e.prev)<0&&Ft(e.next,t,t.next)<0}var ae=[],Ti=[],or=new Uint32Array,Ii=new Uint32Array,Ci=new Uint32Array(256);function ox(t,e,r,i){let n=t,a=0;do n.z=qo(n.x,n.y,e,r,i),ae[a++]=n,n=n.next;while(n!==t);lx(a);let s=null;for(let o=0;o=0&&ae[n].z>i;)ae[n+1]=ae[n],n--;ae[n+1]=r}return}or.length>>a&255]++;let s=0;for(let o=0;o<256;o++){let l=Ci[o];Ci[o]=s,s+=l}for(let o=0;o>>a&255]++;i[u]=e[o],n[u]=l}}function qo(t,e,r,i,n){return t=(t-r)*n|0,e=(e-i)*n|0,t=(t|t<<8)&16711935,t=(t|t<<4)&252645135,t=(t|t<<2)&858993459,t=(t|t<<1)&1431655765,e=(e|e<<8)&16711935,e=(e|e<<4)&252645135,e=(e|e<<2)&858993459,e=(e|e<<1)&1431655765,t|e<<1}function ux(t){let e=t,r=t;do(e.x=(t-s)*(a-o)&&(t-s)*(i-o)>=(r-s)*(e-o)&&(r-s)*(a-o)>=(n-s)*(i-o)}function hx(t,e){let r=cn(t,e)&&Ft(t.prev,t,t.next)>0&&Ft(e.prev,e,e.next)>0;return t.next.i!==e.i&&(r||pn(t,e)&&pn(e,t)&&(Ft(t.prev,t,e.prev)!==0||Ft(t,e.prev,e)!==0))&&!cx(t,e)&&(r||px(t,e))}function Ft(t,e,r){return(e.y-t.y)*(r.x-e.x)-(e.x-t.x)*(r.y-e.y)}function cn(t,e){return t.x===e.x&&t.y===e.y}function ud(t,e,r,i,n=!0){let a=Ft(t,e,r),s=Ft(t,e,i),o=Ft(r,i,t),l=Ft(r,i,e);return(a>0&&s<0||a<0&&s>0)&&(o>0&&l<0||o<0&&l>0)?!0:n?!!(a===0&&Hn(t,r,e)||s===0&&Hn(t,i,e)||o===0&&Hn(r,t,i)||l===0&&Hn(r,e,i)):!1}function Hn(t,e,r){return e.x<=Math.max(t.x,r.x)&&e.x>=Math.min(t.x,r.x)&&e.y<=Math.max(t.y,r.y)&&e.y>=Math.min(t.y,r.y)}function cx(t,e){let r=Math.min(t.x,e.x),i=Math.max(t.x,e.x),n=Math.min(t.y,e.y),a=Math.max(t.y,e.y),s=t;do{let o=s.next;if(s.x>i&&o.x>i||s.xa&&o.y>a||s.y=0&&Ft(t,t.prev,e)>=0:Ft(t,e,t.prev)<0||Ft(t,t.next,e)<0}function px(t,e){let r=t,i=!1,n=(t.x+e.x)/2,a=(t.y+e.y)/2;do{let s=r.next;r.y>a!=s.y>a&&n<(s.x-r.x)*(a-r.y)/(s.y-r.y)+r.x&&(i=!i),r=s}while(r!==t);return i}function hd(t,e){let r=jo(t.i,t.x,t.y),i=jo(e.i,e.x,e.y),n=t.next,a=e.prev;return t.next=e,e.prev=t,r.next=n,n.prev=r,i.next=r,r.prev=i,a.next=i,i.prev=a,i}function ec(t,e,r,i){let n=jo(t,e,r);return i?(n.next=i.next,n.prev=i,i.next.prev=n,i.next=n):(n.prev=n,n.next=n),n}function fn(t){t.next.prev=t.prev,t.prev.next=t.next,t.prevZ&&(t.prevZ.nextZ=t.nextZ),t.nextZ&&(t.nextZ.prevZ=t.prevZ),$o&&nx(t.prev,t.next)}function jo(t,e,r){return{i:t,x:e,y:r,prev:null,next:null,z:0,prevZ:null,nextZ:null}}function fx(t,e,r,i){let n=0;for(let a=e,s=r-i;at)throw Error("Min granularity must not be greater than base granularity.");this._baseZoomGranularity=t,this._minGranularity=e}getGranularityForZoomLevel(t){let e=1<32767||e>32767)throw Error("Vertex coordinates are out of signed 16 bit integer range.");let r=Math.round(t)|0,i=Math.round(e)|0,n=this._getKey(r,i);if(this._vertexDictionary.has(n))return this._vertexDictionary.get(n);let a=this._vertexBuffer.length/2;return this._vertexDictionary.set(n,a),this._vertexBuffer.push(r,i),a}_subdivideTrianglesScanline(t){if(this._granularity<2)return gx(this._vertexBuffer,t);let e=[],r=t.length;for(let i=0;i=1||b<=0)||m&&(ln)){h>=i&&h<=n&&a.push(r[(s+1)%3]);continue}if(!m&&v>0){let _=o+f*v,S=l+d*v;a.push(this._vertexToIndex(_,S))}let D=o+f*Math.max(v,0),A=o+f*Math.min(b,1);if(y||this._generateIntraEdgeVertices(a,o,l,u,h,D,A),!m&&b<1){let _=o+f*b,S=l+d*b;a.push(this._vertexToIndex(_,S))}(m||h>=i&&h<=n)&&a.push(r[(s+1)%3]),!m&&(h<=i||h>=n)&&this._generateInterEdgeVertices(a,o,l,u,h,c,p,A,i,n)}return a}_generateIntraEdgeVertices(t,e,r,i,n,a,s){let o=i-e,l=n-r,u=l===0,h=u?Math.min(e,i):Math.min(a,s),c=u?Math.max(e,i):Math.max(a,s),p=Math.floor(h/this._granularityCellSize)+1,f=Math.ceil(c/this._granularityCellSize)-1;if(u?e=p;d--){let y=d*this._granularityCellSize,m=r+l*(y-e)/o;t.push(this._vertexToIndex(y,m))}}_generateInterEdgeVertices(t,e,r,i,n,a,s,o,l,u){let h=n-r,c=a-i,p=s-n,f=(l-n)/p,d=(u-n)/p,y=Math.min(f,d),m=Math.max(f,d),g=i+c*y,x=Math.floor(Math.min(g,o)/this._granularityCellSize)+1,v=Math.ceil(Math.max(g,o)/this._granularityCellSize)-1,b=o=1||m<=0){let _=e-a,S=r-s,k=(l-s)/S,z=(u-s)/S,O=a+_*Math.min(k,z);x=Math.floor(Math.min(O,o)/this._granularityCellSize)+1,v=Math.ceil(Math.max(O,o)/this._granularityCellSize)-1,b=o0?u:l;if(b)for(let _=x;_<=v;_++){let S=_*this._granularityCellSize;t.push(this._vertexToIndex(S,A))}else for(let _=v;_>=x;_--){let S=_*this._granularityCellSize;t.push(this._vertexToIndex(S,A))}}_generateOutline(t){let e=[];for(let r of t){let i=cr(r,this._granularity,!0),n=this._pointArrayToIndices(i),a=[];for(let s=1;sn==(a===-32768)?(t.push(r),t.push(e),t.push(this._vertexToIndex(i,a)),t.push(this._vertexToIndex(n,a)),t.push(r),t.push(this._vertexToIndex(i,a))):(t.push(e),t.push(r),t.push(this._vertexToIndex(i,a)),t.push(r),t.push(this._vertexToIndex(n,a)),t.push(this._vertexToIndex(i,a)))}_fillPoles(t,e,r){let i=this._vertexBuffer,n=mt,a=t.length;for(let s=2;s=2&&((s=this._canonical)==null?void 0:s.z)===0&&(n=this._removeTrianglesOutsideTileX(n),a=a.map(o=>this._removeLinesOutsideTileX(o))),{verticesFlattened:this._vertexBuffer,indicesTriangles:n,indicesLineList:a}}_vertexOutsideTileX(t){let e=this._vertexBuffer[t*2];return e<0||e>8192}_removeTrianglesOutsideTileX(t){let e=[];for(let r=0;r0?(Math.floor(_/s)+1)*s:(Math.ceil(_/s)-1)*s,O=b>0?(Math.floor(S/s)+1)*s:(Math.ceil(S/s)-1)*s,P=Math.abs(_-z),L=Math.abs(S-O),F=Math.abs(_-y),$=Math.abs(S-m),U=g?P/D:1/0,T=x?L/A:1/0;if((F<=P||!g)&&($<=L||!x))break;if(U0?(r.push(n),r.push(s),r.push(a)):(r.push(n),r.push(a),r.push(s))}return r}function xx(t,e,r){if(e.length===0)throw Error("Subdivision vertex ring is empty.");let i=0,n=t[e[0]*2];for(let l=1;l=0?s-1:a-1,u=(o+1)%a,h=t[e[l]*2],c=t[e[l]*2+1],p=t[e[u]*2],f=t[e[u]*2+1],d=t[e[s]*2],y=t[e[s]*2+1],m=t[e[o]*2],g=t[e[o]*2+1],x=!1;if(hp)x=!1;else{let v=g-y,b=-(m-d),D=y((p-d)*v+(f-y)*b)*D&&(x=!0)}if(x){let v=e[l],b=e[s],D=e[o];v!==b&&v!==D&&b!==D&&r.push(D,b,v),s--,s<0&&(s=a-1)}else{let v=e[u],b=e[s],D=e[o];v!==b&&v!==D&&b!==D&&r.push(D,b,v),o++,o>=a&&(o=0)}if(l===u)break}}function pd(t,e,r,i,n,a,s,o,l){let u=n.length/2,h=s&&o&&l;if(uee.MAX_VERTEX_ARRAY_LENGTH&&(u=t.createNewSegment(e,r),l=o.count,y=!0,m=!0,g=!0,h=0);let v=Zi(s,i,a,o,p,y,u),b=Zi(s,i,a,o,f,m,u),D=Zi(s,i,a,o,d,g,u);r.emplaceBack(h+v-l,h+b-l,h+D-l),u.primitiveLength++}}function bx(t,e,r,i,n,a){let s=[];for(let c=0;cee.MAX_VERTEX_ARRAY_LENGTH&&(u=t.createNewSegment(e,r),l=o.count,y=!0,m=!0,h=0);let x=Zi(s,i,a,o,f,y,u),v=Zi(s,i,a,o,d,m,u);r.emplaceBack(h+x-l,h+v-l),u.primitiveLength++}}var fd=class{constructor(t){this.zoom=t.zoom,this.overscaling=t.overscaling,this.layers=t.layers,this.layerIds=this.layers.map(e=>e.id),this.index=t.index,this.hasDependencies=!1,this.sdfPatterns={},this.patternFeatures=[],this.layoutVertexArray=new Km,this.indexArray=new wn,this.indexArray2=new Io,this.programConfigurations=new vr(t.layers,t.zoom),this.segments=new ee,this.segments2=new ee,this.stateDependentLayerIds=this.layers.filter(e=>e.isStateDependent()).map(e=>e.id)}populate(t,e,r){this.hasDependencies=Aa("fill",this.layers,e);let i=this.layers[0].layout.get("fill-sort-key"),n=!i.isConstant(),a=[],s=new st(this.zoom),o=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:h,sourceLayerIndex:c}of t){let p=hi(l,o);if(!this.layers[0]._featureFilter.filter(s,p,r))continue;let f=n?i.evaluate(p,{},r,e.availableImages):void 0,d={id:u,properties:l.properties,type:l.type,sourceLayerIndex:c,index:h,geometry:o?p.geometry:Ar(l),patterns:{},sortKey:f};a.push(d)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:h,sourceLayerIndex:c}=l;if(this.hasDependencies){let f=Gl("fill",this.layers,l,{zoom:this.zoom},e);this.patternFeatures.push(f)}else this.addFeature(l,u,h,r,{},e.subdivisionGranularity);let p=t[h].feature;e.featureIndex.insert(p,u,h,c,this.index)}}update(t,e,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(t,e,this.stateDependentLayers,{imagePositions:r})}addFeatures({options:t,canonical:e,patternPositions:r,patternMap:i}){this.detectSdfPatterns(i);for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,e,r,t.subdivisionGranularity)}detectSdfPatterns(t){for(let e of this.patternFeatures)for(let r in e.patterns){let i=e.patterns[r];this.recordSdfPattern(r,t[i.min]),this.recordSdfPattern(r,t[i.mid]),this.recordSdfPattern(r,t[i.max])}for(let e of this.layers){let r=e.paint.get("fill-pattern").constantOr(null);r&&(this.recordSdfPattern(e.id,t[r.from.toString()]),this.recordSdfPattern(e.id,t[r.to.toString()]))}}recordSdfPattern(t,e){if(!e)return;let r=e.sdf===!0,i=this.sdfPatterns[t];i===void 0?this.sdfPatterns[t]=r:i!==r&&Bt(`Style sheet warning: Cannot mix SDF and non-SDF fill patterns in layer "${t}"`)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(t){this.uploaded||(this.layoutVertexBuffer=t.createVertexBuffer(this.layoutVertexArray,Wg),this.indexBuffer=t.createIndexBuffer(this.indexArray),this.indexBuffer2=t.createIndexBuffer(this.indexArray2)),this.programConfigurations.upload(t),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.indexBuffer2.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.segments2.destroy())}addFeature(t,e,r,i,n,a){for(let s of Ra(e,500)){let o=cd(s,i,a.fill.getGranularityForZoomLevel(i.z)),l=this.layoutVertexArray;pd((u,h)=>{l.emplaceBack(u,h)},this.segments,this.layoutVertexArray,this.indexArray,o.verticesFlattened,o.indicesTriangles,this.segments2,this.indexArray2,o.indicesLineList)}this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,t,r,{imagePositions:n,canonical:i})}};C("FillBucket",fd,{omit:["layers","patternFeatures"]});var wx,Dx=()=>wx||(wx=new Xt({"fill-sort-key":new N(w.layout_fill["fill-sort-key"],"fill-sort-key")})),_x,Ax=()=>_x||(_x=new Xt({"fill-antialias":new V(w.paint_fill["fill-antialias"],"fill-antialias"),"fill-opacity":new N(w.paint_fill["fill-opacity"],"fill-opacity"),"fill-layer-opacity":new V(w.paint_fill["fill-layer-opacity"],"fill-layer-opacity"),"fill-color":new N(w.paint_fill["fill-color"],"fill-color"),"fill-outline-color":new N(w.paint_fill["fill-outline-color"],"fill-outline-color"),"fill-translate":new V(w.paint_fill["fill-translate"],"fill-translate"),"fill-translate-anchor":new V(w.paint_fill["fill-translate-anchor"],"fill-translate-anchor"),"fill-pattern":new on(w.paint_fill["fill-pattern"],"fill-pattern")})),Sx={get paint(){return Ax()},get layout(){return Dx()}};var Ex=class extends de{constructor(t,e){super(t,Sx,e)}recalculate(t,e){super.recalculate(t,e);let r=this.paint._values["fill-outline-color"];r.value.kind==="constant"&&r.value.value===void 0&&(this.paint._values["fill-outline-color"]=this.paint._values["fill-color"])}createBucket(t){return new fd(t)}queryRadius(){return Ha(this.paint.get("fill-translate"))}queryIntersectsFeature({queryGeometry:t,geometry:e,transform:r,pixelsToTileUnits:i}){return Qf(Ka(t,this.paint.get("fill-translate"),this.paint.get("fill-translate-anchor"),-r.bearingInRadians,i),e)}isTileClipped(){return!0}},Go=At([{name:"a_pos",components:2,type:"Int16"},{name:"a_normal_ed",components:4,type:"Int16"}],4),Fx=At([{name:"a_centroid",components:2,type:"Int16"}],4),kx=Go.members;Go.size,Go.alignment;var Fa=class Xo{constructor(){this.minX=1/0,this.maxX=-1/0,this.minY=1/0,this.maxY=-1/0}extend(e){return this.minX=Math.min(this.minX,e.x),this.minY=Math.min(this.minY,e.y),this.maxX=Math.max(this.maxX,e.x),this.maxY=Math.max(this.maxY,e.y),this}expandBy(e){return this.minX-=e,this.minY-=e,this.maxX+=e,this.maxY+=e,(this.minX>this.maxX||this.minY>this.maxY)&&(this.minX=1/0,this.maxX=-1/0,this.minY=1/0,this.maxY=-1/0),this}shrinkBy(e){return this.expandBy(-e)}map(e){let r=new Xo;return r.extend(e(new B(this.minX,this.minY))),r.extend(e(new B(this.maxX,this.minY))),r.extend(e(new B(this.minX,this.maxY))),r.extend(e(new B(this.maxX,this.maxY))),r}static fromPoints(e){let r=new Xo;for(let i of e)r.extend(i);return r}contains(e){return e.x>=this.minX&&e.x<=this.maxX&&e.y>=this.minY&&e.y<=this.maxY}empty(){return this.minX>this.maxX}width(){return this.maxX-this.minX}height(){return this.maxY-this.minY}covers(e){return!this.empty()&&!e.empty()&&e.minX>=this.minX&&e.maxX<=this.maxX&&e.minY>=this.minY&&e.maxY<=this.maxY}intersects(e){return!this.empty()&&!e.empty()&&e.minX<=this.maxX&&e.maxX>=this.minX&&e.minY<=this.maxY&&e.maxY>=this.minY}},g5=Fa.fromPoints([new B(0,0),new B(mt,mt)]);function Yo(t,e){return t.x===e.x&&(t.x<0||t.x>8192)||t.y===e.y&&(t.y<0||t.y>8192)}function rc(t){return t.every(e=>e.x<0)||t.every(e=>e.x>8192)||t.every(e=>e.y<0)||t.every(e=>e.y>8192)}var Dn=class{constructor(t,e,r,i,n){for(this.properties=Object.create(null),this.extent=r,this.type=0,this.id=void 0,this._pbf=t,this._geometry=-1,this._keys=i,this._values=n;t.pos>3,a===0)continue}if(a--,n===1)s+=t.readSVarint(),o+=t.readSVarint(),i&&r.push(i),i=[new B(s,o)];else if(n===2)s+=t.readSVarint(),o+=t.readSVarint(),i&&i.push(new B(s,o));else if(n===7)i&&i.push(i[0].clone());else throw Error(`unknown command ${n}`)}return i&&r.push(i),r}bbox(){if(this._geometry<0)throw Error("feature has no geometry");let t=this._pbf;t.pos=this._geometry;let e=t.readVarint()+t.pos,r=1,i=0,n=0,a=0,s=1/0,o=-1/0,l=1/0,u=-1/0;for(;t.pos>3,i===0)continue}if(i--,r===1||r===2)n+=t.readSVarint(),a+=t.readSVarint(),no&&(o=n),au&&(u=a);else if(r!==7)throw Error(`unknown command ${r}`)}return[s,l,o,u]}toGeoJSON(t,e,r){let i=this.extent*2**r,n=this.extent*t,a=this.extent*e,s=this.loadGeometry();function o(c){return[(c.x+n)*360/i-180,360/Math.PI*Math.atan(Math.exp((1-(c.y+a)*2/i)*Math.PI))-90]}function l(c){return c.map(o)}let u;if(this.type===1){let c=[];for(let f of s)c.push(f[0]);let p=l(c);u=c.length===1?{type:"Point",coordinates:p[0]}:{type:"MultiPoint",coordinates:p}}else if(this.type===2){let c=s.map(l);u=c.length===1?{type:"LineString",coordinates:c[0]}:{type:"MultiLineString",coordinates:c}}else if(this.type===3){let c=dd(s),p=[];for(let f of c)p.push(f.map(l));u=p.length===1?{type:"Polygon",coordinates:p[0]}:{type:"MultiPolygon",coordinates:p}}else throw Error("unknown feature type");let h={type:"Feature",geometry:u,properties:this.properties};return this.id!=null&&(h.id=this.id),h}};Dn.types=["Unknown","Point","LineString","Polygon"];function dd(t){let e=t.length;if(e<=1)return[t];let r=[],i,n;for(let a=0;a=this._features.length)throw Error("feature index out of bounds");this._pbf.pos=this._features[t];let e=this._pbf.readVarint()+this._pbf.pos;return new Dn(this._pbf,e,this.extent,this._keys,this._values)}};function Cx(t){let e=null,r=t.readVarint()+t.pos;for(;t.pos90||this.lat<-90)throw Error("Invalid LngLat latitude value: must be between -90 and 90")}wrap(){return new Ui(F1(this.lng,-180,180),this.lat)}toArray(){return[this.lng,this.lat]}toString(){return`LngLat(${this.lng}, ${this.lat})`}distanceTo(e){let r=Math.PI/180,i=this.lat*r,n=e.lat*r,a=Math.sin(i)*Math.sin(n)+Math.cos(i)*Math.cos(n)*Math.cos((e.lng-this.lng)*r);return yd*Math.acos(Math.min(a,1))}static convert(e){if(e instanceof Ui)return e;if(Array.isArray(e)&&(e.length===2||e.length===3))return new Ui(Number(e[0]),Number(e[1]));if(!Array.isArray(e)&&typeof e=="object"&&e)return new Ui(Number("lng"in e?e.lng:e.lon),Number(e.lat));throw Error("`LngLatLike` argument must be specified as a LngLat instance, an object {lng: , lat: }, an object {lon: , lat: }, or an array of [, ]")}},md=2*Math.PI*yd;function gd(t){return md*Math.cos(t*Math.PI/180)}function Mx(t){return(180+t)/360}function Bx(t){return(180-180/Math.PI*Math.log(Math.tan(Math.PI/4+t*Math.PI/360)))/360}function Px(t,e){return t/gd(e)}function zx(t){return t*360-180}function Wo(t){let e=180-t*360;return 360/Math.PI*Math.atan(Math.exp(e*Math.PI/180))-90}function Lx(t,e){return t*gd(Wo(e))}function Vx(t){return 1/Math.cos(t*Math.PI/180)}var Yl=class xd{constructor(e,r,i=0){this.x=+e,this.y=+r,this.z=+i}static fromLngLat(e,r=0){let i=ic.convert(e);return new xd(Mx(i.lng),Bx(i.lat),Px(r,i.lat))}toLngLat(){return new ic(zx(this.x),Wo(this.y))}toAltitude(){return Lx(this.z,this.y)}meterInMercatorCoordinateUnits(){return 1/md*Vx(Wo(this.y))}};function Ox(t,e,r){let i=1/(1<Nx(n,i))}function $x(t,e){let r=Rx(mt/2,mt/2,e),i=Yl.fromLngLat(r).meterInMercatorCoordinateUnits(),n=(1<1&&e[0].x===e[e.length-1].x&&e[0].y===e[e.length-1].y;)e.pop();return e}function qx(t,e,r,i,n){let a=e.sub(r),s=i.sub(r),o=a.mag(),l=s.mag();if(o<1e-6||l<1e-6){t.push(r.clone());return}a._div(o),s._div(l);let u=a.x*s.x+a.y*s.y;if(Math.abs(u)>Math.cos(5*Math.PI/180)){t.push(r.clone());return}let h=.2,c=Math.min(n,o*h,l*h),p=r.add(a.mult(c)),f=r.add(s.mult(c)),d=Math.sqrt((1+u)/2),y=r.add(a.add(s)._unit()._mult(c/d)),m=p.sub(y).angleWith(f.sub(y)),g=Math.max(2,Math.ceil(Math.abs(m)/(Math.PI/6)-1e-6));for(let x=0;x<=g;x++)t.push(p.rotateAround(x/g*m,y))}var js=8192;function Mi(t,e,r,i,n,a,s,o){t.emplaceBack(e,r,Math.floor(i*js)*2+s,n*js*2,a*js*2,Math.round(o))}var vd=class{constructor(t){this.zoom=t.zoom,this.overscaling=t.overscaling,this.layers=t.layers,this.layerIds=this.layers.map(e=>e.id),this.index=t.index,this.hasDependencies=!1,this.layoutVertexArray=new Jm,this.centroidVertexArray=new Zm,this.indexArray=new wn,this.programConfigurations=new vr(t.layers,t.zoom),this.segments=new ee,this.stateDependentLayerIds=this.layers.filter(e=>e.isStateDependent()).map(e=>e.id)}populate(t,e,r){this.features=[],this.hasDependencies=Aa("fill-extrusion",this.layers,e);let i=new st(this.zoom),n=this.layers[0],a=n.layout.get("fill-extrusion-rounded-corner-distance"),s=n._featureFilter.needGeometry;for(let{feature:o,id:l,index:u,sourceLayerIndex:h}of t){let c=hi(o,s);if(!n._featureFilter.filter(i,c,r))continue;let p=s?c.geometry:Ar(o),f={id:l,sourceLayerIndex:h,index:u,geometry:a>0?nc(p,a,r):p,properties:o.properties,type:o.type,patterns:{}};this.hasDependencies?this.features.push(Gl("fill-extrusion",this.layers,f,{zoom:this.zoom},e)):this.addFeature(f,f.geometry,u,r,{},e.subdivisionGranularity),e.featureIndex.insert(o,f.geometry,u,h,this.index,!0)}}addFeatures({options:t,canonical:e,patternPositions:r}){for(let i of this.features){let{geometry:n}=i;this.addFeature(i,n,i.index,e,r,t.subdivisionGranularity)}}update(t,e,r){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(t,e,this.stateDependentLayers,{imagePositions:r})}isEmpty(){return this.layoutVertexArray.length===0&&this.centroidVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(t){this.uploaded||(this.layoutVertexBuffer=t.createVertexBuffer(this.layoutVertexArray,kx),this.centroidVertexBuffer=t.createVertexBuffer(this.centroidVertexArray,Fx.members,!0),this.indexBuffer=t.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(t),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy(),this.centroidVertexBuffer.destroy())}addFeature(t,e,r,i,n,a){let s=this.layers[0],o=s.layout?s.layout.get("fill-extrusion-rounded-corner-distance"):0,l=o>0?nc(e,o,i):e;for(let u of Ra(l,500)){let h={x:0,y:0,sampleCount:0},c=this.layoutVertexArray.length;this.processPolygon(h,i,t,u,a);let p=this.layoutVertexArray.length-c,f=Math.floor(h.x/h.sampleCount),d=Math.floor(h.y/h.sampleCount);for(let y=0;y{Mi(u,h,c,0,0,1,1,0)},this.segments,this.layoutVertexArray,this.indexArray,l.verticesFlattened,l.indicesTriangles)}_generateSideFaces(t,e){let r=0;for(let i=1;iee.MAX_VERTEX_ARRAY_LENGTH&&(e.segment=this.segments.prepareSegment(4,this.layoutVertexArray,this.indexArray));let s=n.sub(a)._perp()._unit(),o=a.dist(n);r+o>32768&&(r=0),Mi(this.layoutVertexArray,n.x,n.y,s.x,s.y,0,0,r),Mi(this.layoutVertexArray,n.x,n.y,s.x,s.y,0,1,r),r+=o,Mi(this.layoutVertexArray,a.x,a.y,s.x,s.y,0,0,r),Mi(this.layoutVertexArray,a.x,a.y,s.x,s.y,0,1,r);let l=e.segment.vertexLength;this.indexArray.emplaceBack(l,l+2,l+1),this.indexArray.emplaceBack(l+1,l+2,l+3),e.segment.vertexLength+=4,e.segment.primitiveLength+=2}}};function jx(t,e){for(let r=0;rGx||(Gx=new Xt({"fill-extrusion-rounded-corner-distance":new V(w["layout_fill-extrusion"]["fill-extrusion-rounded-corner-distance"],"fill-extrusion-rounded-corner-distance")})),Yx,Wx=()=>Yx||(Yx=new Xt({"fill-extrusion-opacity":new V(w["paint_fill-extrusion"]["fill-extrusion-opacity"],"fill-extrusion-opacity"),"fill-extrusion-color":new N(w["paint_fill-extrusion"]["fill-extrusion-color"],"fill-extrusion-color"),"fill-extrusion-translate":new V(w["paint_fill-extrusion"]["fill-extrusion-translate"],"fill-extrusion-translate"),"fill-extrusion-translate-anchor":new V(w["paint_fill-extrusion"]["fill-extrusion-translate-anchor"],"fill-extrusion-translate-anchor"),"fill-extrusion-pattern":new on(w["paint_fill-extrusion"]["fill-extrusion-pattern"],"fill-extrusion-pattern"),"fill-extrusion-height":new N(w["paint_fill-extrusion"]["fill-extrusion-height"],"fill-extrusion-height"),"fill-extrusion-base":new N(w["paint_fill-extrusion"]["fill-extrusion-base"],"fill-extrusion-base"),"fill-extrusion-vertical-gradient":new V(w["paint_fill-extrusion"]["fill-extrusion-vertical-gradient"],"fill-extrusion-vertical-gradient")})),Zx={get paint(){return Wx()},get layout(){return Xx()}};var Hx=class extends de{constructor(t,e){super(t,Zx,e)}createBucket(t){return new vd(t)}queryRadius(){return Ha(this.paint.get("fill-extrusion-translate"))}is3D(){return!0}queryIntersectsFeature({queryGeometry:t,feature:e,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a,pixelPosMatrix:s}){let o=Ka(t,this.paint.get("fill-extrusion-translate"),this.paint.get("fill-extrusion-translate-anchor"),-n.bearingInRadians,a),l=this.paint.get("fill-extrusion-height").evaluate(e,r),u=this.paint.get("fill-extrusion-base").evaluate(e,r),h=Qx(o,s,0),c=Jx(i,u,l,s),p=c[0],f=c[1];return Kx(p,f,h)}};function Bi(t,e){return t.x*e.x+t.y*e.y}function ac(t,e){if(t.length===1){let r=0,i=e[r++],n;for(;!n||i.equals(n);)if(n=e[r++],!n)return 1/0;for(;r>1),s=r-e,o,l=t[e],u=t[e+1],h=t[r],c=t[r+1];for(let p=e+3;pn){o=p,n=f;continue}if(f===n){let d=Math.abs(p-a);di&&(o-e>3&&Zo(t,e,o,i),t[o+2]=n,r-o>3&&Zo(t,o,r,i))}function t2(t,e,r,i,n,a){let s=n-r,o=a-i;if(s!==0||o!==0){let l=((t-r)*s+(e-i)*o)/(s*s+o*o);l>1?(r=n,i=a):l>0&&(r+=s*l,i+=o*l)}return s=t-r,o=e-i,s*s+o*o}function Mt(t,e,r,i){let n={type:e,geom:r},a={id:t!=null?t:null,type:n.type,geometry:n.geom,tags:i,minX:1/0,minY:1/0,maxX:-1/0,maxY:-1/0};switch(n.type){case"Point":case"MultiPoint":Pi(a,n.geom);break;case"LineString":Pi(a,n.geom.points);break;case"Polygon":Pi(a,n.geom[0].points);break;case"MultiLineString":for(let s of n.geom)Pi(a,s.points);break;case"MultiPolygon":for(let s of n.geom)Pi(a,s[0].points)}return a}function Wl(t){let e=t;t.points.length>64&&(e.points=new Float64Array(t.points))}function Pi(t,e){for(let r=0;r1024)throw Error("GeometryCollection nesting exceeds supported depth: 1024");if(e.geometry.type==="GeometryCollection"){r2(t,e,e.geometry,r,i,n+1);return}if(!((o=e.geometry.coordinates)!=null&&o.length))return;let a=e2(e,r,i),s=(r.tolerance/((1<0&&(s+=i?(n*h-u*a)/2:Math.sqrt((u-n)**2+(h-a)**2)),n=u,a=h}let o=e.points.length-3;e.points[2]=1,r>0&&Zo(e.points,0,o,r),e.points[o+2]=1,Wl(e),e.size=Math.abs(s),e.start=0,e.end=e.size}function Kl(t,e,r,i){for(let n=0;n1?1:r}function u2(t){return{type:"FeatureCollection",features:t.map(e=>ka(e))}}function ka(t){let e={type:"Feature",geometry:h2(t),properties:t.tags};return t.id!=null&&(e.id=t.id),e}function h2(t){let{type:e,geometry:r}=t;switch(e){case"Point":return{type:e,coordinates:bd(r[0],r[1])};case"MultiPoint":return{type:e,coordinates:Kn(r)};case"LineString":return{type:e,coordinates:Kn(r.points)};case"MultiLineString":case"Polygon":return{type:e,coordinates:r.map(i=>Kn(i.points))};case"MultiPolygon":return{type:e,coordinates:r.map(i=>i.map(n=>Kn(n.points)))}}}function Kn(t){let e=[];for(let r=0;r=r&&s=i)return null;let l=[];for(let u of t){let h=n===0?u.minX:u.minY,c=n===0?u.maxX:u.maxY;if(h>=r&&c=i))switch(u.type){case"Point":case"MultiPoint":c2(u,l,r,i,n);continue;case"LineString":p2(u,l,r,i,n,o);continue;case"MultiLineString":f2(u,l,r,i,n);continue;case"Polygon":d2(u,l,r,i,n);continue;case"MultiPolygon":y2(u,l,r,i,n);continue}}return l.length?l:null}function c2(t,e,r,i,n){let a=[];if(m2(t.geometry,a,r,i,n),!a.length)return;let s=a.length===3?"Point":"MultiPoint";e.push(Mt(t.id,s,a,t.tags))}function p2(t,e,r,i,n,a){let s=[];if(_d(t.geometry,s,r,i,n,!1,a.lineMetrics),s.length){if(a.lineMetrics){for(let o of s)e.push(Mt(t.id,"LineString",o,t.tags));return}if(s.length>1){e.push(Mt(t.id,"MultiLineString",s,t.tags));return}e.push(Mt(t.id,"LineString",s[0],t.tags))}}function f2(t,e,r,i,n){let a=[];if(Jl(t.geometry,a,r,i,n,!1),a.length){if(a.length===1){e.push(Mt(t.id,"LineString",a[0],t.tags));return}e.push(Mt(t.id,"MultiLineString",a,t.tags))}}function d2(t,e,r,i,n){let a=[];Jl(t.geometry,a,r,i,n,!0),a.length&&e.push(Mt(t.id,"Polygon",a,t.tags))}function y2(t,e,r,i,n){let a=[];for(let s of t.geometry){let o=[];Jl(s,o,r,i,n,!0),o.length&&a.push(o)}a.length&&e.push(Mt(t.id,"MultiPolygon",a,t.tags))}function m2(t,e,r,i,n){for(let a=0;a=r&&s<=i&&Kr(e,t[a],t[a+1],t[a+2])}}function _d(t,e,r,i,n,a,s){let o=sc(t),l=n===0?g2:x2,u=t.start,h,c;for(let g=0;gr&&(c=l(o,x,v,D,A,r),s&&(o.start=u+h*c)):_>i?S=r&&(c=l(o,x,v,D,A,r),k=!0),S>i&&_<=i&&(c=l(o,x,v,D,A,i),k=!0),!a&&k&&(s&&(o.end=u+h*c),e.push(o),o=sc(t)),s&&(u+=h)}let p=t.points.length-3,f=t.points[p],d=t.points[p+1],y=t.points[p+2],m=n===0?f:d;m>=r&&m<=i&&Kr(o.points,f,d,y),p=o.points.length-3,a&&p>=3&&(o.points[p]!==o.points[0]||o.points[p+1]!==o.points[1])&&Kr(o.points,o.points[0],o.points[1],o.points[2]),o.points.length&&(Wl(o),e.push(o))}function sc(t){return{points:[],size:t.size,start:t.start,end:t.end}}function Jl(t,e,r,i,n,a){for(let s of t)_d(s,e,r,i,n,a,!1)}function Kr(t,e,r,i){t.push(e,r,i)}function g2(t,e,r,i,n,a){let s=(a-e)/(i-e);return Kr(t.points,a,r+(n-r)*s,1),s}function x2(t,e,r,i,n,a){let s=(a-r)/(n-r);return Kr(t.points,e+(i-e)*s,a,1),s}function Ql(t,e){let r=e.buffer/e.extent,i=t,n=Te(t,1,-1-r,r,0,-1,2,e),a=Te(t,1,1-r,2+r,0,-1,2,e);return!n&&!a||(i=Te(t,1,-r,1+r,0,-1,2,e)||[],n&&(i=oc(n,1).concat(i)),a&&(i=i.concat(oc(a,-1)))),i}function oc(t,e){let r=[];for(let i of t)switch(i.type){case"Point":case"MultiPoint":{let n=v2(i.geometry,e);r.push(Mt(i.id,i.type,n,i.tags));continue}case"LineString":{let n=Gs(i.geometry,e);r.push(Mt(i.id,i.type,n,i.tags));continue}case"MultiLineString":case"Polygon":{let n=[];for(let a of i.geometry)n.push(Gs(a,e));r.push(Mt(i.id,i.type,n,i.tags));continue}case"MultiPolygon":{let n=[];for(let a of i.geometry){let s=[];for(let o of a)s.push(Gs(o,e));n.push(s)}r.push(Mt(i.id,i.type,n,i.tags));continue}}return r}function v2(t,e){let r=[];for(let i=0;io.id));t=t.filter(o=>!s.has(o.id))}if(i.add.size){let s=Zl({type:"FeatureCollection",features:Array.from(i.add.values())},r);s=Ql(s,r),n=n.concat(s),t=t.concat(s)}}if(i.update.size){let a=new Map,s=[];for(let o of t)i.update.has(o.id)?a.set(o.id,[...a.get(o.id)||[],o]):s.push(o);for(let[o,l]of i.update){let u=a.get(o);if(!u||u.length===0)continue;let h=w2(u,l,r);n=n.concat(u,h),s=s.concat(h)}t=s}return{affected:n,source:t}}function w2(t,e,r){var a,s;let i=!!e.newGeometry,n=e.removeAllProperties||((a=e.removeProperties)==null?void 0:a.length)>0||((s=e.addOrUpdateProperties)==null?void 0:s.length)>0;if(i){let o=t[0],l=Zl({type:"FeatureCollection",features:[{type:"Feature",id:o.id,geometry:e.newGeometry,properties:n?lc(o.tags,e):o.tags}]},r);return l=Ql(l,r),l}if(n){let o=[];for(let l of t){let u=je({},l);u.tags=lc(u.tags,e),o.push(u)}return o}return t}function lc(t,e){if(e.removeAllProperties)return{};let r=je({},t||{});if(e.removeProperties)for(let i of e.removeProperties)delete r[i];if(e.addOrUpdateProperties)for(let{key:i,value:n}of e.addOrUpdateProperties)r[i]=n;return r}function D2(t,e){var r,i;return t?{removeAll:t.removeAll,remove:new Set(t.remove||[]),add:new Map((r=t.add)==null?void 0:r.map(n=>[e.promoteId?n.properties[e.promoteId]:n.id,n])),update:new Map((i=t.update)==null?void 0:i.map(n=>[n.id,n]))}:{remove:new Set,add:new Map,update:new Map}}var uc=[Int8Array,Uint8Array,Uint8ClampedArray,Int16Array,Uint16Array,Int32Array,Uint32Array,Float32Array,Float64Array],dt=new Uint32Array(96),_2=class Ad{static from(e){if(!e||e.byteLength===void 0||e.buffer)throw Error("Data must be an instance of ArrayBuffer or SharedArrayBuffer.");let[r,i]=new Uint8Array(e,0,2);if(r!==219)throw Error("Data does not appear to be in a KDBush format.");let n=i>>4;if(n!==1)throw Error(`Got v${n} data when expected v1.`);let a=uc[i&15];if(!a)throw Error("Unrecognized array type.");let[s]=new Uint16Array(e,2,1),[o]=new Uint32Array(e,4,1);return new Ad(o,s,a,void 0,e)}constructor(e,r=64,i=Float64Array,n=ArrayBuffer,a){if(isNaN(e)||e<0)throw Error(`Unexpected numItems value: ${e}.`);this.numItems=+e,this.nodeSize=Math.min(Math.max(+r,2),65535),this.ArrayType=i,this.IndexArrayType=e<65536?Uint16Array:Uint32Array;let s=uc.indexOf(this.ArrayType),o=e*2*this.ArrayType.BYTES_PER_ELEMENT,l=e*this.IndexArrayType.BYTES_PER_ELEMENT,u=(8-l%8)%8;if(s<0)throw Error(`Unexpected typed array class: ${i}.`);if(a)this.data=a,this.ids=new this.IndexArrayType(a,8,e),this.coords=new i(a,8+l+u,e*2),this._pos=e*2,this._finished=!0;else{let h=this.data=new n(8+o+l+u);this.ids=new this.IndexArrayType(h,8,e),this.coords=new i(h,8+l+u,e*2),this._pos=0,this._finished=!1,new Uint8Array(h,0,2).set([219,16+s]),new Uint16Array(h,2,1)[0]=r,new Uint32Array(h,4,1)[0]=e}}add(e,r){let i=this._pos>>1;return this.ids[i]=i,this.coords[this._pos++]=e,this.coords[this._pos++]=r,i}finish(){let e=this._pos>>1;if(e!==this.numItems)throw Error(`Added ${e} items when expected ${this.numItems}.`);return Ho(this.ids,this.coords,this.nodeSize,0,this.numItems-1,0),this._finished=!0,this}range(e,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:s,nodeSize:o}=this;dt[0]=0,dt[1]=a.length-1,dt[2]=0;let l=3,u=[];for(;l>0;){let h=dt[--l],c=dt[--l],p=dt[--l];if(c-p<=o){for(let m=p;m<=c;m++){let g=s[2*m],x=s[2*m+1];g>=e&&g<=i&&x>=r&&x<=n&&u.push(a[m])}continue}let f=p+c>>1,d=s[2*f],y=s[2*f+1];d>=e&&d<=i&&y>=r&&y<=n&&u.push(a[f]),(h===0?e<=d:r<=y)&&(dt[l++]=p,dt[l++]=f-1,dt[l++]=1-h),(h===0?i>=d:n>=y)&&(dt[l++]=f+1,dt[l++]=c,dt[l++]=1-h)}return u}within(e,r,i){let n=[];return this.withinInto(e,r,i,n),n}withinInto(e,r,i,n){if(!this._finished)throw Error("Data not yet indexed - call index.finish().");let{ids:a,coords:s,nodeSize:o}=this;dt[0]=0,dt[1]=a.length-1,dt[2]=0;let l=3,u=0,h=i*i;for(;l>0;){let c=dt[--l],p=dt[--l],f=dt[--l];if(p-f<=o){for(let g=f;g<=p;g++)hc(s[2*g],s[2*g+1],e,r)<=h&&(n[u++]=a[g]);continue}let d=f+p>>1,y=s[2*d],m=s[2*d+1];hc(y,m,e,r)<=h&&(n[u++]=a[d]),(c===0?e-i<=y:r-i<=m)&&(dt[l++]=f,dt[l++]=d-1,dt[l++]=1-c),(c===0?e+i>=y:r+i>=m)&&(dt[l++]=d+1,dt[l++]=p,dt[l++]=1-c)}return u}};function Ho(t,e,r,i,n,a){if(n-i<=r)return;let s=i+n>>1;Sd(t,e,s,i,n,a),Ho(t,e,r,i,s-1,1-a),Ho(t,e,r,s+1,n,1-a)}function Sd(t,e,r,i,n,a){for(;n>i;){if(n-i>600){let u=n-i+1,h=r-i+1,c=Math.log(u),p=.5*Math.exp(2*c/3),f=.5*Math.sqrt(c*p*(u-p)/u)*(h-u/2<0?-1:1);Sd(t,e,r,Math.max(i,Math.floor(r-h*p/u+f)),Math.min(n,Math.floor(r+(u-h)*p/u+f)),a)}let s=e[2*r+a],o=i,l=n;for(zi(t,e,i,r),e[2*n+a]>s&&zi(t,e,i,n);os;)l--}e[2*i+a]===s?zi(t,e,i,l):(l++,zi(t,e,l,n)),l<=r&&(i=l+1),r<=l&&(n=l-1)}}function zi(t,e,r,i){Xs(t,r,i),Xs(e,2*r,2*i),Xs(e,2*r+1,2*i+1)}function Xs(t,e,r){let i=t[e];t[e]=t[r],t[r]=i}function hc(t,e,r,i){let n=t-r,a=e-i;return n*n+a*a}var Ko={minZoom:0,maxZoom:16,minPoints:2,radius:40,extent:512,nodeSize:64,log:!1,generateId:!1,reduce:null,map:t=>t},A2=class{constructor(t){this.options=Object.assign(Object.create(Ko),t),this.trees=Array(this.options.maxZoom+1),this.stride=this.options.reduce?7:6,this.clusterProps=[],this.points=[]}load(t){let e=[];for(let r of t){if(!r.geometry)continue;let[i,n]=r.geometry.coordinates,[a,s]=[Zr(i),Hr(n)],o={id:r.id,type:"Point",geometry:[a,s],tags:r.properties};e.push(o)}this.createIndex(e)}initialize(t){let e=[];for(let r of t)r.type==="Point"&&e.push(r);this.createIndex(e)}updateIndex(t,e,r){this.options=Object.assign(Object.create(Ko),r.clusterOptions),this.initialize(t)}createIndex(t){let{log:e,minZoom:r,maxZoom:i}=this.options;e&&console.time("total time");let n=`prepare ${t.length} points`;e&&console.time(n),this.points=t;let a=[];for(let o=0;o=r;o--){let l=Date.now();s=this.trees[o]=this.createTree(this.cluster(s,o)),e&&console.log("z%d: %d clusters in %dms",o,s.numItems,Date.now()-l)}e&&console.timeEnd("total time")}getClusters(t,e){return this.getClustersInternal(t,e).map(r=>ka(r))}getClustersInternal(t,e){let r=((t[0]+180)%360+360)%360-180,i=Math.max(-90,Math.min(90,t[1])),n=t[2]===180?180:((t[2]+180)%360+360)%360-180,a=Math.max(-90,Math.min(90,t[3]));if(t[2]-t[0]>=360)r=-180,n=180;else if(r>n){let h=this.getClustersInternal([r,i,180,a],e),c=this.getClustersInternal([-180,i,n,a],e);return h.concat(c)}let s=this.trees[this.limitZoom(e)],o=s.range(Zr(r),Hr(a),Zr(n),Hr(i)),l=s.flatData,u=[];for(let h of o){let c=this.stride*h;u.push(l[c+5]>1?S2(l,c,this.clusterProps):this.points[l[c+3]])}return u}getChildren(t){let e=this.getOriginId(t),r=this.getOriginZoom(t),i=Error("No cluster with the specified id: "+t),n=this.trees[r];if(!n)throw i;let a=n.flatData;if(e*this.stride>=a.length)throw i;let s=this.options.radius/(this.options.extent*2**(r-1)),o=a[e*this.stride],l=a[e*this.stride+1],u=n.within(o,l,s),h=[];for(let c of u){let p=c*this.stride;a[p+4]===t&&h.push(a[p+5]>1?E2(a,p,this.clusterProps):ka(this.points[a[p+3]]))}if(h.length===0)throw i;return h}getLeaves(t,e,r){e||(e=10),r||(r=0);let i=[];return this.appendLeaves(i,t,e,r,0),i}getTile(t,e,r){let i=this.trees[this.limitZoom(t)];if(!i)return null;let n=2**t,{extent:a,radius:s}=this.options,o=s/a,l=(r-o)/n,u=(r+1+o)/n,h={transformed:!0,features:[],source:null,x:e,y:r,z:t};return this.addTileFeatures(i.range((e-o)/n,l,(e+1+o)/n,u),i.flatData,e,r,n,h),e===0&&this.addTileFeatures(i.range(1-o/n,l,1,u),i.flatData,n,r,n,h),e===n-1&&this.addTileFeatures(i.range(0,l,o/n,u),i.flatData,-1,r,n,h),h}getClusterExpansionZoom(t){return this.getOriginZoom(t)}appendLeaves(t,e,r,i,n){let a=this.getChildren(e);for(let s of a){let o=s.properties;if(o!=null&&o.cluster?n+o.point_count<=i?n+=o.point_count:n=this.appendLeaves(t,o.cluster_id,r,i,n):n1,u,h,c;if(l)u=tu(e,o,this.clusterProps),h=e[o],c=e[o+1];else{let d=this.points[e[o+3]];u=d.tags,[h,c]=d.geometry}let p={type:1,geometry:[[Math.round(this.options.extent*(h*n-r)),Math.round(this.options.extent*(c*n-i))]],tags:u},f;f=l||this.options.generateId?e[o+3]:this.points[e[o+3]].id,f!==void 0&&(p.id=f),a.features.push(p)}}limitZoom(t){return Math.max(this.options.minZoom,Math.min(Math.floor(+t),this.options.maxZoom+1))}cluster(t,e){let{radius:r,extent:i,reduce:n,minPoints:a}=this.options,s=r/(i*2**e),o=t.flatData,l=[],u=this.stride;for(let h=0;he&&(y+=o[g+5])}if(y>d&&y>=a){let m=c*d,g=p*d,x,v=-1,b=((h/u|0)<<5)+(e+1)+this.points.length;for(let D of f){let A=D*u;if(o[A+2]<=e)continue;o[A+2]=e;let _=o[A+5];m+=o[A]*_,g+=o[A+1]*_,o[A+4]=b,n&&(x||(x=this.map(o,h,!0),v=this.clusterProps.length,this.clusterProps.push(x)),n(x,this.map(o,A)))}o[h+4]=b,l.push(m/y,g/y,1/0,b,-1,y),n&&l.push(v)}else{for(let m=0;m1)for(let m of f){let g=m*u;if(!(o[g+2]<=e)){o[g+2]=e;for(let x=0;x>5}getOriginZoom(t){return(t-this.points.length)%32}map(t,e,r){if(t[e+5]>1){let a=this.clusterProps[t[e+6]];return r?Object.assign({},a):a}let i=this.points[t[e+3]].tags,n=this.options.map(i);return r&&n===i?Object.assign({},n):n}};function S2(t,e,r){return{id:t[e+3],type:"Point",tags:tu(t,e,r),geometry:[t[e],t[e+1]]}}function E2(t,e,r){return{type:"Feature",id:t[e+3],properties:tu(t,e,r),geometry:{type:"Point",coordinates:[wd(t[e]),Dd(t[e+1])]}}}function tu(t,e,r){let i=t[e+5],n=i>=1e4?`${Math.round(i/1e3)}k`:i>=1e3?`${Math.round(i/100)/10}k`:i,a=t[e+6],s=a===-1?{}:Object.assign({},r[a]);return Object.assign(s,{cluster:!0,cluster_id:t[e+3],point_count:i,point_count_abbreviated:n})}var Ed="geojsonvt_clip_start",Fd="geojsonvt_clip_end";function cc(t,e,r,i,n){let a=e===n.maxZoom?0:n.tolerance/((1<0&&e.size<(n?s:i)){r.numPoints+=e.points.length/3;return}let o=[];for(let l=0;ls)&&(r.numSimplified++,o.push(e.points[l],e.points[l+1])),r.numPoints++;n&&M2(o,a),t.push(o)}function M2(t,e){let r=0;for(let i=0,n=t.length,a=n-2;i0===e)for(let i=0,n=t.length;i1&&(console.log("invalidating tiles"),console.time("invalidating")),this.invalidateTiles(e),r.debug>1&&console.timeEnd("invalidating");let[i,n,a]=[0,0,0],s=cc(t,i,n,a,r);s.source=t;let o=Jn(i,n,a);if(this.tiles[o]=s,this.tileCoords.push({z:i,x:n,y:a,id:o}),r.debug){let l=`z${i}`;this.stats[l]=(this.stats[l]||0)+1,this.total++}}getClusterExpansionZoom(t){return null}getChildren(t){return null}getLeaves(t,e,r){return null}getTile(t,e,r){let{extent:i,debug:n}=this.options,a=1<1&&console.log("drilling down to z%d-%d-%d",t,e,r);let o=t,l=e,u=r,h;for(;!h&&o>0;)o--,l>>=1,u>>=1,h=this.tiles[Jn(o,l,u)];return!(h!=null&&h.source)||(n>1&&(console.log("found parent tile z%d-%d-%d",o,l,u),console.time("drilling down")),this.splitTile(h.source,o,l,u,t,e,r),n>1&&console.timeEnd("drilling down"),!this.tiles[s])?null:pc(this.tiles[s],i)}splitTile(t,e,r,i,n,a,s){let o=[t,e,r,i],l=this.options,u=l.debug;for(;o.length;){i=o.pop(),r=o.pop(),e=o.pop(),t=o.pop();let h=1<1&&console.time("creation"),p=this.tiles[c]=cc(t,e,r,i,l),this.tileCoords.push({z:e,x:r,y:i,id:c}),u)){u>1&&(console.log("tile z%d-%d-%d (features: %d, points: %d, simplified: %d)",e,r,i,p.numFeatures,p.numPoints,p.numSimplified),console.timeEnd("creation"));let _=`z${e}`;this.stats[_]=(this.stats[_]||0)+1,this.total++}if(p.source=t,n==null){if(e===l.indexMaxZoom||p.numPoints<=l.indexMaxPoints)continue}else{if(e===l.maxZoom||e===n)continue;if(n!=null){let _=n-e;if(r!==a>>_||i!==s>>_)continue}}if(p.source=null,!t.length)continue;u>1&&console.time("clipping");let f=.5*l.buffer/l.extent,d=.5-f,y=.5+f,m=1+f,g=null,x=null,v=null,b=null,D=Te(t,h,r-f,r+y,0,p.minX,p.maxX,l),A=Te(t,h,r+d,r+m,0,p.minX,p.maxX,l);D&&(g=Te(D,h,i-f,i+y,1,p.minY,p.maxY,l),x=Te(D,h,i+d,i+m,1,p.minY,p.maxY,l)),A&&(v=Te(A,h,i-f,i+y,1,p.minY,p.maxY,l),b=Te(A,h,i+d,i+m,1,p.minY,p.maxY,l)),u>1&&console.timeEnd("clipping"),o.push(g||[],e+1,r*2,i*2),o.push(x||[],e+1,r*2,i*2+1),o.push(v||[],e+1,r*2+1,i*2),o.push(b||[],e+1,r*2+1,i*2+1)}}invalidateTiles(t){if(!t.length)return;let e=this.options,{debug:r}=e,i=1/0,n=-1/0,a=1/0,s=-1/0;for(let u of t)i=Math.min(i,u.minX),n=Math.max(n,u.maxX),a=Math.min(a,u.minY),s=Math.max(s,u.maxY);let o=e.buffer/e.extent,l=new Set;for(let u in this.tiles){let h=this.tiles[u],c=1<=f||s=y)continue;let m=!1;for(let g of t)if(g.maxX>=p&&g.minX=d&&g.minY1&&console.log("invalidate tile z%d-%d-%d (features: %d, points: %d, simplified: %d)",h.z,h.x,h.y,h.numFeatures,h.numPoints,h.numSimplified);let g=`z${h.z}`;this.stats[g]=(this.stats[g]||0)-1,this.total--}delete this.tiles[u],l.add(u)}}l.size&&(this.tileCoords=this.tileCoords.filter(u=>!l.has(u.id)))}};function Jn(t,e,r){return((1<24)throw Error("maxZoom should be in the 0-24 range");if(e.promoteId&&e.generateId)throw Error("promoteId and generateId cannot be used together.");let i=Zl(t,e);r&&(console.timeEnd("preprocess data"),console.log("index: maxZoom: %d, maxPoints: %d",e.indexMaxZoom,e.indexMaxPoints),console.time("generate tiles")),i=Ql(i,e),e.updateable&&(this.source=i),this.initializeIndex(i,e)}initializeIndex(t,e){this.tileIndex=e.cluster?new A2(e.clusterOptions):new z2(e),t.length&&this.tileIndex.initialize(t)}getTile(t,e,r){return t=+t,e=+e,r=+r,t<0||t>24?null:this.tileIndex.getTile(t,e,r)}updateData(t,e){let r=this.options;if(!r.updateable)throw Error("to update tile geojson `updateable` option must be set to true");let{affected:i,source:n}=b2(this.source,t,r);e&&({affected:i,source:n}=this.filterUpdate(n,i,e)),i.length&&(this.source=n,this.tileIndex.updateIndex(n,i,r))}filterUpdate(t,e,r){let i=new Set;for(let n of t)n.id!=null&&(r(ka(n))||(e.push(n),i.add(n.id)));return t=t.filter(n=>!i.has(n.id)),{affected:e,source:t}}getData(){if(!this.options.updateable)throw Error("to retrieve data the `updateable` option must be set to true");return u2(this.source)}updateClusterOptions(t,e){let r=this.options.cluster;if(this.options.cluster=t,this.options.clusterOptions=e,r==t){this.tileIndex.updateIndex(this.source,[],this.options);return}this.initializeIndex(this.source,this.options)}getClusterExpansionZoom(t){return this.tileIndex.getClusterExpansionZoom(t)}getClusterChildren(t){return this.tileIndex.getChildren(t)}getClusterLeaves(t,e,r){return this.tileIndex.getLeaves(t,e,r)}},Jo=At([{name:"a_pos_normal",components:2,type:"Int16"},{name:"a_data",components:4,type:"Uint8"}],4),V2=Jo.members;Jo.size,Jo.alignment;var Qo=At([{name:"a_uv_x",components:1,type:"Float32"},{name:"a_split_index",components:1,type:"Float32"}]),O2=Qo.members;Qo.size,Qo.alignment;var R2=Math.cos(75/2*(Math.PI/180)),Id=1/2,fc=2**14/Id,Cd=class{constructor(t){this.zoom=t.zoom,this.overscaling=t.overscaling,this.layers=t.layers,this.layerIds=this.layers.map(e=>e.id),this.index=t.index,this.hasDependencies=!1,this.patternFeatures=[],this.lineClipsArray=[],this.gradients={};for(let e of this.layers)this.gradients[e.id]={};this.layoutVertexArray=new Qm,this.layoutVertexArray2=new tg,this.indexArray=new wn,this.programConfigurations=new vr(t.layers,t.zoom),this.segments=new ee,this.maxLineLength=0,this.stateDependentLayerIds=this.layers.filter(e=>e.isStateDependent()).map(e=>e.id)}populate(t,e,r){this.hasDependencies=Aa("line",this.layers,e)||this.hasLineDasharray(this.layers);let i=this.layers[0].layout.get("line-sort-key"),n=!i.isConstant(),a=[],s=new st(this.zoom),o=this.layers[0]._featureFilter.needGeometry;for(let{feature:l,id:u,index:h,sourceLayerIndex:c}of t){let p=hi(l,o);if(!this.layers[0]._featureFilter.filter(s,p,r))continue;let f=n?i.evaluate(p,{},r):void 0,d={id:u,properties:l.properties,type:l.type,sourceLayerIndex:c,index:h,geometry:o?p.geometry:Ar(l),patterns:{},dashes:{},sortKey:f};a.push(d)}n&&a.sort((l,u)=>l.sortKey-u.sortKey);for(let l of a){let{geometry:u,index:h,sourceLayerIndex:c}=l;this.hasDependencies?(Aa("line",this.layers,e)?Gl("line",this.layers,l,{zoom:this.zoom},e):this.hasLineDasharray(this.layers)&&this.addLineDashDependencies(this.layers,l,this.zoom,e),this.patternFeatures.push(l)):this.addFeature(l,u,h,r,{},{},e.subdivisionGranularity);let p=t[h].feature;e.featureIndex.insert(p,u,h,c,this.index)}}update(t,e,r,i){this.stateDependentLayers.length&&this.programConfigurations.updatePaintArrays(t,e,this.stateDependentLayers,{imagePositions:r,dashPositions:i})}addFeatures({options:t,canonical:e,patternPositions:r,dashPositions:i}){for(let n of this.patternFeatures)this.addFeature(n,n.geometry,n.index,e,r,i,t.subdivisionGranularity)}isEmpty(){return this.layoutVertexArray.length===0}uploadPending(){return!this.uploaded||this.programConfigurations.needsUpload}upload(t){this.uploaded||(this.layoutVertexArray2.length!==0&&(this.layoutVertexBuffer2=t.createVertexBuffer(this.layoutVertexArray2,O2)),this.layoutVertexBuffer=t.createVertexBuffer(this.layoutVertexArray,V2),this.indexBuffer=t.createIndexBuffer(this.indexArray)),this.programConfigurations.upload(t),this.uploaded=!0}destroy(){this.layoutVertexBuffer&&(this.layoutVertexBuffer.destroy(),this.indexBuffer.destroy(),this.programConfigurations.destroy(),this.segments.destroy())}lineFeatureClips(t){if(t.properties&&Object.hasOwn(t.properties,"geojsonvt_clip_start")&&Object.hasOwn(t.properties,"geojsonvt_clip_end"))return{start:+t.properties[Ed],end:+t.properties[Fd]}}addFeature(t,e,r,i,n,a,s){let o=this.layers[0].layout,l=o.get("line-join").evaluate(t,{}),u=o.get("line-cap").evaluate(t,{}),h=o.get("line-miter-limit").evaluate(t,{}),c=o.get("line-round-limit").evaluate(t,{});this.lineClips=this.lineFeatureClips(t);for(let p of e)this.addLine(p,t,l,u,h,c,i,s);this.programConfigurations.populatePaintArrays(this.layoutVertexArray.length,t,r,{imagePositions:n,dashPositions:a,canonical:i})}addLine(t,e,r,i,n,a,s,o){this.distance=0,this.scaledDistance=0,this.totalDistance=0;let l=s?o.line.getGranularityForZoomLevel(s.z):1;if(t=cr(t,l),this.lineClips){this.lineClipsArray.push(this.lineClips);for(let v=0;v=2&&t[h-1].equals(t[h-2]);)h--;let c=0;for(;c0;if(k&&v>c){let L=d.dist(y);if(L>2*p){let F=d.sub(d.sub(y)._mult(p/L)._round());this.updateDistance(y,F),this.addCurrentVertex(F,g,0,0,f),y=F}}let O=y&&m,P=O?r:u?"butt":i;if(O&&P==="round"&&(_n&&(P="bevel"),P==="bevel"&&(_>2&&(P="flipbevel"),_100)b=x.mult(-1);else{let L=_*g.add(x).mag()/g.sub(x).mag();b._perp()._mult(L*(z?-1:1))}this.addCurrentVertex(d,b,0,0,f),this.addCurrentVertex(d,b.mult(-1),0,0,f)}else if(P==="bevel"||P==="fakeround"){let L=-Math.sqrt(_*_-1),F=z?L:0,$=z?0:L;if(y&&this.addCurrentVertex(d,g,F,$,f),P==="fakeround"){let U=Math.round(S*180/Math.PI/20);for(let T=1;T2*p){let F=d.add(m.sub(d)._mult(p/L)._round());this.updateDistance(d,F),this.addCurrentVertex(F,x,0,0,f),d=F}}}}addCurrentVertex(t,e,r,i,n,a=!1){let s=e.x+e.y*r,o=e.y-e.x*r,l=-e.x+e.y*i,u=-e.y-e.x*i;this.addHalfVertex(t,s,o,a,!1,r,n),this.addHalfVertex(t,l,u,a,!0,-i,n),this.distance>fc/2&&this.totalDistance===0&&(this.distance=0,this.updateScaledDistance(),this.addCurrentVertex(t,e,r,i,n,a))}addHalfVertex({x:t,y:e},r,i,n,a,s,o){let l=(this.lineClips?this.scaledDistance*(fc-1):this.scaledDistance)*Id;if(this.layoutVertexArray.emplaceBack((t<<1)+ +!!n,(e<<1)+ +!!a,Math.round(63*r)+128,Math.round(63*i)+128,(s===0?0:s<0?-1:1)+1|(l&63)<<2,l>>6),this.lineClips){let h=(this.scaledDistance-this.lineClips.start)/(this.lineClips.end-this.lineClips.start);this.layoutVertexArray2.emplaceBack(h,this.lineClipsArray.length)}let u=o.vertexLength++;this.e1>=0&&this.e2>=0&&(this.indexArray.emplaceBack(this.e1,u,this.e2),o.primitiveLength++),a?this.e2=u:this.e1=u}updateScaledDistance(){this.scaledDistance=this.lineClips?this.lineClips.start+(this.lineClips.end-this.lineClips.start)*this.distance/this.totalDistance:this.distance}updateDistance(t,e){this.distance+=t.dist(e),this.updateScaledDistance()}hasLineDasharray(t){for(let e of t){let r=e.paint.get("line-dasharray");if(r&&!r.isConstant())return!0}return!1}addLineDashDependencies(t,e,r,i){for(let n of t){let a=n.paint.get("line-dasharray");if(!a||a.value.kind==="constant")continue;let s=n.layout.get("line-cap").evaluate(e,{})==="round",o={dasharray:a.value.evaluate({zoom:r-1},e,{}),round:s},l={dasharray:a.value.evaluate({zoom:r},e,{}),round:s},u={dasharray:a.value.evaluate({zoom:r+1},e,{}),round:s},h=`${o.dasharray.join(",")},${o.round}`,c=`${l.dasharray.join(",")},${l.round}`,p=`${u.dasharray.join(",")},${u.round}`;i.dashDependencies[h]=o,i.dashDependencies[c]=l,i.dashDependencies[p]=u,e.dashes[n.id]={min:h,mid:c,max:p}}}};C("LineBucket",Cd,{omit:["layers","patternFeatures"]});var $2,N2=()=>$2||($2=new Xt({"line-cap":new N(w.layout_line["line-cap"],"line-cap"),"line-join":new N(w.layout_line["line-join"],"line-join"),"line-miter-limit":new N(w.layout_line["line-miter-limit"],"line-miter-limit"),"line-round-limit":new N(w.layout_line["line-round-limit"],"line-round-limit"),"line-sort-key":new N(w.layout_line["line-sort-key"],"line-sort-key")})),U2,q2=()=>U2||(U2=new Xt({"line-opacity":new N(w.paint_line["line-opacity"],"line-opacity"),"line-layer-opacity":new V(w.paint_line["line-layer-opacity"],"line-layer-opacity"),"line-color":new N(w.paint_line["line-color"],"line-color"),"line-translate":new V(w.paint_line["line-translate"],"line-translate"),"line-translate-anchor":new V(w.paint_line["line-translate-anchor"],"line-translate-anchor"),"line-width":new N(w.paint_line["line-width"],"line-width"),"line-gap-width":new N(w.paint_line["line-gap-width"],"line-gap-width"),"line-offset":new N(w.paint_line["line-offset"],"line-offset"),"line-blur":new N(w.paint_line["line-blur"],"line-blur"),"line-dasharray":new on(w.paint_line["line-dasharray"],"line-dasharray"),"line-pattern":new on(w.paint_line["line-pattern"],"line-pattern"),"line-gradient":new Wa(w.paint_line["line-gradient"],"line-gradient")})),dc={get paint(){return q2()},get layout(){return N2()}},j2=class extends N{possiblyEvaluate(t,e){return e=new st(Math.floor(e.zoom),{now:e.now,fadeDuration:e.fadeDuration,zoomHistory:e.zoomHistory,transition:e.transition}),super.possiblyEvaluate(t,e)}evaluate(t,e,r,i){return e=Gt({},e,{zoom:Math.floor(e.zoom)}),super.evaluate(t,e,r,i)}},Qn;var G2=class extends de{constructor(t,e){super(t,dc,e),this.gradientVersion=0,Qn||(Qn=new j2(dc.paint.properties["line-width"].specification,"line-floorwidth"),Qn.useIntegerZoom=!0)}_handleSpecialPaintPropertyUpdate(t){if(t==="line-gradient"){let e=this.gradientExpression();this.stepInterpolant=lm(e)?e._styleExpression.expression instanceof vl:!1,this.gradientVersion=(this.gradientVersion+1)%(2**53-1)}}gradientExpression(){return this._transitionablePaint._values["line-gradient"].value.expression}recalculate(t,e){super.recalculate(t,e),this.paint._values["line-floorwidth"]=Qn.possiblyEvaluate(this._transitioningPaint._values["line-width"].value,t)}createBucket(t){return new Cd(t)}queryRadius(t){let e=t,r=yc(Wr("line-width",this,e),Wr("line-gap-width",this,e)),i=Wr("line-offset",this,e);return r/2+Math.abs(i)+Ha(this.paint.get("line-translate"))}queryIntersectsFeature({queryGeometry:t,feature:e,featureState:r,geometry:i,transform:n,pixelsToTileUnits:a}){let s=Ka(t,this.paint.get("line-translate"),this.paint.get("line-translate-anchor"),-n.bearingInRadians,a),o=a/2*yc(this.paint.get("line-width").evaluate(e,r),this.paint.get("line-gap-width").evaluate(e,r)),l=this.paint.get("line-offset").evaluate(e,r);return l&&(i=Dg(i,l*a)),mg(s,i,o)}isTileClipped(){return!0}};function yc(t,e){return e>0?e+2*t:t}var X2=At([{name:"a_pos_offset",components:4,type:"Int16"},{name:"a_data",components:4,type:"Uint16"},{name:"a_pixeloffset",components:4,type:"Int16"},{name:"a_height_offset",components:1,type:"Float32"}],4),Y2=At([{name:"a_projected_pos",components:3,type:"Float32"}],4);At([{name:"a_fade_opacity",components:1,type:"Uint32"}],4);var W2=At([{name:"a_placed",components:2,type:"Uint8"},{name:"a_shift",components:2,type:"Float32"},{name:"a_box_real",components:2,type:"Int16"}]);At([{type:"Int16",name:"anchorPointX"},{type:"Int16",name:"anchorPointY"},{type:"Int16",name:"x1"},{type:"Int16",name:"y1"},{type:"Int16",name:"x2"},{type:"Int16",name:"y2"},{type:"Uint32",name:"featureIndex"},{type:"Uint16",name:"sourceLayerIndex"},{type:"Uint16",name:"bucketIndex"}]);var mc=At([{name:"a_pos",components:2,type:"Int16"},{name:"a_anchor_pos",components:2,type:"Int16"},{name:"a_extrude",components:2,type:"Int16"}],4),x5=At([{name:"a_pos",components:2,type:"Float32"},{name:"a_radius",components:1,type:"Float32"},{name:"a_flags",components:2,type:"Int16"}],4);At([{name:"triangle",components:3,type:"Uint16"}]),At([{type:"Int16",name:"anchorX"},{type:"Int16",name:"anchorY"},{type:"Uint16",name:"glyphStartIndex"},{type:"Uint16",name:"numGlyphs"},{type:"Uint32",name:"vertexStartIndex"},{type:"Uint32",name:"lineStartIndex"},{type:"Uint32",name:"lineLength"},{type:"Uint16",name:"segment"},{type:"Uint16",name:"lowerSize"},{type:"Uint16",name:"upperSize"},{type:"Float32",name:"lineOffsetX"},{type:"Float32",name:"lineOffsetY"},{type:"Uint8",name:"writingMode"},{type:"Uint8",name:"placedOrientation"},{type:"Uint8",name:"hidden"},{type:"Uint32",name:"crossTileID"},{type:"Int16",name:"associatedIconIndex"},{type:"Float32",name:"heightOffset"}]),At([{type:"Int16",name:"anchorX"},{type:"Int16",name:"anchorY"},{type:"Int16",name:"rightJustifiedTextSymbolIndex"},{type:"Int16",name:"centerJustifiedTextSymbolIndex"},{type:"Int16",name:"leftJustifiedTextSymbolIndex"},{type:"Int16",name:"verticalPlacedTextSymbolIndex"},{type:"Int16",name:"placedIconSymbolIndex"},{type:"Int16",name:"verticalPlacedIconSymbolIndex"},{type:"Uint16",name:"key"},{type:"Uint16",name:"textBoxStartIndex"},{type:"Uint16",name:"textBoxEndIndex"},{type:"Uint16",name:"verticalTextBoxStartIndex"},{type:"Uint16",name:"verticalTextBoxEndIndex"},{type:"Uint16",name:"iconBoxStartIndex"},{type:"Uint16",name:"iconBoxEndIndex"},{type:"Uint16",name:"verticalIconBoxStartIndex"},{type:"Uint16",name:"verticalIconBoxEndIndex"},{type:"Uint16",name:"featureIndex"},{type:"Uint16",name:"numHorizontalGlyphVertices"},{type:"Uint16",name:"numVerticalGlyphVertices"},{type:"Uint16",name:"numIconVertices"},{type:"Uint16",name:"numVerticalIconVertices"},{type:"Uint16",name:"useRuntimeCollisionCircles"},{type:"Uint32",name:"crossTileID"},{type:"Float32",name:"textBoxScale"},{type:"Float32",name:"collisionCircleDiameter"},{type:"Uint16",name:"textAnchorOffsetStartIndex"},{type:"Uint16",name:"textAnchorOffsetEndIndex"},{type:"Float32",name:"heightOffset"}]),At([{type:"Float32",name:"offsetX"}]),At([{type:"Int16",name:"x"},{type:"Int16",name:"y"},{type:"Int16",name:"tileUnitDistanceFromAnchor"}]),At([{type:"Uint16",name:"textAnchor"},{type:"Float32",components:2,name:"textOffset"}]);var wr=new class{constructor(){this.TIMEOUT=5e3,this.applyArabicShaping=null,this.processBidirectionalText=null,this.processStyledBidirectionalText=null,this.pluginStatus="unavailable",this.pluginURL=null,this.loadScriptResolve=()=>{}}setState(t){this.pluginStatus=t.pluginStatus,this.pluginURL=t.pluginURL}getState(){return{pluginStatus:this.pluginStatus,pluginURL:this.pluginURL}}setMethods(t){if(wr.isParsed())throw Error("RTL text plugin already registered.");this.applyArabicShaping=t.applyArabicShaping,this.processBidirectionalText=t.processBidirectionalText,this.processStyledBidirectionalText=t.processStyledBidirectionalText,this.loadScriptResolve()}isParsed(){return this.applyArabicShaping!=null&&this.processBidirectionalText!=null&&this.processStyledBidirectionalText!=null}getRTLTextPluginStatus(){return this.pluginStatus}syncState(t,e){return rt(this,null,function*(){if(this.isParsed())return this.getState();if(t.pluginStatus!=="loading")return this.setState(t),t;let r=t.pluginURL,i=new Promise(a=>{this.loadScriptResolve=a}),n=new Promise(a=>setTimeout(()=>a(),this.TIMEOUT));if(yield e(r),yield Promise.race([i,n]),this.isParsed()){let a={pluginStatus:"loaded",pluginURL:r};return this.setState(a),a}throw this.setState({pluginStatus:"error",pluginURL:""}),Error(`RTL Text Plugin failed to import scripts from ${r}`)})}};function Z2(t){return/[\\u0600-\\u0604\\u0606-\\u060B\\u060D-\\u061A\\u061C-\\u061E\\u0620-\\u063F\\u0641-\\u064A\\u0656-\\u066F\\u0671-\\u06DC\\u06DE-\\u070D\\u070F-\\u074A\\u074D-\\u077F\\u07C0-\\u07FA\\u07FD-\\u07FF\\u0840-\\u085B\\u085E\\u0860-\\u086A\\u0870-\\u0891\\u0897-\\u08E1\\u08E3-\\u08FF\\u1800\\u1801\\u1804\\u1806-\\u1819\\u1820-\\u1878\\u1880-\\u18AA\\uA840-\\uA877\\uFB50-\\uFD3D\\uFD40-\\uFDCF\\uFDF0-\\uFDFF\\uFE70-\\uFE74\\uFE76-\\uFEFC]|\\uD802[\\uDEC0-\\uDEE6\\uDEEB-\\uDEF6\\uDF80-\\uDF91\\uDF99-\\uDF9C\\uDFA9-\\uDFAF]|\\uD803[\\uDD00-\\uDD27\\uDD30-\\uDD39\\uDE60-\\uDE7E\\uDEC2-\\uDEC7\\uDED0-\\uDED8\\uDEFA-\\uDEFF\\uDF30-\\uDF59\\uDF70-\\uDF89\\uDFB0-\\uDFCB]|\\uD805[\\uDE60-\\uDE6C]|\\uD82F[\\uDC00-\\uDC6A\\uDC70-\\uDC7C\\uDC80-\\uDC88\\uDC90-\\uDC99\\uDC9C-\\uDC9F]|\\uD83A[\\uDD00-\\uDD4B\\uDD50-\\uDD59\\uDD5E\\uDD5F]|\\uD83B[\\uDE00-\\uDE03\\uDE05-\\uDE1F\\uDE21\\uDE22\\uDE24\\uDE27\\uDE29-\\uDE32\\uDE34-\\uDE37\\uDE39\\uDE3B\\uDE42\\uDE47\\uDE49\\uDE4B\\uDE4D-\\uDE4F\\uDE51\\uDE52\\uDE54\\uDE57\\uDE59\\uDE5B\\uDE5D\\uDE5F\\uDE61\\uDE62\\uDE64\\uDE67-\\uDE6A\\uDE6C-\\uDE72\\uDE74-\\uDE77\\uDE79-\\uDE7C\\uDE7E\\uDE80-\\uDE89\\uDE8B-\\uDE9B\\uDEA1-\\uDEA3\\uDEA5-\\uDEA9\\uDEAB-\\uDEBB\\uDEF0\\uDEF1]/gim.test(String.fromCodePoint(t))}function H2(t){return/[\\u0591-\\u05C7\\u05D0-\\u05EA\\u05EF-\\u05F4\\u0600-\\u0604\\u0606-\\u060B\\u060D-\\u061A\\u061C-\\u061E\\u0620-\\u063F\\u0641-\\u064A\\u0656-\\u066F\\u0671-\\u06DC\\u06DE-\\u070D\\u070F-\\u074A\\u074D-\\u07B1\\u07C0-\\u07FA\\u07FD-\\u082D\\u0830-\\u083E\\u0840-\\u085B\\u085E\\u0860-\\u086A\\u0870-\\u0891\\u0897-\\u08E1\\u08E3-\\u08FF\\uFB1D-\\uFB36\\uFB38-\\uFB3C\\uFB3E\\uFB40\\uFB41\\uFB43\\uFB44\\uFB46-\\uFD3D\\uFD40-\\uFDCF\\uFDF0-\\uFDFF\\uFE70-\\uFE74\\uFE76-\\uFEFC]|\\uD802[\\uDC00-\\uDC05\\uDC08\\uDC0A-\\uDC35\\uDC37\\uDC38\\uDC3C\\uDC3F-\\uDC55\\uDC57-\\uDC9E\\uDCA7-\\uDCAF\\uDCE0-\\uDCF2\\uDCF4\\uDCF5\\uDCFB-\\uDD1B\\uDD1F-\\uDD39\\uDD3F-\\uDD59\\uDD80-\\uDDB7\\uDDBC-\\uDDCF\\uDDD2-\\uDE03\\uDE05\\uDE06\\uDE0C-\\uDE13\\uDE15-\\uDE17\\uDE19-\\uDE35\\uDE38-\\uDE3A\\uDE3F-\\uDE48\\uDE50-\\uDE58\\uDE60-\\uDE9F\\uDEC0-\\uDEE6\\uDEEB-\\uDEF6\\uDF00-\\uDF35\\uDF39-\\uDF55\\uDF58-\\uDF72\\uDF78-\\uDF91\\uDF99-\\uDF9C\\uDFA9-\\uDFAF]|\\uD803[\\uDC00-\\uDC48\\uDC80-\\uDCB2\\uDCC0-\\uDCF2\\uDCFA-\\uDD27\\uDD30-\\uDD39\\uDD40-\\uDD65\\uDD69-\\uDD85\\uDD8E\\uDD8F\\uDE60-\\uDE7E\\uDE80-\\uDEA9\\uDEAB-\\uDEAD\\uDEB0\\uDEB1\\uDEC2-\\uDEC7\\uDED0-\\uDED8\\uDEFA-\\uDF27\\uDF30-\\uDF59\\uDF70-\\uDF89\\uDFB0-\\uDFCB\\uDFE0-\\uDFF6]|\\uD83A[\\uDC00-\\uDCC4\\uDCC7-\\uDCD6\\uDD00-\\uDD4B\\uDD50-\\uDD59\\uDD5E\\uDD5F]|\\uD83B[\\uDE00-\\uDE03\\uDE05-\\uDE1F\\uDE21\\uDE22\\uDE24\\uDE27\\uDE29-\\uDE32\\uDE34-\\uDE37\\uDE39\\uDE3B\\uDE42\\uDE47\\uDE49\\uDE4B\\uDE4D-\\uDE4F\\uDE51\\uDE52\\uDE54\\uDE57\\uDE59\\uDE5B\\uDE5D\\uDE5F\\uDE61\\uDE62\\uDE64\\uDE67-\\uDE6A\\uDE6C-\\uDE72\\uDE74-\\uDE77\\uDE79-\\uDE7C\\uDE7E\\uDE80-\\uDE89\\uDE8B-\\uDE9B\\uDEA1-\\uDEA3\\uDEA5-\\uDEA9\\uDEAB-\\uDEBB\\uDEF0\\uDEF1]/gim.test(String.fromCodePoint(t))}function K2(t){return/[\\u02EA\\u02EB\\u2E80-\\u2FDF\\u2FF0-\\u303F\\u3041-\\u3096\\u309D-\\u309F\\u30A1-\\u30FA\\u30FD-\\u30FF\\u3105-\\u312F\\u31A0-\\u4DBF\\u4E00-\\uA48C\\uA490-\\uA4C6\\uF900-\\uFA6D\\uFA70-\\uFAD9\\uFE10-\\uFE1F\\uFE30-\\uFE4F\\uFF00-\\uFFEF]|\\uD81B[\\uDFE0-\\uDFFF]|[\\uD81C-\\uD822\\uD840-\\uD868\\uD86A-\\uD86D\\uD86F-\\uD872\\uD874-\\uD879\\uD880-\\uD883\\uD885-\\uD88C][\\uDC00-\\uDFFF]|\\uD823[\\uDC00-\\uDCD5\\uDCFF-\\uDD1E\\uDD80-\\uDDF2]|\\uD82B[\\uDFF0-\\uDFFF]|\\uD82C[\\uDC00-\\uDEFB]|\\uD83C[\\uDE00-\\uDEFF]|\\uD869[\\uDC00-\\uDEDF\\uDF00-\\uDFFF]|\\uD86E[\\uDC00-\\uDC1D\\uDC20-\\uDFFF]|\\uD873[\\uDC00-\\uDEAD\\uDEB0-\\uDFFF]|\\uD87A[\\uDC00-\\uDFE0\\uDFF0-\\uDFFF]|\\uD87B[\\uDC00-\\uDE5D]|\\uD87E[\\uDC00-\\uDE1D]|\\uD884[\\uDC00-\\uDF4A\\uDF50-\\uDFFF]|\\uD88D[\\uDC00-\\uDC79]/gim.test(String.fromCodePoint(t))}function Qa(t){return/[\\u02EA\\u02EB\\u1100-\\u11FF\\u1401-\\u167F\\u18B0-\\u18FF\\u2065\\u20DD-\\u20E0\\u20E2-\\u20E4\\u2B97\\u2BF0-\\u2BFF\\u2E50\\u2E51\\u2E80-\\u3007\\u3012\\u3013\\u3020-\\u302F\\u3031-\\u30FB\\u30FD-\\uA4CF\\uA960-\\uA97F\\uAC00-\\uD7FF\\uF900-\\uFAFF\\uFE10-\\uFE1F\\uFE30-\\uFE48\\uFE50-\\uFE57\\uFE5F-\\uFE62\\uFE67-\\uFE6F\\uFF00-\\uFF07\\uFF0A-\\uFF0C\\uFF0E-\\uFF19\\uFF1F-\\uFF3A\\uFF3C\\uFF3E\\uFF40-\\uFF5A\\uFFE0-\\uFFE2\\uFFE4-\\uFFE7\\uFFF0-\\uFFF8]|\\uD802[\\uDD80-\\uDD9F]|\\uD805[\\uDD80-\\uDDFF]|\\uD806[\\uDE00-\\uDEBF]|[\\uD80C-\\uD810\\uD81C-\\uD822\\uD83C\\uD83D\\uD840-\\uD87E\\uD880-\\uD8BE][\\uDC00-\\uDFFF]|\\uD811[\\uDC00-\\uDE7F]|\\uD81B[\\uDFE0-\\uDFFF]|\\uD823[\\uDC00-\\uDDFF]|\\uD82B[\\uDFF0-\\uDFFF]|\\uD82C[\\uDC00-\\uDEFF]|\\uD833[\\uDEC0-\\uDFCF]|\\uD834[\\uDC00-\\uDDFF\\uDEE0-\\uDF7F]|\\uD836[\\uDC00-\\uDEAF]|\\uD83E[\\uDD00-\\uDEFF]|[\\uD87F\\uD8BF][\\uDC00-\\uDFFD]/gim.test(String.fromCodePoint(t))}function J2(t){return/[\\xA7\\xA9\\xAE\\xB1\\xBC-\\xBE\\xD7\\xF7\\u2016\\u2020\\u2021\\u2030\\u2031\\u203B\\u203C\\u2042\\u2047-\\u2049\\u2051\\u2100-\\u218F\\u221E\\u2234\\u2235\\u2300-\\u2307\\u230C-\\u231F\\u2324-\\u2328\\u232B\\u237D-\\u239A\\u23BE-\\u23CD\\u23CF\\u23D1-\\u23DB\\u23E2-\\u2422\\u2424-\\u24FF\\u25A0-\\u2619\\u2620-\\u2767\\u2776-\\u2793\\u2B12-\\u2B2F\\u2B50-\\u2B59\\u2BB8-\\u2BEB\\u3000-\\u303F\\u30A0-\\u30FF\\uE000-\\uF8FF\\uFE30-\\uFE6F\\uFF00-\\uFFEF\\uFFFC\\uFFFD]|[\\uDB80-\\uDBFF][\\uDC00-\\uDFFF]/gim.test(String.fromCodePoint(t))}function Q2(t){return/[\\r\\u0300-\\u036F\\u0483-\\u0489\\u0591-\\u05BD\\u05BF\\u05C1\\u05C2\\u05C4\\u05C5\\u05C7\\u0600-\\u0605\\u0610-\\u061A\\u064B-\\u065F\\u0670\\u06D6-\\u06DD\\u06DF-\\u06E4\\u06E7\\u06E8\\u06EA-\\u06ED\\u070F\\u0711\\u0730-\\u074A\\u07A6-\\u07B0\\u07EB-\\u07F3\\u07FD\\u0816-\\u0819\\u081B-\\u0823\\u0825-\\u0827\\u0829-\\u082D\\u0859-\\u085B\\u0890\\u0891\\u0897-\\u089F\\u08CA-\\u0903\\u093A-\\u093C\\u093E-\\u094F\\u0951-\\u0957\\u0962\\u0963\\u0981-\\u0983\\u09BC\\u09BE-\\u09C4\\u09C7\\u09C8\\u09CB-\\u09CD\\u09D7\\u09E2\\u09E3\\u09FE\\u0A01-\\u0A03\\u0A3C\\u0A3E-\\u0A42\\u0A47\\u0A48\\u0A4B-\\u0A4D\\u0A51\\u0A70\\u0A71\\u0A75\\u0A81-\\u0A83\\u0ABC\\u0ABE-\\u0AC5\\u0AC7-\\u0AC9\\u0ACB-\\u0ACD\\u0AE2\\u0AE3\\u0AFA-\\u0AFF\\u0B01-\\u0B03\\u0B3C\\u0B3E-\\u0B44\\u0B47\\u0B48\\u0B4B-\\u0B4D\\u0B55-\\u0B57\\u0B62\\u0B63\\u0B82\\u0BBE-\\u0BC2\\u0BC6-\\u0BC8\\u0BCA-\\u0BCD\\u0BD7\\u0C00-\\u0C04\\u0C3C\\u0C3E-\\u0C44\\u0C46-\\u0C48\\u0C4A-\\u0C4D\\u0C55\\u0C56\\u0C62\\u0C63\\u0C81-\\u0C83\\u0CBC\\u0CBE-\\u0CC4\\u0CC6-\\u0CC8\\u0CCA-\\u0CCD\\u0CD5\\u0CD6\\u0CE2\\u0CE3\\u0CF3\\u0D00-\\u0D03\\u0D3B\\u0D3C\\u0D3E-\\u0D44\\u0D46-\\u0D48\\u0D4A-\\u0D4E\\u0D57\\u0D62\\u0D63\\u0D81-\\u0D83\\u0DCA\\u0DCF-\\u0DD4\\u0DD6\\u0DD8-\\u0DDF\\u0DF2\\u0DF3\\u0E31\\u0E33-\\u0E3A\\u0E47-\\u0E4E\\u0EB1\\u0EB3-\\u0EBC\\u0EC8-\\u0ECE\\u0F18\\u0F19\\u0F35\\u0F37\\u0F39\\u0F3E\\u0F3F\\u0F71-\\u0F84\\u0F86\\u0F87\\u0F8D-\\u0F97\\u0F99-\\u0FBC\\u0FC6\\u102D-\\u1037\\u1039-\\u103E\\u1056-\\u1059\\u105E-\\u1060\\u1071-\\u1074\\u1082\\u1084-\\u1086\\u108D\\u109D\\u1100-\\u11FF\\u135D-\\u135F\\u1712-\\u1715\\u1732-\\u1734\\u1752\\u1753\\u1772\\u1773\\u17B4-\\u17D3\\u17DD\\u180B-\\u180D\\u180F\\u1885\\u1886\\u18A9\\u1920-\\u192B\\u1930-\\u193B\\u1A17-\\u1A1B\\u1A55-\\u1A5E\\u1A60\\u1A62\\u1A65-\\u1A7C\\u1A7F\\u1AB0-\\u1ADD\\u1AE0-\\u1AEB\\u1B00-\\u1B04\\u1B34-\\u1B44\\u1B6B-\\u1B73\\u1B80-\\u1B82\\u1BA1-\\u1BAD\\u1BE6-\\u1BF3\\u1C24-\\u1C37\\u1CD0-\\u1CD2\\u1CD4-\\u1CE8\\u1CED\\u1CF4\\u1CF7-\\u1CF9\\u1DC0-\\u1DFF\\u200C\\u200D\\u20D0-\\u20F0\\u2CEF-\\u2CF1\\u2D7F\\u2DE0-\\u2DFF\\u302A-\\u302F\\u3099\\u309A\\uA66F-\\uA672\\uA674-\\uA67D\\uA69E\\uA69F\\uA6F0\\uA6F1\\uA802\\uA806\\uA80B\\uA823-\\uA827\\uA82C\\uA880\\uA881\\uA8B4-\\uA8C5\\uA8E0-\\uA8F1\\uA8FF\\uA926-\\uA92D\\uA947-\\uA953\\uA960-\\uA97C\\uA980-\\uA983\\uA9B3-\\uA9C0\\uA9E5\\uAA29-\\uAA36\\uAA43\\uAA4C\\uAA4D\\uAA7C\\uAAB0\\uAAB2-\\uAAB4\\uAAB7\\uAAB8\\uAABE\\uAABF\\uAAC1\\uAAEB-\\uAAEF\\uAAF5\\uAAF6\\uABE3-\\uABEA\\uABEC\\uABED\\uAC00-\\uD7A3\\uD7B0-\\uD7C6\\uD7CB-\\uD7FB\\uFB1E\\uFE00-\\uFE0F\\uFE20-\\uFE2F\\uFF9E\\uFF9F]|\\uD800[\\uDDFD\\uDEE0\\uDF76-\\uDF7A]|\\uD802[\\uDE01-\\uDE03\\uDE05\\uDE06\\uDE0C-\\uDE0F\\uDE38-\\uDE3A\\uDE3F\\uDEE5\\uDEE6]|\\uD803[\\uDD24-\\uDD27\\uDD69-\\uDD6D\\uDEAB\\uDEAC\\uDEFA-\\uDEFF\\uDF46-\\uDF50\\uDF82-\\uDF85]|\\uD804[\\uDC00-\\uDC02\\uDC38-\\uDC46\\uDC70\\uDC73\\uDC74\\uDC7F-\\uDC82\\uDCB0-\\uDCBA\\uDCBD\\uDCC2\\uDCCD\\uDD00-\\uDD02\\uDD27-\\uDD34\\uDD45\\uDD46\\uDD73\\uDD80-\\uDD82\\uDDB3-\\uDDC0\\uDDC2\\uDDC3\\uDDC9-\\uDDCC\\uDDCE\\uDDCF\\uDE2C-\\uDE37\\uDE3E\\uDE41\\uDEDF-\\uDEEA\\uDF00-\\uDF03\\uDF3B\\uDF3C\\uDF3E-\\uDF44\\uDF47\\uDF48\\uDF4B-\\uDF4D\\uDF57\\uDF62\\uDF63\\uDF66-\\uDF6C\\uDF70-\\uDF74\\uDFB8-\\uDFC0\\uDFC2\\uDFC5\\uDFC7-\\uDFCA\\uDFCC-\\uDFD2\\uDFE1\\uDFE2]|\\uD805[\\uDC35-\\uDC46\\uDC5E\\uDCB0-\\uDCC3\\uDDAF-\\uDDB5\\uDDB8-\\uDDC0\\uDDDC\\uDDDD\\uDE30-\\uDE40\\uDEAB-\\uDEB7\\uDF1D-\\uDF1F\\uDF22-\\uDF2B]|\\uD806[\\uDC2C-\\uDC3A\\uDD30-\\uDD35\\uDD37\\uDD38\\uDD3B-\\uDD43\\uDDD1-\\uDDD7\\uDDDA-\\uDDE0\\uDDE4\\uDE01-\\uDE0A\\uDE33-\\uDE39\\uDE3B-\\uDE3E\\uDE47\\uDE51-\\uDE5B\\uDE84-\\uDE99\\uDF60-\\uDF67]|\\uD807[\\uDC2F-\\uDC36\\uDC38-\\uDC3F\\uDC92-\\uDCA7\\uDCA9-\\uDCB6\\uDD31-\\uDD36\\uDD3A\\uDD3C\\uDD3D\\uDD3F-\\uDD47\\uDD8A-\\uDD8E\\uDD90\\uDD91\\uDD93-\\uDD97\\uDEF3-\\uDEF6\\uDF00-\\uDF03\\uDF34-\\uDF3A\\uDF3E-\\uDF42\\uDF5A]|\\uD80D[\\uDC40\\uDC47-\\uDC55]|\\uD818[\\uDD1E-\\uDD2F]|\\uD81A[\\uDEF0-\\uDEF4\\uDF30-\\uDF36]|\\uD81B[\\uDD63\\uDD67-\\uDD6A\\uDF4F\\uDF51-\\uDF87\\uDF8F-\\uDF92\\uDFE4\\uDFF0\\uDFF1]|\\uD82F[\\uDC9D\\uDC9E]|\\uD833[\\uDF00-\\uDF2D\\uDF30-\\uDF46]|\\uD834[\\uDD65-\\uDD69\\uDD6D-\\uDD72\\uDD7B-\\uDD82\\uDD85-\\uDD8B\\uDDAA-\\uDDAD\\uDE42-\\uDE44]|\\uD836[\\uDE00-\\uDE36\\uDE3B-\\uDE6C\\uDE75\\uDE84\\uDE9B-\\uDE9F\\uDEA1-\\uDEAF]|\\uD838[\\uDC00-\\uDC06\\uDC08-\\uDC18\\uDC1B-\\uDC21\\uDC23\\uDC24\\uDC26-\\uDC2A\\uDC8F\\uDD30-\\uDD36\\uDEAE\\uDEEC-\\uDEEF]|\\uD839[\\uDCEC-\\uDCEF\\uDDEE\\uDDEF\\uDEE3\\uDEE6\\uDEEE\\uDEEF\\uDEF5]|\\uD83A[\\uDCD0-\\uDCD6\\uDD44-\\uDD4A]|\\uD83C[\\uDDE6-\\uDDFF\\uDFFB-\\uDFFF]|\\uDB40[\\uDC20-\\uDC7F\\uDD00-\\uDDEF]/.test(t)}function gc(t){return/[\\u0E01-\\u0E3A\\u0E40-\\u0E4E\\u0E81\\u0E82\\u0E84\\u0E86-\\u0E8A\\u0E8C-\\u0EA3\\u0EA5\\u0EA7-\\u0EBD\\u0EC0-\\u0EC4\\u0EC6\\u0EC8-\\u0ECE\\u0EDC-\\u0EDF\\u0F00-\\u0F47\\u0F49-\\u0F6C\\u0F71-\\u0F97\\u0F99-\\u0FBC\\u0FBE-\\u0FCC\\u0FCE-\\u0FD4\\u0FD9\\u0FDA\\u1000-\\u103F\\u1050-\\u108F\\u109A-\\u109F\\u1780-\\u17D3\\u17D7\\u17DC\\u17DD\\u1950-\\u196D\\u1970-\\u1974\\u1980-\\u19AB\\u19B0-\\u19C9\\u19DE\\u19DF\\u1A20-\\u1A5E\\u1A60-\\u1A7C\\u1AA0-\\u1AAD\\u1B00-\\u1B4C\\u1B4E-\\u1B7F\\uA980-\\uA9CD\\uA9D0-\\uA9D9\\uA9DE-\\uA9EF\\uA9FA-\\uA9FE\\uAA60-\\uAAC2\\uAADB-\\uAADF]|\\uD805[\\uDF00-\\uDF1A\\uDF1D-\\uDF2B\\uDF3A\\uDF3B\\uDF3F-\\uDF46]/gim.test(String.fromCodePoint(t))}function tv(t,e){return/(?:[\\u1039\\u17D2\\u1A60\\u1BAB\\u200D\\uAAF6]|\\uD802\\uDE3F|\\uD804[\\uDD33\\uDFD0]|\\uD806[\\uDD3E\\uDE47\\uDE99]|\\uD807[\\uDD45\\uDD97\\uDF42])$/.test(t)||new RegExp("^\\\\p{gc=Mc}","u").test(e)}var ev={C:"18g,1;g2,3;4nb,1",D:"17k,1;5,1;1,1;1,5;4,d;1,7;1,2;z,2;8,g;i,12;1,2;9,1;1,1;1,2;14,3;2,1;28,9;3,f;2,4;1,1;2,3;2,6;7a,1;2,5;1,1;g,a;5,2;2,6;1,f",R:"17m,4;1,1;1,1;5,4;l,1;14,3;1,3;g,i;12,1;2,9;1,1;1,1;2,2;1,1;o,2;2x,3;f,2;4,1;1,2;3,2;6u,j;b,1;r,3;1,1;2,2;6,1",T:"174,b;1,1;1a,l;g,1;2t,7;2,6;2,2;1,4;bt,9;16,o;1,t;1clb,1"},rv={1569:[65152,0,0,0],1570:[65153,65154,0,0],1571:[65155,65156,0,0],1572:[65157,65158,0,0],1573:[65159,65160,0,0],1574:[65161,65162,65163,65164],1575:[65165,65166,0,0],1576:[65167,65168,65169,65170],1577:[65171,65172,0,0],1578:[65173,65174,65175,65176],1579:[65177,65178,65179,65180],1580:[65181,65182,65183,65184],1581:[65185,65186,65187,65188],1582:[65189,65190,65191,65192],1583:[65193,65194,0,0],1584:[65195,65196,0,0],1585:[65197,65198,0,0],1586:[65199,65200,0,0],1587:[65201,65202,65203,65204],1588:[65205,65206,65207,65208],1589:[65209,65210,65211,65212],1590:[65213,65214,65215,65216],1591:[65217,65218,65219,65220],1592:[65221,65222,65223,65224],1593:[65225,65226,65227,65228],1594:[65229,65230,65231,65232],1601:[65233,65234,65235,65236],1602:[65237,65238,65239,65240],1603:[65241,65242,65243,65244],1604:[65245,65246,65247,65248],1605:[65249,65250,65251,65252],1606:[65253,65254,65255,65256],1607:[65257,65258,65259,65260],1608:[65261,65262,0,0],1609:[65263,65264,64488,64489],1610:[65265,65266,65267,65268],1611:[65136,0,0,65137],1612:[65138,0,0,0],1613:[65140,0,0,0],1614:[65142,0,0,65143],1615:[65144,0,0,65145],1616:[65146,0,0,65147],1617:[65148,0,0,65149],1618:[65150,0,0,65151],1649:[64336,64337,0,0],1655:[64477,0,0,0],1657:[64358,64359,64360,64361],1658:[64350,64351,64352,64353],1659:[64338,64339,64340,64341],1662:[64342,64343,64344,64345],1663:[64354,64355,64356,64357],1664:[64346,64347,64348,64349],1667:[64374,64375,64376,64377],1668:[64370,64371,64372,64373],1670:[64378,64379,64380,64381],1671:[64382,64383,64384,64385],1672:[64392,64393,0,0],1676:[64388,64389,0,0],1677:[64386,64387,0,0],1678:[64390,64391,0,0],1681:[64396,64397,0,0],1688:[64394,64395,0,0],1700:[64362,64363,64364,64365],1702:[64366,64367,64368,64369],1705:[64398,64399,64400,64401],1709:[64467,64468,64469,64470],1711:[64402,64403,64404,64405],1713:[64410,64411,64412,64413],1715:[64406,64407,64408,64409],1722:[64414,64415,0,0],1723:[64416,64417,64418,64419],1726:[64426,64427,64428,64429],1728:[64420,64421,0,0],1729:[64422,64423,64424,64425],1733:[64480,64481,0,0],1734:[64473,64474,0,0],1735:[64471,64472,0,0],1736:[64475,64476,0,0],1737:[64482,64483,0,0],1739:[64478,64479,0,0],1740:[64508,64509,64510,64511],1744:[64484,64485,64486,64487],1746:[64430,64431,0,0],1747:[64432,64433,0,0]},iv={\\u0644\\u0622:[65269,65270],\\u0644\\u0623:[65271,65272],\\u0644\\u0625:[65273,65274],\\u0644\\u0627:[65275,65276]},xc=1604,nv=/[\\u0600-\\u06ff\\u0750-\\u077f\\u0870-\\u089f\\u08a0-\\u08ff\\ufb50-\\ufdff\\ufe70-\\ufeff]/;function av(t,e,r){let i=0;for(let n of t.split(";")){let[a,s]=n.split(",").map(l=>parseInt(l,36)),o=i+a;for(let l=o;l{let r=e.codePointAt(0);return{codePoint:r,type:sv(r),form:null}})}function cv(t){let e=t.filter(r=>r.type!=="T");for(let r=0;r0&&ov(e[r-1].type),a=r+1String.fromCodePoint(dv(r))).join("")}function mv(t,e,r){var n;let i=e.layout.get("text-transform").evaluate(r,{});return i==="uppercase"?t=t.toLocaleUpperCase():i==="lowercase"&&(t=t.toLocaleLowerCase()),((n=wr.applyArabicShaping)!=null?n:yv)(t)}function gv(t,e,r){for(let i of t.sections)i.text=mv(i.text,e,r);return t}function xv(t){let e={},r={},i=[],n=0;function a(u){i.push(t[u]),n++}function s(u,h,c){let p=r[u];return delete r[u],r[h]=p,i[p].geometry[0].pop(),i[p].geometry[0]=i[p].geometry[0].concat(c[0]),p}function o(u,h,c){let p=e[h];return delete e[h],e[u]=p,i[p].geometry[0].shift(),i[p].geometry[0]=c[0].concat(i[p].geometry[0]),p}function l(u,h,c){let p=c?h[0][h[0].length-1]:h[0][0];return`${u}:${p.x}:${p.y}`}for(let u=0;uu.geometry)}var Bd=typeof Intl<"u"&&"Segmenter"in Intl,ta,ea;function tl(t){if(!Bd||!Q2(t))return[...t];ta!=null||(ta=new Intl.Segmenter(void 0,{granularity:"grapheme"}));let e=[];for(let{segment:r}of ta.segment(t)){let i=e.length-1;i>=0&&tv(e[i],r)?e[i]+=r:e.push(r)}return e}function vv(t){let e=new Set;if(Bd){ea!=null||(ea=new Intl.Segmenter(void 0,{granularity:"word"}));for(let{index:i}of ea.segment(t))e.add(i);return e}let r=0;for(let i of t.split(new RegExp("\\\\b|(?=\\\\p{Ideo})","u")))e.add(r),r+=i.length;return e}function Pd(t){let e=t.codePointAt(0);return t.length>(e>65535?2:1)}function ru(t){return/\\s/u.test(String.fromCodePoint(t))}function el(t){for(let e of t)if(Qa(e.codePointAt(0)))return!0;return!1}function bv(t){for(let e of t)if(!wv(e.codePointAt(0)))return!1;return!0}function wv(t){return!Z2(t)}function vc(t){return!(Qa(t)||J2(t))}function zd(t){return new RegExp("\\\\p{sc=Arab}","u").test(String.fromCodePoint(t))}function Ld(t){return H2(t)}function Vd(t){for(let e of t)if(Ld(e.codePointAt(0)))return!0;return!1}var Gr={"!":"\\uFE15","#":"\\uFF03",$:"\\uFF04","%":"\\uFF05","&":"\\uFF06","(":"\\uFE35",")":"\\uFE36","*":"\\uFF0A","+":"\\uFF0B",",":"\\uFE10","-":"\\uFE32",".":"\\u30FB","/":"\\uFF0F",":":"\\uFE13",";":"\\uFE14","<":"\\uFE3F","=":"\\uFF1D",">":"\\uFE40","?":"\\uFE16","@":"\\uFF20","[":"\\uFE47","\\\\":"\\uFF3C","]":"\\uFE48","^":"\\uFF3E",_:"\\uFE33","`":"\\uFF40","{":"\\uFE37","|":"\\u2015","}":"\\uFE38","~":"\\uFF5E","\\xA2":"\\uFFE0","\\xA3":"\\uFFE1","\\xA5":"\\uFFE5","\\xA6":"\\uFFE4","\\xAC":"\\uFFE2","\\xAF":"\\uFFE3","\\u2013":"\\uFE32","\\u2014":"\\uFE31","\\u2018":"\\uFE43","\\u2019":"\\uFE44","\\u201C":"\\uFE41","\\u201D":"\\uFE42","\\u2026":"\\uFE19","\\u22EF":"\\uFE19","\\u2027":"\\u30FB","\\u20A9":"\\uFFE6","\\u3001":"\\uFE11","\\u3002":"\\uFE12","\\u3008":"\\uFE3F","\\u3009":"\\uFE40","\\u300A":"\\uFE3D","\\u300B":"\\uFE3E","\\u300C":"\\uFE41","\\u300D":"\\uFE42","\\u300E":"\\uFE43","\\u300F":"\\uFE44","\\u3010":"\\uFE3B","\\u3011":"\\uFE3C","\\u3014":"\\uFE39","\\u3015":"\\uFE3A","\\u3016":"\\uFE17","\\u3017":"\\uFE18","\\uFF01":"\\uFE15","\\uFF08":"\\uFE35","\\uFF09":"\\uFE36","\\uFF0C":"\\uFE10","\\uFF0D":"\\uFE32","\\uFF0E":"\\u30FB","\\uFF1A":"\\uFE13","\\uFF1B":"\\uFE14","\\uFF1C":"\\uFE3F","\\uFF1E":"\\uFE40","\\uFF1F":"\\uFE16","\\uFF3B":"\\uFE47","\\uFF3D":"\\uFE48","\\uFF3F":"\\uFE33","\\uFF5B":"\\uFE37","\\uFF5C":"\\u2015","\\uFF5D":"\\uFE38","\\uFF5F":"\\uFE35","\\uFF60":"\\uFE36","\\uFF61":"\\uFE12","\\uFF62":"\\uFE41","\\uFF63":"\\uFE42"};function Dv(t){let e="",r={premature:!0,value:void 0},i=t[Symbol.iterator](),n=i.next(),a=t[Symbol.iterator]();a.next();let s=a.next();for(;!n.done;)(s.done||!vc(s.value.codePointAt(0))||Gr[s.value])&&(r.premature||!vc(r.value.codePointAt(0))||Gr[r.value])&&Gr[n.value]?e+=Gr[n.value]:e+=n.value,r={value:n.value,premature:!1},n=i.next(),s=a.next();return e}var _v={10:!0,13:!0,32:!0,38:!0,41:!0,43:!0,45:!0,47:!0,173:!0,183:!0,8203:!0,8208:!0,8211:!0,8231:!0},Av={40:!0};function bc(t,e,r,i,n,a){if("fontStack"in e){let s=r[e.fontStack],o=s==null?void 0:s[t];if(o)return o.metrics.advance*e.scale+n;let l=0;for(let u of t){let h=s==null?void 0:s[u];h&&(l+=h.metrics.advance*e.scale+n)}return l}{let s=i[e.imageName];return s?s.displaySize[0]*e.scale*24/a+n:0}}function wc(t,e,r,i){let n=(t-e)**2;return i?tr&&Dc(e[i-1]);)i--;this.text=e.slice(r,i).join(""),this.sectionIndex=this.sectionIndex.slice(r,i),this._graphemes=null}substring(e,r){let i=this.graphemes().slice(e,r).join(""),n=this.sectionIndex.slice(e,r);return new rl(i,this.sections,n)}toCodeUnitIndex(e){return this.graphemes().slice(0,e).join("").length}toString(){return this.text}getMaxScale(){return this.sectionIndex.reduce((e,r)=>Math.max(e,this.sections[r].scale),0)}getMaxImageSize(e){let r=0,i=0;for(let n=0;n0?i[i.length-1]:"",a=tl(n+e);this.text+=e,this._graphemes=i.slice(0,n?-1:void 0).concat(a);let s=a.length-+!!n;for(let o=0;o=63743?null:++this.imageSectionID:(this.imageSectionID=57344,this.imageSectionID)}determineLineBreaks(e,r,i,n,a){let s=[],o=this.determineAverageLineWidth(e,r,i,n,a),l=this.hasZeroWidthSpaces(),u=this.graphemes(),h=null,c=0,p=0;for(let f=0;f0){let y=u[f-1].codePointAt(0),m=d.codePointAt(0),g=K2(y),x=gc(y)&&gc(m);(_v[y]||g||"imageName"in this.getSection(f-1)||u[f+1]!==void 0&&Av[m]||x&&(h!=null?h:h=vv(this.text)).has(p))&&s.push(_c(f,c,o,s,Sv(y,m,g&&l),!1))}ru(d.codePointAt(0))||(c+=bc(d,this.getSection(f),i,n,e,a)),p+=d.length}return Od(_c(this.length(),c,o,s,0,!0))}determineAverageLineWidth(e,r,i,n,a){let s=0,o=0;for(let u of this.graphemes()){let h=this.getSection(o);s+=bc(u,h,i,n,e,a),o++}let l=Math.max(1,Math.ceil(s/r));return s/l}};function Ev(){return(function(t){var e={R:"13k,1a,2,3,3,2+1j,ch+16,a+1,5+2,2+n,5,a,4,6+16,4+3,h+1b,4mo,179q,2+9,2+11,2i9+7y,2+68,4,3+4,5+13,4+3,2+4k,3+29,8+cf,1t+7z,w+17,3+3m,1t+3z,16o1+5r,8+30,8+mc,29+1r,29+4v,75+73",EN:"1c+9,3d+1,6,187+9,513,4+5,7+9,sf+j,175h+9,qw+q,161f+1d,4xt+a,25i+9",ES:"17,2,6dp+1,f+1,av,16vr,mx+1,4o,2",ET:"z+2,3h+3,b+1,ym,3e+1,2o,p4+1,8,6u,7c,g6,1wc,1n9+4,30+1b,2n,6d,qhx+1,h0m,a+1,49+2,63+1,4+1,6bb+3,12jj",AN:"16o+5,2j+9,2+1,35,ed,1ff2+9,87+u",CS:"18,2+1,b,2u,12k,55v,l,17v0,2,3,53,2+1,b",B:"a,3,f+2,2v,690",S:"9,2,k",WS:"c,k,4f4,1vk+a,u,1j,335",ON:"x+1,4+4,h+5,r+5,r+3,z,5+3,2+1,2+1,5,2+2,3+4,o,w,ci+1,8+d,3+d,6+8,2+g,39+1,9,6+1,2,33,b8,3+1,3c+1,7+1,5r,b,7h+3,sa+5,2,3i+6,jg+3,ur+9,2v,ij+1,9g+9,7+a,8m,4+1,49+x,14u,2+2,c+2,e+2,e+2,e+1,i+n,e+e,2+p,u+2,e+2,36+1,2+3,2+1,b,2+2,6+5,2,2,2,h+1,5+4,6+3,3+f,16+2,5+3l,3+81,1y+p,2+40,q+a,m+13,2r+ch,2+9e,75+hf,3+v,2+2w,6e+5,f+6,75+2a,1a+p,2+2g,d+5x,r+b,6+3,4+o,g,6+1,6+2,2k+1,4,2j,5h+z,1m+1,1e+f,t+2,1f+e,d+3,4o+3,2s+1,w,535+1r,h3l+1i,93+2,2s,b+1,3l+x,2v,4g+3,21+3,kz+1,g5v+1,5a,j+9,n+v,2,3,2+8,2+1,3+2,2,3,46+1,4+4,h+5,r+5,r+a,3h+2,4+6,b+4,78,1r+24,4+c,4,1hb,ey+6,103+j,16j+c,1ux+7,5+g,fsh,jdq+1t,4,57+2e,p1,1m,1m,1m,1m,4kt+1,7j+17,5+2r,d+e,3+e,2+e,2+10,m+4,w,1n+5,1q,4z+5,4b+rb,9+c,4+c,4+37,d+2g,8+b,l+b,5+1j,9+9,7+13,9+t,3+1,27+3c,2+29,2+3q,d+d,3+4,4+2,6+6,a+o,8+6,a+2,e+6,16+42,2+1i",BN:"0+8,6+d,2s+5,2+p,e,4m9,1kt+2,2b+5,5+5,17q9+v,7k,6p+8,6+1,119d+3,440+7,96s+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+1,1ekf+75,6p+2rz,1ben+1,1ekf+1,1ekf+1",NSM:"lc+33,7o+6,7c+18,2,2+1,2+1,2,21+a,1d+k,h,2u+6,3+5,3+1,2+3,10,v+q,2k+a,1n+8,a,p+3,2+8,2+2,2+4,18+2,3c+e,2+v,1k,2,5+7,5,4+6,b+1,u,1n,5+3,9,l+1,r,3+1,1m,5+1,5+1,3+2,4,v+1,4,c+1,1m,5+4,2+1,5,l+1,n+5,2,1n,3,2+3,9,8+1,c+1,v,1q,d,1f,4,1m+2,6+2,2+3,8+1,c+1,u,1n,g+1,l+1,t+1,1m+1,5+3,9,l+1,u,21,8+2,2,2j,3+6,d+7,2r,3+8,c+5,23+1,s,2,2,1k+d,2+4,2+1,6+a,2+z,a,2v+3,2+5,2+1,3+1,q+1,5+2,h+3,e,3+1,7,g,jk+2,qb+2,u+2,u+1,v+1,1t+1,2+6,9,3+a,a,1a+2,3c+1,z,3b+2,5+1,a,7+2,64+1,3,1n,2+6,2,2,3+7,7+9,3,1d+g,1s+3,1d,2+4,2,6,15+8,d+1,x+3,3+1,2+2,1l,2+1,4,2+2,1n+7,3+1,49+2,2+c,2+6,5,7,4+1,5j+1l,2+4,k1+w,2db+2,3y,2p+v,ff+3,30+1,n9x+3,2+9,x+1,29+1,7l,4,5,q+1,6,48+1,r+h,e,13+7,q+a,1b+2,1d,3+3,3+1,14,1w+5,3+1,3+1,d,9,1c,1g,2+2,3+1,6+1,2,17+1,9,6n,3,5,fn5,ki+f,h+f,r2,6b,46+4,1af+2,2+1,6+3,15+2,5,4m+1,fy+3,as+1,4a+a,4x,1j+e,1l+2,1e+3,3+1,1y+2,11+4,2+7,1r,d+1,1h+8,b+3,3,2o+2,3,2+1,7,4h,4+7,m+1,1m+1,4,12+6,4+4,5g+7,3+2,2,o,2d+5,2,5+1,2+1,6n+3,7+1,2+1,s+1,2e+7,3,2+1,2z,2,3+5,2,2u+2,3+3,2+4,78+8,2+1,75+1,2,5,41+3,3+1,5,x+5,3+1,15+5,3+3,9,a+5,3+2,1b+c,2+1,bb+6,2+5,2d+l,3+6,2+1,2+1,3f+5,4,2+1,2+6,2,21+1,4,2,9o+1,f0c+4,1o+6,t5,1s+3,2a,f5l+1,43t+2,i+7,3+6,v+3,45+2,1j0+1i,5+1d,9,f,n+4,2+e,11t+6,2+g,3+6,2+1,2+4,7a+6,c6+3,15t+6,32+6,gzhy+6n",AL:"16w,3,2,e+1b,z+2,2+2s,g+1,8+1,b+m,2+t,s+2i,c+e,4h+f,1d+1e,1bwe+dp,3+3z,x+c,2+1,35+3y,2rm+z,5+7,b+5,dt+l,c+u,17nl+27,1t+27,4x+6n,3+d",LRO:"6ct",RLO:"6cu",LRE:"6cq",RLE:"6cr",PDF:"6cs",LRI:"6ee",RLI:"6ef",FSI:"6eg",PDI:"6eh"},r={},i={};r.L=1,i[1]="L",Object.keys(e).forEach(function(R,J){r[R]=1<1,1e>2,u>2,2wt>1,1>1,1ge>1,1wp>1,1j>1,f>1,hm>1,1>1,u>1,u6>1,1>1,+5,28>1,w>1,1>1,+3,b8>1,1>1,+3,1>3,-1>-1,3>1,1>1,+2,1s>1,1>1,x>1,th>1,1>1,+2,db>1,1>1,+3,3>1,1>1,+2,14qm>1,1>1,+1,4q>1,1e>2,u>2,2>1,+1",canonical:"6f1>-6dx,6dy>-6dx,6ec>-6ed,6ee>-6ed,6ww>2jj,-2ji>2jj,14r4>-1e7l,1e7m>-1e7l,1e7m>-1e5c,1e5d>-1e5b,1e5c>-14qx,14qy>-14qx,14vn>-1ecg,1ech>-1ecg,1edu>-1ecg,1eci>-1ecg,1eda>-1ecg,1eci>-1ecg,1eci>-168q,168r>-168q,168s>-14ye,14yf>-14ye"};function d(R,J){var W=0,M=new Map,ut=J&&new Map,X;return R.split(",").forEach(function G(K){if(K.indexOf("+")!==-1)for(var Nt=+K;Nt--;)G(X);else{X=K;var vt=K.split(">"),nt=vt[0],Tt=vt[1];nt=String.fromCodePoint(W+=parseInt(nt,36)),Tt=String.fromCodePoint(W+=parseInt(Tt,36)),M.set(nt,Tt),J&&ut.set(Tt,nt)}}),{map:M,reverseMap:ut}}var y,m,g;function x(){if(!y){var R=d(f.pairs,!0),J=R.map,W=R.reverseMap;y=J,m=W,g=d(f.canonical,!1).map}}function v(R){return x(),y.get(R)||null}function b(R){return x(),m.get(R)||null}function D(R){return x(),g.get(R)||null}var A=r.L,_=r.R,S=r.EN,k=r.ES,z=r.ET,O=r.AN,P=r.CS,L=r.B,F=r.S,$=r.ON,U=r.BN,T=r.NSM,q=r.AL,at=r.LRO,ot=r.RLO,pt=r.LRE,Et=r.RLE,qt=r.PDF,Ht=r.LRI,Ve=r.RLI,ye=r.FSI,Kt=r.PDI;function Oe(R,J){for(var W=125,M=new Uint32Array(R.length),ut=0;ut0)Fe--;else if(rs>0){for(Ne=0;!lt[lt.length-1]._isolate;)lt.pop();var is=lt[lt.length-1]._isolInitIndex;is!=null&&(Nt.set(is,zt),Nt.set(zt,is)),lt.pop(),rs--}bt=lt[lt.length-1],K[zt]=bt._level,bt._override&&G(zt,bt._override)}else Lt&qt?(Fe===0&&(Ne>0?Ne--:!bt._isolate&<.length>1&&(lt.pop(),bt=lt[lt.length-1])),K[zt]=bt._level):Lt&L&&(K[zt]=nt.level);else K[zt]=bt._level,bt._override&&Lt!==U&&G(zt,bt._override)}for(var Cr=[],me=null,ar=nt.start;ar<=nt.end;ar++){var ns=M[ar];if(!(ns&o)){var Bu=K[ar],Pu=ns&n,Wy=ns===Kt;me&&Bu===me._level?(me._end=ar,me._endsWithIsolInit=Pu):Cr.push(me={_start:ar,_end:ar,_level:Bu,_startsWithPDI:Wy,_endsWithIsolInit:Pu})}}for(var as=[],Sn=0;Sn=0;kn--)if(!(M[kn]&o)){Vu=K[kn];break}var us=Mr[Mr.length-1],Hy=K[us],Ou=nt.level;if(!(M[us]&n)){for(var Tn=us+1;Tn<=nt.end;Tn++)if(!(M[Tn]&o)){Ou=K[Tn];break}}as.push({_seqIndices:Mr,_sosType:Math.max(Vu,Zy)%2?_:A,_eosType:Math.max(Ou,Hy)%2?_:A})}}for(var hs=0;hs=0;Cn--)if(!(M[j[Cn]]&o)){ps=M[j[Cn]];break}G(Ru,ps&(n|Kt)?$:ps)}}if(X.get(S))for(var Mn=0;Mn=-1;Bn--){var Nu=Bn===-1?yi:M[j[Bn]];if(Nu&a){Nu===q&&G($u,O);break}}}if(X.get(q))for(var fs=0;fs=0&&(Pr=M[j[ms]],Pr&o);ms--);for(var gs=mi+1;gs=0&&M[j[Pn]]&(z|o);Pn--)G(j[Pn],S);for(ge++;ge=0&&M[j[zn]]&o;zn--)G(j[zn],$);for(var Ln=gi+1;Ln=0;bi--){var bs=zr[bi].char;if(bs===Yu||bs===b(D(vi))||v(D(bs))===vi){Vn.push([zr[bi].seqIndex,Lr]),zr.length=bi;break}}}Vn.sort(function(Yt,ue){return Yt[0]-ue[0]});for(var ws=0;ws=0;As--){var Ju=j[As];if(M[Ju]&Xu){var Qu=M[Ju]&xi?_:A;xe=Qu===Br?Br:Qu;break}}}if(xe){if(M[j[On]]=M[j[Ds]]=xe,xe!==Br){for(var wi=On+1;wi=0;_i--)if(M[j[_i]]&o)th=_i;else{Es=M[j[_i]]&xi?_:A;break}for(var eh=Ky,Ai=Ue+1;Ai=0&&c(R[$n])&l;$n--)K[$n]=nt.level}}return{levels:K,paragraphs:vt};function rh(Yt,ue){for(var Wt=Yt;Wt=K&&c(R[nt])&l;nt--)vt[nt]=G.level;for(var Tt=G.level,di=1/0,nr=0;nrTt&&(Tt=Re),Re=di;$e--)for(var lt=0;lt=$e){for(var bt=lt;lt+1=$e;)lt++;lt>bt&&X.push([bt+K,lt+K])}}}),X}function Tr(R,J,W,M){var ut=Ir(R,J,W,M),X=[].concat(R);return ut.forEach(function(G,K){X[K]=(J.levels[G]&1?kt(R[G]):null)||R[G]}),X.join("")}function Ir(R,J,W,M){for(var ut=ir(R,J,W,M),X=[],G=0;G=0;i--){let n=nu.getBidiCharTypeName(t[i].text[0]);Tv.has(n)?(t[i].level=e,r=!0):r&&kv.has(n)?t[i].level=e:r=!1}}function Mv(t,e){let r=e,i=1/0;for(let{level:a}of t)a>r&&(r=a),(a|1)=i;a--)for(let s=0;s=a;)o++;for(let l=s,u=o;le>=n.start&&e<=n.end))==null?void 0:r.level)!=null?i:0}function zv(t,e,r,i,n){let a=Iv(t,e,i,n);Cv(a,r);let s="",o=[];for(let l of Mv(a,r)){if(Fv.test(l.text))continue;let u=Bv(l);s+=u,o.push(...Array(u.length).fill(l.index))}return{text:s,sourceIndices:o}}function Lv(t,e){let r=e.filter(a=>a>0&&aa-s),n=[];for(let a=0;a+1n.start))).map(([n,a])=>zv(t,r,Pv(i,n),n,a))}function Vv(t,e){return Rd(t,e).map(r=>r.text)}function Ov(t,e,r){return Rd(t,r).map(i=>[i.text,i.sourceIndices.map(n=>{var a;return(a=e[n])!=null?a:0})])}var il=4294967296,Ac=1/il,Sc=typeof TextDecoder>"u"?null:new TextDecoder("utf-8"),au=class{constructor(t){this.buf=ArrayBuffer.isView(t)?t:new Uint8Array(t),this.dataView=new DataView(this.buf.buffer,this.buf.byteOffset,this.buf.byteLength),this.pos=0,this.type=0,this._valueStart=-1,this.length=this.buf.length}readFields(t,e,r=this.length){let i;for(;i=this.nextField(r);)t(i,e,this);return e}readMessage(t,e){return this.readFields(t,e,this.readVarint()+this.pos)}readFixed32(){let t=this.dataView.getUint32(this.pos,!0);return this.pos+=4,t}readSFixed32(){let t=this.dataView.getInt32(this.pos,!0);return this.pos+=4,t}readFixed64(){let t=this.dataView.getUint32(this.pos,!0)+this.dataView.getUint32(this.pos+4,!0)*il;return this.pos+=8,t}readSFixed64(){let t=this.dataView.getUint32(this.pos,!0)+this.dataView.getInt32(this.pos+4,!0)*il;return this.pos+=8,t}readFloat(){let t=this.dataView.getFloat32(this.pos,!0);return this.pos+=4,t}readDouble(){let t=this.dataView.getFloat64(this.pos,!0);return this.pos+=8,t}readVarint(t){let e=this.buf,r=e[this.pos++];if(r<128)return r;let i=r&127,n;return n=e[this.pos++],i|=(n&127)<<7,n<128||(n=e[this.pos++],i|=(n&127)<<14,n<128)||(n=e[this.pos++],i|=(n&127)<<21,n<128)?i:(n=e[this.pos],i|=(n&15)<<28,$v(i,t,this))}readSVarint(){let t=this.readVarint();return t%2==1?(t+1)/-2:t/2}readBoolean(){return!!this.readVarint()}readString(){let t=this.readVarint()+this.pos,e=this.pos;return this.pos=t,t-e>=12&&Sc?Sc.decode(this.buf.subarray(e,t)):tb(this.buf,e,t)}readBytes(){let t=this.readVarint()+this.pos,e=this.buf.subarray(this.pos,t);return this.pos=t,e}readPackedVarint(t=[],e){let r=this.readPackedEnd();for(;this.pos=t)return 0;let e=this.readVarint();return this.type=e&7,this._valueStart=this.pos,e>>>3}skip(t){let e=t&7;if(e===0)for(;this.buf[this.pos++]>127;);else if(e===2)this.pos=this.readVarint()+this.pos;else if(e===5)this.pos+=4;else if(e===1)this.pos+=8;else throw Error(`Unimplemented type: ${e}`)}},Rv=class{constructor(t=new Uint8Array(16)){this.buf=ArrayBuffer.isView(t)?t:new Uint8Array(t),this.dataView=new DataView(this.buf.buffer,this.buf.byteOffset,this.buf.byteLength),this.pos=0,this.length=this.buf.length}writeTag(t,e){this.writeVarint(t<<3|e)}realloc(t){let e=this.length||16;for(;e=0&&t<128){this.pos>=this.length&&this.realloc(1),this.buf[this.pos++]=t;return}if(t>268435455||t<0){Uv(t,this);return}this.realloc(4),this.buf[this.pos++]=t&127|(t>127?128:0),!(t<=127)&&(this.buf[this.pos++]=(t>>>=7)&127|(t>127?128:0),!(t<=127)&&(this.buf[this.pos++]=(t>>>=7)&127|(t>127?128:0),!(t<=127)&&(this.buf[this.pos++]=t>>>7&127)))}writeSVarint(t){this.writeVarint(t<0?-t*2-1:t*2)}writeBoolean(t){this.writeVarint(+t)}writeString(t){t=String(t),this.realloc(t.length*4),this.pos++;let e=this.pos;this.pos=eb(this.buf,t,this.pos);let r=this.pos-e;r>=128&&Ec(e,r,this),this.pos=e-1,this.writeVarint(r),this.pos+=r}writeFloat(t){this.realloc(4),this.dataView.setFloat32(this.pos,t,!0),this.pos+=4}writeDouble(t){this.realloc(8),this.dataView.setFloat64(this.pos,t,!0),this.pos+=8}writeBytes(t){let e=t.length;this.writeVarint(e),this.realloc(e),this.buf.set(t,this.pos),this.pos+=e}writeRawMessage(t,e){this.pos++;let r=this.pos;t(e,this);let i=this.pos-r;i>=128&&Ec(r,i,this),this.pos=r-1,this.writeVarint(i),this.pos+=i}writeMessage(t,e,r){this.writeTag(t,2),this.writeRawMessage(e,r)}writePackedVarint(t,e){e.length&&this.writeMessage(t,Gv,e)}writePackedSVarint(t,e){e.length&&this.writeMessage(t,Xv,e)}writePackedBoolean(t,e){e.length&&this.writeMessage(t,Zv,e)}writePackedFloat(t,e){e.length&&this.writeMessage(t,Yv,e)}writePackedDouble(t,e){e.length&&this.writeMessage(t,Wv,e)}writePackedFixed32(t,e){e.length&&this.writeMessage(t,Hv,e)}writePackedSFixed32(t,e){e.length&&this.writeMessage(t,Kv,e)}writePackedFixed64(t,e){e.length&&this.writeMessage(t,Jv,e)}writePackedSFixed64(t,e){e.length&&this.writeMessage(t,Qv,e)}writeBytesField(t,e){this.writeTag(t,2),this.writeBytes(e)}writeFixed32Field(t,e){this.writeTag(t,5),this.writeFixed32(e)}writeSFixed32Field(t,e){this.writeTag(t,5),this.writeSFixed32(e)}writeFixed64Field(t,e){this.writeTag(t,1),this.writeFixed64(e)}writeSFixed64Field(t,e){this.writeTag(t,1),this.writeSFixed64(e)}writeVarintField(t,e){this.writeTag(t,0),this.writeVarint(e)}writeSVarintField(t,e){this.writeTag(t,0),this.writeSVarint(e)}writeStringField(t,e){this.writeTag(t,2),this.writeString(e)}writeFloatField(t,e){this.writeTag(t,5),this.writeFloat(e)}writeDoubleField(t,e){this.writeTag(t,1),this.writeDouble(e)}writeBooleanField(t,e){this.writeVarintField(t,+e)}};function $v(t,e,r){let i=r.buf,n,a;if(a=i[r.pos++],n=(a&112)>>4,a<128||(a=i[r.pos++],n|=(a&127)<<3,a<128)||(a=i[r.pos++],n|=(a&127)<<10,a<128)||(a=i[r.pos++],n|=(a&127)<<17,a<128)||(a=i[r.pos++],n|=(a&127)<<24,a<128)||(a=i[r.pos++],n|=(a&1)<<31,a<128))return Nv(t,n,e);throw Error("Expected varint not more than 10 bytes")}function Nv(t,e,r){return r?e*4294967296+(t>>>0):(e>>>0)*4294967296+(t>>>0)}function Uv(t,e){let r,i;if(t>=0?(r=t%4294967296|0,i=t/4294967296|0):(r=~(-t%4294967296),i=~(-t/4294967296),r^4294967295?r=r+1|0:(r=0,i=i+1|0)),t>=18446744073709552e3||t<-18446744073709552e3)throw Error("Given varint doesn\'t fit into 10 bytes");e.realloc(10),qv(r,i,e),jv(i,e)}function qv(t,e,r){r.buf[r.pos++]=t&127|128,t>>>=7,r.buf[r.pos++]=t&127|128,t>>>=7,r.buf[r.pos++]=t&127|128,t>>>=7,r.buf[r.pos++]=t&127|128,t>>>=7,r.buf[r.pos]=t&127}function jv(t,e){let r=(t&7)<<4;e.buf[e.pos++]|=r|((t>>>=3)?128:0),t&&(e.buf[e.pos++]=t&127|((t>>>=7)?128:0),t&&(e.buf[e.pos++]=t&127|((t>>>=7)?128:0),t&&(e.buf[e.pos++]=t&127|((t>>>=7)?128:0),t&&(e.buf[e.pos++]=t&127|((t>>>=7)?128:0),t&&(e.buf[e.pos++]=t&127)))))}function Ec(t,e,r){let i=e<=16383?1:e<=2097151?2:e<=268435455?3:Math.floor(Math.log(e)/(Math.LN2*7));r.realloc(i),r.buf.copyWithin(t+i,t,r.pos)}function Gv(t,e){let r=t.length,i=e.buf,n=e.pos,a=e.length;for(let s=0;sa){e.pos=n,e.writeVarint(o),i=e.buf,n=e.pos,a=e.length;continue}for(;o>127;)i[n++]=o%128|128,o=Math.floor(o/128);i[n++]=o}e.pos=n}function Xv(t,e){for(let r=0;r239?4:a>223?3:a>191?2:1;if(n+o>r)break;let l,u,h;o===1?a<128&&(s=a):o===2?(l=t[n+1],(l&192)==128&&(s=(a&31)<<6|l&63,s<=127&&(s=null))):o===3?(l=t[n+1],u=t[n+2],(l&192)==128&&(u&192)==128&&(s=(a&15)<<12|(l&63)<<6|u&63,(s<=2047||s>=55296&&s<=57343)&&(s=null))):o===4&&(l=t[n+1],u=t[n+2],h=t[n+3],(l&192)==128&&(u&192)==128&&(h&192)==128&&(s=(a&15)<<18|(l&63)<<12|(u&63)<<6|h&63,(s<=65535||s>=1114112)&&(s=null))),s===null?(s=65533,o=1):s>65535&&(s-=65536,i+=String.fromCharCode(s>>>10&1023|55296),s=56320|s&1023),i+=String.fromCharCode(s),n+=o}return i}function eb(t,e,r){for(let i=0,n,a;i55295&&n<57344)if(a){if(n<56320){t[r++]=239,t[r++]=191,t[r++]=189,a=n;continue}n=a-55296<<10|n-56320|65536,a=null}else{n>56319||i+1===e.length?(t[r++]=239,t[r++]=191,t[r++]=189):a=n;continue}else a&&(a=(t[r++]=239,t[r++]=191,t[r++]=189,null));n<128?t[r++]=n:(n<2048?t[r++]=n>>6|192:(n<65536?t[r++]=n>>12|224:(t[r++]=n>>18|240,t[r++]=n>>12&63|128),t[r++]=n>>6&63|128),t[r++]=n&63|128)}return r}function rb(t){return typeof(t==null?void 0:t.renderWithWebGL)=="function"}function su(t){let e=0,r=0;for(let s of t)e+=s.w*s.h,r=Math.max(r,s.w);t.sort((s,o)=>o.h-s.h);let i=[{x:0,y:0,w:Math.max(Math.ceil(Math.sqrt(e/.95)),r),h:1/0}],n=0,a=0;for(let s of t)for(let o=i.length-1;o>=0;o--){let l=i[o];if(!(s.w>l.w||s.h>l.h)){if(s.x=l.x,s.y=l.y,a=Math.max(a,s.y+s.h),n=Math.max(n,s.x+s.w),s.w===l.w&&s.h===l.h){let u=i.pop();u&&o=r;a--)e.push(a);r=i+1}else{for(let a=r;at.toCodeUnitIndex(a)),i=wr.isParsed()?wr:null;if(t.sections.length===1)return i?i.processBidirectionalText(t.toString(),r).map(a=>kc(a,t.sections,[...a].map(()=>0))):Vv(t.toString(),r).map(a=>nl([...a],t.sections,[...a].map(()=>0)));let n=sb(t);return i?i.processStyledBidirectionalText(t.text,n,r).map(([a,s])=>kc(a,t.sections,s)):Ov(t.text,n,r).map(([a,s])=>{let o=[...a];return nl(o,t.sections,Ud(o).map(l=>{var u;return(u=s[l])!=null?u:0}))})}function nl(t,e,r){var a;let i=new iu(t.join(""),e,[]),n=0;for(let s of i.graphemes())i.sectionIndex.push((a=r[n])!=null?a:0),n+=[...s].length;return i}function Ud(t){let e=[],r=0;for(let i of t)e.push(r),r+=i.length;return e}function kc(t,e,r){let i=[...t],n=Ud(i),a=ab(i);return nl(a.map(s=>i[s]),e,a.map(s=>{var o;return(o=r[n[s]])!=null?o:0}))}function ra(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d){let y=iu.fromFeature(t,n);c===2&&y.verticalizePunctuation();let m=y.determineLineBreaks(u,a,e,i,f),g=Vd(y.text)?ob(y,m):nb(y,m),x=[],v={positionedLines:x,text:y.toString(),top:h[1],bottom:h[1],left:h[0],right:h[0],writingMode:c,iconsInText:!1,verticalizable:!1};return mb(v,e,r,i,g,s,o,l,c,u,p,d),!ib(x)&&v}function qd(t){let e=.5,r=.5;switch(t){case"right":case"top-right":case"bottom-right":e=1;break;case"left":case"top-left":case"bottom-left":e=0}switch(t){case"bottom":case"bottom-right":case"bottom-left":r=1;break;case"top":case"top-right":case"top-left":r=0}return{horizontalAlign:e,verticalAlign:r}}function lb(t,e,r){let i=e.getMaxScale()*24,{maxImageWidth:n,maxImageHeight:a}=e.getMaxImageSize(t),s=Math.max(i,a*r);return{verticalLineContentWidth:Math.max(i,n*r),horizontalLineContentHeight:s}}function jd(t){switch(t){case"top":return 0;case"center":return .5;default:return 1}}function ub(t,e,r,i){var a;if(t!=null&&t.rect)return t;let n=(a=e[r.fontStack])==null?void 0:a[i];return n?{rect:null,metrics:n.metrics}:null}function hb(t,e,r){return!(t===1||!e&&!Qa(r)||e&&(ru(r)||zd(r)))}function da(t){return new RegExp("\\\\p{Nd}","u").test(String.fromCodePoint(t))}function Gd(t){return new RegExp("\\\\p{Lu}","u").test(String.fromCodePoint(t))}function cb(t){return/[\\p{P}\\p{S}]/u.test(String.fromCodePoint(t))}function pb(t){let e=t.some(da)&&t.every(i=>da(i)||cb(i)),r=t.length<=3&&t.every(i=>Gd(i)||da(i));return e||r}function fb(t){return(da(t)||Gd(t))&&!zd(t)}function db(t,e){let r=!1;for(let i=0;ia.codePointAt(0)),i=r.map(Qa),n=a=>!i[a]&&!ru(r[a])&&!("imageName"in t.getSection(a));for(let a=0;au){let p=Math.ceil(i/u);r*=p/n,n=p}return{x1:e,y1:r,x2:e+i,y2:r+n}}function Tc(t,e,r,i,n,a){let s=t.image,o;if(s.content){let m=s.content,g=s.pixelRatio||1;o=[m[0]/g,m[1]/g,s.displaySize[0]-m[2]/g,s.displaySize[1]-m[3]/g]}let l=e.left*a,u=e.right*a,h,c,p,f;r==="width"||r==="both"?(f=n[0]+l-i[3],c=n[0]+u+i[1]):(f=n[0]+(l+u-s.displaySize[0])/2,c=f+s.displaySize[0]);let d=e.top*a,y=e.bottom*a;return r==="height"||r==="both"?(h=n[1]+d-i[0],p=n[1]+y+i[2]):(h=n[1]+(d+y-s.displaySize[1])/2,p=h+s.displaySize[1]),{image:s,top:h,right:c,bottom:p,left:f,collisionPadding:o}}var Ic=32640;function Cc(t,e){let{expression:r}=e;if(r.kind==="constant")return{kind:"constant",layoutSize:r.evaluate(new st(t+1))};if(r.kind==="source")return{kind:"source"};if(r.kind==="composite"){let{minZoom:i,maxZoom:n}=Db(r.zoomStops,t);return{kind:"composite",minZoom:i,maxZoom:n,interpolationType:r.interpolationType}}{let i=_b(r),n=r.evaluate(new st(t+1));return{kind:"camera",zoomStops:r.zoomStops,sizes:i,layoutSize:n,interpolationType:r.interpolationType}}}function Db(t,e){let r=0;for(;rt.evaluate(new st(e===-1/0?t.zoomStops[1]-1:e)))}var Jr=class Yd extends B{constructor(e,r,i,n){super(e,r),this.angle=i,n!==void 0&&(this.segment=n)}clone(){return new Yd(this.x,this.y,this.angle,this.segment)}};C("Anchor",Jr);function Wd(t,e,r,i,n){if(e.segment===void 0||r===0)return!0;let a=e,s=e.segment+1,o=0;for(;o>-r/2;){if(s--,s<0)return!1;o-=t[s].dist(a),a=t[s]}o+=t[s].dist(t[s+1]),s++;let l=[],u=0;for(;oi;)u-=l.shift().angleDelta;if(u>n)return!1;s++,o+=c.dist(p)}return!0}function Zd(t){let e=0;for(let r=0;ru){let d=(u-l)/f,y=new Jr(gr.number(c.x,p.x,d),gr.number(c.y,p.y,d),p.angleTo(c),h);return y._round(),!s||Wd(t,y,o,s,e)?y:void 0}l+=f}}function Sb(t,e,r,i,n,a,s,o,l){let u=Hd(i,a,s),h=Kd(i,n),c=h*s,p=t[0].x===0||t[0].x===l||t[0].y===0||t[0].y===l;e-c=0&&b=0&&D=0&&p+u<=h){let A=new Jr(b,D,x,d);A._round(),(!i||Wd(t,A,a,i,n))&&f.push(A)}}c+=g}return!o&&!f.length&&!s&&(f=Jd(t,c/2,r,i,n,a,s,!0,l)),f}function Eb(t,e,r,i,n){let a=[];for(let s of t){let o;for(let l=0;l=i&&h.x>=i)&&(u.x>=i?u=new B(i,u.y+(h.y-u.y)*((i-u.x)/(h.x-u.x)))._round():h.x>=i&&(h=new B(i,u.y+(h.y-u.y)*((i-u.x)/(h.x-u.x)))._round()),!(u.y>=n&&h.y>=n)&&(u.y>=n?u=new B(u.x+(h.x-u.x)*((n-u.y)/(h.y-u.y)),n)._round():h.y>=n&&(h=new B(u.x+(h.x-u.x)*((n-u.y)/(h.y-u.y)),n)._round()),(!o||!u.equals(o[o.length-1]))&&(o=[u],a.push(o)),o.push(h)))))}}return a}function Qd(t,e,r,i,n,a){let s=Mc(t,e,r,n,0);return s=Mc(s,e,i,a,1),s}function Mc(t,e,r,i,n){switch(e){case 1:return Fb(t,r,i,n);case 2:return Bc(t,r,i,n,!1);case 3:return Bc(t,r,i,n,!0)}return[]}function Fb(t,e,r,i){let n=[];for(let a of t)for(let s of a){let o=i===0?s.x:s.y;o>=e&&o<=r&&n.push([s])}return n}function kb(t,e,r,i,n){let a=i===0?Tb:Ib,s=[],o=[];for(let h=0;he&&s.push(a(c,p,e)):f>r?d=e&&(s.push(a(c,p,e)),y=!0),d>r&&f<=r&&(s.push(a(c,p,r)),y=!0),!n&&y&&(o.push(s),s=[])}let l=t.length-1,u=i===0?t[l].x:t[l].y;return u>=e&&u<=r&&s.push(t[l]),n&&s.length>0&&!s[0].equals(s[s.length-1])&&s.push(new B(s[0].x,s[0].y)),s.length>0&&o.push(s),o}function Bc(t,e,r,i,n){let a=[];for(let s of t){let o=kb(s,e,r,i,n);o.length>0&&a.push(...o)}return a}function Tb(t,e,r){let i=(r-t.x)/(e.x-t.x);return new B(r,t.y+(e.y-t.y)*i)}function Ib(t,e,r){let i=(r-t.y)/(e.y-t.y);return new B(t.x+(e.x-t.x)*i,r)}function Pc(t,e,r,i){let n=[],a=t.image,s=a.pixelRatio,o=a.paddedRect.w-2,l=a.paddedRect.h-2,u={x1:t.left,y1:t.top,x2:t.right,y2:t.bottom},h=a.stretchX||[[0,o]],c=a.stretchY||[[0,l]],p=(F,$)=>F+$[1]-$[0],f=h.reduce(p,0),d=c.reduce(p,0),y=o-f,m=l-d,g=0,x=f,v=0,b=d,D=0,A=y,_=0,S=m;if(a.content&&i){let F=a.content,$=F[2]-F[0],U=F[3]-F[1];(a.textFitWidth||a.textFitHeight)&&(u=Xd(t)),g=ia(h,0,F[0]),v=ia(c,0,F[1]),x=ia(h,F[0],F[2]),b=ia(c,F[1],F[3]),D=F[0]-g,_=F[1]-v,A=$-x,S=U-b}let k=u.x1,z=u.y1,O=u.x2-k,P=u.y2-z,L=(F,$,U,T)=>{let q=na(F.stretch-g,x,O,k),at=aa(F.fixed-D,A,F.stretch,f),ot=na($.stretch-v,b,P,z),pt=aa($.fixed-_,S,$.stretch,d),Et=na(U.stretch-g,x,O,k),qt=aa(U.fixed-D,A,U.stretch,f),Ht=na(T.stretch-v,b,P,z),Ve=aa(T.fixed-_,S,T.stretch,d),ye=new B(q,ot),Kt=new B(Et,ot),Oe=new B(Et,Ht),kr=new B(q,Ht),rr=new B(at/s,pt/s),fi=new B(qt/s,Ve/s),kt=e*Math.PI/180;if(kt){let R=Math.sin(kt),J=Math.cos(kt),W=[J,-R,R,J];ye._matMult(W),Kt._matMult(W),kr._matMult(W),Oe._matMult(W)}let Ee=F.stretch+F.fixed,ir=U.stretch+U.fixed,Tr=$.stretch+$.fixed,Ir=T.stretch+T.fixed;return{tl:ye,tr:Kt,bl:kr,br:Oe,tex:{x:a.paddedRect.x+1+Ee,y:a.paddedRect.y+1+Tr,w:ir-Ee,h:Ir-Tr},writingMode:void 0,glyphOffset:[0,0],sectionIndex:0,pixelOffsetTL:rr,pixelOffsetBR:fi,minFontScaleX:A/s/O,minFontScaleY:S/s/P,isSDF:r}};if(!i||!a.stretchX&&!a.stretchY)n.push(L({fixed:0,stretch:-1},{fixed:0,stretch:-1},{fixed:0,stretch:o+1},{fixed:0,stretch:l+1}));else{let F=zc(h,y,f),$=zc(c,m,d);for(let U=0;U0&&(d=Math.max(10,d),this.circleDiameter=d)}else{let c=(h=a.image)!=null&&h.content&&(a.image.textFitWidth||a.image.textFitHeight)?Xd(a):{x1:a.left,y1:a.top,x2:a.right,y2:a.bottom};c.y1=c.y1*s-o[0],c.y2=c.y2*s+o[2],c.x1=c.x1*s-o[3],c.x2=c.x2*s+o[1];let p=a.collisionPadding;if(p&&(c.x1-=p[0]*s,c.y1-=p[1]*s,c.x2+=p[2]*s,c.y2+=p[3]*s),u){let f=new B(c.x1,c.y1),d=new B(c.x2,c.y1),y=new B(c.x1,c.y2),m=new B(c.x2,c.y2),g=u*Math.PI/180;f._rotate(g),d._rotate(g),y._rotate(g),m._rotate(g),c.x1=Math.min(f.x,d.x,y.x,m.x),c.x2=Math.max(f.x,d.x,y.x,m.x),c.y1=Math.min(f.y,d.y,y.y,m.y),c.y2=Math.max(f.y,d.y,y.y,m.y)}t.emplaceBack(e.x,e.y,c.x1,c.y1,c.x2,c.y2,r,i,n)}this.boxEndIndex=t.length}},Mb=class{constructor(t=[],e=(r,i)=>ri)){if(this.data=t,this.length=this.data.length,this.compare=e,this.length>0)for(let r=(this.length>>1)-1;r>=0;r--)this._down(r)}push(t){this.data.push(t),this._up(this.length++)}pop(){if(this.length===0)return;let t=this.data[0],e=this.data.pop();return--this.length>0&&(this.data[0]=e,this._down(0)),t}peek(){return this.data[0]}_up(t){let{data:e,compare:r}=this,i=e[t];for(;t>0;){let n=t-1>>1,a=e[n];if(r(i,a)>=0)break;e[t]=a,t=n}e[t]=i}_down(t){let{data:e,compare:r}=this,i=this.length>>1,n=e[t];for(;t=0)break;e[t]=e[a],t=a}e[t]=n}};function Bb(t,e=1){let r=Fa.fromPoints(t[0]),i=Math.min(r.width(),r.height()),n=i/2,a=new Mb([],Pb),{minX:s,minY:o,maxX:l,maxY:u}=r;if(i===0)return new B(s,o);for(let p=s;pc.d||!c.d)&&(c=p),!(p.max-c.d<=e)&&(n=p.h/2,a.push(new qr(p.p.x-n,p.p.y-n,n,t)),a.push(new qr(p.p.x+n,p.p.y-n,n,t)),a.push(new qr(p.p.x-n,p.p.y+n,n,t)),a.push(new qr(p.p.x+n,p.p.y+n,n,t)))}return h.d>0&&c.d-h.d<=e?h.p:c.p}function Pb(t,e){return e.max-t.max}var qr=class{constructor(t,e,r,i){this.p=new B(t,e),this.h=r,this.d=zb(this.p,i),this.max=this.d+this.h*Math.SQRT2}};function zb(t,e){let r=!1,i=1/0;for(let n of e)for(let a=0,s=n.length,o=s-1;at.y!=u.y>t.y&&t.x<(u.x-l.x)*(t.y-l.y)/(u.y-l.y)+l.x&&(r=!r),i=Math.min(i,td(t,l,u))}return(r?1:-1)*Math.sqrt(i)}function Lb(t){let e=0,r=0,i=0,n=t[0];for(let a=0,s=n.length,o=s-1;ap*24);h.startsWith("top")?c[1]-=7:h.startsWith("bottom")&&(c[1]+=7),l[u+1]=c}return new De(l)}let a=i.get("text-variable-anchor");if(a){let o;o=t._unevaluatedLayout.getValue("text-radial-offset")===void 0?i.get("text-offset").evaluate(e,{},r).map(u=>u*24):[i.get("text-radial-offset").evaluate(e,{},r)*24,lu];let l=[];for(let u of a)l.push(u,ty(u,o));return new De(l)}return null}function Ob(t){var h,c;t.bucket.createArrays();let e=512*t.bucket.overscaling;t.bucket.tilePixelRatio=mt/e,t.bucket.compareText={},t.bucket.iconsNeedLinear=!1;let r=t.bucket.layers[0],i=r.layout,n=r._unevaluatedLayout._values,a={layoutIconSize:n["icon-size"].possiblyEvaluate(new st(t.bucket.zoom+1),t.canonical),layoutTextSize:n["text-size"].possiblyEvaluate(new st(t.bucket.zoom+1),t.canonical),textMaxSize:n["text-size"].possiblyEvaluate(new st(18))};if(t.bucket.textSizeData.kind==="composite"){let{minZoom:p,maxZoom:f}=t.bucket.textSizeData;a.compositeTextSizes=[n["text-size"].possiblyEvaluate(new st(p),t.canonical),n["text-size"].possiblyEvaluate(new st(f),t.canonical)]}if(t.bucket.iconSizeData.kind==="composite"){let{minZoom:p,maxZoom:f}=t.bucket.iconSizeData;a.compositeIconSizes=[n["icon-size"].possiblyEvaluate(new st(p),t.canonical),n["icon-size"].possiblyEvaluate(new st(f),t.canonical)]}let s=i.get("text-line-height")*24,o=i.get("text-rotation-alignment")!=="viewport"&&i.get("symbol-placement")!=="point",l=i.get("text-keep-upright"),u=i.get("text-size");for(let p of t.bucket.features){let f=i.get("text-font").evaluate(p,{},t.canonical).join(","),d=u.evaluate(p,{},t.canonical),y=a.layoutTextSize.evaluate(p,{},t.canonical),m=a.layoutIconSize.evaluate(p,{},t.canonical),g={horizontal:{},vertical:void 0},x=p.text,v=[0,0];if(x){let _=x.toString(),S=i.get("text-letter-spacing").evaluate(p,{},t.canonical)*24,k=bv(_)?S:0,z=i.get("text-anchor").evaluate(p,{},t.canonical),O=ey(r,p,t.canonical);if(!O){let $=i.get("text-radial-offset").evaluate(p,{},t.canonical);v=$?ty(z,[$*24,lu]):i.get("text-offset").evaluate(p,{},t.canonical).map(U=>U*24)}let P=o?"center":i.get("text-justify").evaluate(p,{},t.canonical),L=i.get("symbol-placement")==="point"?i.get("text-max-width").evaluate(p,{},t.canonical)*24:1/0,F=()=>{t.bucket.allowVerticalPlacement&&el(_)&&(g.vertical=ra(x,t.glyphMap,t.glyphPositions,t.imagePositions,f,L,s,z,"left",k,v,2,!0,y,d))};if(!o&&O){let $=new Set;if(P==="auto")for(let T=0;T{T.x<0||T.x>=8192||T.y<0||T.y>=8192||Nb(t,T,U,r,i,n,L,t.layers[0],t.collisionBoxArray,e.index,e.sourceLayerIndex,t.index,g,[D,D,D,D],S,l,v,A,k,d,e,a,u,h,s)};if(z==="line")for(let U of Eb(e.geometry,0,0,mt,mt)){let T=cr(U,F),q=Sb(T,b,_,r.vertical||y,i,24,x,t.overscaling,mt);for(let at of q){let ot=y;(!ot||!Ub(t,ot.text,O,at))&&$(T,at)}}else if(z==="line-center"){for(let U of e.geometry)if(U.length>1){let T=cr(U,F),q=Ab(T,_,r.vertical||y,i,24,x);q&&$(T,q)}}else if(e.type==="Polygon")for(let U of Ra(e.geometry,0)){let T=Bb(U,16);$(cr(U[0],F,!0),new Jr(T.x,T.y,0))}else if(e.type==="LineString")for(let U of e.geometry){let T=cr(U,F);$(T,new Jr(T[0].x,T[0].y,0))}else if(e.type==="Point")for(let U of e.geometry)for(let T of U)$([T],new Jr(T.x,T.y,0))}function $b(t,e){let r=t.length,i=e==null?void 0:e.values;if((i==null?void 0:i.length)>0)for(let n=0;n32640&&Bt(`${t.layerIds[0]}: Value for "text-size" is >= 255. Reduce your "text-size".`)):g.kind==="composite"&&(x=[128*d.compositeTextSizes[0].evaluate(s,{},y),128*d.compositeTextSizes[1].evaluate(s,{},y)],(x[0]>32640||x[1]>32640)&&Bt(`${t.layerIds[0]}: Value for "text-size" is >= 255. Reduce your "text-size".`)),t.addSymbols(t.text,m,x,o,a,s,h,e,u.lineStartIndex,u.lineLength,f,y,l);for(let v of c)p[v]=t.text.placedSymbolArray.length-1;return m.length*4}function ry(t){for(let e in t)return t[e];return null}function Nb(t,e,r,i,n,a,s,o,l,u,h,c,p,f,d,y,m,g,x,v,b,D,A,_,S){let k=t.addToLineVertexArray(e,r),z=o.layout.get("symbol-height-offset").evaluate(b,{},_);z>t.maxHeightOffset&&(t.maxHeightOffset=z);let O,P,L,F,$=0,U=0,T=0,q=0,at=-1,ot=-1,pt={},Et=(0,Mo.default)("");if(t.allowVerticalPlacement&&i.vertical){let J=o.layout.get("text-rotate").evaluate(b,{},_)+90,W=i.vertical;L=new sa(l,e,u,h,c,W,p,f,d,J),s&&(F=new sa(l,e,u,h,c,s,m,g,d,J))}if(n){let J=o.layout.get("icon-rotate").evaluate(b,{}),W=o.layout.get("icon-text-fit")!=="none",M=Pc(n,J,A,W),ut=s?Pc(s,J,A,W):void 0;P=new sa(l,e,u,h,c,n,m,g,!1,J),$=M.length*4;let X=t.iconSizeData,G=null;X.kind==="source"?(G=[128*o.layout.get("icon-size").evaluate(b,{})],G[0]>32640&&Bt(`${t.layerIds[0]}: Value for "icon-size" is >= 255. Reduce your "icon-size".`)):X.kind==="composite"&&(G=[128*D.compositeIconSizes[0].evaluate(b,{},_),128*D.compositeIconSizes[1].evaluate(b,{},_)],(G[0]>32640||G[1]>32640)&&Bt(`${t.layerIds[0]}: Value for "icon-size" is >= 255. Reduce your "icon-size".`)),t.addSymbols(t.icon,M,G,v,x,b,0,e,k.lineStartIndex,k.lineLength,-1,_,z),at=t.icon.placedSymbolArray.length-1,ut&&(U=ut.length*4,t.addSymbols(t.icon,ut,G,v,x,b,2,e,k.lineStartIndex,k.lineLength,-1,_,z),ot=t.icon.placedSymbolArray.length-1)}let qt=Object.keys(i.horizontal);for(let J of qt){let W=i.horizontal[J];O||(O=(Et=(0,Mo.default)(W.text),new sa(l,e,u,h,c,W,p,f,d,o.layout.get("text-rotate").evaluate(b,{},_))));let M=W.positionedLines.length===1;if(T+=Vc(t,e,W,a,o,d,b,y,z,k,i.vertical?1:3,M?qt:[J],pt,at,D,_),M)break}i.vertical&&(q+=Vc(t,e,i.vertical,a,o,d,b,y,z,k,2,["vertical"],pt,ot,D,_));let Ht=O?O.boxStartIndex:t.collisionBoxArray.length,Ve=O?O.boxEndIndex:t.collisionBoxArray.length,ye=L?L.boxStartIndex:t.collisionBoxArray.length,Kt=L?L.boxEndIndex:t.collisionBoxArray.length,Oe=P?P.boxStartIndex:t.collisionBoxArray.length,kr=P?P.boxEndIndex:t.collisionBoxArray.length,rr=F?F.boxStartIndex:t.collisionBoxArray.length,fi=F?F.boxEndIndex:t.collisionBoxArray.length,kt=-1,Ee=(J,W)=>J!=null&&J.circleDiameter?Math.max(J.circleDiameter,W):W;kt=Ee(O,kt),kt=Ee(L,kt),kt=Ee(P,kt),kt=Ee(F,kt);let ir=+(kt>-1);ir&&(kt*=S/24),t.glyphOffsetArray.length>=t.maxGlyphs&&Bt("Too many glyphs being rendered in a tile. See https://github.com/mapbox/mapbox-gl-js/issues/2907"),b.sortKey!==void 0&&t.addToSortKeyRanges(t.symbolInstances.length,b.sortKey);let Tr=ey(o,b,_),[Ir,R]=$b(t.textAnchorOffsets,Tr);t.symbolInstances.emplaceBack(e.x,e.y,pt.right>=0?pt.right:-1,pt.center>=0?pt.center:-1,pt.left>=0?pt.left:-1,pt.vertical||-1,at,ot,Et,Ht,Ve,ye,Kt,Oe,kr,rr,fi,u,T,q,$,U,ir,0,p,kt,Ir,R,z)}function Ub(t,e,r,i){let n=t.compareText;if(!(e in n))n[e]=[];else{let a=n[e];for(let s=a.length-1;s>=0;s--)if(i.dist(a[s])s.id),this.index=t.index,this.pixelRatio=t.pixelRatio,this.sourceLayerIndex=t.sourceLayerIndex,this.hasDependencies=!0,this.hasRTLText=!1,this.maxHeightOffset=0,this.sortKeyRanges=[],this.collisionCircleArray=[],this.maxGlyphs=65535;let e=this.layers[0]._unevaluatedLayout._values;this.textSizeData=Cc(this.zoom,e["text-size"]),this.iconSizeData=Cc(this.zoom,e["icon-size"]);let r=this.layers[0].layout,i=r.get("symbol-sort-key"),n=r.get("symbol-z-order");this.canOverlap=Oc(r,"text-overlap","text-allow-overlap")!=="never"||Oc(r,"icon-overlap","icon-allow-overlap")!=="never"||r.get("text-ignore-placement")||r.get("icon-ignore-placement"),this.sortFeaturesByKey=n!=="viewport-y"&&!i.isConstant();let a=n==="viewport-y"||n==="auto"&&!this.sortFeaturesByKey;this.sortFeaturesByY=a&&this.canOverlap,r.get("symbol-placement")==="point"&&(this.writingModes=r.get("text-writing-mode").map(s=>Nd[s])),this.stateDependentLayerIds=this.layers.filter(s=>s.isStateDependent()).map(s=>s.id),this.sourceID=t.sourceID}createArrays(){this.text=new al(new vr(this.layers,this.zoom,t=>t.startsWith("text"))),this.icon=new al(new vr(this.layers,this.zoom,t=>t.startsWith("icon"))),this.glyphOffsetArray=new Uf,this.lineVertexArray=new qf,this.symbolInstances=new Nf,this.textAnchorOffsets=new Gf}calculateGlyphDependencies(t,e,r,i,n){var l;let a=(i||this.allowVerticalPlacement)&&n,s=iu.fromFeature(t,r),o=s.graphemes();for(let u=0;u0)&&(a.value.kind!=="constant"||a.value.value.length>0),u=o.value.kind!=="constant"||!!o.value.value||Object.keys(o.parameters).length>0,h=n.get("symbol-sort-key");if(this.features=[],!l&&!u)return;let c=e.iconDependencies,p=e.glyphDependencies,f=e.availableImages,d=new st(this.zoom);for(let{feature:m,id:g,index:x,sourceLayerIndex:v}of t){let b=i._featureFilter.needGeometry,D=hi(m,b);if(!i._featureFilter.filter(d,D,r))continue;b||(D.geometry=Ar(m));let A;if(l){let z=i.getValueAndResolveTokens("text-field",D,r,f),O=ze.factory(z);this.hasRTLText||(this.hasRTLText=Gb(O)),A=gv(O,i,D)}let _;if(u){let z=i.getValueAndResolveTokens("icon-image",D,r,f);_=z instanceof _e?z:_e.fromString(z)}if(!A&&!_)continue;let S=this.sortFeaturesByKey?h.evaluate(D,{},r):void 0,k={id:g,text:A,icon:_,index:x,sourceLayerIndex:v,geometry:D.geometry,properties:m.properties,type:Dn.types[m.type],sortKey:S};if(this.features.push(k),_&&(c[_.name]=!0),A){let z=a.evaluate(D,{},r).join(","),O=n.get("text-rotation-alignment")!=="viewport"&&n.get("symbol-placement")!=="point";this.allowVerticalPlacement=(y=this.writingModes)==null?void 0:y.includes(2);let P=el(A.toString());this.calculateGlyphDependencies(A,p,z,O,P);for(let L of A.sections)L.image&&(c[L.image.name]=!0)}}n.get("symbol-placement")==="line"&&(this.features=xv(this.features)),this.sortFeaturesByKey&&this.features.sort((m,g)=>m.sortKey-g.sortKey)}update(t,e,r){this.stateDependentLayers.length&&(this.text.programConfigurations.updatePaintArrays(t,e,this.layers,{imagePositions:r}),this.icon.programConfigurations.updatePaintArrays(t,e,this.layers,{imagePositions:r}))}addFeatures({options:t,canonical:e,glyphMap:r,glyphPositions:i,iconMap:n,iconPositions:a,showCollisionBoxes:s}){Ob({bucket:this,glyphMap:r,glyphPositions:i,imageMap:n,imagePositions:a,showCollisionBoxes:s,canonical:e,subdivisionGranularity:t.subdivisionGranularity})}isEmpty(){return this.symbolInstances.length===0}uploadPending(){return!this.uploaded||this.text.programConfigurations.needsUpload||this.icon.programConfigurations.needsUpload}upload(t){!this.uploaded&&this.hasDebugData()&&(this.textCollisionBox.upload(t),this.iconCollisionBox.upload(t)),this.text.upload(t,this.sortFeaturesByY,!this.uploaded,this.text.programConfigurations.needsUpload),this.icon.upload(t,this.sortFeaturesByY,!this.uploaded,this.icon.programConfigurations.needsUpload),this.uploaded=!0}destroyDebugData(){this.textCollisionBox.destroy(),this.iconCollisionBox.destroy()}destroy(){this.text.destroy(),this.icon.destroy(),this.hasDebugData()&&this.destroyDebugData()}addToLineVertexArray(t,e){let r=this.lineVertexArray.length;if(t.segment!==void 0){let i=t.dist(e[t.segment+1]),n=t.dist(e[t.segment]),a={};for(let s=t.segment+1;s=0;s--)a[s]={x:e[s].x,y:e[s].y,tileUnitDistanceFromAnchor:n},s>0&&(n+=e[s-1].dist(e[s]));for(let s=0;s0}hasIconData(){return this.icon.segments.get().length>0}hasDebugData(){return this.textCollisionBox&&this.iconCollisionBox}hasTextCollisionBoxData(){return this.hasDebugData()&&this.textCollisionBox.segments.get().length>0}hasIconCollisionBoxData(){return this.hasDebugData()&&this.iconCollisionBox.segments.get().length>0}addIndicesForPlacedSymbol(t,e){let r=t.placedSymbolArray.get(e),i=r.vertexStartIndex+r.numGlyphs*4;for(let n=r.vertexStartIndex;ni[s]-i[o]||n[o]-n[s]),a}addToSortKeyRanges(t,e){let r=this.sortKeyRanges[this.sortKeyRanges.length-1];(r==null?void 0:r.sortKey)===e?r.symbolInstanceEnd=t+1:this.sortKeyRanges.push({sortKey:e,symbolInstanceStart:t,symbolInstanceEnd:t+1})}sortFeatures(t){if(this.sortFeaturesByY&&this.sortedAngle!==t&&!(this.text.segments.get().length>1||this.icon.segments.get().length>1)){this.symbolInstanceIndexes=this.getSortedSymbolIndexes(t),this.sortedAngle=t,this.text.indexArray.clear(),this.icon.indexArray.clear(),this.featureSortOrder=[];for(let e of this.symbolInstanceIndexes){let r=this.symbolInstances.get(e);this.featureSortOrder.push(r.featureIndex);let i=[r.rightJustifiedTextSymbolIndex,r.centerJustifiedTextSymbolIndex,r.leftJustifiedTextSymbolIndex];for(let n=0;n=0&&i.indexOf(a)===n&&this.addIndicesForPlacedSymbol(this.text,a)}r.verticalPlacedTextSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.text,r.verticalPlacedTextSymbolIndex),r.placedIconSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.icon,r.placedIconSymbolIndex),r.verticalPlacedIconSymbolIndex>=0&&this.addIndicesForPlacedSymbol(this.icon,r.verticalPlacedIconSymbolIndex)}this.text.indexBuffer&&this.text.indexBuffer.updateData(this.text.indexArray),this.icon.indexBuffer&&this.icon.indexBuffer.updateData(this.icon.indexArray)}}};C("SymbolBucket",iy,{omit:["layers","collisionBoxArray","features","compareText"]});function Xb(t,e){return e.replace(/{([^{}]+)}/g,(r,i)=>t&&i in t?String(t[i]):"")}var Yb,Wb=()=>Yb||(Yb=new Xt({"symbol-placement":new V(w.layout_symbol["symbol-placement"],"symbol-placement"),"symbol-spacing":new V(w.layout_symbol["symbol-spacing"],"symbol-spacing"),"symbol-avoid-edges":new V(w.layout_symbol["symbol-avoid-edges"],"symbol-avoid-edges"),"symbol-sort-key":new N(w.layout_symbol["symbol-sort-key"],"symbol-sort-key"),"symbol-z-order":new V(w.layout_symbol["symbol-z-order"],"symbol-z-order"),"icon-allow-overlap":new V(w.layout_symbol["icon-allow-overlap"],"icon-allow-overlap"),"icon-overlap":new V(w.layout_symbol["icon-overlap"],"icon-overlap"),"icon-ignore-placement":new V(w.layout_symbol["icon-ignore-placement"],"icon-ignore-placement"),"icon-optional":new V(w.layout_symbol["icon-optional"],"icon-optional"),"icon-rotation-alignment":new N(w.layout_symbol["icon-rotation-alignment"],"icon-rotation-alignment"),"icon-size":new N(w.layout_symbol["icon-size"],"icon-size"),"icon-text-fit":new V(w.layout_symbol["icon-text-fit"],"icon-text-fit"),"icon-text-fit-padding":new V(w.layout_symbol["icon-text-fit-padding"],"icon-text-fit-padding"),"icon-image":new N(w.layout_symbol["icon-image"],"icon-image"),"icon-rotate":new N(w.layout_symbol["icon-rotate"],"icon-rotate"),"icon-padding":new N(w.layout_symbol["icon-padding"],"icon-padding"),"icon-keep-upright":new V(w.layout_symbol["icon-keep-upright"],"icon-keep-upright"),"icon-offset":new N(w.layout_symbol["icon-offset"],"icon-offset"),"icon-anchor":new N(w.layout_symbol["icon-anchor"],"icon-anchor"),"icon-pitch-alignment":new V(w.layout_symbol["icon-pitch-alignment"],"icon-pitch-alignment"),"text-pitch-alignment":new V(w.layout_symbol["text-pitch-alignment"],"text-pitch-alignment"),"text-rotation-alignment":new V(w.layout_symbol["text-rotation-alignment"],"text-rotation-alignment"),"text-field":new N(w.layout_symbol["text-field"],"text-field"),"text-font":new N(w.layout_symbol["text-font"],"text-font"),"text-size":new N(w.layout_symbol["text-size"],"text-size"),"text-max-width":new N(w.layout_symbol["text-max-width"],"text-max-width"),"text-line-height":new V(w.layout_symbol["text-line-height"],"text-line-height"),"text-letter-spacing":new N(w.layout_symbol["text-letter-spacing"],"text-letter-spacing"),"text-justify":new N(w.layout_symbol["text-justify"],"text-justify"),"text-radial-offset":new N(w.layout_symbol["text-radial-offset"],"text-radial-offset"),"text-variable-anchor":new V(w.layout_symbol["text-variable-anchor"],"text-variable-anchor"),"text-variable-anchor-offset":new N(w.layout_symbol["text-variable-anchor-offset"],"text-variable-anchor-offset"),"text-anchor":new N(w.layout_symbol["text-anchor"],"text-anchor"),"text-max-angle":new V(w.layout_symbol["text-max-angle"],"text-max-angle"),"text-writing-mode":new V(w.layout_symbol["text-writing-mode"],"text-writing-mode"),"text-rotate":new N(w.layout_symbol["text-rotate"],"text-rotate"),"text-padding":new V(w.layout_symbol["text-padding"],"text-padding"),"text-keep-upright":new V(w.layout_symbol["text-keep-upright"],"text-keep-upright"),"text-transform":new N(w.layout_symbol["text-transform"],"text-transform"),"text-offset":new N(w.layout_symbol["text-offset"],"text-offset"),"text-allow-overlap":new V(w.layout_symbol["text-allow-overlap"],"text-allow-overlap"),"text-overlap":new V(w.layout_symbol["text-overlap"],"text-overlap"),"text-ignore-placement":new V(w.layout_symbol["text-ignore-placement"],"text-ignore-placement"),"text-optional":new V(w.layout_symbol["text-optional"],"text-optional"),"symbol-height-offset":new N(w.layout_symbol["symbol-height-offset"],"symbol-height-offset"),"symbol-height-anchor":new V(w.layout_symbol["symbol-height-anchor"],"symbol-height-anchor")})),Zb,Hb=()=>Zb||(Zb=new Xt({"icon-opacity":new N(w.paint_symbol["icon-opacity"],"icon-opacity"),"icon-color":new N(w.paint_symbol["icon-color"],"icon-color"),"icon-halo-color":new N(w.paint_symbol["icon-halo-color"],"icon-halo-color"),"icon-halo-width":new N(w.paint_symbol["icon-halo-width"],"icon-halo-width"),"icon-halo-blur":new N(w.paint_symbol["icon-halo-blur"],"icon-halo-blur"),"icon-translate":new V(w.paint_symbol["icon-translate"],"icon-translate"),"icon-translate-anchor":new V(w.paint_symbol["icon-translate-anchor"],"icon-translate-anchor"),"text-opacity":new N(w.paint_symbol["text-opacity"],"text-opacity"),"text-color":new N(w.paint_symbol["text-color"],"text-color",{runtimeType:ce,getOverride:t=>t.textColor,hasOverride:t=>!!t.textColor}),"text-halo-color":new N(w.paint_symbol["text-halo-color"],"text-halo-color"),"text-halo-width":new N(w.paint_symbol["text-halo-width"],"text-halo-width"),"text-halo-blur":new N(w.paint_symbol["text-halo-blur"],"text-halo-blur"),"text-translate":new V(w.paint_symbol["text-translate"],"text-translate"),"text-translate-anchor":new V(w.paint_symbol["text-translate-anchor"],"text-translate-anchor")})),Ys={get paint(){return Hb()},get layout(){return Wb()}},ny=class{constructor(t){if(t.property.overrides===void 0)throw Error("overrides must be provided to instantiate FormatSectionOverride class");this.type=t.property.overrides?t.property.overrides.runtimeType:dn,this.defaultValue=t}evaluate(t){if(t.formattedSection){let e=this.defaultValue.property.overrides;if(e!=null&&e.hasOverride(t.formattedSection))return e.getOverride(t.formattedSection)}return t.feature&&t.featureState?this.defaultValue.evaluate(t.feature,t.featureState):this.defaultValue.property.specification.default}eachChild(t){if(!this.defaultValue.isConstant()){let e=this.defaultValue.value;t(e._styleExpression.expression)}}outputDefined(){return!1}serialize(){return null}};C("FormatSectionOverride",ny,{omit:["defaultValue"]});var Kb=class ol extends de{constructor(e,r){super(e,Ys,r)}recalculate(e,r){super.recalculate(e,r);let i=this.layout.get("icon-rotation-alignment");if((i.value.kind!=="constant"||i.value.value==="auto")&&(this.layout._values["icon-rotation-alignment"]=new se(i.property,{kind:"constant",value:this.layout.get("symbol-placement")==="point"?"viewport":"map"},i.parameters)),this.layout.get("text-rotation-alignment")==="auto"&&(this.layout.get("symbol-placement")==="point"?this.layout._values["text-rotation-alignment"]="viewport":this.layout._values["text-rotation-alignment"]="map"),this.layout.get("text-pitch-alignment")==="auto"&&(this.layout._values["text-pitch-alignment"]=this.layout.get("text-rotation-alignment")==="map"?"map":"viewport"),this.layout.get("icon-pitch-alignment")==="auto"&&(this.layout._values["icon-pitch-alignment"]=this.layout.get("icon-rotation-alignment").constantOr("viewport")),this.layout.get("symbol-placement")==="point"){let n=this.layout.get("text-writing-mode");if(n){let a=[];for(let s of n)a.includes(s)||a.push(s);this.layout._values["text-writing-mode"]=a}else this.layout._values["text-writing-mode"]=["horizontal"]}this._setPaintOverrides()}getValueAndResolveTokens(e,r,i,n){let a=this.layout.get(e).evaluate(r,{},i,n),s=this._unevaluatedLayout._values[e];return!s.isDataDriven()&&!ja(s.value)&&a?Xb(r.properties,a):a}createBucket(e){return new iy(e)}queryRadius(){return 0}queryIntersectsFeature(){throw Error("Should take a different path in FeatureIndex")}_setPaintOverrides(){for(let e of Ys.paint.overridableProperties){if(!ol.hasPaintOverride(this.layout,e))continue;let r=this.paint.get(e),i=new Il(new ny(r),`layers[${this.id}].paint.${r.property.name}`,r.property.specification),n=null;n=r.value.kind==="constant"||r.value.kind==="source"?new an("source",i):new wa("composite",i,r.value.zoomStops),this.paint._values[e]=new se(r.property,n,r.parameters)}}_handleOverridablePaintPropertyUpdate(e,r,i){return!this.layout||r.isDataDriven()||i.isDataDriven()?!1:ol.hasPaintOverride(this.layout,e)}static hasPaintOverride(e,r){let i=e.get("text-field"),n=Ys.paint.properties[r],a=!1,s=o=>{var l;for(let u of o)if((l=n.overrides)!=null&&l.hasOverride(u)){a=!0;return}};if(i.value.kind==="constant"&&i.value.value instanceof ze)s(i.value.value.sections);else if(i.value.kind==="source"||i.value.kind==="composite"){let o=u=>{if(!a)if(u instanceof ri&&_t(u.value)===yn){let h=u.value;s(h.sections)}else u instanceof Ep?s(u.sections):u.eachChild(o)},l=i.value;l._styleExpression&&o(l._styleExpression.expression)}return a}};function Jb(t,e,r,i=1){var a;let n=(a=t.get("icon-padding").evaluate(e,{},r))==null?void 0:a.values;return[n[0]*i,n[1]*i,n[2]*i,n[3]*i]}var Qb,tw=()=>Qb||(Qb=new Xt({"background-color":new V(w.paint_background["background-color"],"background-color"),"background-pattern":new Lf(w.paint_background["background-pattern"],"background-pattern"),"background-opacity":new V(w.paint_background["background-opacity"],"background-opacity")})),ew={get paint(){return tw()}};var rw=class extends de{constructor(t,e){super(t,ew,e)}};var iw=class extends de{constructor(t,e){super(t,{},e),this.onAdd=r=>{this.implementation.onAdd&&this.implementation.onAdd(r,r.painter.context.gl)},this.onRemove=r=>{this.implementation.onRemove&&this.implementation.onRemove(r,r.painter.context.gl)},this.implementation=t}is3D(){return this.implementation.renderingMode==="3d"}hasOffscreenPass(){return this.implementation.prerender!==void 0}recalculate(){}updateTransitions(){}hasTransition(){return!1}serialize(){throw Error("Custom layers cannot be serialized")}};function ay(t,e){if(t.type==="custom")return new iw(t,e);switch(t.type){case"background":return new rw(t,e);case"circle":return new Bg(t,e);case"color-relief":return new Yg(t,e);case"fill":return new Ex(t,e);case"fill-extrusion":return new Hx(t,e);case"heatmap":return new Rg(t,e);case"hillshade":return new qg(t,e);case"line":return new G2(t,e);case"raster":return new Xm(t,e);case"symbol":return new Kb(t,e)}}var nw=class{constructor(t){this._methodToThrottle=t,this._triggered=!1,this._channel=new MessageChannel,this._channel.port2.onmessage=()=>{this._triggered=!1,this._methodToThrottle()}}trigger(){var t;this._triggered||(this._triggered=!0,(t=this._channel)==null||t.port1.postMessage(!0))}remove(){delete this._channel,this._methodToThrottle=()=>{}}},aw={once:!0},sy=class{constructor(t,e){this.target=t,this.mapId=e,this.resolveRejects={},this.tasks={},this.taskQueue=[],this.abortControllers={},this.messageHandlers={},this.invoker=new nw(()=>this.process()),this.subscription=hh(this.target,"message",r=>this.receive(r),!1),this.globalScope=mr(self)?t:window}registerMessageHandler(t,e){this.messageHandlers[t]=e}unregisterMessageHandler(t){delete this.messageHandlers[t]}sendAsync(t,e){return new Promise((r,i)=>{let n=Math.round(Math.random()*1e18).toString(36).substring(0,10),a=e?hh(e.signal,"abort",()=>{a==null||a.unsubscribe(),delete this.resolveRejects[n];let l={id:n,type:"",origin:location.origin,targetMapId:t.targetMapId,sourceMapId:this.mapId};this.target.postMessage(l),i(new dl(e.signal.reason))},aw):null;this.resolveRejects[n]={resolve:l=>{a==null||a.unsubscribe(),r(l)},reject:l=>{a==null||a.unsubscribe(),i(l)}};let s=[],o=Si(je({},t),{id:n,sourceMapId:this.mapId,origin:location.origin,data:Yi(t.data,s)});this.target.postMessage(o,{transfer:s})})}receive(t){let e=t.data,r=e.id,i=["file://","resource://android","null"],n=[e.origin,location.origin],a=e.origin===location.origin,s=n.some(o=>i.includes(o));if((a||s)&&!(e.targetMapId&&this.mapId!==e.targetMapId)){if(e.type===""){delete this.tasks[r];let o=this.abortControllers[r];delete this.abortControllers[r],o&&o.abort();return}if(mr(self)||e.mustQueue){this.tasks[r]=e,this.taskQueue.push(r),this.invoker.trigger();return}this.processTask(r,e)}}process(){if(this.taskQueue.length===0)return;let t=this.taskQueue.shift(),e=this.tasks[t];delete this.tasks[t],this.taskQueue.length>0&&this.invoker.trigger(),e&&this.processTask(t,e)}processTask(t,e){return rt(this,null,function*(){if(e.type===""){let n=this.resolveRejects[t];if(delete this.resolveRejects[t],!n)return;e.error?n.reject(Ki(Wi(e.error))):n.resolve(Wi(e.data));return}if(!this.messageHandlers[e.type]){this.completeTask(t,null,null);return}let r=Wi(e.data),i=new AbortController;this.abortControllers[t]=i;try{let n=yield this.messageHandlers[e.type](e.sourceMapId,r,i);this.completeTask(t,null,n)}catch(n){this.completeTask(t,Ki(n))}})}completeTask(t,e,r){let i=[];delete this.abortControllers[t];let n={id:t,type:"",sourceMapId:this.mapId,origin:location.origin,error:e?Yi(e):null,data:Yi(r,i)};this.target.postMessage(n,{transfer:i})}remove(){this.invoker.remove(),this.subscription.unsubscribe()}};function sw(t,e,r){return!(t<0||t>25||r<0||r>=2**t||e<0||e>=2**t)}var oy=class{constructor(t,e,r){if(!sw(t,e,r))throw Error(`x=${e}, y=${r}, z=${t} outside of bounds. 0<=x<${2**t}, 0<=y<${2**t} 0<=z<=25 `);this.z=t,this.x=e,this.y=r,this.key=Hi(0,t,t,e,r)}equals(t){return this.z===t.z&&this.x===t.x&&this.y===t.y}url(t,e,r){let i=lw(this.x,this.y,this.z),n=uw(this.z,this.x,this.y);return t[(this.x+this.y)%t.length].replace(/{prefix}/g,(this.x%16).toString(16)+(this.y%16).toString(16)).replace(/{z}/g,String(this.z)).replace(/{x}/g,String(this.x)).replace(/{y}/g,String(r==="tms"?2**this.z-this.y-1:this.y)).replace(/{ratio}/g,e>1?"@2x":"").replace(/{quadkey}/g,n).replace(/{bbox-epsg-3857}/g,i)}isChildOf(t){let e=this.z-t.z;return e>0&&t.x===this.x>>e&&t.y===this.y>>e}getTilePoint(t){let e=2**this.z;return new B((t.x*e-this.x)*mt,(t.y*e-this.y)*mt)}toString(){return`${this.z}/${this.x}/${this.y}`}},ow=class{constructor(t,e){this.wrap=t,this.canonical=e,this.key=Hi(t,e.z,e.z,e.x,e.y)}},uu=class ne{constructor(e,r,i,n,a){if(this.terrainRttPosMatrix32f=null,e= z; overscaledZ = ${e}; z = ${i}`);this.overscaledZ=e,this.wrap=r,this.canonical=new oy(i,+n,+a),this.key=Hi(r,e,i,n,a)}clone(){return new ne(this.overscaledZ,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y)}equals(e){return this.overscaledZ===e.overscaledZ&&this.wrap===e.wrap&&this.canonical.equals(e.canonical)}scaledTo(e){if(e>this.overscaledZ)throw Error(`targetZ > this.overscaledZ; targetZ = ${e}; overscaledZ = ${this.overscaledZ}`);let r=this.canonical.z-e;return e>this.canonical.z?new ne(e,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y):new ne(e,this.wrap,e,this.canonical.x>>r,this.canonical.y>>r)}isOverscaled(){return this.overscaledZ>this.canonical.z}calculateScaledKey(e,r){if(e>this.overscaledZ)throw Error(`targetZ > this.overscaledZ; targetZ = ${e}; overscaledZ = ${this.overscaledZ}`);let i=this.canonical.z-e;return e>this.canonical.z?Hi(this.wrap*+r,e,this.canonical.z,this.canonical.x,this.canonical.y):Hi(this.wrap*+r,e,e,this.canonical.x>>i,this.canonical.y>>i)}isChildOf(e){if(e.wrap!==this.wrap||this.overscaledZ-e.overscaledZ<=0)return!1;if(e.overscaledZ===0)return this.overscaledZ>0;let r=this.canonical.z-e.canonical.z;return r<0?!1:e.canonical.x===this.canonical.x>>r&&e.canonical.y===this.canonical.y>>r}children(e){if(this.overscaledZ>=e)return[new ne(this.overscaledZ+1,this.wrap,this.canonical.z,this.canonical.x,this.canonical.y)];let r=this.canonical.z+1,i=this.canonical.x*2,n=this.canonical.y*2;return[new ne(r,this.wrap,r,i,n),new ne(r,this.wrap,r,i+1,n),new ne(r,this.wrap,r,i,n+1),new ne(r,this.wrap,r,i+1,n+1)]}isLessThan(e){return this.wrape.wrap?!1:this.overscaledZe.overscaledZ?!1:this.canonical.xe.canonical.x?!1:this.canonical.y=0&&e=0&&r=u)return null;let c=this.canonical.x+n,p=this.wrap;return c<0?(p-=Math.ceil(-c/u),c=(c%u+u)%u):c>=u&&(p+=Math.floor(c/u),c%=u),{tileID:new ne(this.overscaledZ,p,l,c,h),x:s,y:o}}};function Hi(t,e,r,i,n){t*=2,t<0&&(t=t*-1-1);let a=1<0;n--){let a=1<pw(n,a,r),t.layers[i])}function pw(t,e,r=""){e.writeVarintField(15,t.version||1),e.writeStringField(1,t.name||""),e.writeVarintField(5,t.extent||4096);let i={jsonPrefix:r,keys:[],values:[],keycache:{},valuecache:{}};for(let s=0;s>31}function yw(t,e){let r=t.loadGeometry(),i=t.type,n=0,a=0;for(let s of r){let o=1;i===1&&(o=s.length),e.writeVarint(Zs(1,o));let l=i===3?s.length-1:s.length;for(let u=0;u=this._numberToString.length)throw Error(`Out of bounds. Index requested n=${t} can\'t be >= this._numberToString.length ${this._numberToString.length}`);return this._numberToString[t]}},gw=class{constructor(t,e,r,i,n){this.type="Feature",this._vectorTileFeature=t,this._x=r,this._y=i,this._z=e;for(let a in t.properties)typeof t.properties[a]=="string"&&t.properties[a].startsWith("__$json__:")&&(t.properties[a]=JSON.parse(t.properties[a].slice(10)));this.properties=t.properties,this.id=n}projectPoint(t,e,r,i){return[(t.x+e)*360/i-180,360/Math.PI*Math.atan(Math.exp((1-(t.y+r)*2/i)*Math.PI))-90]}projectLine(t,e,r,i){return t.map(n=>this.projectPoint(n,e,r,i))}get geometry(){if(this._geometry)return this._geometry;let t=this._vectorTileFeature,e=t.extent*2**this._z,r=t.extent*this._x,i=t.extent*this._y,n=t.loadGeometry();switch(t.type){case 1:{let a=[];for(let o of n)a.push(o[0]);let s=this.projectLine(a,r,i,e);this._geometry=a.length===1?{type:"Point",coordinates:s[0]}:{type:"MultiPoint",coordinates:s};break}case 2:{let a=n.map(s=>this.projectLine(s,r,i,e));this._geometry=a.length===1?{type:"LineString",coordinates:a[0]}:{type:"MultiLineString",coordinates:a};break}case 3:{let a=dd(n),s=[];for(let o of a)s.push(o.map(l=>this.projectLine(l,r,i,e)));this._geometry=s.length===1?{type:"Polygon",coordinates:s[0]}:{type:"MultiPolygon",coordinates:s};break}default:throw Error(`unknown feature type: ${t.type}`)}return this._geometry}set geometry(t){this._geometry=t}toJSON(){let t={geometry:this.geometry};for(let e in this)e!=="_geometry"&&e!=="_vectorTileFeature"&&e!=="_x"&&e!=="_y"&&e!=="_z"&&(t[e]=this[e]);return t}},Sr=class{constructor(t,e,r){this._name=t,this.dataBuffer=e,typeof r=="number"?this._size=r:(this.nullabilityBuffer=r,this._size=r.size())}getValue(t){return this.nullabilityBuffer&&!this.nullabilityBuffer.get(t)?null:this.getValueFromBuffer(t)}has(t){var e;return((e=this.nullabilityBuffer)==null?void 0:e.get(t))||!this.nullabilityBuffer}get name(){return this._name}get size(){return this._size}},ts=class extends Sr{},pu=class extends ts{getValueFromBuffer(t){return this.dataBuffer[t]}},fu=class extends ts{getValueFromBuffer(t){return this.dataBuffer[t]}},uy=class extends Sr{constructor(t,e,r,i){super(t,e,i),this.delta=r}},du=class extends uy{constructor(t,e,r,i,n){super(t,n?Int32Array.of(e):Uint32Array.of(e),r,i)}getValueFromBuffer(t){return this.dataBuffer[0]+t*this.delta}},yu=class extends Sr{constructor(t,e,r,i){super(t,i?Int32Array.of(e):Uint32Array.of(e),r)}getValueFromBuffer(t){return this.dataBuffer[0]}},xw=class{constructor(t,e,r,i,n=4096){if(this._name=t,this._geometryVector=e,this._idVector=r,this._propertyVectors=i,this._extent=n,t.length===0)throw Error("Missing layer name")}get name(){return this._name}get idVector(){return this._idVector}get geometryVector(){return this._geometryVector}get propertyVectors(){var t;return(t=this._propertyVectors)!=null?t:[]}getPropertyVector(t){return this.propertyVectorsMap||(this.propertyVectorsMap=new Map(this.propertyVectors.map(e=>[e.name,e]))),this.propertyVectorsMap.get(t)}get numFeatures(){return this.geometryVector.numGeometries}get extent(){return this._extent}getFeatures(){let t=[],e=this.geometryVector.getGeometries();for(let r=0;r>>32-t;var ul=mu,py=65536;function gu(t,e){return t-t%e}function vw(t){return gu(t+31,32)}function bw(t){if(!Number.isFinite(t)||t<=0)return py;let e=gu(Math.floor(t),256);return e===0?256:e}function ww(t){let e=t>>>0;return((e&255)<<24|(e&65280)<<8|e>>>8&65280|e>>>24&255)>>>0}function Dw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0;r[n++]=a>>>0&3,r[n++]=a>>>2&3,r[n++]=a>>>4&3,r[n++]=a>>>6&3,r[n++]=a>>>8&3,r[n++]=a>>>10&3,r[n++]=a>>>12&3,r[n++]=a>>>14&3,r[n++]=a>>>16&3,r[n++]=a>>>18&3,r[n++]=a>>>20&3,r[n++]=a>>>22&3,r[n++]=a>>>24&3,r[n++]=a>>>26&3,r[n++]=a>>>28&3,r[n++]=a>>>30&3,r[n++]=s>>>0&3,r[n++]=s>>>2&3,r[n++]=s>>>4&3,r[n++]=s>>>6&3,r[n++]=s>>>8&3,r[n++]=s>>>10&3,r[n++]=s>>>12&3,r[n++]=s>>>14&3,r[n++]=s>>>16&3,r[n++]=s>>>18&3,r[n++]=s>>>20&3,r[n++]=s>>>22&3,r[n++]=s>>>24&3,r[n++]=s>>>26&3,r[n++]=s>>>28&3,r[n]=s>>>30&3}function _w(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0;r[n++]=a>>>0&7,r[n++]=a>>>3&7,r[n++]=a>>>6&7,r[n++]=a>>>9&7,r[n++]=a>>>12&7,r[n++]=a>>>15&7,r[n++]=a>>>18&7,r[n++]=a>>>21&7,r[n++]=a>>>24&7,r[n++]=a>>>27&7,r[n++]=(a>>>30|(s&1)<<2)&7,r[n++]=s>>>1&7,r[n++]=s>>>4&7,r[n++]=s>>>7&7,r[n++]=s>>>10&7,r[n++]=s>>>13&7,r[n++]=s>>>16&7,r[n++]=s>>>19&7,r[n++]=s>>>22&7,r[n++]=s>>>25&7,r[n++]=s>>>28&7,r[n++]=(s>>>31|(o&3)<<1)&7,r[n++]=o>>>2&7,r[n++]=o>>>5&7,r[n++]=o>>>8&7,r[n++]=o>>>11&7,r[n++]=o>>>14&7,r[n++]=o>>>17&7,r[n++]=o>>>20&7,r[n++]=o>>>23&7,r[n++]=o>>>26&7,r[n]=o>>>29&7}function Aw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0;r[n++]=a>>>0&15,r[n++]=a>>>4&15,r[n++]=a>>>8&15,r[n++]=a>>>12&15,r[n++]=a>>>16&15,r[n++]=a>>>20&15,r[n++]=a>>>24&15,r[n++]=a>>>28&15,r[n++]=s>>>0&15,r[n++]=s>>>4&15,r[n++]=s>>>8&15,r[n++]=s>>>12&15,r[n++]=s>>>16&15,r[n++]=s>>>20&15,r[n++]=s>>>24&15,r[n++]=s>>>28&15,r[n++]=o>>>0&15,r[n++]=o>>>4&15,r[n++]=o>>>8&15,r[n++]=o>>>12&15,r[n++]=o>>>16&15,r[n++]=o>>>20&15,r[n++]=o>>>24&15,r[n++]=o>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n]=l>>>28&15}function Sw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0;r[n++]=a>>>0&31,r[n++]=a>>>5&31,r[n++]=a>>>10&31,r[n++]=a>>>15&31,r[n++]=a>>>20&31,r[n++]=a>>>25&31,r[n++]=(a>>>30|(s&7)<<2)&31,r[n++]=s>>>3&31,r[n++]=s>>>8&31,r[n++]=s>>>13&31,r[n++]=s>>>18&31,r[n++]=s>>>23&31,r[n++]=(s>>>28|(o&1)<<4)&31,r[n++]=o>>>1&31,r[n++]=o>>>6&31,r[n++]=o>>>11&31,r[n++]=o>>>16&31,r[n++]=o>>>21&31,r[n++]=o>>>26&31,r[n++]=(o>>>31|(l&15)<<1)&31,r[n++]=l>>>4&31,r[n++]=l>>>9&31,r[n++]=l>>>14&31,r[n++]=l>>>19&31,r[n++]=l>>>24&31,r[n++]=(l>>>29|(u&3)<<3)&31,r[n++]=u>>>2&31,r[n++]=u>>>7&31,r[n++]=u>>>12&31,r[n++]=u>>>17&31,r[n++]=u>>>22&31,r[n]=u>>>27&31}function Ew(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0;r[n++]=a>>>0&63,r[n++]=a>>>6&63,r[n++]=a>>>12&63,r[n++]=a>>>18&63,r[n++]=a>>>24&63,r[n++]=(a>>>30|(s&15)<<2)&63,r[n++]=s>>>4&63,r[n++]=s>>>10&63,r[n++]=s>>>16&63,r[n++]=s>>>22&63,r[n++]=(s>>>28|(o&3)<<4)&63,r[n++]=o>>>2&63,r[n++]=o>>>8&63,r[n++]=o>>>14&63,r[n++]=o>>>20&63,r[n++]=o>>>26&63,r[n++]=l>>>0&63,r[n++]=l>>>6&63,r[n++]=l>>>12&63,r[n++]=l>>>18&63,r[n++]=l>>>24&63,r[n++]=(l>>>30|(u&15)<<2)&63,r[n++]=u>>>4&63,r[n++]=u>>>10&63,r[n++]=u>>>16&63,r[n++]=u>>>22&63,r[n++]=(u>>>28|(h&3)<<4)&63,r[n++]=h>>>2&63,r[n++]=h>>>8&63,r[n++]=h>>>14&63,r[n++]=h>>>20&63,r[n]=h>>>26&63}function Fw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0;r[n++]=a>>>0&127,r[n++]=a>>>7&127,r[n++]=a>>>14&127,r[n++]=a>>>21&127,r[n++]=(a>>>28|(s&7)<<4)&127,r[n++]=s>>>3&127,r[n++]=s>>>10&127,r[n++]=s>>>17&127,r[n++]=s>>>24&127,r[n++]=(s>>>31|(o&63)<<1)&127,r[n++]=o>>>6&127,r[n++]=o>>>13&127,r[n++]=o>>>20&127,r[n++]=(o>>>27|(l&3)<<5)&127,r[n++]=l>>>2&127,r[n++]=l>>>9&127,r[n++]=l>>>16&127,r[n++]=l>>>23&127,r[n++]=(l>>>30|(u&31)<<2)&127,r[n++]=u>>>5&127,r[n++]=u>>>12&127,r[n++]=u>>>19&127,r[n++]=(u>>>26|(h&1)<<6)&127,r[n++]=h>>>1&127,r[n++]=h>>>8&127,r[n++]=h>>>15&127,r[n++]=h>>>22&127,r[n++]=(h>>>29|(c&15)<<3)&127,r[n++]=c>>>4&127,r[n++]=c>>>11&127,r[n++]=c>>>18&127,r[n]=c>>>25&127}function kw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0;r[n++]=a>>>0&255,r[n++]=a>>>8&255,r[n++]=a>>>16&255,r[n++]=a>>>24&255,r[n++]=s>>>0&255,r[n++]=s>>>8&255,r[n++]=s>>>16&255,r[n++]=s>>>24&255,r[n++]=o>>>0&255,r[n++]=o>>>8&255,r[n++]=o>>>16&255,r[n++]=o>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n++]=h>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=p>>>0&255,r[n++]=p>>>8&255,r[n++]=p>>>16&255,r[n]=p>>>24&255}function Tw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0;r[n++]=a>>>0&511,r[n++]=a>>>9&511,r[n++]=a>>>18&511,r[n++]=(a>>>27|(s&15)<<5)&511,r[n++]=s>>>4&511,r[n++]=s>>>13&511,r[n++]=s>>>22&511,r[n++]=(s>>>31|(o&255)<<1)&511,r[n++]=o>>>8&511,r[n++]=o>>>17&511,r[n++]=(o>>>26|(l&7)<<6)&511,r[n++]=l>>>3&511,r[n++]=l>>>12&511,r[n++]=l>>>21&511,r[n++]=(l>>>30|(u&127)<<2)&511,r[n++]=u>>>7&511,r[n++]=u>>>16&511,r[n++]=(u>>>25|(h&3)<<7)&511,r[n++]=h>>>2&511,r[n++]=h>>>11&511,r[n++]=h>>>20&511,r[n++]=(h>>>29|(c&63)<<3)&511,r[n++]=c>>>6&511,r[n++]=c>>>15&511,r[n++]=(c>>>24|(p&1)<<8)&511,r[n++]=p>>>1&511,r[n++]=p>>>10&511,r[n++]=p>>>19&511,r[n++]=(p>>>28|(f&31)<<4)&511,r[n++]=f>>>5&511,r[n++]=f>>>14&511,r[n]=f>>>23&511}function Iw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0;r[n++]=a>>>0&1023,r[n++]=a>>>10&1023,r[n++]=a>>>20&1023,r[n++]=(a>>>30|(s&255)<<2)&1023,r[n++]=s>>>8&1023,r[n++]=s>>>18&1023,r[n++]=(s>>>28|(o&63)<<4)&1023,r[n++]=o>>>6&1023,r[n++]=o>>>16&1023,r[n++]=(o>>>26|(l&15)<<6)&1023,r[n++]=l>>>4&1023,r[n++]=l>>>14&1023,r[n++]=(l>>>24|(u&3)<<8)&1023,r[n++]=u>>>2&1023,r[n++]=u>>>12&1023,r[n++]=u>>>22&1023,r[n++]=h>>>0&1023,r[n++]=h>>>10&1023,r[n++]=h>>>20&1023,r[n++]=(h>>>30|(c&255)<<2)&1023,r[n++]=c>>>8&1023,r[n++]=c>>>18&1023,r[n++]=(c>>>28|(p&63)<<4)&1023,r[n++]=p>>>6&1023,r[n++]=p>>>16&1023,r[n++]=(p>>>26|(f&15)<<6)&1023,r[n++]=f>>>4&1023,r[n++]=f>>>14&1023,r[n++]=(f>>>24|(d&3)<<8)&1023,r[n++]=d>>>2&1023,r[n++]=d>>>12&1023,r[n]=d>>>22&1023}function Cw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0,y=t[e+10]>>>0;r[n++]=a>>>0&2047,r[n++]=a>>>11&2047,r[n++]=(a>>>22|(s&1)<<10)&2047,r[n++]=s>>>1&2047,r[n++]=s>>>12&2047,r[n++]=(s>>>23|(o&3)<<9)&2047,r[n++]=o>>>2&2047,r[n++]=o>>>13&2047,r[n++]=(o>>>24|(l&7)<<8)&2047,r[n++]=l>>>3&2047,r[n++]=l>>>14&2047,r[n++]=(l>>>25|(u&15)<<7)&2047,r[n++]=u>>>4&2047,r[n++]=u>>>15&2047,r[n++]=(u>>>26|(h&31)<<6)&2047,r[n++]=h>>>5&2047,r[n++]=h>>>16&2047,r[n++]=(h>>>27|(c&63)<<5)&2047,r[n++]=c>>>6&2047,r[n++]=c>>>17&2047,r[n++]=(c>>>28|(p&127)<<4)&2047,r[n++]=p>>>7&2047,r[n++]=p>>>18&2047,r[n++]=(p>>>29|(f&255)<<3)&2047,r[n++]=f>>>8&2047,r[n++]=f>>>19&2047,r[n++]=(f>>>30|(d&511)<<2)&2047,r[n++]=d>>>9&2047,r[n++]=d>>>20&2047,r[n++]=(d>>>31|(y&1023)<<1)&2047,r[n++]=y>>>10&2047,r[n]=y>>>21&2047}function Mw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0,y=t[e+10]>>>0,m=t[e+11]>>>0;r[n++]=a>>>0&4095,r[n++]=a>>>12&4095,r[n++]=(a>>>24|(s&15)<<8)&4095,r[n++]=s>>>4&4095,r[n++]=s>>>16&4095,r[n++]=(s>>>28|(o&255)<<4)&4095,r[n++]=o>>>8&4095,r[n++]=o>>>20&4095,r[n++]=l>>>0&4095,r[n++]=l>>>12&4095,r[n++]=(l>>>24|(u&15)<<8)&4095,r[n++]=u>>>4&4095,r[n++]=u>>>16&4095,r[n++]=(u>>>28|(h&255)<<4)&4095,r[n++]=h>>>8&4095,r[n++]=h>>>20&4095,r[n++]=c>>>0&4095,r[n++]=c>>>12&4095,r[n++]=(c>>>24|(p&15)<<8)&4095,r[n++]=p>>>4&4095,r[n++]=p>>>16&4095,r[n++]=(p>>>28|(f&255)<<4)&4095,r[n++]=f>>>8&4095,r[n++]=f>>>20&4095,r[n++]=d>>>0&4095,r[n++]=d>>>12&4095,r[n++]=(d>>>24|(y&15)<<8)&4095,r[n++]=y>>>4&4095,r[n++]=y>>>16&4095,r[n++]=(y>>>28|(m&255)<<4)&4095,r[n++]=m>>>8&4095,r[n]=m>>>20&4095}function Bw(t,e,r,i){let n=i,a=t[e]>>>0,s=t[e+1]>>>0,o=t[e+2]>>>0,l=t[e+3]>>>0,u=t[e+4]>>>0,h=t[e+5]>>>0,c=t[e+6]>>>0,p=t[e+7]>>>0,f=t[e+8]>>>0,d=t[e+9]>>>0,y=t[e+10]>>>0,m=t[e+11]>>>0,g=t[e+12]>>>0,x=t[e+13]>>>0,v=t[e+14]>>>0,b=t[e+15]>>>0;r[n++]=a>>>0&65535,r[n++]=a>>>16&65535,r[n++]=s>>>0&65535,r[n++]=s>>>16&65535,r[n++]=o>>>0&65535,r[n++]=o>>>16&65535,r[n++]=l>>>0&65535,r[n++]=l>>>16&65535,r[n++]=u>>>0&65535,r[n++]=u>>>16&65535,r[n++]=h>>>0&65535,r[n++]=h>>>16&65535,r[n++]=c>>>0&65535,r[n++]=c>>>16&65535,r[n++]=p>>>0&65535,r[n++]=p>>>16&65535,r[n++]=f>>>0&65535,r[n++]=f>>>16&65535,r[n++]=d>>>0&65535,r[n++]=d>>>16&65535,r[n++]=y>>>0&65535,r[n++]=y>>>16&65535,r[n++]=m>>>0&65535,r[n++]=m>>>16&65535,r[n++]=g>>>0&65535,r[n++]=g>>>16&65535,r[n++]=x>>>0&65535,r[n++]=x>>>16&65535,r[n++]=v>>>0&65535,r[n++]=v>>>16&65535,r[n++]=b>>>0&65535,r[n]=b>>>16&65535}function Pw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0;r[n++]=o>>>0&1,r[n++]=o>>>1&1,r[n++]=o>>>2&1,r[n++]=o>>>3&1,r[n++]=o>>>4&1,r[n++]=o>>>5&1,r[n++]=o>>>6&1,r[n++]=o>>>7&1,r[n++]=o>>>8&1,r[n++]=o>>>9&1,r[n++]=o>>>10&1,r[n++]=o>>>11&1,r[n++]=o>>>12&1,r[n++]=o>>>13&1,r[n++]=o>>>14&1,r[n++]=o>>>15&1,r[n++]=o>>>16&1,r[n++]=o>>>17&1,r[n++]=o>>>18&1,r[n++]=o>>>19&1,r[n++]=o>>>20&1,r[n++]=o>>>21&1,r[n++]=o>>>22&1,r[n++]=o>>>23&1,r[n++]=o>>>24&1,r[n++]=o>>>25&1,r[n++]=o>>>26&1,r[n++]=o>>>27&1,r[n++]=o>>>28&1,r[n++]=o>>>29&1,r[n++]=o>>>30&1,r[n++]=o>>>31&1}}function zw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0;r[n++]=o>>>0&3,r[n++]=o>>>2&3,r[n++]=o>>>4&3,r[n++]=o>>>6&3,r[n++]=o>>>8&3,r[n++]=o>>>10&3,r[n++]=o>>>12&3,r[n++]=o>>>14&3,r[n++]=o>>>16&3,r[n++]=o>>>18&3,r[n++]=o>>>20&3,r[n++]=o>>>22&3,r[n++]=o>>>24&3,r[n++]=o>>>26&3,r[n++]=o>>>28&3,r[n++]=o>>>30&3,r[n++]=l>>>0&3,r[n++]=l>>>2&3,r[n++]=l>>>4&3,r[n++]=l>>>6&3,r[n++]=l>>>8&3,r[n++]=l>>>10&3,r[n++]=l>>>12&3,r[n++]=l>>>14&3,r[n++]=l>>>16&3,r[n++]=l>>>18&3,r[n++]=l>>>20&3,r[n++]=l>>>22&3,r[n++]=l>>>24&3,r[n++]=l>>>26&3,r[n++]=l>>>28&3,r[n++]=l>>>30&3}}function Lw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0;r[n++]=o>>>0&7,r[n++]=o>>>3&7,r[n++]=o>>>6&7,r[n++]=o>>>9&7,r[n++]=o>>>12&7,r[n++]=o>>>15&7,r[n++]=o>>>18&7,r[n++]=o>>>21&7,r[n++]=o>>>24&7,r[n++]=o>>>27&7,r[n++]=(o>>>30|(l&1)<<2)&7,r[n++]=l>>>1&7,r[n++]=l>>>4&7,r[n++]=l>>>7&7,r[n++]=l>>>10&7,r[n++]=l>>>13&7,r[n++]=l>>>16&7,r[n++]=l>>>19&7,r[n++]=l>>>22&7,r[n++]=l>>>25&7,r[n++]=l>>>28&7,r[n++]=(l>>>31|(u&3)<<1)&7,r[n++]=u>>>2&7,r[n++]=u>>>5&7,r[n++]=u>>>8&7,r[n++]=u>>>11&7,r[n++]=u>>>14&7,r[n++]=u>>>17&7,r[n++]=u>>>20&7,r[n++]=u>>>23&7,r[n++]=u>>>26&7,r[n++]=u>>>29&7}}function Vw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0;r[n++]=o>>>0&15,r[n++]=o>>>4&15,r[n++]=o>>>8&15,r[n++]=o>>>12&15,r[n++]=o>>>16&15,r[n++]=o>>>20&15,r[n++]=o>>>24&15,r[n++]=o>>>28&15,r[n++]=l>>>0&15,r[n++]=l>>>4&15,r[n++]=l>>>8&15,r[n++]=l>>>12&15,r[n++]=l>>>16&15,r[n++]=l>>>20&15,r[n++]=l>>>24&15,r[n++]=l>>>28&15,r[n++]=u>>>0&15,r[n++]=u>>>4&15,r[n++]=u>>>8&15,r[n++]=u>>>12&15,r[n++]=u>>>16&15,r[n++]=u>>>20&15,r[n++]=u>>>24&15,r[n++]=u>>>28&15,r[n++]=h>>>0&15,r[n++]=h>>>4&15,r[n++]=h>>>8&15,r[n++]=h>>>12&15,r[n++]=h>>>16&15,r[n++]=h>>>20&15,r[n++]=h>>>24&15,r[n++]=h>>>28&15}}function Ow(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0;r[n++]=o>>>0&31,r[n++]=o>>>5&31,r[n++]=o>>>10&31,r[n++]=o>>>15&31,r[n++]=o>>>20&31,r[n++]=o>>>25&31,r[n++]=(o>>>30|(l&7)<<2)&31,r[n++]=l>>>3&31,r[n++]=l>>>8&31,r[n++]=l>>>13&31,r[n++]=l>>>18&31,r[n++]=l>>>23&31,r[n++]=(l>>>28|(u&1)<<4)&31,r[n++]=u>>>1&31,r[n++]=u>>>6&31,r[n++]=u>>>11&31,r[n++]=u>>>16&31,r[n++]=u>>>21&31,r[n++]=u>>>26&31,r[n++]=(u>>>31|(h&15)<<1)&31,r[n++]=h>>>4&31,r[n++]=h>>>9&31,r[n++]=h>>>14&31,r[n++]=h>>>19&31,r[n++]=h>>>24&31,r[n++]=(h>>>29|(c&3)<<3)&31,r[n++]=c>>>2&31,r[n++]=c>>>7&31,r[n++]=c>>>12&31,r[n++]=c>>>17&31,r[n++]=c>>>22&31,r[n++]=c>>>27&31}}function Rw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0,p=t[a++]>>>0;r[n++]=o>>>0&63,r[n++]=o>>>6&63,r[n++]=o>>>12&63,r[n++]=o>>>18&63,r[n++]=o>>>24&63,r[n++]=(o>>>30|(l&15)<<2)&63,r[n++]=l>>>4&63,r[n++]=l>>>10&63,r[n++]=l>>>16&63,r[n++]=l>>>22&63,r[n++]=(l>>>28|(u&3)<<4)&63,r[n++]=u>>>2&63,r[n++]=u>>>8&63,r[n++]=u>>>14&63,r[n++]=u>>>20&63,r[n++]=u>>>26&63,r[n++]=h>>>0&63,r[n++]=h>>>6&63,r[n++]=h>>>12&63,r[n++]=h>>>18&63,r[n++]=h>>>24&63,r[n++]=(h>>>30|(c&15)<<2)&63,r[n++]=c>>>4&63,r[n++]=c>>>10&63,r[n++]=c>>>16&63,r[n++]=c>>>22&63,r[n++]=(c>>>28|(p&3)<<4)&63,r[n++]=p>>>2&63,r[n++]=p>>>8&63,r[n++]=p>>>14&63,r[n++]=p>>>20&63,r[n++]=p>>>26&63}}function $w(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0,p=t[a++]>>>0,f=t[a++]>>>0;r[n++]=o>>>0&127,r[n++]=o>>>7&127,r[n++]=o>>>14&127,r[n++]=o>>>21&127,r[n++]=(o>>>28|(l&7)<<4)&127,r[n++]=l>>>3&127,r[n++]=l>>>10&127,r[n++]=l>>>17&127,r[n++]=l>>>24&127,r[n++]=(l>>>31|(u&63)<<1)&127,r[n++]=u>>>6&127,r[n++]=u>>>13&127,r[n++]=u>>>20&127,r[n++]=(u>>>27|(h&3)<<5)&127,r[n++]=h>>>2&127,r[n++]=h>>>9&127,r[n++]=h>>>16&127,r[n++]=h>>>23&127,r[n++]=(h>>>30|(c&31)<<2)&127,r[n++]=c>>>5&127,r[n++]=c>>>12&127,r[n++]=c>>>19&127,r[n++]=(c>>>26|(p&1)<<6)&127,r[n++]=p>>>1&127,r[n++]=p>>>8&127,r[n++]=p>>>15&127,r[n++]=p>>>22&127,r[n++]=(p>>>29|(f&15)<<3)&127,r[n++]=f>>>4&127,r[n++]=f>>>11&127,r[n++]=f>>>18&127,r[n++]=f>>>25&127}}function Nw(t,e,r,i){let n=i,a=e;for(let s=0;s<8;s++){let o=t[a++]>>>0,l=t[a++]>>>0,u=t[a++]>>>0,h=t[a++]>>>0,c=t[a++]>>>0,p=t[a++]>>>0,f=t[a++]>>>0,d=t[a++]>>>0;r[n++]=o>>>0&255,r[n++]=o>>>8&255,r[n++]=o>>>16&255,r[n++]=o>>>24&255,r[n++]=l>>>0&255,r[n++]=l>>>8&255,r[n++]=l>>>16&255,r[n++]=l>>>24&255,r[n++]=u>>>0&255,r[n++]=u>>>8&255,r[n++]=u>>>16&255,r[n++]=u>>>24&255,r[n++]=h>>>0&255,r[n++]=h>>>8&255,r[n++]=h>>>16&255,r[n++]=h>>>24&255,r[n++]=c>>>0&255,r[n++]=c>>>8&255,r[n++]=c>>>16&255,r[n++]=c>>>24&255,r[n++]=p>>>0&255,r[n++]=p>>>8&255,r[n++]=p>>>16&255,r[n++]=p>>>24&255,r[n++]=f>>>0&255,r[n++]=f>>>8&255,r[n++]=f>>>16&255,r[n++]=f>>>24&255,r[n++]=d>>>0&255,r[n++]=d>>>8&255,r[n++]=d>>>16&255,r[n++]=d>>>24&255}}function Uw(t,e,r,i){let n=i,a=e;for(let s=0;s<128;s++){let o=t[a++]>>>0;r[n++]=o&65535,r[n++]=o>>>16&65535}}function qw(t,e,r,i,n){let a=ul[n]>>>0,s=e,o=0,l=t[s]>>>0,u=i;for(let h=0;h<8;h++){for(let c=0;c<32;c++)if(o+n<=32){let p=l>>>o&a;r[u+c]=p|0,o+=n,o===32&&(o=0,s++,c!==31&&(l=t[s]>>>0))}else{let p=32-o,f=l>>>o;s++,l=t[s]>>>0;let d=n-p,y=-1>>>32-d>>>0,m=(f|(l&y)<>>0)}}var hl=bw(py),jw=3*hl/256+hl|0;function fy(){let t=new Uint8Array(jw);return{dataToBePacked:Array(33),dataPointers:new Int32Array(33),byteContainer:t,byteContainerI32:new Int32Array(t.buffer,t.byteOffset,t.byteLength>>>2),exceptionSizes:new Int32Array(33)}}function Gw(t=16){if(t<0)throw RangeError(`initialEncodedWordCapacity must be >= 0, got ${t}`);let e=Math.max(16,t|0);return{encodedWords:new Uint32Array(e),decoderWorkspace:fy()}}function Xw(t,e){if(e<=t.encodedWords.length)return t.encodedWords;let r=new Uint32Array(Math.max(16,e*2));return t.encodedWords=r,r}function Yw(t,e,r,i){i.byteContainer.length>>2;if(n.byteOffset&3)for(let o=0;o>>8&255,n[u+2|0]=l>>>16&255,n[u+3|0]=l>>>24&255}else{let o=i.byteContainerI32;(!o||o.buffer!==n.buffer||o.byteOffset!==n.byteOffset||o.length>>2)),o.set(t.subarray(e,e+a))}let s=r&3;if(s>0){let o=t[e+a|0]|0,l=a<<2;for(let u=0;u>>(u<<3)&255}return n}function Ww(t,e,r){let i=t[e++]|0,n=r.dataToBePacked;for(let a=2;a<=32;a=a+1|0){if(!(i>>>a-1&1))continue;if(e>=t.length)throw Error(`FastPFOR decode: truncated exception stream header (bitWidth=${a}, streamWordIndex=${e}, needWords=1, availableWords=${t.length-e}, encodedWords=${t.length})`);let s=t[e++]>>>0,o=vw(s),l=s*a+31>>>5;if(e+l>t.length)throw Error(`FastPFOR decode: truncated exception stream (bitWidth=${a}, size=${s}, streamWordIndex=${e}, needWords=${l}, availableWords=${t.length-e}, encodedWords=${t.length})`);let u=n[a];(!u||u.length>>5)|0,r.exceptionSizes[a]=s}return e}function Zw(t,e,r,i,n){switch(n){case 1:Pw(t,e,r,i);break;case 2:zw(t,e,r,i);break;case 3:Lw(t,e,r,i);break;case 4:Vw(t,e,r,i);break;case 5:Ow(t,e,r,i);break;case 6:Rw(t,e,r,i);break;case 7:$w(t,e,r,i);break;case 8:Nw(t,e,r,i);break;case 16:Uw(t,e,r,i);break;default:qw(t,e,r,i,n)}return e+(n<<3)|0}function Hw(t,e,r,i){if(r+2>e)throw Error(`FastPFOR decode: byteContainer underflow at block=${i} (need 2 bytes for [bitWidth, exceptionCount], bytePos=${r}, byteSize=${e})`);let n=t[r++],a=t[r++];if(n>32)throw Error(`FastPFOR decode: invalid bitWidth=${n} at block=${i} (expected 0..32). This likely indicates corrupted or truncated input.`);return{bitWidth:n,exceptionCount:a,bytePosIn:r}}function Kw(t,e,r,i,n,a){if(r+1>e)throw Error(`FastPFOR decode: exception header underflow at block=${a} (need 1 byte for maxBits, bytePos=${r}, byteSize=${e})`);let s=t[r++];if(s32)throw Error(`FastPFOR decode: invalid maxBits=${s} at block=${a} (bitWidth=${i}, expected ${i}..32)`);let o=s-i|0;if(o<1||o>32)throw Error(`FastPFOR decode: invalid exceptionBitWidth=${o} at block=${a} (bitWidth=${i}, maxBits=${s})`);if(r+n>e)throw Error(`FastPFOR decode: exception positions underflow at block=${a} (need=${n}, have=${e-r})`);return{maxBits:s,exceptionBitWidth:o,bytePosIn:r}}function Jw(t,e,r,i,n,a,s,o,l){let{maxBits:u,exceptionBitWidth:h,bytePosIn:c}=Kw(n,a,s,r,i,l);if(s=c,h===1){let m=1<y)throw Error(`FastPFOR decode: exception stream overflow for exceptionBitWidth=${h} (ptr=${d}, need ${i}, size=${y}) at block ${l}`);for(let m=0;m0&&(c=Jw(n,m,d,y,o,l,c,u,p))}if(h!==i)throw Error(`FastPFOR decode: packed region mismatch (pageStart=${e}, packedStart=${r}, consumedPackedEnd=${h}, expectedPackedEnd=${i}, packedWords=${i-r}, encoded.length=${t.length})`)}function t3(t,e,r,i,n,a){let s=r|0,o=t[s]|0;if(o<=0||s+o>t.length-1)throw Error(`FastPFOR decode: invalid whereMeta=${o} at pageStart=${s} (expected > 0 and pageStart+whereMeta < encoded.length=${t.length})`);let l=s+1|0,u=s+o|0,h=t[u]>>>0,c=h+3>>>2,p=u+1,f=p+c;if(f>=t.length)throw Error(`FastPFOR decode: invalid byteSize=${h} (metaInts=${c}, pageStart=${s}, packedEnd=${u}, byteContainerStart=${p}) causes bitmapPos=${f} out of bounds (encoded.length=${t.length})`);let d=Yw(t,p,h,a),y=h,m=Ww(t,f,a);return a.dataPointers.fill(0),Qw(t,s,l,u,e,i|0,n/256|0,d,y,a),m}function e3(t,e,r,i,n,a){let s=i+gu(n,256),o=i,l=r;for(;o!==s;){let u=Math.min(hl,s-o);l=t3(t,e,l,o,u,a),o=o+u|0}return l}function r3(t,e,r,i,n,a){if(a===0)return e;let s=0,o=e,l=e+r,u=n,h=n,c=n+a,p=0,f=0;for(;o>>s&255;if(s+=8,o+=s>>>5,s&=31,p|=(d&127)<28)throw Error(`FastPFOR VByte: unterminated value (expected MSB=1 terminator within 5 bytes; shift=${f}, partial=${p}, decoded=${h-u}/${a}, inPos=${o}, inEnd=${l})`)}if(h!==c)throw Error(`FastPFOR VByte: truncated stream (decoded=${h-u}, expected=${a}, consumedWords=${o-e}/${r}, vbyteStart=${e}, vbyteEnd=${l})`);return o}function i3(t,e,r){let i=0,n=0,a=new Uint32Array(e),s=r!=null?r:fy();if(t.length>0){let u=t[i]|0;if(i=i+1|0,u&255)throw Error(`FastPFOR decode: invalid alignedLength=${u} (expected multiple of 256)`);if(n+u>a.length)throw Error(`FastPFOR decode: output buffer too small (outPos=${n}, alignedLength=${u}, out.length=${a.length})`);i=e3(t,a,i,n,u,s),n=n+u|0}let o=t.length-i|0,l=e-n|0;return r3(t,i,o,a,n,l),a}function n3(t,e,r,i,n){switch(n){case 2:Dw(t,e,r,i);return;case 3:_w(t,e,r,i);return;case 4:Aw(t,e,r,i);return;case 5:Sw(t,e,r,i);return;case 6:Ew(t,e,r,i);return;case 7:Fw(t,e,r,i);return;case 8:kw(t,e,r,i);return;case 9:Tw(t,e,r,i);return;case 10:Iw(t,e,r,i);return;case 11:Cw(t,e,r,i);return;case 12:Mw(t,e,r,i);return;case 16:Bw(t,e,r,i);return;case 32:for(let u=0;u<32;u=u+1|0)r[i+u|0]=t[e+u|0]|0;return}let a=ul[n]>>>0,s=e,o=0,l=t[s]>>>0;for(let u=0;u<32;u++)if(o+n<=32){let h=l>>>o&a;r[i+u]=h|0,o+=n,o===32&&(o=0,s++,u!==31&&(l=t[s]>>>0))}else{let h=32-o,c=l>>>o;s++,l=t[s]>>>0;let p=ul[n-h]>>>0,f=(c|(l&p)<t.length)throw RangeError(`decodeBigEndianInt32sInto: out of bounds (offset=${e}, byteLength=${r}, bytes.length=${t.length})`);let n=Math.floor(r/4),a=r%4!=0,s=a?n+1:n;if(i.length0){let o=t.byteOffset+e;if(o&3)for(let l=0;l=64)throw Error("Varint too long")}return e.set(n),r}function o3(t,e,r){let i=new Float64Array(r);for(let n=0;n>4,n<128||(n=e[r.get()],r.increment(),i|=(n&127)<<3,n<128)||(n=e[r.get()],r.increment(),i|=(n&127)<<10,n<128)||(n=e[r.get()],r.increment(),i|=(n&127)<<17,n<128)||(n=e[r.get()],r.increment(),i|=(n&127)<<24,n<128)||(n=e[r.get()],r.increment(),i|=(n&1)<<31,n<128))return i*4294967296+(t>>>0);throw Error("Expected varint not more than 10 bytes")}function h3(t,e,r,i){return c3(t,e,r,i,Gw(r>>>2))}function c3(t,e,r,i,n){let a=i.get();if(r&3)throw Error(`FastPFOR: invalid encodedByteLength=${r} at offset=${a} (encodedBytes.length=${t.length}; expected a multiple of 4 bytes for an int32 big-endian word stream)`);let s=r>>>2,o=Xw(n,s);a3(t,a,r,o);let l=i3(o.subarray(0,s),e,n.decoderWorkspace);return i.add(r),l}function et(t){return t>>>1^-(t&1)}function Ot(t){return t>>BigInt(1)^-(t&BigInt(1))}function We(t){return t%2==1?(t+1)/-2:t/2}function p3(t){let e=new Int32Array(t.length);for(let r=0;r=4)for(;i=4)for(;i=4)for(;r=4)for(let i=t[0];r=4)for(;i=4)for(;l>>0;for(let r=1;r>>0;return e}function jc(t){let e=new BigUint64Array(t.length);e[0]=BigInt.asUintN(64,Ot(t[0]));for(let r=1;r>>0,e[1]=et(t[1])>>>0;for(let r=2;r>>0,e[r+1]=e[r-1]+et(t[r+1])>>>0;return e}function F3(t,e,r,i){let n=yy(t,e,r,i);return new Uint32Array(n)}function k3(t){return t[1]}function T3(t){return et(t[1])}function I3(t){if(t.length===2){let e=et(t[1]);return[e,e]}return[et(t[2]),et(t[3])]}function C3(t){return t[1]}function M3(t){return Ot(t[1])}function B3(t){if(t.length===2){let e=Ot(t[1]);return[e,e]}return[Ot(t[2]),Ot(t[3])]}var St;(function(t){t.PRESENT="PRESENT",t.DATA="DATA",t.OFFSET="OFFSET",t.LENGTH="LENGTH"})(St||(St={}));var jt;(function(t){t.NONE="NONE",t.SINGLE="SINGLE",t.SHARED="SHARED",t.VERTEX="VERTEX",t.MORTON="MORTON",t.FSST="FSST"})(jt||(jt={}));var Me;(function(t){t.VERTEX="VERTEX",t.INDEX="INDEX",t.STRING="STRING",t.KEY="KEY"})(Me||(Me={}));var Ct;(function(t){t.VAR_BINARY="VAR_BINARY",t.GEOMETRIES="GEOMETRIES",t.PARTS="PARTS",t.RINGS="RINGS",t.TRIANGLES="TRIANGLES",t.SYMBOL="SYMBOL",t.DICTIONARY="DICTIONARY"})(Ct||(Ct={}));var P3=[St.PRESENT,St.DATA,St.OFFSET,St.LENGTH],Gc=[H.NONE,H.DELTA,H.COMPONENTWISE_DELTA,H.RLE,H.MORTON],z3=[le.NONE,le.FAST_PFOR,le.VARINT],L3=[jt.NONE,jt.SINGLE,jt.SHARED,jt.VERTEX,jt.MORTON,jt.FSST],V3=[Me.VERTEX,Me.INDEX,Me.STRING,Me.KEY],O3=[Ct.VAR_BINARY,Ct.GEOMETRIES,Ct.PARTS,Ct.RINGS,Ct.TRIANGLES,Ct.SYMBOL,Ct.DICTIONARY];function ct(t,e){let r=N3(t,e);return r.logicalLevelTechnique1===H.MORTON?R3(r,t,e):(H.RLE===r.logicalLevelTechnique1||H.RLE===r.logicalLevelTechnique2)&&le.NONE!==r.physicalLevelTechnique?$3(r,t,e):r}function R3(t,e,r){let i=$t(e,r,2);return{physicalStreamType:t.physicalStreamType,logicalStreamType:t.logicalStreamType,logicalLevelTechnique1:t.logicalLevelTechnique1,logicalLevelTechnique2:t.logicalLevelTechnique2,physicalLevelTechnique:t.physicalLevelTechnique,numValues:t.numValues,byteLength:t.byteLength,decompressedCount:t.decompressedCount,numBits:i[0],coordinateShift:i[1]}}function $3(t,e,r){let i=$t(e,r,2);return{physicalStreamType:t.physicalStreamType,logicalStreamType:t.logicalStreamType,logicalLevelTechnique1:t.logicalLevelTechnique1,logicalLevelTechnique2:t.logicalLevelTechnique2,physicalLevelTechnique:t.physicalLevelTechnique,numValues:t.numValues,byteLength:t.byteLength,decompressedCount:i[1],runs:i[0],numRleValues:i[1]}}function N3(t,e){let r=t[e.get()],i=P3[r>>4],n={};switch(i){case St.DATA:n={dictionaryType:L3[r&15]};break;case St.OFFSET:n={offsetType:V3[r&15]};break;case St.LENGTH:n={lengthType:O3[r&15]}}e.increment();let a=t[e.get()],s=Gc[a>>5],o=Gc[a>>2&7],l=z3[a&3];e.increment();let u=$t(t,e,2),h=u[0],c=u[1];return{physicalStreamType:i,logicalStreamType:n,logicalLevelTechnique1:s,logicalLevelTechnique2:o,physicalLevelTechnique:l,numValues:h,byteLength:c,decompressedCount:h}}var ht;(function(t){t[t.FLAT=0]="FLAT",t[t.CONST=1]="CONST",t[t.SEQUENCE=2]="SEQUENCE",t[t.DICTIONARY=3]="DICTIONARY",t[t.FSST_DICTIONARY=4]="FSST_DICTIONARY"})(ht||(ht={}));var fe=class{constructor(t,e){this.values=t,this._size=e}get(t){let e=Math.floor(t/8),r=t%8;return(this.values[e]>>r&1)==1}set(t,e){let r=Math.floor(t/8),i=t%8;this.values[r]=this.values[r]|+!!e<>r&1}size(){return this._size}getBuffer(){return this.values}};function Er(t,e,r){if(!e)return t;let i=e.size(),n=t.constructor,a=new n(i),s=0;for(let o=0;o=s);){let o=t[i.increment()];if(o<=127){let l=o+3,u=t[i.increment()],h=Math.min(a+l,e);n.fill(u,a,h),a=h}else{let l=256-o;for(let u=0;u=12?X3.decode(t.subarray(e,r)):Y3(t,e,r)}function Y3(t,e,r){let i="",n=e;for(;n239?4:a>223?3:a>191?2:1;if(n+o>r)break;let l,u,h;o===1?a<128&&(s=a):o===2?(l=t[n+1],(l&192)==128&&(s=(a&31)<<6|l&63,s<=127&&(s=null))):o===3?(l=t[n+1],u=t[n+2],(l&192)==128&&(u&192)==128&&(s=(a&15)<<12|(l&63)<<6|u&63,(s<=2047||s>=55296&&s<=57343)&&(s=null))):o===4&&(l=t[n+1],u=t[n+2],h=t[n+3],(l&192)==128&&(u&192)==128&&(h&192)==128&&(s=(a&15)<<18|(l&63)<<12|(u&63)<<6|h&63,(s<=65535||s>=1114112)&&(s=null))),s===null?(s=65533,o=1):s>65535&&(s-=65536,i+=String.fromCharCode(s>>>10&1023|55296),s=56320|s&1023),i+=String.fromCharCode(s),n+=o}return i}function Ta(t,e,r,i,n){return J3(pi(t,e,r),r,i,n)}function Vt(t,e,r,i,n){return Q3(pi(t,e,r),r,i,n)}function Ze(t,e,r){return e6(pi(t,e,r),r)}function pi(t,e,r){let i=r.physicalLevelTechnique;switch(i){case le.FAST_PFOR:return h3(t,r.numValues,r.byteLength,e);case le.VARINT:return $t(t,e,r.numValues);case le.NONE:return j3(t,e,r.numValues);default:throw Error(`Specified physicalLevelTechnique ${i} is not supported (yet).`)}}function _n(t,e,r){let i=r.physicalLevelTechnique;switch(i){case le.VARINT:return xu(t,e,r.numValues);case le.NONE:return G3(t,e,r.numValues);default:throw Error(`Specified physicalLevelTechnique ${i} is not supported (yet).`)}}function W3(t,e,r){let i=pi(t,e,r);return i.length===1?et(i[0]):T3(i)}function wu(t,e,r){let i=pi(t,e,r);return i.length===1?r.logicalLevelTechnique1===H.DELTA?et(i[0]):i[0]:k3(i)}function vy(t,e,r){return I3(pi(t,e,r))}function by(t,e,r){return B3(xu(t,e,r.numValues))}function wy(t,e,r,i){return _y(_n(t,e,r),r,i)}function Du(t,e,r,i){return Ay(_n(t,e,r),r,i)}function Z3(t,e,r,i){let n=H3(t,e,r,!1);return i?Er(n,i,0):n}function H3(t,e,r,i){if(r.physicalLevelTechnique===le.VARINT)return t6(o3(t,e,r.numValues),r,i);let n=_n(t,e,r),a=i?_y(n,r):Ay(n,r);return Float64Array.from(a,Number)}function K3(t,e,r){let i=_n(t,e,r);return i.length===1?Ot(i[0]):M3(i)}function Dy(t,e,r){let i=_n(t,e,r);return i.length===1?r.logicalLevelTechnique1===H.DELTA?Ot(i[0]):i[0]:C3(i)}function J3(t,e,r,i){let n;switch(e.logicalLevelTechnique1){case H.DELTA:if(e.logicalLevelTechnique2===H.RLE){let a=e;if(!i)return A3(t,a.runs,a.numRleValues);t=cl(t,a.runs,a.numRleValues),n=Nc(t)}else n=Nc(t);break;case H.RLE:n=m3(t,e.runs,e.numRleValues);break;case H.MORTON:vu(t),n=new Int32Array(t);break;case H.COMPONENTWISE_DELTA:if(r&&!i)return yy(t,r.scale,r.min,r.max);n=b3(t);break;case H.NONE:n=p3(t);break;default:throw Error(`The specified Logical level technique is not supported: ${e.logicalLevelTechnique1}`)}return i?Er(n,i,0):n}function Q3(t,e,r,i){let n;switch(e.logicalLevelTechnique1){case H.DELTA:if(e.logicalLevelTechnique2===H.RLE){let a=e;n=qc(cl(t,a.runs,a.numRleValues))}else n=qc(t);break;case H.RLE:n=cl(t,e.runs,e.numRleValues);break;case H.MORTON:vu(t),n=t;break;case H.COMPONENTWISE_DELTA:n=r&&!i?F3(t,r.scale,r.min,r.max):E3(t);break;case H.NONE:n=t;break;default:throw Error(`The specified Logical level technique is not supported: ${e.logicalLevelTechnique1}`)}return i?Er(n,i,0):n}function _y(t,e,r){let i;switch(e.logicalLevelTechnique1){case H.DELTA:if(e.logicalLevelTechnique2===H.RLE){let n=e;if(!r)return S3(t,n.runs,n.numRleValues);t=pl(t,n.runs,n.numRleValues),i=Uc(t)}else i=Uc(t);break;case H.RLE:i=g3(t,e.runs,e.numRleValues);break;case H.NONE:i=f3(t);break;default:throw Error(`The specified Logical level technique is not supported: ${e.logicalLevelTechnique1}`)}return r?Er(i,r,BigInt(0)):i}function Ay(t,e,r){let i;switch(e.logicalLevelTechnique1){case H.DELTA:if(e.logicalLevelTechnique2===H.RLE){let n=e;i=jc(pl(t,n.runs,n.numRleValues))}else i=jc(t);break;case H.RLE:i=pl(t,e.runs,e.numRleValues);break;case H.NONE:i=t;break;default:throw Error(`The specified Logical level technique is not supported: ${e.logicalLevelTechnique1}`)}return r?Er(i,r,BigInt(0)):i}function t6(t,e,r){switch(e.logicalLevelTechnique1){case H.DELTA:if(e.logicalLevelTechnique2===H.RLE){let i=e;t=dy(t,i.runs,i.numRleValues)}return y3(t),t;case H.RLE:return i6(t,e,r);case H.NONE:return r&&d3(t),t;default:throw Error(`The specified Logical level technique is not supported: ${e.logicalLevelTechnique1}`)}}function e6(t,e){if(e.logicalLevelTechnique1===H.DELTA&&e.logicalLevelTechnique2===H.NONE)return w3(t);if(e.logicalLevelTechnique1===H.RLE&&e.logicalLevelTechnique2===H.NONE){let r=e;return _3(t,r.runs,r.numRleValues)}if(e.logicalLevelTechnique1===H.NONE&&e.logicalLevelTechnique2===H.NONE){v3(t);let r=new Uint32Array(e.numValues+1);return r[0]=0,r.set(t,1),r}if(e.logicalLevelTechnique1===H.DELTA&&e.logicalLevelTechnique2===H.RLE){let r=e,i=D3(t,r.runs,r.numRleValues);return vu(i),new Uint32Array(i)}throw Error("Only delta encoding is supported for transforming length to offset streams yet.")}function es(t,e,r,i,n="int32"){let a=t.logicalLevelTechnique1;if(a===H.RLE)return t.runs===1?ht.CONST:ht.FLAT;if(a!==H.DELTA||t.logicalLevelTechnique2!==H.RLE)return t.numValues===1?ht.CONST:ht.FLAT;let s=e instanceof fe?e.size():e,o=t;if(o.numRleValues!==s)return ht.FLAT;if(o.runs===1)return ht.SEQUENCE;if(o.runs!==2)return t.numValues===1?ht.CONST:ht.FLAT;let l=i.get();if(t.physicalLevelTechnique===le.VARINT)return r6(r,i,n)?ht.SEQUENCE:t.numValues===1?ht.CONST:ht.FLAT;let u=i.get(),h=new Int32Array(r.buffer,r.byteOffset+u,4);return i.set(l),h[2]===2&&h[3]===2?ht.SEQUENCE:t.numValues===1?ht.CONST:ht.FLAT}function r6(t,e,r){let i=new cy(e.get());if(r==="int64"){let a=xu(t,i,4);return a[2]===BigInt(2)&&a[3]===BigInt(2)}let n=$t(t,i,4);return n[2]===2&&n[3]===2}function i6(t,e,r){return r?x3(t,e.runs,e.numRleValues):dy(t,e.runs,e.numRleValues)}var Sy=class extends ts{getValueFromBuffer(t){return this.dataBuffer[t]}},Ey=class extends uy{constructor(t,e,r,i,n){super(t,n?BigInt64Array.of(e):BigUint64Array.of(e),r,i)}getValueFromBuffer(t){return this.dataBuffer[0]+BigInt(t)*this.delta}};function _u(t,e,r){return{x:Xc(t,e)-r,y:Xc(t>>1,e)-r}}function Xc(t,e){let r=0;for(let i=0;i>i;return r}var Rt;(function(t){t[t.POINT=0]="POINT",t[t.LINESTRING=1]="LINESTRING",t[t.POLYGON=2]="POLYGON",t[t.MULTIPOINT=3]="MULTIPOINT",t[t.MULTILINESTRING=4]="MULTILINESTRING",t[t.MULTIPOLYGON=5]="MULTIPOLYGON"})(Rt||(Rt={}));var n6;(function(t){t[t.POINT=0]="POINT",t[t.LINESTRING=1]="LINESTRING",t[t.POLYGON=2]="POLYGON"})(n6||(n6={}));var Fr;(function(t){t[t.MORTON=0]="MORTON",t[t.VEC_2=1]="VEC_2",t[t.VEC_3=2]="VEC_3"})(Fr||(Fr={}));function a6(t){let e=Array(t.numGeometries),r=1,i=1,n=1,a=0,s=0,o=0,l=t.mortonSettings,u=t.topologyVector,h=u.geometryOffsets,c=u.partOffsets,p=u.ringOffsets,f=t.vertexOffsets,d=!f||f.length===0,y=t.containsPolygonGeometry(),m=t.vertexBuffer;for(let g=0;g[D]),r+=v,i+=v}break;case Rt.LINESTRING:{let v;y?(v=p[i]-p[i-1],i++):v=c[r]-c[r-1],r++;let b;d?(b=Or(m,s,v,!1),s+=v*2):(b=lr(t.vertexBufferType,m,f,o,v,!1,l),o+=v),e[a++]=[b],h&&n++}break;case Rt.POLYGON:{let v=c[r]-c[r-1];r++;let b=Array(v-1),D,A=p[i]-p[i-1];if(i++,d){D=Or(m,s,A,!0),s+=A*2;for(let _=0;_r?e[a++]:1);return i}function Zc(t,e,r,i){let n=new Uint32Array(e[e.length-1]+1),a=0;n[0]=a;let s=1,o=0;for(let l=0;l0;)n[a++]=t[u++]}}return n}var By=class extends Au{constructor(t,e,r,i,n,a,s,o){super(t,r,i,s!=null?s:e.length),this.indexBuffer=e,this.symbolOffsetBuffer=n,this.symbolTableBuffer=a,this.sharedDictionaryCache=o}getValueFromBuffer(t){var n,a,s;(s=this.decodedDictionary)!=null||(this.decodedDictionary=(n=this.sharedDictionaryCache)==null?void 0:n.decodedDictionary,(a=this.decodedDictionary)!=null||(this.decodedDictionary=this.decodeDictionary(),this.sharedDictionaryCache&&(this.sharedDictionaryCache.decodedDictionary=this.decodedDictionary)));let e=this.indexBuffer[t],r=this.offsetBuffer[e],i=this.offsetBuffer[e+1];return bu(this.decodedDictionary,r,i)}decodeDictionary(){var t;return(t=this.symbolLengthBuffer)!=null||(this.symbolLengthBuffer=this.offsetToLengthBuffer(this.symbolOffsetBuffer)),v6(this.symbolTableBuffer,this.symbolLengthBuffer,this.dataBuffer)}offsetToLengthBuffer(t){let e=new Uint32Array(t.length-1),r=t[0];for(let i=1;i1&&!f.nullable||d===1&&f.nullable)throw Error(`The number of streams for the child field ${f.name} does not match its nullability. nullibilty: ${f.nullable}, numStreams: ${d}`);let m;if(f.nullable){let x=ct(t,e);m=new fe(ci(t,x.numValues,x.byteLength,e),x.numValues)}let g=Vt(t,e,ct(t,e),void 0,m);if(o){if(!s)throw Error(`Incomplete shared FSST dictionary for column "${y}"`);h[p++]=new By(y,g,n,a,s,o,m,c)}else h[p++]=new Qr(y,g,n,a,m)}return h}var Kc=class extends Sr{constructor(t,e,r){super(t,new Uint8Array,r!=null?r:e.length),this.values=e}getValueFromBuffer(t){return this.values[t]}},Be;(function(t){t[t.STRING=1]="STRING",t[t.INT32=2]="INT32",t[t.UINT32=4]="UINT32",t[t.INT64=8]="INT64",t[t.UINT64=16]="UINT64",t[t.FLOAT=32]="FLOAT",t[t.DOUBLE=64]="DOUBLE",t[t.PRESENCE=128]="PRESENCE"})(Be||(Be={}));var pr;(function(t){t[t.FALSE=0]="FALSE",t[t.TRUE=1]="TRUE",t[t.START_MAP=2]="START_MAP",t[t.START_LIST=3]="START_LIST",t[t.COUNT=4]="COUNT"})(pr||(pr={}));function A6(t,e,r,i){let n=S6(r);if(i===0)return n.map(h=>new Kc(h,[]));let a=E6(t,e,i),s=(a.presentStream?a.presentCount:a.lengthStream.length)/n.length,o=[],l=0,u=0;for(let h=0;h{var i;return t.name+((i=r.name)!=null?i:"")})}function E6(t,e,r){let i=t[e.get()];e.add(1);let n=Vt(t,e,ct(t,e)),a=r-1,s=[];i&Be.STRING&&(a-=F6(t,e,s)),a-=k6(t,e,i,s),a-=T6(t,e,i,s);let o,l=0;if(i&Be.PRESENCE){let h=I6(t,e);o=h.value,l=h.count,a--}let u=new Uint32Array;if(a>0&&(u=Vt(t,e,ct(t,e)),a--),a!==0)throw Error(`Unexpected number of remaining streams while decoding map column: ${a}`);return{lengthStream:n,dictionary:s,presentStream:o,presentCount:l,flattenedValues:u}}function F6(t,e,r){let i=t[e.get()];e.add(1);let n=Py("",t,e,i);if(n)for(let a=0;aa.length)throw Error("Merged map counts underflow while decoding child streams");let f=Array(r),d=i,y=n;for(let x=0;xs.length)throw Error("Map value stream underflow while decoding feature payload");let b=M6(s,y,v,l);f[x]=b.value,y=b.nextIndex}let m=0;for(let x=i;x=r)throw Error("Unexpected end of map value stream");let n=t[e];if(n===pr.FALSE)return{value:!1,nextIndex:e+1};if(n===pr.TRUE)return{value:!0,nextIndex:e+1};if(n===pr.START_MAP){let a=Jc(t,e,r);return{value:zy(t,e+2,a,i).value,nextIndex:a}}if(n===pr.START_LIST){let a=Jc(t,e,r),s=[],o=e+2;for(;o=r)throw Error("Missing length for nested map/list payload");let i=t[e+1];if(i<2)throw Error(`Invalid nested payload length: ${i}`);let n=e+i;if(n>r)throw Error("Nested payload exceeds containing payload bounds");return n}function Ly(t,e){let r=t-pr.COUNT;if(r<0||r>=e.length)throw Error(`Scalar dictionary index out of range: ${t}`);return e[r]}function Xr(t,e){for(let r of e)t.push(r)}function B6(t,e,r,i,n,a){var s;return r.type==="scalarType"?a&&!a.has(r.name)?(my(i,t,e),null):P6(i,t,e,n,r.scalarType,r):((s=r.complexType)==null?void 0:s.physicalType)===Qe.MAP?A6(t,e,r,i):i===0?null:_6(t,e,r,a)}function P6(t,e,r,i,n,a){var l;let s;if(t===0)return null;if(a.nullable){let u=ct(e,r),h=u.numValues,c=r.get(),p=ci(e,h,u.byteLength,r);r.set(c+u.byteLength),s=new fe(p,u.numValues)}let o=s!=null?s:i;switch(n.physicalType){case it.UINT_32:case it.INT_32:return R6(e,r,a,n,o);case it.STRING:{let u=a.nullable?t-1:t;return(l=Py(a.name,e,r,u,s))!=null?l:null}case it.BOOLEAN:return z6(e,r,a,i,o);case it.UINT_64:case it.INT_64:return O6(e,r,a,o,n);case it.FLOAT:return L6(e,r,a,o);case it.DOUBLE:return V6(e,r,a,o);default:throw Error(`The specified data type for the field is currently not supported: ${n}`)}}function z6(t,e,r,i,n){let a=ct(t,e),s=a.numValues,o=e.get(),l=An(n)?n:void 0,u=ci(t,s,a.byteLength,e,l);e.set(o+a.byteLength);let h=new fe(u,s);return new m6(r.name,h,n)}function L6(t,e,r,i){let n=ct(t,e),a=An(i)?i:void 0,s=gy(t,e,n.numValues,a);return new g6(r.name,s,i)}function V6(t,e,r,i){let n=ct(t,e),a=An(i)?i:void 0,s=xy(t,e,n.numValues,a);return new fu(r.name,s,i)}function O6(t,e,r,i,n){let a=ct(t,e),s=es(a,i,t,e,"int64"),o=n.physicalType===it.INT_64;if(s===ht.FLAT){let u=An(i)?i:void 0,h=o?wy(t,e,a,u):Du(t,e,a,u);return new Sy(r.name,h,i)}if(s===ht.SEQUENCE){let u=by(t,e,a);return new Ey(r.name,u[0],u[1],a.numRleValues,o)}let l=o?K3(t,e,a):Dy(t,e,a);return new My(r.name,l,i,o)}function R6(t,e,r,i,n){let a=ct(t,e),s=es(a,n,t,e),o=i.physicalType===it.INT_32;if(s===ht.FLAT){let u=An(n)?n:void 0,h=o?Ta(t,e,a,void 0,u):Vt(t,e,a,void 0,u);return new pu(r.name,h,n)}if(s===ht.SEQUENCE){let u=vy(t,e,a);return new du(r.name,u[0],u[1],a.numRleValues,o)}let l=o?W3(t,e,a):wu(t,e,a);return new yu(r.name,l,n,o)}function An(t){return t instanceof fe}var It={ID:0,ID_NULLABLE:1,ID_LONG:2,GEOMETRY:4,SCALAR_BASE:10,STRUCT:30,MAP:31};function Vy(t){switch(t){case It.ID:case It.ID|It.ID_NULLABLE:case It.ID|It.ID_LONG:case It.ID|It.ID_LONG|It.ID_NULLABLE:return{nullable:(t&It.ID_NULLABLE)!==0,columnScope:qi.FEATURE,type:"scalarType",scalarType:{longID:(t&It.ID_LONG)!==0,type:"logicalType",logicalType:hy.ID}};case It.GEOMETRY:return{nullable:!1,columnScope:qi.FEATURE,type:"complexType",complexType:{type:"physicalType",physicalType:Qe.GEOMETRY,children:[]}};case It.STRUCT:return{nullable:!1,columnScope:qi.FEATURE,type:"complexType",complexType:{type:"physicalType",physicalType:Qe.STRUCT,children:[]}};case It.MAP:return{nullable:!0,columnScope:qi.FEATURE,type:"complexType",complexType:{type:"physicalType",physicalType:Qe.MAP,children:[]}};default:return j6(t)}}function $6(t){return t>=It.SCALAR_BASE}function Oy(t){return t===It.STRUCT||t===It.MAP}function N6(t){if(t.type==="scalarType"){let e=t.scalarType;if(e.type==="physicalType")switch(e.physicalType){case it.BOOLEAN:case it.INT_8:case it.UINT_8:case it.INT_32:case it.UINT_32:case it.INT_64:case it.UINT_64:case it.FLOAT:case it.DOUBLE:return!1;case it.STRING:return!0;default:return!1}if(e.type==="logicalType")return!1}else if(t.type==="complexType"){let e=t.complexType;if(e.type==="physicalType")switch(e.physicalType){case Qe.GEOMETRY:case Qe.STRUCT:case Qe.MAP:return!0;default:return!1}}return console.warn("Unexpected column type in hasStreamCount",t),!1}function U6(t){var e;return t.type==="scalarType"&&((e=t.scalarType)==null?void 0:e.type)==="logicalType"&&t.scalarType.logicalType===hy.ID}function q6(t){var e;return t.type==="complexType"&&((e=t.complexType)==null?void 0:e.type)==="physicalType"&&t.complexType.physicalType===Qe.GEOMETRY}function j6(t){let e;switch(t){case 10:case 11:e=it.BOOLEAN;break;case 12:case 13:e=it.INT_8;break;case 14:case 15:e=it.UINT_8;break;case 16:case 17:e=it.INT_32;break;case 18:case 19:e=it.UINT_32;break;case 20:case 21:e=it.INT_64;break;case 22:case 23:e=it.UINT_64;break;case 24:case 25:e=it.FLOAT;break;case 26:case 27:e=it.DOUBLE;break;case 28:case 29:e=it.STRING;break;default:return null}return{nullable:!!(t&1),columnScope:qi.FEATURE,type:"scalarType",scalarType:{longID:!1,type:"physicalType",physicalType:e}}}var G6=new TextDecoder,Qc="0-3(ID), 4(GEOMETRY), 10-29(scalars), 30(STRUCT), 31(MAP)";function Eu(t,e){let r=$t(t,e,1)[0];if(r===0)return"";let i=e.get(),n=i+r,a=t.subarray(i,n);return e.add(r),G6.decode(a)}function X6(t){let e=t.name,r=t.nullable;return t.type==="scalarType"?{type:"scalarField",scalarField:t.scalarType,name:e,nullable:r}:{type:"complexField",complexField:t.complexType,name:e,nullable:r}}function Ry(t,e){let r=$t(t,e,1)[0]>>>0,i=r>=It.SCALAR_BASE?Vy(r):null;if(!i)throw Error(`Unsupported field type code ${r}. Supported: 10-29(scalars), 30(STRUCT), 31(MAP)`);let n=Si(je({},i),{name:Eu(t,e)});if(n.type==="complexType"&&Oy(r)){let a=n.complexType,s=$t(t,e,1)[0]>>>0;a.children=Array(s);for(let o=0;o>>0,i=Vy(r);if(!i)throw Error(`Unsupported column type code ${r}. Supported: ${Qc}`);let n;if($6(r))n=Eu(t,e);else if(r>>0,o=a.complexType;o.children=Array(s);for(let l=0;l>>0,a=$t(t,e,1)[0]>>>0;i.columns=Array(a);for(let s=0;s>>0,s=i.get()+a;if(s>t.length)throw Error(`Block overruns tile: ${s} > ${t.length}`);let o=$t(t,i,1)[0]>>>0;if(o!==1&&o!==2){i.set(s);continue}let[l,u]=W6(t,i),h=l.featureTables[0],c=null,p=null,f=[],d=0;for(let m of h.columns){let g=m.name;if(U6(m)){let x=null;if(m.nullable){let b=ct(t,i),D=i.get(),A=ci(t,b.numValues,b.byteLength,i);i.set(D+b.byteLength),x=new fe(A,b.numValues)}let v=ct(t,i);d=x?x.size():v.decompressedCount,c=H6(t,m,i,g,v,x!=null?x:d,r)}else if(q6(m)){let x=$t(t,i,1)[0];if(d===0){let v=i.get();d=ct(t,i).decompressedCount,i.set(v)}e&&(e.scale=e.extent/u),p=f6(t,x,i,d,e)}else{let x=N6(m)?$t(t,i,1)[0]:1;if(x===0)continue;let v=B6(t,i,m,x,d,void 0);if(v)if(Array.isArray(v))for(let b of v)f.push(b);else f.push(v)}}let y=new xw(h.name,p,c,f,u);n.push(y),i.set(s)}return n}function H6(t,e,r,i,n,a,s=!1){var h;let o=(h=e.scalarType)!=null&&h.longID?it.UINT_64:it.UINT_32,l=typeof a=="number"?void 0:a,u=es(n,a,t,r,o===it.UINT_64?"int64":"int32");if(o===it.UINT_32)switch(u){case ht.FLAT:return new pu(i,Vt(t,r,n,void 0,l),a);case ht.SEQUENCE:{let c=vy(t,r,n);return new du(i,c[0],c[1],n.numRleValues,!1)}case ht.CONST:return new yu(i,wu(t,r,n),a,!1)}switch(u){case ht.FLAT:return s?new fu(i,Z3(t,r,n,l),a):new Sy(i,Du(t,r,n,l),a);case ht.SEQUENCE:{let c=by(t,r,n);return new Ey(i,c[0],c[1],n.numRleValues,!1)}case ht.CONST:return new My(i,Dy(t,r,n),a,!1)}throw Error("Vector type not supported for id column.")}var K6=class{constructor(t,e){var r;switch(this._featureData=t,this.properties=this._featureData.properties||{},(r=this._featureData.geometry)==null?void 0:r.type){case Rt.POINT:case Rt.MULTIPOINT:this.type=1;break;case Rt.LINESTRING:case Rt.MULTILINESTRING:this.type=2;break;case Rt.POLYGON:case Rt.MULTIPOLYGON:this.type=3;break;default:this.type=0}this.extent=e,this.id=Number(this._featureData.id)}loadGeometry(){let t=[];for(let e of this._featureData.geometry.coordinates){let r=[];for(let i of e)r.push(new B(i.x,i.y));t.push(r)}return t}},J6=class{constructor(t){this.features=[],this.featureTable=t,this.name=t.name,this.extent=t.extent,this.version=2,this.features=t.getFeatures(),this.length=this.features.length}feature(t){return new K6(this.features[t],this.extent)}},Fu=class{constructor(t){this.layers={};let e=Z6(new Uint8Array(t));this.layers=e.reduce((r,i)=>Si(je({},r),{[i.name]:new J6(i)}),{})}},ku=class{constructor(t,e){this.tileID=t,this.x=t.canonical.x,this.y=t.canonical.y,this.z=t.canonical.z,this.grid=new uo(mt,16,0),this.grid3D=new uo(mt,16,0),this.featureIndexArray=new Yf,this.promoteId=e}insert(t,e,r,i,n,a){let s=this.featureIndexArray.length;this.featureIndexArray.emplaceBack(r,i,n);let o=a?this.grid3D:this.grid;for(let l of e){let u=[1/0,1/0,-1/0,-1/0];for(let h of l)u[0]=Math.min(u[0],h.x),u[1]=Math.min(u[1],h.y),u[2]=Math.max(u[2],h.x),u[3]=Math.max(u[3],h.y);u[0]<8192&&u[1]<8192&&u[2]>=0&&u[3]>=0&&o.insert(s,u[0],u[1],u[2],u[3])}}loadVTLayers(){return this.vtLayers||(this.encoding==="mlt"?this.vtLayers=new Fu(this.rawTileData).layers:this.vtLayers=new Xl(new au(this.rawTileData)).layers,this.sourceLayerCoder=new cu(this.vtLayers?Object.keys(this.vtLayers).sort():[ll])),this.vtLayers}query(t,e,r,i){this.loadVTLayers();let n=t.params,a=mt/t.tileSize/t.scale,s=ai(n.filter,"queryRenderedFeatures filter",n.globalState),o=t.queryGeometry,l=t.queryPadding*a,u=Fa.fromPoints(o),h=this.grid.query(u.minX-l,u.minY-l,u.maxX+l,u.maxY+l),c=Fa.fromPoints(t.cameraQueryGeometry).expandBy(l),p=this.grid3D.query(c.minX,c.minY,c.maxX,c.maxY,(y,m,g,x)=>vg(t.cameraQueryGeometry,y-l,m-l,g+l,x+l));for(let y of p)h.push(y);h.sort(t5);let f={},d;for(let y of h){if(y===d)continue;d=y;let m=this.featureIndexArray.get(y),g=null;this.loadMatchingFeature(f,m.bucketIndex,m.sourceLayerIndex,m.featureIndex,s,n.layers,n.availableImages,e,r,i,(x,v,b)=>(g||(g=Ar(x)),v.queryIntersectsFeature({queryGeometry:o,feature:x,featureState:b,geometry:g,zoom:this.z,transform:t.transform,pixelsToTileUnits:a,pixelPosMatrix:t.pixelPosMatrix,unwrappedTileID:this.tileID.toUnwrapped(),getElevation:t.getElevation})))}return f}loadMatchingFeature(t,e,r,i,n,a,s,o,l,u,h){let c=this.bucketLayerIDs[e];if(a&&!c.some(y=>a.has(y)))return;let p=this.sourceLayerCoder.decode(r),f=this.vtLayers[p].feature(i);if(n.needGeometry){let y=hi(f,!0);if(!n.filter(new st(this.tileID.overscaledZ),y,this.tileID.canonical))return}else if(!n.filter(new st(this.tileID.overscaledZ),f))return;let d=this.getId(f,p);for(let y of c){if(a&&!a.has(y))continue;let m=o[y];if(!m)continue;let g={};d&&u&&(g=u.getState(m.sourceLayer||"_geojsonTileLayer",d));let x=Gt({},l[y]);x.paint=tp(x.paint,m.paint,f,g,s),x.layout=tp(x.layout,m.layout,f,g,s);let v=!h||h(f,m,g);if(!v)continue;let b=new gw(f,this.z,this.x,this.y,d);b.layer=x;let D=t[y];D===void 0&&(D=t[y]=[]),D.push({featureIndex:i,feature:b,intersectionZ:v})}}lookupSymbolFeatures(t,e,r,i,n,a,s,o){let l={};this.loadVTLayers();let u=ai(n.filterSpec,"queryRenderedFeatures symbol filter",n.globalState);for(let h of t)this.loadMatchingFeature(l,r,i,h,u,a,s,o,e);return l}hasLayer(t){for(let e of this.bucketLayerIDs)for(let r of e)if(t===r)return!0;return!1}getId(t,e){var i;let r=t.id;if(this.promoteId){let n=typeof this.promoteId=="string"?this.promoteId:this.promoteId[e];r=t.properties[n],typeof r=="boolean"&&(r=Number(r)),r===void 0&&((i=t.properties)!=null&&i.cluster)&&this.promoteId&&(r=Number(t.properties.cluster_id))}return r}};C("FeatureIndex",ku,{omit:["rawTileData","sourceLayerCoder"]});function Q6(t){return typeof t=="object"&&!!t&&"evaluate"in t}function tp(t,e,r,i,n){return Ia(t,(a,s)=>{let o=e instanceof Ya?e.get(s):null;return Q6(o)?o.evaluate(r,i,void 0,n):o})}function t5(t,e){return e-t}var $y=class{constructor(t){this.maxEntries=t,this.map=new Map}get(t){let e=this.map.get(t);return e!==void 0&&(this.map.delete(t),this.map.set(t,e)),e}set(t,e){if(this.map.has(t))this.map.delete(t);else if(this.map.size>=this.maxEntries){let r=this.map.keys().next().value;this.map.delete(r)}this.map.set(t,e)}clear(){this.map.clear()}};function Tu(t){let e=typeof t;if(e==="number"||e==="boolean"||e==="string"||t==null)return JSON.stringify(t);if(Array.isArray(t)){let n="[";for(let a of t)n+=`${Tu(a)},`;return`${n}]`}let r=Object.keys(t).sort(),i="{";for(let n=0;nthis._layers[c.id]),s=a[0];if(s.isHidden())continue;let o=s.source||"",l=this.familiesBySource[o];l||(l=this.familiesBySource[o]={});let u=s.sourceLayer||"_geojsonTileLayer",h=l[u];h||(h=l[u]=[]),h.push(a)}}},qy=class{constructor(t){let e={},r=[];for(let s in t){let o=t[s],l=e[s]={};for(let u in o){let h=o[u];if(!h||h.bitmap.width===0||h.bitmap.height===0)continue;let c={x:0,y:0,w:h.bitmap.width+2,h:h.bitmap.height+2};r.push(c),l[u]={rect:c,metrics:h.metrics}}}let{w:i,h:n}=su(r),a=new Ja({width:i||1,height:n||1});for(let s in t){let o=t[s];for(let l in o){let u=o[l];if(!u||u.bitmap.width===0||u.bitmap.height===0)continue;let h=e[s][l].rect;Ja.copy(u.bitmap,a,{x:0,y:0},{x:h.x+1,y:h.y+1},u.bitmap)}}this.image=a,this.positions=e}};C("GlyphAtlas",qy);var jy=class{constructor(t){this.tileID=new uu(t.tileID.overscaledZ,t.tileID.wrap,t.tileID.canonical.z,t.tileID.canonical.x,t.tileID.canonical.y),this.uid=t.uid,this.zoom=t.zoom,this.pixelRatio=t.pixelRatio,this.tileSize=t.tileSize,this.source=t.source,this.overscaling=this.tileID.overscaleFactor(),this.showCollisionBoxes=t.showCollisionBoxes,this.collectResourceTiming=!!t.collectResourceTiming,this.returnDependencies=!!t.returnDependencies,this.promoteId=t.promoteId,this.inFlightDependencies=[]}parse(t,e,r,i,n){return rt(this,null,function*(){this.data=t,this.collisionBoxArray=new Ll;let a=new cu(Object.keys(t.layers).sort()),s=new ku(this.tileID,this.promoteId);s.bucketLayerIDs=[];let o={},l={featureIndex:s,iconDependencies:{},patternDependencies:{},glyphDependencies:{},dashDependencies:{},availableImages:r,subdivisionGranularity:n},u=e.familiesBySource[this.source];for(let S in u){let k=t.layers[S];if(!k)continue;k.version===1&&Bt(`Vector tile source "${this.source}" layer "${S}" does not use vector tile spec v2 and therefore may have some rendering errors.`);let z=a.encode(S),O=[];for(let P=0;PF.id)))}}let h=Ia(l.glyphDependencies,S=>Object.keys(S));for(let S of this.inFlightDependencies)S==null||S.abort();this.inFlightDependencies=[];let c=Promise.resolve({});if(Object.keys(h).length){let S=new AbortController;this.inFlightDependencies.push(S),c=i.sendAsync({type:"GG",data:{stacks:h,source:this.source,tileID:this.tileID,type:"glyphs"}},S)}let p=Object.keys(l.iconDependencies),f=Promise.resolve({});if(p.length){let S=new AbortController;this.inFlightDependencies.push(S),f=i.sendAsync({type:"GI",data:{icons:p,source:this.source,tileID:this.tileID,type:"icons"}},S)}let d=Object.keys(l.patternDependencies),y=Promise.resolve({});if(d.length){let S=new AbortController;this.inFlightDependencies.push(S),y=i.sendAsync({type:"GI",data:{icons:d,source:this.source,tileID:this.tileID,type:"patterns"}},S)}let m=l.dashDependencies,g=Promise.resolve({});if(Object.keys(m).length){let S=new AbortController;this.inFlightDependencies.push(S),g=i.sendAsync({type:"GDA",data:{dashes:m}},S)}let[x,v,b,D]=yield Promise.all([c,f,y,g]),A=new qy(x),_=new ou(v,b);for(let S in o){let k=o[S];k.hasDependencies&&(Ny(k.layers,this.zoom,r),k.addFeatures({options:l,canonical:this.tileID.canonical,glyphMap:x,glyphPositions:A.positions,iconMap:v,iconPositions:_.iconPositions,patternMap:b,patternPositions:_.patternPositions,dashPositions:D,showCollisionBoxes:this.showCollisionBoxes}))}return{buckets:Object.values(o).filter(S=>!S.isEmpty()),featureIndex:s,collisionBoxArray:this.collisionBoxArray,glyphAtlasImage:A.image,imageAtlas:_,dashPositions:D,glyphMap:this.returnDependencies?x:null,iconMap:this.returnDependencies?v:null,glyphPositions:this.returnDependencies?A.positions:null}})}};function Ny(t,e,r){let i=new st(e);for(let n of t)n.recalculate(i,r)}var Gy=class{constructor(){this.loading={},this.loaded={},this.parsing={}}startLoading(t,e){this.loading[t]=e}finishLoading(t){delete this.loading[t]}abort(t){let e=this.loading[t];e!=null&&e.abort&&(e.abort.abort(),delete this.loading[t])}getParsing(t){return this.parsing[t]}setParsing(t,e){this.parsing[t]=e}removeParsing(t){delete this.parsing[t]}markLoaded(t,e){this.loaded[t]=e}getLoaded(t){let e=this.loaded[t];if(e)return e}removeLoaded(t){delete this.loaded[t]}clearLoaded(){this.loaded={}}},Xy=class{constructor(t){this.start=`${t}#start`,this.end=`${t}#end`,this.measure=t,performance.mark(this.start)}finish(){performance.mark(this.end);let t=performance.getEntriesByName(this.measure);return t.length===0&&(performance.measure(this.measure,this.start,this.end),t=performance.getEntriesByName(this.measure),performance.clearMarks(this.start),performance.clearMarks(this.end),performance.clearMeasures(this.measure)),t}},n5=class{constructor(t,e,r,i,n){this.type=t,this.properties=r||{},this.extent=n,this.pointsArray=e,this.id=i}loadGeometry(){return this.pointsArray.map(t=>t.map(e=>new B(e.x,e.y)))}},a5=class{constructor(t,e,r){this.version=2,this._myFeatures=t,this.name=e,this.length=t.length,this.extent=r}feature(t){return this._myFeatures[t]}},s5=class{constructor(){this.layers={}}addLayer(t){this.layers[t.name]=t}};function o5(t,e,r){let{extent:i}=t,n=2**(r.z-e.z),a=(r.x-e.x*n)*i,s=(r.y-e.y*n)*i,o=[];for(let l=0;l0&&l.addLayer(d)}let h={vectorTile:l,rawData:hu(l).buffer};return this.overzoomedTileResultCache.set(s,h),h}reloadTile(t){return rt(this,null,function*(){let e=t.uid,r=this.tileState.getLoaded(e);if(!r)throw Error("Should not be trying to reload a tile that was never loaded or has been removed");if(r.vectorTile)return r.showCollisionBoxes=t.showCollisionBoxes,yield this._parseWorkerTile(r,t)})}abortTile(t){return rt(this,null,function*(){this.tileState.abort(t.uid)})}removeTile(t){return rt(this,null,function*(){this.tileState.removeLoaded(t.uid)})}},u5=class{constructor(){this.loaded={}}loadTile(t){return rt(this,null,function*(){let{uid:e,encoding:r,rawImageData:i,redFactor:n,greenFactor:a,blueFactor:s,baseShift:o}=t,l=i.width+4,u=i.height+4,h=Ca(i)?new Zt({width:l,height:u},yield ap(i,-2,-2,l,u)):i,c=new jl(e,h,r,n,a,s,o);return this.loaded||(this.loaded={}),this.loaded[e]=c,c})}removeTile(t){let e=this.loaded,r=t.uid;e!=null&&e[r]&&delete e[r]}},h5=class{constructor(t,e,r,i=c5){this.actor=t,this.layerIndex=e,this.availableImages=r,this.tileState=new Gy,this._createGeoJSONIndex=i}loadVectorTile(t){if(!this._geoJSONIndex)throw Error("Unable to parse the data into a cluster or geojson");let{z:e,x:r,y:i}=t.tileID.canonical,n=this._geoJSONIndex.getTile(e,r,i);if(!n)return null;let a=new ly(n.features,{version:2,extent:mt});return{vectorTile:a,rawData:hu(a,np).buffer}}loadTile(t){return rt(this,null,function*(){let{uid:e}=t,r=new jy(t);r.abort=new AbortController;try{let i=this.loadVectorTile(t);if(!i)return null;let{vectorTile:n,rawData:a}=i;r.vectorTile=n,this.tileState.markLoaded(e,r);let s={rawData:a};return this.tileState.setParsing(e,s),yield this._parseWorkerTile(r,t)}catch(i){throw this.tileState.markLoaded(e,r),i}})}_parseWorkerTile(t,e){return rt(this,null,function*(){let r=this.tileState.getParsing(t.uid),i=yield t.parse(t.vectorTile,this.layerIndex,this.availableImages,this.actor,e.subdivisionGranularity);if(r){let{rawData:n}=r;i=Gt({rawTileData:n.slice(0),encoding:"mvt"},i),this.tileState.removeParsing(t.uid)}return i})}abortTile(t){return rt(this,null,function*(){this.tileState.abort(t.uid)})}removeTile(t){return rt(this,null,function*(){this.tileState.removeLoaded(t.uid)})}loadData(t){return rt(this,null,function*(){var r;(r=this._pendingRequest)==null||r.abort();let e=this._startRequestTiming(t);this._pendingRequest=new AbortController;try{yield this.loadAndProcessGeoJSON(t,this._pendingRequest),delete this._pendingRequest,this.tileState.clearLoaded();let i={};return t.request&&(i.data=t.data),this._finishRequestTiming(e,t,i),i}catch(i){if(delete this._pendingRequest,!yl(i))throw i;return{abandoned:!0}}})}_startRequestTiming(t){var e;if((e=t.request)!=null&&e.collectResourceTiming)return new Xy(t.request.url)}_finishRequestTiming(t,e,r){let i=t==null?void 0:t.finish();i&&(r.resourceTiming={[e.source]:JSON.parse(JSON.stringify(i))})}reloadTile(t){return rt(this,null,function*(){let e=t.uid,r=this.tileState.getLoaded(e);if(!r)return yield this.loadTile(t);if(r.vectorTile)return r.showCollisionBoxes=t.showCollisionBoxes,yield this._parseWorkerTile(r,t)})}loadAndProcessGeoJSON(t,e){return rt(this,null,function*(){var r;if(t.request&&(t.data=(yield up(t.request,e)).data),t.data){t.data=this._filterGeoJSON(t.data,t.filter,t.source),this._geoJSONIndex=this._createGeoJSONIndex(t.data,t);return}if(t.dataDiff){(r=this._geoJSONIndex)!=null||(this._geoJSONIndex=this._createGeoJSONIndex({type:"FeatureCollection",features:[]},t)),this._geoJSONIndex.updateData(t.dataDiff,this._getFilterPredicate(t.filter,t.source));return}if(t.updateCluster&&this._geoJSONIndex.updateClusterOptions(t.geojsonVtOptions.cluster,Yy(t)),this._geoJSONIndex==null)throw Error(`Input data given to \'${t.source}\' is not a valid GeoJSON object.`)})}_filterGeoJSON(t,e,r){if(t.type!=="FeatureCollection")return t;let i=this._getFilterPredicate(e,r);return i?{type:"FeatureCollection",features:t.features.filter(n=>i(n))}:t}_getFilterPredicate(t,e){if(typeof t!="boolean"&&!(t!=null&&t.length))return;let r=er(t,`sources.${e}.filter`,{type:"boolean","property-type":"data-driven",overridable:!1,transition:!1});if(r.result==="error")throw Error(r.value.map(i=>`${i.key}: ${i.message}`).join(", "));return i=>r.value.evaluate({zoom:0},i)}removeSource(t){return rt(this,null,function*(){var e;(e=this._pendingRequest)==null||e.abort()})}getClusterExpansionZoom(t){return this._geoJSONIndex.getClusterExpansionZoom(t.clusterId)}getClusterChildren(t){return this._geoJSONIndex.getClusterChildren(t.clusterId)}getClusterLeaves(t){return this._geoJSONIndex.getClusterLeaves(t.clusterId,t.limit,t.offset)}};function c5(t,e){let r=Gt(e.geojsonVtOptions||{},{updateable:!0,clusterOptions:Yy(e)});return new Td(t,r)}function Yy({geojsonVtOptions:t,clusterProperties:e,source:r}){if(!e||!t.clusterOptions)return t.clusterOptions;let i={},n={},a={accumulated:null,zoom:0},s={properties:null},o=Object.keys(e);for(let l of o){let[u,h]=e[l],c=er(h,`sources.${r}.clusterProperties.${l}[1]`),p=er(typeof u=="string"?[u,["accumulated"],["get",l]]:u,`sources.${r}.clusterProperties.${l}[0]`);i[l]=c.value,n[l]=p.value}return t.clusterOptions.map=l=>{s.properties=l;let u={};for(let h of o)u[h]=i[h].evaluate(a,s);return u},t.clusterOptions.reduce=(l,u)=>{s.properties=u;for(let h of o)a.accumulated=l[h],l[h]=n[h].evaluate(a,s)},t.clusterOptions}function Uy(t){return rt(this,null,function*(){if(t.endsWith(".mjs")){yield import(t);return}let e=yield fetch(t,{credentials:"same-origin"});if(!e.ok)throw Error(`Failed to load ${t}: ${e.status}`);let r=yield e.text();if(/^[ \\t]*(import|export)\\s/m.test(r)){let i=URL.createObjectURL(new Blob([r],{type:"text/javascript"}));try{yield import(i)}finally{URL.revokeObjectURL(i)}return}globalThis.eval(r)})}var p5=class{constructor(t){this.self=t,this.actor=new sy(t),this.layerIndexes={},this.availableImages={},this.workerSources={},this.demWorkerSources={},this.externalWorkerSourceTypes={},this.globalStates=new Map,this.self.registerWorkerSource=(e,r)=>{if(this.externalWorkerSourceTypes[e])throw Error(`Worker source with name "${e}" already registered.`);this.externalWorkerSourceTypes[e]=r},this.self.addProtocol=sp,this.self.removeProtocol=op,this.self.registerRTLTextPlugin=e=>{wr.setMethods(e)},this.self.makeRequest=Ma,this.actor.registerMessageHandler("LDT",(e,r)=>this._getDEMWorkerSource(e,r.source).loadTile(r)),this.actor.registerMessageHandler("RDT",(e,r)=>rt(this,null,function*(){this._getDEMWorkerSource(e,r.source).removeTile(r)})),this.actor.registerMessageHandler("GCEZ",(e,r)=>rt(this,null,function*(){return this._getWorkerSource(e,r.type,r.source).getClusterExpansionZoom(r)})),this.actor.registerMessageHandler("GCC",(e,r)=>rt(this,null,function*(){return this._getWorkerSource(e,r.type,r.source).getClusterChildren(r)})),this.actor.registerMessageHandler("GCL",(e,r)=>rt(this,null,function*(){return this._getWorkerSource(e,r.type,r.source).getClusterLeaves(r)})),this.actor.registerMessageHandler("LD",(e,r)=>this._getWorkerSource(e,r.type,r.source).loadData(r)),this.actor.registerMessageHandler("LT",(e,r)=>this._getWorkerSource(e,r.type,r.source).loadTile(r)),this.actor.registerMessageHandler("RT",(e,r)=>this._getWorkerSource(e,r.type,r.source).reloadTile(r)),this.actor.registerMessageHandler("AT",(e,r)=>this._getWorkerSource(e,r.type,r.source).abortTile(r)),this.actor.registerMessageHandler("RMT",(e,r)=>this._getWorkerSource(e,r.type,r.source).removeTile(r)),this.actor.registerMessageHandler("RS",(e,r)=>rt(this,null,function*(){var n,a;if(!((a=(n=this.workerSources[e])==null?void 0:n[r.type])!=null&&a[r.source]))return;let i=this.workerSources[e][r.type][r.source];delete this.workerSources[e][r.type][r.source],i.removeSource!==void 0&&i.removeSource(r)})),this.actor.registerMessageHandler("RM",e=>rt(this,null,function*(){delete this.layerIndexes[e],delete this.availableImages[e],delete this.workerSources[e],delete this.demWorkerSources[e],this.globalStates.delete(e)})),this.actor.registerMessageHandler("SR",(e,r)=>rt(this,null,function*(){this.referrer=r})),this.actor.registerMessageHandler("SRPS",(e,r)=>this._syncRTLPluginState(e,r)),this.actor.registerMessageHandler("IS",(e,r)=>rt(this,null,function*(){yield Uy(r)})),this.actor.registerMessageHandler("SI",(e,r)=>this._setImages(e,r)),this.actor.registerMessageHandler("UL",(e,r)=>rt(this,null,function*(){this._getLayerIndex(e).update(r.layers,r.removedIds,this._getGlobalState(e))})),this.actor.registerMessageHandler("UGS",(e,r)=>rt(this,null,function*(){let i=this._getGlobalState(e);for(let n in r)i[n]=r[n]})),this.actor.registerMessageHandler("SL",(e,r)=>rt(this,null,function*(){this._getLayerIndex(e).replace(r,this._getGlobalState(e))}))}_getGlobalState(t){let e=this.globalStates.get(t);return e||(e={},this.globalStates.set(t,e)),e}_setImages(t,e){return rt(this,null,function*(){this.availableImages[t]=e;for(let r in this.workerSources[t]){let i=this.workerSources[t][r];for(let n in i)i[n].availableImages=e}})}_syncRTLPluginState(t,e){return rt(this,null,function*(){return yield wr.syncState(e,Uy)})}_getAvailableImages(t){let e=this.availableImages[t];return e||(e=[]),e}_getLayerIndex(t){let e=this.layerIndexes[t];return e||(e=this.layerIndexes[t]=new i5),e}_getWorkerSource(t,e,r){var i,n;if((i=this.workerSources)[t]||(i[t]={}),(n=this.workerSources[t])[e]||(n[e]={}),!this.workerSources[t][e][r]){let a={sendAsync:(s,o)=>(s.targetMapId=t,this.actor.sendAsync(s,o))};switch(e){case"vector":this.workerSources[t][e][r]=new l5(a,this._getLayerIndex(t),this._getAvailableImages(t));break;case"geojson":this.workerSources[t][e][r]=new h5(a,this._getLayerIndex(t),this._getAvailableImages(t));break;default:this.workerSources[t][e][r]=new this.externalWorkerSourceTypes[e](a,this._getLayerIndex(t),this._getAvailableImages(t))}}return this.workerSources[t][e][r]}_getDEMWorkerSource(t,e){var r,i;return(r=this.demWorkerSources)[t]||(r[t]={}),(i=this.demWorkerSources[t])[e]||(i[e]=new u5),this.demWorkerSources[t][e]}};mr(self)&&(self.worker=new p5(self));export{p5 as default};\n/*! Bundled license information:\n\nmaplibre-gl/dist/maplibre-gl-shared.mjs:\nmaplibre-gl/dist/maplibre-gl-worker.mjs:\n (**\n * MapLibre GL JS\n * @license 3-Clause BSD. Full text of license: https://github.com/maplibre/maplibre-gl-js/blob/v6.9.0/LICENSE.txt\n *)\n*/\n'});var Vst=W((lri,Ust)=>{"use strict";var h3=it(),h6r=uo().sanitizeHTML,d6r=Fte(),qst=V2();function Ost(e,t){this.subplot=e,this.uid=e.uid+"-"+t,this.index=t,this.idSource="source-"+this.uid,this.idLayer=qst.layoutLayerPrefix+this.uid,this.sourceType=null,this.source=null,this.layerType=null,this.below=null,this.visible=!1}var np=Ost.prototype;np.update=function(t){this.visible?this.needsNewImage(t)?this.updateImage(t):this.needsNewSource(t)?(this.removeLayer(),this.updateSource(t),this.updateLayer(t)):this.needsNewLayer(t)?this.updateLayer(t):this.updateStyle(t):(this.updateSource(t),this.updateLayer(t)),this.visible=Lq(t)};np.needsNewImage=function(e){var t=this.subplot.map;return t.getSource(this.idSource)&&this.sourceType==="image"&&e.sourcetype==="image"&&(this.source!==e.source||JSON.stringify(this.coordinates)!==JSON.stringify(e.coordinates))};np.needsNewSource=function(e){return this.sourceType!==e.sourcetype||JSON.stringify(this.source)!==JSON.stringify(e.source)||this.layerType!==e.type};np.needsNewLayer=function(e){return this.layerType!==e.type||this.below!==this.subplot.belowLookup["layout-"+this.index]};np.lookupBelow=function(){return this.subplot.belowLookup["layout-"+this.index]};np.updateImage=function(e){var t=this.subplot.map;t.getSource(this.idSource).updateImage({url:e.source,coordinates:e.coordinates});var r=this.findFollowingMapLayerId(this.lookupBelow());r!==null&&this.subplot.map.moveLayer(this.idLayer,r)};np.updateSource=function(e){var t=this.subplot.map;if(t.getSource(this.idSource)&&t.removeSource(this.idSource),this.sourceType=e.sourcetype,this.source=e.source,!!Lq(e)){var r=p6r(e);t.addSource(this.idSource,r)}};np.findFollowingMapLayerId=function(e){if(e==="traces")for(var t=this.subplot.getMapLayers(),r=0;r0){for(var r=0;r0}function Nst(e){var t={},r={};switch(e.type){case"circle":h3.extendFlat(r,{"circle-radius":e.circle.radius,"circle-color":e.color,"circle-opacity":e.opacity});break;case"line":h3.extendFlat(r,{"line-width":e.line.width,"line-color":e.color,"line-opacity":e.opacity,"line-dasharray":e.line.dash});break;case"fill":h3.extendFlat(r,{"fill-color":e.color,"fill-outline-color":e.fill.outlinecolor,"fill-opacity":e.opacity});break;case"symbol":var i=e.symbol,n=d6r(i.textposition,i.iconsize);h3.extendFlat(t,{"icon-image":i.icon,"icon-size":i.iconsize/10,"text-field":i.text,"text-size":i.textfont.size,"text-anchor":n.anchor,"text-offset":n.offset,"symbol-placement":i.placement}),h3.extendFlat(r,{"icon-color":e.color,"text-color":i.textfont.color,"text-opacity":e.opacity});break;case"raster":h3.extendFlat(r,{"raster-fade-duration":0,"raster-opacity":e.opacity});break}return{layout:t,paint:r}}function p6r(e){var t=e.sourcetype,r=e.source,i={type:t},n;return t==="geojson"?n="data":t==="vector"?n=typeof r=="string"?"url":"tiles":t==="raster"?(n="tiles",i.tileSize=256):t==="image"&&(n="url",i.coordinates=e.coordinates),i[n]=r,e.sourceattribution&&(i.attribution=h6r(e.sourceattribution)),i}Ust.exports=function(t,r,i){var n=new Ost(t,r);return n.update(i),n}});var Qst=W((uri,Jst)=>{"use strict";var Iq=(Rst(),Go(Pst)),v6r=Bst(),Gst=!1,g6r=()=>{Gst||(Gst=!0,Iq.setWorkerUrl(URL.createObjectURL(new Blob([v6r],{type:"text/javascript"}))))},Rq=it(),$st=cm(),Hst=yi(),m6r=ji(),y6r=bf(),Pq=Ds(),Wst=u1(),x6r=Wst.drawMode,_6r=Wst.selectMode,b6r=cu().prepSelect,w6r=cu().clearOutline,T6r=cu().clearSelectionsCache,A6r=cu().selectOnClick,ax=V2(),M6r=Vst();function Yst(e,t){this.id=t,this.gd=e;var r=e._fullLayout,i=e._context;this.container=r._glcontainer.node(),this.isStatic=i.staticPlot,this.uid=r._uid+"-"+this.id,this.div=null,this.xaxis=null,this.yaxis=null,this.createFramework(r),this.map=null,this.styleObj=null,this.traceHash={},this.layerList=[],this.belowLookup={},this.dragging=!1,this.wheeling=!1}var tu=Yst.prototype;tu.plot=function(e,t,r){var i=this,n;i.map?n=new Promise(function(a,o){i.updateMap(e,t,a,o)}):n=new Promise(function(a,o){i.createMap(e,t,a,o)}),r.push(n)};tu.createMap=function(e,t,r,i){var n=this,a=t[n.id],o=n.styleObj=Kst(a.style),s=a.bounds,l=s?[[s.west,s.south],[s.east,s.north]]:null;let u={container:n.div,style:o.style,center:Nae(a.center),zoom:a.zoom,bearing:a.bearing,pitch:a.pitch,maxBounds:l,interactive:!n.isStatic,canvasContextAttributes:{preserveDrawingBuffer:n.isStatic},doubleClickZoom:!1,boxZoom:!1,attributionControl:!1},c=a._fitBounds;c&&(u.bounds=[[c.west,c.south],[c.east,c.north]],u.fitBoundsOptions={padding:ax.fitBoundsPadding}),g6r();let f=n.map=new Iq.Map(u).addControl(new Iq.AttributionControl({compact:!0})),h={};f.setMissingStyleImageResolver(p=>(!h[p]&&/^[a-zA-Z0-9-]+$/.test(p)&&(h[p]=new Promise(v=>{let m=new Image(15,15);m.onload=()=>{f.addImage(p,m,{sdf:!0}),v()},m.onerror=()=>v(),m.crossOrigin="Anonymous",m.src=`https://cdn.jsdelivr.net/npm/@mapbox/maki@8.2.0/icons/${p}.svg`})),h[p])),f.setTransformRequest(function(p){return p=p.replace("https://fonts.openmaptiles.org/Open Sans Extrabold","https://fonts.openmaptiles.org/Open Sans Extra Bold"),p=p.replace("https://tiles.basemaps.cartocdn.com/fonts/Open Sans Extrabold","https://fonts.openmaptiles.org/Open Sans Extra Bold"),p=p.replace("https://fonts.openmaptiles.org/Open Sans Regular,Arial Unicode MS Regular","https://fonts.openmaptiles.org/Klokantech Noto Sans Regular"),{url:p}}),f._canvas.style.left="0px",f._canvas.style.top="0px",n.rejectOnError(i),n.isStatic||n.initFx(e,t);var d=[];d.push(new Promise(function(p){f.once("load",p)})),d=d.concat($st.fetchTraceGeoData(e)),Promise.all(d).then(function(){c&&Xst(n,a),Zst(n,a),n.fillBelowLookup(e,t),n.updateData(e),n.updateLayout(t),n.resolveOnRender(r)}).catch(i)};tu.updateMap=function(e,t,r,i){var n=this,a=n.map,o=t[this.id];n.rejectOnError(i);var s=[],l=Kst(o.style);JSON.stringify(n.styleObj)!==JSON.stringify(l)&&(n.styleObj=l,a.setStyle(l.style),n.traceHash={},s.push(new Promise(function(u){a.once("styledata",u)}))),s=s.concat($st.fetchTraceGeoData(e)),Promise.all(s).then(function(){n.fillBelowLookup(e,t),n.updateData(e);let u=o._fitBounds;u&&(a.fitBounds([[u.west,u.south],[u.east,u.north]],{padding:ax.fitBoundsPadding,animate:!1}),Xst(n,o),Zst(n,o)),n.updateLayout(t),n.resolveOnRender(r)}).catch(i)};function Xst(e,t){let{center:r,zoom:i}=e.getView();t._input.center=t.center=r,t._input.zoom=t.zoom=i,t._input._fitView={center:fn({},r),zoom:i}}function Zst(e,t){let r=e.getView();e.viewInitial={center:Rq.extendFlat({},r.center),bearing:t.bearing,pitch:t.pitch,zoom:r.zoom}}tu.fillBelowLookup=function(e,t){var r=t[this.id],i=r.layers,n,a,o=this.belowLookup={},s=!1;for(n=0;n1)for(n=0;nt.project(i).x,_subplot:t},t.yaxis={_id:"y",c2p:i=>t.project(i).y,_subplot:t},t.updateFramework(e),t.mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},m6r.setConvert(t.mockAxis,e)};tu.initFx=function(e,t){var r=this,i=r.gd,n=r.map;n.on("moveend",function(s){if(r.map){var l=i._fullLayout;if(s.originalEvent||r.wheeling){var u=l[r.id];Hst.call("_storeDirectGUIEdit",i.layout,l._preGUI,r.getViewEdits(u));var c=r.getView();u._input.center=u.center=c.center,u._input.zoom=u.zoom=c.zoom,u._input.bearing=u.bearing=c.bearing,u._input.pitch=u.pitch=c.pitch,i.emit("plotly_relayout",r.getViewEditsWithDerived(c))}s.originalEvent&&s.originalEvent.type==="mouseup"?r.dragging=!1:r.wheeling&&(r.wheeling=!1),l&&l._rehover&&l._rehover()}}),n.on("wheel",function(){r.wheeling=!0}),n.on("mousemove",function(s){var l=r.div.getBoundingClientRect(),u=[s.originalEvent.offsetX,s.originalEvent.offsetY];s.target.getBoundingClientRect=function(){return l},r.xaxis.p2c=function(){return n.unproject(u).lng},r.yaxis.p2c=function(){return n.unproject(u).lat},i._fullLayout._rehover=function(){i._fullLayout._hoversubplot===r.id&&i._fullLayout[r.id]&&Pq.hover(i,s,r.id)},Pq.hover(i,s,r.id),i._fullLayout._hoversubplot=r.id});function a(){Pq.loneUnhover(t._hoverlayer)}n.on("dragstart",function(){r.dragging=!0,a()}),n.on("zoomstart",a),n.on("mouseout",function(){i._fullLayout._hoversubplot=null});function o(){var s=r.getView();i.emit("plotly_relayouting",r.getViewEditsWithDerived(s))}n.on("drag",o),n.on("zoom",o),n.on("dblclick",function(){var s=i._fullLayout[r.id];Hst.call("_storeDirectGUIEdit",i.layout,i._fullLayout._preGUI,r.getViewEdits(s));var l=r.viewInitial;n.setCenter(Nae(l.center)),n.setZoom(l.zoom),n.setBearing(l.bearing),n.setPitch(l.pitch);var u=r.getView();s._input.center=s.center=u.center,s._input.zoom=s.zoom=u.zoom,s._input.bearing=s.bearing=u.bearing,s._input.pitch=s.pitch=u.pitch,i.emit("plotly_doubleclick",null),i.emit("plotly_relayout",r.getViewEditsWithDerived(u))}),r.clearOutline=function(){T6r(r.dragOptions),w6r(r.dragOptions.gd)},r.onClickInPanFn=function(s){return function(l){var u=i._fullLayout.clickmode;u.indexOf("select")>-1&&A6r(l.originalEvent,i,[r.xaxis],[r.yaxis],r.id,s),u.indexOf("event")>-1&&Pq.click(i,l.originalEvent)}}};tu.updateFx=function(e){var t=this,r=t.map,i=t.gd;if(t.isStatic)return;function n(l){var u=t.map.unproject(l);return[u.lng,u.lat]}var a=e.dragmode,o;o=function(l,u){if(u.isRect){var c=l.range={};c[t.id]=[n([u.xmin,u.ymin]),n([u.xmax,u.ymax])]}else{var f=l.lassoPoints={};f[t.id]=u.map(n)}};var s=t.dragOptions;t.dragOptions=Rq.extendDeep(s||{},{dragmode:e.dragmode,element:t.div,gd:i,plotinfo:{id:t.id,domain:e[t.id].domain,xaxis:t.xaxis,yaxis:t.yaxis,fillRangeItems:o},xaxes:[t.xaxis],yaxes:[t.yaxis],subplot:t.id}),r.off("click",t.onClickInPanHandler),_6r(a)||x6r(a)?(r.dragPan.disable(),r.on("zoomstart",t.clearOutline),t.dragOptions.prepFn=function(l,u,c){b6r(l,u,c,t.dragOptions,a)},y6r.init(t.dragOptions)):(r.dragPan.enable(),r.off("zoomstart",t.clearOutline),t.div.onmousedown=null,t.div.ontouchstart=null,t.div.removeEventListener("touchstart",t.div._ontouchstart),t.onClickInPanHandler=t.onClickInPanFn(t.dragOptions),r.on("click",t.onClickInPanHandler))};tu.updateFramework=function(e){var t=e[this.id].domain,r=e._size,i=this.div.style;i.width=r.w*(t.x[1]-t.x[0])+"px",i.height=r.h*(t.y[1]-t.y[0])+"px",i.left=r.l+t.x[0]*r.w+"px",i.top=r.t+(1-t.y[1])*r.h+"px",this.xaxis._offset=r.l+t.x[0]*r.w,this.xaxis._length=r.w*(t.x[1]-t.x[0]),this.yaxis._offset=r.t+(1-t.y[1])*r.h,this.yaxis._length=r.h*(t.y[1]-t.y[0])};tu.updateLayers=function(e){var t=e[this.id],r=t.layers,i=this.layerList,n;if(r.length!==i.length){for(n=0;nS6r});function S6r(e,t){let r=[];for(let l of e){if(l.subplot!==t||l.visible!==!0)continue;if(l.type==="choroplethmap")return null;let{lat:u,lon:c}=l;if(!c||!u)continue;let f=Math.min(c.length,u.length);for(let h=0;h{"use strict";elt=nd(cm())});var alt=W((fri,nlt)=>{"use strict";var Uae=it(),E6r=q_(),k6r=Xc(),ilt=JE(),{getMapFitBounds:C6r}=(rlt(),Go(tlt));nlt.exports=function(t,r,i){E6r(t,r,i,{type:"map",attributes:ilt,handleDefaults:D6r,partition:"y",fullData:i})};function D6r(e,t,r,i){r("style"),r("center.lon"),r("center.lat"),r("zoom"),r("bearing"),r("pitch");let n=r("fitbounds");var a=r("bounds.west"),o=r("bounds.east"),s=r("bounds.south"),l=r("bounds.north");(a===void 0||o===void 0||s===void 0||l===void 0)&&delete t.bounds,k6r(e,t,{name:"layers",handleItemDefaults:F6r}),t._fitBounds=null;let{_fitView:{center:u,zoom:c}={},center:f,zoom:h}=e,d=(f==null?void 0:f.lon)===(u==null?void 0:u.lon)&&(f==null?void 0:f.lat)===(u==null?void 0:u.lat)&&h===c;if(n&&d){let p=C6r(i.fullData,i.id);p&&(t._fitBounds=p)}t._input=e}function F6r(e,t){function r(l,u){return Uae.coerce(e,t,ilt.layers,l,u)}var i=r("visible");if(i){var n=r("sourcetype"),a=n==="raster"||n==="image";r("source"),r("sourceattribution"),n==="vector"&&r("sourcelayer"),n==="image"&&r("coordinates");var o;a&&(o="raster");var s=r("type",o);a&&s!=="raster"&&(s=t.type="raster",Uae.log("Source types *raster* and *image* must drawn *raster* layer type.")),r("below"),r("color"),r("opacity"),r("minzoom"),r("maxzoom"),s==="circle"&&r("circle.radius"),s==="line"&&(r("line.width"),r("line.dash")),s==="fill"&&r("fill.outlinecolor"),s==="symbol"&&(r("symbol.icon"),r("symbol.iconsize"),r("symbol.text"),Uae.coerceFont(r,"symbol.textfont",void 0,{noFontVariant:!0,noFontShadow:!0,noFontLineposition:!0,noFontTextcase:!0}),r("symbol.textposition"),r("symbol.placement"))}}});var zq=W(N0=>{"use strict";var Vae=it(),olt=Vae.strTranslate,L6r=Vae.strScale,P6r=_c().getSubplotCalcData,I6r=sd(),R6r=vi(),slt=Ji(),z6r=uo(),B6r=Qst(),ox="map";N0.name=ox;N0.attr="subplot";N0.idRoot=ox;N0.idRegex=N0.attrRegex=Vae.counterRegex(ox);N0.attributes={subplot:{valType:"subplotid",dflt:"map",editType:"calc"}};N0.layoutAttributes=JE();N0.supplyLayoutDefaults=alt();N0.plot=function(t){for(var r=t._fullLayout,i=t.calcdata,n=r._subplots[ox],a=0;av/2){var m=f.split("|").join("
");d.text(m).attr("data-unformatted",m).call(z6r.convertToTspans,e),p=slt.bBox(d.node())}d.attr("transform",olt(-3,-p.height+8)),h.insert("rect",".static-attribution").attr({x:-p.width-6,y:-p.height-3,width:p.width+6,height:p.height+3,fill:"rgba(255, 255, 255, 0.75)"});var g=1;p.width+6>v&&(g=v/(p.width+6));var w=[i.l+i.w*o.x[1],i.t+i.h*(1-o.y[0])];h.attr("transform",olt(w[0],w[1])+L6r(g))}};N0.updateFx=function(e){for(var t=e._fullLayout,r=t._subplots[ox],i=0;i{"use strict";llt.exports={attributes:sz(),supplyDefaults:PJe(),colorbar:Ac(),formatLabels:Dte(),calc:VJ(),plot:WJe(),hoverPoints:hz().hoverPoints,eventData:KJe(),selectPoints:QJe(),styleOnSelect:function(e,t){if(t){var r=t[0].trace;r._glTrace.update(t)}},moduleType:"trace",name:"scattermap",basePlotModule:zq(),categories:["map","gl","symbols","showLegend","scatter-like"],meta:{}}});var flt=W((pri,clt)=>{"use strict";clt.exports=ult()});var Gae=W((vri,hlt)=>{"use strict";var Om=xE(),q6r=Eo(),{hovertemplateAttrs:O6r,templatefallbackAttrs:N6r}=Ga(),U6r=Wa(),sx=tn().extendFlat;hlt.exports=sx({locations:{valType:"data_array",editType:"calc"},z:{valType:"data_array",editType:"calc"},geojson:{valType:"any",editType:"calc"},featureidkey:sx({},Om.featureidkey,{}),below:{valType:"string",editType:"plot"},text:Om.text,hovertext:Om.hovertext,marker:{line:{color:sx({},Om.marker.line.color,{editType:"plot"}),width:sx({},Om.marker.line.width,{editType:"plot"}),editType:"calc"},opacity:sx({},Om.marker.opacity,{editType:"plot"}),editType:"calc"},selected:{marker:{opacity:sx({},Om.selected.marker.opacity,{editType:"plot"}),editType:"plot"},editType:"plot"},unselected:{marker:{opacity:sx({},Om.unselected.marker.opacity,{editType:"plot"}),editType:"plot"},editType:"plot"},hoverinfo:Om.hoverinfo,hovertemplate:O6r({},{keys:["properties"]}),hovertemplatefallback:N6r(),showlegend:sx({},U6r.showlegend,{dflt:!1})},q6r("",{cLetter:"z",editTypeOverride:"calc"}))});var plt=W((gri,dlt)=>{"use strict";var C8=it(),V6r=Fu(),G6r=Gae();dlt.exports=function(t,r,i,n){function a(c,f){return C8.coerce(t,r,G6r,c,f)}var o=a("locations"),s=a("z"),l=a("geojson");if(!C8.isArrayOrTypedArray(o)||!o.length||!C8.isArrayOrTypedArray(s)||!s.length||!(typeof l=="string"&&l!==""||C8.isPlainObject(l))){r.visible=!1;return}a("featureidkey"),r._length=Math.min(o.length,s.length),a("below"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback");var u=a("marker.line.width");u&&a("marker.line.color"),a("marker.opacity"),V6r(t,r,n,a,{prefix:"",cLetter:"z"}),C8.coerceSelectionMarkerOpacity(r,a)}});var Hae=W((mri,mlt)=>{"use strict";var H6r=sn(),Nm=it(),j6r=Jo(),$6r=Ji(),W6r=dE().makeBlank,vlt=cm();function Y6r(e){var t=e[0].trace,r=t.visible===!0&&t._length!==0,i={layout:{visibility:"none"},paint:{}},n={layout:{visibility:"none"},paint:{}},a=t._opts={fill:i,line:n,geojson:W6r()};if(!r)return a;var o=vlt.extractTraceFeature(e);if(!o)return a;var s=j6r.makeColorScaleFuncFromTrace(t),l=t.marker,u=l.line||{},c;Nm.isArrayOrTypedArray(l.opacity)&&(c=function(w){var b=w.mo;return H6r(b)?+Nm.constrain(b,0,1):0});var f;Nm.isArrayOrTypedArray(u.color)&&(f=function(w){return w.mlc});var h;Nm.isArrayOrTypedArray(u.width)&&(h=function(w){return w.mlw});for(var d=0;d{"use strict";var xlt=Hae().convert,X6r=Hae().convertOnSelect,ylt=V2().traceLayerPrefix;function _lt(e,t){this.type="choroplethmap",this.subplot=e,this.uid=t,this.sourceId="source-"+t,this.layerList=[["fill",ylt+t+"-fill"],["line",ylt+t+"-line"]],this.below=null}var KT=_lt.prototype;KT.update=function(e){this._update(xlt(e)),e[0].trace._glTrace=this};KT.updateOnSelect=function(e){this._update(X6r(e))};KT._update=function(e){var t=this.subplot,r=this.layerList,i=t.belowLookup["trace-"+this.uid];t.map.getSource(this.sourceId).setData(e.geojson),i!==this.below&&(this._removeLayers(),this._addLayers(e,i),this.below=i);for(var n=0;n=0;r--)e.removeLayer(t[r][1])};KT.dispose=function(){var e=this.subplot.map;this._removeLayers(),e.removeSource(this.sourceId)};blt.exports=function(t,r){var i=r[0].trace,n=new _lt(t,i.uid),a=n.sourceId,o=xlt(r),s=n.below=t.belowLookup["trace-"+i.uid];return t.map.addSource(a,{type:"geojson",data:o.geojson}),n._addLayers(o,s),r[0].trace._glTrace=n,n}});var Alt=W((xri,Tlt)=>{"use strict";Tlt.exports={attributes:Gae(),supplyDefaults:plt(),colorbar:x5(),calc:bQ(),plot:wlt(),hoverPoints:TQ(),eventData:AQ(),selectPoints:MQ(),styleOnSelect:function(e,t){if(t){var r=t[0].trace;r._glTrace.updateOnSelect(t)}},getBelow:function(e,t){for(var r=t.getMapLayers(),i=r.length-2;i>=0;i--){var n=r[i].id;if(typeof n=="string"&&n.indexOf("water")===0){for(var a=i+1;a{"use strict";Mlt.exports=Alt()});var $ae=W((bri,klt)=>{"use strict";var Z6r=Eo(),{hovertemplateAttrs:K6r,templatefallbackAttrs:J6r}=Ga(),Elt=Wa(),Bq=sz(),jae=tn().extendFlat;klt.exports=jae({lon:Bq.lon,lat:Bq.lat,z:{valType:"data_array",editType:"calc"},radius:{valType:"number",editType:"plot",arrayOk:!0,min:1,dflt:30},below:{valType:"string",editType:"plot"},text:Bq.text,hovertext:Bq.hovertext,hoverinfo:jae({},Elt.hoverinfo,{flags:["lon","lat","z","text","name"]}),hovertemplate:K6r(),hovertemplatefallback:J6r(),showlegend:jae({},Elt.showlegend,{dflt:!1})},Z6r("",{cLetter:"z",editTypeOverride:"calc"}))});var Dlt=W((wri,Clt)=>{"use strict";var Q6r=it(),eAr=Fu(),tAr=$ae();Clt.exports=function(t,r,i,n){function a(u,c){return Q6r.coerce(t,r,tAr,u,c)}var o=a("lon")||[],s=a("lat")||[],l=Math.min(o.length,s.length);if(!l){r.visible=!1;return}r._length=l,a("z"),a("radius"),a("below"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),eAr(t,r,n,a,{prefix:"",cLetter:"z"})}});var Plt=W((Tri,Llt)=>{"use strict";var Wae=sn(),rAr=it().isArrayOrTypedArray,Yae=Kn().BADNUM,iAr=Zc(),Flt=it()._;Llt.exports=function(t,r){for(var i=r._length,n=new Array(i),a=r.z,o=rAr(a)&&a.length,s=0;s{"use strict";var nAr=sn(),Xae=it(),Ilt=ni(),Rlt=Jo(),zlt=Kn().BADNUM,aAr=dE().makeBlank;Blt.exports=function(t){var r=t[0].trace,i=r.visible===!0&&r._length!==0,n={layout:{visibility:"none"},paint:{}},a=r._opts={heatmap:n,geojson:aAr()};if(!i)return a;var o=[],s,l=r.z,u=r.radius,c=Xae.isArrayOrTypedArray(l)&&l.length,f=Xae.isArrayOrTypedArray(u);for(s=0;s0?+u[s]:0),o.push({type:"Feature",geometry:{type:"Point",coordinates:d},properties:p})}}var m=Rlt.extractOpts(r),g=m.reversescale?Rlt.flipScale(m.colorscale):m.colorscale,w=g[0][1],b=Ilt.opacity(w)<1?w:Ilt.addOpacity(w,0),_=["interpolate",["linear"],["heatmap-density"],0,b];for(s=1;s{"use strict";var Olt=qlt(),oAr=V2().traceLayerPrefix;function Nlt(e,t){this.type="densitymap",this.subplot=e,this.uid=t,this.sourceId="source-"+t,this.layerList=[["heatmap",oAr+t+"-heatmap"]],this.below=null}var qq=Nlt.prototype;qq.update=function(e){var t=this.subplot,r=this.layerList,i=Olt(e),n=t.belowLookup["trace-"+this.uid];t.map.getSource(this.sourceId).setData(i.geojson),n!==this.below&&(this._removeLayers(),this._addLayers(i,n),this.below=n);for(var a=0;a=0;r--)e.removeLayer(t[r][1])};qq.dispose=function(){var e=this.subplot.map;this._removeLayers(),e.removeSource(this.sourceId)};Ult.exports=function(t,r){var i=r[0].trace,n=new Nlt(t,i.uid),a=n.sourceId,o=Olt(r),s=n.below=t.belowLookup["trace-"+i.uid];return t.map.addSource(a,{type:"geojson",data:o.geojson}),n._addLayers(o,s),n}});var Hlt=W((Sri,Glt)=>{"use strict";var sAr=ji(),lAr=hz().hoverPoints,uAr=hz().getExtraText;Glt.exports=function(t,r,i){var n=lAr(t,r,i);if(n){var a=n[0],o=a.cd,s=o[0].trace,l=o[a.index];if(delete a.color,"z"in l){var u=a.subplot.mockAxis;a.z=l.z,a.zLabel=sAr.tickText(u,u.c2l(l.z),"hover").text}return a.extraText=uAr(s,l,o[0].t.labels),[a]}}});var $lt=W((Eri,jlt)=>{"use strict";jlt.exports=function(t,r){return t.lon=r.lon,t.lat=r.lat,t.z=r.z,t}});var Ylt=W((kri,Wlt)=>{"use strict";Wlt.exports={attributes:$ae(),supplyDefaults:Dlt(),colorbar:x5(),formatLabels:Dte(),calc:Plt(),plot:Vlt(),hoverPoints:Hlt(),eventData:$lt(),getBelow:function(e,t){for(var r=t.getMapLayers(),i=0;i{"use strict";Xlt.exports=Ylt()});var Kae=W((Fri,tut)=>{"use strict";var cAr=Ho(),fAr=Wa(),Klt=Vl(),Zae=N3(),hAr=us().attributes,{hovertemplateAttrs:Jlt,templatefallbackAttrs:Qlt}=Ga(),dAr=Eo(),pAr=Da().templatedArray,vAr=_s().descriptionOnlyNumbers,eut=tn().extendFlat,gAr=ls().overrideAll,Dri=tut.exports=gAr({hoverinfo:eut({},fAr.hoverinfo,{flags:[],arrayOk:!1}),hoverlabel:Zae.hoverlabel,domain:hAr({name:"sankey",trace:!0}),orientation:{valType:"enumerated",values:["v","h"],dflt:"h"},direction:{valType:"enumerated",values:["forward","reversed"],dflt:"forward"},valueformat:{valType:"string",dflt:".3s",description:vAr("value")},valuesuffix:{valType:"string",dflt:""},arrangement:{valType:"enumerated",values:["snap","perpendicular","freeform","fixed"],dflt:"snap"},textfont:cAr({autoShadowDflt:!0}),customdata:void 0,node:{label:{valType:"data_array",dflt:[]},groups:{valType:"info_array",impliedEdits:{x:[],y:[]},dimensions:2,freeLength:!0,dflt:[],items:{valType:"number",editType:"calc"}},x:{valType:"data_array",dflt:[]},y:{valType:"data_array",dflt:[]},color:{valType:"color",arrayOk:!0},customdata:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:Klt.defaultLine,arrayOk:!0},width:{valType:"number",min:0,dflt:.5,arrayOk:!0}},pad:{valType:"number",arrayOk:!1,min:0,dflt:20},thickness:{valType:"number",arrayOk:!1,min:1,dflt:20},hoverinfo:{valType:"enumerated",values:["all","none","skip"],dflt:"all"},hoverlabel:Zae.hoverlabel,hovertemplate:Jlt({},{keys:["value","label"]}),hovertemplatefallback:Qlt(),align:{valType:"enumerated",values:["justify","left","right","center"],dflt:"justify"},sort:{valType:"enumerated",values:["auto","input"],dflt:"auto"}},link:{arrowlen:{valType:"number",min:0,dflt:0},label:{valType:"data_array",dflt:[]},color:{valType:"color",arrayOk:!0},hovercolor:{valType:"color",arrayOk:!0},customdata:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:Klt.defaultLine,arrayOk:!0},width:{valType:"number",min:0,dflt:0,arrayOk:!0}},source:{valType:"data_array",dflt:[]},target:{valType:"data_array",dflt:[]},value:{valType:"data_array",dflt:[]},hoverinfo:{valType:"enumerated",values:["all","none","skip"],dflt:"all"},hoverlabel:Zae.hoverlabel,hovertemplate:Jlt({},{keys:["value","label"]}),hovertemplatefallback:Qlt(),colorscales:pAr("concentrationscales",{editType:"calc",label:{valType:"string",editType:"calc",dflt:""},cmax:{valType:"number",editType:"calc",dflt:1},cmin:{valType:"number",editType:"calc",dflt:0},colorscale:eut(dAr().colorscale,{dflt:[[0,"white"],[1,"black"]]})}),sort:{valType:"enumerated",values:["auto","input"],dflt:"auto"}}},"calc","nested")});var aut=W((Lri,nut)=>{"use strict";var JT=it(),Oq=Kae(),d3=ni(),mAr=us().defaults,rut=EA(),iut=Da(),yAr=Xc();nut.exports=function(t,r,i,n){function a(_,M){return JT.coerce(t,r,Oq,_,M)}var o=JT.extendDeep(n.hoverlabel,t.hoverlabel),s=t.node,l=iut.newContainer(r,"node");function u(_,M){return JT.coerce(s,l,Oq.node,_,M)}u("label"),u("groups"),u("x"),u("y"),u("pad"),u("thickness"),u("line.color"),u("line.width"),u("hoverinfo",t.hoverinfo),rut(s,l,u,o),u("hovertemplate"),u("align"),u("sort");var c=n.colorway;let f=_=>c[_%c.length];u("color",l.label.map((_,M)=>d3.addOpacity(f(M),.8))),u("customdata");var h=t.link||{},d=iut.newContainer(r,"link");function p(_,M){return JT.coerce(h,d,Oq.link,_,M)}p("label"),p("arrowlen"),p("source"),p("target"),p("value"),p("line.color"),p("line.width"),p("hoverinfo",t.hoverinfo),rut(h,d,p,o),p("hovertemplate"),p("sort");var v=d3.luminosity(n.paper_bgcolor)<.333,m=v?"rgba(255, 255, 255, 0.6)":"rgba(0, 0, 0, 0.2)",g=p("color",m);function w(_){if(!d3.isValid(_))return _;let M=d3.opacity(_);return M<=.8?d3.addOpacity(_,M+.2):v?d3.brighten(_,10):d3.adjustLightness(_,-10)}p("hovercolor",Array.isArray(g)?g.map(w):w(g)),p("customdata"),yAr(h,d,{name:"colorscales",handleItemDefaults:xAr}),mAr(r,n,a),a("orientation"),a("direction"),a("valueformat"),a("valuesuffix");let b=l.x.length&&l.y.length?"freeform":void 0;a("arrangement",b),JT.coerceFont(a,"textfont",n.font,{autoShadowDflt:!0}),r._length=null};function xAr(e,t){function r(i,n){return JT.coerce(e,t,Oq.link.colorscales,i,n)}r("label"),r("cmin"),r("cmax"),r("colorscale")}});var Jae=W((Pri,out)=>{"use strict";out.exports=_Ar;function _Ar(e){for(var t=e.length,r=new Array(t),i=new Array(t),n=new Array(t),a=new Array(t),o=new Array(t),s=new Array(t),l=0;l0;){m=w[w.length-1];var b=e[m];if(a[m]=0&&s[m].push(o[M])}a[m]=_}else{if(i[m]===r[m]){for(var x=[],T=[],A=0,_=g.length-1;_>=0;--_){var y=g[_];if(n[y]=!1,x.push(y),T.push(s[y]),A+=s[y].length,o[y]=c.length,y===m){g.length=_;break}}c.push(x);for(var E=new Array(A),_=0;_{"use strict";var bAr=Jae(),QT=it(),wAr=G1().wrap,D8=QT.isArrayOrTypedArray,sut=QT.isIndex,lut=Jo();function TAr(e){var t=e.node,r=e.link,i=[],n=D8(r.color),a=D8(r.hovercolor),o=D8(r.customdata),s={},l={},u=r.colorscales.length,c;for(c=0;cp&&(p=r.source[c]),r.target[c]>p&&(p=r.target[c]);var v=p+1;e.node._count=v;var m,g=e.node.groups,w={};for(c=0;c0&&sut(A,v)&&sut(y,v)&&!(w.hasOwnProperty(A)&&w.hasOwnProperty(y)&&w[A]===w[y])){w.hasOwnProperty(y)&&(y=w[y]),w.hasOwnProperty(A)&&(A=w[A]),A=+A,y=+y,s[A]=s[y]=!0;var E="";r.label&&r.label[c]&&(E=r.label[c]);var S=null;E&&l.hasOwnProperty(E)&&(S=l[E]),i.push({pointNumber:c,label:E,color:n?r.color[c]:r.color,hovercolor:a?r.hovercolor[c]:r.hovercolor,customdata:o?r.customdata[c]:r.customdata,concentrationscale:S,source:A,target:y,value:+T}),x.source.push(A),x.target.push(y)}}var C=v+g.length,k=D8(t.color),D=D8(t.customdata),F=[];for(c=0;cv-1,childrenNodes:[],pointNumber:c,label:P,color:k?t.color[c]:t.color,customdata:D?t.customdata[c]:t.customdata})}var R=!1;return AAr(C,x.source,x.target)&&(R=!0),{circular:R,links:i,nodes:F,groups:g,groupLookup:w}}function AAr(e,t,r){for(var i=QT.init2dArray(e,0),n=0;n1})}uut.exports=function(t,r){var i=TAr(r);return wAr({circular:i.circular,_nodes:i.nodes,_links:i.links,_groups:i.groups,_groupLookup:i.groupLookup})}});var hut=W((Nq,fut)=>{(function(e,t){typeof Nq=="object"&&typeof fut!="undefined"?t(Nq):(e=e||self,t(e.d3=e.d3||{}))})(Nq,function(e){"use strict";function t(T){var A=+this._x.call(null,T),y=+this._y.call(null,T);return r(this.cover(A,y),A,y,T)}function r(T,A,y,E){if(isNaN(A)||isNaN(y))return T;var S,C=T._root,k={data:E},D=T._x0,F=T._y0,P=T._x1,R=T._y1,L,I,B,O,$,Y,K,j;if(!C)return T._root=k,T;for(;C.length;)if(($=A>=(L=(D+P)/2))?D=L:P=L,(Y=y>=(I=(F+R)/2))?F=I:R=I,S=C,!(C=C[K=Y<<1|$]))return S[K]=k,T;if(B=+T._x.call(null,C.data),O=+T._y.call(null,C.data),A===B&&y===O)return k.next=C,S?S[K]=k:T._root=k,T;do S=S?S[K]=new Array(4):T._root=new Array(4),($=A>=(L=(D+P)/2))?D=L:P=L,(Y=y>=(I=(F+R)/2))?F=I:R=I;while((K=Y<<1|$)===(j=(O>=I)<<1|B>=L));return S[j]=C,S[K]=k,T}function i(T){var A,y,E=T.length,S,C,k=new Array(E),D=new Array(E),F=1/0,P=1/0,R=-1/0,L=-1/0;for(y=0;yR&&(R=S),CL&&(L=C));if(F>R||P>L)return this;for(this.cover(F,P).cover(R,L),y=0;yT||T>=S||E>A||A>=C;)switch(P=(AR||(D=O.y0)>L||(F=O.x1)=K)<<1|T>=Y)&&(O=I[I.length-1],I[I.length-1]=I[I.length-1-$],I[I.length-1-$]=O)}else{var j=T-+this._x.call(null,B.data),q=A-+this._y.call(null,B.data),J=j*j+q*q;if(J=(I=(k+F)/2))?k=I:F=I,($=L>=(B=(D+P)/2))?D=B:P=B,A=y,!(y=y[Y=$<<1|O]))return this;if(!y.length)break;(A[Y+1&3]||A[Y+2&3]||A[Y+3&3])&&(E=A,K=Y)}for(;y.data!==T;)if(S=y,!(y=y.next))return this;return(C=y.next)&&delete y.next,S?(C?S.next=C:delete S.next,this):A?(C?A[Y]=C:delete A[Y],(y=A[0]||A[1]||A[2]||A[3])&&y===(A[3]||A[2]||A[1]||A[0])&&!y.length&&(E?E[K]=y:this._root=y),this):(this._root=C,this)}function c(T){for(var A=0,y=T.length;A{(function(e,t){t(typeof Uq=="object"&&typeof dut!="undefined"?Uq:e.d3=e.d3||{})})(Uq,(function(e){"use strict";var t="$";function r(){}r.prototype=i.prototype={constructor:r,has:function(v){return t+v in this},get:function(v){return this[t+v]},set:function(v,m){return this[t+v]=m,this},remove:function(v){var m=t+v;return m in this&&delete this[m]},clear:function(){for(var v in this)v[0]===t&&delete this[v]},keys:function(){var v=[];for(var m in this)m[0]===t&&v.push(m.slice(1));return v},values:function(){var v=[];for(var m in this)m[0]===t&&v.push(this[m]);return v},entries:function(){var v=[];for(var m in this)m[0]===t&&v.push({key:m.slice(1),value:this[m]});return v},size:function(){var v=0;for(var m in this)m[0]===t&&++v;return v},empty:function(){for(var v in this)if(v[0]===t)return!1;return!0},each:function(v){for(var m in this)m[0]===t&&v(this[m],m.slice(1),this)}};function i(v,m){var g=new r;if(v instanceof r)v.each(function(x,T){g.set(T,x)});else if(Array.isArray(v)){var w=-1,b=v.length,_;if(m==null)for(;++w=v.length)return g!=null&&x.sort(g),w!=null?w(x):x;for(var E=-1,S=x.length,C=v[T++],k,D,F=i(),P,R=A();++Ev.length)return x;var A,y=m[T-1];return w!=null&&T>=v.length?A=x.entries():(A=[],x.each(function(E,S){A.push({key:S,values:M(E,T)})})),y!=null?A.sort(function(E,S){return y(E.key,S.key)}):A}return b={object:function(x){return _(x,0,a,o)},map:function(x){return _(x,0,s,l)},entries:function(x){return M(_(x,0,s,l),0)},key:function(x){return v.push(x),b},sortKeys:function(x){return m[v.length-1]=x,b},sortValues:function(x){return g=x,b},rollup:function(x){return w=x,b}}}function a(){return{}}function o(v,m,g){v[m]=g}function s(){return i()}function l(v,m,g){v.set(m,g)}function u(){}var c=i.prototype;u.prototype=f.prototype={constructor:u,has:c.has,add:function(v){return v+="",this[t+v]=v,this},remove:c.remove,clear:c.clear,values:c.keys,size:c.size,empty:c.empty,each:c.each};function f(v,m){var g=new u;if(v instanceof u)v.each(function(_){g.add(_)});else if(v){var w=-1,b=v.length;if(m==null)for(;++w{(function(e,t){typeof Vq=="object"&&typeof put!="undefined"?t(Vq):(e=e||self,t(e.d3=e.d3||{}))})(Vq,function(e){"use strict";var t={value:function(){}};function r(){for(var s=0,l=arguments.length,u={},c;s=0&&(c=u.slice(f+1),u=u.slice(0,f)),u&&!l.hasOwnProperty(u))throw new Error("unknown type: "+u);return{type:u,name:c}})}i.prototype=r.prototype={constructor:i,on:function(s,l){var u=this._,c=n(s+"",u),f,h=-1,d=c.length;if(arguments.length<2){for(;++h0)for(var u=new Array(f),c=0,f,h;c{(function(e,t){typeof Gq=="object"&&typeof gut!="undefined"?t(Gq):(e=e||self,t(e.d3=e.d3||{}))})(Gq,function(e){"use strict";var t=0,r=0,i=0,n=1e3,a,o,s=0,l=0,u=0,c=typeof performance=="object"&&performance.now?performance:Date,f=typeof window=="object"&&window.requestAnimationFrame?window.requestAnimationFrame.bind(window):function(T){setTimeout(T,17)};function h(){return l||(f(d),l=c.now()+u)}function d(){l=0}function p(){this._call=this._time=this._next=null}p.prototype=v.prototype={constructor:p,restart:function(T,A,y){if(typeof T!="function")throw new TypeError("callback is not a function");y=(y==null?h():+y)+(A==null?0:+A),!this._next&&o!==this&&(o?o._next=this:a=this,o=this),this._call=T,this._time=y,_()},stop:function(){this._call&&(this._call=null,this._time=1/0,_())}};function v(T,A,y){var E=new p;return E.restart(T,A,y),E}function m(){h(),++t;for(var T=a,A;T;)(A=l-T._time)>=0&&T._call.call(null,A),T=T._next;--t}function g(){l=(s=c.now())+u,t=r=0;try{m()}finally{t=0,b(),l=0}}function w(){var T=c.now(),A=T-s;A>n&&(u-=A,s=T)}function b(){for(var T,A=a,y,E=1/0;A;)A._call?(E>A._time&&(E=A._time),T=A,A=A._next):(y=A._next,A._next=null,A=T?T._next=y:a=y);o=T,_(E)}function _(T){if(!t){r&&(r=clearTimeout(r));var A=T-l;A>24?(T<1/0&&(r=setTimeout(g,T-c.now()-u)),i&&(i=clearInterval(i))):(i||(s=c.now(),i=setInterval(w,n)),t=1,f(g))}}function M(T,A,y){var E=new p;return A=A==null?0:+A,E.restart(function(S){E.stop(),T(S+A)},A,y),E}function x(T,A,y){var E=new p,S=A;return A==null?(E.restart(T,A,y),E):(A=+A,y=y==null?h():+y,E.restart(function C(k){k+=S,E.restart(C,S+=A,y),T(k)},A,y),E)}e.interval=x,e.now=h,e.timeout=M,e.timer=v,e.timerFlush=m,Object.defineProperty(e,"__esModule",{value:!0})})});var xut=W((Hq,yut)=>{(function(e,t){typeof Hq=="object"&&typeof yut!="undefined"?t(Hq,hut(),Qae(),vut(),mut()):t(e.d3=e.d3||{},e.d3,e.d3,e.d3,e.d3)})(Hq,(function(e,t,r,i,n){"use strict";function a(T,A){var y;T==null&&(T=0),A==null&&(A=0);function E(){var S,C=y.length,k,D=0,F=0;for(S=0;SL.index){var Q=I-X.x-X.vx,te=B-X.y-X.vy,ce=Q*Q+te*te;ceI+G||UB+G||VF.r&&(F.r=F[P].r)}function D(){if(A){var F,P=A.length,R;for(y=new Array(P),F=0;F1?($==null?D.remove(O):D.set(O,B($)),A):D.get(O)},find:function(O,$,Y){var K=0,j=T.length,q,J,U,V,X;for(Y==null?Y=1/0:Y*=Y,K=0;K1?(P.on(O,$),A):P.on(O)}}}function b(){var T,A,y,E=o(-30),S,C=1,k=1/0,D=.81;function F(I){var B,O=T.length,$=t.quadtree(T,p,v).visitAfter(R);for(y=I,B=0;B=k)return;(I.data!==A||I.next)&&(Y===0&&(Y=s(),q+=Y*Y),K===0&&(K=s(),q+=K*K),q{(function(e,t){typeof jq=="object"&&typeof _ut!="undefined"?t(jq):(e=typeof globalThis!="undefined"?globalThis:e||self,t(e.d3=e.d3||{}))})(jq,(function(e){"use strict";function t($e,tt){return $ett?1:$e>=tt?0:NaN}function r($e){let tt=$e,st=$e;$e.length===1&&(tt=(ir,hr)=>$e(ir)-hr,st=i($e));function xt(ir,hr,Ur,si){for(Ur==null&&(Ur=0),si==null&&(si=ir.length);Ur>>1;st(ir[ei],hr)<0?Ur=ei+1:si=ei}return Ur}function Je(ir,hr,Ur,si){for(Ur==null&&(Ur=0),si==null&&(si=ir.length);Ur>>1;st(ir[ei],hr)>0?si=ei:Ur=ei+1}return Ur}function Ct(ir,hr,Ur,si){Ur==null&&(Ur=0),si==null&&(si=ir.length);let ei=xt(ir,hr,Ur,si-1);return ei>Ur&&tt(ir[ei-1],hr)>-tt(ir[ei],hr)?ei-1:ei}return{left:xt,center:Ct,right:Je}}function i($e){return(tt,st)=>t($e(tt),st)}function n($e){return $e===null?NaN:+$e}function*a($e,tt){if(tt===void 0)for(let st of $e)st!=null&&(st=+st)>=st&&(yield st);else{let st=-1;for(let xt of $e)(xt=tt(xt,++st,$e))!=null&&(xt=+xt)>=xt&&(yield xt)}}let o=r(t),s=o.right,l=o.left,u=r(n).center;function c($e,tt){let st=0;if(tt===void 0)for(let xt of $e)xt!=null&&(xt=+xt)>=xt&&++st;else{let xt=-1;for(let Je of $e)(Je=tt(Je,++xt,$e))!=null&&(Je=+Je)>=Je&&++st}return st}function f($e){return $e.length|0}function h($e){return!($e>0)}function d($e){return typeof $e!="object"||"length"in $e?$e:Array.from($e)}function p($e){return tt=>$e(...tt)}function v(...$e){let tt=typeof $e[$e.length-1]=="function"&&p($e.pop());$e=$e.map(d);let st=$e.map(f),xt=$e.length-1,Je=new Array(xt+1).fill(0),Ct=[];if(xt<0||st.some(h))return Ct;for(;;){Ct.push(Je.map((hr,Ur)=>$e[Ur][hr]));let ir=xt;for(;++Je[ir]===st[ir];){if(ir===0)return tt?Ct.map(tt):Ct;Je[ir--]=0}}}function m($e,tt){var st=0,xt=0;return Float64Array.from($e,tt===void 0?Je=>st+=+Je||0:Je=>st+=+tt(Je,xt++,$e)||0)}function g($e,tt){return tt<$e?-1:tt>$e?1:tt>=$e?0:NaN}function w($e,tt){let st=0,xt,Je=0,Ct=0;if(tt===void 0)for(let ir of $e)ir!=null&&(ir=+ir)>=ir&&(xt=ir-Je,Je+=xt/++st,Ct+=xt*(ir-Je));else{let ir=-1;for(let hr of $e)(hr=tt(hr,++ir,$e))!=null&&(hr=+hr)>=hr&&(xt=hr-Je,Je+=xt/++st,Ct+=xt*(hr-Je))}if(st>1)return Ct/(st-1)}function b($e,tt){let st=w($e,tt);return st&&Math.sqrt(st)}function _($e,tt){let st,xt;if(tt===void 0)for(let Je of $e)Je!=null&&(st===void 0?Je>=Je&&(st=xt=Je):(st>Je&&(st=Je),xt=Ct&&(st=xt=Ct):(st>Ct&&(st=Ct),xt0){for(ir=tt[--st];st>0&&(xt=ir,Je=tt[--st],ir=xt+Je,Ct=Je-(ir-xt),!Ct););st>0&&(Ct<0&&tt[st-1]<0||Ct>0&&tt[st-1]>0)&&(Je=Ct*2,xt=ir+Je,Je==xt-ir&&(ir=xt))}return ir}}function x($e,tt){let st=new M;if(tt===void 0)for(let xt of $e)(xt=+xt)&&st.add(xt);else{let xt=-1;for(let Je of $e)(Je=+tt(Je,++xt,$e))&&st.add(Je)}return+st}function T($e,tt){let st=new M,xt=-1;return Float64Array.from($e,tt===void 0?Je=>st.add(+Je||0):Je=>st.add(+tt(Je,++xt,$e)||0))}class A extends Map{constructor(tt,st=k){if(super(),Object.defineProperties(this,{_intern:{value:new Map},_key:{value:st}}),tt!=null)for(let[xt,Je]of tt)this.set(xt,Je)}get(tt){return super.get(E(this,tt))}has(tt){return super.has(E(this,tt))}set(tt,st){return super.set(S(this,tt),st)}delete(tt){return super.delete(C(this,tt))}}class y extends Set{constructor(tt,st=k){if(super(),Object.defineProperties(this,{_intern:{value:new Map},_key:{value:st}}),tt!=null)for(let xt of tt)this.add(xt)}has(tt){return super.has(E(this,tt))}add(tt){return super.add(S(this,tt))}delete(tt){return super.delete(C(this,tt))}}function E({_intern:$e,_key:tt},st){let xt=tt(st);return $e.has(xt)?$e.get(xt):st}function S({_intern:$e,_key:tt},st){let xt=tt(st);return $e.has(xt)?$e.get(xt):($e.set(xt,st),st)}function C({_intern:$e,_key:tt},st){let xt=tt(st);return $e.has(xt)&&(st=$e.get(st),$e.delete(xt)),st}function k($e){return $e!==null&&typeof $e=="object"?$e.valueOf():$e}function D($e){return $e}function F($e,...tt){return $($e,D,D,tt)}function P($e,...tt){return $($e,Array.from,D,tt)}function R($e,tt,...st){return $($e,D,tt,st)}function L($e,tt,...st){return $($e,Array.from,tt,st)}function I($e,...tt){return $($e,D,O,tt)}function B($e,...tt){return $($e,Array.from,O,tt)}function O($e){if($e.length!==1)throw new Error("duplicate key");return $e[0]}function $($e,tt,st,xt){return(function Je(Ct,ir){if(ir>=xt.length)return st(Ct);let hr=new A,Ur=xt[ir++],si=-1;for(let ei of Ct){let Lr=Ur(ei,++si,Ct),$i=hr.get(Lr);$i?$i.push(ei):hr.set(Lr,[ei])}for(let[ei,Lr]of hr)hr.set(ei,Je(Lr,ir));return tt(hr)})($e,0)}function Y($e,tt){return Array.from(tt,st=>$e[st])}function K($e,...tt){if(typeof $e[Symbol.iterator]!="function")throw new TypeError("values is not iterable");$e=Array.from($e);let[st=t]=tt;if(st.length===1||tt.length>1){let xt=Uint32Array.from($e,(Je,Ct)=>Ct);return tt.length>1?(tt=tt.map(Je=>$e.map(Je)),xt.sort((Je,Ct)=>{for(let ir of tt){let hr=t(ir[Je],ir[Ct]);if(hr)return hr}})):(st=$e.map(st),xt.sort((Je,Ct)=>t(st[Je],st[Ct]))),Y($e,xt)}return $e.sort(st)}function j($e,tt,st){return(tt.length===1?K(R($e,tt,st),(([xt,Je],[Ct,ir])=>t(Je,ir)||t(xt,Ct))):K(F($e,st),(([xt,Je],[Ct,ir])=>tt(Je,ir)||t(xt,Ct)))).map(([xt])=>xt)}var q=Array.prototype,J=q.slice;function U($e){return function(){return $e}}var V=Math.sqrt(50),X=Math.sqrt(10),H=Math.sqrt(2);function G($e,tt,st){var xt,Je=-1,Ct,ir,hr;if(tt=+tt,$e=+$e,st=+st,$e===tt&&st>0)return[$e];if((xt=tt<$e)&&(Ct=$e,$e=tt,tt=Ct),(hr=Q($e,tt,st))===0||!isFinite(hr))return[];if(hr>0){let Ur=Math.round($e/hr),si=Math.round(tt/hr);for(Ur*hr<$e&&++Ur,si*hr>tt&&--si,ir=new Array(Ct=si-Ur+1);++Jett&&--si,ir=new Array(Ct=si-Ur+1);++Je=0?(Ct>=V?10:Ct>=X?5:Ct>=H?2:1)*Math.pow(10,Je):-Math.pow(10,-Je)/(Ct>=V?10:Ct>=X?5:Ct>=H?2:1)}function te($e,tt,st){var xt=Math.abs(tt-$e)/Math.max(0,st),Je=Math.pow(10,Math.floor(Math.log(xt)/Math.LN10)),Ct=xt/Je;return Ct>=V?Je*=10:Ct>=X?Je*=5:Ct>=H&&(Je*=2),tt<$e?-Je:Je}function ce($e,tt,st){let xt;for(;;){let Je=Q($e,tt,st);if(Je===xt||Je===0||!isFinite(Je))return[$e,tt];Je>0?($e=Math.floor($e/Je)*Je,tt=Math.ceil(tt/Je)*Je):Je<0&&($e=Math.ceil($e*Je)/Je,tt=Math.floor(tt*Je)/Je),xt=Je}}function ge($e){return Math.ceil(Math.log(c($e))/Math.LN2)+1}function Ce(){var $e=D,tt=_,st=ge;function xt(Je){Array.isArray(Je)||(Je=Array.from(Je));var Ct,ir=Je.length,hr,Ur=new Array(ir);for(Ct=0;Ct=Lr)if(ca>=Lr&&tt===_){let Vn=Q(ei,Lr,dn);isFinite(Vn)&&(Vn>0?Lr=(Math.floor(Lr/Vn)+1)*Vn:Vn<0&&(Lr=(Math.ceil(Lr*-Vn)+1)/-Vn))}else $i.pop()}for(var Tn=$i.length;$i[0]<=ei;)$i.shift(),--Tn;for(;$i[Tn-1]>Lr;)$i.pop(),--Tn;var hn=new Array(Tn+1),ta;for(Ct=0;Ct<=Tn;++Ct)ta=hn[Ct]=[],ta.x0=Ct>0?$i[Ct-1]:ei,ta.x1=Ct=xt)&&(st=xt);else{let xt=-1;for(let Je of $e)(Je=tt(Je,++xt,$e))!=null&&(st=Je)&&(st=Je)}return st}function he($e,tt){let st;if(tt===void 0)for(let xt of $e)xt!=null&&(st>xt||st===void 0&&xt>=xt)&&(st=xt);else{let xt=-1;for(let Je of $e)(Je=tt(Je,++xt,$e))!=null&&(st>Je||st===void 0&&Je>=Je)&&(st=Je)}return st}function oe($e,tt,st=0,xt=$e.length-1,Je=t){for(;xt>st;){if(xt-st>600){let Ur=xt-st+1,si=tt-st+1,ei=Math.log(Ur),Lr=.5*Math.exp(2*ei/3),$i=.5*Math.sqrt(ei*Lr*(Ur-Lr)/Ur)*(si-Ur/2<0?-1:1),Tn=Math.max(st,Math.floor(tt-si*Lr/Ur+$i)),hn=Math.min(xt,Math.floor(tt+(Ur-si)*Lr/Ur+$i));oe($e,tt,Tn,hn,Je)}let Ct=$e[tt],ir=st,hr=xt;for(Ee($e,st,tt),Je($e[xt],Ct)>0&&Ee($e,st,xt);ir0;)--hr}Je($e[st],Ct)===0?Ee($e,st,hr):(++hr,Ee($e,hr,xt)),hr<=tt&&(st=hr+1),tt<=hr&&(xt=hr-1)}return $e}function Ee($e,tt,st){let xt=$e[tt];$e[tt]=$e[st],$e[st]=xt}function ye($e,tt,st){if($e=Float64Array.from(a($e,st)),!!(xt=$e.length)){if((tt=+tt)<=0||xt<2)return he($e);if(tt>=1)return be($e);var xt,Je=(xt-1)*tt,Ct=Math.floor(Je),ir=be(oe($e,Ct).subarray(0,Ct+1)),hr=he($e.subarray(Ct+1));return ir+(hr-ir)*(Je-Ct)}}function ue($e,tt,st=n){if(xt=$e.length){if((tt=+tt)<=0||xt<2)return+st($e[0],0,$e);if(tt>=1)return+st($e[xt-1],xt-1,$e);var xt,Je=(xt-1)*tt,Ct=Math.floor(Je),ir=+st($e[Ct],Ct,$e),hr=+st($e[Ct+1],Ct+1,$e);return ir+(hr-ir)*(Je-Ct)}}function ee($e,tt,st){return Math.ceil((st-tt)/(2*(ye($e,.75)-ye($e,.25))*Math.pow(c($e),-1/3)))}function ae($e,tt,st){return Math.ceil((st-tt)/(3.5*b($e)*Math.pow(c($e),-1/3)))}function xe($e,tt){let st,xt=-1,Je=-1;if(tt===void 0)for(let Ct of $e)++Je,Ct!=null&&(st=Ct)&&(st=Ct,xt=Je);else for(let Ct of $e)(Ct=tt(Ct,++Je,$e))!=null&&(st=Ct)&&(st=Ct,xt=Je);return xt}function re($e,tt){let st=0,xt=0;if(tt===void 0)for(let Je of $e)Je!=null&&(Je=+Je)>=Je&&(++st,xt+=Je);else{let Je=-1;for(let Ct of $e)(Ct=tt(Ct,++Je,$e))!=null&&(Ct=+Ct)>=Ct&&(++st,xt+=Ct)}if(st)return xt/st}function pe($e,tt){return ye($e,.5,tt)}function*we($e){for(let tt of $e)yield*jse(tt)}function Fe($e){return Array.from(we($e))}function Se($e,tt){let st,xt=-1,Je=-1;if(tt===void 0)for(let Ct of $e)++Je,Ct!=null&&(st>Ct||st===void 0&&Ct>=Ct)&&(st=Ct,xt=Je);else for(let Ct of $e)(Ct=tt(Ct,++Je,$e))!=null&&(st>Ct||st===void 0&&Ct>=Ct)&&(st=Ct,xt=Je);return xt}function ke($e,tt=_e){let st=[],xt,Je=!1;for(let Ct of $e)Je&&st.push(tt(xt,Ct)),xt=Ct,Je=!0;return st}function _e($e,tt){return[$e,tt]}function Ie($e,tt,st){$e=+$e,tt=+tt,st=(Je=arguments.length)<2?(tt=$e,$e=0,1):Je<3?1:+st;for(var xt=-1,Je=Math.max(0,Math.ceil((tt-$e)/st))|0,Ct=new Array(Je);++xt0:t(ir,ir)===0)&&(st=Ct,Je=ir,xt=!0)}}else for(let Je of $e)(xt?tt(Je,st)>0:tt(Je,Je)===0)&&(st=Je,xt=!0);return st}function _t($e,tt=t){if(tt.length===1)return xe($e,tt);let st,xt=-1,Je=-1;for(let Ct of $e)++Je,(xt<0?tt(Ct,Ct)===0:tt(Ct,st)>0)&&(st=Ct,xt=Je);return xt}function ut($e,tt){let st=Qe($e,tt);return st<0?void 0:st}var vt=Xe(Math.random);function Xe($e){return function(st,xt=0,Je=st.length){let Ct=Je-(xt=+xt);for(;Ct;){let ir=$e()*Ct--|0,hr=st[Ct+xt];st[Ct+xt]=st[ir+xt],st[ir+xt]=hr}return st}}function mt($e,tt){let st=0;if(tt===void 0)for(let xt of $e)(xt=+xt)&&(st+=xt);else{let xt=-1;for(let Je of $e)(Je=+tt(Je,++xt,$e))&&(st+=Je)}return st}function bt($e){if(!(Ct=$e.length))return[];for(var tt=-1,st=he($e,Ne),xt=new Array(st);++tttt(st,xt,$e))}function ct($e,tt,st){if(typeof tt!="function")throw new TypeError("reducer is not a function");let xt=$e[Symbol.iterator](),Je,Ct,ir=-1;if(arguments.length<3){if({done:Je,value:st}=xt.next(),Je)return;++ir}for(;{done:Je,value:Ct}=xt.next(),!Je;)st=tt(st,Ct,++ir,$e);return st}function Tt($e){if(typeof $e[Symbol.iterator]!="function")throw new TypeError("values is not iterable");return Array.from($e).reverse()}function Xt($e,...tt){$e=new Set($e);for(let st of tt)for(let xt of st)$e.delete(xt);return $e}function Vt($e,tt){let st=tt[Symbol.iterator](),xt=new Set;for(let Je of $e){if(xt.has(Je))return!1;let Ct,ir;for(;({value:Ct,done:ir}=st.next())&&!ir;){if(Object.is(Je,Ct))return!1;xt.add(Ct)}}return!0}function lr($e){return $e instanceof Set?$e:new Set($e)}function ur($e,...tt){$e=new Set($e),tt=tt.map(lr);e:for(let st of $e)for(let xt of tt)if(!xt.has(st)){$e.delete(st);continue e}return $e}function Bt($e,tt){let st=$e[Symbol.iterator](),xt=new Set;for(let Je of tt){if(xt.has(Je))continue;let Ct,ir;for(;{value:Ct,done:ir}=st.next();){if(ir)return!1;if(xt.add(Ct),Object.is(Je,Ct))break}}return!0}function Zt($e,tt){return Bt(tt,$e)}function kr(...$e){let tt=new Set;for(let st of $e)for(let xt of st)tt.add(xt);return tt}e.Adder=M,e.InternMap=A,e.InternSet=y,e.ascending=t,e.bin=Ce,e.bisect=s,e.bisectCenter=u,e.bisectLeft=l,e.bisectRight=s,e.bisector=r,e.count=c,e.cross=v,e.cumsum=m,e.descending=g,e.deviation=b,e.difference=Xt,e.disjoint=Vt,e.every=Ge,e.extent=_,e.fcumsum=T,e.filter=Re,e.fsum=x,e.greatest=et,e.greatestIndex=_t,e.group=F,e.groupSort=j,e.groups=P,e.histogram=Ce,e.index=I,e.indexes=B,e.intersection=ur,e.least=Oe,e.leastIndex=Qe,e.map=Ve,e.max=be,e.maxIndex=xe,e.mean=re,e.median=pe,e.merge=Fe,e.min=he,e.minIndex=Se,e.nice=ce,e.pairs=ke,e.permute=Y,e.quantile=ye,e.quantileSorted=ue,e.quickselect=oe,e.range=Ie,e.reduce=ct,e.reverse=Tt,e.rollup=R,e.rollups=L,e.scan=ut,e.shuffle=vt,e.shuffler=Xe,e.some=je,e.sort=K,e.subset=Zt,e.sum=mt,e.superset=Bt,e.thresholdFreedmanDiaconis=ee,e.thresholdScott=ae,e.thresholdSturges=ge,e.tickIncrement=Q,e.tickStep=te,e.ticks=G,e.transpose=bt,e.union=kr,e.variance=w,e.zip=Ue,Object.defineProperty(e,"__esModule",{value:!0})}))});var Tut=W(($q,wut)=>{(function(e,t){typeof $q=="object"&&typeof wut!="undefined"?t($q):(e=e||self,t(e.d3=e.d3||{}))})($q,function(e){"use strict";var t=Math.PI,r=2*t,i=1e-6,n=r-i;function a(){this._x0=this._y0=this._x1=this._y1=null,this._=""}function o(){return new a}a.prototype=o.prototype={constructor:a,moveTo:function(s,l){this._+="M"+(this._x0=this._x1=+s)+","+(this._y0=this._y1=+l)},closePath:function(){this._x1!==null&&(this._x1=this._x0,this._y1=this._y0,this._+="Z")},lineTo:function(s,l){this._+="L"+(this._x1=+s)+","+(this._y1=+l)},quadraticCurveTo:function(s,l,u,c){this._+="Q"+ +s+","+ +l+","+(this._x1=+u)+","+(this._y1=+c)},bezierCurveTo:function(s,l,u,c,f,h){this._+="C"+ +s+","+ +l+","+ +u+","+ +c+","+(this._x1=+f)+","+(this._y1=+h)},arcTo:function(s,l,u,c,f){s=+s,l=+l,u=+u,c=+c,f=+f;var h=this._x1,d=this._y1,p=u-s,v=c-l,m=h-s,g=d-l,w=m*m+g*g;if(f<0)throw new Error("negative radius: "+f);if(this._x1===null)this._+="M"+(this._x1=s)+","+(this._y1=l);else if(w>i)if(!(Math.abs(g*p-v*m)>i)||!f)this._+="L"+(this._x1=s)+","+(this._y1=l);else{var b=u-h,_=c-d,M=p*p+v*v,x=b*b+_*_,T=Math.sqrt(M),A=Math.sqrt(w),y=f*Math.tan((t-Math.acos((M+w-x)/(2*T*A)))/2),E=y/A,S=y/T;Math.abs(E-1)>i&&(this._+="L"+(s+E*m)+","+(l+E*g)),this._+="A"+f+","+f+",0,0,"+ +(g*b>m*_)+","+(this._x1=s+S*p)+","+(this._y1=l+S*v)}},arc:function(s,l,u,c,f,h){s=+s,l=+l,u=+u,h=!!h;var d=u*Math.cos(c),p=u*Math.sin(c),v=s+d,m=l+p,g=1^h,w=h?c-f:f-c;if(u<0)throw new Error("negative radius: "+u);this._x1===null?this._+="M"+v+","+m:(Math.abs(this._x1-v)>i||Math.abs(this._y1-m)>i)&&(this._+="L"+v+","+m),u&&(w<0&&(w=w%r+r),w>n?this._+="A"+u+","+u+",0,1,"+g+","+(s-d)+","+(l-p)+"A"+u+","+u+",0,1,"+g+","+(this._x1=v)+","+(this._y1=m):w>i&&(this._+="A"+u+","+u+",0,"+ +(w>=t)+","+g+","+(this._x1=s+u*Math.cos(f))+","+(this._y1=l+u*Math.sin(f))))},rect:function(s,l,u,c){this._+="M"+(this._x0=this._x1=+s)+","+(this._y0=this._y1=+l)+"h"+ +u+"v"+ +c+"h"+-u+"Z"},toString:function(){return this._}},e.path=o,Object.defineProperty(e,"__esModule",{value:!0})})});var eoe=W((Wq,Aut)=>{(function(e,t){typeof Wq=="object"&&typeof Aut!="undefined"?t(Wq,Tut()):(e=e||self,t(e.d3=e.d3||{},e.d3))})(Wq,function(e,t){"use strict";function r(Le){return function(){return Le}}var i=Math.abs,n=Math.atan2,a=Math.cos,o=Math.max,s=Math.min,l=Math.sin,u=Math.sqrt,c=1e-12,f=Math.PI,h=f/2,d=2*f;function p(Le){return Le>1?0:Le<-1?f:Math.acos(Le)}function v(Le){return Le>=1?h:Le<=-1?-h:Math.asin(Le)}function m(Le){return Le.innerRadius}function g(Le){return Le.outerRadius}function w(Le){return Le.startAngle}function b(Le){return Le.endAngle}function _(Le){return Le&&Le.padAngle}function M(Le,ot,lt,kt,Jt,Rt,Tr,Wt){var br=lt-Le,Xr=kt-ot,ti=Tr-Jt,Mi=Wt-Rt,an=Mi*br-ti*Xr;if(!(an*anvs*vs+Zs*Zs&&(is=Uo,Ro=so),{cx:is,cy:Ro,x01:-ti,y01:-Mi,x11:is*(Jt/ps-1),y11:Ro*(Jt/ps-1)}}function T(){var Le=m,ot=g,lt=r(0),kt=null,Jt=w,Rt=b,Tr=_,Wt=null;function br(){var Xr,ti,Mi=+Le.apply(this,arguments),an=+ot.apply(this,arguments),Gn=Jt.apply(this,arguments)-h,yn=Rt.apply(this,arguments)-h,fa=i(yn-Gn),Wn=yn>Gn;if(Wt||(Wt=Xr=t.path()),anc))Wt.moveTo(0,0);else if(fa>d-c)Wt.moveTo(an*a(Gn),an*l(Gn)),Wt.arc(0,0,an,Gn,yn,!Wn),Mi>c&&(Wt.moveTo(Mi*a(yn),Mi*l(yn)),Wt.arc(0,0,Mi,yn,Gn,Wn));else{var Ja=Gn,oo=yn,Ao=Gn,Io=yn,ps=fa,rs=fa,Mo=Tr.apply(this,arguments)/2,is=Mo>c&&(kt?+kt.apply(this,arguments):u(Mi*Mi+an*an)),Ro=s(i(an-Mi)/2,+lt.apply(this,arguments)),Uo=Ro,so=Ro,In,va;if(is>c){var vs=v(is/Mi*l(Mo)),Zs=v(is/an*l(Mo));(ps-=vs*2)>c?(vs*=Wn?1:-1,Ao+=vs,Io-=vs):(ps=0,Ao=Io=(Gn+yn)/2),(rs-=Zs*2)>c?(Zs*=Wn?1:-1,Ja+=Zs,oo-=Zs):(rs=0,Ja=oo=(Gn+yn)/2)}var Ks=an*a(Ja),Ol=an*l(Ja),Js=Mi*a(Io),ru=Mi*l(Io);if(Ro>c){var xu=an*a(oo),_u=an*l(oo),dc=Mi*a(Ao),Nl=Mi*l(Ao),ja;if(fac?so>c?(In=x(dc,Nl,Ks,Ol,an,so,Wn),va=x(xu,_u,Js,ru,an,so,Wn),Wt.moveTo(In.cx+In.x01,In.cy+In.y01),soc)||!(ps>c)?Wt.lineTo(Js,ru):Uo>c?(In=x(Js,ru,xu,_u,Mi,-Uo,Wn),va=x(Ks,Ol,dc,Nl,Mi,-Uo,Wn),Wt.lineTo(In.cx+In.x01,In.cy+In.y01),Uo=an;--Gn)Wt.point(oo[Gn],Ao[Gn]);Wt.lineEnd(),Wt.areaEnd()}Wn&&(oo[Mi]=+Le(fa,Mi,ti),Ao[Mi]=+lt(fa,Mi,ti),Wt.point(ot?+ot(fa,Mi,ti):oo[Mi],kt?+kt(fa,Mi,ti):Ao[Mi]))}if(Ja)return Wt=null,Ja+""||null}function Xr(){return C().defined(Jt).curve(Tr).context(Rt)}return br.x=function(ti){return arguments.length?(Le=typeof ti=="function"?ti:r(+ti),ot=null,br):Le},br.x0=function(ti){return arguments.length?(Le=typeof ti=="function"?ti:r(+ti),br):Le},br.x1=function(ti){return arguments.length?(ot=ti==null?null:typeof ti=="function"?ti:r(+ti),br):ot},br.y=function(ti){return arguments.length?(lt=typeof ti=="function"?ti:r(+ti),kt=null,br):lt},br.y0=function(ti){return arguments.length?(lt=typeof ti=="function"?ti:r(+ti),br):lt},br.y1=function(ti){return arguments.length?(kt=ti==null?null:typeof ti=="function"?ti:r(+ti),br):kt},br.lineX0=br.lineY0=function(){return Xr().x(Le).y(lt)},br.lineY1=function(){return Xr().x(Le).y(kt)},br.lineX1=function(){return Xr().x(ot).y(lt)},br.defined=function(ti){return arguments.length?(Jt=typeof ti=="function"?ti:r(!!ti),br):Jt},br.curve=function(ti){return arguments.length?(Tr=ti,Rt!=null&&(Wt=Tr(Rt)),br):Tr},br.context=function(ti){return arguments.length?(ti==null?Rt=Wt=null:Wt=Tr(Rt=ti),br):Rt},br}function D(Le,ot){return otLe?1:ot>=Le?0:NaN}function F(Le){return Le}function P(){var Le=F,ot=D,lt=null,kt=r(0),Jt=r(d),Rt=r(0);function Tr(Wt){var br,Xr=Wt.length,ti,Mi,an=0,Gn=new Array(Xr),yn=new Array(Xr),fa=+kt.apply(this,arguments),Wn=Math.min(d,Math.max(-d,Jt.apply(this,arguments)-fa)),Ja,oo=Math.min(Math.abs(Wn)/Xr,Rt.apply(this,arguments)),Ao=oo*(Wn<0?-1:1),Io;for(br=0;br0&&(an+=Io);for(ot!=null?Gn.sort(function(ps,rs){return ot(yn[ps],yn[rs])}):lt!=null&&Gn.sort(function(ps,rs){return lt(Wt[ps],Wt[rs])}),br=0,Mi=an?(Wn-Xr*Ao)/an:0;br0?Io*Mi:0)+Ao,yn[ti]={data:Wt[ti],index:br,value:Io,startAngle:fa,endAngle:Ja,padAngle:oo};return yn}return Tr.value=function(Wt){return arguments.length?(Le=typeof Wt=="function"?Wt:r(+Wt),Tr):Le},Tr.sortValues=function(Wt){return arguments.length?(ot=Wt,lt=null,Tr):ot},Tr.sort=function(Wt){return arguments.length?(lt=Wt,ot=null,Tr):lt},Tr.startAngle=function(Wt){return arguments.length?(kt=typeof Wt=="function"?Wt:r(+Wt),Tr):kt},Tr.endAngle=function(Wt){return arguments.length?(Jt=typeof Wt=="function"?Wt:r(+Wt),Tr):Jt},Tr.padAngle=function(Wt){return arguments.length?(Rt=typeof Wt=="function"?Wt:r(+Wt),Tr):Rt},Tr}var R=I(y);function L(Le){this._curve=Le}L.prototype={areaStart:function(){this._curve.areaStart()},areaEnd:function(){this._curve.areaEnd()},lineStart:function(){this._curve.lineStart()},lineEnd:function(){this._curve.lineEnd()},point:function(Le,ot){this._curve.point(ot*Math.sin(Le),ot*-Math.cos(Le))}};function I(Le){function ot(lt){return new L(Le(lt))}return ot._curve=Le,ot}function B(Le){var ot=Le.curve;return Le.angle=Le.x,delete Le.x,Le.radius=Le.y,delete Le.y,Le.curve=function(lt){return arguments.length?ot(I(lt)):ot()._curve},Le}function O(){return B(C().curve(R))}function $(){var Le=k().curve(R),ot=Le.curve,lt=Le.lineX0,kt=Le.lineX1,Jt=Le.lineY0,Rt=Le.lineY1;return Le.angle=Le.x,delete Le.x,Le.startAngle=Le.x0,delete Le.x0,Le.endAngle=Le.x1,delete Le.x1,Le.radius=Le.y,delete Le.y,Le.innerRadius=Le.y0,delete Le.y0,Le.outerRadius=Le.y1,delete Le.y1,Le.lineStartAngle=function(){return B(lt())},delete Le.lineX0,Le.lineEndAngle=function(){return B(kt())},delete Le.lineX1,Le.lineInnerRadius=function(){return B(Jt())},delete Le.lineY0,Le.lineOuterRadius=function(){return B(Rt())},delete Le.lineY1,Le.curve=function(Tr){return arguments.length?ot(I(Tr)):ot()._curve},Le}function Y(Le,ot){return[(ot=+ot)*Math.cos(Le-=Math.PI/2),ot*Math.sin(Le)]}var K=Array.prototype.slice;function j(Le){return Le.source}function q(Le){return Le.target}function J(Le){var ot=j,lt=q,kt=E,Jt=S,Rt=null;function Tr(){var Wt,br=K.call(arguments),Xr=ot.apply(this,br),ti=lt.apply(this,br);if(Rt||(Rt=Wt=t.path()),Le(Rt,+kt.apply(this,(br[0]=Xr,br)),+Jt.apply(this,br),+kt.apply(this,(br[0]=ti,br)),+Jt.apply(this,br)),Wt)return Rt=null,Wt+""||null}return Tr.source=function(Wt){return arguments.length?(ot=Wt,Tr):ot},Tr.target=function(Wt){return arguments.length?(lt=Wt,Tr):lt},Tr.x=function(Wt){return arguments.length?(kt=typeof Wt=="function"?Wt:r(+Wt),Tr):kt},Tr.y=function(Wt){return arguments.length?(Jt=typeof Wt=="function"?Wt:r(+Wt),Tr):Jt},Tr.context=function(Wt){return arguments.length?(Rt=Wt==null?null:Wt,Tr):Rt},Tr}function U(Le,ot,lt,kt,Jt){Le.moveTo(ot,lt),Le.bezierCurveTo(ot=(ot+kt)/2,lt,ot,Jt,kt,Jt)}function V(Le,ot,lt,kt,Jt){Le.moveTo(ot,lt),Le.bezierCurveTo(ot,lt=(lt+Jt)/2,kt,lt,kt,Jt)}function X(Le,ot,lt,kt,Jt){var Rt=Y(ot,lt),Tr=Y(ot,lt=(lt+Jt)/2),Wt=Y(kt,lt),br=Y(kt,Jt);Le.moveTo(Rt[0],Rt[1]),Le.bezierCurveTo(Tr[0],Tr[1],Wt[0],Wt[1],br[0],br[1])}function H(){return J(U)}function G(){return J(V)}function Q(){var Le=J(X);return Le.angle=Le.x,delete Le.x,Le.radius=Le.y,delete Le.y,Le}var te={draw:function(Le,ot){var lt=Math.sqrt(ot/f);Le.moveTo(lt,0),Le.arc(0,0,lt,0,d)}},ce={draw:function(Le,ot){var lt=Math.sqrt(ot/5)/2;Le.moveTo(-3*lt,-lt),Le.lineTo(-lt,-lt),Le.lineTo(-lt,-3*lt),Le.lineTo(lt,-3*lt),Le.lineTo(lt,-lt),Le.lineTo(3*lt,-lt),Le.lineTo(3*lt,lt),Le.lineTo(lt,lt),Le.lineTo(lt,3*lt),Le.lineTo(-lt,3*lt),Le.lineTo(-lt,lt),Le.lineTo(-3*lt,lt),Le.closePath()}},ge=Math.sqrt(1/3),Ce=ge*2,be={draw:function(Le,ot){var lt=Math.sqrt(ot/Ce),kt=lt*ge;Le.moveTo(0,-lt),Le.lineTo(kt,0),Le.lineTo(0,lt),Le.lineTo(-kt,0),Le.closePath()}},he=.8908130915292852,oe=Math.sin(f/10)/Math.sin(7*f/10),Ee=Math.sin(d/10)*oe,ye=-Math.cos(d/10)*oe,ue={draw:function(Le,ot){var lt=Math.sqrt(ot*he),kt=Ee*lt,Jt=ye*lt;Le.moveTo(0,-lt),Le.lineTo(kt,Jt);for(var Rt=1;Rt<5;++Rt){var Tr=d*Rt/5,Wt=Math.cos(Tr),br=Math.sin(Tr);Le.lineTo(br*lt,-Wt*lt),Le.lineTo(Wt*kt-br*Jt,br*kt+Wt*Jt)}Le.closePath()}},ee={draw:function(Le,ot){var lt=Math.sqrt(ot),kt=-lt/2;Le.rect(kt,kt,lt,lt)}},ae=Math.sqrt(3),xe={draw:function(Le,ot){var lt=-Math.sqrt(ot/(ae*3));Le.moveTo(0,lt*2),Le.lineTo(-ae*lt,-lt),Le.lineTo(ae*lt,-lt),Le.closePath()}},re=-.5,pe=Math.sqrt(3)/2,we=1/Math.sqrt(12),Fe=(we/2+1)*3,Se={draw:function(Le,ot){var lt=Math.sqrt(ot/Fe),kt=lt/2,Jt=lt*we,Rt=kt,Tr=lt*we+lt,Wt=-Rt,br=Tr;Le.moveTo(kt,Jt),Le.lineTo(Rt,Tr),Le.lineTo(Wt,br),Le.lineTo(re*kt-pe*Jt,pe*kt+re*Jt),Le.lineTo(re*Rt-pe*Tr,pe*Rt+re*Tr),Le.lineTo(re*Wt-pe*br,pe*Wt+re*br),Le.lineTo(re*kt+pe*Jt,re*Jt-pe*kt),Le.lineTo(re*Rt+pe*Tr,re*Tr-pe*Rt),Le.lineTo(re*Wt+pe*br,re*br-pe*Wt),Le.closePath()}},ke=[te,ce,be,ee,ue,xe,Se];function _e(){var Le=r(te),ot=r(64),lt=null;function kt(){var Jt;if(lt||(lt=Jt=t.path()),Le.apply(this,arguments).draw(lt,+ot.apply(this,arguments)),Jt)return lt=null,Jt+""||null}return kt.type=function(Jt){return arguments.length?(Le=typeof Jt=="function"?Jt:r(Jt),kt):Le},kt.size=function(Jt){return arguments.length?(ot=typeof Jt=="function"?Jt:r(+Jt),kt):ot},kt.context=function(Jt){return arguments.length?(lt=Jt==null?null:Jt,kt):lt},kt}function Ie(){}function Oe(Le,ot,lt){Le._context.bezierCurveTo((2*Le._x0+Le._x1)/3,(2*Le._y0+Le._y1)/3,(Le._x0+2*Le._x1)/3,(Le._y0+2*Le._y1)/3,(Le._x0+4*Le._x1+ot)/6,(Le._y0+4*Le._y1+lt)/6)}function Qe(Le){this._context=Le}Qe.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._y0=this._y1=NaN,this._point=0},lineEnd:function(){switch(this._point){case 3:Oe(this,this._x1,this._y1);case 2:this._context.lineTo(this._x1,this._y1);break}(this._line||this._line!==0&&this._point===1)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1,this._line?this._context.lineTo(Le,ot):this._context.moveTo(Le,ot);break;case 1:this._point=2;break;case 2:this._point=3,this._context.lineTo((5*this._x0+this._x1)/6,(5*this._y0+this._y1)/6);default:Oe(this,Le,ot);break}this._x0=this._x1,this._x1=Le,this._y0=this._y1,this._y1=ot}};function et(Le){return new Qe(Le)}function _t(Le){this._context=Le}_t.prototype={areaStart:Ie,areaEnd:Ie,lineStart:function(){this._x0=this._x1=this._x2=this._x3=this._x4=this._y0=this._y1=this._y2=this._y3=this._y4=NaN,this._point=0},lineEnd:function(){switch(this._point){case 1:{this._context.moveTo(this._x2,this._y2),this._context.closePath();break}case 2:{this._context.moveTo((this._x2+2*this._x3)/3,(this._y2+2*this._y3)/3),this._context.lineTo((this._x3+2*this._x2)/3,(this._y3+2*this._y2)/3),this._context.closePath();break}case 3:{this.point(this._x2,this._y2),this.point(this._x3,this._y3),this.point(this._x4,this._y4);break}}},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1,this._x2=Le,this._y2=ot;break;case 1:this._point=2,this._x3=Le,this._y3=ot;break;case 2:this._point=3,this._x4=Le,this._y4=ot,this._context.moveTo((this._x0+4*this._x1+Le)/6,(this._y0+4*this._y1+ot)/6);break;default:Oe(this,Le,ot);break}this._x0=this._x1,this._x1=Le,this._y0=this._y1,this._y1=ot}};function ut(Le){return new _t(Le)}function vt(Le){this._context=Le}vt.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._y0=this._y1=NaN,this._point=0},lineEnd:function(){(this._line||this._line!==0&&this._point===3)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1;break;case 1:this._point=2;break;case 2:this._point=3;var lt=(this._x0+4*this._x1+Le)/6,kt=(this._y0+4*this._y1+ot)/6;this._line?this._context.lineTo(lt,kt):this._context.moveTo(lt,kt);break;case 3:this._point=4;default:Oe(this,Le,ot);break}this._x0=this._x1,this._x1=Le,this._y0=this._y1,this._y1=ot}};function Xe(Le){return new vt(Le)}function mt(Le,ot){this._basis=new Qe(Le),this._beta=ot}mt.prototype={lineStart:function(){this._x=[],this._y=[],this._basis.lineStart()},lineEnd:function(){var Le=this._x,ot=this._y,lt=Le.length-1;if(lt>0)for(var kt=Le[0],Jt=ot[0],Rt=Le[lt]-kt,Tr=ot[lt]-Jt,Wt=-1,br;++Wt<=lt;)br=Wt/lt,this._basis.point(this._beta*Le[Wt]+(1-this._beta)*(kt+br*Rt),this._beta*ot[Wt]+(1-this._beta)*(Jt+br*Tr));this._x=this._y=null,this._basis.lineEnd()},point:function(Le,ot){this._x.push(+Le),this._y.push(+ot)}};var bt=(function Le(ot){function lt(kt){return ot===1?new Qe(kt):new mt(kt,ot)}return lt.beta=function(kt){return Le(+kt)},lt})(.85);function Ne(Le,ot,lt){Le._context.bezierCurveTo(Le._x1+Le._k*(Le._x2-Le._x0),Le._y1+Le._k*(Le._y2-Le._y0),Le._x2+Le._k*(Le._x1-ot),Le._y2+Le._k*(Le._y1-lt),Le._x2,Le._y2)}function Ue(Le,ot){this._context=Le,this._k=(1-ot)/6}Ue.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._x2=this._y0=this._y1=this._y2=NaN,this._point=0},lineEnd:function(){switch(this._point){case 2:this._context.lineTo(this._x2,this._y2);break;case 3:Ne(this,this._x1,this._y1);break}(this._line||this._line!==0&&this._point===1)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1,this._line?this._context.lineTo(Le,ot):this._context.moveTo(Le,ot);break;case 1:this._point=2,this._x1=Le,this._y1=ot;break;case 2:this._point=3;default:Ne(this,Le,ot);break}this._x0=this._x1,this._x1=this._x2,this._x2=Le,this._y0=this._y1,this._y1=this._y2,this._y2=ot}};var Ge=(function Le(ot){function lt(kt){return new Ue(kt,ot)}return lt.tension=function(kt){return Le(+kt)},lt})(0);function je(Le,ot){this._context=Le,this._k=(1-ot)/6}je.prototype={areaStart:Ie,areaEnd:Ie,lineStart:function(){this._x0=this._x1=this._x2=this._x3=this._x4=this._x5=this._y0=this._y1=this._y2=this._y3=this._y4=this._y5=NaN,this._point=0},lineEnd:function(){switch(this._point){case 1:{this._context.moveTo(this._x3,this._y3),this._context.closePath();break}case 2:{this._context.lineTo(this._x3,this._y3),this._context.closePath();break}case 3:{this.point(this._x3,this._y3),this.point(this._x4,this._y4),this.point(this._x5,this._y5);break}}},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1,this._x3=Le,this._y3=ot;break;case 1:this._point=2,this._context.moveTo(this._x4=Le,this._y4=ot);break;case 2:this._point=3,this._x5=Le,this._y5=ot;break;default:Ne(this,Le,ot);break}this._x0=this._x1,this._x1=this._x2,this._x2=Le,this._y0=this._y1,this._y1=this._y2,this._y2=ot}};var Re=(function Le(ot){function lt(kt){return new je(kt,ot)}return lt.tension=function(kt){return Le(+kt)},lt})(0);function Ve(Le,ot){this._context=Le,this._k=(1-ot)/6}Ve.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._x2=this._y0=this._y1=this._y2=NaN,this._point=0},lineEnd:function(){(this._line||this._line!==0&&this._point===3)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1;break;case 1:this._point=2;break;case 2:this._point=3,this._line?this._context.lineTo(this._x2,this._y2):this._context.moveTo(this._x2,this._y2);break;case 3:this._point=4;default:Ne(this,Le,ot);break}this._x0=this._x1,this._x1=this._x2,this._x2=Le,this._y0=this._y1,this._y1=this._y2,this._y2=ot}};var ct=(function Le(ot){function lt(kt){return new Ve(kt,ot)}return lt.tension=function(kt){return Le(+kt)},lt})(0);function Tt(Le,ot,lt){var kt=Le._x1,Jt=Le._y1,Rt=Le._x2,Tr=Le._y2;if(Le._l01_a>c){var Wt=2*Le._l01_2a+3*Le._l01_a*Le._l12_a+Le._l12_2a,br=3*Le._l01_a*(Le._l01_a+Le._l12_a);kt=(kt*Wt-Le._x0*Le._l12_2a+Le._x2*Le._l01_2a)/br,Jt=(Jt*Wt-Le._y0*Le._l12_2a+Le._y2*Le._l01_2a)/br}if(Le._l23_a>c){var Xr=2*Le._l23_2a+3*Le._l23_a*Le._l12_a+Le._l12_2a,ti=3*Le._l23_a*(Le._l23_a+Le._l12_a);Rt=(Rt*Xr+Le._x1*Le._l23_2a-ot*Le._l12_2a)/ti,Tr=(Tr*Xr+Le._y1*Le._l23_2a-lt*Le._l12_2a)/ti}Le._context.bezierCurveTo(kt,Jt,Rt,Tr,Le._x2,Le._y2)}function Xt(Le,ot){this._context=Le,this._alpha=ot}Xt.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._x2=this._y0=this._y1=this._y2=NaN,this._l01_a=this._l12_a=this._l23_a=this._l01_2a=this._l12_2a=this._l23_2a=this._point=0},lineEnd:function(){switch(this._point){case 2:this._context.lineTo(this._x2,this._y2);break;case 3:this.point(this._x2,this._y2);break}(this._line||this._line!==0&&this._point===1)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){if(Le=+Le,ot=+ot,this._point){var lt=this._x2-Le,kt=this._y2-ot;this._l23_a=Math.sqrt(this._l23_2a=Math.pow(lt*lt+kt*kt,this._alpha))}switch(this._point){case 0:this._point=1,this._line?this._context.lineTo(Le,ot):this._context.moveTo(Le,ot);break;case 1:this._point=2;break;case 2:this._point=3;default:Tt(this,Le,ot);break}this._l01_a=this._l12_a,this._l12_a=this._l23_a,this._l01_2a=this._l12_2a,this._l12_2a=this._l23_2a,this._x0=this._x1,this._x1=this._x2,this._x2=Le,this._y0=this._y1,this._y1=this._y2,this._y2=ot}};var Vt=(function Le(ot){function lt(kt){return ot?new Xt(kt,ot):new Ue(kt,0)}return lt.alpha=function(kt){return Le(+kt)},lt})(.5);function lr(Le,ot){this._context=Le,this._alpha=ot}lr.prototype={areaStart:Ie,areaEnd:Ie,lineStart:function(){this._x0=this._x1=this._x2=this._x3=this._x4=this._x5=this._y0=this._y1=this._y2=this._y3=this._y4=this._y5=NaN,this._l01_a=this._l12_a=this._l23_a=this._l01_2a=this._l12_2a=this._l23_2a=this._point=0},lineEnd:function(){switch(this._point){case 1:{this._context.moveTo(this._x3,this._y3),this._context.closePath();break}case 2:{this._context.lineTo(this._x3,this._y3),this._context.closePath();break}case 3:{this.point(this._x3,this._y3),this.point(this._x4,this._y4),this.point(this._x5,this._y5);break}}},point:function(Le,ot){if(Le=+Le,ot=+ot,this._point){var lt=this._x2-Le,kt=this._y2-ot;this._l23_a=Math.sqrt(this._l23_2a=Math.pow(lt*lt+kt*kt,this._alpha))}switch(this._point){case 0:this._point=1,this._x3=Le,this._y3=ot;break;case 1:this._point=2,this._context.moveTo(this._x4=Le,this._y4=ot);break;case 2:this._point=3,this._x5=Le,this._y5=ot;break;default:Tt(this,Le,ot);break}this._l01_a=this._l12_a,this._l12_a=this._l23_a,this._l01_2a=this._l12_2a,this._l12_2a=this._l23_2a,this._x0=this._x1,this._x1=this._x2,this._x2=Le,this._y0=this._y1,this._y1=this._y2,this._y2=ot}};var ur=(function Le(ot){function lt(kt){return ot?new lr(kt,ot):new je(kt,0)}return lt.alpha=function(kt){return Le(+kt)},lt})(.5);function Bt(Le,ot){this._context=Le,this._alpha=ot}Bt.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._x2=this._y0=this._y1=this._y2=NaN,this._l01_a=this._l12_a=this._l23_a=this._l01_2a=this._l12_2a=this._l23_2a=this._point=0},lineEnd:function(){(this._line||this._line!==0&&this._point===3)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){if(Le=+Le,ot=+ot,this._point){var lt=this._x2-Le,kt=this._y2-ot;this._l23_a=Math.sqrt(this._l23_2a=Math.pow(lt*lt+kt*kt,this._alpha))}switch(this._point){case 0:this._point=1;break;case 1:this._point=2;break;case 2:this._point=3,this._line?this._context.lineTo(this._x2,this._y2):this._context.moveTo(this._x2,this._y2);break;case 3:this._point=4;default:Tt(this,Le,ot);break}this._l01_a=this._l12_a,this._l12_a=this._l23_a,this._l01_2a=this._l12_2a,this._l12_2a=this._l23_2a,this._x0=this._x1,this._x1=this._x2,this._x2=Le,this._y0=this._y1,this._y1=this._y2,this._y2=ot}};var Zt=(function Le(ot){function lt(kt){return ot?new Bt(kt,ot):new Ve(kt,0)}return lt.alpha=function(kt){return Le(+kt)},lt})(.5);function kr(Le){this._context=Le}kr.prototype={areaStart:Ie,areaEnd:Ie,lineStart:function(){this._point=0},lineEnd:function(){this._point&&this._context.closePath()},point:function(Le,ot){Le=+Le,ot=+ot,this._point?this._context.lineTo(Le,ot):(this._point=1,this._context.moveTo(Le,ot))}};function $e(Le){return new kr(Le)}function tt(Le){return Le<0?-1:1}function st(Le,ot,lt){var kt=Le._x1-Le._x0,Jt=ot-Le._x1,Rt=(Le._y1-Le._y0)/(kt||Jt<0&&-0),Tr=(lt-Le._y1)/(Jt||kt<0&&-0),Wt=(Rt*Jt+Tr*kt)/(kt+Jt);return(tt(Rt)+tt(Tr))*Math.min(Math.abs(Rt),Math.abs(Tr),.5*Math.abs(Wt))||0}function xt(Le,ot){var lt=Le._x1-Le._x0;return lt?(3*(Le._y1-Le._y0)/lt-ot)/2:ot}function Je(Le,ot,lt){var kt=Le._x0,Jt=Le._y0,Rt=Le._x1,Tr=Le._y1,Wt=(Rt-kt)/3;Le._context.bezierCurveTo(kt+Wt,Jt+Wt*ot,Rt-Wt,Tr-Wt*lt,Rt,Tr)}function Ct(Le){this._context=Le}Ct.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x0=this._x1=this._y0=this._y1=this._t0=NaN,this._point=0},lineEnd:function(){switch(this._point){case 2:this._context.lineTo(this._x1,this._y1);break;case 3:Je(this,this._t0,xt(this,this._t0));break}(this._line||this._line!==0&&this._point===1)&&this._context.closePath(),this._line=1-this._line},point:function(Le,ot){var lt=NaN;if(Le=+Le,ot=+ot,!(Le===this._x1&&ot===this._y1)){switch(this._point){case 0:this._point=1,this._line?this._context.lineTo(Le,ot):this._context.moveTo(Le,ot);break;case 1:this._point=2;break;case 2:this._point=3,Je(this,xt(this,lt=st(this,Le,ot)),lt);break;default:Je(this,this._t0,lt=st(this,Le,ot));break}this._x0=this._x1,this._x1=Le,this._y0=this._y1,this._y1=ot,this._t0=lt}}};function ir(Le){this._context=new hr(Le)}(ir.prototype=Object.create(Ct.prototype)).point=function(Le,ot){Ct.prototype.point.call(this,ot,Le)};function hr(Le){this._context=Le}hr.prototype={moveTo:function(Le,ot){this._context.moveTo(ot,Le)},closePath:function(){this._context.closePath()},lineTo:function(Le,ot){this._context.lineTo(ot,Le)},bezierCurveTo:function(Le,ot,lt,kt,Jt,Rt){this._context.bezierCurveTo(ot,Le,kt,lt,Rt,Jt)}};function Ur(Le){return new Ct(Le)}function si(Le){return new ir(Le)}function ei(Le){this._context=Le}ei.prototype={areaStart:function(){this._line=0},areaEnd:function(){this._line=NaN},lineStart:function(){this._x=[],this._y=[]},lineEnd:function(){var Le=this._x,ot=this._y,lt=Le.length;if(lt)if(this._line?this._context.lineTo(Le[0],ot[0]):this._context.moveTo(Le[0],ot[0]),lt===2)this._context.lineTo(Le[1],ot[1]);else for(var kt=Lr(Le),Jt=Lr(ot),Rt=0,Tr=1;Tr=0;--ot)Jt[ot]=(Tr[ot]-Jt[ot+1])/Rt[ot];for(Rt[lt-1]=(Le[lt]+Jt[lt-1])/2,ot=0;ot=0&&(this._t=1-this._t,this._line=1-this._line)},point:function(Le,ot){switch(Le=+Le,ot=+ot,this._point){case 0:this._point=1,this._line?this._context.lineTo(Le,ot):this._context.moveTo(Le,ot);break;case 1:this._point=2;default:{if(this._t<=0)this._context.lineTo(this._x,ot),this._context.lineTo(Le,ot);else{var lt=this._x*(1-this._t)+Le*this._t;this._context.lineTo(lt,this._y),this._context.lineTo(lt,ot)}break}}this._x=Le,this._y=ot}};function hn(Le){return new Tn(Le,.5)}function ta(Le){return new Tn(Le,0)}function ca(Le){return new Tn(Le,1)}function dn(Le,ot){if((Tr=Le.length)>1)for(var lt=1,kt,Jt,Rt=Le[ot[0]],Tr,Wt=Rt.length;lt=0;)lt[ot]=ot;return lt}function ra(Le,ot){return Le[ot]}function ds(){var Le=r([]),ot=Vn,lt=dn,kt=ra;function Jt(Rt){var Tr=Le.apply(this,arguments),Wt,br=Rt.length,Xr=Tr.length,ti=new Array(Xr),Mi;for(Wt=0;Wt0){for(var lt,kt,Jt=0,Rt=Le[0].length,Tr;Jt0)for(var lt,kt=0,Jt,Rt,Tr,Wt,br,Xr=Le[ot[0]].length;kt0?(Jt[0]=Tr,Jt[1]=Tr+=Rt):Rt<0?(Jt[1]=Wt,Jt[0]=Wt+=Rt):(Jt[0]=0,Jt[1]=Rt)}function ho(Le,ot){if((Jt=Le.length)>0){for(var lt=0,kt=Le[ot[0]],Jt,Rt=kt.length;lt0)||!((Rt=(Jt=Le[ot[0]]).length)>0))){for(var lt=0,kt=1,Jt,Rt,Tr;ktRt&&(Rt=Jt,lt=ot);return lt}function _a(Le){var ot=Le.map(Xs);return Vn(Le).sort(function(lt,kt){return ot[lt]-ot[kt]})}function Xs(Le){for(var ot=0,lt=-1,kt=Le.length,Jt;++lt{(function(e,t){typeof Yq=="object"&&typeof Mut!="undefined"?t(Yq,but(),eoe()):(e=e||self,t(e.d3=e.d3||{},e.d3,e.d3))})(Yq,function(e,t,r){"use strict";function i(x){return x.target.depth}function n(x){return x.depth}function a(x,T){return T-1-x.height}function o(x,T){return x.sourceLinks.length?x.depth:T-1}function s(x){return x.targetLinks.length?x.depth:x.sourceLinks.length?t.min(x.sourceLinks,i)-1:0}function l(x){return function(){return x}}function u(x,T){return f(x.source,T.source)||x.index-T.index}function c(x,T){return f(x.target,T.target)||x.index-T.index}function f(x,T){return x.y0-T.y0}function h(x){return x.value}function d(x){return x.index}function p(x){return x.nodes}function v(x){return x.links}function m(x,T){let A=x.get(T);if(!A)throw new Error("missing: "+T);return A}function g({nodes:x}){for(let T of x){let A=T.y0,y=A;for(let E of T.sourceLinks)E.y0=A+E.width/2,A+=E.width;for(let E of T.targetLinks)E.y1=y+E.width/2,y+=E.width}}function w(){let x=0,T=0,A=1,y=1,E=24,S=8,C,k=d,D=o,F,P,R=p,L=v,I=6,B=2/3;function O(){let be={nodes:R.apply(null,arguments),links:L.apply(null,arguments)};return $(be),Y(be),K(be),j(be),U(be),g(be),be}O.update=function(be){return g(be),be},O.nodeId=function(be){return arguments.length?(k=typeof be=="function"?be:l(be),O):k},O.nodeAlign=function(be){return arguments.length?(D=typeof be=="function"?be:l(be),O):D},O.nodeSort=function(be){return arguments.length?(F=be,O):F},O.nodeWidth=function(be){return arguments.length?(E=+be,O):E},O.nodePadding=function(be){return arguments.length?(S=C=+be,O):S},O.nodes=function(be){return arguments.length?(R=typeof be=="function"?be:l(be),O):R},O.links=function(be){return arguments.length?(L=typeof be=="function"?be:l(be),O):L},O.linkSort=function(be){return arguments.length?(P=be,O):P},O.size=function(be){return arguments.length?(x=T=0,A=+be[0],y=+be[1],O):[A-x,y-T]},O.extent=function(be){return arguments.length?(x=+be[0][0],A=+be[1][0],T=+be[0][1],y=+be[1][1],O):[[x,T],[A,y]]},O.iterations=function(be){return arguments.length?(I=+be,O):I};function $({nodes:be,links:he}){for(let[Ee,ye]of be.entries())ye.index=Ee,ye.sourceLinks=[],ye.targetLinks=[];let oe=new Map(be.map((Ee,ye)=>[k(Ee,ye,be),Ee]));for(let[Ee,ye]of he.entries()){ye.index=Ee;let{source:ue,target:ee}=ye;typeof ue!="object"&&(ue=ye.source=m(oe,ue)),typeof ee!="object"&&(ee=ye.target=m(oe,ee)),ue.sourceLinks.push(ye),ee.targetLinks.push(ye)}if(P!=null)for(let{sourceLinks:Ee,targetLinks:ye}of be)Ee.sort(P),ye.sort(P)}function Y({nodes:be}){for(let he of be)he.value=he.fixedValue===void 0?Math.max(t.sum(he.sourceLinks,h),t.sum(he.targetLinks,h)):he.fixedValue}function K({nodes:be}){let he=be.length,oe=new Set(be),Ee=new Set,ye=0;for(;oe.size;){for(let ue of oe){ue.depth=ye;for(let{target:ee}of ue.sourceLinks)Ee.add(ee)}if(++ye>he)throw new Error("circular link");oe=Ee,Ee=new Set}}function j({nodes:be}){let he=be.length,oe=new Set(be),Ee=new Set,ye=0;for(;oe.size;){for(let ue of oe){ue.height=ye;for(let{source:ee}of ue.targetLinks)Ee.add(ee)}if(++ye>he)throw new Error("circular link");oe=Ee,Ee=new Set}}function q({nodes:be}){let he=t.max(be,ye=>ye.depth)+1,oe=(A-x-E)/(he-1),Ee=new Array(he);for(let ye of be){let ue=Math.max(0,Math.min(he-1,Math.floor(D.call(null,ye,he))));ye.layer=ue,ye.x0=x+ue*oe,ye.x1=ye.x0+E,Ee[ue]?Ee[ue].push(ye):Ee[ue]=[ye]}if(F)for(let ye of Ee)ye.sort(F);return Ee}function J(be){let he=t.min(be,oe=>(y-T-(oe.length-1)*C)/t.sum(oe,h));for(let oe of be){let Ee=T;for(let ye of oe){ye.y0=Ee,ye.y1=Ee+ye.value*he,Ee=ye.y1+C;for(let ue of ye.sourceLinks)ue.width=ue.value*he}Ee=(y-Ee+C)/(oe.length+1);for(let ye=0;yeoe.length)-1)),J(he);for(let oe=0;oe0))continue;let re=(ae/xe-ee.y0)*he;ee.y0+=re,ee.y1+=re,te(ee)}F===void 0&&ue.sort(f),H(ue,oe)}}function X(be,he,oe){for(let Ee=be.length,ye=Ee-2;ye>=0;--ye){let ue=be[ye];for(let ee of ue){let ae=0,xe=0;for(let{target:pe,value:we}of ee.sourceLinks){let Fe=we*(pe.layer-ee.layer);ae+=Ce(ee,pe)*Fe,xe+=Fe}if(!(xe>0))continue;let re=(ae/xe-ee.y0)*he;ee.y0+=re,ee.y1+=re,te(ee)}F===void 0&&ue.sort(f),H(ue,oe)}}function H(be,he){let oe=be.length>>1,Ee=be[oe];Q(be,Ee.y0-C,oe-1,he),G(be,Ee.y1+C,oe+1,he),Q(be,y,be.length-1,he),G(be,T,0,he)}function G(be,he,oe,Ee){for(;oe1e-6&&(ye.y0+=ue,ye.y1+=ue),he=ye.y1+C}}function Q(be,he,oe,Ee){for(;oe>=0;--oe){let ye=be[oe],ue=(ye.y1-he)*Ee;ue>1e-6&&(ye.y0-=ue,ye.y1-=ue),he=ye.y0-C}}function te({sourceLinks:be,targetLinks:he}){if(P===void 0){for(let{source:{sourceLinks:oe}}of he)oe.sort(c);for(let{target:{targetLinks:oe}}of be)oe.sort(u)}}function ce(be){if(P===void 0)for(let{sourceLinks:he,targetLinks:oe}of be)he.sort(c),oe.sort(u)}function ge(be,he){let oe=be.y0-(be.sourceLinks.length-1)*C/2;for(let{target:Ee,width:ye}of be.sourceLinks){if(Ee===he)break;oe+=ye+C}for(let{source:Ee,width:ye}of he.targetLinks){if(Ee===be)break;oe-=ye}return oe}function Ce(be,he){let oe=he.y0-(he.targetLinks.length-1)*C/2;for(let{source:Ee,width:ye}of he.targetLinks){if(Ee===be)break;oe+=ye+C}for(let{target:Ee,width:ye}of be.sourceLinks){if(Ee===he)break;oe-=ye}return oe}return O}function b(x){return[x.source.x1,x.y0]}function _(x){return[x.target.x0,x.y1]}function M(){return r.linkHorizontal().source(b).target(_)}e.sankey=w,e.sankeyCenter=s,e.sankeyJustify=o,e.sankeyLeft=n,e.sankeyLinkHorizontal=M,e.sankeyRight=a,Object.defineProperty(e,"__esModule",{value:!0})})});var kut=W((Xq,Eut)=>{(function(e,t){t(typeof Xq=="object"&&typeof Eut!="undefined"?Xq:e.d3=e.d3||{})})(Xq,(function(e){"use strict";function t(U,V){return UV?1:U>=V?0:NaN}function r(U){return U.length===1&&(U=i(U)),{left:function(V,X,H,G){for(H==null&&(H=0),G==null&&(G=V.length);H>>1;U(V[Q],X)<0?H=Q+1:G=Q}return H},right:function(V,X,H,G){for(H==null&&(H=0),G==null&&(G=V.length);H>>1;U(V[Q],X)>0?G=Q:H=Q+1}return H}}}function i(U){return function(V,X){return t(U(V),X)}}var n=r(t),a=n.right,o=n.left;function s(U,V){V==null&&(V=l);for(var X=0,H=U.length-1,G=U[0],Q=new Array(H<0?0:H);XU?1:V>=U?0:NaN}function f(U){return U===null?NaN:+U}function h(U,V){var X=U.length,H=0,G=-1,Q=0,te,ce,ge=0;if(V==null)for(;++G1)return ge/(H-1)}function d(U,V){var X=h(U,V);return X&&Math.sqrt(X)}function p(U,V){var X=U.length,H=-1,G,Q,te;if(V==null){for(;++H=G)for(Q=te=G;++HG&&(Q=G),te=G)for(Q=te=G;++HG&&(Q=G),te0)return[U];if((H=V0)for(U=Math.ceil(U/ce),V=Math.floor(V/ce),te=new Array(Q=Math.ceil(V-U+1));++G=0?(Q>=M?10:Q>=x?5:Q>=T?2:1)*Math.pow(10,G):-Math.pow(10,-G)/(Q>=M?10:Q>=x?5:Q>=T?2:1)}function E(U,V,X){var H=Math.abs(V-U)/Math.max(0,X),G=Math.pow(10,Math.floor(Math.log(H)/Math.LN10)),Q=H/G;return Q>=M?G*=10:Q>=x?G*=5:Q>=T&&(G*=2),Vhe;)oe.pop(),--Ee;var ye=new Array(Ee+1),ue;for(Q=0;Q<=Ee;++Q)ue=ye[Q]=[],ue.x0=Q>0?oe[Q-1]:be,ue.x1=Q=1)return+X(U[H-1],H-1,U);var H,G=(H-1)*V,Q=Math.floor(G),te=+X(U[Q],Q,U),ce=+X(U[Q+1],Q+1,U);return te+(ce-te)*(G-Q)}}function D(U,V,X){return U=g.call(U,f).sort(t),Math.ceil((X-V)/(2*(k(U,.75)-k(U,.25))*Math.pow(U.length,-1/3)))}function F(U,V,X){return Math.ceil((X-V)/(3.5*d(U)*Math.pow(U.length,-1/3)))}function P(U,V){var X=U.length,H=-1,G,Q;if(V==null){for(;++H=G)for(Q=G;++HQ&&(Q=G)}else for(;++H=G)for(Q=G;++HQ&&(Q=G);return Q}function R(U,V){var X=U.length,H=X,G=-1,Q,te=0;if(V==null)for(;++G=0;)for(te=U[V],X=te.length;--X>=0;)Q[--G]=te[X];return Q}function B(U,V){var X=U.length,H=-1,G,Q;if(V==null){for(;++H=G)for(Q=G;++HG&&(Q=G)}else for(;++H=G)for(Q=G;++HG&&(Q=G);return Q}function O(U,V){for(var X=V.length,H=new Array(X);X--;)H[X]=U[V[X]];return H}function $(U,V){if(X=U.length){var X,H=0,G=0,Q,te=U[G];for(V==null&&(V=t);++H{var MAr=Jae();Cut.exports=function(t,r){var i=[],n=[],a=[],o={},s=[],l;function u(b){a[b]=!1,o.hasOwnProperty(b)&&Object.keys(o[b]).forEach(function(_){delete o[b][_],a[_]&&u(_)})}function c(b){var _=!1;n.push(b),a[b]=!0;var M,x;for(M=0;M=b})}function d(b){h(b);for(var _=t,M=MAr(_),x=M.components.filter(function(k){return k.length>1}),T=1/0,A,y=0;y{(function(e,t){typeof Zq=="object"&&typeof Fut!="undefined"?t(Zq,kut(),Qae(),eoe(),Dut()):t(e.d3=e.d3||{},e.d3,e.d3,e.d3,null)})(Zq,(function(e,t,r,i,n){"use strict";n=n&&n.hasOwnProperty("default")?n.default:n;function a(he){return he.target.depth}function o(he){return he.depth}function s(he,oe){return oe-1-he.height}function l(he,oe){return he.sourceLinks.length?he.depth:oe-1}function u(he){return he.targetLinks.length?he.depth:he.sourceLinks.length?t.min(he.sourceLinks,a)-1:0}function c(he){return function(){return he}}var f=typeof Symbol=="function"&&typeof Symbol.iterator=="symbol"?function(he){return typeof he}:function(he){return he&&typeof Symbol=="function"&&he.constructor===Symbol&&he!==Symbol.prototype?"symbol":typeof he};function h(he,oe){return p(he.source,oe.source)||he.index-oe.index}function d(he,oe){return p(he.target,oe.target)||he.index-oe.index}function p(he,oe){return he.partOfCycle===oe.partOfCycle?he.y0-oe.y0:he.circularLinkType==="top"||oe.circularLinkType==="bottom"?-1:1}function v(he){return he.value}function m(he){return(he.y0+he.y1)/2}function g(he){return m(he.source)}function w(he){return m(he.target)}function b(he){return he.index}function _(he){return he.nodes}function M(he){return he.links}function x(he,oe){var Ee=he.get(oe);if(!Ee)throw new Error("missing: "+oe);return Ee}function T(he,oe){return oe(he)}var A=25,y=10,E=.3;function S(){var he=0,oe=0,Ee=1,ye=1,ue=24,ee,ae=b,xe=l,re=_,pe=M,we=32,Fe=2,Se,ke=null;function _e(){var Xe={nodes:re.apply(null,arguments),links:pe.apply(null,arguments)};Ie(Xe),C(Xe,ae,ke),Oe(Xe),_t(Xe),k(Xe,ae),ut(Xe,we,ae),vt(Xe);for(var mt=4,bt=0;bt0?mt+A+y:mt,bt=bt>0?bt+A+y:bt,Ne=Ne>0?Ne+A+y:Ne,Ue=Ue>0?Ue+A+y:Ue,{top:mt,bottom:bt,left:Ue,right:Ne}}function et(Xe,mt){var bt=t.max(Xe.nodes,function(ct){return ct.column}),Ne=Ee-he,Ue=ye-oe,Ge=Ne+mt.right+mt.left,je=Ue+mt.top+mt.bottom,Re=Ne/Ge,Ve=Ue/je;return he=he*Re+mt.left,Ee=mt.right==0?Ee:Ee*Re,oe=oe*Ve+mt.top,ye=ye*Ve,Xe.nodes.forEach(function(ct){ct.x0=he+ct.column*((Ee-he-ue)/bt),ct.x1=ct.x0+ue}),Ve}function _t(Xe){var mt,bt,Ne;for(mt=Xe.nodes,bt=[],Ne=0;mt.length;++Ne,mt=bt,bt=[])mt.forEach(function(Ue){Ue.depth=Ne,Ue.sourceLinks.forEach(function(Ge){bt.indexOf(Ge.target)<0&&!Ge.circular&&bt.push(Ge.target)})});for(mt=Xe.nodes,bt=[],Ne=0;mt.length;++Ne,mt=bt,bt=[])mt.forEach(function(Ue){Ue.height=Ne,Ue.targetLinks.forEach(function(Ge){bt.indexOf(Ge.source)<0&&!Ge.circular&&bt.push(Ge.source)})});Xe.nodes.forEach(function(Ue){Ue.column=Math.floor(xe.call(null,Ue,Ne))})}function ut(Xe,mt,bt){var Ne=r.nest().key(function(ct){return ct.column}).sortKeys(t.ascending).entries(Xe.nodes).map(function(ct){return ct.values});je(bt),Ve();for(var Ue=1,Ge=mt;Ge>0;--Ge)Re(Ue*=.99,bt),Ve();function je(ct){if(Se){var Tt=1/0;Ne.forEach(function(ur){var Bt=ye*Se/(ur.length+1);Tt=Bt0))if(ur==0&&lr==1)Zt=Bt.y1-Bt.y0,Bt.y0=ye/2-Zt/2,Bt.y1=ye/2+Zt/2;else if(ur==Xt-1&&lr==1)Zt=Bt.y1-Bt.y0,Bt.y0=ye/2-Zt/2,Bt.y1=ye/2+Zt/2;else{var kr=0,$e=t.mean(Bt.sourceLinks,w),tt=t.mean(Bt.targetLinks,g);$e&&tt?kr=($e+tt)/2:kr=$e||tt;var st=(kr-m(Bt))*ct;Bt.y0+=st,Bt.y1+=st}})})}function Ve(){Ne.forEach(function(ct){var Tt,Xt,Vt=oe,lr=ct.length,ur;for(ct.sort(p),ur=0;ur0&&(Tt.y0+=Xt,Tt.y1+=Xt),Vt=Tt.y1+ee;if(Xt=Vt-ee-ye,Xt>0)for(Vt=Tt.y0-=Xt,Tt.y1-=Xt,ur=lr-2;ur>=0;--ur)Tt=ct[ur],Xt=Tt.y1+ee-Vt,Xt>0&&(Tt.y0-=Xt,Tt.y1-=Xt),Vt=Tt.y0})}}function vt(Xe){Xe.nodes.forEach(function(mt){mt.sourceLinks.sort(d),mt.targetLinks.sort(h)}),Xe.nodes.forEach(function(mt){var bt=mt.y0,Ne=bt,Ue=mt.y1,Ge=Ue;mt.sourceLinks.forEach(function(je){je.circular?(je.y0=Ue-je.width/2,Ue=Ue-je.width):(je.y0=bt+je.width/2,bt+=je.width)}),mt.targetLinks.forEach(function(je){je.circular?(je.y1=Ge-je.width/2,Ge=Ge-je.width):(je.y1=Ne+je.width/2,Ne+=je.width)})})}return _e}function C(he,oe,Ee){var ye=0;if(Ee===null){for(var ue=[],ee=0;eeoe.source.column)}function P(he,oe){var Ee=0;he.sourceLinks.forEach(function(ue){Ee=ue.circular&&!Ce(ue,oe)?Ee+1:Ee});var ye=0;return he.targetLinks.forEach(function(ue){ye=ue.circular&&!Ce(ue,oe)?ye+1:ye}),Ee+ye}function R(he){var oe=he.source.sourceLinks,Ee=0;oe.forEach(function(ee){Ee=ee.circular?Ee+1:Ee});var ye=he.target.targetLinks,ue=0;return ye.forEach(function(ee){ue=ee.circular?ue+1:ue}),!(Ee>1||ue>1)}function L(he,oe,Ee){return he.sort(O),he.forEach(function(ye,ue){var ee=0;if(Ce(ye,Ee)&&R(ye))ye.circularPathData.verticalBuffer=ee+ye.width/2;else{var ae=0;for(ae;aeee?xe:ee}ye.circularPathData.verticalBuffer=ee+ye.width/2}}),he}function I(he,oe,Ee,ye){var ue=5,ee=t.min(he.links,function(re){return re.source.y0});he.links.forEach(function(re){re.circular&&(re.circularPathData={})});var ae=he.links.filter(function(re){return re.circularLinkType=="top"});L(ae,oe,ye);var xe=he.links.filter(function(re){return re.circularLinkType=="bottom"});L(xe,oe,ye),he.links.forEach(function(re){if(re.circular){if(re.circularPathData.arcRadius=re.width+y,re.circularPathData.leftNodeBuffer=ue,re.circularPathData.rightNodeBuffer=ue,re.circularPathData.sourceWidth=re.source.x1-re.source.x0,re.circularPathData.sourceX=re.source.x0+re.circularPathData.sourceWidth,re.circularPathData.targetX=re.target.x0,re.circularPathData.sourceY=re.y0,re.circularPathData.targetY=re.y1,Ce(re,ye)&&R(re))re.circularPathData.leftSmallArcRadius=y+re.width/2,re.circularPathData.leftLargeArcRadius=y+re.width/2,re.circularPathData.rightSmallArcRadius=y+re.width/2,re.circularPathData.rightLargeArcRadius=y+re.width/2,re.circularLinkType=="bottom"?(re.circularPathData.verticalFullExtent=re.source.y1+A+re.circularPathData.verticalBuffer,re.circularPathData.verticalLeftInnerExtent=re.circularPathData.verticalFullExtent-re.circularPathData.leftLargeArcRadius,re.circularPathData.verticalRightInnerExtent=re.circularPathData.verticalFullExtent-re.circularPathData.rightLargeArcRadius):(re.circularPathData.verticalFullExtent=re.source.y0-A-re.circularPathData.verticalBuffer,re.circularPathData.verticalLeftInnerExtent=re.circularPathData.verticalFullExtent+re.circularPathData.leftLargeArcRadius,re.circularPathData.verticalRightInnerExtent=re.circularPathData.verticalFullExtent+re.circularPathData.rightLargeArcRadius);else{var pe=re.source.column,we=re.circularLinkType,Fe=he.links.filter(function(_e){return _e.source.column==pe&&_e.circularLinkType==we});re.circularLinkType=="bottom"?Fe.sort(Y):Fe.sort($);var Se=0;Fe.forEach(function(_e,Ie){_e.circularLinkID==re.circularLinkID&&(re.circularPathData.leftSmallArcRadius=y+re.width/2+Se,re.circularPathData.leftLargeArcRadius=y+re.width/2+Ie*oe+Se),Se=Se+_e.width}),pe=re.target.column,Fe=he.links.filter(function(_e){return _e.target.column==pe&&_e.circularLinkType==we}),re.circularLinkType=="bottom"?Fe.sort(j):Fe.sort(K),Se=0,Fe.forEach(function(_e,Ie){_e.circularLinkID==re.circularLinkID&&(re.circularPathData.rightSmallArcRadius=y+re.width/2+Se,re.circularPathData.rightLargeArcRadius=y+re.width/2+Ie*oe+Se),Se=Se+_e.width}),re.circularLinkType=="bottom"?(re.circularPathData.verticalFullExtent=Math.max(Ee,re.source.y1,re.target.y1)+A+re.circularPathData.verticalBuffer,re.circularPathData.verticalLeftInnerExtent=re.circularPathData.verticalFullExtent-re.circularPathData.leftLargeArcRadius,re.circularPathData.verticalRightInnerExtent=re.circularPathData.verticalFullExtent-re.circularPathData.rightLargeArcRadius):(re.circularPathData.verticalFullExtent=ee-A-re.circularPathData.verticalBuffer,re.circularPathData.verticalLeftInnerExtent=re.circularPathData.verticalFullExtent+re.circularPathData.leftLargeArcRadius,re.circularPathData.verticalRightInnerExtent=re.circularPathData.verticalFullExtent+re.circularPathData.rightLargeArcRadius)}re.circularPathData.leftInnerExtent=re.circularPathData.sourceX+re.circularPathData.leftNodeBuffer,re.circularPathData.rightInnerExtent=re.circularPathData.targetX-re.circularPathData.rightNodeBuffer,re.circularPathData.leftFullExtent=re.circularPathData.sourceX+re.circularPathData.leftLargeArcRadius+re.circularPathData.leftNodeBuffer,re.circularPathData.rightFullExtent=re.circularPathData.targetX-re.circularPathData.rightLargeArcRadius-re.circularPathData.rightNodeBuffer}if(re.circular)re.path=B(re);else{var ke=i.linkHorizontal().source(function(_e){var Ie=_e.source.x0+(_e.source.x1-_e.source.x0),Oe=_e.y0;return[Ie,Oe]}).target(function(_e){var Ie=_e.target.x0,Oe=_e.y1;return[Ie,Oe]});re.path=ke(re)}})}function B(he){var oe="";return he.circularLinkType=="top"?oe="M"+he.circularPathData.sourceX+" "+he.circularPathData.sourceY+" L"+he.circularPathData.leftInnerExtent+" "+he.circularPathData.sourceY+" A"+he.circularPathData.leftLargeArcRadius+" "+he.circularPathData.leftSmallArcRadius+" 0 0 0 "+he.circularPathData.leftFullExtent+" "+(he.circularPathData.sourceY-he.circularPathData.leftSmallArcRadius)+" L"+he.circularPathData.leftFullExtent+" "+he.circularPathData.verticalLeftInnerExtent+" A"+he.circularPathData.leftLargeArcRadius+" "+he.circularPathData.leftLargeArcRadius+" 0 0 0 "+he.circularPathData.leftInnerExtent+" "+he.circularPathData.verticalFullExtent+" L"+he.circularPathData.rightInnerExtent+" "+he.circularPathData.verticalFullExtent+" A"+he.circularPathData.rightLargeArcRadius+" "+he.circularPathData.rightLargeArcRadius+" 0 0 0 "+he.circularPathData.rightFullExtent+" "+he.circularPathData.verticalRightInnerExtent+" L"+he.circularPathData.rightFullExtent+" "+(he.circularPathData.targetY-he.circularPathData.rightSmallArcRadius)+" A"+he.circularPathData.rightLargeArcRadius+" "+he.circularPathData.rightSmallArcRadius+" 0 0 0 "+he.circularPathData.rightInnerExtent+" "+he.circularPathData.targetY+" L"+he.circularPathData.targetX+" "+he.circularPathData.targetY:oe="M"+he.circularPathData.sourceX+" "+he.circularPathData.sourceY+" L"+he.circularPathData.leftInnerExtent+" "+he.circularPathData.sourceY+" A"+he.circularPathData.leftLargeArcRadius+" "+he.circularPathData.leftSmallArcRadius+" 0 0 1 "+he.circularPathData.leftFullExtent+" "+(he.circularPathData.sourceY+he.circularPathData.leftSmallArcRadius)+" L"+he.circularPathData.leftFullExtent+" "+he.circularPathData.verticalLeftInnerExtent+" A"+he.circularPathData.leftLargeArcRadius+" "+he.circularPathData.leftLargeArcRadius+" 0 0 1 "+he.circularPathData.leftInnerExtent+" "+he.circularPathData.verticalFullExtent+" L"+he.circularPathData.rightInnerExtent+" "+he.circularPathData.verticalFullExtent+" A"+he.circularPathData.rightLargeArcRadius+" "+he.circularPathData.rightLargeArcRadius+" 0 0 1 "+he.circularPathData.rightFullExtent+" "+he.circularPathData.verticalRightInnerExtent+" L"+he.circularPathData.rightFullExtent+" "+(he.circularPathData.targetY+he.circularPathData.rightSmallArcRadius)+" A"+he.circularPathData.rightLargeArcRadius+" "+he.circularPathData.rightSmallArcRadius+" 0 0 1 "+he.circularPathData.rightInnerExtent+" "+he.circularPathData.targetY+" L"+he.circularPathData.targetX+" "+he.circularPathData.targetY,oe}function O(he,oe){return q(he)==q(oe)?he.circularLinkType=="bottom"?Y(he,oe):$(he,oe):q(oe)-q(he)}function $(he,oe){return he.y0-oe.y0}function Y(he,oe){return oe.y0-he.y0}function K(he,oe){return he.y1-oe.y1}function j(he,oe){return oe.y1-he.y1}function q(he){return he.target.column-he.source.column}function J(he){return he.target.x0-he.source.x1}function U(he,oe){var Ee=D(he),ye=J(oe)/Math.tan(Ee),ue=ge(he)=="up"?he.y1+ye:he.y1-ye;return ue}function V(he,oe){var Ee=D(he),ye=J(oe)/Math.tan(Ee),ue=ge(he)=="up"?he.y1-ye:he.y1+ye;return ue}function X(he,oe,Ee,ye){he.links.forEach(function(ue){if(!ue.circular&&ue.target.column-ue.source.column>1){var ee=ue.source.column+1,ae=ue.target.column-1,xe=1,re=ae-ee+1;for(xe=1;ee<=ae;ee++,xe++)he.nodes.forEach(function(pe){if(pe.column==ee){var we=xe/(re+1),Fe=Math.pow(1-we,3),Se=3*we*Math.pow(1-we,2),ke=3*Math.pow(we,2)*(1-we),_e=Math.pow(we,3),Ie=Fe*ue.y0+Se*ue.y0+ke*ue.y1+_e*ue.y1,Oe=Ie-ue.width/2,Qe=Ie+ue.width/2,et;Oe>pe.y0&&Oepe.y0&&Qepe.y1&&G(_t,et,oe,Ee)})):Oepe.y1&&(et=Qe-pe.y0+10,pe=G(pe,et,oe,Ee),he.nodes.forEach(function(_t){T(_t,ye)==T(pe,ye)||_t.column!=pe.column||_t.y0pe.y1&&G(_t,et,oe,Ee)}))}})}})}function H(he,oe){return he.y0>oe.y0&&he.y0oe.y0&&he.y1oe.y1}function G(he,oe,Ee,ye){return he.y0+oe>=Ee&&he.y1+oe<=ye&&(he.y0=he.y0+oe,he.y1=he.y1+oe,he.targetLinks.forEach(function(ue){ue.y1=ue.y1+oe}),he.sourceLinks.forEach(function(ue){ue.y0=ue.y0+oe})),he}function Q(he,oe,Ee,ye){he.nodes.forEach(function(ue){ye&&ue.y+(ue.y1-ue.y0)>oe&&(ue.y=ue.y-(ue.y+(ue.y1-ue.y0)-oe));var ee=he.links.filter(function(re){return T(re.source,Ee)==T(ue,Ee)}),ae=ee.length;ae>1&&ee.sort(function(re,pe){if(!re.circular&&!pe.circular){if(re.target.column==pe.target.column)return re.y1-pe.y1;if(ce(re,pe)){if(re.target.column>pe.target.column){var we=V(pe,re);return re.y1-we}if(pe.target.column>re.target.column){var Fe=V(re,pe);return Fe-pe.y1}}else return re.y1-pe.y1}if(re.circular&&!pe.circular)return re.circularLinkType=="top"?-1:1;if(pe.circular&&!re.circular)return pe.circularLinkType=="top"?1:-1;if(re.circular&&pe.circular)return re.circularLinkType===pe.circularLinkType&&re.circularLinkType=="top"?re.target.column===pe.target.column?re.target.y1-pe.target.y1:pe.target.column-re.target.column:re.circularLinkType===pe.circularLinkType&&re.circularLinkType=="bottom"?re.target.column===pe.target.column?pe.target.y1-re.target.y1:re.target.column-pe.target.column:re.circularLinkType=="top"?-1:1});var xe=ue.y0;ee.forEach(function(re){re.y0=xe+re.width/2,xe=xe+re.width}),ee.forEach(function(re,pe){if(re.circularLinkType=="bottom"){var we=pe+1,Fe=0;for(we;we1&&ue.sort(function(xe,re){if(!xe.circular&&!re.circular){if(xe.source.column==re.source.column)return xe.y0-re.y0;if(ce(xe,re)){if(re.source.column0?"up":"down"}function Ce(he,oe){return T(he.source,oe)==T(he.target,oe)}function be(he,oe,Ee){var ye=he.nodes,ue=he.links,ee=!1,ae=!1;if(ue.forEach(function(Se){Se.circularLinkType=="top"?ee=!0:Se.circularLinkType=="bottom"&&(ae=!0)}),ee==!1||ae==!1){var xe=t.min(ye,function(Se){return Se.y0}),re=t.max(ye,function(Se){return Se.y1}),pe=re-xe,we=Ee-oe,Fe=we/pe;ye.forEach(function(Se){var ke=(Se.y1-Se.y0)*Fe;Se.y0=(Se.y0-xe)*Fe,Se.y1=Se.y0+ke}),ue.forEach(function(Se){Se.y0=(Se.y0-xe)*Fe,Se.y1=(Se.y1-xe)*Fe,Se.width=Se.width*Fe})}}e.sankeyCircular=S,e.sankeyCenter=u,e.sankeyLeft=o,e.sankeyRight=s,e.sankeyJustify=l,Object.defineProperty(e,"__esModule",{value:!0})}))});var toe=W((Bri,Put)=>{"use strict";Put.exports={nodeTextOffsetHorizontal:4,nodeTextOffsetVertical:3,nodePadAcross:10,sankeyIterations:50,forceIterations:5,forceTicksPerFrame:10,duration:500,ease:"linear",cn:{sankey:"sankey",sankeyLinks:"sankey-links",sankeyLink:"sankey-link",sankeyNodeSet:"sankey-node-set",sankeyNode:"sankey-node",nodeRect:"node-rect",nodeLabel:"node-label"}}});var Wut=W((qri,$ut)=>{"use strict";var Iut=xut(),SAr=(db(),Go(hb)).interpolateNumber,e6=vi(),F8=Sut(),EAr=Lut(),Lo=toe(),ig=ni(),kAr=Ji(),ng=it(),p3=ng.strTranslate,Rut=ng.strRotate,noe=G1(),L8=noe.keyFun,Kq=noe.repeat,Uut=noe.unwrap,zut=uo(),CAr=yi(),Vut=Hl(),DAr=Vut.CAP_SHIFT,FAr=Vut.LINE_SPACING,LAr=3;function PAr(e,t,r){var i=Uut(t),n=i.trace,a=n.domain,o=n.orientation==="h",s=n.direction==="reversed",l=n.node.pad,u=n.node.thickness,c={justify:F8.sankeyJustify,left:F8.sankeyLeft,right:F8.sankeyRight,center:F8.sankeyCenter}[n.node.align],f=e.width*(a.x[1]-a.x[0]),h=e.height*(a.y[1]-a.y[0]),d=i._nodes,p=i._links,v=i.circular,m;v?m=EAr.sankeyCircular().circularLinkGap(0):m=F8.sankey(),m.iterations(Lo.sankeyIterations).size(o?[f,h]:[h,f]).nodeWidth(u).nodePadding(l).nodeId(function(P){return P.pointNumber}).nodeAlign(c).nodes(d).links(p);function g(P){n[P].sort==="input"&&(v?ng.warn(`Circular Sankey diagrams do not support the "input" ${P}.sort mode; falling back to the default sort.`):m[`${P}Sort`](null))}g("link"),g("node");var w=m();m.nodePadding()=B||(I=B-L.y0,I>1e-6&&(L.y0+=I,L.y1+=I)),B=L.y1+l})}function C(P){var R=P.map(function(K,j){return{x0:K.x0,index:j}}).sort(function(K,j){return K.x0-j.x0}),L=[],I=-1,B,O=-1/0,$;for(b=0;bO+u&&(I+=1,B=Y.x0),O=Y.x0,L[I]||(L[I]=[]),L[I].push(Y),$=B-Y.x0,Y.x0+=$,Y.x1+=$}return L}if(n.node.x.length&&n.node.y.length){for(b=0;b0?" L "+n.targetX+" "+n.targetY:"")+"Z"):(r="M "+(n.targetX-t)+" "+(n.targetY-i)+" L "+(n.rightInnerExtent-t)+" "+(n.targetY-i)+" A "+(n.rightLargeArcRadius+i)+" "+(n.rightSmallArcRadius+i)+" 0 0 0 "+(n.rightFullExtent-i-t)+" "+(n.targetY+n.rightSmallArcRadius)+" L "+(n.rightFullExtent-i-t)+" "+n.verticalRightInnerExtent,a&&o?r+=" A "+(n.rightLargeArcRadius+i)+" "+(n.rightLargeArcRadius+i)+" 0 0 0 "+(n.rightInnerExtent-i-t)+" "+(n.verticalFullExtent+i)+" L "+(n.rightFullExtent+i-t-(n.rightLargeArcRadius-i))+" "+(n.verticalFullExtent+i)+" A "+(n.rightLargeArcRadius+i)+" "+(n.rightLargeArcRadius+i)+" 0 0 0 "+(n.leftFullExtent+i)+" "+n.verticalLeftInnerExtent:a?r+=" A "+(n.rightLargeArcRadius-i)+" "+(n.rightSmallArcRadius-i)+" 0 0 1 "+(n.rightFullExtent-t-i-(n.rightLargeArcRadius-i))+" "+(n.verticalFullExtent-i)+" L "+(n.leftFullExtent+i+(n.rightLargeArcRadius-i))+" "+(n.verticalFullExtent-i)+" A "+(n.rightLargeArcRadius-i)+" "+(n.rightSmallArcRadius-i)+" 0 0 1 "+(n.leftFullExtent+i)+" "+n.verticalLeftInnerExtent:r+=" A "+(n.rightLargeArcRadius+i)+" "+(n.rightLargeArcRadius+i)+" 0 0 0 "+(n.rightInnerExtent-t)+" "+(n.verticalFullExtent+i)+" L "+n.leftInnerExtent+" "+(n.verticalFullExtent+i)+" A "+(n.leftLargeArcRadius+i)+" "+(n.leftLargeArcRadius+i)+" 0 0 0 "+(n.leftFullExtent+i)+" "+n.verticalLeftInnerExtent,r+=" L "+(n.leftFullExtent+i)+" "+(n.sourceY+n.leftSmallArcRadius)+" A "+(n.leftLargeArcRadius+i)+" "+(n.leftSmallArcRadius+i)+" 0 0 0 "+n.leftInnerExtent+" "+(n.sourceY-i)+" L "+n.sourceX+" "+(n.sourceY-i)+" L "+n.sourceX+" "+(n.sourceY+i)+" L "+n.leftInnerExtent+" "+(n.sourceY+i)+" A "+(n.leftLargeArcRadius-i)+" "+(n.leftSmallArcRadius-i)+" 0 0 1 "+(n.leftFullExtent-i)+" "+(n.sourceY+n.leftSmallArcRadius)+" L "+(n.leftFullExtent-i)+" "+n.verticalLeftInnerExtent,a&&o?r+=" A "+(n.rightLargeArcRadius-i)+" "+(n.rightSmallArcRadius-i)+" 0 0 1 "+(n.leftFullExtent-i-(n.rightLargeArcRadius-i))+" "+(n.verticalFullExtent-i)+" L "+(n.rightFullExtent+i-t+(n.rightLargeArcRadius-i))+" "+(n.verticalFullExtent-i)+" A "+(n.rightLargeArcRadius-i)+" "+(n.rightSmallArcRadius-i)+" 0 0 1 "+(n.rightFullExtent+i-t)+" "+n.verticalRightInnerExtent:a?r+=" A "+(n.rightLargeArcRadius+i)+" "+(n.rightLargeArcRadius+i)+" 0 0 0 "+(n.leftFullExtent+i)+" "+(n.verticalFullExtent+i)+" L "+(n.rightFullExtent-t-i)+" "+(n.verticalFullExtent+i)+" A "+(n.rightLargeArcRadius+i)+" "+(n.rightLargeArcRadius+i)+" 0 0 0 "+(n.rightFullExtent+i-t)+" "+n.verticalRightInnerExtent:r+=" A "+(n.leftLargeArcRadius-i)+" "+(n.leftLargeArcRadius-i)+" 0 0 1 "+n.leftInnerExtent+" "+(n.verticalFullExtent-i)+" L "+(n.rightInnerExtent-t)+" "+(n.verticalFullExtent-i)+" A "+(n.rightLargeArcRadius-i)+" "+(n.rightLargeArcRadius-i)+" 0 0 1 "+(n.rightFullExtent+i-t)+" "+n.verticalRightInnerExtent,r+=" L "+(n.rightFullExtent+i-t)+" "+(n.targetY+n.rightSmallArcRadius)+" A "+(n.rightLargeArcRadius-i)+" "+(n.rightSmallArcRadius-i)+" 0 0 1 "+(n.rightInnerExtent-t)+" "+(n.targetY+i)+" L "+(n.targetX-t)+" "+(n.targetY+i)+(t>0?" L "+n.targetX+" "+n.targetY:"")+"Z"),r}function aoe(){var e=.5;function t(r){var i=r.linkArrowLength;if(r.link.circular)return RAr(r.link,i);var n=Math.abs((r.link.target.x0-r.link.source.x1)/2);i>n&&(i=n);var a=r.link.source.x1,o=r.link.target.x0-i,s=SAr(a,o),l=s(e),u=s(1-e),c=r.link.y0-r.link.width/2,f=r.link.y0+r.link.width/2,h=r.link.y1-r.link.width/2,d=r.link.y1+r.link.width/2,p="M"+a+","+c,v="C"+l+","+c+" "+u+","+h+" "+o+","+h,m="C"+u+","+d+" "+l+","+f+" "+a+","+f,g=i>0?"L"+(o+i)+","+(h+r.link.width/2):"";return g+="L"+o+","+d,p+v+g+m+"Z"}return t}function zAr(e,t){var r=Lo.nodePadAcross,i=e.nodePad/2;t.dx=t.x1-t.x0,t.dy=t.y1-t.y0;var n=t.dx,a=Math.max(.5,t.dy),o="node_"+t.pointNumber;return t.group&&(o=ng.randstr()),t.trace=e.trace,t.curveNumber=e.trace.index,{index:t.pointNumber,key:o,partOfGroup:t.partOfGroup||!1,group:t.group,traceId:e.key,trace:e.trace,node:t,nodePad:e.nodePad,nodeLineColor:e.nodeLineColor,nodeLineWidth:e.nodeLineWidth,textFont:e.textFont,size:e.horizontal?e.height:e.width,visibleWidth:Math.ceil(n),visibleHeight:a,zoneX:-r,zoneY:-i,zoneWidth:n+2*r,zoneHeight:a+2*i,labelY:e.horizontal?t.dy/2+1:t.dx/2+1,left:t.originalLayer===1,sizeAcross:e.width,forceLayouts:e.forceLayouts,horizontal:e.horizontal,reversed:e.reversed,rgb:ig.rgb(t.color),alpha:ig.parse(t.color).alpha,valueFormat:e.valueFormat,valueSuffix:e.valueSuffix,sankey:e.sankey,graph:e.graph,arrangement:e.arrangement,uniqueNodeLabelPathId:[e.guid,e.key,o].join("_"),interactionState:e.interactionState,figure:e}}function ioe(e){e.attr("transform",function(t){return p3(t.node.x0.toFixed(3),t.node.y0.toFixed(3))})}function BAr(e){e.call(ioe)}function Gut(e,t){e.call(BAr),t.attr("d",aoe())}function But(e){e.attr("width",function(t){return t.node.x1-t.node.x0}).attr("height",function(t){return t.visibleHeight})}function roe(e){return e.link.width>1||e.linkLineWidth>0}function qut(e){return e.horizontal?e.reversed?p3(e.translateX+e.width,e.translateY)+"matrix(-1 0 0 1 0 0)":p3(e.translateX,e.translateY)+"matrix(1 0 0 1 0 0)":e.reversed?p3(e.translateX,e.translateY+e.height)+"matrix(0 -1 1 0 0 0)":p3(e.translateX,e.translateY)+"matrix(0 1 1 0 0 0)"}function Out(e,t,r){e.on(".basic",null).on("mouseover.basic",function(i){!i.interactionState.dragInProgress&&!i.partOfGroup&&(r.hover(this,i,t),i.interactionState.hovered=[this,i])}).on("mousemove.basic",function(i){!i.interactionState.dragInProgress&&!i.partOfGroup&&(r.follow(this,i),i.interactionState.hovered=[this,i])}).on("mouseout.basic",function(i){!i.interactionState.dragInProgress&&!i.partOfGroup&&(r.unhover(this,i,t),i.interactionState.hovered=!1)}).on("click.basic",function(i){i.interactionState.hovered&&(r.unhover(this,i,t),i.interactionState.hovered=!1),!i.interactionState.dragInProgress&&!i.partOfGroup&&r.select(this,i,t)})}function qAr(e,t,r,i){var n=e6.behavior.drag().origin(function(a){return{x:a.node.x0+a.visibleWidth/2,y:a.node.y0+a.visibleHeight/2}}).on("dragstart",function(a){if(a.arrangement!=="fixed"&&(ng.ensureSingle(i._fullLayout._infolayer,"g","dragcover",function(s){i._fullLayout._dragCover=s}),ng.raiseToTop(this),a.interactionState.dragInProgress=a.node,Nut(a.node),a.interactionState.hovered&&(r.nodeEvents.unhover.apply(0,a.interactionState.hovered),a.interactionState.hovered=!1),a.arrangement==="snap")){var o=a.traceId+"|"+a.key;a.forceLayouts[o]?a.forceLayouts[o].alpha(1):OAr(e,o,a,i),NAr(e,t,a,o,i)}}).on("drag",function(a){if(a.arrangement!=="fixed"){var o=e6.event.x,s=e6.event.y;a.arrangement==="snap"?(a.node.x0=o-a.visibleWidth/2,a.node.x1=o+a.visibleWidth/2,a.node.y0=s-a.visibleHeight/2,a.node.y1=s+a.visibleHeight/2):(a.arrangement==="freeform"&&(a.node.x0=o-a.visibleWidth/2,a.node.x1=o+a.visibleWidth/2),s=Math.max(0,Math.min(a.size-a.visibleHeight/2,s)),a.node.y0=s-a.visibleHeight/2,a.node.y1=s+a.visibleHeight/2),Nut(a.node),a.arrangement!=="snap"&&(a.sankey.update(a.graph),Gut(e.filter(jut(a)),t))}}).on("dragend",function(a){if(a.arrangement!=="fixed"){a.interactionState.dragInProgress=!1;for(var o=0;o0)window.requestAnimationFrame(a);else{var l=r.node.originalX;r.node.x0=l-r.visibleWidth/2,r.node.x1=l+r.visibleWidth/2,Hut(r,n)}})}function UAr(e,t,r,i){return function(){for(var a=0,o=0;o0&&i.forceLayouts[t].alpha(0)}}function Hut(e,t){for(var r=[],i=[],n=0;nroe(m)?ig.rgb(m.linkLineColor):m.rgb).style("stroke-opacity",m=>roe(m)?ig.opacity(m.linkLineColor):m.alpha).style("fill",m=>m.rgb).style("fill-opacity",m=>m.alpha).style("stroke-width",m=>roe(m)?m.linkLineWidth:1).attr("d",aoe()),f.style("opacity",function(){return e._context.staticPlot||o||s?1:0}).transition().ease(Lo.ease).duration(Lo.duration).style("opacity",1),f.exit().transition().ease(Lo.ease).duration(Lo.duration).style("opacity",0).remove();var h=u.selectAll("."+Lo.cn.sankeyNodeSet).data(Kq,L8);h.enter().append("g").classed(Lo.cn.sankeyNodeSet,!0),h.style("cursor",function(m){switch(m.arrangement){case"fixed":return"default";case"perpendicular":return"ns-resize";default:return"move"}});var d=h.selectAll("."+Lo.cn.sankeyNode).data(function(m){var g=m.graph.nodes;return VAr(g),g.map(zAr.bind(null,m))},L8);d.enter().append("g").classed(Lo.cn.sankeyNode,!0).call(ioe).style("opacity",function(m){return(e._context.staticPlot||o)&&!m.partOfGroup?1:0}),d.call(Out,u,n.nodeEvents).call(qAr,f,n,e),d.transition().ease(Lo.ease).duration(Lo.duration).call(ioe).style("opacity",function(m){return m.partOfGroup?0:1}),d.exit().transition().ease(Lo.ease).duration(Lo.duration).style("opacity",0).remove();var p=d.selectAll("."+Lo.cn.nodeRect).data(Kq);p.enter().append("rect").classed(Lo.cn.nodeRect,!0).call(But),p.style("stroke-width",function(m){return m.nodeLineWidth}).style("stroke",function(m){return ig.rgb(m.nodeLineColor)}).style("stroke-opacity",function(m){return ig.opacity(m.nodeLineColor)}).style("fill",m=>m.rgb).style("fill-opacity",m=>m.alpha),p.transition().ease(Lo.ease).duration(Lo.duration).call(But);var v=d.selectAll("."+Lo.cn.nodeLabel).data(Kq);v.enter().append("text").classed(Lo.cn.nodeLabel,!0).style("cursor","default"),v.attr("data-notex",1).text(function(m){return m.node.label}).each(function(m){var g=e6.select(this);kAr.font(g,m.textFont),zut.convertToTspans(g,e)}).attr("text-anchor",function(m){return m.horizontal&&m.left!==m.reversed?"end":"start"}).attr("transform",function(m){var g=e6.select(this),w=zut.lineCount(g),b=m.textFont.size*((w-1)*FAr-DAr),_=m.nodeLineWidth/2+LAr;if(!m.horizontal){var T=m.reversed?(m.visibleWidth+b)/2:(m.visibleWidth-b)/2,M=m.reversed?Rut(90):"scale(-1,1)"+Rut(90);return p3(T,_)+M}var x=_,T=(m.visibleHeight-b)/2;return m.left?x=-x:x+=m.visibleWidth,p3(x,T)+(m.reversed?"scale(-1,1)":"")}),v.transition().ease(Lo.ease).duration(Lo.duration)}});var loe=W((Ori,rct)=>{"use strict";var Bf=vi(),soe=it(),Jq=soe.numberFormat,jAr=Wut(),t6=Ds(),$Ar=ni(),lx=toe().cn,P8=soe._;function Yut(e){return e!==""}function r6(e,t){return e.filter(function(r){return r.key===t.traceId})}function Xut(e,t){Bf.select(e).select("path").style("fill-opacity",t),Bf.select(e).select("rect").style("fill-opacity",t)}function Zut(e){Bf.select(e).select("text.name").style("fill","black")}function Kut(e){return function(t){return e.node.sourceLinks.indexOf(t.link)!==-1||e.node.targetLinks.indexOf(t.link)!==-1}}function Jut(e){return function(t){return t.node.sourceLinks.indexOf(e.link)!==-1||t.node.targetLinks.indexOf(e.link)!==-1}}function Qut(e,t,r){t&&r&&r6(r,t).selectAll("."+lx.sankeyLink).filter(Kut(t)).call(ect.bind(0,t,r,!1))}function ooe(e,t,r){t&&r&&r6(r,t).selectAll("."+lx.sankeyLink).filter(Kut(t)).call(tct.bind(0,t,r,!1))}function ect(e,t,r,i){i.style("fill",function(n){if(!n.link.concentrationscale)return n.hoverRgb}).style("fill-opacity",function(n){if(!n.link.concentrationscale)return n.hoverAlpha}),i.each(function(n){var a=n.link.label;a!==""&&r6(t,e).selectAll("."+lx.sankeyLink).filter(function(o){return o.link.label===a}).style("fill",function(o){if(!o.link.concentrationscale)return o.hoverRgb}).style("fill-opacity",function(o){if(!o.link.concentrationscale)return o.hoverAlpha})}),r&&r6(t,e).selectAll("."+lx.sankeyNode).filter(Jut(e)).call(Qut)}function tct(e,t,r,i){i.style("fill",function(n){return n.rgb}).style("fill-opacity",function(n){return n.alpha}),i.each(function(n){var a=n.link.label;a!==""&&r6(t,e).selectAll("."+lx.sankeyLink).filter(function(o){return o.link.label===a}).style("fill",o=>o.rgb).style("fill-opacity",o=>o.alpha)}),r&&r6(t,e).selectAll(lx.sankeyNode).filter(Jut(e)).call(ooe)}function Ys(e,t){var r=e.hoverlabel||{},i=soe.nestedProperty(r,t).get();return Array.isArray(i)?!1:i}rct.exports=function(t,r){for(var i=t._fullLayout,n=i._paper,a=i._size,o=0;o"),color:Ys(T,"bgcolor")||$Ar.addOpacity(C.color,1),borderColor:Ys(T,"bordercolor"),fontFamily:Ys(T,"font.family"),fontSize:Ys(T,"font.size"),fontColor:Ys(T,"font.color"),fontWeight:Ys(T,"font.weight"),fontStyle:Ys(T,"font.style"),fontVariant:Ys(T,"font.variant"),fontTextcase:Ys(T,"font.textcase"),fontLineposition:Ys(T,"font.lineposition"),fontShadow:Ys(T,"font.shadow"),nameLength:Ys(T,"namelength"),textAlign:Ys(T,"align"),idealAlign:Bf.event.x"),color:Ys(T,"bgcolor")||x.rgb,borderColor:Ys(T,"bordercolor"),fontFamily:Ys(T,"font.family"),fontSize:Ys(T,"font.size"),fontColor:Ys(T,"font.color"),fontWeight:Ys(T,"font.weight"),fontStyle:Ys(T,"font.style"),fontVariant:Ys(T,"font.variant"),fontTextcase:Ys(T,"font.textcase"),fontLineposition:Ys(T,"font.lineposition"),fontShadow:Ys(T,"font.shadow"),nameLength:Ys(T,"namelength"),textAlign:Ys(T,"align"),idealAlign:"left",hovertemplate:T.hovertemplate,hovertemplateLabels:D,eventData:[x.node]},{container:i._hoverlayer.node(),outerContainer:i._paper.node(),gd:t});Xut(R,.85),Zut(R)}}},_=function(M,x,T){t._fullLayout.hovermode!==!1&&(Bf.select(M).call(ooe,x,T),x.node.trace.node.hoverinfo!=="skip"&&(x.node.fullData=x.node.trace,t.emit("plotly_unhover",{event:Bf.event,points:[x.node]})),t6.loneUnhover(i._hoverlayer.node()))};jAr(t,n,r,{width:a.w,height:a.h,margin:{t:a.t,r:a.r,b:a.b,l:a.l}},{linkEvents:{hover:u,follow:v,unhover:m,select:l},nodeEvents:{hover:w,follow:b,unhover:_,select:g}})}});var ict=W(v3=>{"use strict";var WAr=ls().overrideAll,YAr=_c().getModuleCalcData,XAr=loe(),ZAr=sy(),KAr=Np(),JAr=bf(),QAr=cu().prepSelect,uoe=it(),eMr=yi(),Qq="sankey";v3.name=Qq;v3.baseLayoutAttrOverrides=WAr({hoverlabel:ZAr.hoverlabel},"plot","nested");v3.plot=function(e){var t=YAr(e.calcdata,Qq)[0];XAr(e,t),v3.updateFx(e)};v3.clean=function(e,t,r,i){var n=i._has&&i._has(Qq),a=t._has&&t._has(Qq);n&&!a&&(i._paperdiv.selectAll(".sankey").remove(),i._paperdiv.selectAll(".bgsankey").remove())};v3.updateFx=function(e){for(var t=0;t{"use strict";nct.exports=function(t,r){for(var i=t.cd,n=[],a=i[0].trace,o=a._sankey,s=o.graph.nodes,l=a.orientation==="v",u=a.direction==="reversed",c=0;c{"use strict";oct.exports={attributes:Kae(),supplyDefaults:aut(),calc:cut(),plot:loe(),moduleType:"trace",name:"sankey",basePlotModule:ict(),selectPoints:act(),categories:["noOpacity"],meta:{}}});var uct=W((Gri,lct)=>{"use strict";lct.exports=sct()});var fct=W(i6=>{"use strict";var cct=Ko();i6.name="indicator";i6.plot=function(e,t,r,i){cct.plotBasePlot(i6.name,e,t,r,i)};i6.clean=function(e,t,r,i){cct.cleanBasePlot(i6.name,e,t,r,i)}});var foe=W((jri,mct)=>{"use strict";var ux=tn().extendFlat,dct=tn().extendDeep,rMr=ls().overrideAll,pct=Ho(),vct=Vl(),iMr=us().attributes,sl=ec(),nMr=Da().templatedArray,eO=D5(),hct=_s().descriptionOnlyNumbers,coe=pct({editType:"plot",colorEditType:"plot"}),I8={color:{valType:"color",editType:"plot"},line:{color:{valType:"color",dflt:vct.defaultLine,editType:"plot"},width:{valType:"number",min:0,dflt:0,editType:"plot"},editType:"calc"},thickness:{valType:"number",min:0,max:1,dflt:1,editType:"plot"},editType:"calc"},gct={valType:"info_array",items:[{valType:"number",editType:"plot"},{valType:"number",editType:"plot"}],editType:"plot"},aMr=nMr("step",dct({},I8,{range:gct}));mct.exports={mode:{valType:"flaglist",editType:"calc",flags:["number","delta","gauge"],dflt:"number"},value:{valType:"number",editType:"calc",anim:!0},align:{valType:"enumerated",values:["left","center","right"],editType:"plot"},domain:iMr({name:"indicator",trace:!0,editType:"calc"}),title:{text:{valType:"string",editType:"plot"},align:{valType:"enumerated",values:["left","center","right"],editType:"plot"},font:ux({},coe,{}),editType:"plot"},number:{valueformat:{valType:"string",dflt:"",editType:"plot",description:hct("value")},font:ux({},coe,{}),prefix:{valType:"string",dflt:"",editType:"plot"},suffix:{valType:"string",dflt:"",editType:"plot"},editType:"plot"},delta:{reference:{valType:"number",editType:"calc"},position:{valType:"enumerated",values:["top","bottom","left","right"],dflt:"bottom",editType:"plot"},relative:{valType:"boolean",editType:"plot",dflt:!1},valueformat:{valType:"string",editType:"plot",description:hct("value")},increasing:{symbol:{valType:"string",dflt:eO.INCREASING.SYMBOL,editType:"plot"},color:{valType:"color",dflt:eO.INCREASING.COLOR,editType:"plot"},editType:"plot"},decreasing:{symbol:{valType:"string",dflt:eO.DECREASING.SYMBOL,editType:"plot"},color:{valType:"color",dflt:eO.DECREASING.COLOR,editType:"plot"},editType:"plot"},font:ux({},coe,{}),prefix:{valType:"string",dflt:"",editType:"plot"},suffix:{valType:"string",dflt:"",editType:"plot"},editType:"calc"},gauge:{shape:{valType:"enumerated",editType:"plot",dflt:"angular",values:["angular","bullet"]},bar:dct({},I8,{color:{dflt:"green"}}),bgcolor:{valType:"color",editType:"plot"},bordercolor:{valType:"color",dflt:vct.defaultLine,editType:"plot"},borderwidth:{valType:"number",min:0,dflt:1,editType:"plot"},axis:rMr({range:gct,visible:ux({},sl.visible,{dflt:!0}),tickmode:sl.minor.tickmode,nticks:sl.nticks,tick0:sl.tick0,dtick:sl.dtick,tickvals:sl.tickvals,ticktext:sl.ticktext,ticks:ux({},sl.ticks,{dflt:"outside"}),ticklen:sl.ticklen,tickwidth:sl.tickwidth,tickcolor:sl.tickcolor,ticklabelstep:sl.ticklabelstep,showticklabels:sl.showticklabels,labelalias:sl.labelalias,tickfont:pct({}),tickangle:sl.tickangle,tickformat:sl.tickformat,tickformatstops:sl.tickformatstops,tickprefix:sl.tickprefix,showtickprefix:sl.showtickprefix,ticksuffix:sl.ticksuffix,showticksuffix:sl.showticksuffix,separatethousands:sl.separatethousands,exponentformat:sl.exponentformat,minexponent:sl.minexponent,showexponent:sl.showexponent,editType:"plot"},"plot"),steps:aMr,threshold:{line:{color:ux({},I8.line.color,{}),width:ux({},I8.line.width,{dflt:1}),editType:"plot"},thickness:ux({},I8.thickness,{dflt:.85}),value:{valType:"number",editType:"calc",dflt:!1},editType:"plot"},editType:"plot"}}});var hoe=W(($ri,yct)=>{"use strict";yct.exports={defaultNumberFontSize:80,bulletNumberDomainSize:.25,bulletPadding:.025,innerRadius:.75,valueThickness:.5,titlePadding:5,horizontalPadding:10}});var bct=W((Wri,_ct)=>{"use strict";var ag=it(),rO=foe(),oMr=us().defaults,xct=Da(),sMr=Xc(),tO=hoe(),lMr=Xx(),uMr=vw(),cMr=wy(),fMr=Ty();function hMr(e,t,r,i){function n(x,T){return ag.coerce(e,t,rO,x,T)}oMr(t,i,n),n("mode"),t._hasNumber=t.mode.indexOf("number")!==-1,t._hasDelta=t.mode.indexOf("delta")!==-1,t._hasGauge=t.mode.indexOf("gauge")!==-1;var a=n("value");t._range=[0,typeof a=="number"?1.5*a:1];var o=new Array(2),s;if(t._hasNumber){n("number.valueformat");var l=ag.extendFlat({},i.font);l.size=void 0,ag.coerceFont(n,"number.font",l),t.number.font.size===void 0&&(t.number.font.size=tO.defaultNumberFontSize,o[0]=!0),n("number.prefix"),n("number.suffix"),s=t.number.font.size}var u;if(t._hasDelta){var c=ag.extendFlat({},i.font);c.size=void 0,ag.coerceFont(n,"delta.font",c),t.delta.font.size===void 0&&(t.delta.font.size=(t._hasNumber?.5:1)*(s||tO.defaultNumberFontSize),o[1]=!0),n("delta.reference",t.value),n("delta.relative"),n("delta.valueformat",t.delta.relative?"2%":""),n("delta.increasing.symbol"),n("delta.increasing.color"),n("delta.decreasing.symbol"),n("delta.decreasing.color"),n("delta.position"),n("delta.prefix"),n("delta.suffix"),u=t.delta.font.size}t._scaleNumbers=(!t._hasNumber||o[0])&&(!t._hasDelta||o[1])||!1;var f=ag.extendFlat({},i.font);f.size=.25*(s||u||tO.defaultNumberFontSize),ag.coerceFont(n,"title.font",f),n("title.text");var h,d,p,v;function m(x,T){return ag.coerce(h,d,rO.gauge,x,T)}function g(x,T){return ag.coerce(p,v,rO.gauge.axis,x,T)}if(t._hasGauge){h=e.gauge,h||(h={}),d=xct.newContainer(t,"gauge"),m("shape");var w=t._isBullet=t.gauge.shape==="bullet";w||n("title.align","center");var b=t._isAngular=t.gauge.shape==="angular";b||n("align","center"),m("bgcolor",i.paper_bgcolor),m("borderwidth"),m("bordercolor"),m("bar.color"),m("bar.line.color"),m("bar.line.width");var _=tO.valueThickness*(t.gauge.shape==="bullet"?.5:1);m("bar.thickness",_),sMr(h,d,{name:"steps",handleItemDefaults:dMr}),m("threshold.value"),m("threshold.thickness"),m("threshold.line.width"),m("threshold.line.color"),p={},h&&(p=h.axis||{}),v=xct.newContainer(d,"axis"),g("visible"),t._range=g("range",t._range);var M={font:i.font,noAutotickangles:!0,outerTicks:!0,noTicklabelshift:!0,noTicklabelstandoff:!0};lMr(p,v,g,"linear"),fMr(p,v,g,"linear",M),cMr(p,v,g,"linear",M),uMr(p,v,g,M)}else n("title.align","center"),n("align","center"),t._isAngular=t._isBullet=!1;t._length=null}function dMr(e,t){function r(i,n){return ag.coerce(e,t,rO.gauge.steps,i,n)}r("color"),r("line.color"),r("line.width"),r("range"),r("thickness")}_ct.exports={supplyDefaults:hMr}});var Tct=W((Yri,wct)=>{"use strict";function pMr(e,t){var r=[],i=t.value;typeof t._lastValue!="number"&&(t._lastValue=t.value);var n=t._lastValue,a=n;return t._hasDelta&&typeof t.delta.reference=="number"&&(a=t.delta.reference),r[0]={y:i,lastY:n,delta:i-a,relativeDelta:(i-a)/a},r}wct.exports={calc:pMr}});var Cct=W((Xri,kct)=>{"use strict";var _3=vi(),vMr=(db(),Go(hb)).interpolate,Act=(db(),Go(hb)).interpolateNumber,cx=it(),gMr=cx.strScale,z8=cx.strTranslate,mMr=cx.rad2deg,yMr=Hl().MID_SHIFT,x3=Ji(),g3=hoe(),nO=uo(),Oc=ji(),xMr=mM(),_Mr=TF(),bMr=ec(),n6=ni(),doe={left:"start",center:"middle",right:"end"},m3={left:0,center:.5,right:1},Mct=/[yzafpnµmkMGTPEZY]/;function B8(e){return e&&e.duration>0}kct.exports=function(t,r,i,n){var a=t._fullLayout,o;B8(i)&&n&&(o=n()),cx.makeTraceGroups(a._indicatorlayer,r,"trace").each(function(s){var l=s[0],u=l.trace,c=_3.select(this),f=u._hasGauge,h=u._isAngular,d=u._isBullet,p=u.domain,v={w:a._size.w*(p.x[1]-p.x[0]),h:a._size.h*(p.y[1]-p.y[0]),l:a._size.l+a._size.w*p.x[0],r:a._size.r+a._size.w*(1-p.x[1]),t:a._size.t+a._size.h*(1-p.y[1]),b:a._size.b+a._size.h*p.y[0]},m=v.l+v.w/2,g=v.t+v.h/2,w=Math.min(v.w/2,v.h),b=g3.innerRadius*w,_,M,x,T=u.align||"center";if(M=g,!f)_=v.l+m3[T]*v.w,x=function(R){return Sct(R,v.w,v.h)};else if(h&&(_=m,M=g+w/2,x=function(R){return SMr(R,.9*b)}),d){var A=g3.bulletPadding,y=1-g3.bulletNumberDomainSize+A;_=v.l+(y+(1-y)*m3[T])*v.w,x=function(R){return Sct(R,(g3.bulletNumberDomainSize-A)*v.w,v.h)}}AMr(t,c,s,{numbersX:_,numbersY:M,numbersScaler:x,transitionOpts:i,onComplete:o});var E,S;f&&(E={range:u.gauge.axis.range,color:u.gauge.bgcolor,line:{color:u.gauge.bordercolor,width:0},thickness:1},S={range:u.gauge.axis.range,color:"rgba(0, 0, 0, 0)",line:{color:u.gauge.bordercolor,width:u.gauge.borderwidth},thickness:1});var C=c.selectAll("g.angular").data(h?s:[]);C.exit().remove();var k=c.selectAll("g.angularaxis").data(h?s:[]);k.exit().remove(),h&&TMr(t,c,s,{radius:w,innerRadius:b,gauge:C,layer:k,size:v,gaugeBg:E,gaugeOutline:S,transitionOpts:i,onComplete:o});var D=c.selectAll("g.bullet").data(d?s:[]);D.exit().remove();var F=c.selectAll("g.bulletaxis").data(d?s:[]);F.exit().remove(),d&&wMr(t,c,s,{gauge:D,layer:F,size:v,gaugeBg:E,gaugeOutline:S,transitionOpts:i,onComplete:o});var P=c.selectAll("text.title").data(s);P.exit().remove(),P.enter().append("text").classed("title",!0),P.attr("text-anchor",function(){return d?doe.right:doe[u.title.align]}).text(u.title.text).call(x3.font,u.title.font).call(nO.convertToTspans,t),P.attr("transform",function(){var R=v.l+v.w*m3[u.title.align],L,I=g3.titlePadding,B=x3.bBox(P.node());if(f){if(h)if(u.gauge.axis.visible){var O=x3.bBox(k.node());L=O.top-I-B.bottom}else L=v.t+v.h/2-w/2-B.bottom-I;d&&(L=M-(B.top+B.bottom)/2,R=v.l-g3.bulletPadding*v.w)}else L=u._numbersTop-I-B.bottom;return z8(R,L)})})};function wMr(e,t,r,i){var n=r[0].trace,a=i.gauge,o=i.layer,s=i.gaugeBg,l=i.gaugeOutline,u=i.size,c=n.domain,f=i.transitionOpts,h=i.onComplete,d,p,v,m,g;a.enter().append("g").classed("bullet",!0),a.attr("transform",z8(u.l,u.t)),o.enter().append("g").classed("bulletaxis",!0).classed("crisp",!0),o.selectAll("g.xbulletaxistick,path,text").remove();var w=u.h,b=n.gauge.bar.thickness*w,_=c.x[0],M=c.x[0]+(c.x[1]-c.x[0])*(n._hasNumber||n._hasDelta?1-g3.bulletNumberDomainSize:1);d=R8(e,n.gauge.axis),d._id="xbulletaxis",d.domain=[_,M],d.setScale(),p=Oc.calcTicks(d),v=Oc.makeTransTickFn(d),m=Oc.getTickSigns(d)[2],g=u.t+u.h,d.visible&&(Oc.drawTicks(e,d,{vals:d.ticks==="inside"?Oc.clipEnds(d,p):p,layer:o,path:Oc.makeTickPath(d,g,m),transFn:v}),Oc.drawLabels(e,d,{vals:p,layer:o,transFn:v,labelFns:Oc.makeLabelFns(d,g)}));function x(k){k.attr("width",function(D){return Math.max(0,d.c2p(D.range[1])-d.c2p(D.range[0]))}).attr("x",function(D){return d.c2p(D.range[0])}).attr("y",function(D){return .5*(1-D.thickness)*w}).attr("height",function(D){return D.thickness*w})}var T=[s].concat(n.gauge.steps),A=a.selectAll("g.bg-bullet").data(T);A.enter().append("g").classed("bg-bullet",!0).append("rect"),A.select("rect").call(x).call(y3),A.exit().remove();var y=a.selectAll("g.value-bullet").data([n.gauge.bar]);y.enter().append("g").classed("value-bullet",!0).append("rect"),y.select("rect").attr("height",b).attr("y",(w-b)/2).call(y3),B8(f)?y.select("rect").transition().duration(f.duration).ease(f.easing).each("end",function(){h&&h()}).each("interrupt",function(){h&&h()}).attr("width",Math.max(0,d.c2p(Math.min(n.gauge.axis.range[1],r[0].y)))):y.select("rect").attr("width",typeof r[0].y=="number"?Math.max(0,d.c2p(Math.min(n.gauge.axis.range[1],r[0].y))):0),y.exit().remove();var E=r.filter(function(){return n.gauge.threshold.value||n.gauge.threshold.value===0}),S=a.selectAll("g.threshold-bullet").data(E);S.enter().append("g").classed("threshold-bullet",!0).append("line"),S.select("line").attr("x1",d.c2p(n.gauge.threshold.value)).attr("x2",d.c2p(n.gauge.threshold.value)).attr("y1",(1-n.gauge.threshold.thickness)/2*w).attr("y2",(1-(1-n.gauge.threshold.thickness)/2)*w).call(n6.stroke,n.gauge.threshold.line.color).style("stroke-width",n.gauge.threshold.line.width),S.exit().remove();var C=a.selectAll("g.gauge-outline").data([l]);C.enter().append("g").classed("gauge-outline",!0).append("rect"),C.select("rect").call(x).call(y3),C.exit().remove()}function TMr(e,t,r,i){var n=r[0].trace,a=i.size,o=i.radius,s=i.innerRadius,l=i.gaugeBg,u=i.gaugeOutline,c=[a.l+a.w/2,a.t+a.h/2+o/2],f=i.gauge,h=i.layer,d=i.transitionOpts,p=i.onComplete,v=Math.PI/2;function m($){var Y=n.gauge.axis.range[0],K=n.gauge.axis.range[1],j=($-Y)/(K-Y)*Math.PI-v;return j<-v?-v:j>v?v:j}function g($){return _3.svg.arc().innerRadius((s+o)/2-$/2*(o-s)).outerRadius((s+o)/2+$/2*(o-s)).startAngle(-v)}function w($){$.attr("d",function(Y){return g(Y.thickness).startAngle(m(Y.range[0])).endAngle(m(Y.range[1]))()})}var b,_,M,x;f.enter().append("g").classed("angular",!0),f.attr("transform",z8(c[0],c[1])),h.enter().append("g").classed("angularaxis",!0).classed("crisp",!0),h.selectAll("g.xangularaxistick,path,text").remove(),b=R8(e,n.gauge.axis),b.type="linear",b.range=n.gauge.axis.range,b._id="xangularaxis",b.ticklabeloverflow="allow",b.setScale();var T=function($){return(b.range[0]-$.x)/(b.range[1]-b.range[0])*Math.PI+Math.PI},A={},y=Oc.makeLabelFns(b,0),E=y.labelStandoff;A.xFn=function($){var Y=T($);return Math.cos(Y)*E},A.yFn=function($){var Y=T($),K=Math.sin(Y)>0?.2:1;return-Math.sin(Y)*(E+$.fontSize*K)+Math.abs(Math.cos(Y))*($.fontSize*yMr)},A.anchorFn=function($){var Y=T($),K=Math.cos(Y);return Math.abs(K)<.1?"middle":K>0?"start":"end"},A.heightFn=function($,Y,K){var j=T($);return-.5*(1+Math.sin(j))*K};var S=function($){return z8(c[0]+o*Math.cos($),c[1]-o*Math.sin($))};M=function($){return S(T($))};var C=function($){var Y=T($);return S(Y)+"rotate("+-mMr(Y)+")"};if(_=Oc.calcTicks(b),x=Oc.getTickSigns(b)[2],b.visible){x=b.ticks==="inside"?-1:1;var k=(b.linewidth||1)/2;Oc.drawTicks(e,b,{vals:_,layer:h,path:"M"+x*k+",0h"+x*b.ticklen,transFn:C}),Oc.drawLabels(e,b,{vals:_,layer:h,transFn:M,labelFns:A})}var D=[l].concat(n.gauge.steps),F=f.selectAll("g.bg-arc").data(D);F.enter().append("g").classed("bg-arc",!0).append("path"),F.select("path").call(w).call(y3),F.exit().remove();var P=g(n.gauge.bar.thickness),R=f.selectAll("g.value-arc").data([n.gauge.bar]);R.enter().append("g").classed("value-arc",!0).append("path");var L=R.select("path");B8(d)?(L.transition().duration(d.duration).ease(d.easing).each("end",function(){p&&p()}).each("interrupt",function(){p&&p()}).attrTween("d",MMr(P,m(r[0].lastY),m(r[0].y))),n._lastValue=r[0].y):L.attr("d",typeof r[0].y=="number"?P.endAngle(m(r[0].y)):"M0,0Z"),L.call(y3),R.exit().remove(),D=[];var I=n.gauge.threshold.value;(I||I===0)&&D.push({range:[I,I],color:n.gauge.threshold.color,line:{color:n.gauge.threshold.line.color,width:n.gauge.threshold.line.width},thickness:n.gauge.threshold.thickness});var B=f.selectAll("g.threshold-arc").data(D);B.enter().append("g").classed("threshold-arc",!0).append("path"),B.select("path").call(w).call(y3),B.exit().remove();var O=f.selectAll("g.gauge-outline").data([u]);O.enter().append("g").classed("gauge-outline",!0).append("path"),O.select("path").call(w).call(y3),O.exit().remove()}function AMr(e,t,r,i){var n=r[0].trace,a=i.numbersX,o=i.numbersY,s=n.align||"center",l=doe[s],u=i.transitionOpts,c=i.onComplete,f=cx.ensureSingle(t,"g","numbers"),h,d,p,v=[];n._hasNumber&&v.push("number"),n._hasDelta&&(v.push("delta"),n.delta.position==="left"&&v.reverse());var m=f.selectAll("text").data(v);m.enter().append("text"),m.attr("text-anchor",function(){return l}).attr("class",function(S){return S}).attr("x",null).attr("y",null).attr("dx",null).attr("dy",null),m.exit().remove();function g(S,C,k,D){if(S.match("s")&&k>=0!=D>=0&&!C(k).slice(-1).match(Mct)&&!C(D).slice(-1).match(Mct)){var F=S.slice().replace("s","f").replace(/\d+/,function(R){return parseInt(R)-1}),P=R8(e,{tickformat:F});return function(R){return Math.abs(R)<1?Oc.tickText(P,R).text:C(R)}}else return C}function w(){var S=R8(e,{tickformat:n.number.valueformat},n._range);S.setScale(),Oc.prepTicks(S);var C=function(R){return Oc.tickText(S,R).text},k=n.number.suffix,D=n.number.prefix,F=f.select("text.number");function P(){var R=typeof r[0].y=="number"?D+C(r[0].y)+k:"-";F.text(R).call(x3.font,n.number.font).call(nO.convertToTspans,e)}return B8(u)?F.transition().duration(u.duration).ease(u.easing).each("end",function(){P(),c&&c()}).each("interrupt",function(){P(),c&&c()}).attrTween("text",function(){var R=_3.select(this),L=Act(r[0].lastY,r[0].y);n._lastValue=r[0].y;var I=g(n.number.valueformat,C,r[0].lastY,r[0].y);return function(B){R.text(D+I(L(B))+k)}}):P(),h=Ect(D+C(r[0].y)+k,n.number.font,l,e),F}function b(){var S=R8(e,{tickformat:n.delta.valueformat},n._range);S.setScale(),Oc.prepTicks(S);var C=function(B){return Oc.tickText(S,B).text},k=n.delta.suffix,D=n.delta.prefix,F=function(B){var O=n.delta.relative?B.relativeDelta:B.delta;return O},P=function(B,O){return B===0||typeof B!="number"||isNaN(B)?"-":(B>0?n.delta.increasing.symbol:n.delta.decreasing.symbol)+D+O(B)+k},R=function(B){return B.delta>=0?n.delta.increasing.color:n.delta.decreasing.color};n._deltaLastValue===void 0&&(n._deltaLastValue=F(r[0]));var L=f.select("text.delta");L.call(x3.font,n.delta.font).call(n6.fill,R({delta:n._deltaLastValue}));function I(){L.text(P(F(r[0]),C)).call(n6.fill,R(r[0])).call(nO.convertToTspans,e)}return B8(u)?L.transition().duration(u.duration).ease(u.easing).tween("text",function(){var B=_3.select(this),O=F(r[0]),$=n._deltaLastValue,Y=g(n.delta.valueformat,C,$,O),K=Act($,O);return n._deltaLastValue=O,function(j){B.text(P(K(j),Y)),B.call(n6.fill,R({delta:K(j)}))}}).each("end",function(){I(),c&&c()}).each("interrupt",function(){I(),c&&c()}):I(),d=Ect(P(F(r[0]),C),n.delta.font,l,e),L}var _=n.mode+n.align,M;if(n._hasDelta&&(M=b(),_+=n.delta.position+n.delta.font.size+n.delta.font.family+n.delta.valueformat,_+=n.delta.increasing.symbol+n.delta.decreasing.symbol,p=d),n._hasNumber&&(w(),_+=n.number.font.size+n.number.font.family+n.number.valueformat+n.number.suffix+n.number.prefix,p=h),n._hasDelta&&n._hasNumber){var x=[(h.left+h.right)/2,(h.top+h.bottom)/2],T=[(d.left+d.right)/2,(d.top+d.bottom)/2],A,y,E=.75*n.delta.font.size;n.delta.position==="left"&&(A=iO(n,"deltaPos",0,-1*(h.width*m3[n.align]+d.width*(1-m3[n.align])+E),_,Math.min),y=x[1]-T[1],p={width:h.width+d.width+E,height:Math.max(h.height,d.height),left:d.left+A,right:h.right,top:Math.min(h.top,d.top+y),bottom:Math.max(h.bottom,d.bottom+y)}),n.delta.position==="right"&&(A=iO(n,"deltaPos",0,h.width*(1-m3[n.align])+d.width*m3[n.align]+E,_,Math.max),y=x[1]-T[1],p={width:h.width+d.width+E,height:Math.max(h.height,d.height),left:h.left,right:d.right+A,top:Math.min(h.top,d.top+y),bottom:Math.max(h.bottom,d.bottom+y)}),n.delta.position==="bottom"&&(A=null,y=d.height,p={width:Math.max(h.width,d.width),height:h.height+d.height,left:Math.min(h.left,d.left),right:Math.max(h.right,d.right),top:h.bottom-h.height,bottom:h.bottom+d.height}),n.delta.position==="top"&&(A=null,y=h.top,p={width:Math.max(h.width,d.width),height:h.height+d.height,left:Math.min(h.left,d.left),right:Math.max(h.right,d.right),top:h.bottom-h.height-d.height,bottom:h.bottom}),M.attr({dx:A,dy:y})}(n._hasNumber||n._hasDelta)&&f.attr("transform",function(){var S=i.numbersScaler(p);_+=S[2];var C=iO(n,"numbersScale",1,S[0],_,Math.min),k;n._scaleNumbers||(C=1),n._isAngular?k=o-C*p.bottom:k=o-C*(p.top+p.bottom)/2,n._numbersTop=C*p.top+k;var D=p[s];s==="center"&&(D=(p.left+p.right)/2);var F=a-C*D;return F=iO(n,"numbersTranslate",0,F,_,Math.max),z8(F,k)+gMr(C)})}function y3(e){e.each(function(t){n6.stroke(_3.select(this),t.line.color)}).each(function(t){n6.fill(_3.select(this),t.color)}).style("stroke-width",function(t){return t.line.width})}function MMr(e,t,r){return function(){var i=vMr(t,r);return function(n){return e.endAngle(i(n))()}}}function R8(e,t,r){var i=e._fullLayout,n=cx.extendFlat({type:"linear",ticks:"outside",range:r,showline:!0},t),a={type:"linear",_id:"x"+t._id},o={letter:"x",font:i.font,noAutotickangles:!0,noHover:!0,noTickson:!0};function s(l,u){return cx.coerce(n,a,bMr,l,u)}return xMr(n,a,s,o,i),_Mr(n,a,s,o),a}function Sct(e,t,r){var i=Math.min(t/e.width,r/e.height);return[i,e,t+"x"+r]}function SMr(e,t){var r=Math.sqrt(e.width/2*(e.width/2)+e.height*e.height),i=t/r;return[i,e,t]}function Ect(e,t,r,i){var n=document.createElementNS("http://www.w3.org/2000/svg","text"),a=_3.select(n);return a.text(e).attr("x",0).attr("y",0).attr("text-anchor",r).attr("data-unformatted",e).call(nO.convertToTspans,i).call(x3.font,t),x3.bBox(a.node())}function iO(e,t,r,i,n,a){var o="_cache"+t;e[o]&&e[o].key===n||(e[o]={key:n,value:r});var s=cx.aggNums(a,null,[e[o].value,i],2);return e[o].value=s,s}});var Fct=W((Zri,Dct)=>{"use strict";Dct.exports={moduleType:"trace",name:"indicator",basePlotModule:fct(),categories:["svg","noOpacity","noHover"],animatable:!0,attributes:foe(),supplyDefaults:bct().supplyDefaults,calc:Tct().calc,plot:Cct(),meta:{}}});var Pct=W((Kri,Lct)=>{"use strict";Lct.exports=Fct()});var poe=W((Qri,Bct)=>{"use strict";var Ict=qy(),aO=tn().extendFlat,EMr=ls().overrideAll,Rct=Ho(),kMr=us().attributes,zct=_s().descriptionOnlyNumbers,Jri=Bct.exports=EMr({domain:kMr({name:"table",trace:!0}),columnwidth:{valType:"number",arrayOk:!0,dflt:null},columnorder:{valType:"data_array"},header:{values:{valType:"data_array",dflt:[]},format:{valType:"data_array",dflt:[],description:zct("cell value")},prefix:{valType:"string",arrayOk:!0,dflt:null},suffix:{valType:"string",arrayOk:!0,dflt:null},height:{valType:"number",dflt:28},align:aO({},Ict.align,{arrayOk:!0}),line:{width:{valType:"number",arrayOk:!0,dflt:1},color:{valType:"color",arrayOk:!0,dflt:"grey"}},fill:{color:{valType:"color",arrayOk:!0,dflt:"white"}},font:aO({},Rct({arrayOk:!0}))},cells:{values:{valType:"data_array",dflt:[]},format:{valType:"data_array",dflt:[],description:zct("cell value")},prefix:{valType:"string",arrayOk:!0,dflt:null},suffix:{valType:"string",arrayOk:!0,dflt:null},height:{valType:"number",dflt:20},align:aO({},Ict.align,{arrayOk:!0}),line:{width:{valType:"number",arrayOk:!0,dflt:1},color:{valType:"color",arrayOk:!0,dflt:"grey"}},fill:{color:{valType:"color",arrayOk:!0,dflt:"white"}},font:aO({},Rct({arrayOk:!0}))}},"calc","from-root")});var Oct=W((eii,qct)=>{"use strict";var voe=it(),CMr=poe(),DMr=us().defaults;function FMr(e,t){for(var r=e.columnorder||[],i=e.header.values.length,n=r.slice(0,i),a=n.slice().sort(function(l,u){return l-u}),o=n.map(function(l){return a.indexOf(l)}),s=o.length;s{"use strict";var LMr=G1().wrap;Nct.exports=function(){return LMr({})}});var goe=W((rii,Vct)=>{"use strict";Vct.exports={cellPad:8,columnExtentOffset:10,columnTitleOffset:28,emptyHeaderHeight:16,latexCheck:/^\$.*\$$/,goldenRatio:1.618,lineBreaker:"
",maxDimensionCount:60,overdrag:45,releaseTransitionDuration:120,releaseTransitionEase:"cubic-out",scrollbarCaptureWidth:18,scrollbarHideDelay:1e3,scrollbarHideDuration:1e3,scrollbarOffset:5,scrollbarWidth:8,transitionDuration:100,transitionEase:"cubic-out",uplift:5,wrapSpacer:" ",wrapSplitCharacter:" ",cn:{table:"table",tableControlView:"table-control-view",scrollBackground:"scroll-background",yColumn:"y-column",columnBlock:"column-block",scrollAreaClip:"scroll-area-clip",scrollAreaClipRect:"scroll-area-clip-rect",columnBoundary:"column-boundary",columnBoundaryClippath:"column-boundary-clippath",columnBoundaryRect:"column-boundary-rect",columnCells:"column-cells",columnCell:"column-cell",cellRect:"cell-rect",cellText:"cell-text",cellTextHolder:"cell-text-holder",scrollbarKit:"scrollbar-kit",scrollbar:"scrollbar",scrollbarSlider:"scrollbar-slider",scrollbarGlyph:"scrollbar-glyph",scrollbarCaptureZone:"scrollbar-capture-zone"}}});var Kct=W((iii,Zct)=>{"use strict";var Gct=goe(),yoe=tn().extendFlat,PMr=sn(),IMr=yc().isTypedArray,oO=yc().isArrayOrTypedArray;Zct.exports=function(t,r){var i=moe(r.cells.values),n=function(y){return y.slice(r.header.values.length,y.length)},a=moe(r.header.values);a.length&&!a[0].length&&(a[0]=[""],a=moe(a));var o=a.concat(n(i).map(function(){return Xct((a[0]||[""]).length)})),s=r.domain,l=Math.floor(t._fullLayout._size.w*(s.x[1]-s.x[0])),u=Math.floor(t._fullLayout._size.h*(s.y[1]-s.y[0])),c=r.header.values.length?o[0].map(function(){return r.header.height}):[Gct.emptyHeaderHeight],f=i.length?i[0].map(function(){return r.cells.height}):[],h=c.reduce(Hct,0),d=u-h,p=d+Gct.uplift,v=Wct(f,p),m=Wct(c,h),g=$ct(m,[]),w=$ct(v,g),b={},_=r.columnorder;oO(_)&&(_=Array.from(_)),_=_.concat(n(i.map(function(y,E){return E})));var M=o.map(function(y,E){var S=oO(r.columnwidth)?r.columnwidth[Math.min(E,r.columnwidth.length-1)]:r.columnwidth;return PMr(S)?Number(S):1}),x=M.reduce(Hct,0);M=M.map(function(y){return y/x*l});var T=Math.max(xoe(r.header.line.width),xoe(r.cells.line.width)),A={key:r.uid+t._context.staticPlot,translateX:s.x[0]*t._fullLayout._size.w,translateY:t._fullLayout._size.h*(1-s.y[1]),size:t._fullLayout._size,width:l,maxLineWidth:T,height:u,columnOrder:_,groupHeight:u,rowBlocks:w,headerRowBlocks:g,scrollY:0,cells:yoe({},r.cells,{values:i}),headerCells:yoe({},r.header,{values:o}),gdColumns:o.map(function(y){return y[0]}),gdColumnsOriginalOrder:o.map(function(y){return y[0]}),prevPages:[0,0],scrollbarState:{scrollbarScrollInProgress:!1},columns:o.map(function(y,E){var S=b[y];b[y]=(S||0)+1;var C=y+"__"+b[y];return{key:C,label:y,specIndex:E,xIndex:_[E],xScale:jct,x:void 0,calcdata:void 0,columnWidth:M[E]}})};return A.columns.forEach(function(y){y.calcdata=A,y.x=jct(y)}),A};function xoe(e){if(oO(e)){for(var t=0,r=0;r=t||u===e.length-1)&&(r[n]=o,o.key=l++,o.firstRowIndex=s,o.lastRowIndex=u,o=Yct(),n+=a,s=u+1,a=0);return r}function Yct(){return{firstRowIndex:null,lastRowIndex:null,rows:[]}}});var Jct=W(_oe=>{"use strict";var sO=tn().extendFlat;_oe.splitToPanels=function(e){var t=[0,0],r=sO({},e,{key:"header",type:"header",page:0,prevPages:t,currentRepaint:[null,null],dragHandle:!0,values:e.calcdata.headerCells.values[e.specIndex],rowBlocks:e.calcdata.headerRowBlocks,calcdata:sO({},e.calcdata,{cells:e.calcdata.headerCells})}),i=sO({},e,{key:"cells1",type:"cells",page:0,prevPages:t,currentRepaint:[null,null],dragHandle:!1,values:e.calcdata.cells.values[e.specIndex],rowBlocks:e.calcdata.rowBlocks}),n=sO({},e,{key:"cells2",type:"cells",page:1,prevPages:t,currentRepaint:[null,null],dragHandle:!1,values:e.calcdata.cells.values[e.specIndex],rowBlocks:e.calcdata.rowBlocks});return[i,n,r]};_oe.splitToCells=function(e){var t=RMr(e);return(e.values||[]).slice(t[0],t[1]).map(function(r,i){var n=typeof r=="string"&&r.match(/[<$&> ]/)?"_keybuster_"+Math.random():"";return{keyWithinBlock:i+n,key:t[0]+i,column:e,calcdata:e.calcdata,page:e.page,rowBlocks:e.rowBlocks,value:r}})};function RMr(e){var t=e.rowBlocks[e.page],r=t?t.rows[0].rowIndex:0,i=t?r+t.rows.length:0;return[r,i]}});var Doe=W((aii,uft)=>{"use strict";var Ti=goe(),Ms=vi(),boe=it(),zMr=boe.numberFormat,Po=G1(),woe=Ji(),BMr=uo(),qMr=it().raiseToTop,ap=it().strTranslate,OMr=it().cancelTransition,NMr=Kct(),aft=Jct(),Qct=ni();uft.exports=function(t,r){var i=!t._context.staticPlot,n=t._fullLayout._paper.selectAll("."+Ti.cn.table).data(r.map(function(w){var b=Po.unwrap(w),_=b.trace;return NMr(t,_)}),Po.keyFun);n.exit().remove(),n.enter().append("g").classed(Ti.cn.table,!0).attr("overflow","visible").style("box-sizing","content-box").style("position","absolute").style("left",0).style("overflow","visible").style("shape-rendering","crispEdges").style("pointer-events","all"),n.attr("width",function(w){return w.width+w.size.l+w.size.r}).attr("height",function(w){return w.height+w.size.t+w.size.b}).attr("transform",function(w){return ap(w.translateX,w.translateY)});var a=n.selectAll("."+Ti.cn.tableControlView).data(Po.repeat,Po.keyFun),o=a.enter().append("g").classed(Ti.cn.tableControlView,!0).style("box-sizing","content-box");if(i){var s="onwheel"in document?"wheel":"mousewheel";o.on("mousemove",function(w){a.filter(function(b){return w===b}).call(q8,t)}).on(s,function(w){if(!w.scrollbarState.wheeling){w.scrollbarState.wheeling=!0;var b=w.scrollY+Ms.event.deltaY,_=uO(t,a,null,b)(w);_||(Ms.event.stopPropagation(),Ms.event.preventDefault()),w.scrollbarState.wheeling=!1}}).call(q8,t,!0)}a.attr("transform",function(w){return ap(w.size.l,w.size.t)});var l=a.selectAll("."+Ti.cn.scrollBackground).data(Po.repeat,Po.keyFun);l.enter().append("rect").classed(Ti.cn.scrollBackground,!0).attr("fill","none"),l.attr("width",function(w){return w.width}).attr("height",function(w){return w.height}),a.each(function(w){woe.setClipUrl(Ms.select(this),eft(t,w),t)});var u=a.selectAll("."+Ti.cn.yColumn).data(function(w){return w.columns},Po.keyFun);u.enter().append("g").classed(Ti.cn.yColumn,!0),u.exit().remove(),u.attr("transform",function(w){return ap(w.x,0)}),i&&u.call(Ms.behavior.drag().origin(function(w){var b=Ms.select(this);return ift(b,w,-Ti.uplift),qMr(this),w.calcdata.columnDragInProgress=!0,q8(a.filter(function(_){return w.calcdata.key===_.key}),t),w}).on("drag",function(w){var b=Ms.select(this),_=function(T){return(w===T?Ms.event.x:T.x)+T.columnWidth/2};w.x=Math.max(-Ti.overdrag,Math.min(w.calcdata.width+Ti.overdrag-w.columnWidth,Ms.event.x));var M=oft(u).filter(function(T){return T.calcdata.key===w.calcdata.key}),x=M.sort(function(T,A){return _(T)-_(A)});x.forEach(function(T,A){T.xIndex=A,T.x=w===T?T.x:T.xScale(T)}),u.filter(function(T){return w!==T}).transition().ease(Ti.transitionEase).duration(Ti.transitionDuration).attr("transform",function(T){return ap(T.x,0)}),b.call(OMr).attr("transform",ap(w.x,-Ti.uplift))}).on("dragend",function(w){var b=Ms.select(this),_=w.calcdata;w.x=w.xScale(w),w.calcdata.columnDragInProgress=!1,ift(b,w,0),ZMr(t,_,_.columns.map(function(M){return M.xIndex}))})),u.each(function(w){woe.setClipUrl(Ms.select(this),tft(t,w),t)});var c=u.selectAll("."+Ti.cn.columnBlock).data(aft.splitToPanels,Po.keyFun);c.enter().append("g").classed(Ti.cn.columnBlock,!0).attr("id",function(w){return w.key}),c.style("cursor",function(w){return w.dragHandle?"ew-resize":w.calcdata.scrollbarState.barWiggleRoom?"ns-resize":"default"});var f=c.filter(KMr),h=c.filter(Eoe);i&&h.call(Ms.behavior.drag().origin(function(w){return Ms.event.stopPropagation(),w}).on("drag",uO(t,a,-1)).on("dragend",function(){})),Toe(t,a,f,c),Toe(t,a,h,c);var d=a.selectAll("."+Ti.cn.scrollAreaClip).data(Po.repeat,Po.keyFun);d.enter().append("clipPath").classed(Ti.cn.scrollAreaClip,!0).attr("id",function(w){return eft(t,w)});var p=d.selectAll("."+Ti.cn.scrollAreaClipRect).data(Po.repeat,Po.keyFun);p.enter().append("rect").classed(Ti.cn.scrollAreaClipRect,!0).attr("x",-Ti.overdrag).attr("y",-Ti.uplift).attr("fill","none"),p.attr("width",function(w){return w.width+2*Ti.overdrag}).attr("height",function(w){return w.height+Ti.uplift});var v=u.selectAll("."+Ti.cn.columnBoundary).data(Po.repeat,Po.keyFun);v.enter().append("g").classed(Ti.cn.columnBoundary,!0);var m=u.selectAll("."+Ti.cn.columnBoundaryClippath).data(Po.repeat,Po.keyFun);m.enter().append("clipPath").classed(Ti.cn.columnBoundaryClippath,!0),m.attr("id",function(w){return tft(t,w)});var g=m.selectAll("."+Ti.cn.columnBoundaryRect).data(Po.repeat,Po.keyFun);g.enter().append("rect").classed(Ti.cn.columnBoundaryRect,!0).attr("fill","none"),g.attr("width",function(w){return w.columnWidth+2*lO(w)}).attr("height",function(w){return w.calcdata.height+2*lO(w)+Ti.uplift}).attr("x",function(w){return-lO(w)}).attr("y",function(w){return-lO(w)}),koe(null,h,a)};function lO(e){return Math.ceil(e.calcdata.maxLineWidth/2)}function eft(e,t){return"clip"+e._fullLayout._uid+"_scrollAreaBottomClip_"+t.key}function tft(e,t){return"clip"+e._fullLayout._uid+"_columnBoundaryClippath_"+t.calcdata.key+"_"+t.specIndex}function oft(e){return[].concat.apply([],e.map(function(t){return t})).map(function(t){return t.__data__})}function q8(e,t,r){function i(u){var c=u.rowBlocks;return Moe(c,c.length-1)+(c.length?cO(c[c.length-1],1/0):1)}var n=e.selectAll("."+Ti.cn.scrollbarKit).data(Po.repeat,Po.keyFun);n.enter().append("g").classed(Ti.cn.scrollbarKit,!0).style("shape-rendering","geometricPrecision"),n.each(function(u){var c=u.scrollbarState;c.totalHeight=i(u),c.scrollableAreaHeight=u.groupHeight-Aoe(u),c.currentlyVisibleHeight=Math.min(c.totalHeight,c.scrollableAreaHeight),c.ratio=c.currentlyVisibleHeight/c.totalHeight,c.barLength=Math.max(c.ratio*c.currentlyVisibleHeight,Ti.goldenRatio*Ti.scrollbarWidth),c.barWiggleRoom=c.currentlyVisibleHeight-c.barLength,c.wiggleRoom=Math.max(0,c.totalHeight-c.scrollableAreaHeight),c.topY=c.barWiggleRoom===0?0:u.scrollY/c.wiggleRoom*c.barWiggleRoom,c.bottomY=c.topY+c.barLength,c.dragMultiplier=c.wiggleRoom/c.barWiggleRoom}).attr("transform",function(u){var c=u.width+Ti.scrollbarWidth/2+Ti.scrollbarOffset;return ap(c,Aoe(u))});var a=n.selectAll("."+Ti.cn.scrollbar).data(Po.repeat,Po.keyFun);a.enter().append("g").classed(Ti.cn.scrollbar,!0);var o=a.selectAll("."+Ti.cn.scrollbarSlider).data(Po.repeat,Po.keyFun);o.enter().append("g").classed(Ti.cn.scrollbarSlider,!0),o.attr("transform",function(u){return ap(0,u.scrollbarState.topY||0)});var s=o.selectAll("."+Ti.cn.scrollbarGlyph).data(Po.repeat,Po.keyFun);s.enter().append("line").classed(Ti.cn.scrollbarGlyph,!0).attr("stroke","black").attr("stroke-width",Ti.scrollbarWidth).attr("stroke-linecap","round").attr("y1",Ti.scrollbarWidth/2),s.attr("y2",function(u){return u.scrollbarState.barLength-Ti.scrollbarWidth/2}).attr("stroke-opacity",function(u){return u.columnDragInProgress||!u.scrollbarState.barWiggleRoom||r?0:.4}),s.transition().delay(0).duration(0),s.transition().delay(Ti.scrollbarHideDelay).duration(Ti.scrollbarHideDuration).attr("stroke-opacity",0);var l=a.selectAll("."+Ti.cn.scrollbarCaptureZone).data(Po.repeat,Po.keyFun);l.enter().append("line").classed(Ti.cn.scrollbarCaptureZone,!0).attr("stroke","white").attr("stroke-opacity",.01).attr("stroke-width",Ti.scrollbarCaptureWidth).attr("stroke-linecap","butt").attr("y1",0).on("mousedown",function(u){var c=Ms.event.y,f=this.getBoundingClientRect(),h=u.scrollbarState,d=c-f.top,p=Ms.scale.linear().domain([0,h.scrollableAreaHeight]).range([0,h.totalHeight]).clamp(!0);h.topY<=d&&d<=h.bottomY||uO(t,e,null,p(d-h.barLength/2))(u)}).call(Ms.behavior.drag().origin(function(u){return Ms.event.stopPropagation(),u.scrollbarState.scrollbarScrollInProgress=!0,u}).on("drag",uO(t,e)).on("dragend",function(){})),l.attr("y2",function(u){return u.scrollbarState.scrollableAreaHeight}),t._context.staticPlot&&(s.remove(),l.remove())}function Toe(e,t,r,i){var n=UMr(r),a=VMr(n);$Mr(a);var o=GMr(a);YMr(o);var s=jMr(a),l=HMr(s);WMr(l),sft(l,t,i,e),Coe(a)}function UMr(e){var t=e.selectAll("."+Ti.cn.columnCells).data(Po.repeat,Po.keyFun);return t.enter().append("g").classed(Ti.cn.columnCells,!0),t.exit().remove(),t}function VMr(e){var t=e.selectAll("."+Ti.cn.columnCell).data(aft.splitToCells,function(r){return r.keyWithinBlock});return t.enter().append("g").classed(Ti.cn.columnCell,!0),t.exit().remove(),t}function GMr(e){var t=e.selectAll("."+Ti.cn.cellRect).data(Po.repeat,function(r){return r.keyWithinBlock});return t.enter().append("rect").classed(Ti.cn.cellRect,!0),t}function HMr(e){var t=e.selectAll("."+Ti.cn.cellText).data(Po.repeat,function(r){return r.keyWithinBlock});return t.enter().append("text").classed(Ti.cn.cellText,!0).style("cursor",function(){return"auto"}).on("mousedown",function(){Ms.event.stopPropagation()}),t}function jMr(e){var t=e.selectAll("."+Ti.cn.cellTextHolder).data(Po.repeat,function(r){return r.keyWithinBlock});return t.enter().append("g").classed(Ti.cn.cellTextHolder,!0).style("shape-rendering","geometricPrecision"),t}function $Mr(e){e.each(function(t,r){var i=t.calcdata.cells.font,n=t.column.specIndex,a={size:qf(i.size,n,r),color:qf(i.color,n,r),family:qf(i.family,n,r),weight:qf(i.weight,n,r),style:qf(i.style,n,r),variant:qf(i.variant,n,r),textcase:qf(i.textcase,n,r),lineposition:qf(i.lineposition,n,r),shadow:qf(i.shadow,n,r)};t.rowNumber=t.key,t.align=qf(t.calcdata.cells.align,n,r),t.cellBorderWidth=qf(t.calcdata.cells.line.width,n,r),t.font=a})}function WMr(e){e.each(function(t){woe.font(Ms.select(this),t.font)})}function YMr(e){e.attr("width",function(t){return t.column.columnWidth}).attr("stroke-width",function(t){return t.cellBorderWidth}).each(function(t){var r=Ms.select(this);Qct.stroke(r,qf(t.calcdata.cells.line.color,t.column.specIndex,t.rowNumber)),Qct.fill(r,qf(t.calcdata.cells.fill.color,t.column.specIndex,t.rowNumber))})}function sft(e,t,r,i){e.text(function(n){var a=n.column.specIndex,o=n.rowNumber,s=n.value,l=typeof s=="string",u=l&&s.match(/
/i),c=!l||u;n.mayHaveMarkup=l&&s.match(/[<&>]/);var f=XMr(s);n.latex=f;var h=f?"":qf(n.calcdata.cells.prefix,a,o)||"",d=f?"":qf(n.calcdata.cells.suffix,a,o)||"",p=f?null:qf(n.calcdata.cells.format,a,o)||null,v=h+(p?zMr(p)(n.value):n.value)+d,m;n.wrappingNeeded=!n.wrapped&&!c&&!f&&(m=rft(v)),n.cellHeightMayIncrease=u||f||n.mayHaveMarkup||(m===void 0?rft(v):m),n.needsConvertToTspans=n.mayHaveMarkup||n.wrappingNeeded||n.latex;var g;if(n.wrappingNeeded){var w=Ti.wrapSplitCharacter===" "?v.replace(/n&&i.push(a),n+=l}return i}function koe(e,t,r){var i=oft(t)[0];if(i!==void 0){var n=i.rowBlocks,a=i.calcdata,o=Moe(n,n.length),s=i.calcdata.groupHeight-Aoe(i),l=a.scrollY=Math.max(0,Math.min(o-s,a.scrollY)),u=JMr(n,l,s);u.length===1&&(u[0]===n.length-1?u.unshift(u[0]-1):u.push(u[0]+1)),u[0]%2&&u.reverse(),t.each(function(c,f){c.page=u[f],c.scrollY=l}),t.attr("transform",function(c){var f=Moe(c.rowBlocks,c.page)-c.scrollY;return ap(0,f)}),e&&(nft(e,r,t,u,i.prevPages,i,0),nft(e,r,t,u,i.prevPages,i,1),q8(r,e))}}function uO(e,t,r,i){return function(a){var o=a.calcdata?a.calcdata:a,s=t.filter(function(f){return o.key===f.key}),l=r||o.scrollbarState.dragMultiplier,u=o.scrollY;o.scrollY=i===void 0?o.scrollY+l*Ms.event.dy:i;var c=s.selectAll("."+Ti.cn.yColumn).selectAll("."+Ti.cn.columnBlock).filter(Eoe);return koe(e,c,s),o.scrollY===u}}function nft(e,t,r,i,n,a,o){var s=i[o]!==n[o];s&&(clearTimeout(a.currentRepaint[o]),a.currentRepaint[o]=setTimeout(function(){var l=r.filter(function(u,c){return c===o&&i[c]!==n[c]});Toe(e,t,l,r),n[o]=i[o]}))}function QMr(e,t,r,i){return function(){var a=Ms.select(t.parentNode);a.each(function(o){var s=o.fragments;a.selectAll("tspan.line").each(function(v,m){s[m].width=this.getComputedTextLength()});var l=s[s.length-1].width,u=s.slice(0,-1),c=[],f,h,d=0,p=o.column.columnWidth-2*Ti.cellPad;for(o.value="";u.length;)f=u.shift(),h=f.width+l,d+h>p&&(o.value+=c.join(Ti.wrapSpacer)+Ti.lineBreaker,c=[],d=0),c.push(f.text),d+=h;d&&(o.value+=c.join(Ti.wrapSpacer)),o.wrapped=!0}),a.selectAll("tspan.line").remove(),sft(a.select("."+Ti.cn.cellText),r,e,i),Ms.select(t.parentNode.parentNode).call(Coe)}}function eSr(e,t,r,i,n){return function(){if(!n.settledY){var o=Ms.select(t.parentNode),s=Soe(n),l=n.key-s.firstRowIndex,u=s.rows[l].rowHeight,c=n.cellHeightMayIncrease?t.parentNode.getBoundingClientRect().height+2*Ti.cellPad:u,f=Math.max(c,u),h=f-s.rows[l].rowHeight;h&&(s.rows[l].rowHeight=f,e.selectAll("."+Ti.cn.columnCell).call(Coe),koe(null,e.filter(Eoe),0),q8(r,i,!0)),o.attr("transform",function(){var d=this,p=d.parentNode,v=p.getBoundingClientRect(),m=Ms.select(d.parentNode).select("."+Ti.cn.cellRect).node().getBoundingClientRect(),g=d.transform.baseVal.consolidate(),w=m.top-v.top+(g?g.matrix.f:Ti.cellPad);return ap(lft(n,Ms.select(d.parentNode).select("."+Ti.cn.cellTextHolder).node().getBoundingClientRect().width),w)}),n.settledY=!0}}}function lft(e,t){switch(e.align){case"left":return Ti.cellPad;case"right":return e.column.columnWidth-(t||0)-Ti.cellPad;case"center":return(e.column.columnWidth-(t||0))/2;default:return Ti.cellPad}}function Coe(e){e.attr("transform",function(t){var r=t.rowBlocks[0].auxiliaryBlocks.reduce(function(o,s){return o+cO(s,1/0)},0),i=Soe(t),n=cO(i,t.key),a=n+r;return ap(0,a)}).selectAll("."+Ti.cn.cellRect).attr("height",function(t){return rSr(Soe(t),t.key).rowHeight})}function Moe(e,t){for(var r=0,i=t-1;i>=0;i--)r+=tSr(e[i]);return r}function cO(e,t){for(var r=0,i=0;i{"use strict";var iSr=_c().getModuleCalcData,nSr=Doe(),fO="table";hO.name=fO;hO.plot=function(e){var t=iSr(e.calcdata,fO)[0];t.length&&nSr(e,t)};hO.clean=function(e,t,r,i){var n=i._has&&i._has(fO),a=t._has&&t._has(fO);n&&!a&&i._paperdiv.selectAll(".table").remove()}});var hft=W((sii,fft)=>{"use strict";fft.exports={attributes:poe(),supplyDefaults:Oct(),calc:Uct(),plot:Doe(),moduleType:"trace",name:"table",basePlotModule:cft(),categories:["noOpacity"],meta:{}}});var pft=W((lii,dft)=>{"use strict";dft.exports=hft()});var xft=W((uii,yft)=>{"use strict";var vft=Ho(),gft=Vl(),Foe=ec(),aSr=_s().descriptionWithDates,oSr=ls().overrideAll,mft=Du().dash,Loe=tn().extendFlat;yft.exports={color:{valType:"color",editType:"calc"},smoothing:{valType:"number",dflt:1,min:0,max:1.3,editType:"calc"},title:{text:{valType:"string",dflt:"",editType:"calc"},font:vft({editType:"calc"}),offset:{valType:"number",dflt:10,editType:"calc"},editType:"calc"},type:{valType:"enumerated",values:["-","linear","date","category"],dflt:"-",editType:"calc"},autotypenumbers:Foe.autotypenumbers,autorange:{valType:"enumerated",values:[!0,!1,"reversed"],dflt:!0,editType:"calc"},rangemode:{valType:"enumerated",values:["normal","tozero","nonnegative"],dflt:"normal",editType:"calc"},range:{valType:"info_array",editType:"calc",items:[{valType:"any",editType:"calc"},{valType:"any",editType:"calc"}]},fixedrange:{valType:"boolean",dflt:!1,editType:"calc"},cheatertype:{valType:"enumerated",values:["index","value"],dflt:"value",editType:"calc"},tickmode:{valType:"enumerated",values:["linear","array"],dflt:"array",editType:"calc"},nticks:{valType:"integer",min:0,dflt:0,editType:"calc"},tickvals:{valType:"data_array",editType:"calc"},ticktext:{valType:"data_array",editType:"calc"},showticklabels:{valType:"enumerated",values:["start","end","both","none"],dflt:"start",editType:"calc"},labelalias:Loe({},Foe.labelalias,{editType:"calc"}),tickfont:vft({editType:"calc"}),tickangle:{valType:"angle",dflt:"auto",editType:"calc"},tickprefix:{valType:"string",dflt:"",editType:"calc"},showtickprefix:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"calc"},ticksuffix:{valType:"string",dflt:"",editType:"calc"},showticksuffix:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"calc"},showexponent:{valType:"enumerated",values:["all","first","last","none"],dflt:"all",editType:"calc"},exponentformat:{valType:"enumerated",values:["none","e","E","power","SI","B","SI extended"],dflt:"B",editType:"calc"},minexponent:{valType:"number",dflt:3,min:0,editType:"calc"},separatethousands:{valType:"boolean",dflt:!1,editType:"calc"},tickformat:{valType:"string",dflt:"",editType:"calc",description:aSr("tick label")},tickformatstops:oSr(Foe.tickformatstops,"calc","from-root"),categoryorder:{valType:"enumerated",values:["trace","category ascending","category descending","array"],dflt:"trace",editType:"calc"},categoryarray:{valType:"data_array",editType:"calc"},labelpadding:{valType:"integer",dflt:10,editType:"calc"},labelprefix:{valType:"string",editType:"calc"},labelsuffix:{valType:"string",dflt:"",editType:"calc"},showline:{valType:"boolean",dflt:!1,editType:"calc"},linecolor:{valType:"color",dflt:gft.defaultLine,editType:"calc"},linewidth:{valType:"number",min:0,dflt:1,editType:"calc"},gridcolor:{valType:"color",editType:"calc"},gridwidth:{valType:"number",min:0,dflt:1,editType:"calc"},griddash:Loe({},mft,{editType:"calc"}),showgrid:{valType:"boolean",dflt:!0,editType:"calc"},minorgridcount:{valType:"integer",min:0,dflt:0,editType:"calc"},minorgridwidth:{valType:"number",min:0,dflt:1,editType:"calc"},minorgriddash:Loe({},mft,{editType:"calc"}),minorgridcolor:{valType:"color",dflt:gft.lightLine,editType:"calc"},startline:{valType:"boolean",editType:"calc"},startlinecolor:{valType:"color",editType:"calc"},startlinewidth:{valType:"number",dflt:1,editType:"calc"},endline:{valType:"boolean",editType:"calc"},endlinewidth:{valType:"number",dflt:1,editType:"calc"},endlinecolor:{valType:"color",editType:"calc"},tick0:{valType:"number",min:0,dflt:0,editType:"calc"},dtick:{valType:"number",min:0,dflt:1,editType:"calc"},arraytick0:{valType:"integer",min:0,dflt:0,editType:"calc"},arraydtick:{valType:"integer",min:1,dflt:1,editType:"calc"},editType:"calc"}});var pO=W((cii,wft)=>{"use strict";var sSr=Ho(),_ft=xft(),bft=Vl(),dO=sSr({editType:"calc"}),lSr=Ns().zorder;dO.family.dflt='"Open Sans", verdana, arial, sans-serif';dO.size.dflt=12;dO.color.dflt=bft.defaultLine;wft.exports={carpet:{valType:"string",editType:"calc"},x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},a:{valType:"data_array",editType:"calc"},a0:{valType:"number",dflt:0,editType:"calc"},da:{valType:"number",dflt:1,editType:"calc"},b:{valType:"data_array",editType:"calc"},b0:{valType:"number",dflt:0,editType:"calc"},db:{valType:"number",dflt:1,editType:"calc"},cheaterslope:{valType:"number",dflt:1,editType:"calc"},aaxis:_ft,baxis:_ft,font:dO,color:{valType:"color",dflt:bft.defaultLine,editType:"plot"},zorder:lSr}});var Mft=W((fii,Aft)=>{"use strict";var Tft=it().isArray1D;Aft.exports=function(t,r,i){var n=i("x"),a=n&&n.length,o=i("y"),s=o&&o.length;if(!a&&!s)return!1;if(r._cheater=!n,(!a||Tft(n))&&(!s||Tft(o))){var l=a?n.length:1/0;s&&(l=Math.min(l,o.length)),r.a&&r.a.length&&(l=Math.min(l,r.a.length)),r.b&&r.b.length&&(l=Math.min(l,r.b.length)),r._length=l}else r._length=null;return!0}});var kft=W((hii,Eft)=>{"use strict";var uSr=pO(),Sft=ni().addOpacity,cSr=yi(),O8=it(),fSr=Xx(),hSr=wy(),dSr=Ty(),pSr=_F(),vSr=i1(),gSr=bw();Eft.exports=function(t,r,i){var n=i.letter,a=i.font||{},o=uSr[n+"axis"];function s(y,E){return O8.coerce(t,r,o,y,E)}function l(y,E){return O8.coerce2(t,r,o,y,E)}i.name&&(r._name=i.name,r._id=i.name),s("autotypenumbers",i.autotypenumbersDflt);var u=s("type");if(u==="-"&&(i.data&&mSr(r,i.data),r.type==="-"?r.type="linear":u=t.type=r.type),s("smoothing"),s("cheatertype"),s("showticklabels"),s("labelprefix",n+" = "),s("labelsuffix"),s("showtickprefix"),s("showticksuffix"),s("separatethousands"),s("tickformat"),s("exponentformat"),s("minexponent"),s("showexponent"),s("categoryorder"),s("tickmode"),s("tickvals"),s("ticktext"),s("tick0"),s("dtick"),r.tickmode==="array"&&(s("arraytick0"),s("arraydtick")),s("labelpadding"),r._hovertitle=n,u==="date"){var c=cSr.getComponentMethod("calendars","handleDefaults");c(t,r,"calendar",i.calendar)}vSr(r,i.fullLayout),r.c2p=O8.identity;var f=s("color",i.dfltColor),h=f===t.color?f:a.color,d=s("title.text");d&&(O8.coerceFont(s,"title.font",a,{overrideDflt:{size:O8.bigFont(a.size),color:h}}),s("title.offset")),s("tickangle");var p=s("autorange",!r.isValidRange(t.range));p&&s("rangemode"),s("range"),r.cleanRange(),s("fixedrange"),fSr(t,r,s,u),dSr(t,r,s,u,i),hSr(t,r,s,u,i),pSr(t,r,s,{data:i.data,dataAttr:n});var v=s("gridcolor",Sft(f,.3)),m=l("gridwidth"),g=l("griddash"),w=s("showgrid");w||(delete r.gridcolor,delete r.gridwidth,delete r.griddash);var b=l("startlinecolor",f),_=l("startlinewidth",m),M=s("startline",r.showgrid||!!b||!!_);M||(delete r.startlinecolor,delete r.startlinewidth);var x=l("endlinecolor",f),T=l("endlinewidth",m),A=s("endline",r.showgrid||!!x||!!T);return A||(delete r.endlinecolor,delete r.endlinewidth),w?(s("minorgridcount"),s("minorgridwidth",m),s("minorgriddash",g),s("minorgridcolor",Sft(v,.06)),r.minorgridcount||(delete r.minorgridwidth,delete r.minorgriddash,delete r.minorgridcolor)):(delete r.gridcolor,delete r.gridwidth,delete r.griddash),r.showticklabels==="none"&&(delete r.tickfont,delete r.tickangle,delete r.showexponent,delete r.exponentformat,delete r.minexponent,delete r.tickformat,delete r.showticksuffix,delete r.showtickprefix),r.showticksuffix||delete r.ticksuffix,r.showtickprefix||delete r.tickprefix,s("tickmode"),r};function mSr(e,t){if(e.type==="-"){var r=e._id,i=r.charAt(0),n=i+"calendar",a=e[n];e.type=gSr(t,a,{autotypenumbers:e.autotypenumbers})}}});var Dft=W((dii,Cft)=>{"use strict";var ySr=kft(),xSr=Da();Cft.exports=function(t,r,i,n,a){var o=n("a");o||(n("da"),n("a0"));var s=n("b");s||(n("db"),n("b0")),_Sr(t,r,i,a)};function _Sr(e,t,r,i){var n=["aaxis","baxis"];n.forEach(function(a){var o=a.charAt(0),s=e[a]||{},l=xSr.newContainer(t,a),u={noAutotickangles:!0,noTicklabelshift:!0,noTicklabelstandoff:!0,noTicklabelstep:!0,tickfont:"x",id:o+"axis",letter:o,font:t.font,name:a,data:e[o],calendar:t.calendar,dfltColor:i,bgColor:r.paper_bgcolor,autotypenumbersDflt:r.autotypenumbers,fullLayout:r};ySr(s,l,u),l._categories=l._categories||[],!e[a]&&s.type!=="-"&&(e[a]={type:s.type})})}});var Pft=W((pii,Lft)=>{"use strict";var Fft=it(),bSr=Mft(),wSr=Dft(),TSr=pO(),ASr=Vl();Lft.exports=function(t,r,i,n){function a(l,u){return Fft.coerce(t,r,TSr,l,u)}r._clipPathId="clip"+r.uid+"carpet";var o=a("color",ASr.defaultLine);if(Fft.coerceFont(a,"font",n.font),a("carpet"),wSr(t,r,n,a,o),!r.a||!r.b){r.visible=!1;return}r.a.length<3&&(r.aaxis.smoothing=0),r.b.length<3&&(r.baxis.smoothing=0);var s=bSr(t,r,a);s||(r.visible=!1),r._cheater&&a("cheaterslope"),a("zorder")}});var Poe=W((vii,Ift)=>{"use strict";var MSr=it().isArrayOrTypedArray;Ift.exports=function(t,r,i){var n;for(MSr(t)?t.length>r.length&&(t=t.slice(0,r.length)):t=[],n=0;n{"use strict";Rft.exports=function(t,r,i){if(t.length===0)return"";var n,a=[],o=i?3:1;for(n=0;n{"use strict";zft.exports=function(t,r,i,n,a,o){var s=a[0]*t.dpdx(r),l=a[1]*t.dpdy(i),u=1,c=1;if(o){var f=Math.sqrt(a[0]*a[0]+a[1]*a[1]),h=Math.sqrt(o[0]*o[0]+o[1]*o[1]),d=(a[0]*o[0]+a[1]*o[1])/f/h;c=Math.max(0,d)}var p=Math.atan2(l,s)*180/Math.PI;return p<-90?(p+=180,u=-u):p>90&&(p-=180,u=-u),{angle:p,flip:u,p:t.c2p(n,r,i),offsetMultplier:c}}});var jft=W((yii,Hft)=>{"use strict";var yO=vi(),vO=Ji(),gO=Poe(),Nft=Ioe(),N8=Bft(),Roe=uo(),t0=it(),Uft=t0.strRotate,mO=t0.strTranslate,Vft=Hl();Hft.exports=function(t,r,i,n){var a=t._context.staticPlot,o=r.xaxis,s=r.yaxis,l=t._fullLayout,u=l._clips;t0.makeTraceGroups(n,i,"trace").each(function(c){var f=yO.select(this),h=c[0],d=h.trace,p=d.aaxis,v=d.baxis,m=t0.ensureSingle(f,"g","minorlayer"),g=t0.ensureSingle(f,"g","majorlayer"),w=t0.ensureSingle(f,"g","boundarylayer"),b=t0.ensureSingle(f,"g","labellayer");f.style("opacity",d.opacity),a6(o,s,g,p,"a",p._gridlines,!0,a),a6(o,s,g,v,"b",v._gridlines,!0,a),a6(o,s,m,p,"a",p._minorgridlines,!0,a),a6(o,s,m,v,"b",v._minorgridlines,!0,a),a6(o,s,w,p,"a-boundary",p._boundarylines,a),a6(o,s,w,v,"b-boundary",v._boundarylines,a);var _=qft(t,o,s,d,h,b,p._labels,"a-label"),M=qft(t,o,s,d,h,b,v._labels,"b-label");ESr(t,b,d,h,o,s,_,M),SSr(d,h,u,o,s)})};function SSr(e,t,r,i,n){var a,o,s,l,u=r.select("#"+e._clipPathId);u.size()||(u=r.append("clipPath").classed("carpetclip",!0));var c=t0.ensureSingle(u,"path","carpetboundary"),f=t.clipsegments,h=[];for(l=0;l0?"start":"end","data-notex":1}).call(vO.font,f.font).text(f.text).call(Roe.convertToTspans,e),g=vO.bBox(this);m.attr("transform",mO(d.p[0],d.p[1])+Uft(d.angle)+mO(f.axis.labelpadding*v,g.height*.3)),u=Math.max(u,g.width+f.axis.labelpadding)}),l.exit().remove(),c.maxExtent=u,c}function ESr(e,t,r,i,n,a,o,s){var l,u,c,f,h=t0.aggNums(Math.min,null,r.a),d=t0.aggNums(Math.max,null,r.a),p=t0.aggNums(Math.min,null,r.b),v=t0.aggNums(Math.max,null,r.b);l=.5*(h+d),u=p,c=r.ab2xy(l,u,!0),f=r.dxyda_rough(l,u),o.angle===void 0&&t0.extendFlat(o,N8(r,n,a,c,r.dxydb_rough(l,u))),Oft(e,t,r,i,c,f,r.aaxis,n,a,o,"a-title"),l=h,u=.5*(p+v),c=r.ab2xy(l,u,!0),f=r.dxydb_rough(l,u),s.angle===void 0&&t0.extendFlat(s,N8(r,n,a,c,r.dxyda_rough(l,u))),Oft(e,t,r,i,c,f,r.baxis,n,a,s,"b-title")}var Gft=Vft.LINE_SPACING,kSr=(1-Vft.MID_SHIFT)/Gft+1;function Oft(e,t,r,i,n,a,o,s,l,u,c){var f=[];o.title.text&&f.push(o.title.text);var h=t.selectAll("text."+c).data(f),d=u.maxExtent;h.enter().append("text").classed(c,!0),h.each(function(){var p=N8(r,s,l,n,a);["start","both"].indexOf(o.showticklabels)===-1&&(d=0);var v=o.title.font.size;d+=v+o.title.offset;var m=u.angle+(u.flip<0?180:0),g=(m-p.angle+450)%360,w=g>90&&g<270,b=yO.select(this);b.text(o.title.text).call(Roe.convertToTspans,e),w&&(d=(-Roe.lineCount(b)+kSr)*Gft*v-d),b.attr("transform",mO(p.p[0],p.p[1])+Uft(p.angle)+mO(0,d)).attr("text-anchor","middle").call(vO.font,o.title.font)}),h.exit().remove()}});var Wft=W((xii,$ft)=>{"use strict";var xO=it().isArrayOrTypedArray;$ft.exports=function(e,t,r){var i,n,a,o,s,l,u=[],c=xO(e)?e.length:e,f=xO(t)?t.length:t,h=xO(e)?e:null,d=xO(t)?t:null;h&&(a=(h.length-1)/(h[h.length-1]-h[0])/(c-1)),d&&(o=(d.length-1)/(d[d.length-1]-d[0])/(f-1));var p,v=1/0,m=-1/0;for(n=0;n{"use strict";var Yft=it().isArrayOrTypedArray;Zft.exports=function(e){return Xft(e,0)};function Xft(e,t){if(!Yft(e)||t>=10)return null;for(var r=1/0,i=-1/0,n=e.length,a=0;a{"use strict";var CSr=ji(),fx=tn().extendFlat;Jft.exports=function(t,r,i){var n,a,o,s,l,u,c,f,h,d,p,v,m,g,w=t["_"+r],b=t[r+"axis"],_=b._gridlines=[],M=b._minorgridlines=[],x=b._boundarylines=[],T=t["_"+i],A=t[i+"axis"];b.tickmode==="array"&&(b.tickvals=w.slice());var y=t._xctrl,E=t._yctrl,S=y[0].length,C=y.length,k=t._a.length,D=t._b.length;CSr.prepTicks(b),b.tickmode==="array"&&delete b.tickvals;var F=b.smoothing?3:1;function P(L){var I,B,O,$,Y,K,j,q,J,U,V,X,H=[],G=[],Q={};if(r==="b")for(B=t.b2j(L),O=Math.floor(Math.max(0,Math.min(D-2,B))),$=B-O,Q.length=D,Q.crossLength=k,Q.xy=function(te){return t.evalxy([],te,B)},Q.dxy=function(te,ce){return t.dxydi([],te,O,ce,$)},I=0;I0&&(J=t.dxydi([],I-1,O,0,$),H.push(Y[0]+J[0]/3),G.push(Y[1]+J[1]/3),U=t.dxydi([],I-1,O,1,$),H.push(q[0]-U[0]/3),G.push(q[1]-U[1]/3)),H.push(q[0]),G.push(q[1]),Y=q;else for(I=t.a2i(L),K=Math.floor(Math.max(0,Math.min(k-2,I))),j=I-K,Q.length=k,Q.crossLength=D,Q.xy=function(te){return t.evalxy([],I,te)},Q.dxy=function(te,ce){return t.dxydj([],K,te,j,ce)},B=0;B0&&(V=t.dxydj([],K,B-1,j,0),H.push(Y[0]+V[0]/3),G.push(Y[1]+V[1]/3),X=t.dxydj([],K,B-1,j,1),H.push(q[0]-X[0]/3),G.push(q[1]-X[1]/3)),H.push(q[0]),G.push(q[1]),Y=q;return Q.axisLetter=r,Q.axis=b,Q.crossAxis=A,Q.value=L,Q.constvar=i,Q.index=f,Q.x=H,Q.y=G,Q.smoothing=A.smoothing,Q}function R(L){var I,B,O,$,Y,K=[],j=[],q={};if(q.length=w.length,q.crossLength=T.length,r==="b")for(O=Math.max(0,Math.min(D-2,L)),Y=Math.min(1,Math.max(0,L-O)),q.xy=function(J){return t.evalxy([],J,L)},q.dxy=function(J,U){return t.dxydi([],J,O,U,Y)},I=0;Iw.length-1)&&_.push(fx(R(a),{color:b.gridcolor,width:b.gridwidth,dash:b.griddash}));for(f=u;fw.length-1)&&!(p<0||p>w.length-1))for(v=w[o],m=w[p],n=0;nw[w.length-1])&&M.push(fx(P(d),{color:b.minorgridcolor,width:b.minorgridwidth,dash:b.minorgriddash})));b.startline&&x.push(fx(R(0),{color:b.startlinecolor,width:b.startlinewidth})),b.endline&&x.push(fx(R(w.length-1),{color:b.endlinecolor,width:b.endlinewidth}))}else{for(s=5e-15,l=[Math.floor((w[w.length-1]-b.tick0)/b.dtick*(1+s)),Math.ceil((w[0]-b.tick0)/b.dtick/(1+s))].sort(function(L,I){return L-I}),u=l[0],c=l[1],f=u;f<=c;f++)h=b.tick0+b.dtick*f,_.push(fx(P(h),{color:b.gridcolor,width:b.gridwidth,dash:b.griddash}));for(f=u-1;fw[w.length-1])&&M.push(fx(P(d),{color:b.minorgridcolor,width:b.minorgridwidth,dash:b.minorgriddash}));b.startline&&x.push(fx(P(w[0]),{color:b.startlinecolor,width:b.startlinewidth})),b.endline&&x.push(fx(P(w[w.length-1]),{color:b.endlinecolor,width:b.endlinewidth}))}}});var iht=W((wii,rht)=>{"use strict";var eht=ji(),tht=tn().extendFlat;rht.exports=function(t,r){var i,n,a,o,s,l=r._labels=[],u=r._gridlines;for(i=0;i{"use strict";nht.exports=function(t,r,i,n){var a,o,s,l=[],u=!!i.smoothing,c=!!n.smoothing,f=t[0].length-1,h=t.length-1;for(a=0,o=[],s=[];a<=f;a++)o[a]=t[0][a],s[a]=r[0][a];for(l.push({x:o,y:s,bicubic:u}),a=0,o=[],s=[];a<=h;a++)o[a]=t[a][f],s[a]=r[a][f];for(l.push({x:o,y:s,bicubic:c}),a=f,o=[],s=[];a>=0;a--)o[f-a]=t[h][a],s[f-a]=r[h][a];for(l.push({x:o,y:s,bicubic:u}),a=h,o=[],s=[];a>=0;a--)o[h-a]=t[a][0],s[h-a]=r[a][0];return l.push({x:o,y:s,bicubic:c}),l}});var sht=W((Aii,oht)=>{"use strict";var DSr=it();oht.exports=function(t,r,i){var n,a,o,s=[],l=[],u=t[0].length,c=t.length;function f(O,$){var Y=0,K,j=0;return O>0&&(K=t[$][O-1])!==void 0&&(j++,Y+=K),O0&&(K=t[$-1][O])!==void 0&&(j++,Y+=K),$0&&a0&&nA);return DSr.log("Smoother converged to",y,"after",S,"iterations"),t}});var uht=W((Mii,lht)=>{"use strict";lht.exports={RELATIVE_CULL_TOLERANCE:1e-6}});var hht=W((Sii,fht)=>{"use strict";var cht=.5;fht.exports=function(t,r,i,n){var a=t[0]-r[0],o=t[1]-r[1],s=i[0]-r[0],l=i[1]-r[1],u=Math.pow(a*a+o*o,cht/2),c=Math.pow(s*s+l*l,cht/2),f=(c*c*a-u*u*s)*n,h=(c*c*o-u*u*l)*n,d=c*(u+c)*3,p=u*(u+c)*3;return[[r[0]+(d&&f/d),r[1]+(d&&h/d)],[r[0]-(p&&f/p),r[1]-(p&&h/p)]]}});var pht=W((Eii,dht)=>{"use strict";var zoe=hht(),_O=it().ensureArray;function o6(e,t,r){var i=-.5*r[0]+1.5*t[0],n=-.5*r[1]+1.5*t[1];return[(2*i+e[0])/3,(2*n+e[1])/3]}dht.exports=function(t,r,i,n,a,o){var s,l,u,c,f,h,d,p,v,m,g=i[0].length,w=i.length,b=a?3*g-2:g,_=o?3*w-2:w;for(t=_O(t,_),r=_O(r,_),u=0;u<_;u++)t[u]=_O(t[u],b),r[u]=_O(r[u],b);for(l=0,c=0;l{"use strict";vht.exports=function(e,t,r,i,n){var a=t-2,o=r-2;return i&&n?function(s,l,u){s||(s=[]);var c,f,h,d,p,v,m=Math.max(0,Math.min(Math.floor(l),a)),g=Math.max(0,Math.min(Math.floor(u),o)),w=Math.max(0,Math.min(1,l-m)),b=Math.max(0,Math.min(1,u-g));m*=3,g*=3;var _=w*w,M=_*w,x=1-w,T=x*x,A=T*x,y=b*b,E=y*b,S=1-b,C=S*S,k=C*S;for(v=0;v{"use strict";mht.exports=function(e,t,r){return t&&r?function(i,n,a,o,s){i||(i=[]);var l,u,c,f,h,d;n*=3,a*=3;var p=o*o,v=1-o,m=v*v,g=v*o*2,w=-3*m,b=3*(m-g),_=3*(g-p),M=3*p,x=s*s,T=x*s,A=1-s,y=A*A,E=y*A;for(d=0;d{"use strict";xht.exports=function(e,t,r){return t&&r?function(i,n,a,o,s){i||(i=[]);var l,u,c,f,h,d;n*=3,a*=3;var p=o*o,v=p*o,m=1-o,g=m*m,w=g*m,b=s*s,_=1-s,M=_*_,x=_*s*2,T=-3*M,A=3*(M-x),y=3*(x-b),E=3*b;for(d=0;d{"use strict";var bht=uht(),wht=ZC().findBin,FSr=pht(),LSr=ght(),PSr=yht(),ISr=_ht();Tht.exports=function(t){var r=t._a,i=t._b,n=r.length,a=i.length,o=t.aaxis,s=t.baxis,l=r[0],u=r[n-1],c=i[0],f=i[a-1],h=r[r.length-1]-r[0],d=i[i.length-1]-i[0],p=h*bht.RELATIVE_CULL_TOLERANCE,v=d*bht.RELATIVE_CULL_TOLERANCE;l-=p,u+=p,c-=v,f+=v,t.isVisible=function(m,g){return m>l&&mc&&gu||gf},t.setScale=function(){var m=t._x,g=t._y,w=FSr(t._xctrl,t._yctrl,m,g,o.smoothing,s.smoothing);t._xctrl=w[0],t._yctrl=w[1],t.evalxy=LSr([t._xctrl,t._yctrl],n,a,o.smoothing,s.smoothing),t.dxydi=PSr([t._xctrl,t._yctrl],o.smoothing,s.smoothing),t.dxydj=ISr([t._xctrl,t._yctrl],o.smoothing,s.smoothing)},t.i2a=function(m){var g=Math.max(0,Math.floor(m[0]),n-2),w=m[0]-g;return(1-w)*r[g]+w*r[g+1]},t.j2b=function(m){var g=Math.max(0,Math.floor(m[1]),n-2),w=m[1]-g;return(1-w)*i[g]+w*i[g+1]},t.ij2ab=function(m){return[t.i2a(m[0]),t.j2b(m[1])]},t.a2i=function(m){var g=Math.max(0,Math.min(wht(m,r),n-2)),w=r[g],b=r[g+1];return Math.max(0,Math.min(n-1,g+(m-w)/(b-w)))},t.b2j=function(m){var g=Math.max(0,Math.min(wht(m,i),a-2)),w=i[g],b=i[g+1];return Math.max(0,Math.min(a-1,g+(m-w)/(b-w)))},t.ab2ij=function(m){return[t.a2i(m[0]),t.b2j(m[1])]},t.i2c=function(m,g){return t.evalxy([],m,g)},t.ab2xy=function(m,g,w){if(!w&&(mr[n-1]|gi[a-1]))return[!1,!1];var b=t.a2i(m),_=t.b2j(g),M=t.evalxy([],b,_);if(w){var x=0,T=0,A=[],y,E,S,C;mr[n-1]?(y=n-2,E=1,x=(m-r[n-1])/(r[n-1]-r[n-2])):(y=Math.max(0,Math.min(n-2,Math.floor(b))),E=b-y),gi[a-1]?(S=a-2,C=1,T=(g-i[a-1])/(i[a-1]-i[a-2])):(S=Math.max(0,Math.min(a-2,Math.floor(_))),C=_-S),x&&(t.dxydi(A,y,S,E,C),M[0]+=A[0]*x,M[1]+=A[1]*x),T&&(t.dxydj(A,y,S,E,C),M[0]+=A[0]*T,M[1]+=A[1]*T)}return M},t.c2p=function(m,g,w){return[g.c2p(m[0]),w.c2p(m[1])]},t.p2x=function(m,g,w){return[g.p2c(m[0]),w.p2c(m[1])]},t.dadi=function(m){var g=Math.max(0,Math.min(r.length-2,m));return r[g+1]-r[g]},t.dbdj=function(m){var g=Math.max(0,Math.min(i.length-2,m));return i[g+1]-i[g]},t.dxyda=function(m,g,w,b){var _=t.dxydi(null,m,g,w,b),M=t.dadi(m,w);return[_[0]/M,_[1]/M]},t.dxydb=function(m,g,w,b){var _=t.dxydj(null,m,g,w,b),M=t.dbdj(g,b);return[_[0]/M,_[1]/M]},t.dxyda_rough=function(m,g,w){var b=h*(w||.1),_=t.ab2xy(m+b,g,!0),M=t.ab2xy(m-b,g,!0);return[(_[0]-M[0])*.5/b,(_[1]-M[1])*.5/b]},t.dxydb_rough=function(m,g,w){var b=d*(w||.1),_=t.ab2xy(m,g+b,!0),M=t.ab2xy(m,g-b,!0);return[(_[0]-M[0])*.5/b,(_[1]-M[1])*.5/b]},t.dpdx=function(m){return m._m},t.dpdy=function(m){return m._m}}});var Lht=W((Lii,Fht)=>{"use strict";var bO=ji(),Mht=it().isArray1D,RSr=Wft(),Sht=Kft(),Eht=Qft(),kht=iht(),zSr=aht(),Cht=xL(),Dht=sht(),BSr=mL(),qSr=Aht();Fht.exports=function(t,r){var i=bO.getFromId(t,r.xaxis),n=bO.getFromId(t,r.yaxis),a=r.aaxis,o=r.baxis,s=r.x,l=r.y,u=[];s&&Mht(s)&&u.push("x"),l&&Mht(l)&&u.push("y"),u.length&&BSr(r,a,o,"a","b",u);var c=r._a=r._a||r.a,f=r._b=r._b||r.b;s=r._x||r.x,l=r._y||r.y;var h={};if(r._cheater){var d=a.cheatertype==="index"?c.length:c,p=o.cheatertype==="index"?f.length:f;s=RSr(d,p,r.cheaterslope)}r._x=s=Cht(s),r._y=l=Cht(l),Dht(s,c,f),Dht(l,c,f),qSr(r),r.setScale();var v=Sht(s),m=Sht(l),g=.5*(v[1]-v[0]),w=.5*(v[1]+v[0]),b=.5*(m[1]-m[0]),_=.5*(m[1]+m[0]),M=1.3;return v=[w-g*M,w+g*M],m=[_-b*M,_+b*M],r._extremes[i._id]=bO.findExtremes(i,v,{padded:!0}),r._extremes[n._id]=bO.findExtremes(n,m,{padded:!0}),Eht(r,"a","b"),Eht(r,"b","a"),kht(r,a),kht(r,o),h.clipsegments=zSr(r._xctrl,r._yctrl,a,o),h.x=s,h.y=l,h.a=c,h.b=f,[h]}});var Iht=W((Pii,Pht)=>{"use strict";Pht.exports={attributes:pO(),supplyDefaults:Pft(),plot:jft(),calc:Lht(),animatable:!0,isContainer:!0,moduleType:"trace",name:"carpet",basePlotModule:dl(),categories:["cartesian","svg","carpet","carpetAxis","notLegendIsolatable","noMultiCategory","noHover","noSortingByValue"],meta:{}}});var zht=W((Iii,Rht)=>{"use strict";Rht.exports=Iht()});var Boe=W((Rii,Nht)=>{"use strict";var OSr=g1(),U0=Ns(),NSr=Wa(),{hovertemplateAttrs:USr,texttemplateAttrs:VSr,templatefallbackAttrs:Bht}=Ga(),qht=Eo(),hx=tn().extendFlat,op=U0.marker,s6=U0.line,Oht=op.line;Nht.exports={carpet:{valType:"string",editType:"calc"},a:{valType:"data_array",editType:"calc"},b:{valType:"data_array",editType:"calc"},mode:hx({},U0.mode,{dflt:"markers"}),text:hx({},U0.text,{}),texttemplate:VSr({editType:"plot"},{keys:["a","b","text"]}),texttemplatefallback:Bht({editType:"plot"}),hovertext:hx({},U0.hovertext,{}),line:{color:s6.color,width:s6.width,dash:s6.dash,backoff:s6.backoff,shape:hx({},s6.shape,{values:["linear","spline"]}),smoothing:s6.smoothing,editType:"calc"},connectgaps:U0.connectgaps,fill:hx({},U0.fill,{values:["none","toself","tonext"],dflt:"none"}),fillcolor:OSr(),marker:hx({symbol:op.symbol,opacity:op.opacity,maxdisplayed:op.maxdisplayed,angle:op.angle,angleref:op.angleref,standoff:op.standoff,size:op.size,sizeref:op.sizeref,sizemin:op.sizemin,sizemode:op.sizemode,line:hx({width:Oht.width,dash:Oht.dash,editType:"calc"},qht("marker.line")),gradient:op.gradient,editType:"calc"},qht("marker")),textfont:U0.textfont,textposition:U0.textposition,selected:U0.selected,unselected:U0.unselected,hoverinfo:hx({},NSr.hoverinfo,{flags:["a","b","text","name"]}),hoveron:U0.hoveron,hovertemplate:USr(),hovertemplatefallback:Bht(),zorder:U0.zorder}});var Hht=W((zii,Ght)=>{"use strict";var Uht=it(),GSr=v1(),l6=$o(),HSr=bd(),jSr=jp(),Vht=Nw(),$Sr=$p(),WSr=y1(),YSr=Boe();Ght.exports=function(t,r,i,n){function a(h,d){return Uht.coerce(t,r,YSr,h,d)}a("carpet"),r.xaxis="x",r.yaxis="y";var o=a("a"),s=a("b"),l=Math.min(o.length,s.length);if(!l){r.visible=!1;return}r._length=l,a("text"),a("texttemplate"),a("texttemplatefallback"),a("hovertext");var u=l{"use strict";jht.exports=function(t,r){var i={},n=r._carpet,a=n.ab2ij([t.a,t.b]),o=Math.floor(a[0]),s=a[0]-o,l=Math.floor(a[1]),u=a[1]-l,c=n.evalxy([],o,l,s,u);return i.yLabel=c[1].toFixed(3),i}});var wO=W((qii,Wht)=>{"use strict";Wht.exports=function(e,t){for(var r=e._fullData.length,i,n=0;n{"use strict";var Yht=sn(),XSr=wd(),ZSr=x1(),KSr=w0(),JSr=Td().calcMarkerSize,QSr=wO();Xht.exports=function(t,r){var i=r._carpetTrace=QSr(t,r);if(!(!i||!i.visible||i.visible==="legendonly")){var n;r.xaxis=i.xaxis,r.yaxis=i.yaxis;var a=r._length,o=new Array(a),s,l,u=!1;for(n=0;n{"use strict";var eEr=$w(),Kht=ji(),tEr=Ji();Jht.exports=function(t,r,i,n){var a,o,s,l=i[0][0].carpet,u=Kht.getFromId(t,l.xaxis||"x"),c=Kht.getFromId(t,l.yaxis||"y"),f={xaxis:u,yaxis:c,plot:r.plot};for(a=0;a{"use strict";var rEr=Zw(),iEr=it().fillText;e0t.exports=function(t,r,i,n){var a=rEr(t,r,i,n);if(!a||a[0].index===!1)return;var o=a[0];if(o.index===void 0){var s=1-o.y0/t.ya._length,l=t.xa._length,u=l*s/2,c=l-u;return o.x0=Math.max(Math.min(o.x0,c),u),o.x1=Math.max(Math.min(o.x1,c),u),a}var f=o.cd[o.index];o.a=f.a,o.b=f.b,o.xLabelVal=void 0,o.yLabelVal=void 0;var h=o.trace,d=h._carpet,p=h._module.formatLabels(f,h);o.yLabel=p.yLabel,delete o.text;var v=[];function m(b,_){var M;b.labelprefix&&b.labelprefix.length>0?M=b.labelprefix.replace(/ = $/,""):M=b._hovertitle,v.push(M+": "+_.toFixed(3)+b.labelsuffix)}if(!h.hovertemplate){var g=f.hi||h.hoverinfo,w=g.split("+");w.indexOf("all")!==-1&&(w=["a","b","text"]),w.indexOf("a")!==-1&&m(d.aaxis,f.a),w.indexOf("b")!==-1&&m(d.baxis,f.b),v.push("y: "+o.yLabel),w.indexOf("text")!==-1&&iEr(f,h,v),o.extraText=v.join("
")}return a}});var i0t=W((Vii,r0t)=>{"use strict";r0t.exports=function(t,r,i,n,a){var o=n[a];return t.a=o.a,t.b=o.b,t.y=o.y,t}});var a0t=W((Gii,n0t)=>{"use strict";n0t.exports={attributes:Boe(),supplyDefaults:Hht(),colorbar:Ac(),formatLabels:$ht(),calc:Zht(),plot:Qht(),style:th().style,styleOnSelect:th().styleOnSelect,hoverPoints:t0t(),selectPoints:w_(),eventData:i0t(),moduleType:"trace",name:"scattercarpet",basePlotModule:dl(),categories:["svg","carpet","symbols","showLegend","carpetDependent","zoomScale"],meta:{}}});var s0t=W((Hii,o0t)=>{"use strict";o0t.exports=a0t()});var qoe=W((jii,l0t)=>{"use strict";var sp=p5(),Um=GM(),nEr=Eo(),aEr=tn().extendFlat,og=Um.contours;l0t.exports=aEr({carpet:{valType:"string",editType:"calc"},z:sp.z,a:sp.x,a0:sp.x0,da:sp.dx,b:sp.y,b0:sp.y0,db:sp.dy,text:sp.text,hovertext:sp.hovertext,transpose:sp.transpose,atype:sp.xtype,btype:sp.ytype,fillcolor:Um.fillcolor,autocontour:Um.autocontour,ncontours:Um.ncontours,contours:{type:og.type,start:og.start,end:og.end,size:og.size,coloring:{valType:"enumerated",values:["fill","lines","none"],dflt:"fill",editType:"calc"},showlines:og.showlines,showlabels:og.showlabels,labelfont:og.labelfont,labelformat:og.labelformat,operation:og.operation,value:og.value,editType:"calc",impliedEdits:{autocontour:!1}},line:{color:Um.line.color,width:Um.line.width,dash:Um.line.dash,smoothing:Um.line.smoothing,editType:"plot"},zorder:Um.zorder},nEr("",{cLetter:"z",autoColorDflt:!1}))});var Ooe=W(($ii,f0t)=>{"use strict";var u0t=it(),oEr=pL(),c0t=qoe(),sEr=JW(),lEr=qL(),uEr=OL();f0t.exports=function(t,r,i,n){function a(u,c){return u0t.coerce(t,r,c0t,u,c)}function o(u){return u0t.coerce2(t,r,c0t,u)}if(a("carpet"),t.a&&t.b){var s=oEr(t,r,a,n,"a","b");if(!s){r.visible=!1;return}a("text");var l=a("contours.type")==="constraint";l?sEr(t,r,a,n,i,{hasHover:!1}):(lEr(t,r,a,o),uEr(t,r,a,n,{hasHover:!1}))}else r._defaultColor=i,r._length=null;a("zorder")}});var v0t=W((Wii,p0t)=>{"use strict";var cEr=Zc(),h0t=it(),fEr=mL(),hEr=xL(),dEr=_L(),pEr=bL(),d0t=bW(),vEr=Ooe(),gEr=wO(),mEr=NW();p0t.exports=function(t,r){var i=r._carpetTrace=gEr(t,r);if(!(!i||!i.visible||i.visible==="legendonly")){if(!r.a||!r.b){var n=t.data[i.index],a=t.data[r.index];a.a||(a.a=n.a),a.b||(a.b=n.b),vEr(a,r,r._defaultColor,t._fullLayout)}var o=yEr(t,r);return mEr(r,r._z),o}};function yEr(e,t){var r=t._carpetTrace,i=r.aaxis,n=r.baxis,a,o,s,l,u,c,f;i._minDtick=0,n._minDtick=0,h0t.isArray1D(t.z)&&fEr(t,i,n,"a","b",["z"]),a=t._a=t._a||t.a,l=t._b=t._b||t.b,a=a?i.makeCalcdata(t,"_a"):[],l=l?n.makeCalcdata(t,"_b"):[],o=t.a0||0,s=t.da||1,u=t.b0||0,c=t.db||1,f=t._z=hEr(t._z||t.z,t.transpose),t._emptypoints=pEr(f),dEr(f,t._emptypoints);var h=h0t.maxRowLength(f),d=t.xtype==="scaled"?"":a,p=d0t(t,d,o,s,h,i),v=t.ytype==="scaled"?"":l,m=d0t(t,v,u,c,f.length,n),g={a:p,b:m,z:f};return t.contours.type==="levels"&&t.contours.coloring!=="none"&&cEr(e,t,{vals:f,containerStr:"",cLetter:"z"}),[g]}});var m0t=W((Yii,g0t)=>{"use strict";var xEr=it().isArrayOrTypedArray;g0t.exports=function(e,t,r,i){var n,a,o,s,l,u,c,f,h,d,p,v,m,g=xEr(r)?"a":"b",w=g==="a"?e.aaxis:e.baxis,b=w.smoothing,_=g==="a"?e.a2i:e.b2j,M=g==="a"?r:i,x=g==="a"?i:r,T=g==="a"?t.a.length:t.b.length,A=g==="a"?t.b.length:t.a.length,y=Math.floor(g==="a"?e.b2j(x):e.a2i(x)),E=g==="a"?function($){return e.evalxy([],$,y)}:function($){return e.evalxy([],y,$)};b&&(o=Math.max(0,Math.min(A-2,y)),s=y-o,a=g==="a"?function($,Y){return e.dxydi([],$,o,Y,s)}:function($,Y){return e.dxydj([],o,$,s,Y)});var S=_(M[0]),C=_(M[1]),k=S0?Math.floor:Math.ceil,P=k>0?Math.ceil:Math.floor,R=k>0?Math.min:Math.max,L=k>0?Math.max:Math.min,I=F(S+D),B=P(C-D);c=E(S);var O=[[c]];for(n=I;n*k{"use strict";var AO=vi(),MO=Poe(),w0t=Ioe(),U8=Ji(),Vm=it(),_Er=VW(),bEr=GW(),b3=VL(),TO=jM(),wEr=WW(),TEr=$W(),AEr=YW(),MEr=wO(),y0t=m0t();T0t.exports=function(t,r,i,n){var a=r.xaxis,o=r.yaxis;Vm.makeTraceGroups(n,i,"contour").each(function(s){var l=AO.select(this),u=s[0],c=u.trace,f=c._carpetTrace=MEr(t,c),h=t.calcdata[f.index][0];if(!f.visible||f.visible==="legendonly")return;var d=u.a,p=u.b,v=c.contours,m=TEr(v,r,u),g=v.type==="constraint",w=v._operation,b=g?w==="="?"lines":"fill":v.coloring;function _(F){var P=f.ab2xy(F[0],F[1],!0);return[a.c2p(P[0]),o.c2p(P[1])]}var M=[[d[0],p[p.length-1]],[d[d.length-1],p[p.length-1]],[d[d.length-1],p[0]],[d[0],p[0]]];_Er(m);var x=(d[d.length-1]-d[0])*1e-8,T=(p[p.length-1]-p[0])*1e-8;bEr(m,x,T);var A=m;v.type==="constraint"&&(A=wEr(m,w)),SEr(m,_);var y,E,S,C,k=[];for(C=h.clipsegments.length-1;C>=0;C--)y=h.clipsegments[C],E=MO([],y.x,a.c2p),S=MO([],y.y,o.c2p),E.reverse(),S.reverse(),k.push(w0t(E,S,y.bicubic));var D="M"+k.join("L")+"Z";CEr(l,h.clipsegments,a,o,g,b),DEr(c,l,a,o,A,M,_,f,h,b,D),EEr(l,m,t,u,v,r,f),U8.setClipUrl(l,f._clipPathId,t)})};function SEr(e,t){var r,i,n,a,o,s,l,u,c;for(r=0;rm&&(i.max=m),i.len=i.max-i.min}function x0t(e,t,r){var i=e.getPointAtLength(t),n=e.getPointAtLength(r),a=n.x-i.x,o=n.y-i.y,s=Math.sqrt(a*a+o*o);return[a/s,o/s]}function _0t(e){var t=Math.sqrt(e[0]*e[0]+e[1]*e[1]);return[e[0]/t,e[1]/t]}function b0t(e,t){var r=Math.abs(e[0]*t[0]+e[1]*t[1]),i=Math.sqrt(1-r*r);return i/r}function CEr(e,t,r,i,n,a){var o,s,l,u,c=Vm.ensureSingle(e,"g","contourbg"),f=c.selectAll("path").data(a==="fill"&&!n?[0]:[]);f.enter().append("path"),f.exit().remove();var h=[];for(u=0;u=0&&(d=E,v=m):Math.abs(h[1]-d[1])=0&&(d=E,v=m):Vm.log("endpt to newendpt is not vert. or horz.",h,d,E)}if(v>=0)break;u+=A(h,d),h=d}if(v===t.edgepaths.length){Vm.log("unclosed perimeter path");break}l=v,f=c.indexOf(l)===-1,f&&(l=c[0],u+=A(h,d)+"Z",h=null)}for(l=0;l{"use strict";M0t.exports={attributes:qoe(),supplyDefaults:Ooe(),colorbar:jL(),calc:v0t(),plot:A0t(),style:HL(),moduleType:"trace",name:"contourcarpet",basePlotModule:dl(),categories:["cartesian","svg","carpet","contour","symbols","showLegend","hasLines","carpetDependent","noHover","noSortingByValue"],meta:{}}});var k0t=W((Kii,E0t)=>{"use strict";E0t.exports=S0t()});var EO=W((Jii,P0t)=>{"use strict";var SO=it().extendFlat,V8=Ns(),C0t=_s().axisHoverFormat,{hovertemplateAttrs:LEr,templatefallbackAttrs:PEr}=Ga(),F0t=Du().dash,IEr=N3(),L0t=D5(),REr=L0t.INCREASING.COLOR,zEr=L0t.DECREASING.COLOR,Noe=V8.line;function D0t(e){return{line:{color:SO({},Noe.color,{dflt:e}),width:Noe.width,dash:F0t,editType:"style"},editType:"style"}}P0t.exports={xperiod:V8.xperiod,xperiod0:V8.xperiod0,xperiodalignment:V8.xperiodalignment,xhoverformat:C0t("x"),yhoverformat:C0t("y"),x:{valType:"data_array",editType:"calc+clearAxisTypes"},open:{valType:"data_array",editType:"calc"},high:{valType:"data_array",editType:"calc"},low:{valType:"data_array",editType:"calc"},close:{valType:"data_array",editType:"calc"},line:{width:SO({},Noe.width,{}),dash:SO({},F0t,{}),editType:"style"},increasing:D0t(REr),decreasing:D0t(zEr),text:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertemplate:LEr({},{keys:["open","high","low","close"]}),hovertemplatefallback:PEr(),tickwidth:{valType:"number",min:0,max:.5,dflt:.3,editType:"calc"},hoverlabel:SO({},IEr.hoverlabel,{split:{valType:"boolean",dflt:!1,editType:"style"}}),zorder:V8.zorder}});var Uoe=W((Qii,I0t)=>{"use strict";var BEr=yi(),qEr=it();I0t.exports=function(t,r,i,n){var a=i("x"),o=i("open"),s=i("high"),l=i("low"),u=i("close");i("hoverlabel.split");var c=BEr.getComponentMethod("calendars","handleTraceDefaults");if(c(t,r,["x"],n),!!(o&&s&&l&&u)){var f=Math.min(o.length,s.length,l.length,u.length);return a&&(f=Math.min(f,qEr.minRowLength(a))),r._length=f,f}}});var B0t=W((eni,z0t)=>{"use strict";var OEr=it(),NEr=Uoe(),UEr=Hp(),VEr=EO();z0t.exports=function(t,r,i,n){function a(s,l){return OEr.coerce(t,r,VEr,s,l)}var o=NEr(t,r,a,n);if(!o){r.visible=!1;return}UEr(t,r,n,a,{x:!0}),a("xhoverformat"),a("yhoverformat"),a("line.width"),a("line.dash"),R0t(t,r,a,"increasing"),R0t(t,r,a,"decreasing"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("tickwidth"),n._requestRangeslider[r.xaxis]=!0,a("zorder")};function R0t(e,t,r,i){r(i+".line.color"),r(i+".line.width",t.line.width),r(i+".line.dash",t.line.dash)}});var Voe=W((tni,O0t)=>{"use strict";var u6=it(),kO=u6._,CO=ji(),GEr=Wp(),G8=Kn().BADNUM;function HEr(e,t){var r=CO.getFromId(e,t.xaxis),i=CO.getFromId(e,t.yaxis),n=$Er(e,r,t),a=t._minDiff;t._minDiff=null;var o=t._origX;t._origX=null;var s=t._xcalc;t._xcalc=null;var l=q0t(e,t,o,s,i,jEr);return t._extremes[r._id]=CO.findExtremes(r,s,{vpad:a/2}),l.length?(u6.extendFlat(l[0].t,{wHover:a/2,tickLen:n}),l):[{t:{empty:!0}}]}function jEr(e,t,r,i){return{o:e,h:t,l:r,c:i}}function q0t(e,t,r,i,n,a){for(var o=n.makeCalcdata(t,"open"),s=n.makeCalcdata(t,"high"),l=n.makeCalcdata(t,"low"),u=n.makeCalcdata(t,"close"),c=u6.isArrayOrTypedArray(t.text),f=u6.isArrayOrTypedArray(t.hovertext),h=!0,d=null,p=!!t.xperiodalignment,v=[],m=0;md):h=M>w,d=M;var x=a(w,b,_,M);x.pos=g,x.yc=(w+M)/2,x.i=m,x.dir=h?"increasing":"decreasing",x.x=x.pos,x.y=[_,b],p&&(x.orig_p=r[m]),c&&(x.tx=t.text[m]),f&&(x.htx=t.hovertext[m]),v.push(x)}else v.push({pos:g,empty:!0})}return t._extremes[n._id]=CO.findExtremes(n,u6.concat(l,s),{padded:!0}),v.length&&(v[0].t={labels:{open:kO(e,"open:")+" ",high:kO(e,"high:")+" ",low:kO(e,"low:")+" ",close:kO(e,"close:")+" "}}),v}function $Er(e,t,r){var i=r._minDiff;if(!i){var n=e._fullData,a=[];i=1/0;var o;for(o=0;o{"use strict";var WEr=vi(),N0t=it();U0t.exports=function(t,r,i,n){var a=r.yaxis,o=r.xaxis,s=!!o.rangebreaks;N0t.makeTraceGroups(n,i,"trace ohlc").each(function(l){var u=WEr.select(this),c=l[0],f=c.t,h=c.trace;if(h.visible!==!0||f.empty){u.remove();return}var d=f.tickLen,p=u.selectAll("path").data(N0t.identity);p.enter().append("path"),p.exit().remove(),p.attr("d",function(v){if(v.empty)return"M0,0Z";var m=o.c2p(v.pos-d,!0),g=o.c2p(v.pos+d,!0),w=s?(m+g)/2:o.c2p(v.pos,!0),b=a.c2p(v.o,!0),_=a.c2p(v.h,!0),M=a.c2p(v.l,!0),x=a.c2p(v.c,!0);return"M"+m+","+b+"H"+w+"M"+w+","+_+"V"+M+"M"+g+","+x+"H"+w})})}});var H0t=W((ini,G0t)=>{"use strict";var Goe=vi(),YEr=Ji(),XEr=ni();G0t.exports=function(t,r,i){var n=i||Goe.select(t).selectAll("g.ohlclayer").selectAll("g.trace");n.style("opacity",function(a){return a[0].trace.opacity}),n.each(function(a){var o=a[0].trace;Goe.select(this).selectAll("path").each(function(s){if(!s.empty){var l=o[s.dir].line;Goe.select(this).style("fill","none").call(XEr.stroke,l.color).call(YEr.dashLine,l.dash,l.width).style("opacity",o.selectedpoints&&!s.selected?.3:1)}})})}});var joe=W((nni,X0t)=>{"use strict";var Hoe=ji(),ZEr=it(),DO=Ds(),KEr=ni(),JEr=it().fillText,j0t=D5(),QEr={increasing:j0t.INCREASING.SYMBOL,decreasing:j0t.DECREASING.SYMBOL};function ekr(e,t,r,i){var n=e.cd,a=n[0].trace;return a.hoverlabel.split?W0t(e,t,r,i):Y0t(e,t,r,i)}function $0t(e,t,r,i){var n=e.cd,a=e.xa,o=n[0].trace,s=n[0].t,l=o.type,u=l==="ohlc"?"l":"min",c=l==="ohlc"?"h":"max",f,h,d=s.bPos||0,p=function(E){return E.pos+d-t},v=s.bdPos||s.tickLen,m=s.wHover,g=Math.min(1,v/Math.abs(a.r2c(a.range[1])-a.r2c(a.range[0])));f=e.maxHoverDistance-g,h=e.maxSpikeDistance-g;function w(E){var S=p(E);return DO.inbox(S-m,S+m,f)}function b(E){var S=E[u],C=E[c];return S===C||DO.inbox(S-r,C-r,f)}function _(E){return(w(E)+b(E))/2}var M=DO.getDistanceFunction(i,w,b,_);if(DO.getClosest(n,M,e),e.index===!1)return null;var x=n[e.index];if(x.empty)return null;var T=x.dir,A=o[T],y=A.line.color;return KEr.opacity(y)&&A.line.width?e.color=y:e.color=A.fillcolor,e.x0=a.c2p(x.pos+d-v,!0),e.x1=a.c2p(x.pos+d+v,!0),e.xLabelVal=x.orig_p!==void 0?x.orig_p:x.pos,e.spikeDistance=_(x)*h/f,e.xSpike=a.c2p(x.pos,!0),e}function W0t(e,t,r,i){var n=e.cd,a=e.ya,o=n[0].trace,s=n[0].t,l=[],u=$0t(e,t,r,i);if(!u)return[];var c=n[u.index],f=c.hi||o.hoverinfo||"";if(f==="none"||f==="skip")return[];for(var h=["high","open","close","low"],d={},p=0;p"+s.labels[v]+Hoe.hoverLabelText(a,m,o.yhoverformat)):(w=ZEr.extendFlat({},u),w.y0=w.y1=g,w.yLabelVal=m,w.yLabel=s.labels[v]+Hoe.hoverLabelText(a,m,o.yhoverformat),w.name="",l.push(w),d[m]=w)}return l}function Y0t(e,t,r,i){var n=e.cd,a=e.ya,o=n[0].trace,s=n[0].t,l=$0t(e,t,r,i);if(!l)return[];var u=l.index,c=n[u],f=l.index=c.i,h=c.dir;function d(_){return s.labels[_]+Hoe.hoverLabelText(a,o[_][f],o.yhoverformat)}var p=c.hi||o.hoverinfo||"",v=p.split("+"),m=p==="all",g=m||v.indexOf("y")!==-1,w=m||v.indexOf("text")!==-1,b=g?[d("open"),d("high"),d("low"),d("close")+" "+QEr[h]]:[];return w&&JEr(c,o,b),l.extraText=b.join("
"),l.y0=l.y1=a.c2p(c.yc,!0),[l]}X0t.exports={hoverPoints:ekr,hoverSplit:W0t,hoverOnPoints:Y0t}});var $oe=W((ani,Z0t)=>{"use strict";Z0t.exports=function(t,r){var i=t.cd,n=t.xaxis,a=t.yaxis,o=[],s,l=i[0].t.bPos||0;if(r===!1)for(s=0;s{"use strict";K0t.exports={moduleType:"trace",name:"ohlc",basePlotModule:dl(),categories:["cartesian","svg","showLegend"],meta:{},attributes:EO(),supplyDefaults:B0t(),calc:Voe().calc,plot:V0t(),style:H0t(),hoverPoints:joe().hoverPoints,selectPoints:$oe()}});var edt=W((sni,Q0t)=>{"use strict";Q0t.exports=J0t()});var Yoe=W((lni,idt)=>{"use strict";var Woe=it().extendFlat,tdt=_s().axisHoverFormat,hh=EO(),c6=IM();function rdt(e){return{line:{color:Woe({},c6.line.color,{dflt:e}),width:c6.line.width,editType:"style"},fillcolor:c6.fillcolor,editType:"style"}}idt.exports={xperiod:hh.xperiod,xperiod0:hh.xperiod0,xperiodalignment:hh.xperiodalignment,xhoverformat:tdt("x"),yhoverformat:tdt("y"),x:hh.x,open:hh.open,high:hh.high,low:hh.low,close:hh.close,line:{width:Woe({},c6.line.width,{}),editType:"style"},increasing:rdt(hh.increasing.line.color.dflt),decreasing:rdt(hh.decreasing.line.color.dflt),text:hh.text,hovertext:hh.hovertext,hovertemplate:hh.hovertemplate,hovertemplatefallback:hh.hovertemplatefallback,whiskerwidth:Woe({},c6.whiskerwidth,{dflt:0}),hoverlabel:hh.hoverlabel,zorder:c6.zorder}});var odt=W((uni,adt)=>{"use strict";var tkr=it(),rkr=ni(),ikr=Uoe(),nkr=Hp(),akr=Yoe();adt.exports=function(t,r,i,n){function a(s,l){return tkr.coerce(t,r,akr,s,l)}var o=ikr(t,r,a,n);if(!o){r.visible=!1;return}nkr(t,r,n,a,{x:!0}),a("xhoverformat"),a("yhoverformat"),a("line.width"),ndt(t,r,a,"increasing"),ndt(t,r,a,"decreasing"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),a("whiskerwidth"),n._requestRangeslider[r.xaxis]=!0,a("zorder")};function ndt(e,t,r,i){var n=r(i+".line.color");r(i+".line.width",t.line.width),r(i+".fillcolor",rkr.addOpacity(n,.5))}});var cdt=W((cni,udt)=>{"use strict";var sdt=it(),ldt=ji(),okr=Wp(),skr=Voe().calcCommon;udt.exports=function(e,t){var r=e._fullLayout,i=ldt.getFromId(e,t.xaxis),n=ldt.getFromId(e,t.yaxis),a=i.makeCalcdata(t,"x"),o=okr(t,i,"x",a).vals,s=skr(e,t,a,o,n,lkr);return s.length?(sdt.extendFlat(s[0].t,{num:r._numBoxes,dPos:sdt.distinctVals(o).minDiff/2,posLetter:"x",valLetter:"y"}),r._numBoxes++,s):[{t:{empty:!0}}]};function lkr(e,t,r,i){return{min:r,q1:Math.min(e,i),med:i,q3:Math.max(e,i),max:t}}});var hdt=W((fni,fdt)=>{"use strict";fdt.exports={moduleType:"trace",name:"candlestick",basePlotModule:dl(),categories:["cartesian","svg","showLegend","candlestick","boxLayout"],meta:{},attributes:Yoe(),layoutAttributes:RM(),supplyLayoutDefaults:lL().supplyLayoutDefaults,crossTraceCalc:cL().crossTraceCalc,supplyDefaults:odt(),calc:cdt(),plot:fL().plot,layerName:"boxlayer",style:hL().style,hoverPoints:joe().hoverPoints,selectPoints:$oe()}});var pdt=W((hni,ddt)=>{"use strict";ddt.exports=hdt()});var Zoe=W((dni,vdt)=>{"use strict";var LO=it(),ukr=i1(),FO=LO.deg2rad,Xoe=LO.rad2deg;vdt.exports=function(t,r,i){switch(ukr(t,i),t._id){case"x":case"radialaxis":ckr(t,r);break;case"angularaxis":dkr(t,r);break}};function ckr(e,t){var r=t._subplot;e.setGeometry=function(){var i=e._rl[0],n=e._rl[1],a=r.innerRadius,o=(r.radius-a)/(n-i),s=a/o,l=i>n?function(u){return u<=0}:function(u){return u>=0};e.c2g=function(u){var c=e.c2l(u)-i;return(l(c)?c:0)+s},e.g2c=function(u){return e.l2c(u+i-s)},e.g2p=function(u){return u*o},e.c2p=function(u){return e.g2p(e.c2g(u))}}}function fkr(e,t){return t==="degrees"?FO(e):e}function hkr(e,t){return t==="degrees"?Xoe(e):e}function dkr(e,t){var r=e.type;if(r==="linear"){var i=e.d2c,n=e.c2d;e.d2c=function(a,o){return fkr(i(a),o)},e.c2d=function(a,o){return n(hkr(a,o))}}e.makeCalcdata=function(a,o){var s=a[o],l=a._length,u,c,f=function(m){return e.d2c(m,a.thetaunit)};if(s)for(u=new Array(l),c=0;c{"use strict";gdt.exports={attr:"subplot",name:"polar",axisNames:["angularaxis","radialaxis"],axisName2dataArray:{angularaxis:"theta",radialaxis:"r"},layerNames:["draglayer","plotbg","backplot","angular-grid","radial-grid","frontplot","angular-line","radial-line","angular-axis","radial-axis"],radialDragBoxSize:50,angularDragBoxSize:30,cornerLen:25,cornerHalfWidth:2,MINDRAG:8,MINZOOM:20,OFFEDGE:20}});var RO=W((vni,bdt)=>{"use strict";var w3=it(),mdt=GA().tester,Koe=w3.findIndexOfMin,xdt=w3.isAngleInsideSector,pkr=w3.angleDelta,ydt=w3.angleDist;function vkr(e,t,r,i,n){if(!xdt(t,i))return!1;var a,o;r[0]0?o:1/0},i=Koe(t,r),n=w3.mod(i+1,t.length);return[t[i],t[n]]}function IO(e){return Math.abs(e)>1e-10?e:0}function Joe(e,t,r){t=t||0,r=r||0;for(var i=e.length,n=new Array(i),a=0;a{"use strict";function wdt(e){return e<0?-1:e>0?1:0}function h6(e){var t=e[0],r=e[1];if(!isFinite(t)||!isFinite(r))return[1,0];var i=(t+1)*(t+1)+r*r;return[(t*t+r*r-1)/i,2*r/i]}function d6(e,t){var r=t[0],i=t[1];return[r*e.radius+e.cx,-i*e.radius+e.cy]}function Tdt(e,t){return t*e.radius}function Tkr(e,t,r,i){var n=d6(e,h6([r,t])),a=n[0],o=n[1],s=d6(e,h6([i,t])),l=s[0],u=s[1];if(t===0)return["M"+a+","+o,"L"+l+","+u].join(" ");var c=Tdt(e,1/Math.abs(t));return["M"+a+","+o,"A"+c+","+c+" 0 0,"+(t<0?1:0)+" "+l+","+u].join(" ")}function Akr(e,t,r,i){var n=Tdt(e,1/(t+1)),a=d6(e,h6([t,r])),o=a[0],s=a[1],l=d6(e,h6([t,i])),u=l[0],c=l[1];if(wdt(r)!==wdt(i)){var f=d6(e,h6([t,0])),h=f[0],d=f[1];return["M"+o+","+s,"A"+n+","+n+" 0 0,"+(0{"use strict";var T3=vi(),M3=yi(),hs=it(),sg=hs.strRotate,Gu=hs.strTranslate,OO=ni(),H8=Ji(),Mkr=Ko(),dh=ji(),Skr=i1(),Ekr=Zoe(),kkr=Op().doAutoRange,Gm=fj(),qO=bf(),Mdt=Ds(),Ckr=e_(),Dkr=cu().prepSelect,Fkr=cu().selectOnClick,ese=cu().clearOutline,Sdt=Np(),Edt=CA(),kdt=BA().redrawReglTraces,Lkr=Hl().MID_SHIFT,dx=PO(),Hm=RO(),NO=Qoe(),zO=NO.smith,Pkr=NO.reactanceArc,Ikr=NO.resistanceArc,BO=NO.smithTransform,Rkr=hs._,Cdt=hs.mod,px=hs.deg2rad,A3=hs.rad2deg;function Ddt(e,t,r){this.isSmith=r||!1,this.id=t,this.gd=e,this._hasClipOnAxisFalse=null,this.vangles=null,this.radialAxisAngle=null,this.traceHash={},this.layers={},this.clipPaths={},this.clipIds={},this.viewInitial={};var i=e._fullLayout,n="clip"+i._uid+t;this.clipIds.forTraces=n+"-for-traces",this.clipPaths.forTraces=i._clips.append("clipPath").attr("id",this.clipIds.forTraces),this.clipPaths.forTraces.append("path"),this.framework=i["_"+(r?"smith":"polar")+"layer"].append("g").attr("class",t),this.getHole=function(a){return this.isSmith?0:a.hole},this.getSector=function(a){return this.isSmith?[0,360]:a.sector},this.getRadial=function(a){return this.isSmith?a.realaxis:a.radialaxis},this.getAngular=function(a){return this.isSmith?a.imaginaryaxis:a.angularaxis},r||(this.radialTickLayout=null,this.angularTickLayout=null)}var fc=Ddt.prototype;Pdt.exports=function(t,r,i){return new Ddt(t,r,i)};fc.plot=function(e,t){for(var r=this,i=t[r.id],n=!1,a=0;am?(g=u,w=u*m,M=(c-w)/n.h/2,b=[s[0],s[1]],_=[l[0]+M,l[1]-M]):(g=c/m,w=c,M=(u-g)/n.w/2,b=[s[0]+M,s[1]-M],_=[l[0],l[1]]),r.xLength2=g,r.yLength2=w,r.xDomain2=b,r.yDomain2=_;var x=r.xOffset2=n.l+n.w*b[0],T=r.yOffset2=n.t+n.h*(1-_[1]),A=r.radius=g/d,y=r.innerRadius=r.getHole(t)*A,E=r.cx=x-A*h[0],S=r.cy=T+A*h[3],C=r.cxx=E-x,k=r.cyy=S-T,D=a.side,F;D==="counterclockwise"?(F=D,D="top"):D==="clockwise"&&(F=D,D="bottom"),r.radialAxis=r.mockAxis(e,t,a,{_id:"x",side:D,_trueSide:F,domain:[y/n.w,A/n.w]}),r.angularAxis=r.mockAxis(e,t,o,{side:"right",domain:[0,Math.PI],autorange:!1}),r.doAutoRange(e,t),r.updateAngularAxis(e,t),r.updateRadialAxis(e,t),r.updateRadialAxisTitle(e,t),r.xaxis=r.mockCartesianAxis(e,t,{_id:"x",domain:b}),r.yaxis=r.mockCartesianAxis(e,t,{_id:"y",domain:_});var P=r.pathSubplot();r.clipPaths.forTraces.select("path").attr("d",P).attr("transform",Gu(C,k)),i.frontplot.attr("transform",Gu(x,T)).call(H8.setClipUrl,r._hasClipOnAxisFalse?null:r.clipIds.forTraces,r.gd),i.bg.attr("d",P).attr("transform",Gu(E,S)).call(OO.fill,t.bgcolor)};fc.mockAxis=function(e,t,r,i){var n=hs.extendFlat({},r,i);return Ekr(n,t,e),n};fc.mockCartesianAxis=function(e,t,r){var i=this,n=i.isSmith,a=r._id,o=hs.extendFlat({type:"linear"},r);Skr(o,e);var s={x:[0,2],y:[1,3]};return o.setRange=function(){var l=i.sectorBBox,u=s[a],c=i.radialAxis._rl,f=(c[1]-c[0])/(1-i.getHole(t));o.range=[l[u[0]]*f,l[u[1]]*f]},o.isPtWithinRange=a==="x"&&!n?function(l){return i.isPtInside(l)}:function(){return!0},o.setRange(),o.setScale(),o};fc.doAutoRange=function(e,t){var r=this,i=r.gd,n=r.radialAxis,a=r.getRadial(t);kkr(i,n);var o=n.range;if(a.range=o.slice(),a._input.range=o.slice(),n._rl=[n.r2l(o[0],null,"gregorian"),n.r2l(o[1],null,"gregorian")],n.minallowed!==void 0){var s=n.r2l(n.minallowed);n._rl[0]>n._rl[1]?n._rl[1]=Math.max(n._rl[1],s):n._rl[0]=Math.max(n._rl[0],s)}if(n.maxallowed!==void 0){var l=n.r2l(n.maxallowed);n._rl[0]90&&c<=270&&(f.tickangle=180);var p=d?function(A){var y=BO(r,zO([A.x,0]));return Gu(y[0]-s,y[1]-l)}:function(A){return Gu(f.l2p(A.x)+o,0)},v=d?function(A){return Ikr(r,A.x,-1/0,1/0)}:function(A){return r.pathArc(f.r2p(A.x)+o)},m=Fdt(u);if(r.radialTickLayout!==m&&(n["radial-axis"].selectAll(".xtick").remove(),r.radialTickLayout=m),h){f.setScale();var g=0,w=d?(f.tickvals||[]).filter(function(A){return A>=0}).map(function(A){return dh.tickText(f,A,!0,!1)}):dh.calcTicks(f),b=d?w:dh.clipEnds(f,w),_=dh.getTickSigns(f)[2];d&&((f.ticks==="top"&&f.side==="bottom"||f.ticks==="bottom"&&f.side==="top")&&(_=-_),f.ticks==="top"&&f.side==="top"&&(g=-f.ticklen),f.ticks==="bottom"&&f.side==="bottom"&&(g=f.ticklen)),dh.drawTicks(i,f,{vals:w,layer:n["radial-axis"],path:dh.makeTickPath(f,0,_),transFn:p,crisp:!1}),dh.drawGrid(i,f,{vals:b,layer:n["radial-grid"],path:v,transFn:hs.noop,crisp:!1}),dh.drawLabels(i,f,{vals:w,layer:n["radial-axis"],transFn:p,labelFns:dh.makeLabelFns(f,g)})}var M=r.radialAxisAngle=r.vangles?A3(Ldt(px(u.angle),r.vangles)):u.angle,x=Gu(s,l),T=x+sg(-M);j8(n["radial-axis"],h&&(u.showticklabels||u.ticks),{transform:T}),j8(n["radial-grid"],h&&u.showgrid,{transform:d?"":x}),j8(n["radial-line"].select("line"),h&&u.showline,{x1:d?-a:o,y1:0,x2:a,y2:0,transform:T}).attr("stroke-width",u.linewidth).call(OO.stroke,u.linecolor)};fc.updateRadialAxisTitle=function(e,t,r){if(!this.isSmith){var i=this,n=i.gd,a=i.radius,o=i.cx,s=i.cy,l=i.getRadial(t),u=i.id+"title",c=0;if(l.title){var f=H8.bBox(i.layers["radial-axis"].node()).height,h=l.title.font.size,d=l.side;c=d==="top"?h:d==="counterclockwise"?-(f+h*.4):f+h*.8}var p=r!==void 0?r:i.radialAxisAngle,v=px(p),m=Math.cos(v),g=Math.sin(v),w=o+a/2*m+c*g,b=s-a/2*g+c*m;i.layers["radial-axis-title"]=Ckr.draw(n,u,{propContainer:l,propName:i.id+".radialaxis.title.text",placeholder:Rkr(n,"Click to enter radial axis title"),attributes:{x:w,y:b,"text-anchor":"middle"},transform:{rotate:-p}})}};fc.updateAngularAxis=function(e,t){var r=this,i=r.gd,n=r.layers,a=r.radius,o=r.innerRadius,s=r.cx,l=r.cy,u=r.getAngular(t),c=r.angularAxis,f=r.isSmith;f||(r.fillViewInitialKey("angularaxis.rotation",u.rotation),c.setGeometry(),c.setScale());var h=f?function(y){var E=BO(r,zO([0,y.x]));return Math.atan2(E[0]-s,E[1]-l)-Math.PI/2}:function(y){return c.t2g(y.x)};c.type==="linear"&&c.thetaunit==="radians"&&(c.tick0=A3(c.tick0),c.dtick=A3(c.dtick));var d=function(y){return Gu(s+a*Math.cos(y),l-a*Math.sin(y))},p=f?function(y){var E=BO(r,zO([0,y.x]));return Gu(E[0],E[1])}:function(y){return d(h(y))},v=f?function(y){var E=BO(r,zO([0,y.x])),S=Math.atan2(E[0]-s,E[1]-l)-Math.PI/2;return Gu(E[0],E[1])+sg(-A3(S))}:function(y){var E=h(y);return d(E)+sg(-A3(E))},m=f?function(y){return Pkr(r,y.x,0,1/0)}:function(y){var E=h(y),S=Math.cos(E),C=Math.sin(E);return"M"+[s+o*S,l-o*C]+"L"+[s+a*S,l-a*C]},g=dh.makeLabelFns(c,0),w=g.labelStandoff,b={};b.xFn=function(y){var E=h(y);return Math.cos(E)*w},b.yFn=function(y){var E=h(y),S=Math.sin(E)>0?.2:1;return-Math.sin(E)*(w+y.fontSize*S)+Math.abs(Math.cos(E))*(y.fontSize*Lkr)},b.anchorFn=function(y){var E=h(y),S=Math.cos(E);return Math.abs(S)<.1?"middle":S>0?"start":"end"},b.heightFn=function(y,E,S){var C=h(y);return-.5*(1+Math.sin(C))*S};var _=Fdt(u);r.angularTickLayout!==_&&(n["angular-axis"].selectAll("."+c._id+"tick").remove(),r.angularTickLayout=_);var M=f?[1/0].concat(c.tickvals||[]).map(function(y){return dh.tickText(c,y,!0,!1)}):dh.calcTicks(c);f&&(M[0].text="\u221E",M[0].fontSize*=1.75);var x;if(t.gridshape==="linear"?(x=M.map(h),hs.angleDelta(x[0],x[1])<0&&(x=x.slice().reverse())):x=null,r.vangles=x,c.type==="category"&&(M=M.filter(function(y){return hs.isAngleInsideSector(h(y),r.sectorInRad)})),c.visible){var T=c.ticks==="inside"?-1:1,A=(c.linewidth||1)/2;dh.drawTicks(i,c,{vals:M,layer:n["angular-axis"],path:"M"+T*A+",0h"+T*c.ticklen,transFn:v,crisp:!1}),dh.drawGrid(i,c,{vals:M,layer:n["angular-grid"],path:m,transFn:hs.noop,crisp:!1}),dh.drawLabels(i,c,{vals:M,layer:n["angular-axis"],repositionOnUpdate:!0,transFn:p,labelFns:b})}j8(n["angular-line"].select("path"),u.showline,{d:r.pathSubplot(),transform:Gu(s,l)}).attr("stroke-width",u.linewidth).call(OO.stroke,u.linecolor)};fc.updateFx=function(e,t){if(!this.gd._context.staticPlot){var r=!this.isSmith;r&&(this.updateAngularDrag(e),this.updateRadialDrag(e,t,0),this.updateRadialDrag(e,t,1)),this.updateHoverAndMainDrag(e)}};fc.updateHoverAndMainDrag=function(e){var t=this,r=t.isSmith,i=t.gd,n=t.layers,a=e._zoomlayer,o=dx.MINZOOM,s=dx.OFFEDGE,l=t.radius,u=t.innerRadius,c=t.cx,f=t.cy,h=t.cxx,d=t.cyy,p=t.sectorInRad,v=t.vangles,m=t.radialAxis,g=Hm.clampTiny,w=Hm.findXYatLength,b=Hm.findEnclosingVertexAngles,_=dx.cornerHalfWidth,M=dx.cornerLen/2,x,T,A=Gm.makeDragger(n,"path","maindrag",e.dragmode===!1?"none":"crosshair");T3.select(A).attr("d",t.pathSubplot()).attr("transform",Gu(c,f)),A.onmousemove=function(te){Mdt.hover(i,te,t.id),i._fullLayout._lasthover=A,i._fullLayout._hoversubplot=t.id},A.onmouseout=function(te){i._dragging||qO.unhover(i,te)};var y={element:A,gd:i,subplot:t.id,plotinfo:{id:t.id,xaxis:t.xaxis,yaxis:t.yaxis},xaxes:[t.xaxis],yaxes:[t.yaxis]},E,S,C,k,D,F,P,R,L;function I(te,ce){return Math.sqrt(te*te+ce*ce)}function B(te,ce){return I(te-h,ce-d)}function O(te,ce){return Math.atan2(d-ce,te-h)}function $(te,ce){return[te*Math.cos(ce),te*Math.sin(-ce)]}function Y(te,ce){if(te===0)return t.pathSector(2*_);var ge=M/te,Ce=ce-ge,be=ce+ge,he=Math.max(0,Math.min(te,l)),oe=he-_,Ee=he+_;return"M"+$(oe,Ce)+"A"+[oe,oe]+" 0,0,0 "+$(oe,be)+"L"+$(Ee,be)+"A"+[Ee,Ee]+" 0,0,1 "+$(Ee,Ce)+"Z"}function K(te,ce,ge){if(te===0)return t.pathSector(2*_);var Ce=$(te,ce),be=$(te,ge),he=g((Ce[0]+be[0])/2),oe=g((Ce[1]+be[1])/2),Ee,ye;if(he&&oe){var ue=oe/he,ee=-1/ue,ae=w(_,ue,he,oe);Ee=w(M,ee,ae[0][0],ae[0][1]),ye=w(M,ee,ae[1][0],ae[1][1])}else{var xe,re;oe?(xe=M,re=_):(xe=_,re=M),Ee=[[he-xe,oe-re],[he+xe,oe-re]],ye=[[he-xe,oe+re],[he+xe,oe+re]]}return"M"+Ee.join("L")+"L"+ye.reverse().join("L")+"Z"}function j(){C=null,k=null,D=t.pathSubplot(),F=!1;var te=i._fullLayout[t.id];P=OO.luminosity(te.bgcolor),R=Gm.makeZoombox(a,P,c,f,D),R.attr("fill-rule","evenodd"),L=Gm.makeCorners(a,c,f),ese(i)}function q(te,ce){return ce=Math.max(Math.min(ce,l),u),teo?(te-1&&te===1&&Fkr(ce,i,[t.xaxis],[t.yaxis],t.id,y),ge.indexOf("event")>-1&&Mdt.click(i,ce,t.id)}y.prepFn=function(te,ce,ge){var Ce=i._fullLayout.dragmode,be=A.getBoundingClientRect();i._fullLayout._calcInverseTransform(i);var he=i._fullLayout._invTransform;x=i._fullLayout._invScaleX,T=i._fullLayout._invScaleY;var oe=hs.apply3DTransform(he)(ce-be.left,ge-be.top);if(E=oe[0],S=oe[1],v){var Ee=Hm.findPolygonOffset(l,p[0],p[1],v);E+=h+Ee[0],S+=d+Ee[1]}switch(Ce){case"zoom":y.clickFn=Q,r||(v?y.moveFn=X:y.moveFn=U,y.doneFn=H,j(te,ce,ge));break;case"select":case"lasso":Dkr(te,ce,ge,y,Ce);break}},qO.init(y)};fc.updateRadialDrag=function(e,t,r){var i=this,n=i.gd,a=i.layers,o=i.radius,s=i.innerRadius,l=i.cx,u=i.cy,c=i.radialAxis,f=dx.radialDragBoxSize,h=f/2;if(!c.visible)return;var d=px(i.radialAxisAngle),p=c._rl,v=p[0],m=p[1],g=p[r],w=.75*(p[1]-p[0])/(1-i.getHole(t))/o,b,_,M;r?(b=l+(o+h)*Math.cos(d),_=u-(o+h)*Math.sin(d),M="radialdrag"):(b=l+(s-h)*Math.cos(d),_=u-(s-h)*Math.sin(d),M="radialdrag-inner");var x=Gm.makeRectDragger(a,M,"crosshair",-h,-h,f,f),T={element:x,gd:n};e.dragmode===!1&&(T.dragmode=!1),j8(T3.select(x),c.visible&&s0!=(r?E>v:E=90||n>90&&a>=450?d=1:s<=0&&u<=0?d=0:d=Math.max(s,u),n<=180&&a>=180||n>180&&a>=540?c=-1:o>=0&&l>=0?c=0:c=Math.min(o,l),n<=270&&a>=270||n>270&&a>=630?f=-1:s>=0&&u>=0?f=0:f=Math.min(s,u),a>=360?h=1:o<=0&&l<=0?h=0:h=Math.max(o,l),[c,f,h,d]}function Ldt(e,t){var r=function(n){return hs.angleDist(e,n)},i=hs.findIndexOfMin(t,r);return t[i]}function j8(e,t,r){return t?(e.attr("display",null),e.attr(r)):e&&e.attr("display","none"),e}});var rse=W((yni,Odt)=>{"use strict";var Bkr=Vl(),Pn=ec(),qkr=us().attributes,V0=it().extendFlat,Idt=ls().overrideAll,Rdt=Idt({color:Pn.color,showline:V0({},Pn.showline,{dflt:!0}),linecolor:Pn.linecolor,linewidth:Pn.linewidth,showgrid:V0({},Pn.showgrid,{dflt:!0}),gridcolor:Pn.gridcolor,gridwidth:Pn.gridwidth,griddash:Pn.griddash},"plot","from-root"),zdt=Idt({tickmode:Pn.minor.tickmode,nticks:Pn.nticks,tick0:Pn.tick0,dtick:Pn.dtick,tickvals:Pn.tickvals,ticktext:Pn.ticktext,ticks:Pn.ticks,ticklen:Pn.ticklen,tickwidth:Pn.tickwidth,tickcolor:Pn.tickcolor,ticklabelstep:Pn.ticklabelstep,showticklabels:Pn.showticklabels,labelalias:Pn.labelalias,minorloglabels:Pn.minorloglabels,showtickprefix:Pn.showtickprefix,tickprefix:Pn.tickprefix,showticksuffix:Pn.showticksuffix,ticksuffix:Pn.ticksuffix,showexponent:Pn.showexponent,exponentformat:Pn.exponentformat,minexponent:Pn.minexponent,separatethousands:Pn.separatethousands,tickfont:Pn.tickfont,tickangle:Pn.tickangle,tickformat:Pn.tickformat,tickformatstops:Pn.tickformatstops,layer:Pn.layer},"plot","from-root"),Bdt={visible:V0({},Pn.visible,{dflt:!0}),type:V0({},Pn.type,{values:["-","linear","log","date","category"]}),autotypenumbers:Pn.autotypenumbers,autorangeoptions:{minallowed:Pn.autorangeoptions.minallowed,maxallowed:Pn.autorangeoptions.maxallowed,clipmin:Pn.autorangeoptions.clipmin,clipmax:Pn.autorangeoptions.clipmax,include:Pn.autorangeoptions.include,editType:"plot"},autorange:V0({},Pn.autorange,{editType:"plot"}),rangemode:{valType:"enumerated",values:["tozero","nonnegative","normal"],dflt:"tozero",editType:"calc"},minallowed:V0({},Pn.minallowed,{editType:"plot"}),maxallowed:V0({},Pn.maxallowed,{editType:"plot"}),range:V0({},Pn.range,{items:[{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}},{valType:"any",editType:"plot",impliedEdits:{"^autorange":!1}}],editType:"plot"}),categoryorder:Pn.categoryorder,categoryarray:Pn.categoryarray,angle:{valType:"angle",editType:"plot"},autotickangles:Pn.autotickangles,side:{valType:"enumerated",values:["clockwise","counterclockwise"],dflt:"clockwise",editType:"plot"},title:{text:V0({},Pn.title.text,{editType:"plot",dflt:""}),font:V0({},Pn.title.font,{editType:"plot"}),editType:"plot"},hoverformat:Pn.hoverformat,uirevision:{valType:"any",editType:"none"},editType:"calc"};V0(Bdt,Rdt,zdt);var qdt={visible:V0({},Pn.visible,{dflt:!0}),type:{valType:"enumerated",values:["-","linear","category"],dflt:"-",editType:"calc",_noTemplating:!0},autotypenumbers:Pn.autotypenumbers,categoryorder:Pn.categoryorder,categoryarray:Pn.categoryarray,thetaunit:{valType:"enumerated",values:["radians","degrees"],dflt:"degrees",editType:"calc"},period:{valType:"number",editType:"calc",min:0},direction:{valType:"enumerated",values:["counterclockwise","clockwise"],dflt:"counterclockwise",editType:"calc"},rotation:{valType:"angle",editType:"calc"},hoverformat:Pn.hoverformat,uirevision:{valType:"any",editType:"none"},editType:"calc"};V0(qdt,Rdt,zdt);Odt.exports={domain:qkr({name:"polar",editType:"plot"}),sector:{valType:"info_array",items:[{valType:"number",editType:"plot"},{valType:"number",editType:"plot"}],dflt:[0,360],editType:"plot"},hole:{valType:"number",min:0,max:1,dflt:0,editType:"plot"},bgcolor:{valType:"color",editType:"plot",dflt:Bkr.background},radialaxis:Bdt,angularaxis:qdt,gridshape:{valType:"enumerated",values:["circular","linear"],dflt:"circular",editType:"plot"},uirevision:{valType:"any",editType:"none"},editType:"calc"}});var Gdt=W((xni,Vdt)=>{"use strict";var UO=it(),Okr=ni(),Nkr=Da(),Ukr=q_(),Vkr=_c().getSubplotData,Gkr=Xx(),Hkr=vw(),jkr=wy(),$kr=Ty(),Wkr=_F(),Ykr=vM(),Xkr=NG(),Zkr=bw(),Udt=rse(),Kkr=Zoe(),VO=PO(),Ndt=VO.axisNames;function Jkr(e,t,r,i){var n=r("bgcolor");i.bgColor=Okr.combine(n,i.paper_bgcolor);var a=r("sector");r("hole");var o=Vkr(i.fullData,VO.name,i.id),s=i.layoutOut,l;function u(R,L){return r(l+"."+R,L)}for(var c=0;c{"use strict";var e8r=_c().getSubplotCalcData,t8r=it().counterRegex,r8r=tse(),jdt=PO(),$dt=jdt.attr,S3=jdt.name,Hdt=t8r(S3),Wdt={};Wdt[$dt]={valType:"subplotid",dflt:S3,editType:"calc"};function i8r(e){for(var t=e._fullLayout,r=e.calcdata,i=t._subplots[S3],n=0;n{"use strict";var{hovertemplateAttrs:a8r,texttemplateAttrs:o8r,templatefallbackAttrs:Xdt}=Ga(),HO=tn().extendFlat,s8r=g1(),G0=Ns(),l8r=Wa(),p6=G0.line;Zdt.exports={mode:G0.mode,r:{valType:"data_array",editType:"calc+clearAxisTypes"},theta:{valType:"data_array",editType:"calc+clearAxisTypes"},r0:{valType:"any",dflt:0,editType:"calc+clearAxisTypes"},dr:{valType:"number",dflt:1,editType:"calc"},theta0:{valType:"any",dflt:0,editType:"calc+clearAxisTypes"},dtheta:{valType:"number",editType:"calc"},thetaunit:{valType:"enumerated",values:["radians","degrees","gradians"],dflt:"degrees",editType:"calc+clearAxisTypes"},text:G0.text,texttemplate:o8r({editType:"plot"},{keys:["r","theta","text"]}),texttemplatefallback:Xdt({editType:"plot"}),hovertext:G0.hovertext,line:{color:p6.color,width:p6.width,dash:p6.dash,backoff:p6.backoff,shape:HO({},p6.shape,{values:["linear","spline"]}),smoothing:p6.smoothing,editType:"calc"},connectgaps:G0.connectgaps,marker:G0.marker,cliponaxis:HO({},G0.cliponaxis,{dflt:!1}),textposition:G0.textposition,textfont:G0.textfont,fill:HO({},G0.fill,{values:["none","toself","tonext"],dflt:"none"}),fillcolor:s8r(),hoverinfo:HO({},l8r.hoverinfo,{flags:["r","theta","text","name"]}),hoveron:G0.hoveron,hovertemplate:a8r(),hovertemplatefallback:Xdt(),selected:G0.selected,unselected:G0.unselected}});var $O=W((wni,Qdt)=>{"use strict";var jO=it(),v6=$o(),u8r=bd(),c8r=jp(),Kdt=Nw(),f8r=$p(),h8r=y1(),d8r=v1().PTS_LINESONLY,p8r=$8();function v8r(e,t,r,i){function n(s,l){return jO.coerce(e,t,p8r,s,l)}var a=Jdt(e,t,i,n);if(!a){t.visible=!1;return}n("thetaunit"),n("mode",a{"use strict";var g8r=it(),ept=ji();tpt.exports=function(t,r,i){var n={},a=i[r.subplot]._subplot,o,s;a?(o=a.radialAxis,s=a.angularAxis):(a=i[r.subplot],o=a.radialaxis,s=a.angularaxis);var l=o.c2l(t.r);n.rLabel=ept.tickText(o,l,!0).text;var u=s.thetaunit==="degrees"?g8r.rad2deg(t.theta):t.theta;return n.thetaLabel=ept.tickText(s,u,!0).text,n}});var npt=W((Ani,ipt)=>{"use strict";var rpt=sn(),m8r=Kn().BADNUM,y8r=ji(),x8r=wd(),_8r=x1(),b8r=w0(),w8r=Td().calcMarkerSize;ipt.exports=function(t,r){for(var i=t._fullLayout,n=r.subplot,a=i[n].radialaxis,o=i[n].angularaxis,s=a.makeCalcdata(r,"r"),l=o.makeCalcdata(r,"theta"),u=r._length,c=new Array(u),f=0;f{"use strict";var T8r=$w(),apt=Kn().BADNUM;opt.exports=function(t,r,i){for(var n=r.layers.frontplot.select("g.scatterlayer"),a=r.xaxis,o=r.yaxis,s={xaxis:a,yaxis:o,plot:r.framework,layerClipId:r._hasClipOnAxisFalse?r.clipIds.forTraces:null},l=r.radialAxis,u=r.angularAxis,c=0;c{"use strict";var A8r=Zw();function M8r(e,t,r,i){var n=A8r(e,t,r,i);if(!(!n||n[0].index===!1)){var a=n[0];if(a.index===void 0)return n;var o=e.subplot,s=a.cd[a.index],l=a.trace;if(o.isPtInside(s))return a.xLabelVal=void 0,a.yLabelVal=void 0,lpt(s,l,o,a),a.hovertemplate=l.hovertemplate,n}}function lpt(e,t,r,i){var n=r.radialAxis,a=r.angularAxis;n._hovertitle="r",a._hovertitle="\u03B8";var o={};o[t.subplot]={_subplot:r};var s=t._module.formatLabels(e,t,o);i.rLabel=s.rLabel,i.thetaLabel=s.thetaLabel;var l=e.hi||t.hoverinfo,u=[];function c(h,d){u.push(h._hovertitle+": "+d)}if(!t.hovertemplate){var f=l.split("+");f.indexOf("all")!==-1&&(f=["r","theta","text"]),f.indexOf("r")!==-1&&c(n,i.rLabel),f.indexOf("theta")!==-1&&c(a,i.thetaLabel),f.indexOf("text")!==-1&&i.text&&(u.push(i.text),delete i.text),i.extraText=u.join("
")}}upt.exports={hoverPoints:M8r,makeHoverPointText:lpt}});var fpt=W((Eni,cpt)=>{"use strict";cpt.exports={moduleType:"trace",name:"scatterpolar",basePlotModule:GO(),categories:["polar","symbols","showLegend","scatter-like"],attributes:$8(),supplyDefaults:$O().supplyDefaults,colorbar:Ac(),formatLabels:WO(),calc:npt(),plot:spt(),style:th().style,styleOnSelect:th().styleOnSelect,hoverPoints:YO().hoverPoints,selectPoints:w_(),meta:{}}});var dpt=W((kni,hpt)=>{"use strict";hpt.exports=fpt()});var ise=W((Fni,vpt)=>{"use strict";var ppt=$8(),{cliponaxis:Cni,hoveron:Dni}=ppt,S8r=Gse(ppt,["cliponaxis","hoveron"]),{connectgaps:E8r,line:{color:k8r,dash:C8r,width:D8r},fill:F8r,fillcolor:L8r,marker:P8r,textfont:I8r,textposition:R8r}=_E();vpt.exports=ma(fn({},S8r),{connectgaps:E8r,fill:F8r,fillcolor:L8r,line:{color:k8r,dash:C8r,editType:"calc",width:D8r},marker:P8r,textfont:I8r,textposition:R8r})});var ypt=W((Pni,mpt)=>{"use strict";var gpt=it(),nse=$o(),z8r=$O().handleRThetaDefaults,B8r=bd(),q8r=jp(),O8r=$p(),N8r=y1(),U8r=v1().PTS_LINESONLY,V8r=ise();mpt.exports=function(t,r,i,n){function a(s,l){return gpt.coerce(t,r,V8r,s,l)}var o=z8r(t,r,n,a);if(!o){r.visible=!1;return}a("thetaunit"),a("mode",o{"use strict";var G8r=WO();xpt.exports=function(t,r,i){var n=t.i;return"r"in t||(t.r=r._r[n]),"theta"in t||(t.theta=r._theta[n]),G8r(t,r,i)}});var wpt=W((Rni,bpt)=>{"use strict";var H8r=wd(),j8r=Td().calcMarkerSize,$8r=kb(),W8r=ji(),Y8r=C2().TOO_MANY_POINTS;bpt.exports=function(t,r){var i=t._fullLayout,n=r.subplot,a=i[n].radialaxis,o=i[n].angularaxis,s=r._r=a.makeCalcdata(r,"r"),l=r._theta=o.makeCalcdata(r,"theta"),u=r._length,c={};u{"use strict";var X8r=nR(),Z8r=YO().makeHoverPointText;function K8r(e,t,r,i){var n=e.cd,a=n[0].t,o=a.r,s=a.theta,l=X8r.hoverPoints(e,t,r,i);if(!(!l||l[0].index===!1)){var u=l[0];if(u.index===void 0)return l;var c=e.subplot,f=u.cd[u.index],h=u.trace;if(f.r=o[u.index],f.theta=s[u.index],!!c.isPtInside(f))return u.xLabelVal=void 0,u.yLabelVal=void 0,Z8r(f,h,c,u),l}}Tpt.exports={hoverPoints:K8r}});var Spt=W((Bni,Mpt)=>{"use strict";Mpt.exports={moduleType:"trace",name:"scatterpolargl",basePlotModule:GO(),categories:["gl","regl","polar","symbols","showLegend","scatter-like"],attributes:ise(),supplyDefaults:ypt(),colorbar:Ac(),formatLabels:_pt(),calc:wpt(),hoverPoints:Apt().hoverPoints,selectPoints:VQ(),meta:{}}});var Ept=W((qni,ase)=>{"use strict";var J8r=lR(),Q8r=sn(),eCr=Hee(),tCr=OQ(),XO=kb(),ZO=it(),rCr=C2().TOO_MANY_POINTS,iCr={};ase.exports=function(t,r,i){if(i.length){var n=r.radialAxis,a=r.angularAxis,o=tCr(t,r);return i.forEach(function(s){if(!(!s||!s[0]||!s[0].trace)){var l=s[0],u=l.trace,c=l.t,f=u._length,h=c.r,d=c.theta,p=c.opts,v,m=h.slice(),g=d.slice();for(v=0;v=rCr&&(p.marker.cluster=c.tree),p.marker&&(p.markerSel.positions=p.markerUnsel.positions=p.marker.positions=w),p.line&&w.length>1&&ZO.extendFlat(p.line,XO.linePositions(t,u,w)),p.text&&(ZO.extendFlat(p.text,{positions:w},XO.textPosition(t,u,p.text,p.marker)),ZO.extendFlat(p.textSel,{positions:w},XO.textPosition(t,u,p.text,p.markerSel)),ZO.extendFlat(p.textUnsel,{positions:w},XO.textPosition(t,u,p.text,p.markerUnsel))),p.fill&&!o.fill2d&&(o.fill2d=!0),p.marker&&!o.scatter2d&&(o.scatter2d=!0),p.line&&!o.line2d&&(o.line2d=!0),p.text&&!o.glText&&(o.glText=!0),o.lineOptions.push(p.line),o.fillOptions.push(p.fill),o.markerOptions.push(p.marker),o.markerSelectedOptions.push(p.markerSel),o.markerUnselectedOptions.push(p.markerUnsel),o.textOptions.push(p.text),o.textSelectedOptions.push(p.textSel),o.textUnselectedOptions.push(p.textUnsel),o.selectBatch.push([]),o.unselectBatch.push([]),c.x=b,c.y=_,c.rawx=b,c.rawy=_,c.r=h,c.theta=d,c.positions=w,c._scene=o,c.index=o.count,o.count++}}),eCr(t,r,i)}};ase.exports.reglPrecompiled=iCr});var Dpt=W((Oni,Cpt)=>{"use strict";var kpt=Spt();kpt.plot=Ept();Cpt.exports=kpt});var Lpt=W((Nni,Fpt)=>{"use strict";Fpt.exports=Dpt()});var ose=W((Uni,Ppt)=>{"use strict";var{hovertemplateAttrs:nCr,templatefallbackAttrs:aCr}=Ga(),g6=tn().extendFlat,vx=$8(),gx=w1();Ppt.exports={r:vx.r,theta:vx.theta,r0:vx.r0,dr:vx.dr,theta0:vx.theta0,dtheta:vx.dtheta,thetaunit:vx.thetaunit,base:g6({},gx.base,{}),offset:g6({},gx.offset,{}),width:g6({},gx.width,{}),text:g6({},gx.text,{}),hovertext:g6({},gx.hovertext,{}),marker:oCr(),hoverinfo:vx.hoverinfo,hovertemplate:nCr(),hovertemplatefallback:aCr(),selected:gx.selected,unselected:gx.unselected};function oCr(){var e=g6({},gx.marker);return delete e.cornerradius,e}});var sse=W((Vni,Ipt)=>{"use strict";Ipt.exports={barmode:{valType:"enumerated",values:["stack","overlay"],dflt:"stack",editType:"calc"},bargap:{valType:"number",dflt:.1,min:0,max:1,editType:"calc"}}});var Bpt=W((Gni,zpt)=>{"use strict";var Rpt=it(),sCr=$O().handleRThetaDefaults,lCr=rL(),uCr=ose();zpt.exports=function(t,r,i,n){function a(s,l){return Rpt.coerce(t,r,uCr,s,l)}var o=sCr(t,r,n,a);if(!o){r.visible=!1;return}a("thetaunit"),a("base"),a("offset"),a("width"),a("text"),a("hovertext"),a("hovertemplate"),a("hovertemplatefallback"),lCr(t,r,a,i,n),Rpt.coerceSelectionMarkerOpacity(r,a)}});var Opt=W((Hni,qpt)=>{"use strict";var cCr=it(),fCr=sse();qpt.exports=function(e,t,r){var i={},n;function a(l,u){return cCr.coerce(e[n]||{},t[n],fCr,l,u)}for(var o=0;o{"use strict";var Npt=bc().hasColorscale,Upt=Zc(),hCr=it().isArrayOrTypedArray,dCr=DM(),pCr=b_().setGroupPositions,vCr=w0(),gCr=yi().traceIs,mCr=it().extendFlat;function yCr(e,t){for(var r=e._fullLayout,i=t.subplot,n=r[i].radialaxis,a=r[i].angularaxis,o=n.makeCalcdata(t,"r"),s=a.makeCalcdata(t,"theta"),l=t._length,u=new Array(l),c=o,f=s,h=0;h{"use strict";var Gpt=vi(),KO=sn(),m6=it(),_Cr=Ji(),use=RO();Hpt.exports=function(t,r,i){var n=t._context.staticPlot,a=r.xaxis,o=r.yaxis,s=r.radialAxis,l=r.angularAxis,u=bCr(r),c=r.layers.frontplot.select("g.barlayer");m6.makeTraceGroups(c,i,"trace bars").each(function(){var f=Gpt.select(this),h=m6.ensureSingle(f,"g","points"),d=h.selectAll("g.point").data(m6.identity);d.enter().append("g").style("vector-effect",n?"none":"non-scaling-stroke").style("stroke-miterlimit",2).classed("point",!0),d.exit().remove(),d.each(function(p){var v=Gpt.select(this),m=p.rp0=s.c2p(p.s0),g=p.rp1=s.c2p(p.s1),w=p.thetag0=l.c2g(p.p0),b=p.thetag1=l.c2g(p.p1),_;if(!KO(m)||!KO(g)||!KO(w)||!KO(b)||m===g||w===b)_="M0,0Z";else{var M=s.c2g(p.s1),x=(w+b)/2;p.ct=[a.c2p(M*Math.cos(x)),o.c2p(M*Math.sin(x))],_=u(m,g,w,b)}m6.ensureSingle(v,"path").attr("d",_)}),_Cr.setClipUrl(f,r._hasClipOnAxisFalse?r.clipIds.forTraces:null,t)})};function bCr(e){var t=e.cxx,r=e.cyy;return e.vangles?function(i,n,a,o){var s,l;m6.angleDelta(a,o)>0?(s=a,l=o):(s=o,l=a);var u=use.findEnclosingVertexAngles(s,e.vangles)[0],c=use.findEnclosingVertexAngles(l,e.vangles)[1],f=[u,(s+l)/2,c];return use.pathPolygonAnnulus(i,n,s,l,f,t,r)}:function(i,n,a,o){return m6.pathAnnulus(i,n,a,o,t,r)}}});var Wpt=W((Wni,$pt)=>{"use strict";var wCr=Ds(),cse=it(),TCr=c5().getTraceColor,ACr=cse.fillText,MCr=YO().makeHoverPointText,SCr=RO().isPtInsidePolygon;$pt.exports=function(t,r,i){var n=t.cd,a=n[0].trace,o=t.subplot,s=o.radialAxis,l=o.angularAxis,u=o.vangles,c=u?SCr:cse.isPtInsideSector,f=t.maxHoverDistance,h=l._period||2*Math.PI,d=Math.abs(s.g2p(Math.sqrt(r*r+i*i))),p=Math.atan2(i,r);s.range[0]>s.range[1]&&(p+=Math.PI);var v=function(b){return c(d,p,[b.rp0,b.rp1],[b.thetag0,b.thetag1],u)?f+Math.min(1,Math.abs(b.thetag1-b.thetag0)/h)-1+(b.rp1-d)/(b.rp1-b.rp0)-1:1/0};if(wCr.getClosest(n,v,t),t.index!==!1){var m=t.index,g=n[m];t.x0=t.x1=g.ct[0],t.y0=t.y1=g.ct[1];var w=cse.extendFlat({},g,{r:g.s,theta:g.p});return ACr(g,a,t),MCr(w,a,o,t),t.hovertemplate=a.hovertemplate,t.color=TCr(a,g),t.xLabelVal=t.yLabelVal=void 0,g.s<0&&(t.idealAlign="left"),[t]}}});var Xpt=W((Yni,Ypt)=>{"use strict";Ypt.exports={moduleType:"trace",name:"barpolar",basePlotModule:GO(),categories:["polar","bar","showLegend"],attributes:ose(),layoutAttributes:sse(),supplyDefaults:Bpt(),supplyLayoutDefaults:Opt(),calc:lse().calc,crossTraceCalc:lse().crossTraceCalc,plot:jpt(),colorbar:Ac(),formatLabels:WO(),style:Ed().style,styleOnSelect:Ed().styleOnSelect,hoverPoints:Wpt(),selectPoints:f5(),meta:{}}});var Kpt=W((Xni,Zpt)=>{"use strict";Zpt.exports=Xpt()});var fse=W((Zni,Jpt)=>{"use strict";Jpt.exports={attr:"subplot",name:"smith",axisNames:["realaxis","imaginaryaxis"],axisName2dataArray:{imaginaryaxis:"imag",realaxis:"real"}}});var hse=W((Kni,rvt)=>{"use strict";var ECr=Vl(),ll=ec(),kCr=us().attributes,mx=it().extendFlat,Qpt=ls().overrideAll,evt=Qpt({color:ll.color,showline:mx({},ll.showline,{dflt:!0}),linecolor:ll.linecolor,linewidth:ll.linewidth,showgrid:mx({},ll.showgrid,{dflt:!0}),gridcolor:ll.gridcolor,gridwidth:ll.gridwidth,griddash:ll.griddash},"plot","from-root"),tvt=Qpt({ticklen:ll.ticklen,tickwidth:mx({},ll.tickwidth,{dflt:2}),tickcolor:ll.tickcolor,showticklabels:ll.showticklabels,labelalias:ll.labelalias,showtickprefix:ll.showtickprefix,tickprefix:ll.tickprefix,showticksuffix:ll.showticksuffix,ticksuffix:ll.ticksuffix,tickfont:ll.tickfont,tickformat:ll.tickformat,hoverformat:ll.hoverformat,layer:ll.layer},"plot","from-root"),CCr=mx({visible:mx({},ll.visible,{dflt:!0}),tickvals:{dflt:[.2,.5,1,2,5],valType:"data_array",editType:"plot"},tickangle:mx({},ll.tickangle,{dflt:90}),ticks:{valType:"enumerated",values:["top","bottom",""],editType:"ticks"},side:{valType:"enumerated",values:["top","bottom"],dflt:"top",editType:"plot"},editType:"calc"},evt,tvt),DCr=mx({visible:mx({},ll.visible,{dflt:!0}),tickvals:{valType:"data_array",editType:"plot"},ticks:ll.ticks,editType:"calc"},evt,tvt);rvt.exports={domain:kCr({name:"smith",editType:"plot"}),bgcolor:{valType:"color",editType:"plot",dflt:ECr.background},realaxis:CCr,imaginaryaxis:DCr,editType:"calc"}});var avt=W((Jni,nvt)=>{"use strict";var y6=it(),FCr=ni(),LCr=Da(),PCr=q_(),ICr=_c().getSubplotData,RCr=Ty(),zCr=wy(),BCr=vM(),qCr=i1(),x6=hse(),dse=fse(),ivt=dse.axisNames,OCr=UCr(function(e){return y6.isTypedArray(e)&&(e=Array.from(e)),e.slice().reverse().map(function(t){return-t}).concat([0]).concat(e)},String);function NCr(e,t,r,i){var n=r("bgcolor");i.bgColor=FCr.combine(n,i.paper_bgcolor);var a=ICr(i.fullData,dse.name,i.id),o=i.layoutOut,s;function l(M,x){return r(s+"."+M,x)}for(var u=0;u{"use strict";var VCr=_c().getSubplotCalcData,GCr=it().counterRegex,HCr=tse(),svt=fse(),lvt=svt.attr,E3=svt.name,ovt=GCr(E3),uvt={};uvt[lvt]={valType:"subplotid",dflt:E3,editType:"calc"};function jCr(e){for(var t=e._fullLayout,r=e.calcdata,i=t._subplots[E3],n=0;n{"use strict";var{hovertemplateAttrs:WCr,texttemplateAttrs:YCr,templatefallbackAttrs:hvt}=Ga(),JO=tn().extendFlat,XCr=g1(),H0=Ns(),ZCr=Wa(),_6=H0.line;dvt.exports={mode:H0.mode,real:{valType:"data_array",editType:"calc+clearAxisTypes"},imag:{valType:"data_array",editType:"calc+clearAxisTypes"},text:H0.text,texttemplate:YCr({editType:"plot"},{keys:["real","imag","text"]}),texttemplatefallback:hvt({editType:"plot"}),hovertext:H0.hovertext,line:{color:_6.color,width:_6.width,dash:_6.dash,backoff:_6.backoff,shape:JO({},_6.shape,{values:["linear","spline"]}),smoothing:_6.smoothing,editType:"calc"},connectgaps:H0.connectgaps,marker:H0.marker,cliponaxis:JO({},H0.cliponaxis,{dflt:!1}),textposition:H0.textposition,textfont:H0.textfont,fill:JO({},H0.fill,{values:["none","toself","tonext"],dflt:"none"}),fillcolor:XCr(),hoverinfo:JO({},ZCr.hoverinfo,{flags:["real","imag","text","name"]}),hoveron:H0.hoveron,hovertemplate:WCr(),hovertemplatefallback:hvt(),selected:H0.selected,unselected:H0.unselected}});var gvt=W((tai,vvt)=>{"use strict";var QO=it(),b6=$o(),KCr=bd(),JCr=jp(),pvt=Nw(),QCr=$p(),eDr=y1(),tDr=v1().PTS_LINESONLY,rDr=pse();vvt.exports=function(t,r,i,n){function a(l,u){return QO.coerce(t,r,rDr,l,u)}var o=iDr(t,r,n,a);if(!o){r.visible=!1;return}a("mode",o{"use strict";var mvt=ji();yvt.exports=function(t,r,i){var n={},a=i[r.subplot]._subplot;return n.realLabel=mvt.tickText(a.radialAxis,t.real,!0).text,n.imagLabel=mvt.tickText(a.angularAxis,t.imag,!0).text,n}});var wvt=W((iai,bvt)=>{"use strict";var _vt=sn(),nDr=Kn().BADNUM,aDr=wd(),oDr=x1(),sDr=w0(),lDr=Td().calcMarkerSize;bvt.exports=function(t,r){for(var i=t._fullLayout,n=r.subplot,a=i[n].realaxis,o=i[n].imaginaryaxis,s=a.makeCalcdata(r,"real"),l=o.makeCalcdata(r,"imag"),u=r._length,c=new Array(u),f=0;f{"use strict";var uDr=$w(),Tvt=Kn().BADNUM,cDr=Qoe(),fDr=cDr.smith;Avt.exports=function(t,r,i){for(var n=r.layers.frontplot.select("g.scatterlayer"),a=r.xaxis,o=r.yaxis,s={xaxis:a,yaxis:o,plot:r.framework,layerClipId:r._hasClipOnAxisFalse?r.clipIds.forTraces:null},l=0;l{"use strict";var hDr=Zw();function dDr(e,t,r,i){var n=hDr(e,t,r,i);if(!(!n||n[0].index===!1)){var a=n[0];if(a.index===void 0)return n;var o=e.subplot,s=a.cd[a.index],l=a.trace;if(o.isPtInside(s))return a.xLabelVal=void 0,a.yLabelVal=void 0,Svt(s,l,o,a),a.hovertemplate=l.hovertemplate,n}}function Svt(e,t,r,i){var n=r.radialAxis,a=r.angularAxis;n._hovertitle="real",a._hovertitle="imag";var o={};o[t.subplot]={_subplot:r};var s=t._module.formatLabels(e,t,o);i.realLabel=s.realLabel,i.imagLabel=s.imagLabel;var l=e.hi||t.hoverinfo,u=[];function c(h,d){u.push(h._hovertitle+": "+d)}if(!t.hovertemplate){var f=l.split("+");f.indexOf("all")!==-1&&(f=["real","imag","text"]),f.indexOf("real")!==-1&&c(n,i.realLabel),f.indexOf("imag")!==-1&&c(a,i.imagLabel),f.indexOf("text")!==-1&&i.text&&(u.push(i.text),delete i.text),i.extraText=u.join("
")}}Evt.exports={hoverPoints:dDr,makeHoverPointText:Svt}});var Dvt=W((oai,Cvt)=>{"use strict";Cvt.exports={moduleType:"trace",name:"scattersmith",basePlotModule:fvt(),categories:["smith","symbols","showLegend","scatter-like"],attributes:pse(),supplyDefaults:gvt(),colorbar:Ac(),formatLabels:xvt(),calc:wvt(),plot:Mvt(),style:th().style,styleOnSelect:th().styleOnSelect,hoverPoints:kvt().hoverPoints,selectPoints:w_(),meta:{}}});var Lvt=W((sai,Fvt)=>{"use strict";Fvt.exports=Dvt()});var gse=W((lai,Pvt)=>{"use strict";var pDr=Wa(),vDr=Ga().hovertemplateAttrs,eN=_s().axisHoverFormat,vse=tn().extendFlat,gDr=Eo(),mDr=Du().dash,yDr=qy(),k3=Ns(),xDr={x:{valType:"data_array",editType:"calc+clearAxisTypes",anim:!0},x0:k3.x0,dx:k3.dx,y:{valType:"data_array",editType:"calc+clearAxisTypes",anim:!0},y0:k3.y0,dy:k3.dy,u:{valType:"data_array",editType:"calc",anim:!0},v:{valType:"data_array",editType:"calc",anim:!0},arrowref:{valType:"enumerated",values:["paper","data"],dflt:"data",editType:"calc"},lengthmode:{valType:"enumerated",values:["scaled","raw"],editType:"calc",dflt:"scaled"},lengthfactor:{valType:"number",min:0,editType:"calc",dflt:1},anchor:{valType:"enumerated",values:["tip","tail","center"],dflt:"tail",editType:"calc"},xhoverformat:eN("x"),yhoverformat:eN("y"),uhoverformat:eN("u","noDate"),vhoverformat:eN("v","noDate"),hoverinfo:vse({},pDr.hoverinfo,{flags:["x","y","u","v","text","name"],dflt:"all"}),hovertemplate:vDr({},{keys:["x","y","u","v","text","name"]}),text:k3.text,textposition:k3.textposition,textfont:k3.textfont,marker:vse({arrowsize:vse({},yDr.arrowsize,{editType:"calc"}),line:{width:{valType:"number",min:0,dflt:2,editType:"style"},dash:mDr,editType:"style"},editType:"calc"},gDr("marker",{showScaleDflt:!0,editTypeOverride:"calc"})),selected:{marker:{color:{valType:"color",editType:"style"},line:{width:{valType:"number",min:0,editType:"style"},editType:"style"},editType:"style"},textfont:{color:{valType:"color",editType:"style"},editType:"style"},editType:"style"},unselected:{marker:{color:{valType:"color",editType:"style"},line:{width:{valType:"number",min:0,editType:"style"},editType:"style"},editType:"style"},textfont:{color:{valType:"color",editType:"style"},editType:"style"},editType:"style"}};Pvt.exports=xDr});var Rvt=W((uai,Ivt)=>{"use strict";var W8=it(),_Dr=gse(),bDr=x_(),wDr=bc().hasColorscale,TDr=Fu();Ivt.exports=function(t,r,i,n){function a(p,v){return W8.coerce(t,r,_Dr,p,v)}var o=bDr(t,r,n,a);if(!o){r.visible=!1;return}var s=a("u"),l=a("v");if(!W8.isArrayOrTypedArray(s)||s.length===0){r.u=new Array(o);for(var u=0;u{"use strict";var jm=it(),w6=ji(),Y8=sn(),zvt=Kn().BADNUM,ADr=Zc(),MDr=w0(),SDr=.97;Bvt.exports=function(t,r){let i=r._xA=w6.getFromId(t,r.xaxis||"x","x"),n=r._yA=w6.getFromId(t,r.yaxis||"y","y"),a=i.makeCalcdata(r,"x"),o=n.makeCalcdata(r,"y"),s=Math.min(a.length,o.length);r._length=s;let l=new Array(s);var u=1/0,c=-1/0,f=1/0,h=-1/0;let d=r.marker.color,p=jm.isArrayOrTypedArray(d),v=r.u||[],m=r.v||[],{anchor:g,lengthmode:w,arrowref:b}=r,_=g==="tip",M=g==="center";for(var x=1/0,T=-1/0,A=1/0,y=-1/0,E=1/0,S=-1/0,C=1/0,k=-1/0,D=0,F=0;FT&&(T=a[F]),o[F]y&&(y=o[F]),IS&&(S=I),Bk&&(k=B);var O=Math.sqrt(I*I+B*B);if(O>c&&(c=O),Oh&&(h=$))}}else P.x=zvt,P.y=zvt}if(r._maxNorm=c,w==="scaled"||b==="paper"){let H=T-x,G=y-A;var Y;H===0&&G===0?Y=1:Y=(H+G+Math.sqrt((H-G)*(H-G)+4*D*H*G))/(2*(D-1)),Y*=SDr,r._scaleFactor=Y/r._maxNorm}else r._scaleFactor=1;r._scaleFactor*=r.lengthfactor;let K=new Array(s),j=new Array(s),q=new Array(s),J=new Array(s);for(var U,V,F=0;F{"use strict";Ovt.exports=function(t,r){}});var tN=W((hai,Gvt)=>{"use strict";var mse=vi(),Uvt=it(),X8=Ji(),EDr=Jo(),kDr=kg().DESELECTDIM;function yse(e,t){var r=t.marker||{},i=EDr.makeColorScaleFuncFromTrace(r);e.style("stroke",function(n){var a=r.color,o;if(Uvt.isArrayOrTypedArray(a)&&a.length>n.i&&isFinite(a[n.i]))o=a[n.i];else{var s=t.u&&t.u[n.i]||0,l=t.v&&t.v[n.i]||0;o=Math.sqrt(s*s+l*l)}return n.mcc=i(o),n.mcc})}function CDr(e){var t=mse.select(e).selectAll("g.trace.quiver");t.each(function(r){Vvt(e,r,mse.select(this))})}function DDr(e,t,r){Vvt(e,t,r)}function Vvt(e,t,r){var i=t[0].trace,n=i.marker||{},a=n.line||{},o=Uvt.isArrayOrTypedArray(n.color)?void 0:n.color,s=i._hasColorscale;if(r)if(i.selectedpoints){var l=(i.selected||{}).marker||{},u=(i.unselected||{}).marker||{},c=l.line||{},f=u.line||{};r.selectAll("path.js-line").each(function(d){var p=mse.select(this),v=!d.selected,m=v?u.color:l.color,g=v?f.width!==void 0?f.width:a.width:c.width!==void 0?c.width:a.width;m?(X8.lineGroupStyle(p,g,m,a.dash),p.style("stroke-opacity",1)):(X8.lineGroupStyle(p,g,o,a.dash),s&&yse(p,i),p.style("stroke-opacity",v?kDr:1))}),X8.selectedTextStyle(r.selectAll("text"),i)}else{var h=r.selectAll("path.js-line");h.call(X8.lineGroupStyle,a.width,o,a.dash),s&&yse(h,i),h.style("stroke-opacity",1),X8.textPointStyle(r.selectAll("text"),i,e)}}Gvt.exports={style:CDr,styleOnSelect:DDr,colorscaleStroke:yse}});var $vt=W((dai,jvt)=>{"use strict";var kv=vi(),FDr=it(),Z8=Ji(),LDr=tN().colorscaleStroke,rN=Math.PI/12,PDr=5.8,IDr=1.5,RDr=.7;jvt.exports=function(t,r,i,n,a,o){var s,l,u=!a,c=!!a&&a.duration>0;if(s=n.selectAll("g.trace").data(i,function(h){return h[0].trace.uid}),s.enter().append("g").attr("class",function(h){return"trace quiver trace"+h[0].trace.uid}).style("stroke-miterlimit",2),s.order(),c){o&&(l=o());var f=kv.transition().duration(a.duration).ease(a.easing).each("end",function(){l&&l()}).each("interrupt",function(){l&&l()});f.each(function(){n.selectAll("g.trace").each(function(h,d){Hvt(t,d,r,h,i,this,a)})})}else s.each(function(h,d){Hvt(t,d,r,h,i,this,a)});u&&s.exit().remove()};function Hvt(e,t,r,i,n,a,o){var s=i[0].trace,l=r.xaxis,u=r.yaxis;i[0][r.isRangePlot?"nodeRangePlot3":"node3"]=kv.select(a);var c=kv.select(a).selectAll("g.lines").data([i]);c.enter().append("g").classed("lines",!0),Z8.setClipUrl(c,r.layerClipId,e);var f=c.selectAll("path.js-line").data(i);f.enter().append("path").classed("js-line",!0).style("vector-effect","non-scaling-stroke"),f.exit().remove();let{anchor:h,maxNorm:d=0,arrowref:p}=s,v=p==="paper"?s._scaleFactor*Math.sqrt(Math.abs(l._m*u._m)):s._scaleFactor,m=s.marker.arrowsize;f.each(function(T){let A=kv.select(this);if(T.x===void 0||T.y===void 0){A.attr("d",null);return}let y=(p==="paper"?T._u*Math.sign(l._m):kv.round(l._m*T._u))*v,E=(p==="paper"?T._v*Math.sign(u._m):kv.round(u._m*T._v))*v,S=(s._input.marker||{}).arrowsize!==void 0;var C,k,D,F;h==="tip"?(C=l.c2p(T.x)-y,D=u.c2p(T.y)-E,k=l.c2p(T.x),F=u.c2p(T.y)):h==="center"?(C=l.c2p(T.x)-y/2,D=u.c2p(T.y)-E/2,k=l.c2p(T.x)+y/2,F=u.c2p(T.y)+E/2):(C=l.c2p(T.x),D=u.c2p(T.y),k=l.c2p(T.x)+y,F=u.c2p(T.y)+E),T._px0=C,T._py0=D,T._px1=k,T._py1=F;var P=s.marker.line.width;S||(P=Math.max(P,IDr));let R=Math.sqrt((k-C)*(k-C)+(F-D)*(F-D)),L=RDr*R,I=Math.min(PDr*m*P,L),B=Math.atan2(F-D,k-C),O=k-I*Math.cos(B-rN),$=F-I*Math.sin(B-rN),Y=k-I*Math.cos(B+rN),K=F-I*Math.sin(B+rN),j="M"+C+","+D+"L"+k+","+F+"L"+O+","+$+"L"+k+","+F+"L"+Y+","+K;A.attr("d",j)});var g=s.marker||{},w=g.line||{},b=FDr.isArrayOrTypedArray(g.color)?void 0:g.color;Z8.lineGroupStyle(f,w.width,b,w.dash),s._hasColorscale&&LDr(f,s);var _=kv.select(a).selectAll("g.text").data([i]);_.enter().append("g").classed("text",!0),Z8.setClipUrl(_,r.layerClipId,e);var M=_.selectAll("g.textpoint").data(i);if(M.enter().append("g").classed("textpoint",!0).append("text"),M.exit().remove(),M.each(function(T){var A=kv.select(this),y=Z8.translatePoint(T,A.select("text"),l,u);y||A.remove()}),M.selectAll("text").call(Z8.textPointStyle,s,e).each(function(T){var A=l.c2p(T.x),y=u.c2p(T.y);kv.select(this).selectAll("tspan.line").each(function(){kv.select(this).attr({x:A,y})})}),o&&o.duration>0){var x=kv.transition().duration(o.duration).ease(o.easing);f.transition(x).style("opacity",1)}}});var Xvt=W((pai,Yvt)=>{"use strict";var Wvt=it(),zDr=Ds(),BDr=Xw();function qDr(e,t,r,i,n,a){let o=n-r,s=a-i,l=o*o+s*s;if(!l)return Math.sqrt((e-r)*(e-r)+(t-i)*(t-i));var u=((e-r)*o+(t-i)*s)/l;u=Math.max(0,Math.min(1,u));let c=r+u*o,f=i+u*s;return Math.sqrt((e-c)*(e-c)+(t-f)*(t-f))}Yvt.exports=function(t,r,i,n){var a=t.cd,o=a[0].trace,s=t.xa,l=t.ya,u=s.c2p(r),c=l.c2p(i),f=function(b){return b._px0===void 0?1/0:qDr(u,c,b._px0,b._py0,b._px1,b._py1)};if(zDr.getClosest(a,f,t),t.index!==!1){var h=a[t.index],d=s.c2p(h.x,!0),p=l.c2p(h.y,!0),v=Math.sqrt((u-d)*(u-d)+(c-p)*(c-p));t.index=h.i;var m=o.u?o.u[h.i]:0,g=o.v?o.v[h.i]:0,w="u: "+m+", v: "+g;return Wvt.extendFlat(t,{color:BDr(o,h),x0:d-3,x1:d+3,xLabelVal:h.x,y0:p-3,y1:p+3,yLabelVal:h.y,uLabelVal:m,vLabelVal:g,extraText:w,spikeDistance:v,hovertemplate:o.hovertemplate}),Wvt.fillText(h,o,t),[t]}}});var Jvt=W((vai,Kvt)=>{"use strict";var iN=ji(),Zvt=it();Kvt.exports=function(t,r,i){var n={},a={_fullLayout:i},o=iN.getFromTrace(a,r,"x"),s=iN.getFromTrace(a,r,"y"),l=t.x,u=t.y;n.xLabel=iN.tickText(o,o.c2l(l),!0).text,n.yLabel=iN.tickText(s,s.c2l(u),!0).text;var c=r.u?r.u[t.i]:0,f=r.v?r.v[t.i]:0,h=r.uhoverformat,d=r.vhoverformat;return n.uLabel=h?Zvt.numberFormat(h)(c):String(c),n.vLabel=d?Zvt.numberFormat(d)(f):String(f),n}});var e1t=W((gai,Qvt)=>{"use strict";Qvt.exports=function(t,r,i,n,a){return t.x=r.x,t.y=r.y,t.u=i.u?i.u[a]:void 0,t.v=i.v?i.v[a]:void 0,t}});var r1t=W((mai,t1t)=>{"use strict";t1t.exports={moduleType:"trace",name:"quiver",basePlotModule:dl(),categories:["cartesian","svg","showLegend","scatter-like","zoomScale"],attributes:gse(),supplyDefaults:Rvt(),calc:qvt(),crossTraceCalc:Nvt(),plot:$vt(),style:tN().style,styleOnSelect:tN().styleOnSelect,hoverPoints:Xvt(),formatLabels:Jvt(),eventData:e1t(),selectPoints:w_(),colorbar:Ac(),animatable:!0,meta:{}}});var n1t=W((yai,i1t)=>{"use strict";i1t.exports=r1t()});var ff=W((xai,o1t)=>{var aN=qu();function a1t(){this.regionalOptions=[],this.regionalOptions[""]={invalidCalendar:"Calendar {0} not found",invalidDate:"Invalid {0} date",invalidMonth:"Invalid {0} month",invalidYear:"Invalid {0} year",differentCalendars:"Cannot mix {0} and {1} dates"},this.local=this.regionalOptions[""],this.calendars={},this._localCals={}}aN(a1t.prototype,{instance:function(e,t){e=(e||"gregorian").toLowerCase(),t=t||"";var r=this._localCals[e+"-"+t];if(!r&&this.calendars[e]&&(r=new this.calendars[e](t),this._localCals[e+"-"+t]=r),!r)throw(this.local.invalidCalendar||this.regionalOptions[""].invalidCalendar).replace(/\{0\}/,e);return r},newDate:function(e,t,r,i,n){return i=(e!=null&&e.year?e.calendar():typeof i=="string"?this.instance(i,n):i)||this.instance(),i.newDate(e,t,r)},substituteDigits:function(e){return function(t){return(t+"").replace(/[0-9]/g,function(r){return e[r]})}},substituteChineseDigits:function(e,t){return function(r){for(var i="",n=0;r>0;){var a=r%10;i=(a===0?"":e[a]+t[n])+i,n++,r=Math.floor(r/10)}return i.indexOf(e[1]+t[1])===0&&(i=i.substr(1)),i||e[0]}}});function xse(e,t,r,i){if(this._calendar=e,this._year=t,this._month=r,this._day=i,this._calendar._validateLevel===0&&!this._calendar.isValid(this._year,this._month,this._day))throw(ua.local.invalidDate||ua.regionalOptions[""].invalidDate).replace(/\{0\}/,this._calendar.local.name)}function nN(e,t){return e=""+e,"000000".substring(0,t-e.length)+e}aN(xse.prototype,{newDate:function(e,t,r){return this._calendar.newDate(e==null?this:e,t,r)},year:function(e){return arguments.length===0?this._year:this.set(e,"y")},month:function(e){return arguments.length===0?this._month:this.set(e,"m")},day:function(e){return arguments.length===0?this._day:this.set(e,"d")},date:function(e,t,r){if(!this._calendar.isValid(e,t,r))throw(ua.local.invalidDate||ua.regionalOptions[""].invalidDate).replace(/\{0\}/,this._calendar.local.name);return this._year=e,this._month=t,this._day=r,this},leapYear:function(){return this._calendar.leapYear(this)},epoch:function(){return this._calendar.epoch(this)},formatYear:function(){return this._calendar.formatYear(this)},monthOfYear:function(){return this._calendar.monthOfYear(this)},weekOfYear:function(){return this._calendar.weekOfYear(this)},daysInYear:function(){return this._calendar.daysInYear(this)},dayOfYear:function(){return this._calendar.dayOfYear(this)},daysInMonth:function(){return this._calendar.daysInMonth(this)},dayOfWeek:function(){return this._calendar.dayOfWeek(this)},weekDay:function(){return this._calendar.weekDay(this)},extraInfo:function(){return this._calendar.extraInfo(this)},add:function(e,t){return this._calendar.add(this,e,t)},set:function(e,t){return this._calendar.set(this,e,t)},compareTo:function(e){if(this._calendar.name!==e._calendar.name)throw(ua.local.differentCalendars||ua.regionalOptions[""].differentCalendars).replace(/\{0\}/,this._calendar.local.name).replace(/\{1\}/,e._calendar.local.name);var t=this._year!==e._year?this._year-e._year:this._month!==e._month?this.monthOfYear()-e.monthOfYear():this._day-e._day;return t===0?0:t<0?-1:1},calendar:function(){return this._calendar},toJD:function(){return this._calendar.toJD(this)},fromJD:function(e){return this._calendar.fromJD(e)},toJSDate:function(){return this._calendar.toJSDate(this)},fromJSDate:function(e){return this._calendar.fromJSDate(e)},toString:function(){return(this.year()<0?"-":"")+nN(Math.abs(this.year()),4)+"-"+nN(this.month(),2)+"-"+nN(this.day(),2)}});function _se(){this.shortYearCutoff="+10"}aN(_se.prototype,{_validateLevel:0,newDate:function(e,t,r){return e==null?this.today():(e.year&&(this._validate(e,t,r,ua.local.invalidDate||ua.regionalOptions[""].invalidDate),r=e.day(),t=e.month(),e=e.year()),new xse(this,e,t,r))},today:function(){return this.fromJSDate(new Date)},epoch:function(e){var t=this._validate(e,this.minMonth,this.minDay,ua.local.invalidYear||ua.regionalOptions[""].invalidYear);return t.year()<0?this.local.epochs[0]:this.local.epochs[1]},formatYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,ua.local.invalidYear||ua.regionalOptions[""].invalidYear);return(t.year()<0?"-":"")+nN(Math.abs(t.year()),4)},monthsInYear:function(e){return this._validate(e,this.minMonth,this.minDay,ua.local.invalidYear||ua.regionalOptions[""].invalidYear),12},monthOfYear:function(e,t){var r=this._validate(e,t,this.minDay,ua.local.invalidMonth||ua.regionalOptions[""].invalidMonth);return(r.month()+this.monthsInYear(r)-this.firstMonth)%this.monthsInYear(r)+this.minMonth},fromMonthOfYear:function(e,t){var r=(t+this.firstMonth-2*this.minMonth)%this.monthsInYear(e)+this.minMonth;return this._validate(e,r,this.minDay,ua.local.invalidMonth||ua.regionalOptions[""].invalidMonth),r},daysInYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,ua.local.invalidYear||ua.regionalOptions[""].invalidYear);return this.leapYear(t)?366:365},dayOfYear:function(e,t,r){var i=this._validate(e,t,r,ua.local.invalidDate||ua.regionalOptions[""].invalidDate);return i.toJD()-this.newDate(i.year(),this.fromMonthOfYear(i.year(),this.minMonth),this.minDay).toJD()+1},daysInWeek:function(){return 7},dayOfWeek:function(e,t,r){var i=this._validate(e,t,r,ua.local.invalidDate||ua.regionalOptions[""].invalidDate);return(Math.floor(this.toJD(i))+2)%this.daysInWeek()},extraInfo:function(e,t,r){return this._validate(e,t,r,ua.local.invalidDate||ua.regionalOptions[""].invalidDate),{}},add:function(e,t,r){return this._validate(e,this.minMonth,this.minDay,ua.local.invalidDate||ua.regionalOptions[""].invalidDate),this._correctAdd(e,this._add(e,t,r),t,r)},_add:function(e,t,r){if(this._validateLevel++,r==="d"||r==="w"){var i=e.toJD()+t*(r==="w"?this.daysInWeek():1),n=e.calendar().fromJD(i);return this._validateLevel--,[n.year(),n.month(),n.day()]}try{var a=e.year()+(r==="y"?t:0),o=e.monthOfYear()+(r==="m"?t:0),n=e.day(),s=function(c){for(;of-1+c.minMonth;)a++,o-=f,f=c.monthsInYear(a)};r==="y"?(e.month()!==this.fromMonthOfYear(a,o)&&(o=this.newDate(a,e.month(),this.minDay).monthOfYear()),o=Math.min(o,this.monthsInYear(a)),n=Math.min(n,this.daysInMonth(a,this.fromMonthOfYear(a,o)))):r==="m"&&(s(this),n=Math.min(n,this.daysInMonth(a,this.fromMonthOfYear(a,o))));var l=[a,this.fromMonthOfYear(a,o),n];return this._validateLevel--,l}catch(u){throw this._validateLevel--,u}},_correctAdd:function(e,t,r,i){if(!this.hasYearZero&&(i==="y"||i==="m")&&(t[0]===0||e.year()>0!=t[0]>0)){var n={y:[1,1,"y"],m:[1,this.monthsInYear(-1),"m"],w:[this.daysInWeek(),this.daysInYear(-1),"d"],d:[1,this.daysInYear(-1),"d"]}[i],a=r<0?-1:1;t=this._add(e,r*n[0]+a*n[1],n[2])}return e.date(t[0],t[1],t[2])},set:function(e,t,r){this._validate(e,this.minMonth,this.minDay,ua.local.invalidDate||ua.regionalOptions[""].invalidDate);var i=r==="y"?t:e.year(),n=r==="m"?t:e.month(),a=r==="d"?t:e.day();return(r==="y"||r==="m")&&(a=Math.min(a,this.daysInMonth(i,n))),e.date(i,n,a)},isValid:function(e,t,r){this._validateLevel++;var i=this.hasYearZero||e!==0;if(i){var n=this.newDate(e,t,this.minDay);i=t>=this.minMonth&&t-this.minMonth=this.minDay&&r-this.minDay13.5?13:1),u=n-(l>2.5?4716:4715);return u<=0&&u--,this.newDate(u,l,s)},toJSDate:function(e,t,r){var i=this._validate(e,t,r,ua.local.invalidDate||ua.regionalOptions[""].invalidDate),n=new Date(i.year(),i.month()-1,i.day());return n.setHours(0),n.setMinutes(0),n.setSeconds(0),n.setMilliseconds(0),n.setHours(n.getHours()>12?n.getHours()+2:0),n},fromJSDate:function(e){return this.newDate(e.getFullYear(),e.getMonth()+1,e.getDate())}});var ua=o1t.exports=new a1t;ua.cdate=xse;ua.baseCalendar=_se;ua.calendars.gregorian=bse});var s1t=W(()=>{var wse=qu(),hc=ff();wse(hc.regionalOptions[""],{invalidArguments:"Invalid arguments",invalidFormat:"Cannot format a date from another calendar",missingNumberAt:"Missing number at position {0}",unknownNameAt:"Unknown name at position {0}",unexpectedLiteralAt:"Unexpected literal at position {0}",unexpectedText:"Additional text found at end"});hc.local=hc.regionalOptions[""];wse(hc.cdate.prototype,{formatDate:function(e,t){return typeof e!="string"&&(t=e,e=""),this._calendar.formatDate(e||"",this,t)}});wse(hc.baseCalendar.prototype,{UNIX_EPOCH:hc.instance().newDate(1970,1,1).toJD(),SECS_PER_DAY:1440*60,TICKS_EPOCH:hc.instance().jdEpoch,TICKS_PER_DAY:1440*60*1e7,ATOM:"yyyy-mm-dd",COOKIE:"D, dd M yyyy",FULL:"DD, MM d, yyyy",ISO_8601:"yyyy-mm-dd",JULIAN:"J",RFC_822:"D, d M yy",RFC_850:"DD, dd-M-yy",RFC_1036:"D, d M yy",RFC_1123:"D, d M yyyy",RFC_2822:"D, d M yyyy",RSS:"D, d M yy",TICKS:"!",TIMESTAMP:"@",W3C:"yyyy-mm-dd",formatDate:function(e,t,r){if(typeof e!="string"&&(r=t,t=e,e=""),!t)return"";if(t.calendar()!==this)throw hc.local.invalidFormat||hc.regionalOptions[""].invalidFormat;e=e||this.local.dateFormat,r=r||{};for(var i=r.dayNamesShort||this.local.dayNamesShort,n=r.dayNames||this.local.dayNames,a=r.monthNumbers||this.local.monthNumbers,o=r.monthNamesShort||this.local.monthNamesShort,s=r.monthNames||this.local.monthNames,l=r.calculateWeek||this.local.calculateWeek,u=function(_,M){for(var x=1;b+x1},c=function(_,M,x,T){var A=""+M;if(u(_,T))for(;A.length1},w=function(C,k){var D=g(C,k),F=[2,3,D?4:2,D?4:2,10,11,20]["oyYJ@!".indexOf(C)+1],P=new RegExp("^-?\\d{1,"+F+"}"),R=t.substring(A).match(P);if(!R)throw(hc.local.missingNumberAt||hc.regionalOptions[""].missingNumberAt).replace(/\{0\}/,A);return A+=R[0].length,parseInt(R[0],10)},b=this,_=function(){if(typeof s=="function"){g("m");var C=s.call(b,t.substring(A));return A+=C.length,C}return w("m")},M=function(C,k,D,F){for(var P=g(C,F)?D:k,R=0;R-1){h=1,d=p;for(var S=this.daysInMonth(f,h);d>S;S=this.daysInMonth(f,h))h++,d-=S}return c>-1?this.fromJD(c):this.newDate(f,h,d)},determineDate:function(e,t,r,i,n){r&&typeof r!="object"&&(n=i,i=r,r=null),typeof i!="string"&&(n=i,i="");var a=this,o=function(s){try{return a.parseDate(i,s,n)}catch(f){}s=s.toLowerCase();for(var l=(s.match(/^c/)&&r?r.newDate():null)||a.today(),u=/([+-]?[0-9]+)\s*(d|w|m|y)?/g,c=u.exec(s);c;)l.add(parseInt(c[1],10),c[2]||"d"),c=u.exec(s);return l};return t=t?t.newDate():null,e=e==null?t:typeof e=="string"?o(e):typeof e=="number"?isNaN(e)||e===1/0||e===-1/0?t:a.today().add(e,"d"):a.newDate(e),e}})});var l1t=W(()=>{var yx=ff(),ODr=qu(),Tse=yx.instance();function oN(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}oN.prototype=new yx.baseCalendar;ODr(oN.prototype,{name:"Chinese",jdEpoch:17214255e-1,hasYearZero:!1,minMonth:0,firstMonth:0,minDay:1,regionalOptions:{"":{name:"Chinese",epochs:["BEC","EC"],monthNumbers:function(e,t){if(typeof e=="string"){var r=e.match(UDr);return r?r[0]:""}var i=this._validateYear(e),n=e.month(),a=""+this.toChineseMonth(i,n);return t&&a.length<2&&(a="0"+a),this.isIntercalaryMonth(i,n)&&(a+="i"),a},monthNames:function(e){if(typeof e=="string"){var t=e.match(VDr);return t?t[0]:""}var r=this._validateYear(e),i=e.month(),n=this.toChineseMonth(r,i),a=["\u4E00\u6708","\u4E8C\u6708","\u4E09\u6708","\u56DB\u6708","\u4E94\u6708","\u516D\u6708","\u4E03\u6708","\u516B\u6708","\u4E5D\u6708","\u5341\u6708","\u5341\u4E00\u6708","\u5341\u4E8C\u6708"][n-1];return this.isIntercalaryMonth(r,i)&&(a="\u95F0"+a),a},monthNamesShort:function(e){if(typeof e=="string"){var t=e.match(GDr);return t?t[0]:""}var r=this._validateYear(e),i=e.month(),n=this.toChineseMonth(r,i),a=["\u4E00","\u4E8C","\u4E09","\u56DB","\u4E94","\u516D","\u4E03","\u516B","\u4E5D","\u5341","\u5341\u4E00","\u5341\u4E8C"][n-1];return this.isIntercalaryMonth(r,i)&&(a="\u95F0"+a),a},parseMonth:function(e,t){e=this._validateYear(e);var r=parseInt(t),i;if(isNaN(r))t[0]==="\u95F0"&&(i=!0,t=t.substring(1)),t[t.length-1]==="\u6708"&&(t=t.substring(0,t.length-1)),r=1+["\u4E00","\u4E8C","\u4E09","\u56DB","\u4E94","\u516D","\u4E03","\u516B","\u4E5D","\u5341","\u5341\u4E00","\u5341\u4E8C"].indexOf(t);else{var n=t[t.length-1];i=n==="i"||n==="I"}var a=this.toMonthIndex(e,r,i);return a},dayNames:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:1,isRTL:!1}},_validateYear:function(e,t){if(e.year&&(e=e.year()),typeof e!="number"||e<1888||e>2111)throw t.replace(/\{0\}/,this.local.name);return e},toMonthIndex:function(e,t,r){var i=this.intercalaryMonth(e),n=r&&t!==i;if(n||t<1||t>12)throw yx.local.invalidMonth.replace(/\{0\}/,this.local.name);var a;return i?!r&&t<=i?a=t-1:a=t:a=t-1,a},toChineseMonth:function(e,t){e.year&&(e=e.year(),t=e.month());var r=this.intercalaryMonth(e),i=r?12:11;if(t<0||t>i)throw yx.local.invalidMonth.replace(/\{0\}/,this.local.name);var n;return r?t>13;return r},isIntercalaryMonth:function(e,t){e.year&&(e=e.year(),t=e.month());var r=this.intercalaryMonth(e);return!!r&&r===t},leapYear:function(e){return this.intercalaryMonth(e)!==0},weekOfYear:function(e,t,r){var i=this._validateYear(e,yx.local.invalidyear),n=_x[i-_x[0]],a=n>>9&4095,o=n>>5&15,s=n&31,l;l=Tse.newDate(a,o,s),l.add(4-(l.dayOfWeek()||7),"d");var u=this.toJD(e,t,r)-l.toJD();return 1+Math.floor(u/7)},monthsInYear:function(e){return this.leapYear(e)?13:12},daysInMonth:function(e,t){e.year&&(t=e.month(),e=e.year()),e=this._validateYear(e);var r=xx[e-xx[0]],i=r>>13,n=i?12:11;if(t>n)throw yx.local.invalidMonth.replace(/\{0\}/,this.local.name);var a=r&1<<12-t?30:29;return a},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(e,t,r){var i=this._validate(e,a,r,yx.local.invalidDate);e=this._validateYear(i.year()),t=i.month(),r=i.day();var n=this.isIntercalaryMonth(e,t),a=this.toChineseMonth(e,t),o=jDr(e,a,r,n);return Tse.toJD(o.year,o.month,o.day)},fromJD:function(e){var t=Tse.fromJD(e),r=HDr(t.year(),t.month(),t.day()),i=this.toMonthIndex(r.year,r.month,r.isIntercalary);return this.newDate(r.year,i,r.day)},fromString:function(e){var t=e.match(NDr),r=this._validateYear(+t[1]),i=+t[2],n=!!t[3],a=this.toMonthIndex(r,i,n),o=+t[4];return this.newDate(r,a,o)},add:function(e,t,r){var i=e.year(),n=e.month(),a=this.isIntercalaryMonth(i,n),o=this.toChineseMonth(i,n),s=Object.getPrototypeOf(oN.prototype).add.call(this,e,t,r);if(r==="y"){var l=s.year(),u=s.month(),c=this.isIntercalaryMonth(l,o),f=a&&c?this.toMonthIndex(l,o,!0):this.toMonthIndex(l,o,!1);f!==u&&s.month(f)}return s}});var NDr=/^\s*(-?\d\d\d\d|\d\d)[-/](\d?\d)([iI]?)[-/](\d?\d)/m,UDr=/^\d?\d[iI]?/m,VDr=/^闰?十?[一二三四五六七八九]?月/m,GDr=/^闰?十?[一二三四五六七八九]?/m;yx.calendars.chinese=oN;var xx=[1887,5780,5802,19157,2742,50359,1198,2646,46378,7466,3412,30122,5482,67949,2396,5294,43597,6732,6954,36181,2772,4954,18781,2396,54427,5274,6730,47781,5800,6868,21210,4790,59703,2350,5270,46667,3402,3496,38325,1388,4782,18735,2350,52374,6804,7498,44457,2906,1388,29294,4700,63789,6442,6804,56138,5802,2772,38235,1210,4698,22827,5418,63125,3476,5802,43701,2484,5302,27223,2646,70954,7466,3412,54698,5482,2412,38062,5294,2636,32038,6954,60245,2772,4826,43357,2394,5274,39501,6730,72357,5800,5844,53978,4790,2358,38039,5270,87627,3402,3496,54708,5484,4782,43311,2350,3222,27978,7498,68965,2904,5484,45677,4700,6444,39573,6804,6986,19285,2772,62811,1210,4698,47403,5418,5780,38570,5546,76469,2420,5302,51799,2646,5414,36501,3412,5546,18869,2412,54446,5276,6732,48422,6822,2900,28010,4826,92509,2394,5274,55883,6730,6820,47956,5812,2778,18779,2358,62615,5270,5450,46757,3492,5556,27318,4718,67887,2350,3222,52554,7498,3428,38252,5468,4700,31022,6444,64149,6804,6986,43861,2772,5338,35421,2650,70955,5418,5780,54954,5546,2740,38074,5302,2646,29991,3366,61011,3412,5546,43445,2412,5294,35406,6732,72998,6820,6996,52586,2778,2396,38045,5274,6698,23333,6820,64338,5812,2746,43355,2358,5270,39499,5450,79525,3492,5548],_x=[1887,966732,967231,967733,968265,968766,969297,969798,970298,970829,971330,971830,972362,972863,973395,973896,974397,974928,975428,975929,976461,976962,977462,977994,978494,979026,979526,980026,980558,981059,981559,982091,982593,983124,983624,984124,984656,985157,985656,986189,986690,987191,987722,988222,988753,989254,989754,990286,990788,991288,991819,992319,992851,993352,993851,994383,994885,995385,995917,996418,996918,997450,997949,998481,998982,999483,1000014,1000515,1001016,1001548,1002047,1002578,1003080,1003580,1004111,1004613,1005113,1005645,1006146,1006645,1007177,1007678,1008209,1008710,1009211,1009743,1010243,1010743,1011275,1011775,1012306,1012807,1013308,1013840,1014341,1014841,1015373,1015874,1016404,1016905,1017405,1017937,1018438,1018939,1019471,1019972,1020471,1021002,1021503,1022035,1022535,1023036,1023568,1024069,1024568,1025100,1025601,1026102,1026633,1027133,1027666,1028167,1028666,1029198,1029699,1030199,1030730,1031231,1031763,1032264,1032764,1033296,1033797,1034297,1034828,1035329,1035830,1036362,1036861,1037393,1037894,1038394,1038925,1039427,1039927,1040459,1040959,1041491,1041992,1042492,1043023,1043524,1044024,1044556,1045057,1045558,1046090,1046590,1047121,1047622,1048122,1048654,1049154,1049655,1050187,1050689,1051219,1051720,1052220,1052751,1053252,1053752,1054284,1054786,1055285,1055817,1056317,1056849,1057349,1057850,1058382,1058883,1059383,1059915,1060415,1060947,1061447,1061947,1062479,1062981,1063480,1064012,1064514,1065014,1065545,1066045,1066577,1067078,1067578,1068110,1068611,1069112,1069642,1070142,1070674,1071175,1071675,1072207,1072709,1073209,1073740,1074241,1074741,1075273,1075773,1076305,1076807,1077308,1077839,1078340,1078840,1079372,1079871,1080403,1080904];function HDr(e,t,r,i){var n,a;if(typeof e=="object")n=e,a=t||{};else{var o=typeof e=="number"&&e>=1888&&e<=2111;if(!o)throw new Error("Solar year outside range 1888-2111");var s=typeof t=="number"&&t>=1&&t<=12;if(!s)throw new Error("Solar month outside range 1 - 12");var l=typeof r=="number"&&r>=1&&r<=31;if(!l)throw new Error("Solar day outside range 1 - 31");n={year:e,month:t,day:r},a=i||{}}var u=_x[n.year-_x[0]],c=n.year<<9|n.month<<5|n.day;a.year=c>=u?n.year:n.year-1,u=_x[a.year-_x[0]];var f=u>>9&4095,h=u>>5&15,d=u&31,p,v=new Date(f,h-1,d),m=new Date(n.year,n.month-1,n.day);p=Math.round((m-v)/(24*3600*1e3));var g=xx[a.year-xx[0]],w;for(w=0;w<13;w++){var b=g&1<<12-w?30:29;if(p>13;return!_||w<_?(a.isIntercalary=!1,a.month=1+w):w===_?(a.isIntercalary=!0,a.month=w):(a.isIntercalary=!1,a.month=w),a.day=1+p,a}function jDr(e,t,r,i,n){var a,o;if(typeof e=="object")o=e,a=t||{};else{var s=typeof e=="number"&&e>=1888&&e<=2111;if(!s)throw new Error("Lunar year outside range 1888-2111");var l=typeof t=="number"&&t>=1&&t<=12;if(!l)throw new Error("Lunar month outside range 1 - 12");var u=typeof r=="number"&&r>=1&&r<=30;if(!u)throw new Error("Lunar day outside range 1 - 30");var c;typeof i=="object"?(c=!1,a=i):(c=!!i,a=n||{}),o={year:e,month:t,day:r,isIntercalary:c}}var f;f=o.day-1;var h=xx[o.year-xx[0]],d=h>>13,p;d&&(o.month>d||o.isIntercalary)?p=o.month:p=o.month-1;for(var v=0;v>9&4095,b=g>>5&15,_=g&31,M=new Date(w,b-1,_+f);return a.year=M.getFullYear(),a.month=1+M.getMonth(),a.day=M.getDate(),a}});var u1t=W(()=>{var C3=ff(),$Dr=qu();function Ase(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Ase.prototype=new C3.baseCalendar;$Dr(Ase.prototype,{name:"Coptic",jdEpoch:18250295e-1,daysPerMonth:[30,30,30,30,30,30,30,30,30,30,30,30,5],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Coptic",epochs:["BAM","AM"],monthNames:["Thout","Paopi","Hathor","Koiak","Tobi","Meshir","Paremhat","Paremoude","Pashons","Paoni","Epip","Mesori","Pi Kogi Enavot"],monthNamesShort:["Tho","Pao","Hath","Koi","Tob","Mesh","Pat","Pad","Pash","Pao","Epi","Meso","PiK"],dayNames:["Tkyriaka","Pesnau","Pshoment","Peftoou","Ptiou","Psoou","Psabbaton"],dayNamesShort:["Tky","Pes","Psh","Pef","Pti","Pso","Psa"],dayNamesMin:["Tk","Pes","Psh","Pef","Pt","Pso","Psa"],digits:null,dateFormat:"dd/mm/yyyy",firstDay:0,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,C3.local.invalidYear),r=t.year()+(t.year()<0?1:0);return r%4===3||r%4===-1},monthsInYear:function(e){return this._validate(e,this.minMonth,this.minDay,C3.local.invalidYear||C3.regionalOptions[""].invalidYear),13},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,C3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===13&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(e,t,r){var i=this._validate(e,t,r,C3.local.invalidDate);return e=i.year(),e<0&&e++,i.day()+(i.month()-1)*30+(e-1)*365+Math.floor(e/4)+this.jdEpoch-1},fromJD:function(e){var t=Math.floor(e)+.5-this.jdEpoch,r=Math.floor((t-Math.floor((t+366)/1461))/365)+1;r<=0&&r--,t=Math.floor(e)+.5-this.newDate(r,1,1).toJD();var i=Math.floor(t/30)+1,n=t-(i-1)*30+1;return this.newDate(r,i,n)}});C3.calendars.coptic=Ase});var c1t=W(()=>{var $m=ff(),WDr=qu();function Mse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Mse.prototype=new $m.baseCalendar;WDr(Mse.prototype,{name:"Discworld",jdEpoch:17214255e-1,daysPerMonth:[16,32,32,32,32,32,32,32,32,32,32,32,32],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Discworld",epochs:["BUC","UC"],monthNames:["Ick","Offle","February","March","April","May","June","Grune","August","Spune","Sektober","Ember","December"],monthNamesShort:["Ick","Off","Feb","Mar","Apr","May","Jun","Gru","Aug","Spu","Sek","Emb","Dec"],dayNames:["Sunday","Octeday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Oct","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Oc","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:2,isRTL:!1}},leapYear:function(e){return this._validate(e,this.minMonth,this.minDay,$m.local.invalidYear),!1},monthsInYear:function(e){return this._validate(e,this.minMonth,this.minDay,$m.local.invalidYear),13},daysInYear:function(e){return this._validate(e,this.minMonth,this.minDay,$m.local.invalidYear),400},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/8)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,$m.local.invalidMonth);return this.daysPerMonth[r.month()-1]},daysInWeek:function(){return 8},dayOfWeek:function(e,t,r){var i=this._validate(e,t,r,$m.local.invalidDate);return(i.day()+1)%8},weekDay:function(e,t,r){var i=this.dayOfWeek(e,t,r);return i>=2&&i<=6},extraInfo:function(e,t,r){var i=this._validate(e,t,r,$m.local.invalidDate);return{century:YDr[Math.floor((i.year()-1)/100)+1]||""}},toJD:function(e,t,r){var i=this._validate(e,t,r,$m.local.invalidDate);return e=i.year()+(i.year()<0?1:0),t=i.month(),r=i.day(),r+(t>1?16:0)+(t>2?(t-2)*32:0)+(e-1)*400+this.jdEpoch-1},fromJD:function(e){e=Math.floor(e+.5)-Math.floor(this.jdEpoch)-1;var t=Math.floor(e/400)+1;e-=(t-1)*400,e+=e>15?16:0;var r=Math.floor(e/32)+1,i=e-(r-1)*32+1;return this.newDate(t<=0?t-1:t,r,i)}});var YDr={20:"Fruitbat",21:"Anchovy"};$m.calendars.discworld=Mse});var f1t=W(()=>{var D3=ff(),XDr=qu();function Sse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Sse.prototype=new D3.baseCalendar;XDr(Sse.prototype,{name:"Ethiopian",jdEpoch:17242205e-1,daysPerMonth:[30,30,30,30,30,30,30,30,30,30,30,30,5],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Ethiopian",epochs:["BEE","EE"],monthNames:["Meskerem","Tikemet","Hidar","Tahesas","Tir","Yekatit","Megabit","Miazia","Genbot","Sene","Hamle","Nehase","Pagume"],monthNamesShort:["Mes","Tik","Hid","Tah","Tir","Yek","Meg","Mia","Gen","Sen","Ham","Neh","Pag"],dayNames:["Ehud","Segno","Maksegno","Irob","Hamus","Arb","Kidame"],dayNamesShort:["Ehu","Seg","Mak","Iro","Ham","Arb","Kid"],dayNamesMin:["Eh","Se","Ma","Ir","Ha","Ar","Ki"],digits:null,dateFormat:"dd/mm/yyyy",firstDay:0,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,D3.local.invalidYear),r=t.year()+(t.year()<0?1:0);return r%4===3||r%4===-1},monthsInYear:function(e){return this._validate(e,this.minMonth,this.minDay,D3.local.invalidYear||D3.regionalOptions[""].invalidYear),13},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,D3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===13&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(e,t,r){var i=this._validate(e,t,r,D3.local.invalidDate);return e=i.year(),e<0&&e++,i.day()+(i.month()-1)*30+(e-1)*365+Math.floor(e/4)+this.jdEpoch-1},fromJD:function(e){var t=Math.floor(e)+.5-this.jdEpoch,r=Math.floor((t-Math.floor((t+366)/1461))/365)+1;r<=0&&r--,t=Math.floor(e)+.5-this.newDate(r,1,1).toJD();var i=Math.floor(t/30)+1,n=t-(i-1)*30+1;return this.newDate(r,i,n)}});D3.calendars.ethiopian=Sse});var h1t=W(()=>{var bx=ff(),ZDr=qu();function Ese(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Ese.prototype=new bx.baseCalendar;ZDr(Ese.prototype,{name:"Hebrew",jdEpoch:347995.5,daysPerMonth:[30,29,30,29,30,29,30,29,30,29,30,29,29],hasYearZero:!1,minMonth:1,firstMonth:7,minDay:1,regionalOptions:{"":{name:"Hebrew",epochs:["BAM","AM"],monthNames:["Nisan","Iyar","Sivan","Tammuz","Av","Elul","Tishrei","Cheshvan","Kislev","Tevet","Shevat","Adar","Adar II"],monthNamesShort:["Nis","Iya","Siv","Tam","Av","Elu","Tis","Che","Kis","Tev","She","Ada","Ad2"],dayNames:["Yom Rishon","Yom Sheni","Yom Shlishi","Yom Revi'i","Yom Chamishi","Yom Shishi","Yom Shabbat"],dayNamesShort:["Ris","She","Shl","Rev","Cha","Shi","Sha"],dayNamesMin:["Ri","She","Shl","Re","Ch","Shi","Sha"],digits:null,dateFormat:"dd/mm/yyyy",firstDay:0,isRTL:!1}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,bx.local.invalidYear);return this._leapYear(t.year())},_leapYear:function(e){return e=e<0?e+1:e,sN(e*7+1,19)<7},monthsInYear:function(e){return this._validate(e,this.minMonth,this.minDay,bx.local.invalidYear),this._leapYear(e.year?e.year():e)?13:12},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,bx.local.invalidYear);return e=t.year(),this.toJD(e===-1?1:e+1,7,1)-this.toJD(e,7,1)},daysInMonth:function(e,t){return e.year&&(t=e.month(),e=e.year()),this._validate(e,t,this.minDay,bx.local.invalidMonth),t===12&&this.leapYear(e)||t===8&&sN(this.daysInYear(e),10)===5?30:t===9&&sN(this.daysInYear(e),10)===3?29:this.daysPerMonth[t-1]},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==6},extraInfo:function(e,t,r){var i=this._validate(e,t,r,bx.local.invalidDate);return{yearType:(this.leapYear(i)?"embolismic":"common")+" "+["deficient","regular","complete"][this.daysInYear(i)%10-3]}},toJD:function(e,t,r){var i=this._validate(e,t,r,bx.local.invalidDate);e=i.year(),t=i.month(),r=i.day();var n=e<=0?e+1:e,a=this.jdEpoch+this._delay1(n)+this._delay2(n)+r+1;if(t<7){for(var o=7;o<=this.monthsInYear(e);o++)a+=this.daysInMonth(e,o);for(var o=1;o=this.toJD(t===-1?1:t+1,7,1);)t++;for(var r=ethis.toJD(t,r,this.daysInMonth(t,r));)r++;var i=e-this.toJD(t,r,1)+1;return this.newDate(t,r,i)}});function sN(e,t){return e-t*Math.floor(e/t)}bx.calendars.hebrew=Ese});var d1t=W(()=>{var K8=ff(),KDr=qu();function kse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}kse.prototype=new K8.baseCalendar;KDr(kse.prototype,{name:"Islamic",jdEpoch:19484395e-1,daysPerMonth:[30,29,30,29,30,29,30,29,30,29,30,29],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Islamic",epochs:["BH","AH"],monthNames:["Muharram","Safar","Rabi' al-awwal","Rabi' al-thani","Jumada al-awwal","Jumada al-thani","Rajab","Sha'aban","Ramadan","Shawwal","Dhu al-Qi'dah","Dhu al-Hijjah"],monthNamesShort:["Muh","Saf","Rab1","Rab2","Jum1","Jum2","Raj","Sha'","Ram","Shaw","DhuQ","DhuH"],dayNames:["Yawm al-ahad","Yawm al-ithnayn","Yawm ath-thulaathaa'","Yawm al-arbi'aa'","Yawm al-kham\u012Bs","Yawm al-jum'a","Yawm as-sabt"],dayNamesShort:["Aha","Ith","Thu","Arb","Kha","Jum","Sab"],dayNamesMin:["Ah","It","Th","Ar","Kh","Ju","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:6,isRTL:!1}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,K8.local.invalidYear);return(t.year()*11+14)%30<11},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInYear:function(e){return this.leapYear(e)?355:354},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,K8.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===12&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==5},toJD:function(e,t,r){var i=this._validate(e,t,r,K8.local.invalidDate);return e=i.year(),t=i.month(),r=i.day(),e=e<=0?e+1:e,r+Math.ceil(29.5*(t-1))+(e-1)*354+Math.floor((3+11*e)/30)+this.jdEpoch-1},fromJD:function(e){e=Math.floor(e)+.5;var t=Math.floor((30*(e-this.jdEpoch)+10646)/10631);t=t<=0?t-1:t;var r=Math.min(12,Math.ceil((e-29-this.toJD(t,1,1))/29.5)+1),i=e-this.toJD(t,r,1)+1;return this.newDate(t,r,i)}});K8.calendars.islamic=kse});var p1t=W(()=>{var J8=ff(),JDr=qu();function Cse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Cse.prototype=new J8.baseCalendar;JDr(Cse.prototype,{name:"Julian",jdEpoch:17214235e-1,daysPerMonth:[31,28,31,30,31,30,31,31,30,31,30,31],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Julian",epochs:["BC","AD"],monthNames:["January","February","March","April","May","June","July","August","September","October","November","December"],monthNamesShort:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"],dayNames:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"mm/dd/yyyy",firstDay:0,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,J8.local.invalidYear),r=t.year()<0?t.year()+1:t.year();return r%4===0},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(4-(i.dayOfWeek()||7),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,J8.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===2&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(e,t,r){var i=this._validate(e,t,r,J8.local.invalidDate);return e=i.year(),t=i.month(),r=i.day(),e<0&&e++,t<=2&&(e--,t+=12),Math.floor(365.25*(e+4716))+Math.floor(30.6001*(t+1))+r-1524.5},fromJD:function(e){var t=Math.floor(e+.5),r=t+1524,i=Math.floor((r-122.1)/365.25),n=Math.floor(365.25*i),a=Math.floor((r-n)/30.6001),o=a-Math.floor(a<14?1:13),s=i-Math.floor(o>2?4716:4715),l=r-n-Math.floor(30.6001*a);return s<=0&&s--,this.newDate(s,o,l)}});J8.calendars.julian=Cse});var g1t=W(()=>{var lp=ff(),QDr=qu();function Fse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Fse.prototype=new lp.baseCalendar;QDr(Fse.prototype,{name:"Mayan",jdEpoch:584282.5,hasYearZero:!0,minMonth:0,firstMonth:0,minDay:0,regionalOptions:{"":{name:"Mayan",epochs:["",""],monthNames:["0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15","16","17"],monthNamesShort:["0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15","16","17"],dayNames:["0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15","16","17","18","19"],dayNamesShort:["0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15","16","17","18","19"],dayNamesMin:["0","1","2","3","4","5","6","7","8","9","10","11","12","13","14","15","16","17","18","19"],digits:null,dateFormat:"YYYY.m.d",firstDay:0,isRTL:!1,haabMonths:["Pop","Uo","Zip","Zotz","Tzec","Xul","Yaxkin","Mol","Chen","Yax","Zac","Ceh","Mac","Kankin","Muan","Pax","Kayab","Cumku","Uayeb"],tzolkinMonths:["Imix","Ik","Akbal","Kan","Chicchan","Cimi","Manik","Lamat","Muluc","Oc","Chuen","Eb","Ben","Ix","Men","Cib","Caban","Etznab","Cauac","Ahau"]}},leapYear:function(e){return this._validate(e,this.minMonth,this.minDay,lp.local.invalidYear),!1},formatYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,lp.local.invalidYear);e=t.year();var r=Math.floor(e/400);e=e%400,e+=e<0?400:0;var i=Math.floor(e/20);return r+"."+i+"."+e%20},forYear:function(e){if(e=e.split("."),e.length<3)throw"Invalid Mayan year";for(var t=0,r=0;r19||r>0&&i<0)throw"Invalid Mayan year";t=t*20+i}return t},monthsInYear:function(e){return this._validate(e,this.minMonth,this.minDay,lp.local.invalidYear),18},weekOfYear:function(e,t,r){return this._validate(e,t,r,lp.local.invalidDate),0},daysInYear:function(e){return this._validate(e,this.minMonth,this.minDay,lp.local.invalidYear),360},daysInMonth:function(e,t){return this._validate(e,t,this.minDay,lp.local.invalidMonth),20},daysInWeek:function(){return 5},dayOfWeek:function(e,t,r){var i=this._validate(e,t,r,lp.local.invalidDate);return i.day()},weekDay:function(e,t,r){return this._validate(e,t,r,lp.local.invalidDate),!0},extraInfo:function(e,t,r){var i=this._validate(e,t,r,lp.local.invalidDate),n=i.toJD(),a=this._toHaab(n),o=this._toTzolkin(n);return{haabMonthName:this.local.haabMonths[a[0]-1],haabMonth:a[0],haabDay:a[1],tzolkinDayName:this.local.tzolkinMonths[o[0]-1],tzolkinDay:o[0],tzolkinTrecena:o[1]}},_toHaab:function(e){e-=this.jdEpoch;var t=Dse(e+8+340,365);return[Math.floor(t/20)+1,Dse(t,20)]},_toTzolkin:function(e){return e-=this.jdEpoch,[v1t(e+20,20),v1t(e+4,13)]},toJD:function(e,t,r){var i=this._validate(e,t,r,lp.local.invalidDate);return i.day()+i.month()*20+i.year()*360+this.jdEpoch},fromJD:function(e){e=Math.floor(e)+.5-this.jdEpoch;var t=Math.floor(e/360);e=e%360,e+=e<0?360:0;var r=Math.floor(e/20),i=e%20;return this.newDate(t,r,i)}});function Dse(e,t){return e-t*Math.floor(e/t)}function v1t(e,t){return Dse(e-1,t)+1}lp.calendars.mayan=Fse});var y1t=W(()=>{var F3=ff(),e7r=qu();function Lse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Lse.prototype=new F3.baseCalendar;var m1t=F3.instance("gregorian");e7r(Lse.prototype,{name:"Nanakshahi",jdEpoch:22576735e-1,daysPerMonth:[31,31,31,31,31,30,30,30,30,30,30,30],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Nanakshahi",epochs:["BN","AN"],monthNames:["Chet","Vaisakh","Jeth","Harh","Sawan","Bhadon","Assu","Katak","Maghar","Poh","Magh","Phagun"],monthNamesShort:["Che","Vai","Jet","Har","Saw","Bha","Ass","Kat","Mgr","Poh","Mgh","Pha"],dayNames:["Somvaar","Mangalvar","Budhvaar","Veervaar","Shukarvaar","Sanicharvaar","Etvaar"],dayNamesShort:["Som","Mangal","Budh","Veer","Shukar","Sanichar","Et"],dayNamesMin:["So","Ma","Bu","Ve","Sh","Sa","Et"],digits:null,dateFormat:"dd-mm-yyyy",firstDay:0,isRTL:!1}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,F3.local.invalidYear||F3.regionalOptions[""].invalidYear);return m1t.leapYear(t.year()+(t.year()<1?1:0)+1469)},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(1-(i.dayOfWeek()||7),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,F3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===12&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(n,t,r){var i=this._validate(n,t,r,F3.local.invalidMonth),n=i.year();n<0&&n++;for(var a=i.day(),o=1;o=this.toJD(t+1,1,1);)t++;for(var r=e-Math.floor(this.toJD(t,1,1)+.5)+1,i=1;r>this.daysInMonth(t,i);)r-=this.daysInMonth(t,i),i++;return this.newDate(t,i,r)}});F3.calendars.nanakshahi=Lse});var x1t=W(()=>{var L3=ff(),t7r=qu();function Pse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Pse.prototype=new L3.baseCalendar;t7r(Pse.prototype,{name:"Nepali",jdEpoch:17007095e-1,daysPerMonth:[31,31,32,32,31,30,30,29,30,29,30,30],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,daysPerYear:365,regionalOptions:{"":{name:"Nepali",epochs:["BBS","ABS"],monthNames:["Baisakh","Jestha","Ashadh","Shrawan","Bhadra","Ashwin","Kartik","Mangsir","Paush","Mangh","Falgun","Chaitra"],monthNamesShort:["Bai","Je","As","Shra","Bha","Ash","Kar","Mang","Pau","Ma","Fal","Chai"],dayNames:["Aaitabaar","Sombaar","Manglbaar","Budhabaar","Bihibaar","Shukrabaar","Shanibaar"],dayNamesShort:["Aaita","Som","Mangl","Budha","Bihi","Shukra","Shani"],dayNamesMin:["Aai","So","Man","Bu","Bi","Shu","Sha"],digits:null,dateFormat:"dd/mm/yyyy",firstDay:1,isRTL:!1}},leapYear:function(e){return this.daysInYear(e)!==this.daysPerYear},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,L3.local.invalidYear);if(e=t.year(),typeof this.NEPALI_CALENDAR_DATA[e]=="undefined")return this.daysPerYear;for(var r=0,i=this.minMonth;i<=12;i++)r+=this.NEPALI_CALENDAR_DATA[e][i];return r},daysInMonth:function(e,t){return e.year&&(t=e.month(),e=e.year()),this._validate(e,t,this.minDay,L3.local.invalidMonth),typeof this.NEPALI_CALENDAR_DATA[e]=="undefined"?this.daysPerMonth[t-1]:this.NEPALI_CALENDAR_DATA[e][t]},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==6},toJD:function(e,t,r){var i=this._validate(e,t,r,L3.local.invalidDate);e=i.year(),t=i.month(),r=i.day();var n=L3.instance(),a=0,o=t,s=e;this._createMissingCalendarData(e);var l=e-(o>9||o===9&&r>=this.NEPALI_CALENDAR_DATA[s][0]?56:57);for(t!==9&&(a=r,o--);o!==9;)o<=0&&(o=12,s--),a+=this.NEPALI_CALENDAR_DATA[s][o],o--;return t===9?(a+=r-this.NEPALI_CALENDAR_DATA[s][0],a<0&&(a+=n.daysInYear(l))):a+=this.NEPALI_CALENDAR_DATA[s][9]-this.NEPALI_CALENDAR_DATA[s][0],n.newDate(l,1,1).add(a,"d").toJD()},fromJD:function(e){var t=L3.instance(),r=t.fromJD(e),i=r.year(),n=r.dayOfYear(),a=i+56;this._createMissingCalendarData(a);for(var o=9,s=this.NEPALI_CALENDAR_DATA[a][0],l=this.NEPALI_CALENDAR_DATA[a][o]-s+1;n>l;)o++,o>12&&(o=1,a++),l+=this.NEPALI_CALENDAR_DATA[a][o];var u=this.NEPALI_CALENDAR_DATA[a][o]-(l-n);return this.newDate(a,o,u)},_createMissingCalendarData:function(e){var t=this.daysPerMonth.slice(0);t.unshift(17);for(var r=e-1;r{var T6=ff(),r7r=qu();function uN(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}function lN(e){var t=e-475;e<0&&t++;var r=.242197,i=r*t,n=r*(t+1),a=i-Math.floor(i),o=n-Math.floor(n);return a>o}uN.prototype=new T6.baseCalendar;r7r(uN.prototype,{name:"Persian",jdEpoch:19483205e-1,daysPerMonth:[31,31,31,31,31,31,30,30,30,30,30,29],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Persian",epochs:["BP","AP"],monthNames:["Farvardin","Ordibehesht","Khordad","Tir","Mordad","Shahrivar","Mehr","Aban","Azar","Dey","Bahman","Esfand"],monthNamesShort:["Far","Ord","Kho","Tir","Mor","Sha","Meh","Aba","Aza","Dey","Bah","Esf"],dayNames:["Yekshanbeh","Doshanbeh","Seshanbeh","Chah\u0101rshanbeh","Panjshanbeh","Jom'eh","Shanbeh"],dayNamesShort:["Yek","Do","Se","Cha","Panj","Jom","Sha"],dayNamesMin:["Ye","Do","Se","Ch","Pa","Jo","Sh"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:6,isRTL:!1}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,T6.local.invalidYear);return lN(t.year())},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-((i.dayOfWeek()+1)%7),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,T6.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===12&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==5},toJD:function(e,t,r){var i=this._validate(e,t,r,T6.local.invalidDate);e=i.year(),t=i.month(),r=i.day();var n=0;if(e>0)for(var a=1;a0?e-1:e)*365+n+this.jdEpoch-1},fromJD:function(e){e=Math.floor(e)+.5;var t=475+(e-this.toJD(475,1,1))/365.242197,r=Math.floor(t);r<=0&&r--,e>this.toJD(r,12,lN(r)?30:29)&&(r++,r===0&&r++);var i=e-this.toJD(r,1,1)+1,n=i<=186?Math.ceil(i/31):Math.ceil((i-6)/30),a=e-this.toJD(r,n,1)+1;return this.newDate(r,n,a)}});T6.calendars.persian=uN;T6.calendars.jalali=uN});var b1t=W(()=>{var P3=ff(),i7r=qu(),cN=P3.instance();function Ise(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Ise.prototype=new P3.baseCalendar;i7r(Ise.prototype,{name:"Taiwan",jdEpoch:24194025e-1,yearsOffset:1911,daysPerMonth:[31,28,31,30,31,30,31,31,30,31,30,31],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Taiwan",epochs:["BROC","ROC"],monthNames:["January","February","March","April","May","June","July","August","September","October","November","December"],monthNamesShort:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"],dayNames:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:1,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,P3.local.invalidYear),r=this._t2gYear(t.year());return cN.leapYear(r)},weekOfYear:function(n,t,r){var i=this._validate(n,this.minMonth,this.minDay,P3.local.invalidYear),n=this._t2gYear(i.year());return cN.weekOfYear(n,i.month(),i.day())},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,P3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===2&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(n,t,r){var i=this._validate(n,t,r,P3.local.invalidDate),n=this._t2gYear(i.year());return cN.toJD(n,i.month(),i.day())},fromJD:function(e){var t=cN.fromJD(e),r=this._g2tYear(t.year());return this.newDate(r,t.month(),t.day())},_t2gYear:function(e){return e+this.yearsOffset+(e>=-this.yearsOffset&&e<=-1?1:0)},_g2tYear:function(e){return e-this.yearsOffset-(e>=1&&e<=this.yearsOffset?1:0)}});P3.calendars.taiwan=Ise});var w1t=W(()=>{var I3=ff(),n7r=qu(),fN=I3.instance();function Rse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}Rse.prototype=new I3.baseCalendar;n7r(Rse.prototype,{name:"Thai",jdEpoch:15230985e-1,yearsOffset:543,daysPerMonth:[31,28,31,30,31,30,31,31,30,31,30,31],hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Thai",epochs:["BBE","BE"],monthNames:["January","February","March","April","May","June","July","August","September","October","November","December"],monthNamesShort:["Jan","Feb","Mar","Apr","May","Jun","Jul","Aug","Sep","Oct","Nov","Dec"],dayNames:["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"],dayNamesShort:["Sun","Mon","Tue","Wed","Thu","Fri","Sat"],dayNamesMin:["Su","Mo","Tu","We","Th","Fr","Sa"],digits:null,dateFormat:"dd/mm/yyyy",firstDay:0,isRTL:!1}},leapYear:function(r){var t=this._validate(r,this.minMonth,this.minDay,I3.local.invalidYear),r=this._t2gYear(t.year());return fN.leapYear(r)},weekOfYear:function(n,t,r){var i=this._validate(n,this.minMonth,this.minDay,I3.local.invalidYear),n=this._t2gYear(i.year());return fN.weekOfYear(n,i.month(),i.day())},daysInMonth:function(e,t){var r=this._validate(e,t,this.minDay,I3.local.invalidMonth);return this.daysPerMonth[r.month()-1]+(r.month()===2&&this.leapYear(r.year())?1:0)},weekDay:function(e,t,r){return(this.dayOfWeek(e,t,r)||7)<6},toJD:function(n,t,r){var i=this._validate(n,t,r,I3.local.invalidDate),n=this._t2gYear(i.year());return fN.toJD(n,i.month(),i.day())},fromJD:function(e){var t=fN.fromJD(e),r=this._g2tYear(t.year());return this.newDate(r,t.month(),t.day())},_t2gYear:function(e){return e-this.yearsOffset-(e>=1&&e<=this.yearsOffset?1:0)},_g2tYear:function(e){return e+this.yearsOffset+(e>=-this.yearsOffset&&e<=-1?1:0)}});I3.calendars.thai=Rse});var T1t=W(()=>{var R3=ff(),a7r=qu();function zse(e){this.local=this.regionalOptions[e||""]||this.regionalOptions[""]}zse.prototype=new R3.baseCalendar;a7r(zse.prototype,{name:"UmmAlQura",hasYearZero:!1,minMonth:1,firstMonth:1,minDay:1,regionalOptions:{"":{name:"Umm al-Qura",epochs:["BH","AH"],monthNames:["Al-Muharram","Safar","Rabi' al-awwal","Rabi' Al-Thani","Jumada Al-Awwal","Jumada Al-Thani","Rajab","Sha'aban","Ramadan","Shawwal","Dhu al-Qi'dah","Dhu al-Hijjah"],monthNamesShort:["Muh","Saf","Rab1","Rab2","Jum1","Jum2","Raj","Sha'","Ram","Shaw","DhuQ","DhuH"],dayNames:["Yawm al-Ahad","Yawm al-Ithnain","Yawm al-Thal\u0101th\u0101\u2019","Yawm al-Arba\u2018\u0101\u2019","Yawm al-Kham\u012Bs","Yawm al-Jum\u2018a","Yawm al-Sabt"],dayNamesMin:["Ah","Ith","Th","Ar","Kh","Ju","Sa"],digits:null,dateFormat:"yyyy/mm/dd",firstDay:6,isRTL:!0}},leapYear:function(e){var t=this._validate(e,this.minMonth,this.minDay,R3.local.invalidYear);return this.daysInYear(t.year())===355},weekOfYear:function(e,t,r){var i=this.newDate(e,t,r);return i.add(-i.dayOfWeek(),"d"),Math.floor((i.dayOfYear()-1)/7)+1},daysInYear:function(e){for(var t=0,r=1;r<=12;r++)t+=this.daysInMonth(e,r);return t},daysInMonth:function(e,t){for(var r=this._validate(e,t,this.minDay,R3.local.invalidMonth),i=r.toJD()-24e5+.5,n=0,a=0;ai)return wx[n]-wx[n-1];n++}return 30},weekDay:function(e,t,r){return this.dayOfWeek(e,t,r)!==5},toJD:function(e,t,r){var i=this._validate(e,t,r,R3.local.invalidDate),n=12*(i.year()-1)+i.month()-15292,a=i.day()+wx[n-1]-1;return a+24e5-.5},fromJD:function(e){for(var t=e-24e5+.5,r=0,i=0;it);i++)r++;var n=r+15292,a=Math.floor((n-1)/12),o=a+1,s=n-12*a,l=t-wx[r-1]+1;return this.newDate(o,s,l)},isValid:function(e,t,r){var i=R3.baseCalendar.prototype.isValid.apply(this,arguments);return i&&(e=e.year!=null?e.year:e,i=e>=1276&&e<=1500),i},_validate:function(e,t,r,i){var n=R3.baseCalendar.prototype._validate.apply(this,arguments);if(n.year<1276||n.year>1500)throw i.replace(/\{0\}/,this.local.name);return n}});R3.calendars.ummalqura=zse;var wx=[20,50,79,109,138,168,197,227,256,286,315,345,374,404,433,463,492,522,551,581,611,641,670,700,729,759,788,818,847,877,906,936,965,995,1024,1054,1083,1113,1142,1172,1201,1231,1260,1290,1320,1350,1379,1409,1438,1468,1497,1527,1556,1586,1615,1645,1674,1704,1733,1763,1792,1822,1851,1881,1910,1940,1969,1999,2028,2058,2087,2117,2146,2176,2205,2235,2264,2294,2323,2353,2383,2413,2442,2472,2501,2531,2560,2590,2619,2649,2678,2708,2737,2767,2796,2826,2855,2885,2914,2944,2973,3003,3032,3062,3091,3121,3150,3180,3209,3239,3268,3298,3327,3357,3386,3416,3446,3476,3505,3535,3564,3594,3623,3653,3682,3712,3741,3771,3800,3830,3859,3889,3918,3948,3977,4007,4036,4066,4095,4125,4155,4185,4214,4244,4273,4303,4332,4362,4391,4421,4450,4480,4509,4539,4568,4598,4627,4657,4686,4716,4745,4775,4804,4834,4863,4893,4922,4952,4981,5011,5040,5070,5099,5129,5158,5188,5218,5248,5277,5307,5336,5366,5395,5425,5454,5484,5513,5543,5572,5602,5631,5661,5690,5720,5749,5779,5808,5838,5867,5897,5926,5956,5985,6015,6044,6074,6103,6133,6162,6192,6221,6251,6281,6311,6340,6370,6399,6429,6458,6488,6517,6547,6576,6606,6635,6665,6694,6724,6753,6783,6812,6842,6871,6901,6930,6960,6989,7019,7048,7078,7107,7137,7166,7196,7225,7255,7284,7314,7344,7374,7403,7433,7462,7492,7521,7551,7580,7610,7639,7669,7698,7728,7757,7787,7816,7846,7875,7905,7934,7964,7993,8023,8053,8083,8112,8142,8171,8201,8230,8260,8289,8319,8348,8378,8407,8437,8466,8496,8525,8555,8584,8614,8643,8673,8702,8732,8761,8791,8821,8850,8880,8909,8938,8968,8997,9027,9056,9086,9115,9145,9175,9205,9234,9264,9293,9322,9352,9381,9410,9440,9470,9499,9529,9559,9589,9618,9648,9677,9706,9736,9765,9794,9824,9853,9883,9913,9943,9972,10002,10032,10061,10090,10120,10149,10178,10208,10237,10267,10297,10326,10356,10386,10415,10445,10474,10504,10533,10562,10592,10621,10651,10680,10710,10740,10770,10799,10829,10858,10888,10917,10947,10976,11005,11035,11064,11094,11124,11153,11183,11213,11242,11272,11301,11331,11360,11389,11419,11448,11478,11507,11537,11567,11596,11626,11655,11685,11715,11744,11774,11803,11832,11862,11891,11921,11950,11980,12010,12039,12069,12099,12128,12158,12187,12216,12246,12275,12304,12334,12364,12393,12423,12453,12483,12512,12542,12571,12600,12630,12659,12688,12718,12747,12777,12807,12837,12866,12896,12926,12955,12984,13014,13043,13072,13102,13131,13161,13191,13220,13250,13280,13310,13339,13368,13398,13427,13456,13486,13515,13545,13574,13604,13634,13664,13693,13723,13752,13782,13811,13840,13870,13899,13929,13958,13988,14018,14047,14077,14107,14136,14166,14195,14224,14254,14283,14313,14342,14372,14401,14431,14461,14490,14520,14550,14579,14609,14638,14667,14697,14726,14756,14785,14815,14844,14874,14904,14933,14963,14993,15021,15051,15081,15110,15140,15169,15199,15228,15258,15287,15317,15347,15377,15406,15436,15465,15494,15524,15553,15582,15612,15641,15671,15701,15731,15760,15790,15820,15849,15878,15908,15937,15966,15996,16025,16055,16085,16114,16144,16174,16204,16233,16262,16292,16321,16350,16380,16409,16439,16468,16498,16528,16558,16587,16617,16646,16676,16705,16734,16764,16793,16823,16852,16882,16912,16941,16971,17001,17030,17060,17089,17118,17148,17177,17207,17236,17266,17295,17325,17355,17384,17414,17444,17473,17502,17532,17561,17591,17620,17650,17679,17709,17738,17768,17798,17827,17857,17886,17916,17945,17975,18004,18034,18063,18093,18122,18152,18181,18211,18241,18270,18300,18330,18359,18388,18418,18447,18476,18506,18535,18565,18595,18625,18654,18684,18714,18743,18772,18802,18831,18860,18890,18919,18949,18979,19008,19038,19068,19098,19127,19156,19186,19215,19244,19274,19303,19333,19362,19392,19422,19452,19481,19511,19540,19570,19599,19628,19658,19687,19717,19746,19776,19806,19836,19865,19895,19924,19954,19983,20012,20042,20071,20101,20130,20160,20190,20219,20249,20279,20308,20338,20367,20396,20426,20455,20485,20514,20544,20573,20603,20633,20662,20692,20721,20751,20780,20810,20839,20869,20898,20928,20957,20987,21016,21046,21076,21105,21135,21164,21194,21223,21253,21282,21312,21341,21371,21400,21430,21459,21489,21519,21548,21578,21607,21637,21666,21696,21725,21754,21784,21813,21843,21873,21902,21932,21962,21991,22021,22050,22080,22109,22138,22168,22197,22227,22256,22286,22316,22346,22375,22405,22434,22464,22493,22522,22552,22581,22611,22640,22670,22700,22730,22759,22789,22818,22848,22877,22906,22936,22965,22994,23024,23054,23083,23113,23143,23173,23202,23232,23261,23290,23320,23349,23379,23408,23438,23467,23497,23527,23556,23586,23616,23645,23674,23704,23733,23763,23792,23822,23851,23881,23910,23940,23970,23999,24029,24058,24088,24117,24147,24176,24206,24235,24265,24294,24324,24353,24383,24413,24442,24472,24501,24531,24560,24590,24619,24648,24678,24707,24737,24767,24796,24826,24856,24885,24915,24944,24974,25003,25032,25062,25091,25121,25150,25180,25210,25240,25269,25299,25328,25358,25387,25416,25446,25475,25505,25534,25564,25594,25624,25653,25683,25712,25742,25771,25800,25830,25859,25888,25918,25948,25977,26007,26037,26067,26096,26126,26155,26184,26214,26243,26272,26302,26332,26361,26391,26421,26451,26480,26510,26539,26568,26598,26627,26656,26686,26715,26745,26775,26805,26834,26864,26893,26923,26952,26982,27011,27041,27070,27099,27129,27159,27188,27218,27248,27277,27307,27336,27366,27395,27425,27454,27484,27513,27542,27572,27602,27631,27661,27691,27720,27750,27779,27809,27838,27868,27897,27926,27956,27985,28015,28045,28074,28104,28134,28163,28193,28222,28252,28281,28310,28340,28369,28399,28428,28458,28488,28517,28547,28577,28607,28636,28665,28695,28724,28754,28783,28813,28843,28872,28901,28931,28960,28990,29019,29049,29078,29108,29137,29167,29196,29226,29255,29285,29315,29345,29375,29404,29434,29463,29492,29522,29551,29580,29610,29640,29669,29699,29729,29759,29788,29818,29847,29876,29906,29935,29964,29994,30023,30053,30082,30112,30141,30171,30200,30230,30259,30289,30318,30348,30378,30408,30437,30467,30496,30526,30555,30585,30614,30644,30673,30703,30732,30762,30791,30821,30850,30880,30909,30939,30968,30998,31027,31057,31086,31116,31145,31175,31204,31234,31263,31293,31322,31352,31381,31411,31441,31471,31500,31530,31559,31589,31618,31648,31676,31706,31736,31766,31795,31825,31854,31884,31913,31943,31972,32002,32031,32061,32090,32120,32150,32180,32209,32239,32268,32298,32327,32357,32386,32416,32445,32475,32504,32534,32563,32593,32622,32652,32681,32711,32740,32770,32799,32829,32858,32888,32917,32947,32976,33006,33035,33065,33094,33124,33153,33183,33213,33243,33272,33302,33331,33361,33390,33420,33450,33479,33509,33539,33568,33598,33627,33657,33686,33716,33745,33775,33804,33834,33863,33893,33922,33952,33981,34011,34040,34069,34099,34128,34158,34187,34217,34247,34277,34306,34336,34365,34395,34424,34454,34483,34512,34542,34571,34601,34631,34660,34690,34719,34749,34778,34808,34837,34867,34896,34926,34955,34985,35015,35044,35074,35103,35133,35162,35192,35222,35251,35280,35310,35340,35370,35399,35429,35458,35488,35517,35547,35576,35605,35635,35665,35694,35723,35753,35782,35811,35841,35871,35901,35930,35960,35989,36019,36048,36078,36107,36136,36166,36195,36225,36254,36284,36314,36343,36373,36403,36433,36462,36492,36521,36551,36580,36610,36639,36669,36698,36728,36757,36786,36816,36845,36875,36904,36934,36963,36993,37022,37052,37081,37111,37141,37170,37200,37229,37259,37288,37318,37347,37377,37406,37436,37465,37495,37524,37554,37584,37613,37643,37672,37701,37731,37760,37790,37819,37849,37878,37908,37938,37967,37997,38027,38056,38085,38115,38144,38174,38203,38233,38262,38292,38322,38351,38381,38410,38440,38469,38499,38528,38558,38587,38617,38646,38676,38705,38735,38764,38794,38823,38853,38882,38912,38941,38971,39001,39030,39059,39089,39118,39148,39178,39208,39237,39267,39297,39326,39355,39385,39414,39444,39473,39503,39532,39562,39592,39621,39650,39680,39709,39739,39768,39798,39827,39857,39886,39916,39946,39975,40005,40035,40064,40094,40123,40153,40182,40212,40241,40271,40300,40330,40359,40389,40418,40448,40477,40507,40536,40566,40595,40625,40655,40685,40714,40744,40773,40803,40832,40862,40892,40921,40951,40980,41009,41039,41068,41098,41127,41157,41186,41216,41245,41275,41304,41334,41364,41393,41422,41452,41481,41511,41540,41570,41599,41629,41658,41688,41718,41748,41777,41807,41836,41865,41894,41924,41953,41983,42012,42042,42072,42102,42131,42161,42190,42220,42249,42279,42308,42337,42367,42397,42426,42456,42485,42515,42545,42574,42604,42633,42662,42692,42721,42751,42780,42810,42839,42869,42899,42929,42958,42988,43017,43046,43076,43105,43135,43164,43194,43223,43253,43283,43312,43342,43371,43401,43430,43460,43489,43519,43548,43578,43607,43637,43666,43696,43726,43755,43785,43814,43844,43873,43903,43932,43962,43991,44021,44050,44080,44109,44139,44169,44198,44228,44258,44287,44317,44346,44375,44405,44434,44464,44493,44523,44553,44582,44612,44641,44671,44700,44730,44759,44788,44818,44847,44877,44906,44936,44966,44996,45025,45055,45084,45114,45143,45172,45202,45231,45261,45290,45320,45350,45380,45409,45439,45468,45498,45527,45556,45586,45615,45644,45674,45704,45733,45763,45793,45823,45852,45882,45911,45940,45970,45999,46028,46058,46088,46117,46147,46177,46206,46236,46265,46295,46324,46354,46383,46413,46442,46472,46501,46531,46560,46590,46620,46649,46679,46708,46738,46767,46797,46826,46856,46885,46915,46944,46974,47003,47033,47063,47092,47122,47151,47181,47210,47240,47269,47298,47328,47357,47387,47417,47446,47476,47506,47535,47565,47594,47624,47653,47682,47712,47741,47771,47800,47830,47860,47890,47919,47949,47978,48008,48037,48066,48096,48125,48155,48184,48214,48244,48273,48303,48333,48362,48392,48421,48450,48480,48509,48538,48568,48598,48627,48657,48687,48717,48746,48776,48805,48834,48864,48893,48922,48952,48982,49011,49041,49071,49100,49130,49160,49189,49218,49248,49277,49306,49336,49365,49395,49425,49455,49484,49514,49543,49573,49602,49632,49661,49690,49720,49749,49779,49809,49838,49868,49898,49927,49957,49986,50016,50045,50075,50104,50133,50163,50192,50222,50252,50281,50311,50340,50370,50400,50429,50459,50488,50518,50547,50576,50606,50635,50665,50694,50724,50754,50784,50813,50843,50872,50902,50931,50960,50990,51019,51049,51078,51108,51138,51167,51197,51227,51256,51286,51315,51345,51374,51403,51433,51462,51492,51522,51552,51582,51611,51641,51670,51699,51729,51758,51787,51816,51846,51876,51906,51936,51965,51995,52025,52054,52083,52113,52142,52171,52200,52230,52260,52290,52319,52349,52379,52408,52438,52467,52497,52526,52555,52585,52614,52644,52673,52703,52733,52762,52792,52822,52851,52881,52910,52939,52969,52998,53028,53057,53087,53116,53146,53176,53205,53235,53264,53294,53324,53353,53383,53412,53441,53471,53500,53530,53559,53589,53619,53648,53678,53708,53737,53767,53796,53825,53855,53884,53913,53943,53973,54003,54032,54062,54092,54121,54151,54180,54209,54239,54268,54297,54327,54357,54387,54416,54446,54476,54505,54535,54564,54593,54623,54652,54681,54711,54741,54770,54800,54830,54859,54889,54919,54948,54977,55007,55036,55066,55095,55125,55154,55184,55213,55243,55273,55302,55332,55361,55391,55420,55450,55479,55508,55538,55567,55597,55627,55657,55686,55716,55745,55775,55804,55834,55863,55892,55922,55951,55981,56011,56040,56070,56100,56129,56159,56188,56218,56247,56276,56306,56335,56365,56394,56424,56454,56483,56513,56543,56572,56601,56631,56660,56690,56719,56749,56778,56808,56837,56867,56897,56926,56956,56985,57015,57044,57074,57103,57133,57162,57192,57221,57251,57280,57310,57340,57369,57399,57429,57458,57487,57517,57546,57576,57605,57634,57664,57694,57723,57753,57783,57813,57842,57871,57901,57930,57959,57989,58018,58048,58077,58107,58137,58167,58196,58226,58255,58285,58314,58343,58373,58402,58432,58461,58491,58521,58551,58580,58610,58639,58669,58698,58727,58757,58786,58816,58845,58875,58905,58934,58964,58994,59023,59053,59082,59111,59141,59170,59200,59229,59259,59288,59318,59348,59377,59407,59436,59466,59495,59525,59554,59584,59613,59643,59672,59702,59731,59761,59791,59820,59850,59879,59909,59939,59968,59997,60027,60056,60086,60115,60145,60174,60204,60234,60264,60293,60323,60352,60381,60411,60440,60469,60499,60528,60558,60588,60618,60648,60677,60707,60736,60765,60795,60824,60853,60883,60912,60942,60972,61002,61031,61061,61090,61120,61149,61179,61208,61237,61267,61296,61326,61356,61385,61415,61445,61474,61504,61533,61563,61592,61621,61651,61680,61710,61739,61769,61799,61828,61858,61888,61917,61947,61976,62006,62035,62064,62094,62123,62153,62182,62212,62242,62271,62301,62331,62360,62390,62419,62448,62478,62507,62537,62566,62596,62625,62655,62685,62715,62744,62774,62803,62832,62862,62891,62921,62950,62980,63009,63039,63069,63099,63128,63157,63187,63216,63246,63275,63305,63334,63363,63393,63423,63453,63482,63512,63541,63571,63600,63630,63659,63689,63718,63747,63777,63807,63836,63866,63895,63925,63955,63984,64014,64043,64073,64102,64131,64161,64190,64220,64249,64279,64309,64339,64368,64398,64427,64457,64486,64515,64545,64574,64603,64633,64663,64692,64722,64752,64782,64811,64841,64870,64899,64929,64958,64987,65017,65047,65076,65106,65136,65166,65195,65225,65254,65283,65313,65342,65371,65401,65431,65460,65490,65520,65549,65579,65608,65638,65667,65697,65726,65755,65785,65815,65844,65874,65903,65933,65963,65992,66022,66051,66081,66110,66140,66169,66199,66228,66258,66287,66317,66346,66376,66405,66435,66465,66494,66524,66553,66583,66612,66641,66671,66700,66730,66760,66789,66819,66849,66878,66908,66937,66967,66996,67025,67055,67084,67114,67143,67173,67203,67233,67262,67292,67321,67351,67380,67409,67439,67468,67497,67527,67557,67587,67617,67646,67676,67705,67735,67764,67793,67823,67852,67882,67911,67941,67971,68e3,68030,68060,68089,68119,68148,68177,68207,68236,68266,68295,68325,68354,68384,68414,68443,68473,68502,68532,68561,68591,68620,68650,68679,68708,68738,68768,68797,68827,68857,68886,68916,68946,68975,69004,69034,69063,69092,69122,69152,69181,69211,69240,69270,69300,69330,69359,69388,69418,69447,69476,69506,69535,69565,69595,69624,69654,69684,69713,69743,69772,69802,69831,69861,69890,69919,69949,69978,70008,70038,70067,70097,70126,70156,70186,70215,70245,70274,70303,70333,70362,70392,70421,70451,70481,70510,70540,70570,70599,70629,70658,70687,70717,70746,70776,70805,70835,70864,70894,70924,70954,70983,71013,71042,71071,71101,71130,71159,71189,71218,71248,71278,71308,71337,71367,71397,71426,71455,71485,71514,71543,71573,71602,71632,71662,71691,71721,71751,71781,71810,71839,71869,71898,71927,71957,71986,72016,72046,72075,72105,72135,72164,72194,72223,72253,72282,72311,72341,72370,72400,72429,72459,72489,72518,72548,72577,72607,72637,72666,72695,72725,72754,72784,72813,72843,72872,72902,72931,72961,72991,73020,73050,73080,73109,73139,73168,73197,73227,73256,73286,73315,73345,73375,73404,73434,73464,73493,73523,73552,73581,73611,73640,73669,73699,73729,73758,73788,73818,73848,73877,73907,73936,73965,73995,74024,74053,74083,74113,74142,74172,74202,74231,74261,74291,74320,74349,74379,74408,74437,74467,74497,74526,74556,74586,74615,74645,74675,74704,74733,74763,74792,74822,74851,74881,74910,74940,74969,74999,75029,75058,75088,75117,75147,75176,75206,75235,75264,75294,75323,75353,75383,75412,75442,75472,75501,75531,75560,75590,75619,75648,75678,75707,75737,75766,75796,75826,75856,75885,75915,75944,75974,76003,76032,76062,76091,76121,76150,76180,76210,76239,76269,76299,76328,76358,76387,76416,76446,76475,76505,76534,76564,76593,76623,76653,76682,76712,76741,76771,76801,76830,76859,76889,76918,76948,76977,77007,77036,77066,77096,77125,77155,77185,77214,77243,77273,77302,77332,77361,77390,77420,77450,77479,77509,77539,77569,77598,77627,77657,77686,77715,77745,77774,77804,77833,77863,77893,77923,77952,77982,78011,78041,78070,78099,78129,78158,78188,78217,78247,78277,78307,78336,78366,78395,78425,78454,78483,78513,78542,78572,78601,78631,78661,78690,78720,78750,78779,78808,78838,78867,78897,78926,78956,78985,79015,79044,79074,79104,79133,79163,79192,79222,79251,79281,79310,79340,79369,79399,79428,79458,79487,79517,79546,79576,79606,79635,79665,79695,79724,79753,79783,79812,79841,79871,79900,79930,79960,79990]});var M1t=W((Zai,A1t)=>{"use strict";A1t.exports=ff();s1t();l1t();u1t();c1t();f1t();h1t();d1t();p1t();g1t();y1t();x1t();_1t();b1t();w1t();T1t()});var L1t=W((Kai,F1t)=>{"use strict";var E1t=M1t(),Q8=it(),k1t=Kn(),o7r=k1t.EPOCHJD,s7r=k1t.ONEDAY,Ose={valType:"enumerated",values:Q8.sortObjectKeys(E1t.calendars),editType:"calc",dflt:"gregorian"},C1t=function(e,t,r,i){var n={};return n[r]=Ose,Q8.coerce(e,t,n,r,i)},l7r=function(e,t,r,i){for(var n=0;n{"use strict";P1t.exports=L1t()});var p7r=W((Qai,z1t)=>{var R1t=B4e();R1t.register([OTe(),S6e(),UAe(),lMe(),wMe(),ySe(),FSe(),xEe(),YEe(),Dke(),m8e(),GPe(),LIe(),Tze(),fBe(),VBe(),hqe(),SOe(),jOe(),uNe(),bNe(),RNe(),ZNe(),hUe(),XVe(),vGe(),zXe(),zZe(),OKe(),fJe(),flt(),Slt(),Zlt(),uct(),Pct(),pft(),zht(),s0t(),k0t(),edt(),pdt(),dpt(),Lpt(),Kpt(),Lvt(),n1t(),I1t()]);z1t.exports=R1t});return p7r();})(); +/*! + * The buffer module from node.js, for the browser. + * + * @author Feross Aboukhadijeh + * @license MIT + */ +/*! ieee754. BSD-3-Clause License. Feross Aboukhadijeh */ +/*! + * Determine if an object is a Buffer + * + * @author Feross Aboukhadijeh + * @license MIT + */ +/*! + * pad-left + * + * Copyright (c) 2014-2015, Jon Schlinkert. + * Licensed under the MIT license. + */ +/*! + * repeat-string + * + * Copyright (c) 2014-2015, Jon Schlinkert. + * Licensed under the MIT License. + */ +/*! Bundled license information: + +native-promise-only/lib/npo.src.js: + (*! Native Promise Only + v0.8.1 (c) Kyle Simpson + MIT License: http://getify.mit-license.org + *) + +polybooljs/index.js: + (* + * @copyright 2016 Sean Connelly (@voidqk), http://syntheti.cc + * @license MIT + * @preserve Project Home: https://github.com/voidqk/polybooljs + *) + +ieee754/index.js: + (*! ieee754. BSD-3-Clause License. Feross Aboukhadijeh *) + +buffer/index.js: + (*! + * The buffer module from node.js, for the browser. + * + * @author Feross Aboukhadijeh + * @license MIT + *) + +safe-buffer/index.js: + (*! safe-buffer. MIT License. Feross Aboukhadijeh *) + +assert/build/internal/util/comparisons.js: + (*! + * The buffer module from node.js, for the browser. + * + * @author Feross Aboukhadijeh + * @license MIT + *) + +object-assign/index.js: + (* + object-assign + (c) Sindre Sorhus + @license MIT + *) + +maplibre-gl/dist/maplibre-gl-shared.mjs: +maplibre-gl/dist/maplibre-gl.mjs: + (** + * MapLibre GL JS + * @license 3-Clause BSD. Full text of license: https://github.com/maplibre/maplibre-gl-js/blob/v6.9.0/LICENSE.txt + *) +*/ + +window.Plotly = Plotly; +return Plotly; +})); \ No newline at end of file diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_control.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_control.py new file mode 100644 index 0000000000000000000000000000000000000000..bb315e00e5fe34506d7ee2d35be532aabb83df70 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_control.py @@ -0,0 +1,259 @@ +"""Execution gates and transforms for the live Stretch/CROSS adapter, without I/O.""" +import math +from dataclasses import dataclass +from pathlib import Path + +import numpy as np + +DEFAULT_MAX_PLAN_AGE = 2.0 +DEFAULT_PLAN_HOLD_SECONDS = 8.0 +HEAD_VIEW_TIMEOUT = 20.0 +HEAD_SURVEY_TIMEOUT = 120.0 + + +def wrap(angle): + return math.atan2(math.sin(angle), math.cos(angle)) + + +def alignment_correction(previous, current, base): + """Map-pose correction at the current base, independent of the odom origin. + + Alignment translations describe the coordinate origin. A small rotation + about a distant robot can move that origin substantially without moving + the estimated robot position. Compare both alignments at the same base. + """ + previous, current, base = [np.asarray(value, dtype=float) for value in (previous, current, base)] + if any(value.shape != (4, 4) or not np.isfinite(value).all() for value in (previous, current, base)): + raise ValueError('Invalid map alignment or base transform') + before, after = previous @ base, current @ base + distance = float(np.linalg.norm(after[:3, 3] - before[:3, 3])) + rotation = previous[:3, :3].T @ current[:3, :3] + angle = float(np.arccos(np.clip((np.trace(rotation) - 1.) / 2., -1., 1.))) + return distance, angle + + +def stationary_head_command(plan, robot, *, now, robot_received): + """Renew a bounded head-only observation from current robot feedback. + + Its target, frozen odometry anchor and deadline still come from planning. + Renewing never changes that deadline, advances a view, or permits driving. + The returned frame ID is checked against source time by the existing relay. + """ + if (not plan or not plan.get('observation_hold') or plan.get('head_target') is None + or plan.get('head_deadline') is None): + return None, '' + if plan.get('scan_w', 0.) != 0.: + return None, '' # Any base rotation still needs a fresh driving plan. + try: + deadline = float(plan['head_deadline']) + target = np.asarray(plan['head_target'], float) + anchor = np.asarray(plan['head_anchor'], float) + pose = np.asarray(robot['base_pose'], float) + joint = np.asarray(robot['joint_positions'], float) + status_age = now - robot_received + sensor_age, tf_age = float(robot['sensor_age']), float(robot['tf_age']) + frame_id = int(robot['frame_id']) + except (KeyError, TypeError, ValueError, OverflowError): + return None, 'head observation feedback unavailable' + if (not np.isfinite(deadline) or target.shape != (2,) or anchor.shape != (4, 4) + or not np.isfinite(target).all() or not np.isfinite(anchor).all() + or not -2.8 <= target[0] <= .65 or not -1.4 <= target[1] <= 0.): + return None, 'invalid head observation request' + if now >= deadline: + return None, 'head observation deadline expired' + if (pose.shape != (3,) or joint.ndim != 1 or len(joint) < 11 + or not np.isfinite(pose).all() or not np.isfinite(joint).all() + or not np.isfinite([status_age, sensor_age, tf_age]).all() + or not 0. <= status_age <= .5 or not -.02 <= sensor_age + status_age < .75 + or not -.02 <= tf_age + status_age < .5 or frame_id < 0): + return None, 'head observation feedback unavailable' + yaw = math.atan2(anchor[1, 0], anchor[0, 0]) + if np.linalg.norm(pose[:2] - anchor[:2, 3]) > .05 or abs(wrap(pose[2] - yaw)) > math.radians(5): + # A directed corner look can follow a permitted base rotation. Hold + # until its next image supplies the updated pose/extrinsic. A survey + # has a confirmed stationary origin and must not re-anchor that way. + return None, ('base moved during head observation' if plan.get('stationary_survey') else + 'head observation feedback unavailable') + if robot.get('head_enabled') is not True: + return None, 'leased head control unavailable' + return {'frame_id': frame_id, 'head_target': target.tolist(), 'v': 0., 'w': 0.}, '' + + +def execution_gate(plan, robot, *, now, robot_received, heartbeat, state='active', + max_plan_age=DEFAULT_MAX_PLAN_AGE): + """Require fresh planning evidence and CROSS's stable map commitment. + + CROSS carries its committed pose through map-match gaps using odometry. + Retrieval verification is diagnostic, not a separate execution deadline. + The PC plan-age gate starts at receipt. Independently, the robot lease + validates full source-image age, including transport and compute time. + A bounded stationary head target instead uses current sensor/TF/joint + feedback; it cannot authorize base movement or mark a view as settled. + """ + if state not in ('preparing', 'active'): + return 'teleop owns control' + if now - heartbeat > 5.: + return 'viewer heartbeat expired' + if robot is None or now - robot_received > .5: + return 'robot status stale' + if robot.get('is_runstopped') is not False or robot.get('is_homed') is not True: + return 'robot run-stopped or unhomed' + if not robot.get('posture_ok'): + return 'arm must already be retracted' + if robot.get('latched'): + return 'robot stop latched' + if robot.get('head_error'): + return 'head observation fault: ' + str(robot['head_error']) + if state == 'active' and not robot.get('healthy'): + return 'robot state/camera/TF unavailable' + if plan is None: + return 'sensor/plan evidence stale' + if not np.isfinite([plan['input_received'], plan.get('goal_distance', math.nan)]).all(): + return 'invalid plan timing or goal' + head_only = (plan.get('observation_hold') and plan.get('head_target') is not None + and plan.get('head_deadline') is not None and plan.get('scan_w', 0.) == 0.) + if not head_only and now - plan['input_received'] > max_plan_age: + return 'sensor/plan evidence stale' + if not plan.get('localized') or plan.get('localized_streak', 0) < 3: + return 'waiting for stable committed localization' + if plan.get('recovery_pending'): + return 'map correction recovery' + if plan.get('arrived') and now - plan['input_received'] <= max_plan_age: + return 'goal reached' + head_command, head_fault = stationary_head_command(plan, robot, now=now, robot_received=robot_received) + if head_fault: + return head_fault + if head_command is not None: + return '' + if now - plan['input_received'] > max_plan_age: + return 'sensor/plan evidence stale' + if not plan.get('route_ids'): + return 'no global route' + if plan.get('observation_hold'): + if plan.get('head_target') is not None and robot.get('head_enabled') is not True: + return 'leased head control unavailable' + return '' + if plan.get('planner_status') == 2 and plan.get('scan_authorized'): + return '' + if plan.get('planner_status') == 2 or len(plan.get('path_odom', [])) < 2: + return 'no executable local path' + return '' + + +@dataclass +class PlanWait: + """Hold at zero through a short perception gap, without re-arming the lease. + + Physical faults and lost localization never qualify for a transient hold. + A brief missing status stream also permits only zero velocity. An active + run can continue only after fresh robot status and its current plan pass + the full gate again. Sustained gaps end the run. + """ + timeout: float = DEFAULT_PLAN_HOLD_SECONDS + since: float | None = None + + def holds(self, reason, now): + if reason not in ('sensor/plan evidence stale', 'no executable local path', 'robot status stale', + 'head observation feedback unavailable'): + self.since = None + return False + if self.since is None: + self.since = now + return now - self.since < self.timeout + + +def competing_controllers(proc_root='/proc'): + """Identify known local base clients that publish even while their keys are up.""" + found = [] + for entry in Path(proc_root).iterdir(): + if not entry.name.isdecimal(): + continue + try: + args = (entry / 'cmdline').read_bytes().split(b'\0') + words = [a.decode(errors='replace') for a in args if a] + except (OSError, PermissionError): + continue + if not words or not Path(words[0]).name.startswith('python'): + continue + for word in words[1:]: + if (Path(word).name in ('teleop.py', 'manual_teleop.py', 'depth_nav_live.py') + or word == 'stretch.app.manual_teleop'): + found.append({'pid': int(entry.name), 'client': Path(word).name}) + break + return found + + +def remaining_path(path_world, pose): + """Trim a saved odom path at the nearest segment and return forward/left.""" + points = np.asarray(path_world, dtype=float).reshape(-1, 2) + pose = np.asarray(pose, dtype=float) + if len(points) < 2 or not np.isfinite(points).all() or not np.isfinite(pose).all(): + return np.empty((0, 2)) + delta = np.diff(points, axis=0) + t = np.clip(np.sum((pose[:2] - points[:-1]) * delta, axis=1) + / np.maximum(np.sum(delta ** 2, axis=1), 1e-9), 0., 1.) + projected = points[:-1] + t[:, None] * delta + k = int(np.argmin(np.linalg.norm(projected - pose[:2], axis=1))) + ahead = np.vstack([projected[k], points[k + 1:]]) - pose[:2] + c, s = np.cos(pose[2]), np.sin(pose[2]) + return ahead @ np.array([[c, -s], [s, c]]) + + +def depth_obstacles(depth, K, camera, base_z=0.): + """Current measured returns for a short-horizon veto, separate from CROSS planning.""" + depth, K, camera = map(np.asarray, (depth, K, camera)) + vv, uu = np.mgrid[0:depth.shape[0]:3, 0:depth.shape[1]:3] + z = depth[::3, ::3] + valid = np.isfinite(z) & (z > .12) & (z < 3.) + if valid.sum() < 100: + raise ValueError('insufficient measured depth for execution guard') + z, uu, vv = z[valid], uu[valid], vv[valid] + pc = np.column_stack([(uu - K[0, 2]) * z / K[0, 0], + (vv - K[1, 2]) * z / K[1, 1], z]) + world = pc @ camera[:3, :3].T + camera[:3, 3] + return world[(world[:, 2] > base_z + .12) & (world[:, 2] < base_z + 1.8), :2] + + +def depth_veto(points_world, pose, v, w, *, horizon=1., half_width=.23, half_length=.23): + """Veto a 1 s swept rectangle when measured points intersect it. + + The starting footprint is excluded as a robot self mask. This is a veto of + known returns, not evidence that unobserved near-field space is free. + """ + points, pose = np.asarray(points_world), np.asarray(pose) + c, s = np.cos(pose[2]), np.sin(pose[2]) + local = (points - pose[:2]) @ np.array([[c, -s], [s, c]]) + local = local[(np.abs(local[:, 0]) > .20) | (np.abs(local[:, 1]) > .20)] + for t in np.linspace(0., horizon, 16): + theta = w * t + center = np.array([v * t, 0.]) if abs(w) < 1e-6 else np.array([ + v / w * np.sin(theta), v / w * (1. - np.cos(theta))]) + c, s = np.cos(theta), np.sin(theta) + relative = (local - center) @ np.array([[c, -s], [s, c]]) + inside = (np.abs(relative[:, 0]) <= half_length) & (np.abs(relative[:, 1]) <= half_width) + if inside.sum() >= 3: + return True + return False + + +def attachment_clear(points_world, pose, target_xy): + """Reject a straight local attachment intersecting measured obstacle returns. + + Use the execution guard's footprint and robot self mask. Unknown space is + left to the native local planner; this check only vetoes measured returns. + """ + points, pose, target = map(np.asarray, (points_world, pose, target_xy)) + if not all(np.isfinite(value).all() for value in (points, pose, target)): + raise ValueError('Invalid attachment geometry') + c, s = np.cos(pose[2]), np.sin(pose[2]) + rotation = np.array([[c, -s], [s, c]]) + local = (points - pose[:2]) @ rotation + local = local[(np.abs(local[:, 0]) > .20) | (np.abs(local[:, 1]) > .20)] + end = (target - pose[:2]) @ rotation + steps = max(2, int(np.ceil(np.linalg.norm(end) / .025)) + 1) + for fraction in np.linspace(0., 1., steps): + relative = local - fraction * end + inside = (np.abs(relative[:, 0]) <= .23) & (np.abs(relative[:, 1]) <= .23) + if inside.sum() >= 3: + return False + return True diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_footprint.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_footprint.py new file mode 100644 index 0000000000000000000000000000000000000000..6fffd2058a9e1f76c4b4a86577169d79c53c3013 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_footprint.py @@ -0,0 +1,87 @@ +"""Explain the learned command-footprint veto without changing its thresholds.""" + +import math + +import numpy as np + + +def command_footprint_report(grid, planning_base, pose, v, w, horizon=1.0, max_cells=12): + """Use the execution guard's exact sweep; return its first blocking cells. + + Cell centres are reported in the planning base and continuous odom frames. + Learned predictions under the image-time body are excluded, matching native + cross_nav's own-footprint rule. Newly swept space and the separate measured + depth veto retain their checks. Ignored predictions remain in diagnostics. + """ + prob, obs = np.asarray(grid["prob"]), np.asarray(grid["obs"]) + n, res = len(prob), float(grid["res"]) + if prob.shape != (n, n) or obs.shape != prob.shape or res <= 0: + raise ValueError("Invalid command footprint grid") + offsets = np.array(np.meshgrid(np.linspace(-0.23, 0.23, 11), np.linspace(-0.23, 0.23, 11))).reshape(2, -1).T + yaw = math.atan2(planning_base[1, 0], planning_base[0, 0]) + c, s = math.cos(yaw), math.sin(yaw) + world_to_plan = np.array([[c, -s], [s, c]]) + c, s = math.cos(pose[2]), math.sin(pose[2]) + world_to_robot = np.array([[c, -s], [s, c]]) + ignored = set() + + def cells_at(indices): + cells = [] + for row, col in indices: + body_xy = (n / 2 - np.array([row, col]) - 0.5) * res + point = body_xy @ world_to_plan.T + planning_base[:2, 3] + cells.append({ + "row": int(row), "column": int(col), "grid_body_xy": body_xy.tolist(), + "world_xy": point.tolist(), "probability": float(prob[row, col]), + "observability": float(obs[row, col]), + "uncertainty": float(grid["err"][row, col]) if "err" in grid else None, + }) + return cells + + def result(clear, reason, blocked=(), t=None): + return {"clear": clear, "reason": reason, "sweep_time_s": t, + "blocking_cell_count": len(blocked), "cells": cells_at(blocked[:max_cells]), + "ignored_current_body_cell_count": len(ignored), + "self_cells": cells_at(sorted(ignored)[:min(4, max_cells)])} + + for t in np.linspace(0.0, horizon, 16): + angle = w * t + center = ( + np.array([v * t, 0.0]) + if abs(w) < 1e-6 + else np.array([v / w * math.sin(angle), v / w * (1.0 - math.cos(angle))]) + ) + c, s = math.cos(angle), math.sin(angle) + local = offsets @ np.array([[c, s], [-s, c]]) + center + world = local @ world_to_robot.T + pose[:2] + fl = (world - planning_base[:2, 3]) @ world_to_plan + rc = np.floor(n / 2 - fl / res).astype(int) + if ((rc < 0) | (rc >= n)).any(): + return result(False, "outside learned grid", t=float(t)) + occupied = (prob[rc[:, 0], rc[:, 1]] > 0.6) & (obs[rc[:, 0], rc[:, 1]] > 0.5) + centres = (n / 2 - rc - 0.5) * res + # Freeze this exemption at the image-time planning base. Moving into + # a predicted obstacle after that image must never mask the obstacle. + own_body = (np.abs(centres) <= 0.23).all(1) + ignored.update(map(tuple, rc[occupied & own_body])) + if (occupied & ~own_body).any(): + blocked = np.unique(rc[occupied & ~own_body], axis=0) + return result(False, "learned occupancy", blocked, float(t)) + return result(True, "clear") + + +def depth_support(report, points_world): + """Label nearby measured returns; absence of returns is not free-space proof.""" + points = np.asarray(points_world, float).reshape(-1, 2) + def support(cells): + result = [] + for cell in cells: + distances = np.linalg.norm(points - cell["world_xy"], axis=1) + count = int((distances <= 0.10).sum()) + result.append({**cell, "nearby_depth_returns": count, "depth_supported": count >= 3, + "nearest_depth_return_m": float(distances.min()) if len(distances) else None}) + return result + cells = support(report["cells"]) + return {**report, "cells": cells, "self_cells": support(report.get("self_cells", [])), + "depth_supported_cells": sum(c["depth_supported"] for c in cells), + "depth_note": "Nearby obstacle returns only; no returns does not establish free space"} diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_geometry.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..6173aefce2bb8692fab4c55e8ef425bfcd50b35a --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_geometry.py @@ -0,0 +1,99 @@ +"""Measured-depth BEV baseline for passive CROSS planner inspection. + +This is explicitly not CROSS's learned occupancy or observability head. Floor +height is an odometry-frame prior. The output probabilities are fixed planning +encodings, not calibrated predictions or proof of safe execution. +""" +import cv2 +import numpy as np + + +def body_yaw(transform): + return float(np.arctan2(transform[1, 0], transform[0, 0])) + + +def body_to_world(points, base): + yaw = body_yaw(base) + rotation = np.array([[np.cos(yaw), -np.sin(yaw)], [np.sin(yaw), np.cos(yaw)]]) + return np.asarray(points) @ rotation.T + base[:2, 3] + + +def world_to_body(point, base): + yaw = body_yaw(base) + rotation = np.array([[np.cos(yaw), -np.sin(yaw)], [np.sin(yaw), np.cos(yaw)]]) + return (np.asarray(point)[:2] - base[:2, 3]) @ rotation + + +def measured_bev(depth, K, camera, base, *, size=200, res=.05, max_depth=3., + floor_z=0., obstacle_min=.2, obstacle_max=1.6): + """Robot-centered (rows forward, columns right) occupancy encoding and visibility. + + Floor visibility is tested against the current depth image, including + occlusion. Elevated returns set occupancy directly. Unobserved cells stay + unknown. Actual base/camera transforms account for head pan, tilt and offset. + """ + depth = np.asarray(depth, dtype=float) + K, camera, base = [np.asarray(value, dtype=float) for value in (K, camera, base)] + if depth.ndim != 2 or K.shape != (3, 3) or camera.shape != (4, 4) or base.shape != (4, 4): + raise ValueError('Invalid depth or calibrated transforms') + if not np.isfinite(np.r_[K.ravel(), camera.ravel(), base.ravel(), floor_z]).all(): + raise ValueError('Nonfinite geometry') + rr, cc = np.mgrid[:size, :size] + fl = np.stack([(size / 2 - rr - .5) * res, (size / 2 - cc - .5) * res], -1) + xy = body_to_world(fl.reshape(-1, 2), base) + ground = np.column_stack([xy, np.full(len(xy), floor_z)]) + ground_camera = (ground - camera[:3, 3]) @ camera[:3, :3] + z = ground_camera[:, 2] + forward = (z > .1) & (z <= max_depth) + denominator = np.where(forward, z, 1.) + u = np.rint(K[0, 0] * ground_camera[:, 0] / denominator + K[0, 2]).astype(int) + v = np.rint(K[1, 1] * ground_camera[:, 1] / denominator + K[1, 2]).astype(int) + h, w = depth.shape + inside = forward & (u >= 0) & (u < w) & (v >= 0) & (v < h) + sample = np.full(len(xy), np.nan) + sample[inside] = depth[v[inside], u[inside]] + visible = inside & np.isfinite(sample) & (sample > .1) & (sample <= max_depth) + visible &= sample >= z - .08 + observed = visible.reshape(size, size).astype(np.float32) + probability = np.where(observed > 0, .01, .5).astype(np.float32) + + vv, uu = np.mgrid[0:h:3, 0:w:3] + zz = depth[::3, ::3] + valid = np.isfinite(zz) & (zz > .1) & (zz <= max_depth) + zz, uu, vv = zz[valid], uu[valid], vv[valid] + pc = np.column_stack([(uu - K[0, 2]) * zz / K[0, 0], + (vv - K[1, 2]) * zz / K[1, 1], zz]) + points = pc @ camera[:3, :3].T + camera[:3, 3] + height = points[:, 2] - floor_z + yaw = body_yaw(base) + d = points[:, :2] - base[:2, 3] + forward_xy = d[:, 0] * np.cos(yaw) + d[:, 1] * np.sin(yaw) + left_xy = -d[:, 0] * np.sin(yaw) + d[:, 1] * np.cos(yaw) + row = np.floor(size / 2 - forward_xy / res).astype(int) + col = np.floor(size / 2 - left_xy / res).astype(int) + in_grid = (row >= 0) & (row < size) & (col >= 0) & (col < size) + obstacle = ((height >= obstacle_min) & (height <= obstacle_max)) | (height < -.2) + selected = in_grid & obstacle + probability[row[selected], col[selected]] = .99 + observed[row[selected], col[selected]] = 1. + heights = np.full((size, size), -np.inf, np.float32) + np.maximum.at(heights, (row[in_grid], col[in_grid]), height[in_grid]) + return {'prob': probability, 'obs': observed, 'height': heights, 'res': res, + 'points_odom': points[::max(1, len(points) // 2500)], + 'source': 'measured_depth_geometry', 'floor_z_odom': float(floor_z), + 'occupied_cells': int((probability > .6).sum()), + 'observed_cells': int((observed > .5).sum())} + + +def bev_png(probability, observed, layer='occupancy'): + p, v = np.asarray(probability), np.asarray(observed) + image = np.full((*p.shape, 3), (33, 49, 64), np.uint8) + if layer == 'occupancy': + image[v > .5] = (63, 192, 159) + image[p > .6] = (239, 110, 105) + else: + image[v > .5] = (68, 166, 218) + success, encoded = cv2.imencode('.png', image[..., ::-1]) + if not success: + raise OSError('Could not encode BEV') + return encoded.tobytes() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_learned.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_learned.py new file mode 100644 index 0000000000000000000000000000000000000000..d1e29b9751ccaf7d85fb7b2e553c4920844af37c --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_learned.py @@ -0,0 +1,57 @@ +"""Place native camera-centred CROSS BEVs in the recorded robot base frame.""" +import cv2 +import numpy as np + +from .stretch_nav_geometry import body_yaw + + +def reproject_bev(prob, obs, err, rotation_bev_camera, camera, base, res): + """Resample at cell centres, preserving probabilities and unknown borders. + + Native axes are right/forward/up at the camera. The planner consumes a grid + centred on the base, with rows forward and columns right of the base heading. + Both frames use recorded odom up; camera height therefore cancels in XY. + """ + arrays = [np.asarray(a, dtype=np.float32) for a in (prob, obs, err)] + n = arrays[0].shape[0] + if any(a.shape != (n, n) or not np.isfinite(a).all() for a in arrays): + raise ValueError('Learned BEV layers must be finite matching square grids') + camera, base, rotation = map(np.asarray, (camera, base, rotation_bev_camera)) + if not all(np.isfinite(a).all() for a in (camera, base, rotation)) or res <= 0: + raise ValueError('Invalid learned BEV transform or resolution') + yaw = body_yaw(base) + # Destination pixel (column, row) -> base forward/left -> odom -> camera BEV. + dst = np.array([[0., 0.], [n - 1., 0.], [0., n - 1.]], np.float32) + forward = (n / 2 - dst[:, 1] - .5) * res + left = (n / 2 - dst[:, 0] - .5) * res + world = np.column_stack([ + base[0, 3] + np.cos(yaw) * forward - np.sin(yaw) * left, + base[1, 3] + np.sin(yaw) * forward + np.cos(yaw) * left, + np.full(3, camera[2, 3]), + ]) + native = (world - camera[:3, 3]) @ camera[:3, :3] @ rotation.T + src = np.column_stack([native[:, 0] / res + n / 2 - .5, + n / 2 - native[:, 1] / res - .5]).astype(np.float32) + affine = cv2.getAffineTransform(dst, src) + warped = [cv2.warpAffine(a, affine, (n, n), + flags=cv2.INTER_LINEAR | cv2.WARP_INVERSE_MAP, borderMode=cv2.BORDER_CONSTANT, + borderValue=border) for a, border in zip(arrays, (.5, 0., 1.))] + return {'prob': warped[0], 'obs': warped[1], 'err': warped[2], + 'base_pixel_to_camera_pixel': affine} + + +def learned_png(prob, obs, err, layer): + """Continuous, explicitly separate occupancy/observability/error scales.""" + values = {'occupancy': prob, 'visibility': obs, 'uncertainty': err}[layer] + palette = { + 'occupancy': [(55, 183, 148), (222, 190, 96), (233, 91, 101)], + 'visibility': [(25, 42, 60), (48, 128, 182), (173, 226, 255)], + 'uncertainty': [(25, 42, 60), (155, 112, 70), (255, 174, 76)], + }[layer] + p = np.clip(np.asarray(values, dtype=np.float32), 0., 1.) + image = np.stack([np.interp(p, [0., .5, 1.], np.array(palette)[:, channel]) + for channel in range(3)], axis=-1).astype(np.uint8) + success, encoded = cv2.imencode('.png', image[..., ::-1]) + if not success: + raise OSError('Could not encode learned BEV') + return encoded.tobytes() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_recovery.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_recovery.py new file mode 100644 index 0000000000000000000000000000000000000000..23bba1c200cde3399a674b28725e3f6db664619f --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_recovery.py @@ -0,0 +1,393 @@ +"""Odometry-frame recovery and corner observation for the Stretch adapter. + +No hardware or CROSS imports. A moving head changes the observation transform, +never the neutral camera reference used to attach the base to the saved route. +""" + +import math +from collections import deque +from dataclasses import dataclass + +import numpy as np + +from .stretch_nav_control import HEAD_VIEW_TIMEOUT, alignment_correction, wrap +from .stretch_nav_geometry import world_to_body + + +def camera_in_base(camera, base): + """T_base_camera from the two TF poses at the *image* timestamp.""" + camera, base = np.asarray(camera, float), np.asarray(base, float) + for value in (camera, base): + if value.shape != (4, 4) or not np.isfinite(value).all(): + raise ValueError("Invalid timestamped camera/base TF") + if ( + not np.allclose(value[3], [0, 0, 0, 1], atol=1e-5) + or not np.allclose(value[:3, :3].T @ value[:3, :3], np.eye(3), atol=1e-4) + or np.linalg.det(value[:3, :3]) < 0.99 + ): + raise ValueError("Non-rigid camera/base TF") + return np.linalg.inv(base) @ camera + + +def camera_yaw(camera_base): + forward = np.asarray(camera_base)[:3, 2] + if np.linalg.norm(forward[:2]) < 0.2: + raise ValueError("Camera points too vertically for a corner scan") + return math.atan2(forward[1], forward[0]) + + +def camera_pitch(camera_base): + forward = np.asarray(camera_base)[:3, 2] + if not np.isfinite(forward).all() or np.linalg.norm(forward) < 0.9: + raise ValueError("Invalid camera direction") + return math.atan2(forward[2], np.linalg.norm(forward[:2])) + + +def clear_goal_cache(episode): + """Discard goal-specific routes, retaining occupancy, bumps and metric scale.""" + episode.route, episode.route_age = None, 0 + episode.no_route, episode.side, episode.expect = 0, 0.0, 0.0 + + +class MeasuredObstacleMemory: + """Short odometry-frame depth history, so a pan does not erase the front. + + This veto retains known returns for 12 seconds. Native occupancy memory + remains separate; retained moving-object returns may delay a command. + """ + + def __init__(self, horizon=12.0): + self.horizon, self.frames = horizon, deque() + self.preserve_from = None + + def observing(self, active, now): + """Keep pre-scan returns throughout a stationary survey and its exit.""" + if active and self.preserve_from is None: + self.preserve_from = now - self.horizon + elif not active and self.preserve_from is not None: + if self.frames: + self.frames = deque([(now, np.vstack([p for _, p in self.frames]))]) + self.preserve_from = None + + def update(self, points, now, origin): + points = np.asarray(points, float).reshape(-1, 2) + if not np.isfinite(points).all(): + raise ValueError("Nonfinite measured obstacle history") + if len(points): + cells, counts = np.unique(np.round(points / 0.02), axis=0, return_counts=True) + points = np.repeat(cells, np.minimum(counts, 3), axis=0) * 0.02 + self.frames.append((now, points)) + cutoff = now - self.horizon if self.preserve_from is None else self.preserve_from + while self.frames and self.frames[0][0] < cutoff: + self.frames.popleft() + combined = np.vstack([p for _, p in self.frames]) + combined = combined[np.linalg.norm(combined - np.asarray(origin)[:2], axis=1) < 3.5] + cells, counts = np.unique(np.round(combined / 0.02), axis=0, return_counts=True) + return np.repeat(cells, np.minimum(counts, 3), axis=0) * 0.02 + + +@dataclass +class CorrectionRecovery: + timeout: float = 12.0 + pending: bool = False + since: float = 0.0 + stable_since: float = 0.0 + samples: int = 0 + anchor: object = None + + def update(self, previous, current, base, now): + """Hold after a large correction, then require a coherent new alignment. + + Compare at the current base to avoid odom-origin artifacts. The anchor + also catches a succession of small corrections that add up to drift. + """ + distance, angle = (0.0, 0.0) if previous is None else alignment_correction(previous, current, base) + large = distance > 0.5 or angle > math.radians(25) + started = large and not self.pending + if started: + self.pending, self.since = True, now + self.anchor, self.stable_since, self.samples = np.asarray(current).copy(), now, 0 + if self.pending: + if now - self.since > self.timeout: + raise RuntimeError("Map pose correction did not settle within 12 s") + spread, turn = alignment_correction(self.anchor, current, base) + if large or distance > 0.12 or angle > math.radians(5) or spread > 0.20 or turn > math.radians(8): + self.anchor, self.stable_since, self.samples = np.asarray(current).copy(), now, 0 + else: + self.samples += 1 + if self.samples >= 3 and now - self.stable_since >= 0.6: + self.pending = False + return { + "started": started, + "large": large, + "pending": self.pending, + "distance_m": distance, + "rotation_deg": math.degrees(angle), + "deadline": self.since + self.timeout, + "stable_samples": self.samples, + } + + +def route_subgoal(route_xy, base, goal_xy, lookahead=1.5): + """Arc-length subgoal, stopping short of an upcoming sharp bend.""" + xy = np.asarray(route_xy, float).reshape(-1, 2) + origin = np.asarray(base)[:2, 3] + if not len(xy): + xy = np.asarray(goal_xy, float)[None, :2] + xy = np.vstack([origin, xy]) + xy = xy[np.r_[True, np.linalg.norm(np.diff(xy, axis=0), axis=1) > 0.03]] + if len(xy) == 1: + return {"target": xy[0], "corner": None} + arc = np.r_[0.0, np.cumsum(np.linalg.norm(np.diff(xy, axis=0), axis=1))] + + def at(d): + return np.array([np.interp(d, arc, xy[:, k]) for k in (0, 1)]) + + # Sample over a finite baseline: adjacent camera poses alone give noisy + # curvature. Include the bend's actual location, rather than cutting it. + bends = [] + for distance in np.arange(0.35, min(arc[-1] - 0.35, 1.8), 0.05): + if distance - 0.3 < arc[1]: + continue # The base->first-camera connector is not an aisle bend. + point = at(distance) + before, after = point - at(distance - 0.3), at(distance + 0.35) - point + angle = math.atan2(before[0] * after[1] - before[1] * after[0], np.dot(before, after)) + if abs(angle) >= math.radians(40): + bends.append((abs(angle), distance, point, angle)) + elif bends: + break # Only the first bend, not a sharper turn much farther away. + if bends: + _, distance, point, angle = max(bends, key=lambda v: v[0]) + after = at(min(arc[-1], distance + 0.6)) - point + approach = at(max(0.0, distance - 0.30)) + body_corner = world_to_body(point, base) + if abs(math.atan2(body_corner[1], body_corner[0])) > math.radians(30): + # The recorded camera trail may lie to one side of the base. Peek + # from the incoming aisle before asking for lateral displacement. + forward = base[:2, 0] / np.linalg.norm(base[:2, 0]) + approach = origin + max(0.0, body_corner[0] - 0.30) * forward + return { + "target": approach, + "corner": point, + "outgoing": after / np.linalg.norm(after), + "angle_deg": math.degrees(angle), + } + return {"target": at(min(lookahead, arc[-1])), "corner": None} + + +def observed_branch(grid, base, corner, outgoing): + """Fraction of a short branch strip seen in the current learned BEV.""" + p = np.asarray(corner) + np.linspace(0.1, 0.7, 7)[:, None] * np.asarray(outgoing) + lateral = np.array([-outgoing[1], outgoing[0]]) + p = (p[:, None] + np.array([-0.15, 0.0, 0.15])[None, :, None] * lateral).reshape(-1, 2) + fl = np.array([world_to_body(v, base) for v in p]) + n = len(grid["obs"]) + rc = np.floor(n / 2 - fl / grid["res"]).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + seen = np.zeros(len(p), bool) + seen[inside] = grid["obs"][rc[inside, 0], rc[inside, 1]] > 0.5 + return float(seen.mean()) + + +class CornerObserver: + """Approach -> look -> return -> advance; at most two short peeks. + + Only processed, settled camera TF views count. The control thread keeps + zero base velocity for look/return, except a bounded, guarded scan rotation + when the desired view is outside the head's joint limits. + """ + + def __init__(self): + self.phase = "cruise" + self.corner = self.outgoing = self.approach = None + self.since = 0.0 + self.count = self.peeks = 0 + self.coverage = 0.0 + self.view_coverages = [] + self.previous_mount = None + self.done_at = None + self.scan_only = False + self.scan_cooldown = -math.inf + + def reset(self): + self.__init__() + + def restore_neutral(self, base, now): + """A correction may interrupt a scan with the head still turned.""" + self.reset() + self.phase, self.since, self.scan_only = "return", now, True + self.corner = self.approach = base[:2, 3].copy() + self.outgoing = base[:2, 0].copy() + + def update(self, hint, base, mount, neutral, joint, grid, now, *, no_route=False, force_observation=False): + target = hint["target"] + yaw = math.atan2(base[1, 0], base[0, 0]) + origin = base[:2, 3] + result = { + "phase": self.phase, + "target": target, + "hold": False, + "head_target": None, + "scan_w": 0.0, + "coverage": self.coverage, + "speed_scale": 1.0, + "lookahead": 0.4, + } + if force_observation and self.phase == "advance": + self.phase, self.approach = "approach", origin.copy() + if self.phase == "advance": + if np.dot(origin - self.corner, self.outgoing) > 0.4 or np.linalg.norm(origin - self.done_at) > 1.0: + self.phase = "cruise" + else: + result.update(phase="advance", speed_scale=0.5, lookahead=0.22) + # Retain the bend as an intermediate waypoint until passed. + result["target"] = self.corner + 0.65 * self.outgoing + return result + if self.phase == "cruise": + if hint["corner"] is not None: + self.corner, self.outgoing = hint["corner"].copy(), hint["outgoing"].copy() + self.approach = target.copy() + self.phase, self.peeks, self.scan_only = "approach", 0, False + self.coverage = 0.0 + elif no_route and now >= self.scan_cooldown: + direction = target - origin + if np.linalg.norm(direction) < 0.1: + return result + self.corner, self.outgoing = origin.copy(), direction / np.linalg.norm(direction) + self.approach = origin.copy() + self.phase, self.scan_only = "approach", True + self.coverage = 0.0 + else: + return result + if self.phase == "approach": + if force_observation: + self.approach = origin.copy() + result.update(phase="approach", target=self.approach, speed_scale=0.5, lookahead=0.22) + if np.linalg.norm(origin - self.approach) > (0.04 if self.peeks else 0.16): + return result + self.phase, self.since, self.count = "look", now, 0 + self.view_coverages = [] + self.coverage = 0.0 + self.previous_mount = None + if self.phase in ("look", "return"): + if now - self.since > HEAD_VIEW_TIMEOUT: + raise RuntimeError("Corner camera scan timed out; no unobserved advance") + joint = np.asarray(joint, float) + if len(joint) < 11 or not np.isfinite(joint).all(): + raise ValueError("Head joint feedback unavailable for corner observation") + desired = ( + wrap(math.atan2(self.outgoing[1], self.outgoing[0]) - yaw) + if self.phase == "look" + else camera_yaw(neutral) + ) + error = wrap(desired - camera_yaw(mount)) + pan = joint[9] + error + clamped = float(np.clip(pan, -2.8, 0.65)) + tilt = joint[10] + if self.phase == "return": + tilt += camera_pitch(neutral) - camera_pitch(mount) + result.update( + phase=self.phase, + hold=True, + head_target=[clamped, float(np.clip(tilt, -1.4, 0.0))], + head_anchor=np.asarray(base).copy(), + head_deadline=self.since + HEAD_VIEW_TIMEOUT, + speed_scale=0.5, + lookahead=0.22, + target=self.approach, + ) + # Head first. Base rotation is allowed only after the limited head + # position is reached; the independent footprint veto still applies. + if abs(pan - clamped) > 0.10 and abs(joint[9] - clamped) < 0.08: + result["scan_w"] = math.copysign(0.15, error) + settled = ( + self.previous_mount is not None and np.linalg.norm(mount[:3, 3] - self.previous_mount[:3, 3]) < 0.005 + ) + if settled: + _, moved = alignment_correction(self.previous_mount, mount, np.eye(4)) + settled = moved < math.radians(1) + self.previous_mount = mount.copy() + pitch_ready = self.phase != "return" or abs(camera_pitch(neutral) - camera_pitch(mount)) < math.radians(4) + self.count = self.count + 1 if settled and abs(error) < math.radians(6) and pitch_ready else 0 + if self.phase == "look" and self.count: + self.view_coverages.append(observed_branch(grid, base, self.corner, self.outgoing)) + self.view_coverages = self.view_coverages[-2:] + self.coverage = min(self.view_coverages) + if self.count >= 2: + if self.phase == "look": + self.phase, self.count, self.since = "return", 0, now + elif self.scan_only: + self.phase, self.scan_cooldown = "cruise", now + 12.0 + elif self.coverage >= 0.5: + self.phase, self.done_at = "advance", origin.copy() + elif self.peeks < 2 and np.linalg.norm(self.corner - origin) > 0.14: + # A closer, short approach followed by another stationary + # look. Native planning + rectangle checks must clear it. + self.approach = origin + 0.12 * (self.corner - origin) / np.linalg.norm(self.corner - origin) + self.peeks += 1 + self.phase = "approach" + else: + raise RuntimeError("Corner remains occluded after bounded peeks; reposition required") + self.previous_mount = None + result["coverage"] = self.coverage + return result + + +def rectangle_command_clear(grid, planning_base, pose, v, w, horizon=1.0): + """Actual 1 s swept square, including pure rotation, in the learned grid.""" + from .stretch_nav_footprint import command_footprint_report + + return command_footprint_report(grid, planning_base, pose, v, w, horizon, max_cells=0)["clear"] + + +def rectangle_path_clear(path, grid, half_width=0.23, half_length=0.23, horizon=1.2): + """Check an oriented swept body against observed learned occupancy. + + Unknown is not relabelled free here. The native visibility planner handles + observation requests, while measured depth remains a separate hard veto. + """ + path = np.vstack([[0.0, 0.0], np.asarray(path, float).reshape(-1, 2)]) + if not np.isfinite(path).all(): + return False + offsets = ( + np.array(np.meshgrid(np.linspace(-half_length, half_length, 11), np.linspace(-half_width, half_width, 11))) + .reshape(2, -1) + .T + ) + travelled, heading = 0.0, 0.0 + n, res = len(grid["prob"]), grid["res"] + # Match native cross_nav: the robot already occupies this area. Keep the + # original prediction intact for diagnostics and for all newly swept cells. + probability = np.asarray(grid["prob"]).copy() + axis = (n / 2 - np.arange(n) - 0.5) * res + probability[(np.abs(axis[:, None]) <= half_length) & (np.abs(axis[None, :]) <= half_width)] = 0.0 + for a, b in zip(path[:-1], path[1:]): + d = float(np.linalg.norm(b - a)) + if d < 1e-5: + continue + yaw = math.atan2(*(b - a)[::-1]) + for angle in np.linspace(heading, heading + wrap(yaw - heading), 8): + c, s = math.cos(angle), math.sin(angle) + points = offsets @ np.array([[c, s], [-s, c]]) + a + rc = np.floor(n / 2 - points / res).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + if ( + not inside.all() + or ((probability[rc[:, 0], rc[:, 1]] > 0.6) & (grid["obs"][rc[:, 0], rc[:, 1]] > 0.5)).any() + ): + return False + count = max(2, int(d / 0.04) + 1) + for t in np.linspace(0.0, min(1.0, max(0.0, horizon - travelled) / d), count): + c, s = math.cos(yaw), math.sin(yaw) + points = offsets @ np.array([[c, s], [-s, c]]) + a + t * (b - a) + rc = np.floor(n / 2 - points / res).astype(int) + inside = ((rc >= 0) & (rc < n)).all(1) + if ( + not inside.all() + or ((probability[rc[:, 0], rc[:, 1]] > 0.6) & (grid["obs"][rc[:, 0], rc[:, 1]] > 0.5)).any() + ): + return False + travelled, heading = travelled + d, yaw + if travelled >= horizon: + break + return True diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_replay.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_replay.py new file mode 100644 index 0000000000000000000000000000000000000000..87334dc5f1985fe14f82105e779d12eb7ba2214e --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_replay.py @@ -0,0 +1,226 @@ +"""Disk-backed, read-only playback of Stretch navigation recordings.""" + +import json +import math +from bisect import bisect_right +from pathlib import Path +from urllib.parse import urlencode + +LAYERS = ("occupancy", "visibility", "uncertainty") + + +def save_bev_frame(directory, frame, images, *, source="recorded", only_missing=False): + """Commit already encoded layers together; meta.json marks a complete frame.""" + if not isinstance(frame, int) or frame < 0 or source not in ("recorded", "reconstructed"): + raise ValueError("Invalid replay BEV frame") + root = Path(directory) / "replay" / "bev" / f"{frame:08d}" + if only_missing and (root / "meta.json").is_file(): + return + if any(not isinstance(images.get(f"{name}.png"), bytes) for name in LAYERS): + raise ValueError("All three encoded BEV layers are required") + root.mkdir(parents=True, exist_ok=True) + for name in LAYERS: + path = root / f"{name}.png" + temporary = path.with_suffix(".png.tmp") + temporary.write_bytes(images[path.name]) + temporary.replace(path) + path = root / "meta.json" + temporary = path.with_suffix(".json.tmp") + temporary.write_text(json.dumps({"frame_idx": frame, "source": source}) + "\n") + temporary.replace(path) + marker = root.parent.parent / "last_bev.json" + temporary = marker.with_suffix(".json.tmp") + temporary.write_text(json.dumps({"frame_idx": frame, "source": source}) + "\n") + temporary.replace(marker) + + +def read_rows(path): + """An in-flight last JSONL line may be incomplete; earlier corruption is an error.""" + if not path.is_file(): + return [] + lines = path.read_text().splitlines(keepends=True) + rows = [] + for index, line in enumerate(lines): + if not line.strip(): + continue + try: + rows.append(json.loads(line)) + except json.JSONDecodeError: + if index == len(lines) - 1 and not line.endswith("\n"): + break + raise + return rows + + +def confined(root, relative): + path = (root / relative).resolve() + if not path.is_relative_to(root): + raise ValueError("Replay asset escaped its recording") + return path + + +class ReplayArchive: + def __init__(self, directory): + self.root = Path(directory).resolve() + status = self.root / "final_status.json" + if not status.is_file(): + status = self.root / "review.json" + self.base = json.loads(status.read_text()) + if self.base.get("phase") != "stopped": + raise ValueError("Replay requires a stopped recording") + self.raw = read_rows(self.root / "capture/observations.jsonl") + self.raw_ids = [int(row["frame_idx"]) for row in self.raw] + self.raw_by_id = dict(zip(self.raw_ids, self.raw)) + self.times = [float(row["relative_time_s"]) for row in self.raw] + if not all(math.isfinite(t) for t in self.times) or self.times != sorted(self.times): + raise ValueError("Invalid recording timeline") + if self.raw_ids != sorted(set(self.raw_ids)): + raise ValueError("Invalid recording frame order") + self.plans = read_rows(self.root / "observations.jsonl") + self.plan_ids = [row["frame_idx"] for row in self.plans] + if self.plan_ids != sorted(set(self.plan_ids)): + raise ValueError("Invalid recorded plan order") + self.controls = sorted(read_rows(self.root / "commands.jsonl"), key=lambda row: row["time_unix"]) + self.control_times = [row["time_unix"] for row in self.controls] + self.robots = sorted(read_rows(self.root / "robot_status.jsonl"), key=lambda row: row["received_unix"]) + self.robot_times = [row["received_unix"] for row in self.robots] + self.events = read_rows(self.root / "events.jsonl") + self.bevs = {} + for path in (self.root / "replay/bev").glob("*/meta.json"): + if not path.parent.name.isdecimal(): + continue + index = int(path.parent.name) + if index not in self.raw_by_id: + continue + meta = json.loads(confined(self.root, path.relative_to(self.root)).read_text()) + if all(confined(self.root, path.parent.relative_to(self.root) / f"{name}.png").is_file() + for name in LAYERS): + self.bevs[index] = {"path": path.parent.relative_to(self.root), "source": meta["source"]} + # Older sessions kept only the last displayed BEV. Never show it early. + last_bev = next((p for p in reversed(self.plans) if p.get("bev_size")), None) + if last_bev and last_bev["frame_idx"] not in self.bevs and all( + confined(self.root, Path("review_bev") / f"{name}.png").is_file() for name in LAYERS + ): + self.bevs[last_bev["frame_idx"]] = {"path": Path("review_bev"), "source": "recorded"} + self.bev_ids = sorted(self.bevs) + + @staticmethod + def latest(rows, keys, value): + index = bisect_right(keys, value) - 1 + return rows[index] if index >= 0 else None + + def manifest(self): + received = [r.get("received_unix_s", -math.inf) for r in self.raw] + markers = [] + start = 0 + for event in self.events: + if not received: + break + if event['time_unix'] > received[-1] + 1.0: + continue # Exclude later review-server shutdown events. + index = max(0, min(len(self.raw) - 1, bisect_right(received, event["time_unix"]) - 1)) + if event["type"] == "start_requested": + start = index + markers.append({"index": index, "time_s": self.times[index], "type": event["type"], + "label": event.get("reason", event["type"].replace("_", " "))}) + return { + "run": self.root.name, "frames": [{"frame_idx": i, "time_s": t} for i, t in zip(self.raw_ids, self.times)], + "outcome": self.base.get("reason", "Run ended"), + "duration_s": self.times[-1] if self.times else 0.0, "start_index": start, "events": markers, + "bev_frames": len(self.bev_ids), "processed_frames": len(self.plans), + "recorded_bev_frames": sum(m["source"] == "recorded" for m in self.bevs.values()), + "reconstructed_bev_frames": sum(m["source"] == "reconstructed" for m in self.bevs.values()), + } + + def frame(self, index): + if index < 0 or index >= len(self.raw): + raise KeyError("Unknown replay index") + raw = self.raw[index] + number = raw["frame_idx"] + plan = self.latest(self.plans, self.plan_ids, number) + plan = dict(plan) if plan else {"frame_idx": None, "trajectory": [], "global_route": [], + "local_path_display": [], "planner_name": "Before first processed observation"} + stamp = raw.get("received_unix_s", -math.inf) + control = self.latest(self.controls, self.control_times, stamp) or {} + robot = dict(self.latest(self.robots, self.robot_times, stamp) or {}) + if raw.get("head_joints") is not None: + joint = list(robot.get("joint_positions", [0.0] * 11)) + if len(joint) >= 11: + joint[9:11] = raw["head_joints"] + robot["joint_positions"] = joint + bev_index = bisect_right(self.bev_ids, number) - 1 + bev = self.bev_ids[bev_index] if bev_index >= 0 else None + if bev is not None: + source_plan = self.latest(self.plans, self.plan_ids, bev) or {} + plan.update(bev_size=source_plan.get("bev_size", 400), bev_res=source_plan.get("bev_res", 0.05)) + query = {"run": self.root.name} + replay = { + "index": index, "time_s": raw["relative_time_s"], "frame_idx": number, + "map_frame": plan["frame_idx"], "bev_frame": bev, + "bev_time_s": self.raw_by_id[bev]["relative_time_s"] if bev is not None else None, + "bev_source": self.bevs[bev]["source"] if bev is not None else None, + "rgb_url": "/api/replay/rgb?" + urlencode({**query, "frame": number}), + "bev_urls": {name: "/api/replay/bev?" + urlencode({**query, "frame": bev, "layer": name}) + for name in LAYERS} if bev is not None else {}, + } + return { + **{key: self.base.get(key) for key in ("goal_keyframe", "max_plan_age_s", "v_max", "w_max")}, + "phase": "stopped", "ready": False, "review": True, "playback": True, + "gate": "Replay; motion controls disabled", "recorded_phase": control.get("phase", "teleop"), + "reason": control.get("reason", "Recorded observations"), "frame": plan, "robot": robot, + "control": control, "replay": replay, "capture_frame": number, + "processed": bisect_right(self.plan_ids, number), + "motion_commands": control.get("nonzero_motion_commands", 0), + } + + def image(self, number, layer=None): + if layer is None: + if number not in self.raw_by_id: + raise KeyError("Unknown recorded RGB frame") + relative = Path("capture/rgb") / f"{number:08d}.jpg" + else: + if layer not in LAYERS or number not in self.bevs: + raise KeyError("Unknown recorded BEV frame or layer") + relative = self.bevs[number]["path"] / f"{layer}.png" + return confined(self.root, relative).read_bytes() + + +class ReplayService: + """Only completed recordings in the current run's parent are selectable.""" + + def __init__(self, current): + self.current = Path(current).resolve() + self.parent = self.current.parent + self.cache = {} + + def directories(self): + result = {} + for path in [self.current, *self.parent.glob("stretch_cross_nav_live_*")]: + root = path.resolve() + if root.parent != self.parent or not (root / "map.json").is_file(): + continue + status = root / "final_status.json" + if not status.is_file(): + status = root / "review.json" + if not status.is_file(): + continue + data = json.loads(status.read_text()) + capture = root / "capture/observations.jsonl" + if data.get("phase") == "stopped" and capture.is_file() and capture.stat().st_size > 0: + result[root.name] = (root, data) + return result + + def listing(self): + return [{"id": key, "goal_keyframe": data.get("goal_keyframe"), "reason": data.get("reason")} + for key, (_, data) in sorted(self.directories().items(), reverse=True)] + + def get(self, key=None): + key = key or self.current.name + root, _ = self.directories()[key] + # A backfill can add images while the read-only page is open. + signature = tuple((root / name).stat().st_mtime_ns if (root / name).exists() else 0 + for name in ("capture/observations.jsonl", "observations.jsonl", "replay/bev", + "replay/last_bev.json")) + if key not in self.cache or self.cache[key][0] != signature: + self.cache[key] = (signature, ReplayArchive(root)) + return self.cache[key][1] diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_report.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_report.py new file mode 100644 index 0000000000000000000000000000000000000000..16bcf983ca263882b9fceb36209fbe67b4ecbaf1 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_report.py @@ -0,0 +1,352 @@ +"""Saved native CROSS relocalization, native graph routing and learned or geometric BEV planning.""" +import heapq +import json +from pathlib import Path +from types import SimpleNamespace + +import cv2 +import numpy as np + +from .stretch_nav_geometry import body_to_world, body_yaw, measured_bev, bev_png, world_to_body +from .stretch_nav_learned import reproject_bev, learned_png + + +def clean_json(value): + if isinstance(value, dict): + return {str(k): clean_json(v) for k, v in value.items()} + if isinstance(value, (list, tuple)): + return [clean_json(v) for v in value] + if isinstance(value, np.ndarray): + return clean_json(value.tolist()) + if isinstance(value, np.generic): + return clean_json(value.item()) + if isinstance(value, float) and not np.isfinite(value): + return None + return value + + +def save_json(path, data): + temporary = path.with_suffix('.json.tmp') + temporary.write_text(json.dumps(clean_json(data), indent=2, allow_nan=False) + '\n') + temporary.replace(path) + + +def positions(transform, points): + points = np.asarray(points, dtype=float).reshape(-1, 3) + return points @ transform[:3, :3].T + transform[:3, 3] + + +class SavedRoute: + """Feed saved native pose/odometry records to CROSS's unmodified PlanningSystem. + + Choose a local attachment by connection distance plus remaining native graph + cost. Keep the previous route when competing routes have nearly equal cost. + No new visual or geometric shortcut edges are invented by this adapter. + """ + def __init__(self, map_path, *, attachment_radius=.75, switch_margin=.25): + from cross.db.store import read_map + from cross.core.types import Edge, EdgeType + from cross.core.planning_system import PlanningSystem + + data = read_map(map_path) + records = list(data['db_data']['keyframes']) + list(data['hypo_data']['temp_keyframes']) + nodes = {int(r['id']): SimpleNamespace(id=int(r['id']), temporary=bool(r['temporary']), + pose_mu=r['pose_mu'].cpu(), pose_charts=r.get('pose_charts')) for r in records} + edges = {tuple(key): Edge(mean=r['mean'].cpu(), std=r['std'].cpu(), type=EdgeType[r['type']]) + for key, r in data['hypo_data']['odom_edges'].items()} + adjacency = {} + for a, b in edges: + adjacency.setdefault(a, set()).add(b) + adjacency.setdefault(b, set()).add(a) + manager = SimpleNamespace(nodes=nodes, odom_edges=edges, proximity_edges={}, proximity_adjacency={}, + chart_aware=bool(data.get('coordinate_charts_version')), odom_adjacency=lambda: adjacency) + self.permanent = {k: v for k, v in nodes.items() if not v.temporary} + self.matrices = {k: v.pose_mu[0].matrix().numpy() for k, v in nodes.items()} + self.current = next(iter(self.permanent)) + system = SimpleNamespace(device='cpu', hypothesis_manager=manager, + get_current_kf=lambda: {'closest_perm_node': nodes[self.current]}) + self.planning = PlanningSystem(system, config={'use_temporary_keyframes': False}) + self.attachment_radius = attachment_radius + self.switch_margin = switch_margin + if not np.isfinite([attachment_radius, switch_margin]).all() or ( + attachment_radius <= 0 or switch_margin < 0 + ): + raise ValueError('Invalid route attachment limits') + self._goal = None + self._cost_to_goal = {} + self._previous_ids = () + + def reset_attachment(self): + """Forget route continuity after a global localization correction.""" + self._previous_ids = () + + def _set_goal(self, goal_id): + if goal_id not in self.permanent: + raise ValueError('Goal must be an original permanent keyframe') + if goal_id == self._goal: + return + # The saved graph is immutable. Compute cost-to-go once per goal using + # exactly the neighbors and edge weights used by native CROSS planning. + # Reverse edges also handle directed graphs without assuming symmetry. + native = self.planning.planner + reverse = {key: [] for key in self.permanent} + for key in self.permanent: + for neighbor in native._get_neighbors(key): + if neighbor not in reverse: + continue + cost = native._get_edge_cost(key, neighbor) + if cost < 0 or np.isnan(cost): + raise ValueError('Invalid native planning edge cost') + if np.isfinite(cost): + reverse[neighbor].append((key, cost)) + costs, queue = {goal_id: 0.}, [(0., goal_id)] + while queue: + cost, key = heapq.heappop(queue) + if cost > costs[key]: + continue + for neighbor, weight in reverse[key]: + candidate = cost + weight + if candidate < costs.get(neighbor, np.inf): + costs[neighbor] = candidate + heapq.heappush(queue, (candidate, neighbor)) + self.planning.set_goal(goal_kf_id=goal_id) + self._goal, self._cost_to_goal, self._previous_ids = goal_id, costs, () + + def route(self, camera_pose, goal_id, *, can_attach=None): + """Select a bounded local start; optional predicate checks its connection. + + ``can_attach(keyframe_id, map_position)`` may veto an attachment using + current measured obstacles. Local planning still decides how to move. + """ + camera_pose = np.asarray(camera_pose, dtype=float) + if camera_pose.shape != (4, 4) or not np.isfinite(camera_pose).all(): + raise ValueError('Invalid committed camera pose') + self._set_goal(int(goal_id)) + distances = {key: float(np.linalg.norm(self.matrices[key][:3, 3] - camera_pose[:3, 3])) + for key in self.permanent} + nearest = min(distances, key=distances.get) + # All bounded local starts compete on total cost. A window relative to + # the nearest frame can discard a valid short route at an overlapping + # visit, even though its attachment remains close and unobstructed. + radius = self.attachment_radius + candidates = [] + for key, distance in distances.items(): + remaining = self._cost_to_goal.get(key, np.inf) + if distance > radius or not np.isfinite(remaining): + continue + if can_attach is not None and not can_attach(key, self.matrices[key][:3, 3]): + continue + candidates.append((distance + remaining, distance, key)) + diagnostics = {'nearest_keyframe': nearest, 'nearest_distance_m': distances[nearest], + 'attachment_limit_m': radius, 'candidate_count': len(candidates), + 'connection_check': 'measured_depth' if can_attach is not None else 'map_distance_only', + 'switch_margin_m': self.switch_margin} + if not candidates: + self._previous_ids = () + return {'status': 'no_local_graph_attachment', 'start_keyframe': None, + 'ids': [], 'positions': [], 'attachment': diagnostics} + best = min(candidates) + previous = set(self._previous_ids) + continuing = [candidate for candidate in candidates if candidate[2] in previous] + if continuing: + keep = min(continuing) + if keep[0] <= best[0] + self.switch_margin: + best = keep + total, distance, self.current = best + # Native backbone expansion has no segment to expand for [goal]. Keep + # that valid singleton so the live controller can approach/declare arrival. + result = ({'detailed_path': [self.current], 'detailed_cost': 0., 'detail_level': 'backbone'} + if self.current == self._goal else self.planning.plan_to_goal(algorithm='astar')) + if not result or not result.get('detailed_path'): + self._previous_ids = () + return {'status': 'no_graph_route', 'start_keyframe': self.current, + 'ids': [], 'positions': [], 'attachment': diagnostics} + ids = result['detailed_path'] + self._previous_ids = tuple(ids) + diagnostics.update(distance_m=distance, remaining_m=result['detailed_cost'], + total_m=distance + result['detailed_cost'], + selection_total_m=total, + best_candidate_total_m=min(candidates)[0], selected_on_previous_route=self.current in previous) + return {'status': 'route_found', 'start_keyframe': self.current, 'ids': ids, + 'positions': [self.matrices[k][:3, 3] for k in ids], + 'cost_m': result['detailed_cost'], 'algorithm': 'native CROSS A*', + 'attachment': diagnostics, + 'start_rule': 'local connection distance + remaining native graph cost, with route continuity', + 'detail_level': result['detail_level']} + + +def build_report(capture, probe, map_run, output, goal_id=None): + from cross_nav.policy.bev_policy import BEVPlannerPolicy, Episode + + capture, probe, map_run, output = map(Path, (capture, probe, map_run, output)) + output.mkdir(parents=True, exist_ok=True) + (output / 'frames').mkdir(exist_ok=True) + save_json(output / 'state.json', {'status': 'building', 'robot_commands_sent': 0}) + rows = json.loads((probe / 'observations.json').read_text()) + learned = (probe / 'bevs').is_dir() + size, resolution = (400, .05) if learned else (200, .05) + raw_rows = {r['frame_idx']: r for r in map(json.loads, (capture / 'observations.jsonl').read_text().splitlines())} + source_run = json.loads((map_run / 'run.json').read_text()) + source_graph = json.loads((map_run / 'graph.json').read_text()) + display = np.asarray(source_run['T_display_from_map']) + route_planner = SavedRoute(map_run / 'map.pkl') + committed = [row for row in rows if row['localized']] + if not committed: + raise ValueError('No committed native relocalization observations') + final = committed[-1] + final_raw = raw_rows[final['capture_frame']] + final_map_camera = np.asarray(final['map_pose']) + final_odom_camera = np.asarray(final_raw['camera_pose']) + final_base = np.asarray(final_raw['base_pose_matrix']) + T_map_odom = final_map_camera @ np.linalg.inv(final_odom_camera) + if goal_id is None: + nearest_id = min(route_planner.permanent, key=lambda k: np.linalg.norm( + route_planner.matrices[k][:3, 3] - final_map_camera[:3, 3])) + candidates = [] + for key in route_planner.permanent: + point = route_planner.matrices[key][:3, 3] + point_odom = positions(np.linalg.inv(T_map_odom), [point])[0] + fl = world_to_body(point_odom, final_base) + if 1.5 <= np.linalg.norm(fl) <= 4.5 and fl[0] > .5: + # Repeated visits can be nearby in space but far along the graph. + candidates.append((np.linalg.norm(fl - [3., 0.]) + .02 * abs(key - nearest_id), key)) + goal_id = min(candidates)[1] if candidates else min(route_planner.permanent, + key=lambda k: np.linalg.norm(route_planner.matrices[k][:3, 3] - final_map_camera[:3, 3])) + if int(goal_id) not in route_planner.permanent: + raise ValueError('Goal must be an original permanent map keyframe') + + # Native CPU policy consumes cached network predictions or the geometric baseline. + cross_root = Path('/workspace/CROSS') + config = json.loads((cross_root / 'cross_nav/configs/policy/bev_planner_vfin2.json').read_text()) + for field in ('backbone', 'occupancy', 'visibility', 'visibility_gravity'): + config[field] = None + policy = BEVPlannerPolicy(config, predictor=SimpleNamespace(size=size, res=resolution)) + episode = Episode() + selected = sorted(set(np.linspace(0, len(rows) - 1, 25).astype(int).tolist() + + [i for i, row in enumerate(rows) if row['localized']])) + frames, trajectory = [], [] + for number, row_index in enumerate(selected): + row = rows[row_index] + index = row['capture_frame'] + raw = raw_rows[index] + camera, base = np.asarray(raw['camera_pose']), np.asarray(raw['base_pose_matrix']) + depth = cv2.imread(str(capture / 'depth' / f'{index:08d}.png'), cv2.IMREAD_UNCHANGED).astype(float) / 1000 + geometry = measured_bev(depth, raw['camera_K'], camera, base) + frame_dir = output / 'frames' / f'{index:08d}' + frame_dir.mkdir(exist_ok=True) + np.savez_compressed(frame_dir / 'geometry.npz', prob=geometry['prob'], obs=geometry['obs'], + height=geometry['height'], K=raw['camera_K'], T_odom_camera=camera, T_odom_base=base) + bev_meta = row.get('bev', {}) + fresh = bool(row.get('bev_fresh', False)) if learned else True + if learned: + if fresh: + with np.load(probe / 'bevs' / f'{index:08d}.npz') as native: + planned_bev = reproject_bev(native['prob'], native['obs'], native['err'], + native['R_bev_from_cam'], camera, base, resolution) + else: + planned_bev = {'prob': np.full((size, size), .5, np.float32), + 'obs': np.zeros((size, size), np.float32), + 'err': np.ones((size, size), np.float32)} + np.savez_compressed(frame_dir / 'learned_base.npz', **planned_bev) + for layer in ('occupancy', 'visibility', 'uncertainty'): + (frame_dir / f'{layer}.png').write_bytes(learned_png( + planned_bev['prob'], planned_bev['obs'], planned_bev['err'], layer)) + else: + planned_bev = {**geometry, 'err': np.zeros((size, size), np.float32)} + for layer in ('occupancy', 'visibility'): + (frame_dir / f'{layer}.png').write_bytes(bev_png(geometry['prob'], geometry['obs'], layer)) + map_camera = np.asarray(row['map_pose']) + graph_route = {'status': 'waiting_for_committed_pose', 'ids': [], 'positions': []} + goal_body = np.array([2., 0.]) + global_positions = [] + local_goal_kind = 'local 2 m forward demo; map localization pending' + if row['localized']: + alignment = map_camera @ np.linalg.inv(camera) + graph_route = route_planner.route(map_camera, goal_id) + global_positions = positions(display, graph_route['positions']) + route_points_odom = positions(np.linalg.inv(alignment), graph_route['positions']) + if len(route_points_odom): + distances = np.linalg.norm(route_points_odom[:, :2] - base[:2, 3], axis=1) + eligible = np.flatnonzero(distances >= 1.5) + target = route_points_odom[eligible[0] if len(eligible) else -1] + goal_body = world_to_body(target, base) + local_goal_kind = 'subgoal on native CROSS graph route' + trajectory.append(positions(display, [map_camera[:3, 3]])[0]) + maps = {'prob': planned_bev['prob'][None], 'obs': planned_bev['obs'][None], + 'err': planned_bev['err'][None], 'log_scale': np.array([bev_meta.get('log_scale', 0.)]), + 'odometry': np.array([bev_meta.get('scale_source') == 'anchors']), + 'up_head_deg': np.array([bev_meta.get('gravity_head_deg', 0.)]), + 'n_views': np.array([bev_meta.get('n_views', 1)]), 'fresh': np.array([fresh])} + # Zero actual commanded travel: passive pushing must not create fictitious bump events. + odom = np.array([*base[:2, 3], body_yaw(base)]) + paths, details = policy.plan_maps(maps, goal_body[None], [episode], + [{'ep': 'passive', 'odom': odom, 'expect': 0.}], [True]) + debug = details[0] + local_path = paths[0] + local_display = [] + camera_display = None + if row['localized']: + alignment = map_camera @ np.linalg.inv(camera) + path_odom_xy = body_to_world(local_path, base) + path_odom = np.column_stack([path_odom_xy, np.zeros(len(path_odom_xy))]) + local_display = positions(display @ alignment, path_odom) + camera_display = positions(display, [map_camera[:3, 3]])[0] + matches = sorted(row['retrieval'], key=lambda r: r['score'], reverse=True)[:6] + status_names = ['goal route', 'local waypoint', 'no route / scan', 'near-goal approach', + 'remembered route', 'relaxed local route', 'episode-map route'] + record = {'frame_idx': index, 'time_s': raw['relative_time_s'], 'localized': row['localized'], + 'weights': row['weights'], 'retrieval': matches, 'graph_route': graph_route, + 'global_route_display': global_positions, 'local_path_body': local_path, + 'local_path_display': local_display, 'camera_display': camera_display, + 'goal_body': goal_body, 'goal_kind': local_goal_kind, 'goal_keyframe': int(goal_id), + 'planner_status': status_names[int(debug['status'])], 'planner_status_code': int(debug['status']), + 'blind_zone_assumed': bool(debug['blind_zone']), 'vis_threshold': debug['vis_threshold'], + 'bev_source': 'cross_shared_vggt_heads' if learned else 'measured_depth_geometry', + 'learned_bev_heads_available': learned, 'bev_fresh': fresh, 'bev_metadata': bev_meta, + 'robot_commands_sent': 0, 'bev_size': size, 'bev_resolution_m': resolution, + 'floor_z_odom': 0., 'camera_height_m': float(camera[2, 3]), + 'occupied_cells': int((planned_bev['prob'] > .6).sum()), + 'observed_cells': int((planned_bev['obs'] > .5).sum()), + 'measured_depth_occupied_cells': geometry['occupied_cells'], + 'occupancy_range': [planned_bev['prob'].min(), planned_bev['prob'].max()], + 'observability_range': [planned_bev['obs'].min(), planned_bev['obs'].max()], + 'camera_K': raw['camera_K'], 'T_odom_camera': camera, 'T_odom_base': base, + 'native_map_camera_pose': map_camera if row['localized'] else None, + 'point_cloud_odom': geometry['points_odom'], + 'retrieval_note': 'Native last-step diagnostics; may carry between backend observation frames.'} + save_json(frame_dir / 'frame.json', record) + frames.append({'id': index, 'time_s': raw['relative_time_s'], 'localized': row['localized']}) + save_json(output / 'state.json', {'status': 'building', 'frames_ready': number + 1, + 'frames_total': len(selected), 'robot_commands_sent': 0}) + nodes = [{'id': node['id'], 'position': positions(display, [np.asarray(node['pose'])[:3, 3]])[0], + 'frame_idx': node.get('frame_idx')} for node in source_graph['nodes'] if not node['temporary']] + map_data = {'nodes': nodes, 'trajectory': trajectory, 'goal_keyframe': int(goal_id), + 'recording': '2026-10-22--15-48-58', 'coordinates': source_run['coordinates']} + save_json(output / 'map.json', map_data) + manifest = {'status': 'ready', 'capture': str(capture.resolve()), 'probe': str(probe.resolve()), + 'map_run': str(map_run.resolve()), 'phone_dataset': source_run['dataset'], 'frames': frames, + 'default_frame': len(frames) - 1, 'goal_keyframe': int(goal_id), + 'native_probe_result': json.loads((probe / 'result.json').read_text()), + 'learned_bev_heads_available': learned, + 'bev_source': 'cross_shared_vggt_heads' if learned else 'measured_depth_geometry', + 'bev_size': size, 'bev_resolution_m': resolution, + 'checkpoint_provenance': json.loads((probe / 'run.json').read_text()).get('checkpoint_provenance') if learned else None, + 'native_local_planner': 'cross_nav.policy.bev_policy.BEVPlannerPolicy.plan_maps', + 'native_graph_planner': 'cross.core.planning_system.PlanningSystem (A*)', + 'raw_depth_max_m': 3., 'robot_commands_sent': 0, + 'notes': (["Trained occupancy and observability heads read CROSS's shared VGGT pass.", + 'RGB and external camera odometry only; raw depth is a separate comparison.', + 'Recorded camera TF supplies gravity and camera-to-base reprojection.', + 'Occupancy error and observability are distinct learned confidence outputs.', + 'The native nav service observation cadence (obs_max_interval_steps=1) is enabled.', + 'Plans are passive inspection results, with no robot commands.', + 'The local planner uses its native circular footprint and recovery rules; no physical drive test.'] + if learned else ['The occupancy/observability navigation heads are not used in this comparison.', + 'BEV probabilities are geometric encodings, not learned/calibrated confidence.', + 'The floor is assumed at odom Z=0; camera pan/tilt/offset come from timestamped TF.', + 'Plans are passive inspection results, with no robot commands.', + 'The local planner uses its native circular footprint and recovery rules; no physical drive test.'])} + save_json(output / 'manifest.json', manifest) + save_json(output / 'state.json', {'status': 'ready', 'frames_ready': len(frames), + 'goal_keyframe': int(goal_id), 'robot_commands_sent': 0}) + return manifest diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_survey.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_survey.py new file mode 100644 index 0000000000000000000000000000000000000000..e3c85b3967825bedb9e861f9b00cac0049f43a73 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_survey.py @@ -0,0 +1,169 @@ +"""Stationary yaw/pitch observations for blocked Stretch navigation; no I/O.""" + +import math + +import numpy as np + +from .stretch_nav_control import HEAD_SURVEY_TIMEOUT, HEAD_VIEW_TIMEOUT, alignment_correction, wrap +from .stretch_nav_recovery import camera_pitch, camera_yaw + +HEAD_TARGET_TOLERANCE_RAD = math.radians(4) + + +class HeadSurvey: + """Observe floor and both sides, then restore the driving camera pose. + + Targets are frozen from image-time joint/TF feedback. Only distinct, + settled processed images count. First hold zero base velocity and wait + for fresh standstill observations before anchoring or moving the head. + No survey result requests base motion. + At most two passes are allowed until the base moves 20 cm; the enclosing + controller has an independent 260 s/100 degree recovery budget. + """ + + def __init__(self): + self.active = False + self.braking = False + self.brake_reference = self.brake_stable_since = None + self.brake_frame, self.brake_count = -1, 0 + self.origin = self.base = None + self.passes = self.index = 0 + self.targets = [] + self.views = [] + self.started = self.since = self.next_allowed = 0.0 + self.previous_mount = self.stable_since = None + self.last_frame = -1 + self.count = 0 + self.reason = "" + + def cancel(self): + self.active = False + self.braking = False + self.next_allowed = 0.0 + + def start(self, base, mount, neutral, joint, now, reason): + if self.active: + return False + joint = np.asarray(joint, float) + if joint.ndim != 1 or len(joint) < 11 or not np.isfinite(joint).all(): + raise ValueError("Timestamped head joint feedback unavailable for survey") + base = np.asarray(base, float) + if self.origin is None or np.linalg.norm(base[:2, 3] - self.origin) > 0.2: + self.origin, self.passes = base[:2, 3].copy(), 0 + if now < self.next_allowed: + return False + if self.passes >= 2: + raise RuntimeError("Head survey exhausted two passes without forward progress; footprint remains blocked") + pan = float(np.clip(joint[9] + wrap(camera_yaw(neutral) - camera_yaw(mount)), -2.8, 0.65)) + tilt = float(np.clip(joint[10] + camera_pitch(neutral) - camera_pitch(mount), -1.4, 0.0)) + # Look far enough down to inspect the otherwise hidden near floor. + down_pitch = max(-1.25, min(-1.05, camera_pitch(neutral) - 0.45)) + down = float(np.clip(joint[10] + down_pitch - camera_pitch(mount), -1.4, 0.0)) + left, right = min(0.65, pan + 0.55), max(-2.8, pan - 0.70) + self.targets = [ + ("front floor", [pan, down]), + ("left floor", [left, down]), + ("right floor", [right, down]), + ("right surroundings", [right, tilt]), + ("left surroundings", [left, tilt]), + ("return to driving view", [pan, tilt]), + ] + self.base = base.copy() + self.passes += 1 + self.index, self.count, self.last_frame = 0, 0, -1 + self.started = self.since = now + self.previous_mount = self.stable_since = None + self.views, self.reason, self.active = [], reason, True + # The triggering image predates the zero-velocity request. Let the + # base decelerate, then anchor to a newly observed stationary pose. + self.braking = True + self.brake_reference = self.brake_stable_since = None + self.brake_frame, self.brake_count = -1, 0 + return True + + def snapshot(self): + return { + "active": self.active, + "braking": self.braking, + "pass": self.passes, + "view": min(self.index + 1, len(self.targets)), + "total": len(self.targets), + "label": ("waiting for base to stop" if self.braking else + self.targets[min(self.index, len(self.targets) - 1)][0] if self.targets else "idle"), + "settled_views": len(self.views), + "reason": self.reason, + } + + def update(self, base, mount, joint, frame, now): + if not self.active: + raise RuntimeError("No active head survey") + if self.braking: + distance, angle = alignment_correction(self.base, base, np.eye(4)) + if distance > 0.20 or angle > math.radians(20): + raise RuntimeError("Base exceeded head-survey braking envelope") + if now - self.started > 6.0: + raise RuntimeError("Head survey braking timed out waiting for base standstill") + if frame > self.brake_frame: + moved, turned = ((math.inf, math.inf) if self.brake_reference is None else + alignment_correction(self.brake_reference, base, np.eye(4))) + if moved > .005 or turned > math.radians(1): + self.brake_reference = np.asarray(base).copy() + self.brake_stable_since, self.brake_count = now, 1 + else: + self.brake_count += 1 + self.brake_frame = frame + if self.brake_count >= 3 and now - self.brake_stable_since >= .6: + self.base = np.asarray(base).copy() + self.braking, self.since = False, now + if self.braking: + return {"phase": "survey_braking", "target": self.base[:2, 3].copy(), + "hold": True, "head_target": None, "scan_w": 0.0, + "coverage": 0.0, "speed_scale": 0.5, "lookahead": .22, + "survey_complete": False, "survey_label": "waiting for base to stop"} + distance, angle = alignment_correction(self.base, base, np.eye(4)) + if distance > 0.05 or angle > math.radians(5): + raise RuntimeError("Base moved during stationary head survey") + if now - self.started > HEAD_SURVEY_TIMEOUT or now - self.since > HEAD_VIEW_TIMEOUT: + raise RuntimeError("Head survey timed out waiting for settled camera observations") + joint = np.asarray(joint, float) + if len(joint) < 11 or not np.isfinite(joint).all(): + raise ValueError("Timestamped head joint feedback unavailable for survey") + label, target = self.targets[self.index] + complete = False + if frame > self.last_frame: + # Successful hardware actions can settle a few degrees short of + # their targets. Use the same four-degree allowance as the corner + # pitch return; geometry uses the measured image-time camera TF. + reached = np.max(np.abs(joint[9:11] - target)) < HEAD_TARGET_TOLERANCE_RAD + settled = False + if self.previous_mount is not None: + moved, turned = alignment_correction(self.previous_mount, mount, np.eye(4)) + settled = moved < 0.005 and turned < math.radians(1) + self.previous_mount, self.last_frame = np.asarray(mount).copy(), frame + if reached and settled: + self.count += 1 + self.stable_since = now if self.stable_since is None else self.stable_since + else: + self.count, self.stable_since = 0, None + if self.count >= 2 and now - self.stable_since >= 0.4: + self.views.append({"label": label, "frame_idx": int(frame), "head_joints": joint[9:11].tolist(), + "camera_in_base": np.asarray(mount).tolist()}) + self.index += 1 + self.since, self.count = now, 0 + self.stable_since = self.previous_mount = None + if self.index == len(self.targets): + self.active, complete, self.next_allowed = False, True, now + 3.0 + return { + "phase": "survey_return" if label == "return to driving view" else "survey", + "target": self.base[:2, 3].copy(), + "hold": True, + "head_target": target, + "head_anchor": self.base.copy(), + "head_deadline": min(self.since + HEAD_VIEW_TIMEOUT, self.started + HEAD_SURVEY_TIMEOUT), + "scan_w": 0.0, + "coverage": 0.0, + "speed_scale": 0.5, + "lookahead": 0.22, + "survey_complete": complete, + "survey_label": label, + } diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_viewer.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_viewer.py new file mode 100644 index 0000000000000000000000000000000000000000..c0bd6ab8214480c34a1453e5445c657a2ae9bff0 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_nav_viewer.py @@ -0,0 +1,178 @@ +"""Loopback-only saved pipeline viewer; its actions never send robot commands.""" +import argparse +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +import json +from pathlib import Path +import secrets +import subprocess +import threading + +ROOT = Path(__file__).resolve().parents[1] +STATIC = ROOT / 'web_console/static' + + +class Report: + def __init__(self, directory, comparison=None): + self.root = Path(directory).resolve() + kind = 'learned' if self.manifest()['learned_bev_heads_available'] else 'depth' + self.sources = {kind: self.root} + if comparison: + self.sources['depth'] = Path(comparison).resolve() + self.source = next(iter(self.sources)) + self.token = secrets.token_urlsafe(24) + self.worker = None + self.lock = threading.Lock() + + def manifest(self): + return json.loads((self.root / 'manifest.json').read_text()) + + def frame(self, index): + if index not in {row['id'] for row in self.manifest()['frames']}: + raise KeyError('Unknown saved frame') + return self.root / 'frames' / f'{index:08d}' + + def status(self): + state = json.loads((self.root / 'state.json').read_text()) + manifest = self.manifest() + capture = json.loads((Path(manifest['capture']) / 'capture.json').read_text()) + return {**state, 'manifest': manifest, 'capture': capture, 'token': self.token, + 'version': (self.root / 'manifest.json').stat().st_mtime_ns, + 'source': self.source, 'sources': list(self.sources), + 'replanning': self.worker is not None and self.worker.poll() is None} + + def select_source(self, source): + with self.lock: + if source not in self.sources: + raise ValueError('Unknown BEV report') + if self.worker is not None and self.worker.poll() is None: + raise ValueError('Wait for the current replan to finish') + self.source, self.root = source, self.sources[source] + + def replan(self, goal): + nodes = json.loads((self.root / 'map.json').read_text())['nodes'] + if isinstance(goal, bool) or goal not in {n['id'] for n in nodes}: + raise ValueError('Choose an original permanent keyframe') + with self.lock: + if self.worker is not None and self.worker.poll() is None: + raise ValueError('A replan is already running') + manifest = self.manifest() + command = ['/workspace/miniforge3/envs/cross_latest/bin/python', '-u', + str(ROOT / 'scripts/build_stretch_nav_report.py'), '--capture', manifest['capture'], + '--probe', manifest['probe'], '--map-run', manifest['map_run'], '--output', str(self.root), + '--goal-id', str(goal)] + with (self.root / 'replan.log').open('ab') as log: + self.worker = subprocess.Popen(command, cwd=ROOT, stdin=subprocess.DEVNULL, + stdout=log, stderr=subprocess.STDOUT) + + +class Handler(BaseHTTPRequestHandler): + def log_message(self, *_): + pass + + def send(self, code, value, content_type='application/json'): + if not isinstance(value, bytes): + value = json.dumps(value, allow_nan=False).encode() + self.send_response(code) + self.send_header('Content-Type', content_type) + self.send_header('Content-Length', str(len(value))) + self.send_header('Cache-Control', 'no-store') + self.send_header('X-Content-Type-Options', 'nosniff') + self.send_header('Content-Security-Policy', "default-src 'self'; script-src 'self' 'unsafe-eval'; " + "style-src 'self' 'unsafe-inline'; img-src 'self' data: blob:; worker-src 'self' blob:; " + "connect-src 'self'; frame-ancestors 'none'") + self.end_headers() + try: + self.wfile.write(value) + except (BrokenPipeError, ConnectionResetError): + pass + + def do_GET(self): + report = self.server.report + path = self.path.split('?', 1)[0] + assets = {'/': ('cross_nav.html', 'text/html; charset=utf-8'), + '/cross_nav.js': ('cross_nav.js', 'text/javascript; charset=utf-8'), + '/cross_nav.css': ('cross_nav.css', 'text/css; charset=utf-8'), + '/vendor/plotly.min.js': ('vendor/plotly.min.js', 'text/javascript; charset=utf-8')} + try: + if path in assets: + file, mime = assets[path] + return self.send(200, (STATIC / file).read_bytes(), mime) + if path == '/api/status': + return self.send(200, report.status()) + if path == '/api/map': + return self.send(200, (report.root / 'map.json').read_bytes()) + parts = path.strip('/').split('/') + if len(parts) == 3 and parts[:2] == ['api', 'frame']: + return self.send(200, (report.frame(int(parts[2])) / 'frame.json').read_bytes()) + if len(parts) == 4 and parts[:2] == ['api', 'bev'] and parts[3] in ( + 'occupancy.png', 'visibility.png', 'uncertainty.png'): + return self.send(200, (report.frame(int(parts[2])) / parts[3]).read_bytes(), 'image/png') + if len(parts) == 4 and parts[:2] == ['api', 'image']: + manifest = report.manifest() + if parts[2] == 'robot': + index = int(parts[3]) + report.frame(index) + file = Path(manifest['capture']) / 'rgb' / f'{index:08d}.jpg' + elif parts[2] == 'phone': + node = next(n for n in json.loads((report.root / 'map.json').read_text())['nodes'] + if n['id'] == int(parts[3])) + file = Path(manifest['phone_dataset']) / 'rgb' / f"{node['frame_idx']:08d}.jpg" + else: + raise KeyError('Unknown image source') + return self.send(200, file.read_bytes(), 'image/jpeg') + if path == '/api/live.jpg': + capture = Path(report.manifest()['capture']) + latest = json.loads((capture / 'latest.json').read_text()) + return self.send(200, (capture / 'rgb' / f"{latest['frame_idx']:08d}.jpg").read_bytes(), 'image/jpeg') + return self.send(404, {'error': 'Not found'}) + except (KeyError, OSError, StopIteration): + self.send(404, {'error': 'Saved pipeline data unavailable'}) + except (ValueError, TypeError) as exc: + self.send(400, {'error': str(exc)}) + + def do_POST(self): + report = self.server.report + if self.headers.get('X-Session') != report.token: + return self.send(403, {'error': 'Invalid viewer session'}) + expected = f'http://127.0.0.1:{self.server.server_port}' + if self.headers.get('Origin') not in (None, expected): + return self.send(403, {'error': 'Wrong origin'}) + try: + length = int(self.headers.get('Content-Length', 0)) + if not 0 <= length <= 2048: + raise ValueError('Request too large') + data = json.loads(self.rfile.read(length) or b'{}') + if self.path == '/api/goal': + report.replan(data.get('goal_keyframe')) + return self.send(202, {'status': 'replanning', 'robot_commands_sent': 0}) + if self.path == '/api/source': + report.select_source(data.get('source')) + return self.send(200, {'source': report.source, 'robot_commands_sent': 0}) + if self.path == '/api/stop-capture': + (Path(report.manifest()['capture']) / 'STOP').touch() + return self.send(200, {'status': 'capture_stop_requested', 'robot_commands_sent': 0}) + self.send(404, {'error': 'Unknown action'}) + except (ValueError, TypeError) as exc: + self.send(400, {'error': str(exc)}) + + +def main(argv=None): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--report', type=Path, required=True) + parser.add_argument('--comparison', type=Path) + parser.add_argument('--port', type=int, default=8087) + args = parser.parse_args(argv) + server = ThreadingHTTPServer(('127.0.0.1', args.port), Handler) + server.daemon_threads = True + server.report = Report(args.report, args.comparison) + print(f'Stretch / CROSS pipeline: http://127.0.0.1:{args.port}', flush=True) + try: + server.serve_forever() + except KeyboardInterrupt: + pass + finally: + server.server_close() + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_transport.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_transport.py new file mode 100644 index 0000000000000000000000000000000000000000..7f40acd9873398642431a04348fe8acf3a22ca72 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_transport.py @@ -0,0 +1,24 @@ +"""Camera timing diagnostics. These estimates never grant a control lease.""" + +import math + + +def camera_transport_diagnostics(packet, robot, robot_received, received): + result = {'source_age_at_send_s': packet.get('sensor_age')} + if not robot: + return result + status_age = received - robot_received + result['status_local_age_s'] = status_age + if robot.get('frame_id') is not None: + result['source_frame_gap'] = robot['frame_id'] - packet['frame_id'] + # Both source stamps use the robot's ROS clock. Avoid comparing clocks on + # different hosts. Unknown status transit time makes this a lower bound + # under a steady ROS clock, rather than an exact one-way network latency. + ros_now = robot.get('ros_now_s') + stamp = packet.get('sensor_stamp') + if ros_now is not None and stamp is not None and 0 <= status_age < .5: + age = ros_now + status_age - stamp + if math.isfinite(age): + result['source_age_via_status_s'] = age + result['post_publish_delay_via_status_s'] = age - packet.get('sensor_age', 0.) + return result diff --git a/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_vggt_debug.py b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_vggt_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..0640dbb05bac7ada9abf9e8af19c22b569a47de9 --- /dev/null +++ b/cases/20261026_goal1012_05/code/lite3_ROS/web_console/stretch_vggt_debug.py @@ -0,0 +1,401 @@ +"""Lossless, disk-backed VGGT inference archives without changing CROSS source.""" + +from __future__ import annotations + +import functools +import hashlib +import inspect +import json +import math +import queue +import subprocess +import threading +import time +import zipfile +from pathlib import Path + +import numpy as np + + +def model_provenance(cross_root): + root = Path(cross_root).resolve() + revision = subprocess.run(["git", "-C", str(root), "rev-parse", "HEAD"], + check=True, capture_output=True, text=True).stdout.strip() + files = {} + for name in ("vggt_omega_cross_1b_512.pt", "nav/cross_nav_occupancy.pt", "nav/cross_nav_observability.pt"): + path = root / "models/VGGT-Omega-CROSS" / name + digest = hashlib.sha256() + with path.open("rb") as stream: + for block in iter(lambda: stream.read(8 * 1024 * 1024), b""): + digest.update(block) + files[name] = {"bytes": path.stat().st_size, "sha256": digest.hexdigest()} + return {"cross_git_revision": revision, "checkpoints": files} + + +def snapshot(value): + """Own CPU copies: CUDA-graph outputs and planner buffers are reused.""" + if isinstance(value, np.ndarray): + if value.dtype.hasobject: + raise TypeError("Object arrays are not permitted in VGGT debug archives") + return value.copy() + if hasattr(value, "detach"): + tensor = value.detach().cpu() + # Every bfloat16 value is represented exactly by float32. + if str(tensor.dtype) == "torch.bfloat16": + tensor = tensor.float() + return tensor.numpy().copy() + if isinstance(value, np.generic): + return value.item() + if isinstance(value, dict): + return {str(key): snapshot(item) for key, item in value.items()} + if isinstance(value, (tuple, list)): + return [snapshot(item) for item in value] + if value is None or isinstance(value, (str, bool, int, float)): + return value + raise TypeError(f"Unsupported VGGT debug value: {type(value).__name__}") + + +def atomic_json(path, data): + temporary = path.with_suffix(path.suffix + ".tmp") + temporary.write_text(json.dumps(data, indent=2, allow_nan=False) + "\n") + temporary.replace(path) + + +def write_npz(path, arrays): + """Fast, lossless ZIP compression; no pickle and no reduced precision.""" + temporary = path.with_suffix(path.suffix + ".tmp") + with zipfile.ZipFile(temporary, "w", compression=zipfile.ZIP_DEFLATED, compresslevel=1) as archive: + for key, array in arrays.items(): + with archive.open(key + ".npy", "w", force_zip64=True) as stream: + np.lib.format.write_array(stream, np.asarray(array), allow_pickle=False) + temporary.replace(path) + + +def pack(value, arrays, name="data"): + if isinstance(value, np.ndarray): + key = name.replace("/", "_") + if key in arrays: + raise ValueError(f"Duplicate archive array key: {key}") + arrays[key] = value + return {"npz_key": key, "shape": list(value.shape), "dtype": str(value.dtype)} + if isinstance(value, dict): + return {key: pack(item, arrays, f"{name}.{key}") for key, item in value.items()} + if isinstance(value, list): + return [pack(item, arrays, f"{name}.{index}") for index, item in enumerate(value)] + if isinstance(value, float) and not math.isfinite(value): + return {"nonfinite": str(value)} + return value + + +class _RecordingHead: + def __init__(self, original, recorder): + self.original, self.recorder = original, recorder + self.signature = inspect.signature(original) + + def __getattr__(self, name): + return getattr(self.original, name) + + def __call__(self, *args, **kwargs): + result = self.original(*args, **kwargs) + recorder = self.recorder + if recorder.current is not None: + started = time.perf_counter() + if recorder.active_pass is None: + raise RuntimeError("BEV prediction has no matching recorded VGGT pass") + bound = self.signature.bind(*args, **kwargs) + bound.apply_defaults() + keys = ("pts", "patch_hw", "hw", "log_scale", "up_cam", "views") + recorder.active_pass["head_calls"].append({ + "inputs": snapshot({key: bound.arguments.get(key) for key in keys}), + "outputs": snapshot(result), + }) + recorder.copy_s += time.perf_counter() - started + return result + + +class VggtDebugRecorder: + """Archive every actual pass, with bounded asynchronous compression. + + Hooks delegate unchanged and return the original objects. No robot or + network transport is imported. A full queue or write failure is explicit; + a live caller can close navigation rather than silently lose debug data. + """ + + def __init__(self, directory, metadata=None, *, on_error=None, max_pending=8): + if max_pending < 1: + raise ValueError("VGGT debug queue must have a positive bound") + self.root = Path(directory).resolve() + self.root.mkdir(parents=True, exist_ok=False) + (self.root / "views").mkdir() + (self.root / "frames").mkdir() + self.on_error = on_error + self.pending = queue.Queue(maxsize=max_pending) + self.error = None + self.run_error = None + self.closed = False + self.current = self.active_pass = None + self.hooks = [] + self.assets = set() + self.frames = self.passes = self.bytes = 0 + self.write_s = self.copy_s = 0.0 + self.submitted = set() + self.started = time.time() + atomic_json(self.root / "run.json", { + "schema_version": 1, "created_unix": self.started, "metadata": metadata or {}, + "input_encoding": "Exact per-view CHW tensors; shared content-addressed lossless NPZ assets", + "bfloat16_storage": "Converted losslessly to float32; original dtype recorded on inference inputs", + "outputs": "Geometry predictions, raw float BEV-head outputs, consumed BEV, base grid and planner state", + "intermediate_transformer_tokens_saved": False, + "write_policy": "Bounded asynchronous lossless compression; no sampling or silent drops", + }) + self._status("running") + self.worker = threading.Thread(target=self._worker, name="vggt-debug-writer", daemon=True) + self.worker.start() + + def _status(self, phase): + atomic_json(self.root / "status.json", { + "status": phase, "frames": self.frames, "passes": self.passes, + "unique_views": len(self.assets), "bytes": self.bytes, + "write_s": self.write_s, "snapshot_s": self.copy_s, + "queued_frames": self.pending.qsize(), "error": str(self.error) if self.error else None, + "run_error": self.run_error, + }) + + def check(self): + if self.error is not None: + raise RuntimeError(f"VGGT debug archive failed: {self.error}") from self.error + if self.closed: + raise RuntimeError("VGGT debug archive is closed") + + def attach(self, estimator): + import torch + + self.check() + backend = estimator.backend + if not callable(getattr(backend, "infer", None)) or not callable(getattr(backend, "nav", None)): + raise ValueError("VGGT debug capture requires a backend with infer() and an enabled BEV head") + original_infer = backend.infer + infer_signature = inspect.signature(original_infer) + original_estimate = estimator.estimate_pose + estimate_signature = inspect.signature(original_estimate) + run = json.loads((self.root / "run.json").read_text()) + run["runtime"] = {"torch": str(torch.__version__), "cuda": torch.version.cuda, + "backend": type(backend).__name__, "estimator": type(estimator).__name__, + "cuda_graphs": bool(getattr(backend, "cuda_graphs", False)), + "compiled": bool(getattr(backend, "_compiled", False))} + atomic_json(self.root / "run.json", run) + + @functools.wraps(original_infer) + def infer(images, *args, **kwargs): + if self.current is None: + return original_infer(images, *args, **kwargs) + started = time.perf_counter() + self.active_pass = {"images": snapshot(images), "image_dtype": str(images.dtype), "head_calls": []} + self.current["passes"].append(self.active_pass) + self.copy_s += time.perf_counter() - started + try: + result = original_infer(images, *args, **kwargs) + except BaseException as exc: + self.active_pass["inference_error"] = str(exc) + raise + started = time.perf_counter() + try: + bound = infer_signature.bind(images, *args, **kwargs) + bound.apply_defaults() + names = ("c2w", "K", "depth", "depth_conf", "hw", "covis", "log_scale") + prediction = {name: getattr(result, name, None) for name in names} + nav = getattr(backend, "last_nav", None) + self.active_pass.update({ + "infer_args": snapshot({key: bound.arguments.get(key) for key in ("n_depth", "focal")}), + "effective_calib_focal": snapshot(getattr(backend, "calib_focal", None)), + "prediction": snapshot(prediction), + "pose_encoding": snapshot(nav.get("pose_enc")) if nav else None, + }) + finally: + self.copy_s += time.perf_counter() - started + return result + + @functools.wraps(original_estimate) + def estimate(*args, **kwargs): + if self.current is None: + return original_estimate(*args, **kwargs) + begin = len(self.current["passes"]) + bound = estimate_signature.bind(*args, **kwargs) + bound.apply_defaults() + anchor = bound.arguments.get("odom_anchor") + context = {key: bound.arguments.get(key) for key in ("ref_rel_poses", "ref_cam_ids")} + context["source_context"] = bound.arguments.get("kwargs", {}) + context["odom_anchor"] = ({key: value for key, value in anchor.items() + if key not in ("image", "extra_images")} if anchor else None) + result = original_estimate(*args, **kwargs) + calls = self.current["passes"][begin:] + for index, call in enumerate(calls): + call["estimate_context"] = snapshot(context) + call["estimator_info"] = snapshot(getattr(estimator, "last_info", {})) if index == 0 else {} + call["principal_point_rotation"] = snapshot(getattr(estimator, "_R_model_to_cam", None)) + call["camera_calibrations"] = snapshot(getattr(estimator, "_cameras", None)) + if index == 0: + poses, valid, confidence = result + call["relative_pose_result"] = snapshot({ + "poses": poses.matrix() if hasattr(poses, "matrix") else poses, + "valid": valid, "confidence": confidence, + }) + return result + + self._replace(backend, "infer", infer) + self._replace(estimator, "estimate_pose", estimate) + self._replace(backend, "nav", _RecordingHead(backend.nav, self)) + + def _replace(self, owner, name, replacement): + self.hooks.append((owner, name, name in vars(owner), vars(owner).get(name))) + setattr(owner, name, replacement) + + def begin_frame(self, raw): + self.check() + if self.current is not None: + raise RuntimeError("Previous VGGT debug frame was not completed") + number = int(raw["frame_idx"]) + if number < 0 or number in self.submitted: + raise ValueError("VGGT debug frame IDs must be unique and nonnegative") + self.current = {"capture_frame": number, "source": snapshot({key: value for key, value in raw.items() + if key not in ("rgb_jpg", "depth_png")}), "passes": []} + self.active_pass = None + + def finish_frame(self, **outputs): + self.check() + if self.current is None: + raise RuntimeError("No current VGGT debug frame") + started = time.perf_counter() + self.current["outputs"] = snapshot(outputs) + self.copy_s += time.perf_counter() - started + job, self.current, self.active_pass = self.current, None, None + try: + self.pending.put_nowait(job) + except queue.Full as exc: + self.current = job + raise RuntimeError("VGGT debug writer cannot keep up; no frames were silently dropped") from exc + self.submitted.add(job["capture_frame"]) + + def _view(self, image): + image = np.ascontiguousarray(image) + digest = hashlib.sha256(str((image.dtype.str, image.shape)).encode() + image.tobytes()).hexdigest() + if digest not in self.assets: + path = self.root / "views" / f"{digest}.npz" + write_npz(path, {"image": image}) + self.bytes += path.stat().st_size + self.assets.add(digest) + return {"asset": digest, "shape": list(image.shape), "dtype": str(image.dtype)} + + def _write(self, job): + started = time.perf_counter() + number = job["capture_frame"] + directory = self.root / "frames" / f"{number:08d}" + directory.mkdir() + audit = job.get("outputs", {}).get("observation", {}).get("retrieval", []) + for call in job["passes"]: + images = call.pop("images") + tags = call.get("estimator_info", {}).get("view_tags", []) + call["views"] = [] + for index, image in enumerate(images): + tag = tags[index] if index < len(tags) else f"view_{index}" + view = {"index": index, "role": tag, **self._view(image)} + if tag.startswith("ref") and tag.endswith("_L"): + reference = int(tag[3:-2]) + if reference < len(audit): + view["reference"] = audit[reference] + call["views"].append(view) + arrays = {} + data = pack(job, arrays) + write_npz(directory / "arrays.npz", arrays) + # This JSON is the completion marker, written after all referenced assets. + atomic_json(directory / "frame.json", data) + with (self.root / "index.jsonl").open("a") as stream: + stream.write(json.dumps({"capture_frame": number, "passes": len(job["passes"]), + "file": f"frames/{number:08d}/frame.json"}) + "\n") + self.frames += 1 + self.passes += len(job["passes"]) + self.bytes += sum(path.stat().st_size for path in directory.iterdir()) + self.write_s += time.perf_counter() - started + self._status("running") + + def _worker(self): + while True: + job = self.pending.get() + try: + if job is None: + return + if self.error is None: + self._write(job) + except BaseException as exc: + self.error = exc + if self.on_error: + try: + self.on_error(exc) + except Exception as callback_error: + self.error = RuntimeError(f"{exc}; archive error callback also failed: {callback_error}") + finally: + self.pending.task_done() + + def close(self, error=None): + if self.closed: + return + self.run_error = str(error) if error else None + # Retain an interrupted inference and whatever outputs were available. + if self.current is not None: + job, self.current = self.current, None + job["interrupted"] = str(error) if error else "Frame interrupted before completion" + self.pending.put(job) + for owner, name, existed, value in reversed(self.hooks): + if existed: + setattr(owner, name, value) + else: + delattr(owner, name) + self.hooks.clear() + self.active_pass = None + self.pending.put(None) + self.worker.join() + self.closed = True + self._status("failed" if self.error else "closed") + if self.error is not None: + raise RuntimeError(f"VGGT debug archive failed: {self.error}") from self.error + + +def planner_snapshot(episode): + result = {key: getattr(episode, key, None) for key in + ("pose", "expect", "bumps", "route", "route_age", "no_route", "side", "log_scale", "n_bumps")} + world = getattr(episode, "world", None) + result["world"] = ({key: getattr(world, key) for key in ("o", "num", "den", "seen", "c")} + if world is not None else None) + return result + + +def load_debug_frame(directory, number): + root = Path(directory).resolve() + frame = root / "frames" / f"{int(number):08d}" + if int(number) < 0 or frame.resolve().parent != (root / "frames").resolve(): + raise ValueError("Invalid debug frame") + data = json.loads((frame / "frame.json").read_text()) + with np.load(frame / "arrays.npz", allow_pickle=False) as archive: + def unpack(value): + if isinstance(value, dict): + if "npz_key" in value: + array = archive[value["npz_key"]].copy() + if list(array.shape) != value["shape"] or str(array.dtype) != value["dtype"]: + raise ValueError("VGGT debug array metadata mismatch") + return array + return {key: unpack(item) for key, item in value.items()} + if isinstance(value, list): + return [unpack(item) for item in value] + return value + return unpack(data) + + +def load_debug_view(directory, asset): + if len(asset) != 64 or any(char not in "0123456789abcdef" for char in asset): + raise ValueError("Invalid VGGT view asset") + root = Path(directory).resolve() + path = root / "views" / f"{asset}.npz" + if path.resolve().parent != (root / "views").resolve(): + raise ValueError("VGGT view asset escapes archive") + with np.load(path, allow_pickle=False) as archive: + return archive["image"].copy() diff --git a/cases/20261026_goal1012_05/code/stretch_ai/LICENSE b/cases/20261026_goal1012_05/code/stretch_ai/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..345b3999fa91382cac3671cda97df5d70503c1b8 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2024 Hello Robot, Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py new file mode 100644 index 0000000000000000000000000000000000000000..284cf3a9062e74700c6995264f1260d99a9dfcf7 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/capture_lingbot_rgbd_ros2.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +"""Capture synchronized head RGB-D and TF without issuing robot commands. + +Run inside the robot's ROS 2 environment. Images are saved losslessly, with +depth in metres, and rotated clockwise to match Stretch's upright head view. +""" + +import argparse +import json +import time +from pathlib import Path + +import cv2 +import message_filters +import numpy as np +import rclpy +from cv_bridge import CvBridge +from rclpy.qos import qos_profile_sensor_data +from rclpy.time import Time +from sensor_msgs.msg import CameraInfo, Image +from tf2_ros import Buffer, TransformException, TransformListener + + +def stamp_seconds(stamp): + return stamp.sec + stamp.nanosec * 1e-9 + + +def transform_matrix(transform): + q = transform.rotation + x, y, z, w = q.x, q.y, q.z, q.w + matrix = np.eye(4, dtype=np.float64) + matrix[:3, :3] = [ + [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)], + [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)], + [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)], + ] + t = transform.translation + matrix[:3, 3] = [t.x, t.y, t.z] + return matrix + + +def rotate_intrinsics_clockwise(k, height): + """Rotate both the pixel axes and optical frame, including principal point.""" + return np.array( + [[k[1, 1], 0, height - 1 - k[1, 2]], [0, k[0, 0], k[0, 2]], [0, 0, 1]], + dtype=np.float32, + ) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--output", type=Path, required=True) + parser.add_argument("--frames", type=int, default=12) + parser.add_argument("--interval", type=float, default=0.2) + parser.add_argument("--timeout", type=float, default=40) + parser.add_argument("--world-frame", default="map") + args = parser.parse_args() + args.output.mkdir(parents=True, exist_ok=False) + + rclpy.init() + node = rclpy.create_node("lingbot_depth_readonly_capture") + bridge = CvBridge() + tf_buffer = Buffer() + listener = TransformListener(tf_buffer, node) + state = {"info": None, "pair": None} + info_sub = node.create_subscription( + CameraInfo, + "/camera/color/camera_info", + lambda msg: state.update(info=msg), + qos_profile_sensor_data, + ) + color_sub = message_filters.Subscriber( + node, Image, "/camera/color/image_raw", qos_profile=qos_profile_sensor_data + ) + depth_sub = message_filters.Subscriber( + node, Image, "/camera/aligned_depth_to_color/image_raw", qos_profile=qos_profile_sensor_data + ) + sync = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=10, slop=0.02 + ) + sync.registerCallback(lambda color, depth: state.update(pair=(color, depth))) + # T_native_optical_from_upright_optical for a clockwise image rotation. + optical_rotation = np.eye(4) + optical_rotation[:3, :3] = [[0, 1, 0], [-1, 0, 0], [0, 0, 1]] + records = [] + start = time.monotonic() + last_stamp = -float("inf") + last_error = "No synchronized image pair received" + try: + while len(records) < args.frames and time.monotonic() - start < args.timeout: + rclpy.spin_once(node, timeout_sec=0.1) + if state["info"] is None or state["pair"] is None: + continue + color_msg, depth_msg = state["pair"] + stamp = stamp_seconds(color_msg.header.stamp) + if stamp - last_stamp < args.interval: + continue + try: + pose_msg = tf_buffer.lookup_transform( + args.world_frame, + color_msg.header.frame_id, + Time.from_msg(color_msg.header.stamp), + ) + robot_pose_msg = tf_buffer.lookup_transform( + args.world_frame, "base_link", Time.from_msg(color_msg.header.stamp) + ) + except TransformException as exc: + last_error = str(exc) + continue + rgb_native = bridge.imgmsg_to_cv2(color_msg, desired_encoding="rgb8") + raw = bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough") + if depth_msg.encoding == "16UC1": + depth_native = raw.astype(np.float32) / 1000.0 + elif depth_msg.encoding == "32FC1": + depth_native = raw.astype(np.float32) + else: + raise ValueError(f"Unsupported depth encoding: {depth_msg.encoding}") + if rgb_native.shape[:2] != depth_native.shape: + raise ValueError("Color and aligned depth dimensions differ") + info = state["info"] + k_native = np.array(info.k).reshape(3, 3) + k = rotate_intrinsics_clockwise(k_native, rgb_native.shape[0]) + rgb = np.rot90(rgb_native, k=3).copy() + depth = np.rot90(depth_native, k=3).copy() + pose = transform_matrix(pose_msg.transform) @ optical_rotation + robot_pose = transform_matrix(robot_pose_msg.transform) + directory = args.output / f"frame_{len(records):03d}" + directory.mkdir() + if not cv2.imwrite(str(directory / "rgb.png"), cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)): + raise OSError("Could not write RGB image") + np.save(directory / "depth_input_m.npy", depth) + cv2.imwrite( + str(directory / "raw_depth.png"), np.nan_to_num(depth * 1000).astype(np.uint16) + ) + np.savetxt(directory / "intrinsics.txt", k) + np.savetxt(directory / "camera_pose.txt", pose) + np.savetxt(directory / "robot_pose.txt", robot_pose) + record = { + "directory": directory.name, + "rgb_timestamp_s": stamp, + "depth_timestamp_s": stamp_seconds(depth_msg.header.stamp), + "sync_difference_s": abs(stamp - stamp_seconds(depth_msg.header.stamp)), + "tf_timestamp_s": stamp_seconds(pose_msg.header.stamp), + "source_optical_frame": color_msg.header.frame_id, + "world_frame": args.world_frame, + "image_rotation": "90 degrees clockwise", + "shape_hw": list(depth.shape), + "intrinsics_pixels": k.tolist(), + "intrinsics_native_pixels": k_native.tolist(), + "camera_pose_world_from_upright_optical": pose.tolist(), + "robot_pose_world_from_base_link": robot_pose.tolist(), + "distortion_native": list(info.d), + "distortion_model": info.distortion_model, + "rgb_encoding_source": color_msg.encoding, + "depth_encoding_source": depth_msg.encoding, + "depth_unit": "metres", + } + (directory / "metadata.json").write_text(json.dumps(record, indent=2) + "\n") + records.append(record) + last_stamp = stamp + print( + f"Captured {directory.name}: {depth.shape}, sync={record['sync_difference_s']:.6f}s", + flush=True, + ) + (args.output / "capture.json").write_text( + json.dumps({"frames": records, "elapsed_s": time.monotonic() - start}, indent=2) + "\n" + ) + if len(records) != args.frames: + raise TimeoutError(f"Captured {len(records)}/{args.frames}: {last_error}") + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_control.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_control.py new file mode 100644 index 0000000000000000000000000000000000000000..dc96f30373960ed69075ef1861af420453868373 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_control.py @@ -0,0 +1,363 @@ +"""CPU navigation controls and robot-local velocity leases; no ROS/model imports.""" + +import math +from bisect import bisect_left +from dataclasses import dataclass + +import numpy as np + + +def wrap_angle(angle): + return math.atan2(math.sin(angle), math.cos(angle)) + + +def validated_head_target(command, enabled): + """Validate optional leased observation; the depth stack leaves it off.""" + target = command.get("head_target") + if target is None: + return None + if not enabled: + raise ValueError("head control disabled") + target = np.asarray(target, dtype=float) + if target.shape != (2,) or not np.isfinite(target).all(): + raise ValueError("invalid head target") + if not -2.8 <= target[0] <= .65 or not -1.4 <= target[1] <= 0.: + raise ValueError("head target outside observation limits") + if float(command.get("v", math.inf)) != 0. or abs(float(command.get("w", math.inf))) > .15: + raise ValueError("head observation requires a stopped or slowly rotating base") + return target + + +def interpolate_head(samples, stamp, max_gap=.10): + """Head joint feedback at the RGB/TF time, never latest-state substitution.""" + if not samples: + return None + stamps = [v[0] for v in samples] + k = bisect_left(stamps, stamp) + if k < len(samples) and abs(stamps[k] - stamp) < 1e-6: + return np.asarray(samples[k][1], float).copy() + if 0 < k < len(samples) and 0 < stamps[k] - stamps[k - 1] <= max_gap: + t = (stamp - stamps[k - 1]) / (stamps[k] - stamps[k - 1]) + return (1. - t) * np.asarray(samples[k - 1][1]) + t * np.asarray(samples[k][1]) + return None + + +class LeasedHeadController: + """Asynchronous head action with explicit cancellation, including late ACKs. + + The relay supplies a ROS goal factory; tests supply ordinary fake futures. + A failure remains visible until the session is restarted. + """ + def __init__(self, client, make_goal): + self.client, self.make_goal = client, make_goal + self.future = self.goal = self.result = None + self.sent = None + self.cancel_requested = False + self.cancel_sent = False + self.cancel_future = None + self.state, self.error = 'idle' if client is not None else 'disabled', '' + + def _cancel(self): + self.cancel_requested = True + if self.goal is not None and not self.cancel_sent: + self.cancel_future = self.goal.cancel_goal_async() + self.cancel_sent, self.state = True, 'cancelling' + + def update(self, target, joint, allowed): + target = None if target is None else np.asarray(target, float) + want = allowed and target is not None and not self.error + changed = want and self.sent is not None and np.max(np.abs(target - self.sent)) > .04 + if not want or changed: + self._cancel() + if self.future is not None and self.future.done(): + self.goal = self.future.result() + self.future = None + if self.goal is None or not self.goal.accepted: + self.error, self.state, self.goal = 'head trajectory rejected', 'failed', None + else: + self.result, self.state = self.goal.get_result_async(), 'moving' + if self.cancel_requested: + self._cancel() + if self.result is not None and self.result.done(): + response = self.result.result() + if not self.cancel_requested and (response is None or response.result.error_code != 0): + detail = '' if response is None else f" ({response.result.error_code}): {getattr(response.result, 'error_string', '')}" + self.error, self.state = 'head trajectory failed' + detail, 'failed' + else: + self.state = 'cancelled' if self.cancel_requested else 'settled' + self.goal = self.result = None + if not want: + self.sent = None + elif not self.error and self.future is None and self.goal is None and (self.sent is None or changed): + if self.client is None or not self.client.server_is_ready(): + self.error, self.state = 'head trajectory server unavailable', 'failed' + else: + # Tilt has a lower velocity bound than pan. A downward survey + # must allow that slower joint to reach its observation pose. + travel = np.abs(target - np.asarray(joint)[9:11]) / np.array([.35, .25]) + duration = max(.5, float(np.max(travel)) + .5) + self.future = self.client.send_goal_async(self.make_goal(target, duration)) + self.sent, self.cancel_requested, self.cancel_sent = target.copy(), False, False + self.state = 'requested' + + def close(self): + self._cancel() + if self.future is not None: + def cancel_late(future): + handle = future.result() + if handle is not None and handle.accepted and not self.cancel_sent: + self.cancel_future = handle.cancel_goal_async() + self.cancel_sent = True + if self.future.done(): + cancel_late(self.future) + else: + self.future.add_done_callback(cancel_late) + + +class HeadControlMode: + """Yield the bridge's streaming controller for head-only ROS trajectories. + + Only prepare() makes a request, after explicit navigation handoff. Restore + the original state on close, including a disable ACK racing shutdown. + """ + def __init__(self, disable, enable, request): + self.disable, self.enable, self.request = disable, enable, request + self.original = None + self.future = self.restore_future = None + self.owned = self.ready = self.closing = False + self.error = '' + + def prepare(self, streaming): + if self.closing or self.error or streaming is None: + return False + if self.original is None: + self.original = bool(streaming) + if not self.original: + self.ready = streaming is False + return self.ready + if self.future is None and not self.owned: + if not self.disable.service_is_ready(): + return False + self.future = self.disable.call_async(self.request()) + if self.future is not None and self.future.done(): + result = self.future.result() + self.future = None + if result is None or not result.success: + self.error = 'could not yield streaming head control' + return False + self.owned = True + self.ready = self.owned and streaming is False + return self.ready + + def close(self): + self.closing = True + if self.original is not True or self.restore_future is not None: + return + def restore(_future=None): + if self.restore_future is None: + if not self.enable.service_is_ready(): + self.error = 'could not restore streaming head control' + else: + self.restore_future = self.enable.call_async(self.request()) + if self.future is not None and not self.future.done(): + self.future.add_done_callback(restore) + elif self.owned or self.future is not None: + restore() + + +def relative_goal_to_world(forward_left, pose): + """Freeze a ROS body-frame (x forward, y left) goal in world XY.""" + forward, left = np.asarray(forward_left, dtype=float) + x, y, yaw = np.asarray(pose, dtype=float) + if not np.isfinite([forward, left, x, y, yaw]).all(): + raise ValueError("Goal and pose must be finite") + return np.array( + [ + x + forward * math.cos(yaw) - left * math.sin(yaw), + y + forward * math.sin(yaw) + left * math.cos(yaw), + ] + ) + + +def twist_rollout(pose, v, w, horizon, samples=24): + t = np.linspace(0, horizon, samples) + if abs(w) < 1e-6: + local = np.column_stack([v * t, np.zeros_like(t)]) + else: + local = np.column_stack([v / w * np.sin(w * t), v / w * (1 - np.cos(w * t))]) + c, s = math.cos(pose[2]), math.sin(pose[2]) + return local @ np.array([[c, s], [-s, c]]) + pose[:2] + + +def rollout_allowed(pose, v, w, grid, planning_pose, args): + from depth_only_path_planner import ego_to_cells, world_to_ego + from depth_nav_footprint import collisions_at + from depth_nav_trajectories import body_extent + + samples = max( + 24, + int( + np.ceil( + (abs(v) + body_extent(args) * abs(w)) + * args.control_horizon + / (args.grid_resolution / 4) + ) + ) + + 1, + ) + points = twist_rollout(pose, v, w, args.control_horizon, samples) + local = world_to_ego(points, planning_pose[:2], planning_pose[2]) + rows, cols, inside = ego_to_cells(local, args, grid["blocked"].shape) + headings = pose[2] - planning_pose[2] + w * np.linspace(0, args.control_horizon, len(points)) + if collisions_at(local, headings, grid, args).any(): + return False, "command footprint intersects depth obstacles or map boundary" + if ( + args.unknown_policy != "assume" + and (grid["unknown_footprint"][rows, cols] > args.max_control_unknown_ratio + 1e-6).any() + ): + return False, "command footprint lacks observed floor support" + return True, "clear" + + +def pursuit_velocity(path_world, pose, goal_world, args): + from depth_only_path_planner import world_to_ego + + distance = float(np.linalg.norm(goal_world - pose[:2])) + if distance <= args.goal_tolerance: + return 0.0, 0.0 + if not len(path_world): + return 0.0, 0.0 + nearest = int(np.argmin(np.linalg.norm(path_world - pose[:2], axis=1))) + ahead = path_world[nearest:] + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(ahead, axis=0), axis=1))] + target = ahead[min(len(ahead) - 1, int(np.searchsorted(lengths, args.pursuit_lookahead)))] + right, forward = world_to_ego(target[None], pose[:2], pose[2])[0] + heading = math.atan2(-right, forward) + if abs(heading) > args.turn_in_place_angle or forward <= 0: + return 0.0, float( + np.clip(args.turn_gain * heading, -args.max_angular_speed, args.max_angular_speed) + ) + curvature = -2 * right / max(right**2 + forward**2, 0.01) + v = min(args.max_linear_speed, max(0.0, distance - args.goal_tolerance) * 0.5) + if abs(curvature) > 1e-6: + v = min(v, args.max_angular_speed / abs(curvature)) + return float(v), float(v * curvature) + + +def candidate_prefix_allowed(paths, grid, goal_distance, args): + """Batch-check each candidate's first pursuit command without Python loops.""" + from depth_only_path_planner import ego_to_cells + from depth_nav_footprint import collisions_at + + lengths = np.cumsum(np.linalg.norm(np.diff(paths, axis=1), axis=-1), axis=1) + reaches = lengths >= args.pursuit_lookahead + index = np.where(reaches.any(axis=1), reaches.argmax(axis=1) + 1, paths.shape[1] - 1) + target = paths[np.arange(len(paths)), index] + right, forward = target[:, 0], target[:, 1] + heading = np.arctan2(-right, forward) + curvature = -2 * right / np.maximum(right**2 + forward**2, 0.01) + v = np.full( + len(paths), min(args.max_linear_speed, max(0.0, goal_distance - args.goal_tolerance) * 0.5) + ) + v = np.minimum(v, args.max_angular_speed / np.maximum(np.abs(curvature), 1e-9)) + turn = (np.abs(heading) > args.turn_in_place_angle) | (forward <= 0) + w = np.where( + turn, + np.clip(args.turn_gain * heading, -args.max_angular_speed, args.max_angular_speed), + v * curvature, + ) + v[turn] = 0 + t = np.linspace(0, args.control_horizon, 24)[None] + angle = w[:, None] * t + radius = v / np.where(np.abs(w) < 1e-6, 1.0, w) + rollout = np.stack( + [-radius[:, None] * (1 - np.cos(angle)), radius[:, None] * np.sin(angle)], axis=-1 + ) + straight = np.abs(w) < 1e-6 + rollout[straight, :, 0] = 0 + rollout[straight, :, 1] = v[straight, None] * t + rows, cols, inside = ego_to_cells(rollout, args, grid["blocked"].shape) + rr, cc = np.clip(rows, 0, grid["blocked"].shape[0] - 1), np.clip( + cols, 0, grid["blocked"].shape[1] - 1 + ) + invalid = collisions_at(rollout, angle, grid, args) | ( + (grid["unknown_footprint"][rr, cc] > args.max_control_unknown_ratio + 1e-6) + & (args.unknown_policy != "assume") + ) + return ~invalid.any(axis=1) + + +@dataclass +class VelocityLease: + """Fail closed on stale evidence/state, bad commands, expiry and latched stop.""" + + max_ttl: float = 0.35 + max_frame_age: float = 0.8 + max_v: float = 0.15 + max_w: float = 0.4 + session: str | None = None + armed: bool = False + latched: bool = False + sequence: int = -1 + expires: float = -math.inf + evidence_expires: float = -math.inf + velocity: tuple = (0.0, 0.0) + reason: str = "unarmed" + + def arm(self, session, healthy): + if self.latched or not healthy or not isinstance(session, str) or not session: + return False + if self.session is not None and self.session != session: + return False + self.session, self.armed = session, True + return True + + def stop(self, reason, latch=False): + self.velocity = (0.0, 0.0) + self.expires = -math.inf + self.reason = reason + if latch: + self.latched, self.armed = True, False + + def accept(self, command, now, frame_age, healthy): + if self.latched: + return False + try: + seq = int(command["seq"]) + ttl, v, w = map(float, (command["ttl"], command["v"], command["w"])) + except (ValueError, TypeError, KeyError): + self.stop("malformed command") + return False + if ( + self.latched + or not self.armed + or not healthy + or command.get("session") != self.session + or seq <= self.sequence + or not np.isfinite([ttl, v, w, frame_age]).all() + or not 0 < ttl <= self.max_ttl + or not 0 <= frame_age < self.max_frame_age + or not 0 <= v <= self.max_v + or abs(w) > self.max_w + ): + self.stop("rejected command or stale evidence") + return False + self.sequence = seq + self.velocity = (v, w) + self.expires = now + ttl + self.evidence_expires = now + self.max_frame_age - frame_age + self.reason = "command active" + return True + + def output(self, now, healthy, runstopped=False): + if runstopped and self.armed: + self.stop("run-stop latched; restart the live session", latch=True) + if self.latched: + return (0.0, 0.0) + if not healthy: + self.stop("state, camera or posture unavailable") + if now >= min(self.expires, self.evidence_expires): + self.stop( + "command/evidence expired" if self.armed and not self.latched else self.reason + ) + return self.velocity if self.armed and not self.latched else (0.0, 0.0) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_debug.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_debug.py new file mode 100644 index 0000000000000000000000000000000000000000..31d2e5b5955f6862af1b5f8a7fa5cda2cf5f6d3b --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_debug.py @@ -0,0 +1,539 @@ +"""Bounded asynchronous debug recording; no robot, model or GPU operations.""" + +from collections import OrderedDict +from datetime import datetime, timezone +import hashlib +import json +from pathlib import Path +import queue +import sys +import threading +import time +from types import SimpleNamespace + +import numpy as np + + +def clean_json(value): + if isinstance(value, np.ndarray) and value.ndim == 0: + return clean_json(value.item()) + if isinstance(value, dict): + return {str(k): clean_json(v) for k, v in value.items()} + if isinstance(value, (list, tuple, np.ndarray)): + return [clean_json(v) for v in value] + if isinstance(value, np.generic): + return clean_json(value.item()) + if isinstance(value, float) and not np.isfinite(value): + return None + if isinstance(value, Path): + return str(value) + return value + + +def freeze_voxels(snapshot, now): + names = ( + "points", + "colors", + "state", + "keys", + "ids", + "scores", + "age_s", + "last_frame", + "evidence_frame", + "geometry_frame", + "geometry_support", + "last_hit_support", + "source_raw_depth_m", + "source_refined_depth_m", + ) + result = {name: snapshot[name].copy() for name in names if name in snapshot} + for name in ("last_seen", "last_hit", "last_supported"): + if name in snapshot: + result[name + "_age_s"] = (now - snapshot[name]).astype(np.float32) + return result + + +def current_view(point, arrays, args): + """Explain why sparse projective clearing can/cannot remove a sample.""" + if not all( + k in arrays + for k in ("camera_pose", "camera_K", "raw_depth_m", "refined_depth_m", "retained_mask") + ): + return {"status": "not_recorded"} + pose, k = arrays["camera_pose"], arrays["camera_K"] + camera = (point - pose[:3, 3]) @ pose[:3, :3] + z = float(camera[2]) + max_depth = getattr(args, "max_depth", 5.0) # Older runs used a 5 m limit. + if z <= 0.3: + return {"status": "behind_or_too_close_to_camera_for_clearing", "camera_z_m": z} + distance = float(np.linalg.norm(camera)) + if z > max_depth: + return { + "status": "outside_clearing_depth_limit", + "camera_z_m": z, + "camera_distance_m": distance, + "depth_limit_m": max_depth, + } + u = int(np.rint(k[0, 0] * camera[0] / z + k[0, 2])) + v = int(np.rint(k[1, 1] * camera[1] / z + k[1, 2])) + h, w = arrays["raw_depth_m"].shape + if not (1 <= u < w - 1 and 1 <= v < h - 1): + return {"status": "outside_clearing_image_patch", "pixel_uv": [u, v], "camera_z_m": z} + raw = arrays["raw_depth_m"][v - 1 : v + 2, u - 1 : u + 2] + refined = arrays["refined_depth_m"][v - 1 : v + 2, u - 1 : u + 2] + from lingbot_voxel_map import VoxelMapConfig, clearing_patch_evidence + + clear, valid, agreement, farther = clearing_patch_evidence( + raw.reshape(9), + refined.reshape(9), + z, + VoxelMapConfig(voxel_size=args.voxel_size, max_depth_m=max_depth), + ) + status = ( + "reliable_farther_patch" + if clear + else ( + "occluded_or_same_depth" + if valid.all() and not farther.all() + else "missing_or_disagreeing_depth" + ) + ) + return { + "status": status, + "pixel_uv": [u, v], + "camera_z_m": z, + "camera_distance_m": distance, + "depth_limit_kind": "optical_axis", + "raw_depth_m": float(raw[1, 1]), + "refined_depth_m": float(refined[1, 1]), + "valid_patch_fraction": float(valid.mean()), + "farther_patch_fraction": float(farther.mean()), + "agreement_patch_fraction": float(agreement.mean()), + "retained_patch_fraction": float( + arrays["retained_mask"][v - 1 : v + 2, u - 1 : u + 2].mean() + ), + } + + +def collision_report(context, trigger): + from depth_nav_footprint import collisions_at, footprint_witnesses + from depth_nav_control import twist_rollout + from depth_nav_trajectories import body_extent + from depth_only_path_planner import ( + ego_to_cells, + ego_to_world, + world_to_ego, + obstacle_height_mask, + ) + + arrays, meta = context["arrays"], context["metadata"] + if "voxel_points" not in arrays or "hard_source" not in arrays: + return { + "stage": meta.get("stage", "unknown"), + "note": "Frame did not reach mapping/planning", + } + args = SimpleNamespace(**meta["settings"]) + planning_pose = arrays["planning_pose"] + control = trigger.get("control", {}) + pose = np.asarray(control.get("robot_pose") or planning_pose.tolist(), dtype=float) + if pose.shape != (3,) or not np.isfinite(pose).all(): + pose = planning_pose + v, w = float(control.get("proposed_v", 0)), float(control.get("proposed_w", 0)) + samples = max( + 24, + int( + np.ceil( + (abs(v) + body_extent(args) * abs(w)) + * args.control_horizon + / (args.grid_resolution / 4) + ) + ) + + 1, + ) + world = twist_rollout(pose, v, w, args.control_horizon, samples) + points = world_to_ego(world, planning_pose[:2], planning_pose[2]) + headings = pose[2] - planning_pose[2] + w * np.linspace(0, args.control_horizon, samples) + grid = {key: arrays[key] for key in ("hard_source", "blocked", "unknown_footprint")} + grid.update(direct_footprint=True, collision_cache={}) + for key in ("collision_cells", "collision_cell_size", "collision_cell_angle"): + if key in arrays: + grid[key] = arrays[key] if key == "collision_cells" else float(arrays[key]) + collides = collisions_at(points, headings, grid, args) + first = int(np.flatnonzero(collides)[0]) if collides.any() else 0 + contacts, boundary = footprint_witnesses(points[first], headings[first], grid, args) + report = { + "command_first_collision_s": ( + None + if not collides.any() + else float(np.linspace(0, args.control_horizon, samples)[first]) + ), + "map_boundary_contact": boundary, + "collision_cell_count": len(contacts), + "contact_cells_ego": contacts[:16].tolist(), + "contact_voxels": [], + "contact_pose_ego": [ + float(points[first, 0]), + float(points[first, 1]), + float(headings[first]), + ], + "collision_cell_size_m": grid.get("collision_cell_size", args.grid_resolution), + "collision_cell_angle_rad": grid.get("collision_cell_angle", 0.0), + } + voxels, state = arrays["voxel_points"], arrays["voxel_state"] + plane = arrays["floor_plane"] + height = voxels @ plane[:3] + plane[3] if len(plane) == 4 else np.zeros(len(voxels)) + hazard = obstacle_height_mask(height, args) + active = hazard & ((state == 1) | ((state == 0) & args.block_uncertain_obstacles)) + local = world_to_ego(voxels, planning_pose[:2], planning_pose[2]) + if "collision_cells" in grid: + voxel_cells = np.floor(voxels[:, :2] / args.voxel_size).astype(np.int64) + contact_cells = np.floor( + ego_to_world(contacts, planning_pose[:2], planning_pose[2]) / args.voxel_size + ).astype(np.int64) + else: + r, c, _ = ego_to_cells(local, args, grid["hard_source"].shape) + voxel_cells = np.column_stack([r, c]) + r, c, _ = ego_to_cells(contacts, args, grid["hard_source"].shape) + contact_cells = np.column_stack([r, c]) + selected = np.zeros(len(voxels), bool) + for cell in contact_cells[:16]: + selected |= (voxel_cells == cell).all(axis=1) & active + for index in np.flatnonzero(selected)[:16]: + score = float(arrays.get("voxel_scores", np.full(len(voxels), np.nan))[index]) + origin = ( + "aged_sensor_supported_surface" + if state[index] == 0 and score >= 0.7 + else ( + "unconfirmed_model_or_sensor_disagreement" + if state[index] == 0 and np.isfinite(score) + else ( + "uncertain_origin_not_recorded" + if state[index] == 0 + else "sensor_supported_surface" + ) + ) + ) + entry = { + "index": int(index), + "world_xyz": voxels[index].tolist(), + "ego_xy": local[index].tolist(), + "height_m": float(height[index]), + "state": int(state[index]), + "score": score, + "origin": origin, + "current_view": current_view(voxels[index], arrays, args), + } + point_delta = local[index] - points[first] + heading = headings[first] + if args.footprint_shape == "rectangle": + width = np.cos(heading) * point_delta[0] + np.sin(heading) * point_delta[1] + length = ( + -np.sin(heading) * point_delta[0] + + np.cos(heading) * point_delta[1] + - args.robot_length_offset + ) + gap = np.hypot( + max(0.0, abs(width) - args.robot_width / 2 - args.safety_margin), + max(0.0, abs(length) - args.robot_length / 2 - args.safety_margin), + ) + else: + gap = max(0.0, np.linalg.norm(point_delta) - args.robot_radius - args.safety_margin) + entry["point_inside_actual_footprint"] = bool(gap <= 1e-9) + entry["point_clearance_m"] = float(gap) + for name in ( + "ids", + "age_s", + "last_seen_age_s", + "last_hit_age_s", + "last_supported_age_s", + "last_frame", + "evidence_frame", + "geometry_frame", + "geometry_support", + "last_hit_support", + "source_raw_depth_m", + "source_refined_depth_m", + ): + if "voxel_" + name in arrays: + entry[name] = arrays["voxel_" + name][index].item() + distance2 = ((voxels - voxels[index]) ** 2).sum(axis=1) + entry["neighbors_within_10cm"] = int(((distance2 <= 0.1**2) & (state != 2)).sum()) - 1 + report["contact_voxels"].append(entry) + report["unknown_space_contacts"] = bool( + len(contacts) and not report["contact_voxels"] and args.unknown_policy == "block" + ) + if ( + "proposal_scores" in arrays + and len(arrays.get("bank_poses", [])) + and not len(arrays["proposal_valid"]) + ): + report["rejected_candidate_examples"] = [] + for index in np.argsort(arrays["proposal_scores"])[:3]: + path = arrays["bank_poses"][index] + hit = collisions_at(path[:, :2], path[:, 2], grid, args) + report["rejected_candidate_examples"].append( + { + "index": int(index), + "first_collision_pose": ( + None if not hit.any() else path[np.flatnonzero(hit)[0]].tolist() + ), + } + ) + return clean_json(report) + + +class DebugRecorder: + """No file writes on control/inference threads. Retain bounded snapshots.""" + + def __init__(self, output, args): + self.output = Path(output) + self.directory = self.output / "debug" + self.directory.mkdir(exist_ok=True) + self.max_snapshots = args.debug_max_snapshots + self.interval = args.debug_snapshot_interval + self.stuck_seconds = args.debug_stuck_seconds + self.started = time.monotonic() + self.jobs = queue.Queue(maxsize=128) + self.lock = threading.Lock() + self.contexts = OrderedDict() + self.stop = threading.Event() + self.last_periodic = self.last_incident = -np.inf + self.last_control = -np.inf + self.control_key = None + self.pause_snapshots = {} + self.progress_pose = None + self.progress_time = self.started + self.was_commanding_motion = False + self.counter = self.written_events = self.written_snapshots = self.dropped = 0 + self.pending_snapshots = 0 + self.last_snapshot = self.last_error = "" + sources = self.directory / "source" + sources.mkdir(exist_ok=True) + hashes = {} + for name in ( + "depth_nav_live.py", + "depth_nav_control.py", + "depth_nav_footprint.py", + "depth_nav_trajectories.py", + "depth_nav_memory.py", + "depth_nav_debug.py", + "depth_nav_live_viewer.html", + "lingbot_voxel_map.py", + "lingbot_depth_geometry.py", + "lingbot_depth_model.py", + "lingbot_depth_eval.py", + "depth_nav_robot_relay.py", + "capture_lingbot_rgbd_ros2.py", + ): + path = Path(__file__).with_name(name) + data = path.read_bytes() + (sources / name).write_bytes(data) + hashes[name] = hashlib.sha256(data).hexdigest() + manifest = { + "schema_version": 1, + "started_utc": datetime.now(timezone.utc).isoformat(), + "python": sys.version, + "numpy": np.__version__, + "settings": clean_json(vars(args)), + "source_sha256": hashes, + "snapshots_compressed": False, + } + (self.output / "run_manifest.json").write_text(json.dumps(manifest, indent=2) + "\n") + self.thread = threading.Thread(target=self._write, name="depth-nav-debug", daemon=True) + self.thread.start() + self.event("session_start", {"execute": args.execute}) + + def _enqueue(self, job): + try: + self.jobs.put_nowait(job) + return True + except queue.Full: + self.dropped += 1 + return False + + def event(self, kind, data): + record = { + "event": kind, + "utc": datetime.now(timezone.utc).isoformat(), + "elapsed_s": time.monotonic() - self.started, + **clean_json(data), + } + self._enqueue(("event", record)) + + def publish(self, context): + with self.lock: + self.contexts[context["metadata"]["frame_id"]] = context + while len(self.contexts) > 3: + self.contexts.popitem(last=False) + now = time.monotonic() + if self.interval > 0 and now - self.last_periodic >= self.interval: + self.last_periodic = now + self.incident("periodic", {"frame_id": context["metadata"]["frame_id"]}, periodic=True) + + def incident(self, reason, data, *, force=False, periodic=False, context=None): + now = time.monotonic() + with self.lock: + if context is None: + context = self.contexts.get(data.get("frame_id")) + if context is None and self.contexts: + context = next(reversed(self.contexts.values())) + if context is None: + return False + if self.pending_snapshots >= 2 or ( + not force and not periodic and now - self.last_incident < 10 + ): + return False + self.counter += 1 + name = f"snapshot_{self.counter:06d}" + self.pending_snapshots += 1 + if not periodic: + self.last_incident = now + trigger = { + "reason": reason, + "utc": datetime.now(timezone.utc).isoformat(), + "elapsed_s": now - self.started, + **clean_json(data), + } + trigger["source_frame_age_s"] = max( + 0.0, now - context["metadata"].get("received_monotonic", now) + ) + queued = self._enqueue(("snapshot", (name, context, trigger))) + if not queued: + with self.lock: + self.pending_snapshots -= 1 + return queued + + def control(self, data, now): + key = ( + data["reason"], + bool(data["v"] or data["w"]), + bool(abs(data["v"]) > 0.001), + int(np.sign(data["w"])) if abs(data["w"]) > 0.02 else 0, + data.get("robot_reason"), + data.get("healthy"), + data.get("armed"), + data.get("goal_version"), + ) + changed = key != self.control_key + if changed or now - self.last_control >= 1.0: + self.control_key, self.last_control = key, now + self.event("control", data) + if data.get("execute") and data.get("armed"): + if any( + word in data["reason"] + for word in ("overlaps", "intersects", "admissible", "lacks", "stale") + ): + # A clear/stale oscillation is one recurring cause, not a new + # incident every frame. Keep every transition in events.jsonl, + # but bound the expensive image/map captures per pause cause. + cause = data["reason"] + if now - self.pause_snapshots.get(cause, -np.inf) >= 10: + if self.incident( + "control_pause", + {"frame_id": data.get("frame_id"), "control": data}, + force=True, + ): + self.pause_snapshots[cause] = now + pose = data.get("robot_pose") + if pose is not None: + xy = np.asarray(pose)[:2] + moving = bool(data["v"] or data["w"]) + if ( + self.progress_pose is None + or (moving and not self.was_commanding_motion) + or np.linalg.norm(xy - self.progress_pose) >= 0.10 + ): + self.progress_pose, self.progress_time = xy.copy(), now + if moving and now - self.progress_time >= self.stuck_seconds: + self.incident( + "no_translation", + { + "frame_id": data.get("frame_id"), + "control": data, + "no_translation_s": now - self.progress_time, + }, + ) + self.was_commanding_motion = moving + else: + self.was_commanding_motion = False + + def status(self): + return { + "enabled": True, + "directory": str(self.directory), + "snapshots_written": self.written_snapshots, + "pending_snapshots": self.pending_snapshots, + "events_written": self.written_events, + "dropped_jobs": self.dropped, + "last_snapshot": self.last_snapshot, + "error": self.last_error, + } + + def _write(self): + try: + with (self.output / "events.jsonl").open("w", buffering=1) as log: + while not self.stop.is_set() or not self.jobs.empty(): + try: + kind, job = self.jobs.get(timeout=0.05) + except queue.Empty: + continue + try: + if kind == "event": + log.write(json.dumps(job, allow_nan=False) + "\n") + self.written_events += 1 + else: + name, context, trigger = job + arrays = {k: v for k, v in context["arrays"].items() if v is not None} + # Stored ZIP avoids compression competing for CPU. + np.savez(self.directory / (name + ".npz"), **arrays) + document = { + "schema_version": 1, + "snapshot": name, + "trigger": trigger, + "frame": clean_json(context["metadata"]), + "diagnosis": collision_report(context, trigger), + "viewer_payload": context.get("viewer_payload"), + } + (self.directory / (name + ".json")).write_text( + json.dumps(document, allow_nan=False) + "\n" + ) + self.written_snapshots += 1 + self.last_snapshot = str(self.directory / (name + ".json")) + log.write( + json.dumps( + { + "event": "snapshot_saved", + "snapshot": name, + "trigger": trigger, + "source_frame_id": context["metadata"]["frame_id"], + "diagnosis": document["diagnosis"], + } + ) + + "\n" + ) + snapshots = sorted(self.directory.glob("snapshot_*.json")) + for old in snapshots[: -self.max_snapshots]: + old.with_suffix(".npz").unlink(missing_ok=True) + old.unlink(missing_ok=True) + except Exception as exc: + self.last_error = f"{type(exc).__name__}: {exc}" + if kind == "snapshot": + (self.directory / (name + ".npz")).unlink(missing_ok=True) + (self.directory / (name + ".json")).unlink(missing_ok=True) + log.write( + json.dumps({"event": "debug_error", "error": self.last_error}) + "\n" + ) + finally: + if kind == "snapshot": + with self.lock: + self.pending_snapshots -= 1 + self.jobs.task_done() + except Exception as exc: + self.last_error = f"{type(exc).__name__}: {exc}" + + def close(self): + self.stop.set() + self.thread.join(timeout=3) + if self.thread.is_alive(): + self.last_error = "Debug writer did not finish within shutdown timeout" diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_footprint.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_footprint.py new file mode 100644 index 0000000000000000000000000000000000000000..1c7482ee853e0a7f7f4635a39374ab36f51080a8 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_footprint.py @@ -0,0 +1,236 @@ +"""Bounded CPU footprint checks against unexpanded occupied BEV cells.""" + +from functools import lru_cache + +import numpy as np +from scipy.signal import fftconvolve +from scipy.spatial import cKDTree + + +@lru_cache(maxsize=256) +def raster_footprint(shape, width, length, length_offset, radius, margin, resolution, bins, index): + """Cells intersecting the body; no arbitrary obstacle or raster padding.""" + angle = index * 2 * np.pi / bins + c, s = np.cos(angle), np.sin(angle) + extent = ( + radius + margin + if shape == "circle" + else np.hypot(width / 2 + margin, length / 2 + margin + abs(length_offset)) + ) + rad = int(np.ceil((extent + resolution / np.sqrt(2)) / resolution)) + rr, cc = np.mgrid[-rad : rad + 1, -rad : rad + 1] + x, y, half_cell = cc * resolution, -rr * resolution, resolution / 2 + if shape == "circle": + # Exact circle versus square-cell intersection. + dx = np.maximum(np.abs(x) - half_cell, 0) + dy = np.maximum(np.abs(y) - half_cell, 0) + mask = dx**2 + dy**2 <= (radius + margin) ** 2 + else: + # Separating-axis tests for the rotated body rectangle and a grid cell. + x = x + s * length_offset + y = y - c * length_offset + hw, hl = width / 2 + margin, length / 2 + margin + cell_projection = half_cell * (abs(c) + abs(s)) + mask = ( + (np.abs(c * x + s * y) <= hw + cell_projection + 1e-9) + & (np.abs(-s * x + c * y) <= hl + cell_projection + 1e-9) + & (np.abs(x) <= hw * abs(c) + hl * abs(s) + half_cell + 1e-9) + & (np.abs(y) <= hw * abs(s) + hl * abs(c) + half_cell + 1e-9) + ) + mask.setflags(write=False) + return mask + + +def body_mask(args, index=0): + return raster_footprint( + args.footprint_shape, + args.robot_width, + args.robot_length, + args.robot_length_offset, + args.robot_radius, + args.safety_margin, + args.grid_resolution, + args.footprint_heading_bins, + index, + ) + + +def collisions_at(points, headings, grid, args, *, check_boundary=True): + """Exact continuous-pose rectangle versus unexpanded occupied cell squares. + + A per-map KD tree supplies only nearby occupied cells. Bounded batches + avoid a poses × full-map allocation. Heading and translation are not + snapped to bins or cell centres, which used to miss long-body corners. + """ + from depth_only_path_planner import ego_to_cells + + rows, cols, inside = ego_to_cells(points, args, grid["blocked"].shape) + if not grid.get("direct_footprint", False): + rr, cc = np.clip(rows, 0, grid["blocked"].shape[0] - 1), np.clip( + cols, 0, grid["blocked"].shape[1] - 1 + ) + return ~inside | grid["blocked"][rr, cc] + shape = rows.shape + p = np.asarray(points).reshape(-1, 2) + angle = np.broadcast_to(headings, shape).reshape(-1) + c, s = np.cos(angle), np.sin(angle) + half = grid.get("collision_cell_size", args.grid_resolution) / 2 + cell_angle = grid.get("collision_cell_angle", 0.0) + cell_c, cell_s = np.cos(cell_angle), np.sin(cell_angle) + hw = args.robot_width / 2 + args.safety_margin + hl = args.robot_length / 2 + args.safety_margin + if args.footprint_shape == "circle": + centers = p + ex = ey = radius = args.robot_radius + args.safety_margin + else: + centers = p + np.column_stack([-s, c]) * args.robot_length_offset + ex, ey = hw * np.abs(c) + hl * np.abs(s), hw * np.abs(s) + hl * np.abs(c) + radius = np.hypot(hw, hl) + h, w = grid["blocked"].shape + result = ( + (centers[:, 0] - ex < -args.width / 2) + | (centers[:, 0] + ex > w * args.grid_resolution - args.width / 2) + | (centers[:, 1] - ey < -args.rear_range) + | (centers[:, 1] + ey > h * args.grid_resolution - args.rear_range) + ) + if not check_boundary: + result[:] = False + cache = grid["collision_cache"] + if "occupied_tree" not in cache: + rr, cc = np.nonzero(grid["hard_source"]) + cells = np.column_stack( + [ + (cc + 0.5) * args.grid_resolution - args.width / 2, + (h - rr - 0.5) * args.grid_resolution - args.rear_range, + ] + ) + cells = grid.get("collision_cells", cells) + cache["occupied_tree"] = cKDTree(cells) + tree = cache["occupied_tree"] + if not tree.n: + return result.reshape(shape) + # Fast conservative lookup is ONLY a broad phase. Its discretization + # envelope covers angle-bin and sub-cell offsets; the exact SAT below + # decides every potential hit, so it adds no obstacle/body inflation. + bins = args.footprint_heading_bins + indices = np.rint(angle * bins / (2 * np.pi)).astype(int) % bins + if args.footprint_shape == "circle": + indices[:] = 0 + broad = np.zeros(len(p), dtype=bool) + flat_rows, flat_cols, flat_inside = rows.ravel(), cols.ravel(), inside.ravel() + extent = radius + (abs(args.robot_length_offset) if args.footprint_shape == "rectangle" else 0) + envelope = args.grid_resolution / np.sqrt(2) + 2 * extent * np.sin(np.pi / (2 * bins)) + if "collision_cells" in grid: + envelope += 2 * half * np.sqrt(2) + for index in np.unique(indices[flat_inside & ~result]): + index = int(index) + if index not in cache: + mask = raster_footprint( + args.footprint_shape, + args.robot_width, + args.robot_length, + args.robot_length_offset, + args.robot_radius, + args.safety_margin + envelope, + args.grid_resolution, + bins, + index, + ) + cache[index] = fftconvolve(grid["hard_source"], mask[::-1, ::-1], mode="same") > 0.5 + select = flat_inside & ~result & (indices == index) + broad[select] = cache[index][flat_rows[select], flat_cols[select]] + nearby = np.flatnonzero(broad & ~result) + for start in range(0, len(nearby), 1024): + poses = nearby[start : start + 1024] + neighbours = tree.query_ball_point(centers[poses], radius + half * np.sqrt(2)) + counts = np.fromiter((len(n) for n in neighbours), dtype=int, count=len(poses)) + if not counts.sum(): + continue + index = np.repeat(poses, counts) + cell_index = np.concatenate(neighbours).astype(int) + delta = tree.data[cell_index] - centers[index] + dx, dy = delta[:, 0], delta[:, 1] + cell_dx, cell_dy = cell_c * dx + cell_s * dy, -cell_s * dx + cell_c * dy + if args.footprint_shape == "circle": + hit = ( + np.maximum(np.abs(cell_dx) - half, 0) ** 2 + + np.maximum(np.abs(cell_dy) - half, 0) ** 2 + <= radius**2 + ) + else: + cc, ss = c[index], s[index] + relative_c, relative_s = cc * cell_c + ss * cell_s, ss * cell_c - cc * cell_s + projection = half * (np.abs(relative_c) + np.abs(relative_s)) + hit = ( + (np.abs(cc * dx + ss * dy) <= hw + projection + 1e-9) + & (np.abs(-ss * dx + cc * dy) <= hl + projection + 1e-9) + & ( + np.abs(cell_dx) + <= hw * np.abs(relative_c) + hl * np.abs(relative_s) + half + 1e-9 + ) + & ( + np.abs(cell_dy) + <= hw * np.abs(relative_s) + hl * np.abs(relative_c) + half + 1e-9 + ) + ) + result[index[hit]] = True + return result.reshape(shape) + + +def path_headings(points): + delta = np.diff(points, axis=-2) + headings = np.arctan2(-delta[..., 0], delta[..., 1]) + # The robot starts at the current heading; subsequent poses follow the path. + return np.concatenate([np.zeros((*headings.shape[:-1], 1)), headings], axis=-1) + + +def footprint_witnesses(point, heading, grid, args): + """Exact occupied-cell contacts for one pose, used only for debug reports.""" + h, w = grid["hard_source"].shape + rr, cc = np.nonzero(grid["hard_source"]) + cells = grid.get( + "collision_cells", + np.column_stack( + [ + (cc + 0.5) * args.grid_resolution - args.width / 2, + (h - rr - 0.5) * args.grid_resolution - args.rear_range, + ] + ), + ) + half = grid.get("collision_cell_size", args.grid_resolution) / 2 + angle = grid.get("collision_cell_angle", 0.0) + c, s, ca, sa = np.cos(heading), np.sin(heading), np.cos(angle), np.sin(angle) + center = np.asarray(point) + ( + np.array([-s, c]) * args.robot_length_offset if args.footprint_shape == "rectangle" else 0 + ) + delta = cells - center + dx, dy = delta[:, 0], delta[:, 1] + cx, cy = ca * dx + sa * dy, -sa * dx + ca * dy + if args.footprint_shape == "circle": + radius = args.robot_radius + args.safety_margin + hit = ( + np.maximum(np.abs(cx) - half, 0) ** 2 + np.maximum(np.abs(cy) - half, 0) ** 2 + <= radius**2 + ) + ex = ey = radius + else: + hw, hl = ( + args.robot_width / 2 + args.safety_margin, + args.robot_length / 2 + args.safety_margin, + ) + rc, rs = c * ca + s * sa, s * ca - c * sa + projection = half * (abs(rc) + abs(rs)) + hit = ( + (np.abs(c * dx + s * dy) <= hw + projection + 1e-9) + & (np.abs(-s * dx + c * dy) <= hl + projection + 1e-9) + & (np.abs(cx) <= hw * abs(rc) + hl * abs(rs) + half + 1e-9) + & (np.abs(cy) <= hw * abs(rs) + hl * abs(rc) + half + 1e-9) + ) + ex, ey = hw * abs(c) + hl * abs(s), hw * abs(s) + hl * abs(c) + boundary = ( + center[0] - ex < -args.width / 2 + or center[0] + ex > w * args.grid_resolution - args.width / 2 + or center[1] - ey < -args.rear_range + or center[1] + ey > h * args.grid_resolution - args.rear_range + ) + return cells[hit], bool(boundary) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_live.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_live.py new file mode 100644 index 0000000000000000000000000000000000000000..bd4edf100f0f7bbb36f848c4305e2c531de3346c --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_live.py @@ -0,0 +1,1605 @@ +#!/usr/bin/env python3 +"""Live LingBot depth-only local navigation with an HTTP map/plan viewer. + +--goal X Y is metres forward/left at startup, then fixed in the TF world frame. +--execute switches navigation mode and enables leased base velocity commands. +The script never commands head or joint posture changes. Unobserved floor is +assumed traversable by default; --traversable-height controls the ground band. +""" + +import argparse +import base64 +import gzip +import io +import json +import math +import shlex +import signal +import subprocess +import sys +import tarfile +import threading +import time +import traceback +import uuid +from collections import OrderedDict, deque +from datetime import datetime, timezone +from functools import partial +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +from pathlib import Path +from types import SimpleNamespace + +import cv2 +import numpy as np +from threadpoolctl import threadpool_limits + +import depth_only_path_planner as planning +from depth_nav_control import ( + relative_goal_to_world, + rollout_allowed, + wrap_angle, +) +from depth_nav_trajectories import ( + buffered_footprint_args, + sample_trajectories, + score_trajectories, + trajectory_velocity, +) +from depth_nav_memory import RouteMemory +from depth_nav_debug import DebugRecorder, freeze_voxels +from lingbot_depth_geometry import depth_points, filter_depth_mask, fit_floor_plane +from lingbot_depth_model import ( + DEFAULT_MODEL, + MODEL_HELP, + load_local_model, + resolve_local_checkpoint, +) +from lingbot_voxel_map import SurfaceVoxelMap, VoxelMapConfig, depth_limit_mask + + +def plan_freshness(plan, goal_version, now, max_age): + """Age is measured from input receipt, including all computation time.""" + if plan is None: + return "unavailable" + if plan["version"] != goal_version: + return "goal_changed" + return "stale" if now - plan["received"] > max_age else "fresh" + + +class LiveState: + def __init__(self, args): + self.args = args + self.lock = threading.Lock() + self.done = threading.Event() + self.robot = None + self.robot_received = -math.inf + self.goal = None + self.goal_version = 0 + self.plan = None + self.payload = None + self.last_voxels = None + self.prepared = not args.execute + self.control = {"reason": "waiting for relay", "v": 0.0, "w": 0.0} + self.token = uuid.uuid4().hex + self.error = "" + self.debug = None + self.stop_reason = "" + self.last_control_record = {} + self.perception_pause = "" + + def update_perception_gate(self, retained_count): + """Invalidate the old plan immediately on insufficient filtered data.""" + minimum = self.args.min_filtered_points + reason = ( + f"only {retained_count} filtered depth points (minimum {minimum}); waiting for a usable frame" + if retained_count < minimum + else "" + ) + with self.lock: + self.perception_pause = reason + if reason: + self.plan = None + return not bool(reason) + + def set_goal(self, goal): + with self.lock: + if self.robot is None or time.monotonic() - self.robot_received > 0.5: + raise ValueError("Cannot set a relative goal without a fresh robot pose") + self.goal = relative_goal_to_world(goal, np.asarray(self.robot["base_pose"])) + self.goal_version += 1 + self.plan = None # Stop until a new plan targets this goal. + target = self.goal.copy() + if self.debug: + self.debug.event( + "goal_set", {"goal_world": target.tolist(), "goal_version": self.goal_version} + ) + return target + + def request_stop(self, reason): + if not self.stop_reason: + self.stop_reason = reason + self.done.set() + + def publish_plan(self, plan): + """Make collision-checked control available before viewer preparation.""" + with self.lock: + if ( + plan["version"] != self.goal_version + or self.perception_pause + or self.done.is_set() + ): + return False + self.plan = {**plan, "published": time.monotonic()} + return True + + def view(self): + with self.lock: + return { + "payload": self.payload, + "control": self.control, + "execute": self.args.execute, + "stopped": self.done.is_set(), + "error": self.error, + "plan_age": None if self.plan is None else time.monotonic() - self.plan["received"], + "max_plan_age": getattr(self.args, "max_plan_age", 0.6), + "goal_world": None if self.goal is None else self.goal.tolist(), + "token": self.token, + "debug": {"enabled": False} if self.debug is None else self.debug.status(), + "stop_reason": self.stop_reason, + "perception_pause": self.perception_pause, + } + + +class ViewerHandler(BaseHTTPRequestHandler): + def __init__(self, *args, state, assets, **kwargs): + self.state, self.assets = state, assets + super().__init__(*args, **kwargs) + + def log_message(self, *_): + pass + + def send_body(self, body, content_type, code=200): + self.send_response(code) + self.send_header("Content-Type", content_type) + self.send_header("Content-Length", str(len(body))) + self.send_header("Cache-Control", "no-store") + self.end_headers() + self.wfile.write(body) + + def do_GET(self): + try: + if self.path in self.assets: + body, kind = self.assets[self.path] + self.send_body(body, kind) + elif self.path == "/state": + self.send_body( + json.dumps(self.state.view(), allow_nan=False).encode(), "application/json" + ) + else: + self.send_body(b"Not found", "text/plain", 404) + except (BrokenPipeError, ConnectionResetError): + pass + + def do_POST(self): + try: + # Browser control is local by default, token-bound and same-origin. + if self.headers.get("Sec-Fetch-Site") == "cross-site": + raise ValueError("Cross-site control rejected") + length = int(self.headers.get("Content-Length", 0)) + if not 0 < length < 1024: + raise ValueError("Invalid request length") + command = json.loads(self.rfile.read(length)) + if command.get("token") != self.state.token: + raise ValueError("Invalid session token") + if self.path == "/stop": + self.state.request_stop("browser stop") + result = {"stopped": True} + elif self.path == "/debug" and not self.state.done.is_set(): + if self.state.debug is None: + raise ValueError("Debug recording is disabled") + result = { + "queued": self.state.debug.incident( + "user_mark", {"control": self.state.last_control_record.copy()}, force=True + ) + } + elif self.path == "/goal" and not self.state.done.is_set(): + result = {"goal_world": self.state.set_goal(command["goal"]).tolist()} + else: + raise ValueError("Unknown command or stopped session") + self.send_body(json.dumps(result).encode(), "application/json") + except (ValueError, KeyError, TypeError) as exc: + self.send_body(json.dumps({"error": str(exc)}).encode(), "application/json", 400) + + +def start_viewer(state): + from plotly.offline import get_plotlyjs + + assets = { + "/": ( + Path(__file__).with_name("depth_nav_live_viewer.html").read_bytes(), + "text/html; charset=utf-8", + ), + "/plotly.js": (get_plotlyjs().encode(), "text/javascript"), + } + server = ThreadingHTTPServer( + (state.args.viewer_host, state.args.viewer_port), + partial(ViewerHandler, state=state, assets=assets), + ) + threading.Thread(target=server.serve_forever, daemon=True).start() + return server + + +def save_final_view(state, output): + """Freeze the last interactive map without a running HTTP service.""" + if state.payload is None: + return + from plotly.offline import get_plotlyjs + + view = state.view() + text = json.dumps(view, separators=(",", ":"), allow_nan=False).replace("<", "\\u003c") + template = Path(__file__).with_name("depth_nav_live_viewer.html").read_text() + template = template.replace( + '', "" + ) + template = template.replace( + "'use strict';\nlet data=", "'use strict';\nconst staticView=" + text + ";\nlet data=", 1 + ) + template = template.replace( + "const response=await fetch('/state',{cache:'no-store'});", + "const response=staticView?{ok:true,json:async()=>staticView}:await fetch('/state',{cache:'no-store'});", + ) + template = template.replace( + "

Depth-only path planning

", "

Depth-only navigation · final map

" + ) + (output / "last_map.html").write_text(template) + + +class RobotRelayProcess: + """Install only temporary helper scripts and keep their process identity.""" + + def __init__(self, args, output): + self.args = args + self.process = None + self.directory = f"/tmp/stretch_depth_nav_{uuid.uuid4().hex}" + self.ssh = [ + "ssh", + "-o", + "BatchMode=yes", + "-o", + "ConnectTimeout=5", + f"{args.ssh_user}@{args.robot_ip}", + ] + self.container = args.container + self.output = Path(output) + self.log = (output / "robot_relay.log").open("w") + + def remote(self, words, **kwargs): + return subprocess.run(self.ssh + [shlex.join(words)], check=True, **kwargs) + + def start(self): + if self.container is None: + result = self.remote( + ["docker", "ps", "--format", "{{.ID}} {{.Image}}"], + capture_output=True, + text=True, + timeout=10, + ) + matches = [ + line.split()[0] + for line in result.stdout.splitlines() + if "stretch-ai-ros2-bridge" in line + ] + if len(matches) != 1: + raise RuntimeError( + f"Expected one running bridge container, found {matches}; use --container" + ) + self.container = matches[0] + archive = io.BytesIO() + with tarfile.open(fileobj=archive, mode="w") as tar: + for name in ( + "depth_nav_robot_relay.py", + "depth_nav_control.py", + "capture_lingbot_rgbd_ros2.py", + ): + path = Path(__file__).with_name(name) + tar.add(path, arcname=name) + script = ( + f"mkdir -p {shlex.quote(self.directory)} && tar -x -C {shlex.quote(self.directory)}" + ) + self.remote( + ["docker", "exec", "-i", self.container, "bash", "-c", script], + input=archive.getvalue(), + timeout=15, + ) + words = [ + "python3", + "-u", + f"{self.directory}/depth_nav_robot_relay.py", + "--world-frame", + self.args.world_frame, + "--fps", + str(self.args.plan_hz), + "--max-frame-age", + str(self.args.relay_max_frame_age), + "--max-ttl", + str(self.args.command_ttl), + ] + if getattr(self.args, "enable_head", False): + words.append("--enable-head") + script = ( + "source /opt/ros/humble/setup.bash && source /robot/ament_ws/install/setup.bash && " + + shlex.join(words) + ) + remote = [ + "docker", + "exec", + "-i", + "-e", + "OPENBLAS_NUM_THREADS=1", + "-e", + "OMP_NUM_THREADS=1", + self.container, + "bash", + "-lc", + script, + ] + self.process = subprocess.Popen( + self.ssh + [shlex.join(remote)], + stdin=subprocess.PIPE, + stdout=self.log, + stderr=subprocess.STDOUT, + ) + + def close(self): + result = {"verified": self.process is None, "attempts": 0, + "container": self.container, "directory": self.directory, "errors": []} + if self.process is not None: + # Check the command line as well as the PID: a PID can be recycled. + prefix = (f"import os,signal,pathlib; p=pathlib.Path({(self.directory+'/depth_nav_robot_relay.pid')!r}); " + "pid=int(p.read_text()) if p.exists() else -1; " + "c=pathlib.Path('/proc')/str(pid)/'cmdline'; " + f"alive=c.exists() and {(self.directory+'/depth_nav_robot_relay.py').encode()!r} in c.read_bytes().split(bytes([0])); ") + for attempt in range(3): + result['attempts'] = attempt + 1 + try: + self.remote(["docker", "exec", self.container, "python3", "-c", + prefix + "os.kill(pid,signal.SIGTERM) if alive else None"], + capture_output=True, text=True, timeout=4) + try: + self.process.wait(timeout=4) + except subprocess.TimeoutExpired: + pass + self.remote(["docker", "exec", self.container, "python3", "-c", + prefix + "raise SystemExit(3 if alive else 0)"], + capture_output=True, text=True, timeout=4) + result['verified'] = True + break + except (subprocess.SubprocessError, OSError) as exc: + detail = str(exc) + ' ' + str(getattr(exc, 'stderr', '') or '') + result['errors'].append(detail) + if 'no such container' in detail.lower(): + result['verified'] = True + break + if not self.log.closed: + self.log.write('RELAY_CLOSE_RETRY ' + detail + '\n') + self.log.flush() + time.sleep(.2) + if self.process.poll() is None: + self.process.terminate() + self.log.close() + result['process_exit_code'] = None if self.process is None else self.process.poll() + (self.output / 'robot_relay_close.json').write_text(json.dumps(result, indent=2) + '\n') + return result['verified'] + + +def control_loop(state, args, session): + """Own all control sockets in one thread; never wait for model inference.""" + import zmq + + context = zmq.Context() + recv = context.socket(zmq.SUB) + recv.setsockopt(zmq.SUBSCRIBE, b"") + recv.setsockopt(zmq.CONFLATE, 1) + recv.setsockopt(zmq.LINGER, 0) + recv.connect(f"tcp://{args.robot_ip}:4513") + send = context.socket(zmq.PUSH) + send.setsockopt(zmq.SNDHWM, 1) + send.setsockopt(zmq.IMMEDIATE, 1) + send.setsockopt(zmq.LINGER, 0) + send.connect(f"tcp://{args.robot_ip}:4512") + sequence, previous_pose, previous_pose_time = 0, None, None + transmission = {} + + def transmit(command): + try: + send.send_json(command, flags=zmq.NOBLOCK) + queued = True + except zmq.Again: + queued = False # Relay will expire the old command locally. + transmission.update(command_type=command["type"], command_queued=queued) + + try: + while not state.done.is_set(): + now = time.monotonic() + if recv.poll(0): + robot = recv.recv_pyobj() + with state.lock: + state.robot, state.robot_received = robot, now + pose = robot.get("base_pose") + if pose is not None: + pose = np.asarray(pose, dtype=float) + if previous_pose is not None and args.execute: + dt = now - previous_pose_time + jump = ( + np.linalg.norm(pose[:2] - previous_pose[:2]) + > 0.20 + args.max_linear_speed * dt + ) + jump |= ( + abs(wrap_angle(pose[2] - previous_pose[2])) + > 0.35 + args.max_angular_speed * dt + ) + if jump: + raise RuntimeError( + "Localization jumped; stopping and discarding the old plan" + ) + previous_pose, previous_pose_time = pose, now + if robot.get("latched"): + raise RuntimeError(robot.get("reason", "robot relay latched stop")) + if args.execute and robot.get("is_runstopped"): + raise RuntimeError("Run-stop pressed; restart the script after release") + with state.lock: + robot, robot_time, plan, goal, prepared = ( + state.robot, + state.robot_received, + state.plan, + state.goal, + state.prepared, + ) + perception_pause = state.perception_pause + v, w, reason = 0.0, 0.0, "waiting for a fresh plan" + proposed_v, proposed_w = 0.0, 0.0 + fresh_robot = robot is not None and now - robot_time <= args.max_state_age + if args.execute and prepared and fresh_robot and robot.get("healthy"): + if robot.get("armed") and robot.get("session") != session: + raise RuntimeError("Robot relay belongs to another navigation session") + if perception_pause: + reason = "perception paused: " + perception_pause + sequence += 1 + transmit( + { + "type": "velocity", + "session": session, + "seq": sequence, + "frame_id": robot.get("frame_id"), + "ttl": args.command_ttl, + "v": 0.0, + "w": 0.0, + } + ) + elif not robot.get("armed"): + transmit({"type": "arm", "session": session}) + reason = "arming robot-local command lease" + elif plan_freshness(plan, state.goal_version, now, args.max_plan_age) == "fresh": + pose = np.asarray(robot["base_pose"], dtype=float) + if goal is not None and np.linalg.norm(goal - pose[:2]) <= args.goal_tolerance: + reason = "goal reached" + state.request_stop(reason) + elif plan["floor_valid"]: + v, w = trajectory_velocity(plan, pose, goal, args) + proposed_v, proposed_w = v, w + allowed, reason = rollout_allowed( + pose, v, w, plan["grid"], plan["pose"], args + ) + if not allowed or not len(plan["path_world"]): + v, w = 0.0, 0.0 + if not len(plan["path_world"]): + reason = ( + "current body overlaps occupied map cells" + if plan.get("initial_body_collision") + else "no admissible sampled motion" + ) + else: + reason = "floor reference unavailable" + sequence += 1 + transmit( + { + "type": "velocity", + "session": session, + "seq": sequence, + "frame_id": plan["frame_id"], + "ttl": args.command_ttl, + "v": v, + "w": w, + } + ) + else: + reason = { + "stale": "plan stale; velocity held at zero", + "unavailable": "plan unavailable; velocity held at zero", + "goal_changed": "waiting for current-goal plan; velocity held at zero", + }[plan_freshness(plan, state.goal_version, now, args.max_plan_age)] + sequence += 1 + transmit( + { + "type": "velocity", + "session": session, + "seq": sequence, + "frame_id": robot.get("frame_id"), + "ttl": args.command_ttl, + "v": 0.0, + "w": 0.0, + } + ) + elif not args.execute: + reason = "read-only live planning; --execute enables navigation" + elif not fresh_robot: + reason = "robot status stale; lease expires" + else: + reason = "waiting for navigation mode, retracted arm and fresh RGB-D/TF" + with state.lock: + state.control = { + "reason": reason, + "v": v, + "w": w, + "armed": bool(robot and robot.get("armed")), + "robot_v": None if robot is None else robot.get("v"), + "robot_w": None if robot is None else robot.get("w"), + } + control_record = { + **state.control, + "execute": args.execute, + "proposed_v": proposed_v, + "proposed_w": proposed_w, + "seq": sequence, + "goal_version": state.goal_version, + "goal_world": None if goal is None else goal.tolist(), + "frame_id": None if plan is None else plan["frame_id"], + "plan_age_s": None if plan is None else now - plan["received"], + "max_plan_age_s": args.max_plan_age, + "plan_ready_ms": None if plan is None else plan.get("ready_ms"), + "plan_published_age_s": ( + None if plan is None or "published" not in plan else now - plan["published"] + ), + "state_age_s": now - robot_time, + "robot_pose": ( + None + if robot is None or robot.get("base_pose") is None + else np.asarray(robot["base_pose"]).tolist() + ), + } + if state.debug: + control_record.update(transmission) + for key in ( + "healthy", + "is_homed", + "is_runstopped", + "posture_ok", + "control_mode", + "tf_age", + "sensor_age", + "capture_error", + "joint_positions", + ): + control_record[key] = None if robot is None else robot.get(key) + control_record["robot_reason"] = None if robot is None else robot.get("reason") + state.last_control_record = control_record + state.debug.control(control_record, now) + state.done.wait(0.05) + except Exception as exc: + state.error = str(exc) + if state.debug: + state.debug.event( + "control_error", {"error": str(exc), "traceback": traceback.format_exc()} + ) + state.request_stop("control error: " + str(exc)) + finally: + if args.execute: + for _ in range(3): + transmit({"type": "stop", "session": session}) + time.sleep(0.03) + if state.debug: + state.debug.event("stop_requested", {"attempts": 3, **transmission}) + recv.close() + send.close() + context.term() + + +def prepare_navigation_mode(state, args): + """Switch mode only; navigation posture presets implicitly move the head.""" + import zmq + + context = zmq.Context() + send = context.socket(zmq.PUB) + send.setsockopt(zmq.LINGER, 0) + send.connect(f"tcp://{args.robot_ip}:4402") + try: + state.done.wait(0.3) # Allow PUB/SUB subscription propagation. + for command, complete in [ + ( + {"control_mode": "navigation"}, + lambda r: r.get("control_mode") == "navigation" and r.get("posture_ok"), + ), + ]: + deadline, next_send, action = time.monotonic() + 20, 0, None + while not state.done.is_set(): + with state.lock: + robot, received = state.robot, state.robot_received + if time.monotonic() > deadline: + raise TimeoutError(f"Robot did not complete preparation: {command}") + if robot is None or time.monotonic() - received > 0.5: + state.done.wait(0.05) + continue + if robot.get("is_runstopped") or robot.get("is_homed") is not True: + raise RuntimeError("Cannot prepare navigation while run-stopped or unhomed") + if not robot.get("posture_ok"): + raise RuntimeError( + "Navigation requires an already-retracted arm (extension <= 0.06 m); camera/joint posture commands are disabled" + ) + if ( + action is not None + and robot.get("bridge_step", -1) >= action["step"] + and complete(robot) + ): + break + if time.monotonic() >= next_send: + if action is None: + action = {**command, "step": int(robot["bridge_step"]) + 1} + send.send_pyobj(action) + next_send = time.monotonic() + 1 + state.done.wait(0.05) + with state.lock: + state.prepared = not state.done.is_set() + finally: + send.close() + context.term() + + +class Refiner: + def __init__(self, args): + self.args = args + self.model = None + if args.depth_source == "refined": + import torch + from lingbot_depth_eval import enable_native_attention + + sys.path.insert(0, str(args.lingbot_repo.resolve())) + from mdm.model.v2 import MDMModel + + if not torch.cuda.is_available(): + raise RuntimeError( + "LingBot refinement requires CUDA; use --depth-source raw for CPU-only testing" + ) + torch.set_num_threads(args.cpu_threads) + start = time.perf_counter() + checkpoint = getattr(args, "model_checkpoint", None) or resolve_local_checkpoint( + args.model + ) + print(f"Local LingBot checkpoint: {checkpoint} (offline)", flush=True) + self.model = load_local_model(MDMModel, checkpoint).cuda().eval() + enable_native_attention(self.model) + torch.cuda.synchronize() + print( + f"LingBot loaded in {time.perf_counter()-start:.2f}s (excluded from inference timing)", + flush=True, + ) + self.warmed = False + + def infer(self, rgb, raw, k): + if self.model is None: + return raw, 0.0 + import torch + + with torch.inference_mode(): + h, w = raw.shape + normalized = k.copy() + normalized[0] /= w + normalized[1] /= h + image = ( + torch.from_numpy(rgb.copy()).permute(2, 0, 1).float().div(255).unsqueeze(0).cuda() + ) + depth = ( + torch.from_numpy(np.where(planning.valid_depth(raw), raw, 0).astype(np.float32)) + .unsqueeze(0) + .cuda() + ) + kwargs = dict( + depth_in=depth, + intrinsics=torch.from_numpy(normalized).unsqueeze(0).cuda(), + resolution_level=self.args.resolution_level, + ) + if not self.warmed: + for _ in range(self.args.warmup): + self.model.infer(image, **kwargs) + self.warmed = True + torch.cuda.synchronize() + start = time.perf_counter() + prediction = self.model.infer(image, **kwargs) + torch.cuda.synchronize() + elapsed = (time.perf_counter() - start) * 1000 + return prediction["depth"][0].float().cpu().numpy(), elapsed + + +def decode_packet(packet): + rgb = cv2.imdecode(np.asarray(packet["rgb_jpg"], dtype=np.uint8), cv2.IMREAD_COLOR) + raw = cv2.imdecode(np.asarray(packet["depth_png"], dtype=np.uint8), cv2.IMREAD_UNCHANGED) + k, pose, base = ( + np.asarray(packet[key], dtype=float) for key in ("camera_K", "camera_pose", "base_pose") + ) + if rgb is None or raw is None or rgb.shape[:2] != raw.shape or raw.dtype != np.uint16: + raise ValueError("Malformed live RGB-D packet") + if ( + k.shape != (3, 3) + or pose.shape != (4, 4) + or base.shape != (3,) + or not np.isfinite(np.r_[k.ravel(), pose.ravel(), base]).all() + ): + raise ValueError("Invalid live intrinsics or TF pose") + if k[0, 0] <= 0 or k[1, 1] <= 0 or not np.allclose(pose[3], [0, 0, 0, 1]): + raise ValueError("Invalid live camera projection") + raw_m = raw.astype(np.float32) / 1000 + if not planning.valid_depth(raw_m).any(): + raise ValueError("Live depth frame has no valid measurements") + return ( + cv2.cvtColor(rgb, cv2.COLOR_BGR2RGB), + raw_m, + k.astype(np.float32), + pose, + base, + ) + + +def resolve_floor_reference(measured_plane, previous_plane, previous_time, now, args): + if measured_plane is not None: + return measured_plane, "fitted" + if previous_plane is not None and now - previous_time <= args.floor_max_age: + return previous_plane, "recent_fitted" + if args.unknown_policy == "assume": + return np.array([0.0, 0.0, 1.0, -args.floor_ground_z]), "assumed_ground_height" + return None, "unavailable" + + +def build_parser(): + p = argparse.ArgumentParser( + description=__doc__, + parents=[planning.build_parser()], + add_help=False, + conflict_handler="resolve", + ) + p.add_argument( + "--recording", type=Path, help=argparse.SUPPRESS + ) # No recording required for live operation. + p.add_argument("--robot-ip", default="192.0.2.2") + p.add_argument("--goal", nargs=2, type=float, default=[5.0, 4.0], metavar=("FORWARD", "LEFT")) + p.add_argument( + "--execute", + action="store_true", + help="Switch navigation mode and send leased velocity commands; keep camera/joint pose", + ) + p.add_argument("--ssh-user", default="hello-robot") + p.add_argument("--container") + p.add_argument("--existing-relay", action="store_true") + p.add_argument("--world-frame", default="map") + p.add_argument("--viewer-host", default="127.0.0.1") + p.add_argument("--viewer-port", type=int, default=8765) + p.add_argument("--plan-hz", type=float, default=4.0) + p.add_argument( + "--duration", type=float, default=0, help="Seconds to run; 0 until goal/stop/Ctrl+C" + ) + p.add_argument("--model", default=DEFAULT_MODEL, help=MODEL_HELP) + p.add_argument( + "--lingbot-repo", type=Path, default=Path(__file__).resolve().parents[2] / "lingbot-depth" + ) + p.add_argument("--resolution-level", type=int, default=0) + p.add_argument( + "--max-depth", + type=float, + default=4.0, + help="Maximum raw/refined optical-axis depth for new mapping and floor evidence (metres); history uses --map-radius", + ) + p.add_argument("--warmup", type=int, default=2) + p.add_argument( + "--min-filtered-points", + type=int, + default=1000, + help="Pause velocity and retry when fewer filtered points remain; never relax filtering", + ) + p.add_argument( + "--traversable-height", + dest="obstacle_min_height", + type=float, + default=0.2, + help="Height above the floor below which points are traversable (metres)", + ) + p.add_argument("--max-linear-speed", type=float, default=0.10) + p.add_argument("--max-angular-speed", type=float, default=0.25) + p.add_argument("--command-ttl", type=float, default=0.30) + p.add_argument("--max-plan-age", type=float, default=0.60) + p.add_argument("--max-state-age", type=float, default=0.35) + p.add_argument("--relay-max-frame-age", type=float, default=0.8) + p.add_argument("--control-horizon", type=float, default=1.0) + p.add_argument( + "--max-control-unknown-ratio", + type=float, + default=1.0, + help="Unknown-support limit for penalize/block policies; ignored by assume", + ) + p.add_argument("--goal-tolerance", type=float, default=0.20) + p.add_argument( + "--route-memory", + action="store_true", + help="Use a bounded coarse detour route, held waypoint and recent travelled history", + ) + p.add_argument( + "--memory-horizon", + type=float, + default=6.0, + help="Metres of recent travelled path to remember with --route-memory (max 10)", + ) + p.add_argument( + "--planning-horizon", + type=float, + default=2.5, + help="Local motion sampling distance in metres, including delayed turns", + ) + p.add_argument("--floor-support-radius", type=float, default=0.05) + p.add_argument("--floor-max-age", type=float, default=5.0) + p.add_argument( + "--debug-logs", + action=argparse.BooleanOptionalAction, + default=True, + help="Record control events and bounded replay snapshots (enabled by default)", + ) + p.add_argument( + "--debug-max-snapshots", + type=int, + default=32, + help="Retain this many recent RGB-D/map snapshots per run", + ) + p.add_argument( + "--debug-snapshot-interval", + type=float, + default=5.0, + help="Periodic debug snapshot seconds; 0 keeps incidents/manual/end snapshots only", + ) + p.add_argument( + "--debug-stuck-seconds", + type=float, + default=15.0, + help="Capture an incident after this long commanding motion without 10 cm translation", + ) + p.add_argument("--footprint-shape", choices=["rectangle", "circle"], default="rectangle") + p.add_argument( + "--robot-width", + "--actual-robot-width", + type=float, + default=0.34, + help="Actual body width: hard collision limit, metres", + ) + p.add_argument( + "--robot-length", + "--actual-robot-length", + type=float, + default=0.33, + help="Actual body length: hard collision limit, metres", + ) + p.add_argument( + "--buffered-robot-length", + type=float, + help="Preferred rectangle length; default max(actual length, 0.60 m). Contact is allowed", + ) + p.add_argument( + "--buffered-robot-width", + type=float, + help="Preferred rectangle width; default actual width. Contact is allowed", + ) + p.add_argument( + "--buffer-cost-weight", + type=float, + default=0.20, + help="Soft buffer-contact penalty; 0 disables these preference checks", + ) + p.add_argument("--robot-length-offset", type=float, default=-0.1) + p.add_argument( + "--footprint-heading-bins", + type=int, + default=72, + help="Acceleration cache bins; final body checks use continuous exact headings", + ) + p.set_defaults( + output=None, + width=6.0, + rear_range=1.0, + max_unknown_ratio=1.0, + unknown_policy="assume", + obstacle_min_height=0.2, + obstacle_max_height=1.6, + floor_tolerance=0.2, + drop_height=0.2, + height_based_traversability=True, + safety_margin=0.0, + clearance_weight=0.0, + floor_support_radius=0.0, + direct_footprint_collision=True, + world_anchored_collisions=True, + pursuit_lookahead=0.4, # Defaults for legacy replay helper callers only. + turn_in_place_angle=0.8, + turn_gain=0.7, + ) + unused_sampling = {"num_goals", "midpoints_per_goal", "bend_range", "path_samples"} + p.set_defaults( + **{action.dest: action.default for action in p._actions if action.dest in unused_sampling} + ) + p._option_string_actions["--robot-radius"].help = ( + "Body radius in circle mode; rectangle mode uses width/length" + ) + p._option_string_actions["--obstacle-max-height"].help = ( + "Maximum blocking height above the floor; live default 1.6 m, higher points are ignored" + ) + # Keep offline-only options out of this script's command interface. + for action in list(p._actions): + if action.dest in unused_sampling | { + "recording", + "depth_cache", + "frame_stride", + "max_frames", + "goal_forward", + "goal_right", + "floor_tolerance", + }: + p._remove_action(action) + for group in p._action_groups: + if action in group._group_actions: + group._group_actions.remove(action) + for option in action.option_strings: + p._option_string_actions.pop(option, None) + p.set_defaults( + frame_stride=1, max_frames=0, goal_forward=3.0, goal_right=0.0, floor_tolerance=0.2 + ) + return p + + +def main(): + args = build_parser().parse_args() + buffered = buffered_footprint_args(args) + if buffered is not None: + args.buffered_robot_width, args.buffered_robot_length = ( + buffered.robot_width, + buffered.robot_length, + ) + args.floor_tolerance = args.obstacle_min_height + planning.validate_args(args) + for key, value in vars(args).items(): + if isinstance(value, float) and not np.isfinite(value): + raise ValueError(f"{key} must be finite") + if ( + not 0 < args.max_linear_speed <= 0.15 + or not 0 < args.max_angular_speed <= 0.4 + or not 0 < args.command_ttl <= 0.35 + or not 0 < args.max_plan_age <= 0.8 + or not 0 <= args.max_control_unknown_ratio <= 1.0 + or not 0 <= args.floor_support_radius <= 0.05 + or args.plan_hz <= 0 + or args.control_horizon < args.command_ttl + or args.duration < 0 + or args.robot_width <= 0 + or args.robot_length <= 0 + or args.min_filtered_points < 1 + or not 0.1 < args.max_depth <= 10.0 + or args.buffer_cost_weight < 0 + or not 0.5 <= args.memory_horizon <= 10.0 + or not 1 <= args.debug_max_snapshots <= 512 + or args.debug_snapshot_interval < 0 + or args.debug_stuck_seconds < 2 + or not 0.25 <= args.planning_horizon <= 4.0 + or not 12 <= args.footprint_heading_bins <= 144 + ): + raise ValueError("Invalid live control speed, lease, evidence or support bounds") + args.support_footprint_radius = args.robot_radius + # Fail before opening robot connections if the local checkpoint is missing. + args.model_checkpoint = ( + resolve_local_checkpoint(args.model) if args.depth_source == "refined" else None + ) + cv2.setNumThreads(args.cpu_threads) + output = ( + args.output + or Path(__file__).resolve().parents[1] + / "outputs" + / ("depth_nav_live_" + datetime.now(timezone.utc).strftime("%Y%m%d_%H%M%S_%f")) + ).resolve() + if (output / "config.json").exists(): + output = output / ("run_" + datetime.now(timezone.utc).strftime("%Y%m%d_%H%M%S_%f")) + output.mkdir(parents=True, exist_ok=True) + settings = {k: str(v) if isinstance(v, Path) else v for k, v in vars(args).items()} + (output / "config.json").write_text(json.dumps(settings, indent=2) + "\n") + state = LiveState(args) + state.debug = DebugRecorder(output, args) if args.debug_logs else None + signal.signal(signal.SIGINT, lambda *_: state.request_stop("SIGINT")) + signal.signal(signal.SIGTERM, lambda *_: state.request_stop("SIGTERM")) + try: + server = start_viewer(state) + except Exception as exc: + if state.debug: + state.debug.event( + "startup_error", {"error": str(exc), "traceback": traceback.format_exc()} + ) + state.debug.close() + (output / "summary.json").write_text( + json.dumps( + { + "frames": 0, + "error": str(exc), + "stop_reason": "viewer startup failed", + "debug": None if state.debug is None else state.debug.status(), + } + ) + + "\n" + ) + raise + print( + f"Live map & plan: http://{args.viewer_host}:{args.viewer_port}/ · output: {output}", + flush=True, + ) + print( + f"Goal: {args.goal[0]} m forward, {args.goal[1]} m left at startup; execute={args.execute}", + flush=True, + ) + relay = RobotRelayProcess(args, output) if not args.existing_relay else None + control_thread = None + import zmq + + context = zmq.Context() + obs = context.socket(zmq.SUB) + obs.setsockopt(zmq.SUBSCRIBE, b"") + obs.setsockopt(zmq.CONFLATE, 1) + obs.setsockopt(zmq.LINGER, 0) + obs.connect(f"tcp://{args.robot_ip}:4511") + metrics = deque(maxlen=2048) + total_frames = 0 + route_memory = RouteMemory(args) if args.route_memory else None + partial_context = None + try: + # Validate/load local assets before navigation mode or robot arming. + # Load OpenMP libraries before applying the shared CPU thread budget. + import open3d + + with threadpool_limits(limits=args.cpu_threads): + refiner = Refiner(args) + if relay: + relay.start() + control_thread = threading.Thread( + target=control_loop, args=(state, args, uuid.uuid4().hex), daemon=True + ) + control_thread.start() + deadline = time.monotonic() + 20 + while not state.done.is_set(): + with state.lock: + robot = state.robot + if robot is not None and robot.get("base_pose") is not None: + state.set_goal(args.goal) + break + if time.monotonic() > deadline: + raise TimeoutError( + f"No timestamped relay status; inspect {output/'robot_relay.log'}" + ) + state.done.wait(0.05) + if state.done.is_set(): + if state.error: + raise RuntimeError(state.error) + return + if args.execute: + prepare_navigation_mode(state, args) + with threadpool_limits(limits=args.cpu_threads): + mapper = SurfaceVoxelMap( + VoxelMapConfig( + voxel_size=args.voxel_size, + max_update_points=args.max_update_points, + max_clear_checks=args.max_clear_checks, + max_voxels=args.max_map_voxels, + radius_m=args.map_radius, + max_depth_m=args.max_depth, + clearing=args.clearing, + ) + ) + banks, origin, last_plane, last_plane_time = OrderedDict(), None, None, -math.inf + next_plan, started, frame_index, last_report = 0, time.monotonic(), 0, 0 + with (output / "metrics.jsonl").open("w") as log: + while not state.done.is_set() and ( + args.duration == 0 or time.monotonic() - started < args.duration + ): + if time.monotonic() < next_plan: + state.done.wait(min(0.02, next_plan - time.monotonic())) + continue + if not obs.poll(100): + continue + packet = obs.recv_pyobj() + received = time.monotonic() + partial_context = { + "metadata": { + "frame_id": int(packet.get("frame_id", -1)), + "frame": frame_index, + "settings": settings, + "stage": "decode", + "received_monotonic": received, + }, + "arrays": { + name: packet.get(name) + for name in ("rgb_jpg", "depth_png", "camera_K", "camera_pose") + }, + } + if ( + packet["world_frame"] != args.world_frame + or packet["sensor_age"] > args.relay_max_frame_age + ): + raise ValueError("Wrong frame or stale RGB-D packet") + rgb, raw, k, camera_pose, base_at_capture = decode_packet(packet) + partial_context["arrays"].update( + raw_depth_m=raw, base_pose_at_capture=base_at_capture + ) + pose_audit = {} + for name in ("base_pose_matrix", "odom_pose_matrix", "map_from_odom"): + value = packet.get(name) + if value is not None: + matrix = np.asarray(value, dtype=np.float64) + if matrix.shape == (4, 4) and np.isfinite(matrix).all(): + pose_audit[name] = matrix + partial_context["arrays"].update(pose_audit) + partial_context["metadata"]["pose_audit_error"] = packet.get( + "pose_audit_error", "" + ) + description_audit = { + name: packet[name] + for name in ( + "robot_description_path", + "robot_description_file_sha256", + "robot_description_error", + "controller_calibration_path", + "controller_calibration_file_sha256", + "controller_calibration_error", + ) + if name in packet + } + partial_context["metadata"].update(description_audit) + partial_context["metadata"]["stage"] = "inference" + with state.lock: + robot, goal, version = state.robot, state.goal.copy(), state.goal_version + if robot is None or robot.get("base_pose") is None: + continue + refined, infer_ms = refiner.infer(rgb, raw, k) + partial_context["arrays"]["refined_depth_m"] = refined + partial_context["metadata"]["stage"] = "filter" + start = time.perf_counter() + valid = planning.valid_depth(refined) + if not valid.any(): + raise RuntimeError("Depth refinement produced no valid depth") + points_image = depth_points(refined, k) + camera_points = points_image[valid] + retained, filter_stats = filter_depth_mask(refined, raw, k, args, points_image) + # One selection controls the perception gate, voxel hits, + # floor fitting and dense ground support. Far raw returns + # cannot re-enter as weak obstacles after refinement. + range_mask = depth_limit_mask(refined, raw, args.max_depth) + filter_stats["depth_limit_rejected_points"] = int( + (retained & ~range_mask).sum() + ) + filter_stats["raw_far_refined_near_points"] = int( + (retained & (refined <= args.max_depth) & (raw > args.max_depth)).sum() + ) + filter_stats["depth_limit_m"] = args.max_depth + retained &= range_mask + filter_stats["in_range_retained_points"] = int(retained.sum()) + keep = retained[valid] + partial_context["metadata"]["filter_stats"] = filter_stats + partial_context["arrays"]["retained_mask"] = retained + perception_ok = state.update_perception_gate(int(keep.sum())) + filter_ms = (time.perf_counter() - start) * 1000 + _, map_stats = mapper.update( + refined, + retained, + rgb, + raw, + k, + camera_pose, + base_at_capture[:2], + received, + frame_index, + ) + world_points = camera_points[keep] @ camera_pose[:3, :3].T + camera_pose[:3, 3] + start = time.perf_counter() + plane, floor_stats = fit_floor_plane(world_points, base_at_capture[:2], args) + if plane is not None: + last_plane, last_plane_time = plane, time.monotonic() + plane, floor_reference_source = resolve_floor_reference( + plane, last_plane, last_plane_time, time.monotonic(), args + ) + floor_ms = (time.perf_counter() - start) * 1000 + correction = mapper.reconcile_ground(plane, args.drop_height) + map_stats.update(correction) + map_stats["update_ms"] += correction["ground_reconcile_ms"] + map_stats["cleared_voxels"] += correction["ground_column_clearing_observations"] + map_stats["surface_voxels"] -= correction["ground_column_cleared_supported"] + map_stats["uncertain_voxels"] -= correction["ground_column_cleared_uncertain"] + snap = mapper.snapshot(time.monotonic(), args.max_evidence_age) + sensor = raw[retained] + prediction = refined[retained] + agreement = planning.valid_depth(sensor) & ( + np.abs(sensor - prediction) <= 0.04 + 0.02 * prediction + ) + dense_floor = world_points[agreement] + with state.lock: + robot, goal, version = state.robot, state.goal.copy(), state.goal_version + pose = np.asarray(robot["base_pose"], dtype=float) + local_goal = planning.world_to_ego(goal[None], pose[:2], pose[2])[0] + distance = float(np.linalg.norm(local_goal)) + start = time.perf_counter() + grid = planning.make_costmap(snap, pose[:2], pose[2], plane, args, dense_floor) + bev_ms = (time.perf_counter() - start) * 1000 + start = time.perf_counter() + planning_goal = goal + if route_memory is not None and plane is not None and perception_ok: + planning_goal = route_memory.target( + snap, plane, pose, goal, args, time.monotonic(), version, grid + ) + memory_ms = (time.perf_counter() - start) * 1000 + local_target = planning.world_to_ego(planning_goal[None], pose[:2], pose[2])[0] + target = local_target * min( + 1.0, args.planning_horizon / max(np.linalg.norm(local_target), 0.001) + ) + frame_args = SimpleNamespace(**vars(args)) + frame_args.goal_right = round(float(target[0]), 1) + frame_args.goal_forward = round(float(target[1]), 1) + key = (frame_args.goal_right, frame_args.goal_forward) + if key not in banks: + new_bank = sample_trajectories(frame_args) + bank_bytes = base64.b64encode( + gzip.compress( + new_bank["poses"][..., :2].astype(" 8: + banks.popitem(last=False) + motion_bank, bank_bytes = banks[key] + bank = motion_bank["poses"][..., :2] + start = time.perf_counter() + proposal = score_trajectories(motion_bank, grid, frame_args) + if route_memory is not None and plane is not None and perception_ok: + rank_started = time.perf_counter() + route_memory.rank(proposal, motion_bank, pose, args) + memory_ms += (time.perf_counter() - rank_started) * 1000 + chosen = proposal["chosen"] if plane is not None and perception_ok else None + path = ( + np.empty((0, 2)) + if chosen is None + else planning.ego_to_world(bank[chosen], pose[:2], pose[2]) + ) + planning_ms = (time.perf_counter() - start) * 1000 + plan_ready_ms = (time.monotonic() - received) * 1000 + state.publish_plan({ + "grid": grid, + "path_world": path, + "pose": pose, + "floor_valid": plane is not None, + "command": ( + np.zeros(2) if chosen is None else motion_bank["commands"][chosen] + ), + "first_duration": ( + 0.0 if chosen is None else float(motion_bank["first_duration"][chosen]) + ), + "initial_body_collision": proposal["initial_body_collision"], + "received": received, + "ready_ms": plan_ready_ms, + "frame_id": int(packet["frame_id"]), + "version": version, + }) + viewer_started = time.monotonic() + if origin is None: + origin = np.array([*pose[:2], 0.0]) + local = planning.world_to_ego(snap["points"], pose[:2], pose[2]) + display_rows, display_cols, inside = planning.ego_to_cells( + local, args, grid["cost"].shape + ) + display = inside & (snap["state"] != 2) + height_grid = np.full(grid["cost"].shape, -np.inf, dtype=np.float32) + if plane is not None and display.any(): + np.maximum.at( + height_grid, + (display_rows[display], display_cols[display]), + snap["points"][display] @ plane[:3] + plane[3], + ) + packed_height = np.full(height_grid.shape, -32768, dtype=" 0.001).tolist() + status = ( + "floor_unavailable" + if plane is None + else ( + "no_path" + if chosen is None + else ( + ( + "assumed_traversable_path" + if args.unknown_policy == "assume" + else "tentative" + ) + if proposal["unknown_ratio"][chosen] > 0.001 + else "observed_floor_path" + ) + ) + ) + if not perception_ok: + status = "perception_paused" + metric = { + "frame_id": int(packet["frame_id"]), + "frame": frame_index, + "time": time.monotonic() - started, + "status": status, + "perception_pause": state.perception_pause, + "chosen": chosen, + "robot": pose[:2].tolist(), + "yaw": float(pose[2]), + "goal_world": goal.tolist(), + "goal_distance": distance, + "goal_ego": local_goal.tolist(), + "valid_indices": proposal["valid"].tolist(), + "selected_unknown_points": unknown_points, + "unknown_ratio": ( + None if chosen is None else float(proposal["unknown_ratio"][chosen]) + ), + "floor_plane": None if plane is None else plane.tolist(), + "floor_reference_source": floor_reference_source, + "assumed_traversable_cells": int((grid["labels"] == 5).sum()), + "map_voxels": len(snap["points"]), + "known_floor_cells": int(grid["known"].sum()), + "obstacle_cells": int(grid["obstacle"].sum()), + "collision_rejections": proposal["collision_rejections"], + "unknown_rejections": proposal["unknown_rejections"], + "control_prefix_rejections": proposal["control_prefix_rejections"], + "selected_poses": ( + [] + if chosen is None + else motion_bank["poses"][ + chosen, : motion_bank["counts"][chosen] + ].tolist() + ), + "selected_command": ( + [] if chosen is None else motion_bank["commands"][chosen].tolist() + ), + "initial_body_collision": proposal["initial_body_collision"], + "memory_ms": memory_ms if route_memory is not None else 0.0, + **( + {"memory_mode": "disabled"} + if route_memory is None + else route_memory.view() + ), + "buffer_checked": proposal["buffer_checked"], + "selected_buffer_overlap_ratio": ( + None + if chosen is None or not proposal["buffer_checked"] + else float(proposal["buffer_overlap_ratio"][chosen]) + ), + "buffer_ms": proposal["buffer_ms"], + "raw_occupied_cells": int(grid["hard_source"].sum()), + "footprint_query_cache_entries": len(grid["collision_cache"]), + "inference_ms": infer_ms, + "filter_ms": filter_ms, + "filter_input_points": len(camera_points), + "filter_kept_points": int(keep.sum()), + "filter_stats": filter_stats, + "mapping_stats": map_stats, + "camera_K": k.tolist(), + "camera_pose": camera_pose.tolist(), + "base_pose_at_capture": base_at_capture.tolist(), + "pose_audit": {name: value.tolist() for name, value in pose_audit.items()}, + "pose_audit_error": packet.get("pose_audit_error", ""), + **description_audit, + "sync_difference_s": packet.get("sync_difference"), + "sensor_stamp": float(packet["sensor_stamp"]), + "sensor_age_at_receive": float(packet["sensor_age"]), + "mapping_ms": map_stats["update_ms"], + "refilter_ms": filter_ms, + "floor_ms": floor_ms, + "floor_fit_stats": floor_stats, + "bev_ms": bev_ms, + "planning_ms": planning_ms, + "plan_ready_ms": plan_ready_ms, + "processing_ms": (time.monotonic() - received) * 1000, + } + payload = { + "frame": { + **metric, + "cost_bytes": planning.packed_array(np.rint(grid["cost"] * 255)), + "labels_bytes": planning.packed_array(grid["labels"]), + "height_bytes": base64.b64encode( + gzip.compress(packed_height.tobytes(), compresslevel=3) + ).decode("ascii"), + "blocking_min_height_bytes": pack_heights(blocking_min), + "blocking_max_height_bytes": pack_heights(blocking_max), + "cloud": planning.packed_cloud( + snap["points"][display], colors, origin, maximum=8000 + ), + "rgb": planning.preview_image(rgb), + }, + "bank_bytes": bank_bytes, + "bank_shape": list(bank.shape), + "bank_key": list(key), + "origin": origin.tolist(), + "grid_shape": list(grid["cost"].shape), + "settings": settings, + } + frozen = freeze_voxels(snap, time.monotonic()) + metric["viewer_prepare_ms"] = (time.monotonic() - viewer_started) * 1000 + metric["processing_ms"] = (time.monotonic() - received) * 1000 + payload["frame"].update( + processing_ms=metric["processing_ms"], + viewer_prepare_ms=metric["viewer_prepare_ms"], + ) + with state.lock: + if version == state.goal_version: + state.payload = payload + state.last_voxels = { + **frozen, + "robot_pose": pose, + "floor_plane": np.array([]) if plane is None else plane, + } + if state.debug: + arrays = {"voxel_" + name: value for name, value in frozen.items()} + arrays.update(pose_audit) + arrays.update( + rgb_jpg=packet["rgb_jpg"], + depth_png=packet["depth_png"], + raw_depth_m=raw, + refined_depth_m=refined, + retained_mask=retained, + camera_K=k, + camera_pose=camera_pose, + base_pose_at_capture=base_at_capture, + planning_pose=pose, + floor_plane=np.array([]) if plane is None else plane, + blocking_min_height=blocking_min, + blocking_max_height=blocking_max, + bank_poses=motion_bank["poses"], + bank_commands=motion_bank["commands"], + bank_counts=motion_bank["counts"], + bank_first_duration=motion_bank["first_duration"], + proposal_valid=proposal["valid"], + proposal_scores=proposal["score"], + selected_index=-1 if chosen is None else chosen, + ) + for name in ( + "cost", + "labels", + "blocked", + "hard_source", + "footprint_cost", + "unknown_footprint", + "collision_cells", + "collision_cell_size", + "collision_cell_angle", + ): + if name in grid: + arrays[name] = grid[name] + debug_frame = { + "metadata": { + "frame_id": int(packet["frame_id"]), + "frame": frame_index, + "settings": settings, + "metric": metric, + "stage": "planned", + "received_monotonic": received, + "goal_version": version, + }, + "arrays": arrays, + "viewer_payload": payload, + } + state.debug.publish(debug_frame) + if chosen is None: + state.debug.incident( + status, + { + "frame_id": int(packet["frame_id"]), + "control": state.last_control_record.copy(), + }, + ) + log.write(json.dumps(metric) + "\n") + log.flush() + metrics.append(metric) + total_frames += 1 + if time.monotonic() - last_report > 1: + print( + f"[{frame_index}] {status} goal={distance:.2f}m · inference={infer_ms:.1f}ms filter={filter_ms:.1f}ms map/BEV/plan={map_stats['update_ms']+bev_ms+planning_ms:.1f}ms · {state.control['reason']}", + flush=True, + ) + last_report = time.monotonic() + frame_index += 1 + next_plan = received + 1 / args.plan_hz + except Exception as exc: + state.error = str(exc) + if state.debug: + state.debug.event( + "processing_error", {"error": str(exc), "traceback": traceback.format_exc()} + ) + if partial_context is not None: + state.debug.incident( + "processing_error", {"error": str(exc)}, force=True, context=partial_context + ) + state.request_stop("processing error: " + str(exc)) + print(f"Stopped: {exc}", flush=True) + finally: + state.request_stop("duration reached" if args.duration > 0 else "session finished") + if control_thread: + control_thread.join(timeout=2) + if relay: + relay.close() + obs.close() + context.term() + if state.debug: + state.debug.event( + "session_stop", + { + "reason": state.stop_reason, + "error": state.error, + "control": state.last_control_record.copy(), + }, + ) + state.debug.incident( + "session_end", + {"stop_reason": state.stop_reason, "control": state.last_control_record.copy()}, + force=True, + ) + state.debug.close() + if state.payload is not None: + with state.lock: + state.control.update( + v=0.0, w=0.0, reason=state.error or "stopped; velocity lease revoked" + ) + (output / "last_state.json").write_text(json.dumps(state.view(), allow_nan=False)) + save_final_view(state, output) + if state.last_voxels is not None: + np.savez_compressed(output / "last_voxels.npz", **state.last_voxels) + summary = { + "frames": total_frames, + "timing_window_frames": len(metrics), + "execute": args.execute, + "error": state.error, + "stop_reason": state.stop_reason, + "debug": {"enabled": False} if state.debug is None else state.debug.status(), + "inference_median_ms": ( + None if not metrics else float(np.median([m["inference_ms"] for m in metrics])) + ), + "processing_median_ms": ( + None if not metrics else float(np.median([m["processing_ms"] for m in metrics])) + ), + "goal_world": None if state.goal is None else state.goal.tolist(), + } + (output / "summary.json").write_text(json.dumps(summary, indent=2) + "\n") + print("Stopped; velocity lease revoked. " + json.dumps(summary), flush=True) + server.shutdown() + server.server_close() + if state.error: + raise SystemExit(1) + + +if __name__ == "__main__": + main() diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_memory.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_memory.py new file mode 100644 index 0000000000000000000000000000000000000000..d6227b2bc66821f254612f95efa84c11f39dee46 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_memory.py @@ -0,0 +1,323 @@ +"""Optional bounded CPU route guidance and short spatial navigation history. + +A small world-aligned grid ranks routes around already observed walls. Unknown +space follows the live policy. This guide never decides physical admissibility: +the existing complete body sweep and command checks still decide that. +""" + +from collections import deque +import heapq + +import numpy as np +from scipy import ndimage + +from depth_only_path_planner import ego_to_cells, ego_to_world, world_to_ego, obstacle_height_mask + +GRID_RESOLUTION = 0.20 +GRID_CELLS = 40 # 8 m square, at most 1,600 nodes. +REPLAN_SECONDS = 1.0 +COMMIT_DISTANCE = 0.60 +WAYPOINT_DISTANCE = 1.20 +WAYPOINT_TOLERANCE = 0.35 + + +def smooth_route(route, blocked, origin): + """Remove grid stair steps with bounded 2D grid checks, then resample.""" + vertices = [route[0]] + index = 0 + while index < len(route) - 1: + for end in range(len(route) - 1, index, -1): + count = int(np.ceil(np.linalg.norm(route[end] - route[index]) / 0.05)) + 1 + line = np.linspace(route[index], route[end], count) + cells = np.floor((line - origin) / GRID_RESOLUTION).astype(int) + if not blocked[tuple(cells.T)].any(): + break + vertices.append(route[end]) + index = end + vertices = np.asarray(vertices) + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(vertices, axis=0), axis=1))] + samples = np.linspace( + 0, lengths[-1], min(128, max(2, int(np.ceil(lengths[-1] / GRID_RESOLUTION)) + 1)) + ) + return np.column_stack([np.interp(samples, lengths, vertices[:, j]) for j in range(2)]) + + +def shortest_paths(blocked, cost, start): + """8-connected Dijkstra, with no diagonal crossing of occupied corners.""" + n = blocked.shape[0] + distance = np.full((n, n), np.inf) + parent = np.full(n * n, -1, dtype=np.int32) + sx, sy = start + distance[sx, sy] = 0.0 + heap = [(0.0, sx, sy)] + directions = [ + (dx, dy, GRID_RESOLUTION * np.hypot(dx, dy)) + for dx, dy in [(-1, 0), (1, 0), (0, -1), (0, 1), (-1, -1), (-1, 1), (1, -1), (1, 1)] + ] + while heap: + old, x, y = heapq.heappop(heap) + if old > distance[x, y]: + continue + for dx, dy, step in directions: + xx, yy = x + dx, y + dy + if not (0 <= xx < n and 0 <= yy < n) or blocked[xx, yy]: + continue + if dx and dy and (blocked[x + dx, y] or blocked[x, y + dy]): + continue + new = old + step * (cost[x, y] + cost[xx, yy]) / 2 + if new < distance[xx, yy]: + distance[xx, yy] = new + parent[xx * n + yy] = x * n + y + heapq.heappush(heap, (new, xx, yy)) + return distance, parent + + +class RouteMemory: + def __init__(self, args): + self.history_distance = args.memory_horizon + self.trail = deque(maxlen=128) + self.version = None + self.route = np.empty((0, 2)) + self.waypoint = None + self.progress = 0 + self.waypoint_index = 0 + self.last_replan = -np.inf + self.commit_pose = None + self.previous_path = np.empty((0, 2)) + self.mode = "waiting" + self.searches = 0 + self.turn_sign = 0 + self.turn_anchor = None + + def reset(self, version): + self.trail.clear() + self.route = np.empty((0, 2)) + self.waypoint = None + self.progress = 0 + self.previous_path = np.empty((0, 2)) + self.commit_pose = None + self.last_replan = -np.inf + self.mode, self.version = "waiting", version + self.turn_sign, self.turn_anchor = 0, None + + def observe(self, pose, version): + if version != self.version or ( + self.trail and np.linalg.norm(pose[:2] - self.trail[-1]) > 1.0 + ): + self.reset(version) + if not self.trail or np.linalg.norm(pose[:2] - self.trail[-1]) >= 0.10: + self.trail.append(pose[:2].copy()) + # Keep a short travelled distance, not an unbounded frame history. + while len(self.trail) > 2: + trail = np.asarray(self.trail) + if np.linalg.norm(np.diff(trail, axis=0), axis=1).sum() <= self.history_distance: + break + self.trail.popleft() + + def _grid(self, snapshot, plane, pose, args): + n, resolution = GRID_CELLS, GRID_RESOLUTION + origin = np.floor((pose[:2] - n * resolution / 2) / resolution) * resolution + cells = np.floor((snapshot["points"][:, :2] - origin) / resolution).astype(int) + inside = ((cells >= 0) & (cells < n)).all(axis=1) + height = snapshot["points"] @ plane[:3] + plane[3] + state = snapshot["state"] + hazard = obstacle_height_mask(height, args) + obstacle = ( + inside & hazard & ((state == 1) | ((state == 0) & args.block_uncertain_obstacles)) + ) + blocked = np.zeros((n, n), bool) + blocked[tuple(cells[obstacle].T)] = True + known = None + if args.unknown_policy != "assume": + ground = ( + inside + & (state == 1) + & (height >= -args.drop_height) + & (height < args.obstacle_min_height) + ) + known = np.zeros((n, n), bool) + known[tuple(cells[ground].T)] = True + if args.unknown_policy == "block": + blocked |= ~known + clearance = ndimage.distance_transform_edt(~blocked) * resolution + cost = 1.0 + 0.5 * np.exp(-clearance / 0.35) + if args.unknown_policy == "penalize": + cost += (~known) * max(0.0, args.unknown_cost - 0.05) + if len(self.trail): + trail = np.asarray(self.trail) + trail = trail[np.linalg.norm(trail - pose[:2], axis=1) > 0.60] + idx = np.floor((trail - origin) / resolution).astype(int) + idx = idx[((idx >= 0) & (idx < n)).all(axis=1)] + visits = np.zeros((n, n), bool) + visits[tuple(idx.T)] = True + cost += 4.0 * ndimage.maximum_filter(visits, size=3) + start = np.floor((pose[:2] - origin) / resolution).astype(int) + # Coarse cells can overlap the known current body because of their + # quantization. This affects guidance only, never physical occupancy. + blocked[tuple(start)] = False + return origin, blocked, cost, start + + def _search(self, snapshot, plane, pose, goal, args): + origin, blocked, cost, start = self._grid(snapshot, plane, pose, args) + distance, parent = shortest_paths(blocked, cost, start) + n, resolution = GRID_CELLS, GRID_RESOLUTION + target = np.clip(np.floor((goal - origin) / resolution).astype(int), 0, n - 1) + if np.isfinite(distance[tuple(target)]): + mode = "goal_route" + else: + # If the goal side is inaccessible, choose a reachable window + # exit, not the closest point beside the wall. New/forward exits + # beat repeated retreat along the recently travelled aisle. + boundary = np.zeros_like(blocked) + boundary[[0, -1], :] = True + boundary[:, [0, -1]] = True + exits = np.argwhere(boundary & np.isfinite(distance)) + if not len(exits): + return np.empty((0, 2)), "local_fallback" + world = origin + (exits + 0.5) * resolution + delta = world - pose[:2] + direction = delta / np.maximum(np.linalg.norm(delta, axis=1, keepdims=True), 1e-9) + forward = direction @ np.array([np.cos(pose[2]), np.sin(pose[2])]) + scores = ( + 0.20 * np.linalg.norm(world - goal, axis=1) + + 0.15 * distance[tuple(exits.T)] + - 1.20 * forward + ) + target = exits[np.argmin(scores)] + mode = "explore_route" + flat = int(target[0] * n + target[1]) + route = [] + while flat >= 0: + route.append([flat // n, flat % n]) + flat = int(parent[flat]) + route = origin + (np.array(route[::-1]) + 0.5) * resolution + route[0] = pose[:2] + return smooth_route(route[:128], blocked, origin), mode + + def _advance_waypoint(self, pose): + self.progress += int( + np.argmin(np.linalg.norm(self.route[self.progress :] - pose[:2], axis=1)) + ) + if ( + self.waypoint is not None + and self.progress <= self.waypoint_index + and np.linalg.norm(self.waypoint - pose[:2]) > WAYPOINT_TOLERANCE + ): + return + ahead = self.route[self.progress :] + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(ahead, axis=0), axis=1))] + index = min(len(ahead) - 1, int(np.searchsorted(lengths, WAYPOINT_DISTANCE))) + self.waypoint = ahead[index].copy() + self.waypoint_index = self.progress + index + + def target(self, snapshot, plane, pose, goal, args, now, version, grid): + self.observe(pose, version) + blocked_route = False + if len(self.route): + local = world_to_ego(self.route[self.progress : self.progress + 10], pose[:2], pose[2]) + rows, cols, inside = ego_to_cells(local, args, grid["hard_source"].shape) + blocked_route = bool(grid["hard_source"][rows[inside], cols[inside]].any()) + finished = ( + self.waypoint is not None + and np.linalg.norm(self.route[-1] - pose[:2]) < WAYPOINT_TOLERANCE + ) + moved = ( + self.commit_pose is None + or np.linalg.norm(pose[:2] - self.commit_pose) >= COMMIT_DISTANCE + ) + refresh = now - self.last_replan >= REPLAN_SECONDS and moved + if not len(self.route) or blocked_route or finished or refresh: + if blocked_route: + self.turn_sign, self.turn_anchor = 0, None + self.route, self.mode = self._search(snapshot, plane, pose, goal, args) + self.searches += 1 + self.progress, self.waypoint = 0, None + self.commit_pose, self.last_replan = pose[:2].copy(), now + if len(self.route) > 1: + self._advance_waypoint(pose) + return self.waypoint.copy() + self.mode = "local_fallback" + return goal.copy() + + def rank(self, proposal, bank, pose, args): + """Small continuity/revisit preferences; never alter admissible sets.""" + valid = proposal["valid"] + if not len(valid): + self.route = np.empty((0, 2)) + self.waypoint = None + self.mode = "blocked" + self.previous_path = np.empty((0, 2)) + self.turn_sign, self.turn_anchor = 0, None + return + poses = bank["poses"][valid] + endpoints = ego_to_world(poses[:, -1, :2], pose[:2], pose[2]) + scores = proposal["score"][valid].copy() + if self.mode == "local_fallback": + # Coarse quantization may lose a tight aisle. Physically checked + # longer, unvisited motions can still make local detour progress. + scores = ( + 0.20 * scores + - 0.35 * np.linalg.norm(endpoints - pose[:2], axis=1) / args.planning_horizon + ) + trail = np.asarray(self.trail) + if len(trail): + trail = trail[np.linalg.norm(trail - pose[:2], axis=1) > 0.60] + if len(trail): + nearest = np.linalg.norm(endpoints[:, None] - trail[None], axis=-1).min(axis=1) + scores += 0.25 * np.exp(-(nearest**2) / (2 * 0.4**2)) + if len(self.previous_path): + nearest = int(np.argmin(np.linalg.norm(self.previous_path - pose[:2], axis=1))) + ahead = self.previous_path[nearest:] + lengths = np.r_[0, np.cumsum(np.linalg.norm(np.diff(ahead, axis=0), axis=1))] + previous = ahead[min(len(ahead) - 1, int(np.searchsorted(lengths, 0.60)))] - pose[:2] + travel = np.cumsum(np.linalg.norm(np.diff(poses[..., :2], axis=1), axis=-1), axis=1) + reaches = travel >= 0.60 + index = np.where( + reaches.any(axis=1), reaches.argmax(axis=1) + 1, bank["counts"][valid] - 1 + ) + current = ( + ego_to_world(poses[np.arange(len(poses)), index, :2], pose[:2], pose[2]) - pose[:2] + ) + if np.linalg.norm(previous) > 0.10: + cosine = ( + current + @ previous + / np.maximum(np.linalg.norm(current, axis=1) * np.linalg.norm(previous), 1e-9) + ) + scores += 0.10 * (1 - np.clip(cosine, -1, 1)) + commands = bank["commands"][valid] + if self.turn_sign and np.linalg.norm(pose[:2] - self.turn_anchor) < 0.35: + reversing = (np.abs(commands[:, 1]) > 0.02) & ( + np.sign(commands[:, 1]) != self.turn_sign + ) + # Avoid repeated left/right rotation while in the same place. + # This is a soft tie-breaker over physically valid motions only; + # a necessary reversal remains available if the old side blocks. + scores += reversing * np.where(commands[:, 0] == 0, 0.20, 0.12) + proposal["score"][valid] = scores + selected = int(valid[np.argmin(scores)]) + proposal["chosen"] = selected + sign = np.sign(bank["commands"][selected, 1]) + if abs(bank["commands"][selected, 1]) > 0.02 and sign != self.turn_sign: + self.turn_sign, self.turn_anchor = sign, pose[:2].copy() + self.previous_path = ego_to_world( + bank["poses"][selected, : bank["counts"][selected], :2], pose[:2], pose[2] + ) + if ( + self.mode == "local_fallback" + and np.linalg.norm(endpoints[np.argmin(scores)] - pose[:2]) >= 0.50 + ): + self.route = self.previous_path[::8].copy() + self.waypoint = self.previous_path[-1].copy() + self.commit_pose = pose[:2].copy() + self.progress = 0 + self.mode = "local_detour" + + def view(self): + return { + "memory_mode": self.mode, + "memory_route": self.route.tolist(), + "memory_trail": np.asarray(self.trail).reshape(-1, 2).tolist(), + "memory_waypoint": None if self.waypoint is None else self.waypoint.tolist(), + "memory_searches": self.searches, + } diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_robot_relay.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_robot_relay.py new file mode 100644 index 0000000000000000000000000000000000000000..46708dba6d572e57f05f2eb199919a13a2f6305c --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_robot_relay.py @@ -0,0 +1,524 @@ +#!/usr/bin/env python3 +"""Robot-side timestamped RGB-D relay and expiring velocity controller. + +Runs inside the existing ROS 2 bridge container. It issues no commands until +an explicit arm request, and uses independent capture/control threads. +""" + +import argparse +import hashlib +import math +import os +import pickle +import signal +import sys +import threading +import time +from collections import OrderedDict, deque +from pathlib import Path + +import numpy as np + +from depth_nav_control import HeadControlMode, LeasedHeadController, VelocityLease, interpolate_head, validated_head_target + + +def description_file_audit(path, prefix="robot_description"): + """Fingerprint a calibration file without starting ROS/hardware.""" + path = Path(path) + result = {f"{prefix}_path": str(path)} + try: + result[f"{prefix}_file_sha256"] = hashlib.sha256(path.read_bytes()).hexdigest() + result[f"{prefix}_error"] = "" + except OSError as exc: + result[f"{prefix}_error"] = str(exc) + return result + + +def parser(): + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--obs-port", type=int, default=4511) + p.add_argument("--command-port", type=int, default=4512) + p.add_argument("--state-port", type=int, default=4513) + p.add_argument("--world-frame", default="map") + p.add_argument("--fps", type=float, default=4.0) + p.add_argument("--native-width", type=int, default=640) + p.add_argument("--max-frame-age", type=float, default=0.8) + p.add_argument("--max-ttl", type=float, default=0.35) + p.add_argument("--enable-head", action="store_true", help="Enable session-leased corner observations") + return p + + +def capture_pose_audit(lookup_matrix, base_matrix): + """Optional timestamped TF diagnostics; missing audit TF never drops RGB-D.""" + result = {"base_pose_matrix": base_matrix.copy()} + errors = [] + for name, target, source in ( + ("odom_pose_matrix", "odom", "base_link"), + ("map_from_odom", "map", "odom"), + ): + try: + result[name] = lookup_matrix(target, source) + except Exception as exc: + errors.append(f"{name}: {exc}") + result["pose_audit_error"] = "; ".join(errors) + return result + + +def monitor_parent(done, stream): + """An SSH/docker stdin EOF closes this temporary relay, even if its PC dies.""" + try: + # A daemon must not hold BufferedReader's lock at interpreter exit. + while os.read(stream.fileno(), 1): + pass + finally: + done.set() + + +def main(): + args = parser().parse_args() + if args.fps <= 0 or args.native_width <= 0 or not 0 < args.max_ttl <= 0.5: + raise ValueError("Invalid relay frame rate, resolution or lease") + import cv2 + import message_filters + import rclpy + import zmq + from cv_bridge import CvBridge + from geometry_msgs.msg import Twist + from control_msgs.action import FollowJointTrajectory + from rclpy.action import ActionClient + from trajectory_msgs.msg import JointTrajectoryPoint + from rclpy.executors import MultiThreadedExecutor + from rclpy.qos import qos_profile_sensor_data + from rclpy.time import Time + from rclpy.signals import SignalHandlerOptions + from sensor_msgs.msg import CameraInfo, Image, JointState + from std_msgs.msg import Bool + from std_srvs.srv import Trigger + from tf2_ros import Buffer, TransformException, TransformListener + + try: + from ament_index_python.packages import get_package_share_directory + + description = description_file_audit( + Path(get_package_share_directory("stretch_description")) / "urdf/stretch.urdf" + ) + except Exception as exc: + description = {"robot_description_error": str(exc)} + try: + from ament_index_python.packages import get_package_share_directory + + description.update(description_file_audit( + Path(get_package_share_directory("stretch_core")) / "config/controller_calibration_head.yaml", + prefix="controller_calibration", + )) + except Exception as exc: + description["controller_calibration_error"] = str(exc) + + from capture_lingbot_rgbd_ros2 import ( + rotate_intrinsics_clockwise, + stamp_seconds, + transform_matrix, + ) + + cv2.setNumThreads(1) + # Keep ROS alive until cancellation and streaming-mode restoration finish. + # Its default signal handler can shut clients down before our finally block. + rclpy.init(signal_handler_options=SignalHandlerOptions.NO) + node = rclpy.create_node("depth_only_navigation_relay") + tf_buffer = Buffer() + listener = TransformListener(tf_buffer, node) + bridge = CvBridge() + shared = { + "info": None, + "pair": None, + "runstop": None, + "error": "waiting for RGB-D/TF", + "frame": None, + "capture_metrics": None, + "arm_requested": False, + "runstop_latched": False, + "streaming_position": None, + } + frame_stamps = OrderedDict() + head_samples = deque(maxlen=512) + lock = threading.Lock() + done = threading.Event() + stop_requested = False + Path(__file__).with_suffix(".pid").write_text(str(os.getpid())) + def request_stop(*_): + nonlocal stop_requested + stop_requested = True + signal.signal(signal.SIGTERM, request_stop) + signal.signal(signal.SIGINT, request_stop) + threading.Thread(target=monitor_parent, args=(done, sys.stdin.buffer), daemon=True).start() + context = zmq.Context() + commands = context.socket(zmq.PULL) + commands.setsockopt(zmq.CONFLATE, 1) + commands.setsockopt(zmq.LINGER, 0) + commands.bind(f"tcp://*:{args.command_port}") + states = context.socket(zmq.PUB) + states.setsockopt(zmq.SNDHWM, 1) + states.setsockopt(zmq.LINGER, 0) + states.bind(f"tcp://*:{args.state_port}") + bridge_state = context.socket(zmq.SUB) + bridge_state.setsockopt(zmq.SUBSCRIBE, b"") + bridge_state.setsockopt(zmq.CONFLATE, 1) + bridge_state.setsockopt(zmq.LINGER, 0) + bridge_state.connect("tcp://127.0.0.1:4403") + velocity_pub = node.create_publisher(Twist, "/stretch/cmd_vel", 1) + head_client = ActionClient(node, FollowJointTrajectory, "/stretch_controller/follow_joint_trajectory") if args.enable_head else None + head_disable_stream = node.create_client(Trigger, '/deactivate_streaming_position') + head_enable_stream = node.create_client(Trigger, '/activate_streaming_position') + head_mode = HeadControlMode(head_disable_stream, head_enable_stream, Trigger.Request) + _stream_sub = node.create_subscription(Bool, '/is_streaming_position', + lambda m: shared.update(streaming_position=bool(m.data)), 10) + goto_off = node.create_client(Trigger, "/goto_controller/disable") + info_sub = node.create_subscription( + CameraInfo, + "/camera/color/camera_info", + lambda m: shared.update(info=m), + qos_profile_sensor_data, + ) + + def joint_callback(message): + positions = dict(zip(message.name, message.position)) + if all(name in positions for name in ('joint_head_pan', 'joint_head_tilt')): + sample = (stamp_seconds(message.header.stamp), + [positions['joint_head_pan'], positions['joint_head_tilt']]) + if np.isfinite(sample[1]).all(): + with lock: + if not head_samples or sample[0] > head_samples[-1][0]: + head_samples.append(sample) + + _joint_sub = node.create_subscription(JointState, '/stretch/joint_states', joint_callback, 20) + + def runstop_callback(message): + shared["runstop"] = bool(message.data) + if message.data and shared["arm_requested"]: + shared["runstop_latched"] = True + + stop_sub = node.create_subscription(Bool, "/is_runstopped", runstop_callback, 10) + color_sub = message_filters.Subscriber( + node, Image, "/camera/color/image_raw", qos_profile=qos_profile_sensor_data + ) + depth_sub = message_filters.Subscriber( + node, Image, "/camera/aligned_depth_to_color/image_raw", qos_profile=qos_profile_sensor_data + ) + sync = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=3, slop=0.02 + ) + sync.registerCallback(lambda c, d: shared.update(pair=(c, d))) + executor = MultiThreadedExecutor(num_threads=2) + executor.add_node(node) + ros_thread = threading.Thread(target=executor.spin, daemon=True) + ros_thread.start() + optical = np.eye(4) + optical[:3, :3] = [[0, 1, 0], [-1, 0, 0], [0, 0, 1]] + + def capture_loop(): + pub = context.socket(zmq.PUB) + pub.setsockopt(zmq.SNDHWM, 1) + pub.setsockopt(zmq.LINGER, 0) + pub.bind(f"tcp://*:{args.obs_port}") + last_stamp, frame_id = -math.inf, 0 + next_frame = time.monotonic() + try: + while not done.is_set(): + if done.wait(max(0.001, next_frame - time.monotonic())): + break + pair, info = shared["pair"], shared["info"] + if pair is None or info is None: + continue + color, depth = pair + capture_started = time.monotonic() + stamp = stamp_seconds(color.header.stamp) + age = node.get_clock().now().nanoseconds * 1e-9 - stamp + if stamp <= last_stamp or not -0.02 <= age <= args.max_frame_age: + continue + try: + cam_tf = tf_buffer.lookup_transform( + args.world_frame, color.header.frame_id, Time.from_msg(color.header.stamp) + ) + base_tf = tf_buffer.lookup_transform( + args.world_frame, "base_link", Time.from_msg(color.header.stamp) + ) + rgb = bridge.imgmsg_to_cv2(color, desired_encoding="rgb8") + raw = bridge.imgmsg_to_cv2(depth, desired_encoding="passthrough") + if depth.encoding == "32FC1": + raw = np.where( + np.isfinite(raw) & (raw > 0) & (raw < 10), raw * 1000, 0 + ).astype(np.uint16) + elif depth.encoding != "16UC1": + raise ValueError(f"Unsupported depth encoding {depth.encoding}") + if rgb.shape[:2] != raw.shape: + raise ValueError("RGB and aligned depth sizes differ") + k = np.asarray(info.k).reshape(3, 3).copy() + if rgb.shape[1] > args.native_width: + width = args.native_width + height = round(rgb.shape[0] * width / rgb.shape[1]) + sx, sy = width / rgb.shape[1], height / rgb.shape[0] + k[0, 0] *= sx + k[1, 1] *= sy + k[0, 2] = (k[0, 2] + 0.5) * sx - 0.5 + k[1, 2] = (k[1, 2] + 0.5) * sy - 0.5 + rgb = cv2.resize(rgb, (width, height), interpolation=cv2.INTER_AREA) + raw = cv2.resize(raw, (width, height), interpolation=cv2.INTER_NEAREST) + k = rotate_intrinsics_clockwise(k, rgb.shape[0]) + rgb, raw = np.rot90(rgb, 3).copy(), np.rot90(raw, 3).copy() + encode_started = time.monotonic() + ok_rgb, jpg = cv2.imencode( + ".jpg", cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_JPEG_QUALITY, 85] + ) + ok_depth, png = cv2.imencode(".png", raw, [cv2.IMWRITE_PNG_COMPRESSION, 1]) + if not ok_rgb or not ok_depth: + raise ValueError("Image compression failed") + encode_finished = time.monotonic() + pose, base = transform_matrix(cam_tf.transform) @ optical, transform_matrix( + base_tf.transform + ) + with lock: + image_head = interpolate_head(list(head_samples), stamp) + audit = capture_pose_audit( + lambda target, source: transform_matrix( + tf_buffer.lookup_transform( + target, source, Time.from_msg(color.header.stamp) + ).transform + ), + base, + ) + frame_id += 1 + packet = { + "frame_id": frame_id, + "sensor_stamp": stamp, + "sensor_age": max(0, node.get_clock().now().nanoseconds * 1e-9 - stamp), + "rgb_jpg": jpg, + "depth_png": png, + "camera_K": k, + "camera_pose": pose, + "camera_in_base": np.linalg.inv(base) @ pose, + "camera_frame": color.header.frame_id, + "camera_tf_stamp": stamp_seconds(cam_tf.header.stamp), + "base_tf_stamp": stamp_seconds(base_tf.header.stamp), + "head_joints": image_head, + "base_pose": np.array([*base[:2, 3], math.atan2(base[1, 0], base[0, 0])]), + "world_frame": args.world_frame, + "sync_difference": abs(stamp - stamp_seconds(depth.header.stamp)), + **description, + **audit, + } + packet["capture_metrics"] = { + "capture_started_monotonic": capture_started, + "pre_encode_s": encode_started - capture_started, + "encode_s": encode_finished - encode_started, + "rgb_bytes": jpg.nbytes, + "depth_bytes": png.nbytes, + "publish_ros_s": node.get_clock().now().nanoseconds * 1e-9, + "prepare_s": time.monotonic() - capture_started, + } + serialize_started = time.monotonic() + payload = pickle.dumps(packet, protocol=pickle.HIGHEST_PROTOCOL) + send_started = time.monotonic() + with lock: + frame_stamps[frame_id] = stamp + while len(frame_stamps) > 16: + frame_stamps.popitem(last=False) + shared.update(frame=(frame_id, stamp), error="") + pub.send(payload) + shared["capture_metrics"] = { + **packet["capture_metrics"], "frame_id": frame_id, + "wire_bytes": len(payload), + "serialize_s": send_started - serialize_started, + "send_call_s": time.monotonic() - send_started, + "total_s": time.monotonic() - capture_started, + } + last_stamp = stamp + next_frame = capture_started + 1 / args.fps + except (TransformException, ValueError) as exc: + shared["error"] = str(exc) + done.wait(0.01) + except Exception as exc: + shared["error"] = f"Capture stopped: {exc}" + finally: + pub.close() + + capture_thread = threading.Thread(target=capture_loop, daemon=True) + capture_thread.start() + lease = VelocityLease(max_ttl=args.max_ttl, max_frame_age=args.max_frame_age) + state, state_time, disable_future = {}, -math.inf, None + requested_session, ever_armed = None, False + def make_head_goal(target, duration): + goal = FollowJointTrajectory.Goal() + goal.trajectory.joint_names = ["joint_head_pan", "joint_head_tilt"] + point = JointTrajectoryPoint() + point.positions = target.tolist() + point.velocities = [.35, .25] + point.accelerations = [.5, .5] + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration % 1) * 1e9) + goal.trajectory.points = [point] + return goal + + head = LeasedHeadController(head_client, make_head_goal) + head_target = None + last_command = None + print( + f"RELAY_READY RGB-D={args.obs_port} commands={args.command_port} status={args.state_port}; frame={args.world_frame}; velocity unarmed", + flush=True, + ) + try: + while rclpy.ok() and not done.is_set() and not stop_requested: + now = time.monotonic() + if bridge_state.poll(0): + state = bridge_state.recv_pyobj() + state_time = now + ros_now = node.get_clock().now().nanoseconds * 1e-9 + runstop = shared["runstop"] is True or state.get("is_runstopped") is True + joint = np.asarray(state.get("joint_positions", [])) + posture_ok = len(joint) > 4 and np.isfinite(joint).all() and joint[4] <= 0.06 + latest_frame = shared["frame"] + sensor_age = ros_now - latest_frame[1] if latest_frame else math.inf + base_pose, tf_age = None, math.inf + try: + tf = tf_buffer.lookup_transform(args.world_frame, "base_link", Time()) + mat = transform_matrix(tf.transform) + base_pose = np.array([*mat[:2, 3], math.atan2(mat[1, 0], mat[0, 0])]) + tf_age = ros_now - stamp_seconds(tf.header.stamp) + except TransformException: + pass + healthy = ( + now - state_time < 0.5 + and state.get("is_homed") is True + and state.get("is_runstopped") is False + and shared["runstop"] is False + and state.get("control_mode") == "navigation" + and posture_ok + and -0.02 <= sensor_age < args.max_frame_age + and -0.02 <= tf_age < 0.5 + ) + if shared["runstop_latched"] or (runstop and requested_session is not None): + lease.stop("run-stop latched; restart the live session", latch=True) + if commands.poll(0): + command = commands.recv_json() + if command.get("type") == "arm" and healthy and not lease.latched: + requested_session = command.get("session") + shared["arm_requested"] = True + if disable_future is None and goto_off.service_is_ready(): + disable_future = goto_off.call_async(Trigger.Request()) + elif command.get("type") == "velocity": + with lock: + stamp = frame_stamps.get(command.get("frame_id")) + frame_age = ros_now - stamp if stamp is not None else math.inf + try: + target = validated_head_target(command, args.enable_head) + if target is not None and (len(joint) < 11 or not np.isfinite(joint[9:11]).all()): + raise ValueError("head feedback unavailable") + accepted = lease.accept(command, now, max(0, frame_age), healthy) + head_target = target if accepted else None + except (TypeError, ValueError) as exc: + accepted, head_target = False, None + lease.stop(str(exc)) + last_command = {"seq": command.get("seq"), "accepted": accepted, + "frame_age": frame_age, "reason": lease.reason} + elif command.get("type") == "stop" and command.get("session") == lease.session: + lease.stop("client stop latched", latch=True) + if disable_future is not None and disable_future.done() and not lease.armed: + result = disable_future.result() + if result is not None and result.success: + if not args.enable_head or head_mode.prepare(shared['streaming_position']): + lease.arm(requested_session, healthy) + ever_armed |= lease.armed + if args.enable_head and lease.armed and shared['streaming_position'] is not False: + head_mode.error = 'streaming head control changed during navigation' + velocity = lease.output(now, healthy, runstopped=runstop) + # Base and head share the same expiring evidence and run-stop. + head.update(head_target, joint, healthy and lease.armed and not lease.latched + and now < min(lease.expires, lease.evidence_expires)) + if head.error or head_mode.error: + lease.stop(head.error or head_mode.error) + velocity = (0., 0.) + if ever_armed: + msg = Twist() + msg.linear.x, msg.angular.z = velocity + velocity_pub.publish(msg) + states.send_pyobj( + { + "ros_now_s": ros_now, + "relay_monotonic_s": now, + "latest_sensor_stamp": latest_frame[1] if latest_frame else None, + "capture_metrics": shared["capture_metrics"], + "base_pose": base_pose, + "tf_age": tf_age, + "healthy": healthy, + "armed": lease.armed, + "latched": lease.latched, + "session": lease.session, + "reason": lease.reason, + "accepted_sequence": lease.sequence, + "last_command": last_command, + "head_enabled": args.enable_head, + "head_target": head_target, + "head_action_state": head.state, + "head_error": head.error or head_mode.error, + "head_streaming_position": shared['streaming_position'], + "head_control_owned": head_mode.owned, + "v": velocity[0], + "w": velocity[1], + "sensor_age": sensor_age, + "frame_id": latest_frame[0] if latest_frame else None, + "is_homed": state.get("is_homed"), + "is_runstopped": runstop, + "control_mode": state.get("control_mode"), + "joint_positions": joint, + "bridge_step": state.get("step", -1), + "posture_ok": bool(posture_ok), + "world_frame": args.world_frame, + "capture_error": shared["error"], + } + ) + done.wait(max(0, 0.02 - (time.monotonic() - now))) + except KeyboardInterrupt: + pass + finally: + done.set() + if ever_armed: + for _ in range(3): + velocity_pub.publish(Twist()) + time.sleep(0.02) + try: + head.close() + except Exception as exc: + print(f"Head cancellation error during shutdown: {exc}", flush=True) + cancel_deadline = time.monotonic() + 1. + while head.future is not None and not head.future.done() and time.monotonic() < cancel_deadline: + time.sleep(.01) + try: + head.close() + except Exception as exc: + print(f"Head cancellation error after pending goal: {exc}", flush=True) + while head.cancel_future is not None and not head.cancel_future.done() and time.monotonic() < cancel_deadline: + time.sleep(.01) + head_mode.close() + restore_deadline = time.monotonic() + 2. + while head_mode.original is True and head_mode.restore_future is None and time.monotonic() < restore_deadline: + time.sleep(.01) + while head_mode.restore_future is not None and not head_mode.restore_future.done() and time.monotonic() < restore_deadline: + time.sleep(.01) + if head_mode.restore_future is not None and head_mode.restore_future.done(): + result = head_mode.restore_future.result() + print(f'STREAMING_HEAD_RESTORED success={result is not None and result.success}', flush=True) + elif head_mode.original is True: + print('STREAMING_HEAD_RESTORE_TIMEOUT; bridge mode needs verification', flush=True) + capture_thread.join(timeout=2) + executor.shutdown(timeout_sec=1) + ros_thread.join(timeout=1) + node.destroy_node() + rclpy.shutdown() + commands.close() + states.close() + bridge_state.close() + # Do not wait indefinitely on the capture thread if ROS shutdown raced it. + context.destroy(linger=0) + + +if __name__ == "__main__": + main() diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_trajectories.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_trajectories.py new file mode 100644 index 0000000000000000000000000000000000000000..c6f925335a682d9a5d04731ba89b364811165cf4 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_nav_trajectories.py @@ -0,0 +1,289 @@ +"""Bounded unicycle motion sampling for the live depth-only planner. + +Each candidate carries continuous base heading and executable velocity phases. +Forward prefixes let a rectangular robot reach room to turn before steering. +No controller may replace these motions with an unchecked goal-facing turn. +""" + +import time +from types import SimpleNamespace + +import numpy as np + +from depth_nav_footprint import collisions_at +from depth_only_path_planner import ego_to_cells + +BUFFER_POSES_PER_PATH = 12 + + +def buffered_footprint_args(args): + """Nominal preferred rectangle; never used as the physical motion limit.""" + if args.footprint_shape != "rectangle": + return None + width = getattr(args, "buffered_robot_width", None) + length = getattr(args, "buffered_robot_length", None) + width = args.robot_width if width is None else width + length = max(args.robot_length, 0.60) if length is None else length + if ( + not np.isfinite([width, length]).all() + or width < args.robot_width + or length < args.robot_length + ): + raise ValueError( + "Buffered width/length must be finite and at least the actual body dimensions" + ) + values = {**vars(args), "robot_width": width, "robot_length": length} + return SimpleNamespace(**values) + + +def buffer_overlap_cost(bank, valid, grid, args): + """Soft preference on at most 12 poses per physically valid candidate. + + Reuses occupied cells and their KD tree. Separate orientation lookups + prevent larger-body query masks leaking into physical collision checks. + Buffer contact and its starting overlap never reject a path or command. + """ + ratio = np.zeros(len(bank["poses"])) + buffered = buffered_footprint_args(args) + if ( + not len(valid) + or getattr(args, "buffer_cost_weight", 0.0) == 0 + or buffered is None + or (buffered.robot_width == args.robot_width and buffered.robot_length == args.robot_length) + ): + return ratio, False + counts = bank["counts"][valid] + indices = np.rint((counts[:, None] - 1) * np.linspace(0, 1, BUFFER_POSES_PER_PATH)).astype(int) + poses = bank["poses"][valid[:, None], indices] + cache = {} + if "occupied_tree" in grid["collision_cache"]: + cache["occupied_tree"] = grid["collision_cache"]["occupied_tree"] + buffered_grid = {**grid, "collision_cache": cache} + overlaps = collisions_at( + poses[..., :2], poses[..., 2], buffered_grid, buffered, check_boundary=False + ) + ratio[valid] = overlaps.mean(axis=1) + return ratio, True + + +def body_extent(args): + if args.footprint_shape == "circle": + return args.robot_radius + args.safety_margin + return np.hypot( + args.robot_width / 2 + args.safety_margin, + args.robot_length / 2 + args.safety_margin + abs(args.robot_length_offset), + ) + + +def sample_trajectories(args): + """Straight / arc / straight and checked rotate / straight candidates. + + Swept sampling bounds translation plus farthest-corner travel to at most + one quarter of a map cell per step, including zero-translation rotations. + Sampling is performed once per quantized goal, outside per-frame scoring. + """ + target = np.array([args.goal_right, args.goal_forward]) + distance = np.linalg.norm(target) + horizon = min(args.planning_horizon, max(0.25, distance)) + bearing = np.arctan2(-target[0], target[1]) + angles = np.unique( + np.round( + np.clip( + np.r_[ + bearing + + np.linspace(-np.deg2rad(args.fan_angle), np.deg2rad(args.fan_angle), 7), + np.deg2rad([-90, -45, 0, 45, 90]), + ], + -np.pi, + np.pi, + ), + 4, + ) + ) + angles = angles[np.abs(angles) > 0.025] + speed, yaw_speed = args.max_linear_speed, args.max_angular_speed + sequences = [[(speed, 0.0, horizon / speed)]] + if getattr(args, "route_memory", False) and horizon > 0.50: + sequences.append([(speed, 0.0, 0.50 / speed)]) + radii = np.unique(np.maximum([0.25, 0.5, 0.8, 1.2], 1 / args.max_curvature)) + prefixes = np.unique(np.minimum([0, 0.25, 0.5, 0.9, 1.3, 1.8], horizon * 0.8)) + for angle in angles: + # A rotation is admissible only if its entire sweep AND onward path fit. + for length in np.unique([min(0.5, horizon), horizon]): + sequences.append( + [ + (0.0, np.copysign(yaw_speed, angle), abs(angle) / yaw_speed), + (speed, 0.0, length / speed), + ] + ) + for prefix in prefixes: + for radius in radii: + arc_length = radius * abs(angle) + if prefix + arc_length > args.planning_horizon * 1.4: + continue + arc_speed = min(speed, radius * yaw_speed) + phases = [] if prefix == 0 else [(speed, 0.0, prefix / speed)] + phases.append( + (arc_speed, np.copysign(arc_speed / radius, angle), arc_length / arc_speed) + ) + remaining = max(0.0, horizon - prefix - arc_length) + if remaining > 0: + phases.append((speed, 0.0, remaining / speed)) + sequences.append(phases) + + extent, step = body_extent(args), args.grid_resolution / 4 + sampled, first, duration, turn_effort = [], [], [], [] + for phases in sequences: + poses, current = [np.zeros((1, 3))], np.zeros(3) + for v, w, seconds in phases: + n = max(1, int(np.ceil((v + extent * abs(w)) * seconds / step))) + t = np.linspace(0, seconds, n + 1)[1:] + heading = current[2] + w * t + if abs(w) < 1e-9: + x = current[0] - v * t * np.sin(current[2]) + y = current[1] + v * t * np.cos(current[2]) + else: + x = current[0] + v / w * (np.cos(heading) - np.cos(current[2])) + y = current[1] + v / w * (np.sin(heading) - np.sin(current[2])) + segment = np.column_stack([x, y, heading]) + poses.append(segment) + current = segment[-1] + sampled.append(np.concatenate(poses)) + first.append(phases[0][:2]) + duration.append(phases[0][2]) + turn_effort.append(sum(abs(w * seconds) for _, w, seconds in phases)) + samples = max(len(p) for p in sampled) + bank = np.stack([np.pad(p, ((0, samples - len(p)), (0, 0)), mode="edge") for p in sampled]) + return { + "poses": bank.astype(np.float32), + "commands": np.asarray(first), + "first_duration": np.asarray(duration), + "turn_effort": np.asarray(turn_effort), + "counts": np.array([len(p) for p in sampled]), + } + + +def score_trajectories(bank, grid, args): + poses = bank["poses"] + points = poses[..., :2] + rows, cols, inside = ego_to_cells(points, args, grid["cost"].shape) + rr, cc = np.clip(rows, 0, grid["cost"].shape[0] - 1), np.clip( + cols, 0, grid["cost"].shape[1] - 1 + ) + # Stop checking a candidate once any pose collides. This makes cluttered + # scenes cheaper instead of spending work beyond already blocked turns. + initially_blocked = bool(collisions_at(poses[:1, :1, :2], poses[:1, :1, 2], grid, args).any()) + collisions = np.full(len(poses), initially_blocked, dtype=bool) + for start in range(1, poses.shape[1], 16): + active = np.flatnonzero(~collisions) + if not len(active): + break + segment = poses[active, start : start + 16] + collisions[active] = collisions_at(segment[..., :2], segment[..., 2], grid, args).any( + axis=1 + ) + prefix_valid = ( + np.zeros(len(poses), dtype=bool) + if initially_blocked + else command_prefix_allowed(bank, grid, args) + ) + collisions |= ~prefix_valid + mask = np.arange(poses.shape[1])[None] < bank["counts"][:, None] + unknown_ratio = (grid["unknown_footprint"][rr, cc] * mask).sum(axis=1) / mask.sum(axis=1) + mean_cost = (grid["footprint_cost"][rr, cc] * mask).sum(axis=1) / mask.sum(axis=1) + length = np.linalg.norm(np.diff(points, axis=1), axis=-1).sum(axis=1) + goal = np.array([args.goal_right, args.goal_forward]) + terminal_error = np.linalg.norm(points[:, -1] - goal, axis=1) + # Use metre-scale progress, also for distant/sideways/behind goals. A goal + # bearing never overrides this score or bypasses the body collision check. + score = ( + 2 * mean_cost + + terminal_error / max(0.25, np.linalg.norm(goal)) + + 0.015 * length + + 0.025 * bank["turn_effort"] + + 0.02 * (bank["commands"][:, 0] == 0) + ) + unknown_rejected = (unknown_ratio > args.max_unknown_ratio) & (args.unknown_policy != "assume") + valid = np.flatnonzero(~collisions & ~unknown_rejected) + buffer_started = time.perf_counter() + buffer_overlap, buffer_checked = buffer_overlap_cost(bank, valid, grid, args) + buffer_ms = (time.perf_counter() - buffer_started) * 1000 + score += getattr(args, "buffer_cost_weight", 0.0) * buffer_overlap + chosen = int(valid[np.argmin(score[valid])]) if len(valid) else None + return { + "chosen": chosen, + "valid": valid, + "unknown_ratio": unknown_ratio, + "score": score, + "collision_rejections": int(collisions.sum()), + "unknown_rejections": int((~collisions & unknown_rejected).sum()), + "control_prefix_rejections": int((~prefix_valid).sum()), + "initial_body_collision": initially_blocked, + "buffer_overlap_ratio": buffer_overlap, + "buffer_checked": buffer_checked, + "buffer_ms": buffer_ms, + } + + +def command_prefix_allowed(bank, grid, args): + """Check the same first velocity phase and guard horizon used by control.""" + v, w = bank["commands"].T + scale = np.minimum(1.0, bank["first_duration"] / args.command_ttl) + v, w = v * scale, w * scale + samples = max( + 24, + int( + np.ceil( + np.max(v + body_extent(args) * np.abs(w)) + * args.control_horizon + / (args.grid_resolution / 4) + ) + ) + + 1, + ) + t = np.linspace(0, args.control_horizon, samples)[None] + angle = w[:, None] * t + radius = v / np.where(np.abs(w) < 1e-9, 1.0, w) + points = np.stack( + [radius[:, None] * (np.cos(angle) - 1), radius[:, None] * np.sin(angle)], axis=-1 + ) + straight = np.abs(w) < 1e-9 + points[straight, :, 1] = v[straight, None] * t + invalid = collisions_at(points, angle, grid, args) + if args.unknown_policy != "assume": + r, c, _ = ego_to_cells(points, args, grid["blocked"].shape) + r, c = np.clip(r, 0, grid["blocked"].shape[0] - 1), np.clip( + c, 0, grid["blocked"].shape[1] - 1 + ) + invalid |= grid["unknown_footprint"][r, c] > args.max_control_unknown_ratio + 1e-6 + return ~invalid.any(axis=1) + + +def trajectory_velocity(plan, pose, goal, args): + """Execute the checked first phase; do not shortcut with pure pursuit. + + Replanning refreshes the phase from the measured robot pose. If a very + short phase finishes before that refresh, slow down and wait for a new + checked plan rather than overshooting into a different steering motion. + """ + if not len(plan["path_world"]) or np.linalg.norm(goal - pose[:2]) <= args.goal_tolerance: + return 0.0, 0.0 + v, w = plan["command"] + start = plan["pose"] + if abs(w) > 1e-9: + yaw_delta = np.arctan2(np.sin(pose[2] - start[2]), np.cos(pose[2] - start[2])) + elapsed = yaw_delta / w + else: + elapsed = np.dot(pose[:2] - start[:2], [np.cos(start[2]), np.sin(start[2])]) / v + remaining = max(0.0, plan["first_duration"] - max(0.0, elapsed)) + scale = min(1.0, remaining / args.command_ttl) + goal_scale = ( + min( + 1.0, + max(0.0, np.linalg.norm(goal - pose[:2]) - args.goal_tolerance) + / max(v * args.command_ttl, 1e-9), + ) + if v + else 1.0 + ) + return float(v * min(scale, goal_scale)), float(w * min(scale, goal_scale)) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_only_path_planner.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_only_path_planner.py new file mode 100644 index 0000000000000000000000000000000000000000..48333b93a8efec9d9d9c824c56cd1b44b9dcb831 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/depth_only_path_planner.py @@ -0,0 +1,798 @@ +#!/usr/bin/env python3 +"""CPU depth-only sampled-path replay; does not send robot commands. + +Uses cached LingBot predictions (or raw depth), adjustable spatial filtering, +persistent surface voxels, geometric BEV costs and collision-checked sampled +polynomial paths. RGB is used only for preview/color. SAM-TP is never loaded. +""" + +import argparse +import base64 +import gzip +import hashlib +import html +import json +import math +import time +from pathlib import Path + +import cv2 +import numpy as np +from scipy import ndimage +from threadpoolctl import threadpool_limits + +from lingbot_depth_geometry import ( + add_depth_edge_filter_args, + depth_points, + filter_depth_mask, + filter_point_mask, + fit_floor_plane, +) +from lingbot_voxel_map import SurfaceVoxelMap, VoxelMapConfig + +FILTER_KEYS = ( + "filter_noise", + "filter_voxel_size", + "filter_neighbors", + "filter_std_ratio", + "filter_min_neighbors", + "filter_radius", + "filter_depth_edges", + "filter_edge_band", + "filter_edge_jump", +) +FLOOR_KEYS = ( + "floor_ground_z", + "floor_height_band", + "floor_distance_threshold", + "floor_max_tilt_deg", +) + + +def cache_signature(args, source_signature): + """Keep filter caches separate for raw/refined depth and source revisions.""" + provenance = { + "settings": {key: getattr(args, key) for key in FILTER_KEYS}, + "depth_source": args.depth_source, + "recording": str(args.recording.resolve()), + "depth_cache": str(args.depth_cache.resolve()), + "source_signature": source_signature, + } + return hashlib.sha256(json.dumps(provenance, sort_keys=True).encode()).hexdigest()[:16] + + +def validate_args(args): + positive = ( + "goal_forward", + "grid_resolution", + "robot_radius", + "forward_range", + "rear_range", + "width", + "filter_voxel_size", + "filter_std_ratio", + "filter_radius", + "filter_edge_jump", + "voxel_size", + "map_radius", + "floor_tolerance", + "obstacle_min_height", + "drop_height", + "max_curvature", + "floor_height_band", + "floor_distance_threshold", + "floor_size", + ) + if any(not np.isfinite(getattr(args, key)) or getattr(args, key) <= 0 for key in positive): + raise ValueError( + "Distances, grid/filter sizes, curvature and goal forward must be positive" + ) + if not 0 <= args.filter_edge_band <= 12: + raise ValueError("Depth-edge band must be between 0 and 12 pixels") + if any( + getattr(args, key) < 0 + for key in ( + "safety_margin", + "max_evidence_age", + "max_clear_checks", + "max_frames", + "bend_range", + "clearance_weight", + ) + ): + raise ValueError("Margins, ages, budgets and weights must be nonnegative") + counts = ( + "cpu_threads", + "frame_stride", + "midpoints_per_goal", + "filter_min_neighbors", + "max_map_voxels", + "max_update_points", + ) + if ( + any(getattr(args, key) < 1 for key in counts) + or min(args.num_goals, args.path_samples, args.filter_neighbors) < 2 + ): + raise ValueError("Invalid frame, thread, filter or path sample counts") + if any( + not 0 <= getattr(args, key) <= 1 + for key in ("max_unknown_ratio", "unknown_cost", "uncertain_cost") + ): + raise ValueError("Unknown ratios and costs must be within [0,1]") + if args.obstacle_max_height <= args.obstacle_min_height or not 0 <= args.fan_angle < 90: + raise ValueError("Invalid obstacle height range or fan angle") + if not 0 < args.floor_max_tilt_deg < 45 or not np.isfinite(args.goal_right): + raise ValueError("Invalid floor tilt or goal") + + +def valid_depth(depth): + return np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + + +def read_source(path): + with np.load(path, allow_pickle=False) as frame: + rgb = cv2.imdecode(frame["rgb_jpg"], cv2.IMREAD_COLOR) + depth = cv2.imdecode(frame["depth_jp2"], cv2.IMREAD_UNCHANGED) + pose = np.asarray(frame["camera_pose"], dtype=np.float64) + k = np.asarray(frame["camera_K"], dtype=np.float32) + xy = np.asarray(frame["gps"], dtype=np.float64).reshape(-1)[:2] + yaw = float(np.asarray(frame["compass"]).reshape(-1)[0]) + timestamp = float(np.asarray(frame["recv_time"]).reshape(-1)[0]) + if rgb is None or depth is None or rgb.shape[:2] != depth.shape: + raise ValueError(f"Invalid RGB-D frame: {path}") + if ( + pose.shape != (4, 4) + or not np.isfinite(pose).all() + or not np.isfinite([*xy, yaw, timestamp]).all() + ): + raise ValueError(f"Invalid pose/timestamp: {path}") + return rgb, depth.astype(np.float32) / 1000.0, k, pose, xy, yaw, timestamp + + +def ego_axes(yaw): + return np.array([math.sin(yaw), -math.cos(yaw)]), np.array([math.cos(yaw), math.sin(yaw)]) + + +def world_to_ego(points, xy, yaw): + right, forward = ego_axes(yaw) + relative = np.asarray(points)[..., :2] - xy + return np.stack([relative @ right, relative @ forward], axis=-1) + + +def ego_to_world(points, xy, yaw): + right, forward = ego_axes(yaw) + points = np.asarray(points) + return xy + points[..., 0, None] * right + points[..., 1, None] * forward + + +def grid_geometry(args): + h = int(np.ceil((args.forward_range + args.rear_range) / args.grid_resolution)) + w = int(np.ceil(args.width / args.grid_resolution)) + r, c = np.indices((h, w)) + x = (c + 0.5) * args.grid_resolution - args.width / 2 + y = (h - r - 0.5) * args.grid_resolution - args.rear_range + return h, w, x, y + + +def ego_to_cells(points, args, shape): + h, w = shape + p = np.asarray(points) + cols = np.floor((p[..., 0] + args.width / 2) / args.grid_resolution).astype(int) + rows = h - 1 - np.floor((p[..., 1] + args.rear_range) / args.grid_resolution).astype(int) + inside = (rows >= 0) & (rows < h) & (cols >= 0) & (cols < w) + return rows, cols, inside + + +def obstacle_height_mask(height, args): + """Ground-relative elevated obstacles and observed drops share one policy.""" + return ((height >= args.obstacle_min_height) & (height <= args.obstacle_max_height)) | ( + height < -args.drop_height + ) + + +def blocking_height_grids(snapshot, xy, yaw, plane, args): + """Show the range that actually blocks, separately from all surface heights.""" + h, w, *_ = grid_geometry(args) + minimum, maximum = np.full((h, w), np.inf), np.full((h, w), -np.inf) + if plane is not None and len(snapshot["points"]): + points, state = snapshot["points"], snapshot["state"] + height = points @ plane[:3] + plane[3] + rows, cols, inside = ego_to_cells(world_to_ego(points, xy, yaw), args, (h, w)) + active = inside & obstacle_height_mask(height, args) + active &= (state == 1) | ((state == 0) & args.block_uncertain_obstacles) + np.minimum.at(minimum, (rows[active], cols[active]), height[active]) + np.maximum.at(maximum, (rows[active], cols[active]), height[active]) + return minimum, maximum + + +def make_costmap(snapshot, xy, yaw, plane, args, observed_floor_points=None): + """Observed floor supplies support; obstacle evidence always overrides it.""" + h, w, gx, gy = grid_geometry(args) + known = np.zeros((h, w), dtype=bool) + obstacle = np.zeros((h, w), dtype=bool) + uncertain_obstacle = np.zeros((h, w), dtype=bool) + points = snapshot["points"] + hazard_indices = np.empty(0, dtype=int) + local = world_to_ego(points, xy, yaw) + rows, cols, inside = ego_to_cells(local, args, (h, w)) + idx = np.flatnonzero(inside) + if plane is not None and len(idx): + height = points[idx] @ plane[:3] + plane[3] + state = snapshot["state"][idx] + rr, cc = rows[idx], cols[idx] + low_ground = ( + (height >= -args.drop_height) & (height < args.obstacle_min_height) + if getattr(args, "height_based_traversability", False) + else np.abs(height) <= args.floor_tolerance + ) + floor = (state == 1) & low_ground + known[rr[floor], cc[floor]] = True + hazard = obstacle_height_mask(height, args) + supported_hazard = hazard & (state == 1) + uncertain_hazard = hazard & (state == 0) + hazard_indices = idx[supported_hazard | (uncertain_hazard & args.block_uncertain_obstacles)] + obstacle[rr[supported_hazard], cc[supported_hazard]] = True + uncertain_obstacle[rr[uncertain_hazard], cc[uncertain_hazard]] = True + if plane is not None and observed_floor_points is not None and len(observed_floor_points): + local_floor = world_to_ego(observed_floor_points, xy, yaw) + fr, fc, valid = ego_to_cells(local_floor, args, (h, w)) + floor_height = observed_floor_points @ plane[:3] + plane[3] + valid &= ( + (floor_height >= -args.drop_height) & (floor_height < args.obstacle_min_height) + if getattr(args, "height_based_traversability", False) + else np.abs(floor_height) <= args.floor_tolerance + ) + known[fr[valid], fc[valid]] = True + support_radius = getattr(args, "floor_support_radius", 0.0) + if support_radius > 0: + # Account only for the measured voxel's small surface footprint. + rad_support = int(np.ceil(support_radius / args.grid_resolution)) + sr, sc = np.mgrid[-rad_support : rad_support + 1, -rad_support : rad_support + 1] + support_disk = (sr**2 + sc**2) * args.grid_resolution**2 <= support_radius**2 + 1e-9 + known = ndimage.binary_dilation(known, structure=support_disk) + # The present base footprint is a start-support assumption, not an + # extrapolated floor extension. It never erases obstacle evidence. + direct_footprint = getattr(args, "direct_footprint_collision", False) + if direct_footprint and args.footprint_shape == "rectangle": + start_support = (np.abs(gx) <= args.robot_width / 2) & ( + np.abs(gy - args.robot_length_offset) <= args.robot_length / 2 + ) + else: + start_support = gx**2 + gy**2 <= args.robot_radius**2 + known |= start_support & ~obstacle & ~uncertain_obstacle + hard_source = obstacle | (uncertain_obstacle if args.block_uncertain_obstacles else False) + if args.unknown_policy == "block": + hard_source |= ~known + clearance = ( + ndimage.distance_transform_edt(~hard_source) * args.grid_resolution + if hard_source.any() + else np.full((h, w), np.inf) + ) + inflation = ( + 0.0 + if direct_footprint + else args.robot_radius + args.safety_margin + args.grid_resolution / np.sqrt(2) + ) + blocked = hard_source.copy() if direct_footprint else clearance <= inflation + edge_distance = np.minimum.reduce( + [gx + args.width / 2, args.width / 2 - gx, gy + args.rear_range, args.forward_range - gy] + ) + if not direct_footprint: + blocked |= edge_distance < inflation + unknown = ~known + assume_traversable = args.unknown_policy == "assume" + cost = np.where(known | assume_traversable, 0.05, args.unknown_cost).astype(np.float32) + cost[uncertain_obstacle] = np.maximum(cost[uncertain_obstacle], args.uncertain_cost) + cost += args.clearance_weight * np.exp(-np.maximum(0, clearance - inflation) / 0.3) + cost = np.clip(cost, 0, 1) + cost[blocked] = 1.0 + support_footprint = getattr( + args, "support_footprint_radius", args.robot_radius + args.safety_margin + ) + if direct_footprint: + from depth_nav_footprint import body_mask + + footprint_mask = body_mask(args) + else: + rad = int(np.ceil(support_footprint / args.grid_resolution)) + kr, kc = np.mgrid[-rad : rad + 1, -rad : rad + 1] + footprint_mask = (kr**2 + kc**2) * args.grid_resolution**2 <= support_footprint**2 + kernel = footprint_mask.astype(np.float32) / footprint_mask.sum() + support_average = ndimage.correlate if direct_footprint else ndimage.convolve + unknown_footprint = support_average( + unknown.astype(np.float32), kernel, mode="constant", cval=1.0 + ) + footprint_cost = ( + cost.copy() + if direct_footprint + else ndimage.convolve(cost, kernel, mode="constant", cval=1.0) + ) + labels = np.zeros((h, w), dtype=np.uint8) + if assume_traversable: + labels[unknown] = 5 # Assumed traversable, without claiming measured coverage. + labels[known] = 1 + labels[uncertain_obstacle] = 4 + if not direct_footprint: + labels[blocked] = 3 + labels[obstacle] = 2 + result = { + "cost": cost, + "footprint_cost": footprint_cost, + "unknown_footprint": unknown_footprint, + "blocked": blocked, + "known": known, + "obstacle": obstacle, + "labels": labels, + "start_support": start_support, + "direct_footprint": direct_footprint, + "hard_source": hard_source, + "collision_cache": {}, + } + if ( + direct_footprint + and getattr(args, "world_anchored_collisions", False) + and args.unknown_policy != "block" + ): + # Keep the physical obstacle voxel cells fixed in world XY. Rasterizing + # them anew in the rotating display grid changes their shape/location + # by a cell fraction and can trap a previously accepted turning pose. + size = args.voxel_size + world_cells = (np.unique(np.floor(points[hazard_indices, :2] / size), axis=0) + 0.5) * size + result["collision_cells"] = world_to_ego(world_cells, xy, yaw) + result["collision_cell_angle"] = -yaw + result["collision_cell_size"] = size + return result + + +def sample_path_bank(args): + """Cached vectorized quadratic curves; no model or per-frame resampling.""" + target = np.array([args.goal_right, args.goal_forward], dtype=float) + distance = float(np.linalg.norm(target)) + center_angle = math.atan2(target[0], target[1]) + angles = center_angle + np.linspace( + -math.radians(args.fan_angle), math.radians(args.fan_angle), args.num_goals - 1 + ) + lengths = distance * np.resize(np.array([0.6, 0.8, 1.0]), len(angles)) + endpoints = np.column_stack([lengths * np.sin(angles), lengths * np.cos(angles)]) + endpoints = np.vstack([target, endpoints]) + endpoints = endpoints[endpoints[:, 1] > 0.25] + ends = np.repeat(endpoints, args.midpoints_per_goal, axis=0) + bends = np.tile( + np.linspace(-args.bend_range, args.bend_range, args.midpoints_per_goal), len(endpoints) + ) + # Bound sample spacing using the maximum analytic derivative, so a + # selected path cannot jump across a grid cell between checked samples. + max_speed = np.max( + np.sqrt( + np.maximum(np.abs(ends[:, 0] + 2 * bends), np.abs(ends[:, 0] - 2 * bends)) ** 2 + + ends[:, 1] ** 2 + ) + ) + samples = max(args.path_samples, int(np.ceil(max_speed / (args.grid_resolution / 2))) + 1) + t = np.linspace(0, 1, samples) + paths = np.empty((len(ends), samples, 2), dtype=np.float32) + paths[..., 0] = ends[:, 0, None] * t + 2 * bends[:, None] * t * (1 - t) + paths[..., 1] = ends[:, 1, None] * t + dx = ends[:, 0, None] + 2 * bends[:, None] * (1 - 2 * t) + dy = ends[:, 1, None] + np.zeros_like(dx) + curvature = np.abs(4 * bends[:, None] * dy) / np.maximum((dx**2 + dy**2) ** 1.5, 1e-9) + paths = paths[np.max(curvature, axis=1) <= args.max_curvature] + if not len(paths): + raise ValueError("No kinematically bounded sampled paths; adjust goal/fan/curvature") + return paths + + +def score_paths(paths, grid, args): + rows, cols, inside = ego_to_cells(paths, args, grid["cost"].shape) + rr = np.clip(rows, 0, grid["cost"].shape[0] - 1) + cc = np.clip(cols, 0, grid["cost"].shape[1] - 1) + if grid.get("direct_footprint", False): + from depth_nav_footprint import collisions_at, path_headings + + collisions = collisions_at(paths, path_headings(paths), grid, args).any(axis=1) + else: + collisions = (~inside | grid["blocked"][rr, cc]).any(axis=1) + unknown_ratio = grid["unknown_footprint"][rr, cc].mean(axis=1) + mean_cost = grid["footprint_cost"][rr, cc].mean(axis=1) + length = np.linalg.norm(np.diff(paths, axis=1), axis=-1).sum(axis=1) + terminal_error = np.linalg.norm( + paths[:, -1] - np.array([args.goal_right, args.goal_forward]), axis=1 + ) + initial_turn = np.abs(np.arctan2(paths[:, 1, 0], paths[:, 1, 1])) + score = ( + 2 * mean_cost + + terminal_error / np.hypot(args.goal_right, args.goal_forward) + + 0.04 * length + + 0.12 * initial_turn + ) + unknown_rejected = (unknown_ratio > args.max_unknown_ratio) & (args.unknown_policy != "assume") + valid = ~collisions & ~unknown_rejected + chosen = int(np.argmin(np.where(valid, score, np.inf))) if valid.any() else None + return { + "chosen": chosen, + "valid": np.flatnonzero(valid), + "unknown_ratio": unknown_ratio, + "score": score, + "collision_rejections": int(collisions.sum()), + "unknown_rejections": int((~collisions & unknown_rejected).sum()), + } + + +def packed_array(array): + return base64.b64encode( + gzip.compress(np.asarray(array, dtype=np.uint8).tobytes(), compresslevel=5) + ).decode("ascii") + + +def preview_image(rgb): + h = max(1, round(rgb.shape[0] * 192 / rgb.shape[1])) + bgr = cv2.cvtColor(cv2.resize(rgb, (192, h)), cv2.COLOR_RGB2BGR) + _, encoded = cv2.imencode(".jpg", bgr, [cv2.IMWRITE_JPEG_QUALITY, 65]) + return "data:image/jpeg;base64," + base64.b64encode(encoded).decode("ascii") + + +def packed_cloud(points, colors, origin, maximum=10000): + if len(points) > maximum: + indices = np.linspace(0, len(points) - 1, maximum, dtype=int) + points, colors = points[indices], colors[indices] + quantized = np.rint((points - origin) / 0.002) + if (np.abs(quantized) > 32767).any(): + raise ValueError("Point preview exceeds coordinate range") + import struct + + payload = ( + struct.pack(" 0.001 + else "observed_floor_path" + ) + chosen = plan["chosen"] + local = world_to_ego(snapshot["points"], xy, yaw) + _, _, inside = ego_to_cells(local, args, grid["cost"].shape) + display = inside & (snapshot["state"] != 2) + colors = snapshot["colors"][display].copy() + colors[snapshot["state"][display] == 0] = [255, 180, 75] + path_world = ( + ego_to_world(bank[chosen], xy, yaw) if chosen is not None else np.empty((0, 2)) + ) + rr, cc, _ = ( + ego_to_cells(bank[chosen], args, grid["cost"].shape) + if chosen is not None + else (np.empty(0, dtype=int), np.empty(0, dtype=int), None) + ) + unknown_points = ( + grid["unknown_footprint"][rr, cc] > 0.001 + if chosen is not None + else np.empty(0, dtype=bool) + ) + metric = { + "frame": path.name, + "time": timestamp - first_time, + "robot": xy.tolist(), + "yaw": yaw, + "status": status, + "chosen": chosen, + "valid_indices": plan["valid"].tolist(), + "candidate_count": len(bank), + "unknown_ratio": None if chosen is None else float(plan["unknown_ratio"][chosen]), + "collision_rejections": plan["collision_rejections"], + "unknown_rejections": plan["unknown_rejections"], + "refilter_ms": refilter_ms, + "mapping_ms": map_stats["update_ms"], + "floor_ms": floor_ms, + "bev_ms": bev_ms, + "planning_ms": plan_ms, + "floor_plane": None if plane is None else plane.tolist(), + "map_voxels": len(snapshot["points"]), + "known_floor_cells": int(grid["known"].sum()), + "obstacle_cells": int(grid["obstacle"].sum()), + "selected_world_xy": path_world.tolist(), + "selected_unknown_points": unknown_points.tolist(), + } + (output / "frames" / f"{path.stem}.json").write_text( + json.dumps(metric, indent=2) + "\n" + ) + np.savez_compressed( + output / "frames" / path.name, + cost=grid["cost"], + known_floor=grid["known"], + blocked=grid["blocked"], + labels=grid["labels"], + selected_path_ego=np.empty((0, 2)) if chosen is None else bank[chosen], + selected_path_world=path_world, + robot_xy=xy, + yaw=yaw, + ) + frames.append( + { + **metric, + "cost_bytes": packed_array(np.rint(grid["cost"] * 255)), + "labels_bytes": packed_array(grid["labels"]), + "cloud": packed_cloud(snapshot["points"][display], colors, origin), + "rgb": preview_image(rgb), + } + ) + if index % 25 == 0 or index == len(paths) - 1: + print( + f"[{index+1}/{len(paths)}] {status}; valid={len(plan['valid'])}/{len(bank)}; voxel={map_stats['update_ms']:.2f}ms BEV={bev_ms:.2f}ms plan={plan_ms:.2f}ms refilter={refilter_ms:.2f}ms", + flush=True, + ) + settings = { + key: str(value) if isinstance(value, Path) else value for key, value in vars(args).items() + } + summary = { + "sequence": meta.get("sequence_id", source.name), + "frame_count": len(frames), + "settings": settings, + "candidate_bank_ms": bank_ms, + "candidate_count": len(bank), + "samples_per_path": bank.shape[1], + "path_frames": sum(f["chosen"] is not None for f in frames), + "tentative_frames": sum(f["status"] == "tentative" for f in frames), + "planning_median_ms": float(np.median([f["planning_ms"] for f in frames])), + "planning_p95_ms": float(np.percentile([f["planning_ms"] for f in frames], 95)), + "bev_median_ms": float(np.median([f["bev_ms"] for f in frames])), + "mapping_median_ms": float(np.median([f["mapping_ms"] for f in frames])), + "core_total_median_ms": float( + np.median([f["mapping_ms"] + f["bev_ms"] + f["planning_ms"] for f in frames]) + ), + "core_total_p95_ms": float( + np.percentile([f["mapping_ms"] + f["bev_ms"] + f["planning_ms"] for f in frames], 95) + ), + "refilter_median_ms": float(np.median([f["refilter_ms"] for f in frames])), + "floor_fit_median_ms": float(np.median([f["floor_ms"] for f in frames])), + "status_counts": { + status: sum(f["status"] == status for f in frames) + for status in sorted({f["status"] for f in frames}) + }, + "sam_tp_used": False, + "gpu_planning_used": False, + "robot_commands_sent": False, + "interpretation": "Geometry-only proposals on recorded depth, not an executed navigation test. Unknown-space proposals are tentative. Floor extrapolation does not create observed free space. Footprint/height thresholds are test parameters.", + } + (output / "summary.json").write_text(json.dumps(summary, indent=2) + "\n") + payload = { + "frames": frames, + "bank": np.round(bank, 5).tolist(), + "grid_shape": list(grid["cost"].shape), + "origin": origin.tolist(), + "settings": settings, + "summary": summary, + } + from plotly.offline import get_plotlyjs + + template = Path(__file__).with_name("depth_only_path_planner_viewer.html").read_text() + data = json.dumps(payload, separators=(",", ":"), allow_nan=False).replace("<", "\\u003c") + viewer = ( + template.replace("__PLOTLY_JS__", get_plotlyjs()) + .replace("__PLANNER_DATA__", data) + .replace("__TITLE__", html.escape(str(summary["sequence"]))) + ) + (output / "viewer.html").write_text(viewer) + print( + "SUMMARY " + json.dumps({k: v for k, v in summary.items() if k != "settings"}), flush=True + ) + print(f"HTML: {output/'viewer.html'}", flush=True) + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\nInterrupted. Completed frame outputs remain saved.", flush=True) + raise SystemExit(130) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_eval.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_eval.py new file mode 100644 index 0000000000000000000000000000000000000000..38aeeab230b61a145302728840738a289f38f3ea --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_eval.py @@ -0,0 +1,775 @@ +#!/usr/bin/env python3 +"""Capture or load RGB-D, refine it, and compare depths without robot commands. + +Fresh capture: python scripts/lingbot_depth_eval.py --robot-ip 192.0.2.2 --show +Saved capture: python scripts/lingbot_depth_eval.py --input outputs/lingbot_depth_capture +""" + +import argparse +from datetime import datetime +import json +import shlex +import shutil +import subprocess +import sys +import tarfile +import tempfile +import time +import types +import uuid +from pathlib import Path +from zoneinfo import ZoneInfo + +import cv2 +import matplotlib +import numpy as np +import torch + +from lingbot_depth_geometry import ( + add_depth_edge_filter_args, + depth_points, + filter_depth_mask, + filter_point_mask, + fit_floor_plane, + floor_geometry, +) +from lingbot_depth_model import ( + DEFAULT_MODEL, + MODEL_HELP, + load_local_model, + resolve_local_checkpoint, +) + +matplotlib.use("Agg") +import matplotlib.pyplot as plt + + +def valid_depth(depth): + return np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + + +def percentile(values, q): + return float(np.percentile(values, q)) if values.size else None + + +def process_geometry(refined, rgb, k, pose, frame_dir, result_dir, output_dir, args): + """Save measured geometry and extrapolated floor in distinct artifacts.""" + import open3d as o3d + + start = time.perf_counter() + valid = valid_depth(refined) + points_image = depth_points(refined, k) + points = points_image[valid] + keep = np.ones(len(points), dtype=bool) + filter_stats = {"enabled": args.filter_noise} + filter_start = time.perf_counter() + if args.filter_noise: + raw_path = frame_dir / "depth_input_m.npy" + raw = np.load(raw_path) if raw_path.exists() else None + retained, diagnostics = filter_depth_mask(refined, raw, k, args, points_image) + keep = retained[valid] + filter_stats.update(diagnostics) + if not keep.any(): + raise RuntimeError( + "Noise filter removed all points; use less restrictive filter settings" + ) + filter_stats["elapsed_s"] = time.perf_counter() - filter_start + filter_stats.update( + input_points=len(points), retained_points=int(keep.sum()), removed_points=int((~keep).sum()) + ) + retained = np.zeros(refined.shape, dtype=bool) + retained[valid] = keep + rejected = valid & ~retained + filtered = np.where(retained, refined, np.nan).astype(np.float32) + np.save(result_dir / "depth_filtered_m.npy", filtered) + np.save(result_dir / "filtered_valid_mask.npy", retained) + np.save(result_dir / "noise_rejected_mask.npy", rejected) + retained_points = points[keep] + world_points = retained_points @ pose[:3, :3].T + pose[:3, 3] + + center_source = "camera XY (older capture has no base pose)" + center = pose[:2, 3].copy() + robot_pose_path = frame_dir / "robot_pose.txt" + if robot_pose_path.exists(): + center = np.loadtxt(robot_pose_path)[:2, 3] + center_source = "robot base_link at capture timestamp" + if args.floor_center is not None: + center = np.asarray(args.floor_center, dtype=float) + center_source = "explicit --floor-center" + floor = {"status": "disabled"} + plane = None + floor_start = time.perf_counter() + if args.add_floor_plane: + plane, floor = fit_floor_plane(world_points, center, args) + floor["center_source"] = center_source + floor["elapsed_s"] = time.perf_counter() - floor_start + stats = {"filter": filter_stats, "floor": floor} + if plane is not None: + floor_mask = np.zeros(refined.shape, dtype=bool) + floor_mask[retained] = ( + np.abs(world_points @ plane[:3] + plane[3]) <= args.floor_distance_threshold + ) + np.save(result_dir / "observed_floor_mask.npy", floor_mask) + (result_dir / "geometry.json").write_text(json.dumps(stats, indent=2) + "\n") + + if frame_dir.name == "frame_000": + before = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points)) + before.colors = o3d.utility.Vector3dVector(rgb[valid] / 255.0) + o3d.io.write_point_cloud(str(output_dir / "point_cloud_refined_full_camera.ply"), before) + cloud = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(retained_points)) + cloud.colors = o3d.utility.Vector3dVector(rgb[retained] / 255.0) + o3d.io.write_point_cloud(str(output_dir / "point_cloud_filtered_camera.ply"), cloud) + cloud.transform(pose) + o3d.io.write_point_cloud(str(output_dir / "point_cloud_filtered_world.ply"), cloud) + removed = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points[~keep])) + removed.paint_uniform_color([1.0, 0.1, 0.1]) + if not removed.is_empty(): + o3d.io.write_point_cloud(str(output_dir / "point_cloud_removed_camera.ply"), removed) + if plane is not None: + mesh, grid = floor_geometry(plane, center, args.floor_size) + o3d.io.write_triangle_mesh(str(output_dir / "floor_plane_world.ply"), mesh) + o3d.io.write_line_set(str(output_dir / "floor_grid_world.ply"), grid) + grid.transform(np.linalg.inv(pose)) + o3d.io.write_line_set(str(output_dir / "floor_grid_camera.ply"), grid) + # These masks describe observed pixels only. The synthetic plane never + # fills holes or expands an observed/free-space mask. + fig, axes = plt.subplots(1, 3, figsize=(11, 7), constrained_layout=True) + for ax, depth, title in zip( + axes[:2], [refined, filtered], ["Refined before filtering", "Filtered measured depth"] + ): + ax.imshow( + np.ma.masked_where(~valid_depth(depth), depth), cmap="turbo", vmin=0.2, vmax=5 + ) + ax.set_title(title) + axes[2].imshow(rgb) + overlay = np.zeros((*rejected.shape, 4)) + overlay[rejected] = [1, 0, 0, 0.85] + axes[2].imshow(overlay) + axes[2].set_title(f"Rejected points: {rejected.sum():,} (red)") + for ax in axes: + ax.axis("off") + fig.savefig(output_dir / "filter_comparison.png", dpi=130) + plt.close(fig) + stats["postprocess_s"] = time.perf_counter() - start + (output_dir / "geometry.json").write_text(json.dumps(stats, indent=2) + "\n") + print( + f"Noise filtering: {filter_stats['elapsed_s'] * 1000:.2f} ms; removed {filter_stats['removed_points']:,}/{len(points):,} points. " + f"Floor fit: {floor['elapsed_s'] * 1000:.2f} ms ({floor['status']}).", + flush=True, + ) + if args.add_floor_plane: + print("FLOOR " + json.dumps(floor), flush=True) + return stats + + +def process_saved_geometry(output_dir, args): + """Reprocess a saved prediction without loading the model or recapturing.""" + frame_dir = next( + ( + p + for p in [output_dir.parent / "capture/frame_000", output_dir.parent / "frame_000"] + if p.exists() + ), + None, + ) + if frame_dir is None: + raise FileNotFoundError("Could not locate the saved frame_000 capture next to the results") + result_dir = output_dir / "frame_000" + refined = np.load(result_dir / "depth_refined_m.npy") + rgb = cv2.cvtColor(cv2.imread(str(frame_dir / "rgb.png")), cv2.COLOR_BGR2RGB) + return process_geometry( + refined, + rgb, + np.loadtxt(frame_dir / "intrinsics.txt"), + np.loadtxt(frame_dir / "camera_pose.txt"), + frame_dir, + result_dir, + output_dir, + args, + ) + + +def extract_capture_archive(archive_path, capture_dir, remote_directory_name): + """Accept only regular capture files under the expected directory.""" + with tarfile.open(archive_path, "r:gz") as archive: + files = [] + for member in archive.getmembers(): + path = Path(member.name) + if path.is_absolute() or ".." in path.parts or not path.parts: + raise ValueError(f"Unsafe capture archive path: {member.name}") + if path.parts[0] != remote_directory_name: + raise ValueError(f"Unexpected capture archive directory: {member.name}") + if member.isdir(): + continue + if not member.isfile(): + raise ValueError(f"Unsupported capture archive entry: {member.name}") + relative = Path(*path.parts[1:]) + if not relative.parts: + raise ValueError("Capture archive contains a file at its root") + files.append((member, relative)) + capture_dir.mkdir(parents=True, exist_ok=False) + for member, relative in files: + destination = capture_dir / relative + destination.parent.mkdir(parents=True, exist_ok=True) + with archive.extractfile(member) as source, destination.open("wb") as target: + shutil.copyfileobj(source, target) + + +def capture_from_robot(args, capture_dir): + """Subscribe inside the existing bridge container, then fetch lossless data.""" + ssh = [ + "ssh", + "-o", + "BatchMode=yes", + "-o", + "ConnectTimeout=10", + "-o", + "StrictHostKeyChecking=yes", + f"{args.ssh_user}@{args.robot_ip}", + ] + container = args.container + if container is None: + probe = subprocess.run( + ssh + [shlex.join(["docker", "ps", "--format", "{{.ID}} {{.Image}} {{.Names}}"])], + check=True, + capture_output=True, + text=True, + timeout=25, + ) + candidates = [ + line.split()[0] + for line in probe.stdout.splitlines() + if "stretch-ai-ros2-bridge" in line + ] + if len(candidates) != 1: + raise RuntimeError( + "Expected one running Stretch AI bridge container; start the bridge " + "or select it with --container ." + ) + container = candidates[0] + name = f"lingbot_depth_{uuid.uuid4().hex}" + remote_output = f"/tmp/{name}" + command = shlex.join( + [ + "/usr/bin/python3", + "-", + "--output", + remote_output, + "--frames", + str(args.frames), + "--interval", + str(args.capture_interval), + "--timeout", + str(args.capture_timeout), + "--world-frame", + args.world_frame, + ] + ) + shell = ( + "source /opt/ros/humble/setup.bash && " + "source /robot/ament_ws/install/setup.bash && " + command + ) + print(f"Capturing {args.frames} fresh frame(s) from {args.robot_ip}...", flush=True) + subprocess.run( + ssh + [shlex.join(["docker", "exec", "-i", container, "bash", "-c", shell])], + input=Path(__file__).with_name("capture_lingbot_rgbd_ros2.py").read_text(), + text=True, + check=True, + timeout=args.capture_timeout + 30, + ) + with tempfile.TemporaryDirectory(prefix="lingbot_depth_transfer_") as temporary: + archive_path = Path(temporary) / "capture.tar.gz" + with archive_path.open("wb") as archive: + subprocess.run( + ssh + + [ + shlex.join( + ["docker", "exec", container, "tar", "-C", "/tmp", "-czf", "-", name] + ) + ], + stdout=archive, + check=True, + timeout=60, + ) + extract_capture_archive(archive_path, capture_dir, name) + print(f"Fresh capture saved: {capture_dir}", flush=True) + + +def show_comparisons(output_dir, show_image, show_clouds, cloud_comparison="auto"): + """Poll all windows together so native GUI calls cannot block Ctrl+C.""" + viewers = [] + image_title = "RGB | Sensor depth | LingBot depth | Difference" + image_open = False + closing = False + geometry = None + if (output_dir / "geometry.json").exists(): + geometry = json.loads((output_dir / "geometry.json").read_text()) + processed = cloud_comparison == "refined-processed" or ( + cloud_comparison == "auto" and geometry is not None + ) + if processed: + image_title = "Refined depth | Filtered depth | Rejected points" + + def request_close(_viewer): + nonlocal closing + closing = True + return False + + try: + if show_image: + image_path = output_dir / ("filter_comparison.png" if processed else "comparison.png") + comparison = cv2.imread(str(image_path)) + if comparison is None: + raise FileNotFoundError(output_dir / "comparison.png") + cv2.namedWindow(image_title, cv2.WINDOW_NORMAL) + image_open = True + cv2.resizeWindow(image_title, 1400, 700) + cv2.imshow(image_title, comparison) + if show_clouds: + import open3d as o3d + + descriptions = ( + [ + ("Refined before filtering", "point_cloud_refined_full_camera.ply"), + ("Filtered depth + assumed floor", "point_cloud_filtered_camera.ply"), + ] + if processed + else [ + ("Original sensor depth", "point_cloud_raw_camera.ply"), + ("LingBot refined depth", "point_cloud_camera.ply"), + ] + ) + for index, (title, filename) in enumerate(descriptions): + cloud = o3d.io.read_point_cloud(str(output_dir / filename)) + if cloud.is_empty(): + raise ValueError(f"Point cloud is missing or empty: {output_dir / filename}") + viewer = o3d.visualization.VisualizerWithKeyCallback() + if not viewer.create_window( + window_name=title, width=850, height=740, left=20 + index * 870, top=60 + ): + raise RuntimeError(f"Could not create window: {title}") + viewers.append(viewer) + viewer.add_geometry(cloud) + options = viewer.get_render_option() + options.point_size = 2.0 + options.background_color = np.array([0.08, 0.08, 0.08]) + viewer.register_key_callback(ord("Q"), request_close) + viewer.register_key_callback(256, request_close) # GLFW Escape + if processed: + if geometry and geometry["floor"]["status"] == "accepted": + grid = o3d.io.read_line_set(str(output_dir / "floor_grid_camera.ply")) + viewers[1].add_geometry(grid, reset_bounding_box=False) + floor_visible = True + + def toggle_floor(viewer): + nonlocal floor_visible + if floor_visible: + viewer.remove_geometry(grid, reset_bounding_box=False) + else: + viewer.add_geometry(grid, reset_bounding_box=False) + floor_visible = not floor_visible + return True + + viewers[1].register_key_callback(ord("F"), toggle_floor) + removed_path = output_dir / "point_cloud_removed_camera.ply" + if removed_path.exists() and geometry and geometry["filter"]["removed_points"]: + removed = o3d.io.read_point_cloud(str(removed_path)) + removed_visible = False + + def toggle_removed(viewer): + nonlocal removed_visible + if removed_visible: + viewer.remove_geometry(removed, reset_bounding_box=False) + else: + viewer.add_geometry(removed, reset_bounding_box=False) + removed_visible = not removed_visible + return True + + viewers[1].register_key_callback(ord("D"), toggle_removed) + print( + "Processed view: F toggles the assumed floor grid; D highlights removed points in red.", + flush=True, + ) + # Start from identical camera views; subsequent rotation/zoom is independent. + control = viewers[0].get_view_control() + control.set_front([0, 0, -1]) + control.set_up([0, -1, 0]) + viewers[1].set_view_status(viewers[0].get_view_status()) + print( + "Two point-cloud windows: left-drag to rotate, wheel to zoom. " + "Close either window, press Q/Esc, or Ctrl+C to exit.", + flush=True, + ) + if image_open: + print("Depth image: press any key to close it; Q/Esc exits all viewers.", flush=True) + while (viewers or image_open) and not closing: + for viewer in viewers: + if not viewer.poll_events(): + closing = True + break + viewer.update_renderer() + if image_open: + key = cv2.waitKey(20) + if key >= 0 or cv2.getWindowProperty(image_title, cv2.WND_PROP_VISIBLE) < 1: + if key >= 0 and key & 0xFF in (ord("q"), ord("Q"), 27): + closing = True + cv2.destroyWindow(image_title) + image_open = False + else: + time.sleep(0.01) + finally: + for viewer in viewers: + viewer.destroy_window() + if image_open: + cv2.destroyWindow(image_title) + + +def enable_native_attention(model): + """Preserve invalid-depth token masking without requiring xFormers. + + The upstream model puts each sample's retained tokens in a list. In eval + mode, processing those independent sequences with the ordinary Block is + equivalent to block-diagonal attention on the concatenated sequences. + """ + from mdm.model.dinov2_rgbd.layers.block import Block, NestedTensorBlock + + model.enable_pytorch_native_sdpa() + + def forward_independent_sequences(block, inputs): + if isinstance(inputs, list): + return [Block.forward(block, sequence) for sequence in inputs] + return Block.forward(block, inputs) + + for block in model.modules(): + if isinstance(block, NestedTensorBlock): + block.forward = types.MethodType(forward_independent_sequences, block) + + +def save_comparison(rgb, raw, refined, output): + raw_valid, refined_valid = valid_depth(raw), valid_depth(refined) + difference = np.where(raw_valid & refined_valid, refined - raw, np.nan) + fig, axes = plt.subplots(1, 4, figsize=(15, 7), constrained_layout=True) + axes[0].imshow(rgb) + axes[0].set_title("Head RGB") + for ax, data, title in zip(axes[1:3], [raw, refined], ["Sensor depth", "LingBot-Depth v0.5"]): + im = ax.imshow(np.ma.masked_where(~valid_depth(data), data), cmap="turbo", vmin=0.2, vmax=5) + ax.set_title(title) + fig.colorbar(im, ax=ax, shrink=0.55, label="metres; common scale") + im = axes[3].imshow(difference, cmap="coolwarm", vmin=-0.5, vmax=0.5) + axes[3].set_title("Prediction − sensor") + fig.colorbar(im, ax=axes[3], shrink=0.55, label="metres") + for ax in axes: + ax.axis("off") + fig.savefig(output, dpi=130) + plt.close(fig) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + source = parser.add_mutually_exclusive_group(required=True) + source.add_argument("--input", type=Path, help="Previously saved frame_* capture directory") + source.add_argument("--robot-ip", help="Capture fresh RGB-D over SSH from this robot") + source.add_argument( + "--view-results", + type=Path, + help="Open two point-cloud windows for existing results; skip capture and inference", + ) + parser.add_argument("--output", type=Path) + parser.add_argument("--ssh-user", default="hello-robot") + parser.add_argument("--container", help="Bridge container ID/name; auto-detected by default") + parser.add_argument("--frames", type=int, default=1, help="Number of fresh frames to capture") + parser.add_argument("--capture-interval", type=float, default=0.2) + parser.add_argument("--capture-timeout", type=float, default=40) + parser.add_argument("--world-frame", default="map") + parser.add_argument( + "--lingbot-repo", type=Path, default=Path(__file__).resolve().parents[2] / "lingbot-depth" + ) + parser.add_argument("--model", default=DEFAULT_MODEL, help=MODEL_HELP) + parser.add_argument("--resolution-level", type=int, choices=range(10), default=9) + parser.add_argument("--warmup", type=int, default=2) + parser.add_argument( + "--filter-noise", + action="store_true", + help="Reject statistical/radius outliers; preserve depth pixel layout", + ) + parser.add_argument("--filter-voxel-size", type=float, default=0.02) + parser.add_argument("--filter-neighbors", type=int, default=20) + parser.add_argument("--filter-std-ratio", type=float, default=3.0) + parser.add_argument("--filter-radius", type=float, default=0.06) + parser.add_argument("--filter-min-neighbors", type=int, default=3) + add_depth_edge_filter_args(parser) + parser.add_argument( + "--add-floor-plane", + action="store_true", + help="Fit ground and display a separate extrapolated floor prior", + ) + parser.add_argument( + "--floor-size", + type=float, + default=10.0, + help="Side length in metres of the square floor overlay", + ) + parser.add_argument("--floor-ground-z", type=float, default=0.0) + parser.add_argument("--floor-height-band", type=float, default=0.2) + parser.add_argument("--floor-distance-threshold", type=float, default=0.015) + parser.add_argument("--floor-max-tilt-deg", type=float, default=10.0) + parser.add_argument( + "--floor-center", + type=float, + nargs=2, + metavar=("X", "Y"), + help="Override world XY floor center; default is captured robot position", + ) + parser.add_argument( + "--cloud-comparison", + choices=["auto", "sensor-refined", "refined-processed"], + default="auto", + help="Two-window comparison; auto uses before/after processing when available", + ) + parser.add_argument("--show", action="store_true", help="Open the depth comparison image") + parser.add_argument( + "--show-point-clouds", + action="store_true", + help="Open two interactive comparison windows; processing uses refined before/after", + ) + args = parser.parse_args() + if args.frames < 1 or args.warmup < 0 or args.capture_timeout <= 0 or args.capture_interval < 0: + parser.error("frames/timeout must be positive; warmup/interval must be nonnegative") + if ( + not 0 <= args.filter_edge_band <= 12 + or not np.isfinite(args.filter_edge_jump) + or args.filter_edge_jump <= 0 + ): + parser.error("Invalid depth-edge band or depth jump") + if ( + min( + args.filter_voxel_size, + args.filter_radius, + args.filter_std_ratio, + args.floor_size, + args.floor_height_band, + args.floor_distance_threshold, + ) + <= 0 + ): + parser.error("Filter distances/ratio and floor dimensions/thresholds must be positive") + if ( + args.filter_neighbors < 2 + or args.filter_min_neighbors < 1 + or not 0 < args.floor_max_tilt_deg < 45 + ): + parser.error( + "Invalid neighbor count or floor tilt bound (must be between 0 and 45 degrees)" + ) + if args.view_results: + if args.filter_noise or args.add_floor_plane: + process_saved_geometry(args.view_results, args) + show_comparisons(args.view_results, args.show, True, args.cloud_comparison) + return + sys.path.insert(0, str(args.lingbot_repo.resolve())) + from mdm.model.v2 import MDMModel + + if not torch.cuda.is_available(): + raise RuntimeError("This benchmark requires a CUDA GPU") + checkpoint = resolve_local_checkpoint(args.model) + print(f"Local LingBot checkpoint: {checkpoint} (offline)", flush=True) + torch.set_num_threads(4) + if args.robot_ip: + timestamp = datetime.now(ZoneInfo("Asia/Singapore")).strftime("%Y%m%d_%H%M%S_%f") + root = ( + args.output + or Path(__file__).resolve().parents[1] / "outputs" / f"lingbot_depth_{timestamp}" + ) + root.mkdir(parents=True, exist_ok=False) + args.input = root / "capture" + capture_from_robot(args, args.input) + output_dir = root / "results" + else: + output_dir = args.output or args.input / f"results_level_{args.resolution_level}" + output_dir.mkdir(parents=True, exist_ok=False) + directories = sorted(args.input.glob("frame_*")) + if not directories: + raise ValueError("Input has no frame_* captures") + device = torch.device("cuda") + start = time.perf_counter() + model = load_local_model(MDMModel, checkpoint).to(device).eval() + # Use the repository's supported PyTorch attention path, avoiding a PyTorch + # downgrade just to install its pinned xFormers wheel. + enable_native_attention(model) + torch.cuda.synchronize() + model_load_s = time.perf_counter() - start + print(f"Model ready in {model_load_s:.2f}s; token range={model.num_tokens_range}", flush=True) + raw_stack, refined_stack, rgb_stack, poses = [], [], [], [] + metrics = [] + for index, directory in enumerate(directories): + rgb = cv2.cvtColor(cv2.imread(str(directory / "rgb.png")), cv2.COLOR_BGR2RGB) + raw = np.load(directory / "depth_input_m.npy").astype(np.float32) + if rgb.shape[:2] != raw.shape: + raise ValueError(f"Unaligned RGB-D in {directory}") + k = np.loadtxt(directory / "intrinsics.txt").astype(np.float32) + h, w = raw.shape + k_normalized = k.copy() + k_normalized[0] /= w + k_normalized[1] /= h + image_t = ( + torch.from_numpy(rgb.copy()).permute(2, 0, 1).float().div(255).unsqueeze(0).to(device) + ) + depth_t = ( + torch.from_numpy(np.where(valid_depth(raw), raw, 0).astype(np.float32)) + .unsqueeze(0) + .to(device) + ) + k_t = torch.from_numpy(k_normalized).unsqueeze(0).to(device) + kwargs = dict(depth_in=depth_t, intrinsics=k_t, resolution_level=args.resolution_level) + if index == 0: + print( + f"Warm-up: {args.warmup} iteration(s), excluded from inference timing.", flush=True + ) + for _ in range(args.warmup): + model.infer(image_t, **kwargs) + torch.cuda.synchronize() + torch.cuda.reset_peak_memory_stats() + torch.cuda.synchronize() + start = time.perf_counter() + prediction = model.infer(image_t, **kwargs) + torch.cuda.synchronize() + inference_s = time.perf_counter() - start + print( + f"Inference [{directory.name}]: {inference_s * 1000:.2f} ms ({inference_s:.6f} s)", + flush=True, + ) + refined = prediction["depth"][0].float().cpu().numpy() + points = prediction["points"][0].float().cpu().numpy() + if refined.shape != raw.shape or not valid_depth(refined).any(): + raise RuntimeError(f"Invalid model output in {directory}") + result_dir = output_dir / directory.name + result_dir.mkdir() + np.save(result_dir / "depth_refined_m.npy", refined) + np.save(result_dir / "valid_depth_mask.npy", valid_depth(refined)) + geometry_stats = None + if args.filter_noise or args.add_floor_plane: + geometry_stats = process_geometry( + refined, + rgb, + k, + np.loadtxt(directory / "camera_pose.txt"), + directory, + result_dir, + output_dir, + args, + ) + if index == 0: + save_comparison(rgb, raw, refined, output_dir / "comparison.png") + pose = np.loadtxt(directory / "camera_pose.txt") + mask = valid_depth(refined) + xyz = points[mask][::4] + colors = rgb[mask][::4] + world_xyz = xyz @ pose[:3, :3].T + pose[:3, 3] + import trimesh + + trimesh.PointCloud(xyz, colors).export(output_dir / "point_cloud_camera.ply") + trimesh.PointCloud(world_xyz, colors).export(output_dir / "point_cloud_world.ply") + v, u = np.mgrid[:h, :w] + raw_points = np.stack( + [(u - k[0, 2]) * raw / k[0, 0], (v - k[1, 2]) * raw / k[1, 1], raw], + axis=-1, + ) + raw_xyz = raw_points[valid_depth(raw)][::4] + raw_colors = rgb[valid_depth(raw)][::4] + raw_world_xyz = raw_xyz @ pose[:3, :3].T + pose[:3, 3] + trimesh.PointCloud(raw_xyz, raw_colors).export( + output_dir / "point_cloud_raw_camera.ply" + ) + trimesh.PointCloud(raw_world_xyz, raw_colors).export( + output_dir / "point_cloud_raw_world.ply" + ) + rv, pv = valid_depth(raw), valid_depth(refined) + common = rv & pv + change = refined[common] - raw[common] + metric = { + "frame": directory.name, + "inference_s": inference_s, + "input_valid_fraction": float(rv.mean()), + "output_valid_fraction": float(pv.mean()), + "filled_input_invalid_fraction": float((~rv & pv).sum() / max(1, (~rv).sum())), + "median_abs_change_m": percentile(np.abs(change), 50), + "p95_abs_change_m": percentile(np.abs(change), 95), + "input_median_depth_m": percentile(raw[rv], 50), + "output_median_depth_m": percentile(refined[pv], 50), + "input_near_2m_fraction": float((rv & (raw < 2)).mean()), + "output_near_2m_fraction": float((pv & (refined < 2)).mean()), + "valid_sensor_pixels_shifted_farther_over_0_25m_fraction": float( + (change > 0.25).mean() + ), + "near_2m_sensor_pixels_shifted_farther_over_0_25m_fraction": float( + (rv & (raw < 2) & pv & (refined - raw > 0.25)).sum() + / max(1, (rv & (raw < 2)).sum()) + ), + } + if geometry_stats is not None: + metric["geometry"] = geometry_stats + metrics.append(metric) + raw_stack.append(raw) + refined_stack.append(refined) + rgb_stack.append(rgb) + poses.append(np.loadtxt(directory / "camera_pose.txt")) + print(json.dumps(metric), flush=True) + del prediction + + raw_stack = np.stack(raw_stack) + refined_stack = np.stack(refined_stack) + stable = (valid_depth(raw_stack) & valid_depth(refined_stack)).all(axis=0) + color_std = np.std(np.stack(rgb_stack).astype(np.float32), axis=0).mean(axis=-1) + stable &= color_std < 5.0 + raw_std = np.std(raw_stack[:, stable], axis=0) if len(directories) > 1 else np.array([]) + refined_std = np.std(refined_stack[:, stable], axis=0) if len(directories) > 1 else np.array([]) + positions = np.stack(poses)[:, :3, 3] + rotation_changes = [ + np.degrees(np.arccos(np.clip((np.trace(poses[0][:3, :3].T @ pose[:3, :3]) - 1) / 2, -1, 1))) + for pose in poses + ] + timings = np.array([m["inference_s"] for m in metrics]) + summary = { + "model": args.model, + "model_checkpoint": str(checkpoint), + "lingbot_git_commit": subprocess.check_output( + ["git", "-C", str(args.lingbot_repo), "rev-parse", "HEAD"], text=True + ).strip(), + "torch": torch.__version__, + "gpu": torch.cuda.get_device_name(0), + "resolution_level": args.resolution_level, + "attention_backend": "PyTorch SDPA with independent retained-token sequences", + "valid_depth_range_m": [0.1, 10.0], + "warmup_iterations": args.warmup, + "model_load_s": model_load_s, + "frame_count": len(directories), + "input_shape_hw": list(raw_stack.shape[1:]), + "inference_median_s": float(np.median(timings)), + "inference_p95_s": float(np.percentile(timings, 95)), + "inference_fps_from_median": float(1 / np.median(timings)), + "peak_cuda_allocated_gib": torch.cuda.max_memory_allocated() / 1024**3, + "input_valid_fraction_mean": float(np.mean([m["input_valid_fraction"] for m in metrics])), + "output_valid_fraction_mean": float(np.mean([m["output_valid_fraction"] for m in metrics])), + "median_abs_change_m_mean": float(np.mean([m["median_abs_change_m"] for m in metrics])), + "temporally_stable_pixels": int(stable.sum()) if len(directories) > 1 else None, + "input_temporal_std_median_m": percentile(raw_std, 50), + "output_temporal_std_median_m": percentile(refined_std, 50), + "input_temporal_std_p95_m": percentile(raw_std, 95), + "output_temporal_std_p95_m": percentile(refined_std, 95), + "camera_translation_span_m": float(np.linalg.norm(np.ptp(positions, axis=0))), + "camera_rotation_max_deg": float(max(rotation_changes)), + "interpretation": "No ground truth. Coverage, sensor disagreement and temporal variation are diagnostics, not accuracy or navigation safety validation.", + "frames": metrics, + } + (output_dir / "metrics.json").write_text(json.dumps(summary, indent=2) + "\n") + print("SUMMARY " + json.dumps({k: v for k, v in summary.items() if k != "frames"}), flush=True) + print(f"Results: {output_dir}", flush=True) + show_comparisons(output_dir, args.show, args.show_point_clouds, args.cloud_comparison) + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\nInterrupted. Exiting.", flush=True) + raise SystemExit(130) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_geometry.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..b9b999571a8951f41cc42ef3baa211e67c2efed6 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_geometry.py @@ -0,0 +1,259 @@ +"""CPU geometry helpers shared by depth evaluation and planning; no Torch imports.""" + +import time + +import numpy as np + + +def add_depth_edge_filter_args(parser): + import argparse + + parser.add_argument( + "--filter-depth-edges", + action=argparse.BooleanOptionalAction, + default=True, + help="Reject raw-unsupported refined points near depth discontinuities", + ) + parser.add_argument( + "--filter-edge-band", + type=int, + default=2, + help="Depth-edge rejection band radius in pixels (0..12)", + ) + parser.add_argument( + "--filter-edge-jump", + type=float, + default=0.12, + help="Depth discontinuity threshold in metres, plus 2.5%% of depth", + ) + + +def depth_edge_mask(depth, raw, args): + """Suppress unsupported edge completions, retaining measured thin edges. + + Three-by-three depth ranges locate occlusion edges. A small pixel band + rejects only refined points without agreeing raw depth there, never all + points near an edge. No RGB segmentation, model pass or 3D search is used. + """ + import cv2 + + valid = np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + if raw is None or not getattr(args, "filter_depth_edges", False): + return valid, {"enabled": False, "rejected_points": 0} + if raw.shape != depth.shape: + raise ValueError("Raw/refined depth dimensions differ") + band_radius = getattr(args, "filter_edge_band", 2) + jump = getattr(args, "filter_edge_jump", 0.12) + if not 0 <= band_radius <= 12 or not np.isfinite(jump) or jump <= 0: + raise ValueError("Invalid depth-edge band or depth jump") + sensor_valid = np.isfinite(raw) & (raw > 0.1) & (raw < 10.0) + kernel = np.ones((3, 3), np.uint8) + + def depth_range(values, mask): + minimum = cv2.erode(np.where(mask, values, 10.0).astype(np.float32), kernel) + maximum = cv2.dilate(np.where(mask, values, 0.0).astype(np.float32), kernel) + return maximum - minimum + + threshold = jump + 0.025 * np.where(valid, depth, 0) + edges = (depth_range(raw, sensor_valid) > threshold) | (depth_range(depth, valid) > threshold) + band = cv2.dilate(edges.astype(np.uint8), np.ones((2 * band_radius + 1,) * 2, np.uint8)).astype( + bool + ) + supported = sensor_valid & (np.abs(raw - depth) <= 0.04 + 0.02 * depth) + rejected = valid & band & ~supported + return valid & ~rejected, { + "enabled": True, + "band_radius_px": band_radius, + "jump_m": jump, + "edge_band_points": int((valid & band).sum()), + "rejected_points": int(rejected.sum()), + "sensor_supported_edge_points": int((valid & band & supported).sum()), + } + + +def filter_depth_mask(depth, raw, k, args, points_image=None): + """Image-edge screening followed by the configured spatial point filter.""" + valid = np.isfinite(depth) & (depth > 0.1) & (depth < 10.0) + if not args.filter_noise: + return valid, {"enabled": False} + eligible, edge_stats = depth_edge_mask(depth, raw, args) + if points_image is None: + points_image = depth_points(depth, k) + keep, stats = filter_point_mask(points_image[eligible], args) + retained = np.zeros(depth.shape, dtype=bool) + retained[eligible] = keep + stats.update(enabled=True, depth_edges=edge_stats, spatial_input_points=int(eligible.sum())) + return retained, stats + + +def depth_points(depth, k): + v, u = np.mgrid[: depth.shape[0], : depth.shape[1]] + return np.stack( + [(u - k[0, 2]) * depth / k[0, 0], (v - k[1, 2]) * depth / k[1, 1], depth], axis=-1 + ) + + +def filter_point_mask(points, args): + """Test voxel representatives, then retain original pixels in supported voxels.""" + if not len(points): + return np.zeros(0, dtype=bool), {"voxel_points": 0} + import open3d as o3d + + cloud = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points)) + started = time.perf_counter() + lower = cloud.get_min_bound() - args.filter_voxel_size / 2 + voxels, representatives, traces = cloud.voxel_down_sample_and_trace( + args.filter_voxel_size, + lower, + cloud.get_max_bound() + args.filter_voxel_size / 2, + ) + voxel_ms = (time.perf_counter() - started) * 1000 + if len(voxels.points) < 3: + return np.zeros(len(points), dtype=bool), {"voxel_points": len(voxels.points)} + started = time.perf_counter() + statistical, stat_indices = voxels.remove_statistical_outlier( + nb_neighbors=min(args.filter_neighbors, len(voxels.points) - 1), + std_ratio=args.filter_std_ratio, + ) + statistical_ms = (time.perf_counter() - started) * 1000 + started = time.perf_counter() + _, radius_indices = statistical.remove_radius_outlier( + nb_points=args.filter_min_neighbors, radius=args.filter_radius + ) + radius_ms = (time.perf_counter() - started) * 1000 + retained_voxels = np.asarray(stat_indices, dtype=int)[radius_indices] + started = time.perf_counter() + keep = retained_voxel_mask( + points, lower, args.filter_voxel_size, representatives, traces, retained_voxels + ) + return keep, { + "voxel_points": len(voxels.points), + "after_statistical_voxels": len(stat_indices), + "retained_voxels": len(retained_voxels), + "voxel_size_m": args.filter_voxel_size, + "statistical_neighbors": args.filter_neighbors, + "statistical_std_ratio": args.filter_std_ratio, + "radius_m": args.filter_radius, + "radius_min_neighbors": args.filter_min_neighbors, + "voxelization_ms": voxel_ms, + "statistical_ms": statistical_ms, + "radius_ms": radius_ms, + "pixel_selection_ms": (time.perf_counter() - started) * 1000, + } + + +def retained_voxel_mask(points, lower, size, representatives, traces, retained): + """Lift the same Open3D voxel decisions without a Python loop per voxel. + + Use original point indices from Open3D's eight octant representatives. + Re-quantizing centroids can choose the wrong cell through rounding at a + voxel boundary. Original representatives share the exact trace grid. + """ + keep = np.zeros(len(points), dtype=bool) + if not len(retained): + return keep + cells = np.floor((points - lower) / size).astype(np.int64) + spans = cells.max(axis=0) + 1 + volume = int(spans[0]) * int(spans[1]) * int(spans[2]) + indices = np.asarray(representatives)[retained].max(axis=1) + if volume > np.iinfo(np.int64).max or (indices < 0).any(): + # Preserve the trace behavior for pathological coordinate ranges. + for index in retained: + keep[np.asarray(traces[index], dtype=int)] = True + return keep + factors = np.array([int(spans[1]) * int(spans[2]), int(spans[2]), 1], dtype=np.int64) + keys = cells @ factors + accepted = np.sort(keys[indices]) + slots = np.searchsorted(accepted, keys) + inside = slots < len(accepted) + keep[inside] = accepted[slots[inside]] == keys[inside] + return keep + + +def fit_floor_plane(world_points, center_xy, args): + """Reject non-ground planes using height, gravity, and spatial support.""" + import open3d as o3d + from scipy.spatial import ConvexHull, QhullError + + candidate = np.abs(world_points[:, 2] - args.floor_ground_z) <= args.floor_height_band + candidate &= np.linalg.norm(world_points[:, :2] - center_xy, axis=1) <= 4.0 + cloud = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(world_points[candidate])) + cloud = cloud.voxel_down_sample(0.03) + if len(cloud.points) < 100: + return None, { + "status": "rejected", + "reason": "Insufficient points near expected floor height", + } + o3d.utility.random.seed(0) + plane, indices = cloud.segment_plane(args.floor_distance_threshold, 3, 1000) + plane = np.asarray(plane, dtype=float) + plane /= np.linalg.norm(plane[:3]) + if plane[2] < 0: + plane *= -1 + inliers = np.asarray(cloud.points)[indices] + tilt = float(np.degrees(np.arccos(np.clip(plane[2], -1, 1)))) + if ( + tilt > args.floor_max_tilt_deg + or len(indices) < 100 + or len(indices) / len(cloud.points) < 0.25 + ): + return None, { + "status": "rejected", + "reason": "Plane lacks horizontal ground support", + "tilt_deg": tilt, + } + try: + area = float(ConvexHull(inliers[:, :2]).volume) + except QhullError: + area = 0.0 + if area < 0.5: + return None, { + "status": "rejected", + "reason": "Floor support area is below 0.5 square metres", + } + residual = np.abs(inliers @ plane[:3] + plane[3]) + center_height = -(plane[0] * center_xy[0] + plane[1] * center_xy[1] + plane[3]) / plane[2] + if abs(center_height - args.floor_ground_z) > args.floor_height_band: + return None, { + "status": "rejected", + "reason": "Plane height at robot differs from expected floor", + } + return plane, { + "status": "accepted", + "plane_abcd_world": plane.tolist(), + "tilt_deg": tilt, + "inlier_voxels": len(indices), + "support_area_m2": area, + "median_residual_m": float(np.median(residual)), + "floor_height_at_center_m": float(center_height), + "side_length_m": args.floor_size, + "center_world_xy": np.asarray(center_xy).tolist(), + "role": "Extrapolated ground-height prior; not observed free space", + } + + +def floor_geometry(plane, center_xy, size): + import open3d as o3d + + half = size / 2 + offsets = np.array([[-half, -half], [half, -half], [half, half], [-half, half]]) + xy = offsets + center_xy + z = -(xy @ plane[:2] + plane[3]) / plane[2] + mesh = o3d.geometry.TriangleMesh( + o3d.utility.Vector3dVector(np.column_stack([xy, z])), + o3d.utility.Vector3iVector([[0, 1, 2], [0, 2, 3]]), + ) + mesh.compute_vertex_normals() + vertices, lines = [], [] + for value in np.linspace(-half, half, int(np.ceil(size / 0.5)) + 1): + for ends in ([[value, -half], [value, half]], [[-half, value], [half, value]]): + xy = np.asarray(ends) + center_xy + z = -(xy @ plane[:2] + plane[3]) / plane[2] + start = len(vertices) + vertices.extend(np.column_stack([xy, z]).tolist()) + lines.append([start, start + 1]) + grid = o3d.geometry.LineSet( + o3d.utility.Vector3dVector(vertices), o3d.utility.Vector2iVector(lines) + ) + grid.paint_uniform_color([0.2, 0.65, 1.0]) + return mesh, grid diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_model.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_model.py new file mode 100644 index 0000000000000000000000000000000000000000..3e45aa080c0a4611708310015d866e4ee1718767 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_model.py @@ -0,0 +1,51 @@ +"""Resolve LingBot checkpoints without internet access or update checks.""" + +from pathlib import Path + +DEFAULT_MODEL = "robbyant/lingbot-depth-pretrain-vitl-14-v0.5" +DEFAULT_CHECKPOINT = Path(__file__).resolve().parents[1] / "models/lingbot-depth/model.pt" +MODEL_HELP = "Local model.pt file/directory or already-cached model ID; never downloads" + + +def _checkpoint_file(path): + if path.is_dir(): + path = path / "model.pt" + if path.is_file() and path.stat().st_size > 0: + return path.resolve() + raise FileNotFoundError(f"Missing or empty local LingBot checkpoint: {path}") + + +def resolve_local_checkpoint(model=DEFAULT_MODEL): + """Prefer explicit files, then the installed default, then local Hub cache. + + Pass the resulting *file* to MDMModel, rather than a model ID: the upstream + ID loader normally makes a HEAD request even when its weights are cached. + Explicit file paths never fall back to a different cached model. + """ + name = str(model) + path = Path(name).expanduser() + if path.exists() or name.startswith(("/", ".", "~")) or path.suffix in (".pt", ".pth"): + return _checkpoint_file(path) + if name == DEFAULT_MODEL and DEFAULT_CHECKPOINT.exists(): + return _checkpoint_file(DEFAULT_CHECKPOINT) + + from huggingface_hub import hf_hub_download + + try: + cached = hf_hub_download( + repo_id=name, repo_type="model", filename="model.pt", local_files_only=True + ) + except (OSError, ValueError) as exc: + raise FileNotFoundError( + f"LingBot model {name!r} is unavailable locally. No download was attempted. " + f"Place the default checkpoint at {DEFAULT_CHECKPOINT}, or use " + "--model /path/to/model.pt." + ) from exc + return _checkpoint_file(Path(cached)) + + +def load_local_model(model_class, checkpoint): + """Keep the upstream loader local-only even if the file disappears.""" + return model_class.from_pretrained( + str(_checkpoint_file(Path(checkpoint))), local_files_only=True + ) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_sequence.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_sequence.py new file mode 100644 index 0000000000000000000000000000000000000000..874f928a841835ab9b1ed48df72a0e0f82571bae --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_depth_sequence.py @@ -0,0 +1,608 @@ +#!/usr/bin/env python3 +"""Replay recorded Stretch RGB-D through LingBot and export an offline HTML viewer. + +The viewer concatenates a selectable causal history of pose-registered frames. +Its reduced points are for display; cached refined depth and filtering masks +retain the original resolution for later experiments. +""" + +import argparse +import base64 +import gzip +import hashlib +import html +import json +import struct +import subprocess +import sys +import time +from dataclasses import asdict +from pathlib import Path + +import cv2 +import numpy as np +import torch + +from lingbot_depth_eval import ( + depth_points, + enable_native_attention, + filter_point_mask, + fit_floor_plane, + valid_depth, +) +from lingbot_depth_geometry import add_depth_edge_filter_args, filter_depth_mask +from lingbot_voxel_map import SurfaceVoxelMap, VoxelMapConfig +from lingbot_depth_model import ( + DEFAULT_MODEL, + MODEL_HELP, + load_local_model, + resolve_local_checkpoint, +) + + +def history_indices(current, past): + """Past=0 includes only the current frame; future observations are excluded.""" + if current < 0 or past < 0: + raise ValueError("Current frame and past observations must be nonnegative") + return list(range(max(0, current - past), current + 1)) + + +def decode_recording_frame(path, rgb_convention, intrinsics_convention): + with np.load(path, allow_pickle=False) as archive: + decoded = cv2.imdecode(archive["rgb_jpg"], cv2.IMREAD_COLOR) + depth_mm = cv2.imdecode(archive["depth_jp2"], cv2.IMREAD_UNCHANGED) + k = np.asarray(archive["camera_K"], dtype=np.float32).reshape(3, 3) + pose = np.asarray(archive["camera_pose"], dtype=np.float64) + gps = np.asarray(archive["gps"], dtype=np.float64).reshape(-1) + timestamp = float(np.asarray(archive["recv_time"]).reshape(-1)[0]) + if decoded is None or depth_mm is None or decoded.shape[:2] != depth_mm.shape: + raise ValueError(f"RGB-D could not be decoded/aligned: {path}") + if depth_mm.dtype != np.uint16: + raise ValueError(f"Expected 16-bit millimetre depth: {path}") + if ( + pose.shape != (4, 4) + or not np.isfinite(pose).all() + or not np.allclose(pose[3], [0, 0, 0, 1]) + ): + raise ValueError(f"A valid saved camera_pose is required: {path}") + if not np.allclose(pose[:3, :3].T @ pose[:3, :3], np.eye(3), atol=1e-3): + raise ValueError(f"Non-rigid camera pose: {path}") + if not np.isfinite(k).all() or k[0, 0] <= 0 or k[1, 1] <= 0: + raise ValueError(f"Invalid intrinsics: {path}") + if gps.size < 2 or not np.isfinite(gps[:2]).all() or not np.isfinite(timestamp): + raise ValueError(f"Invalid robot position/timestamp: {path}") + rgb = ( + decoded if rgb_convention == "legacy-stretch" else cv2.cvtColor(decoded, cv2.COLOR_BGR2RGB) + ) + recorded_k = k.copy() + if intrinsics_convention == "legacy-stretch-clockwise": + # The old RosCamera implementation swapped cx/cy but did not reflect + # cx when rotating clockwise. Images/poses are already rotated. + k = k.copy() + k[0, 2] = decoded.shape[1] - 1 - recorded_k[0, 2] + return rgb, depth_mm.astype(np.float32) / 1000.0, k, recorded_k, pose, gps[:2], timestamp + + +def encode_points(points, colors, origin, quantization, maximum): + if len(points) > maximum: + indices = np.linspace(0, len(points) - 1, maximum, dtype=int) + points, colors = points[indices], colors[indices] + quantized = np.rint((points - origin) / quantization) + if not np.isfinite(quantized).all() or (np.abs(quantized) > 32767).any(): + raise ValueError("Viewer coordinates exceed int16 bounds; increase --viewer-quantization") + payload = struct.pack(" 32767).any(): + raise ValueError("Voxel display coordinates exceed quantization bounds") + payload = struct.pack("", start)]) + + +def thumbnail(rgb): + height = max(1, round(rgb.shape[0] * 192 / rgb.shape[1])) + bgr = cv2.cvtColor( + cv2.resize(rgb, (192, height), interpolation=cv2.INTER_AREA), cv2.COLOR_RGB2BGR + ) + ok, blob = cv2.imencode(".jpg", bgr, [cv2.IMWRITE_JPEG_QUALITY, 65]) + if not ok: + raise RuntimeError("Could not encode preview") + return "data:image/jpeg;base64," + base64.b64encode(blob).decode("ascii") + + +def depth_thumbnail(depth): + safe = np.nan_to_num(depth, nan=0, posinf=0, neginf=0) + values = np.clip((safe - 0.2) / 4.8 * 255, 0, 255).astype(np.uint8) + rgb = cv2.cvtColor(cv2.applyColorMap(values, cv2.COLORMAP_TURBO), cv2.COLOR_BGR2RGB) + rgb[~valid_depth(depth)] = 0 + return thumbnail(rgb) + + +def build_parser(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--recording", type=Path, required=True) + parser.add_argument("--output", type=Path) + parser.add_argument( + "--lingbot-repo", type=Path, default=Path(__file__).resolve().parents[2] / "lingbot-depth" + ) + parser.add_argument("--model", default=DEFAULT_MODEL, help=MODEL_HELP) + parser.add_argument("--resolution-level", type=int, choices=range(10), default=0) + parser.add_argument("--warmup", type=int, default=2) + parser.add_argument("--filter-noise", action=argparse.BooleanOptionalAction, default=True) + parser.add_argument("--filter-voxel-size", type=float, default=0.02) + parser.add_argument("--filter-neighbors", type=int, default=20) + parser.add_argument("--filter-std-ratio", type=float, default=3.0) + parser.add_argument("--filter-min-neighbors", type=int, default=10) + parser.add_argument("--filter-radius", type=float, default=0.04) + add_depth_edge_filter_args(parser) + parser.add_argument("--add-floor-plane", action=argparse.BooleanOptionalAction, default=True) + parser.add_argument("--floor-size", type=float, default=10.0) + parser.add_argument("--floor-ground-z", type=float, default=0.0) + parser.add_argument("--floor-height-band", type=float, default=0.2) + parser.add_argument("--floor-distance-threshold", type=float, default=0.015) + parser.add_argument("--floor-max-tilt-deg", type=float, default=10.0) + parser.add_argument( + "--rgb-convention", choices=["legacy-stretch", "standard-jpeg"], default="legacy-stretch" + ) + parser.add_argument( + "--intrinsics-convention", + choices=["legacy-stretch-clockwise", "recorded"], + default="legacy-stretch-clockwise", + ) + parser.add_argument("--frame-stride", type=int, default=1) + parser.add_argument( + "--max-frames", type=int, default=0, help="0 processes the entire recording" + ) + parser.add_argument("--viewer-points-per-frame", type=int, default=4000) + parser.add_argument( + "--viewer-quantization", + type=float, + default=0.002, + help="Display coordinate quantization in metres; caches remain float32", + ) + parser.add_argument( + "--default-past", + type=int, + default=9, + help="Past observations in initial HTML view, in addition to the current frame", + ) + parser.add_argument("--voxel-map", action=argparse.BooleanOptionalAction, default=True) + parser.add_argument("--voxel-sizes", type=float, nargs="+", default=[0.05, 0.10]) + parser.add_argument("--voxel-image-stride", type=int, default=4) + parser.add_argument("--voxel-max-update-points", type=int, default=4000) + parser.add_argument("--voxel-max-clear-checks", type=int, default=1000) + parser.add_argument("--voxel-max-cells", type=int, default=50000) + parser.add_argument("--voxel-radius", type=float, default=8.0) + parser.add_argument("--voxel-max-depth", type=float, default=5.0) + parser.add_argument("--voxel-clearing", choices=["projective", "none"], default="projective") + parser.add_argument("--cpu-threads", type=int, default=1) + parser.add_argument( + "--rebuild-viewer", + action="store_true", + help="Reuse the existing HTML/caches; rebuild voxel replay without inference", + ) + return parser + + +def main(): + args = build_parser().parse_args() + if ( + not 0 <= args.filter_edge_band <= 12 + or not np.isfinite(args.filter_edge_jump) + or args.filter_edge_jump <= 0 + ): + raise ValueError("Invalid depth-edge band or depth jump") + if args.frame_stride < 1 or args.max_frames < 0 or args.default_past < 0 or args.warmup < 0: + raise ValueError("Invalid frame stride, frame count, history or warm-up") + if ( + min( + args.filter_voxel_size, + args.filter_std_ratio, + args.filter_radius, + args.floor_size, + args.floor_height_band, + args.floor_distance_threshold, + args.viewer_quantization, + args.viewer_points_per_frame, + ) + <= 0 + or args.filter_min_neighbors < 1 + or args.filter_neighbors < 2 + ): + raise ValueError("Filter/viewer sizes and neighbor counts must be positive") + recording = args.recording.resolve() + metadata = json.loads((recording / "meta.json").read_text()) + paths = sorted((recording / "frames").glob("*.npz"))[:: args.frame_stride] + if args.max_frames: + paths = paths[: args.max_frames] + if not paths: + raise ValueError("No frame archives in recording") + output = ( + args.output + or Path(__file__).resolve().parents[1] + / "outputs" + / f"lingbot_sequence_{metadata.get('sequence_id', recording.name)}" + ) + output = output.resolve() + output.mkdir(parents=True, exist_ok=True) + cache_dir = output / "frames" + cache_dir.mkdir(exist_ok=True) + settings = { + key: value + for key, value in vars(args).items() + if key + not in ( + "output", + "default_past", + "viewer_points_per_frame", + "viewer_quantization", + "lingbot_repo", + "cpu_threads", + "rebuild_viewer", + ) + and not key.startswith("voxel_") + } + settings = { + key: str(value) if isinstance(value, Path) else value for key, value in settings.items() + } + settings["recording"] = str(recording) + settings["source_frames"] = [ + {"name": p.name, "bytes": p.stat().st_size, "mtime_ns": p.stat().st_mtime_ns} for p in paths + ] + settings["lingbot_git_commit"] = subprocess.check_output( + ["git", "-C", str(args.lingbot_repo), "rev-parse", "HEAD"], text=True + ).strip() + signature = hashlib.sha256(json.dumps(settings, sort_keys=True).encode()).hexdigest() + config_path = output / "config.json" + if config_path.exists() and json.loads(config_path.read_text())["signature"] != signature: + raise ValueError( + "Output cache has different processing settings/source; choose a new --output directory" + ) + config_path.write_text( + json.dumps({"signature": signature, "settings": settings}, indent=2) + "\n" + ) + if args.cpu_threads < 1: + raise ValueError("CPU thread budget must be positive") + if args.rebuild_viewer: + payload = load_viewer_payload(output / "viewer.html") + if len(payload["frames"]) != len(paths): + raise ValueError("Existing HTML frame count does not match the requested recording") + if args.voxel_map: + payload["voxelMaps"], voxel_summary = build_voxel_replay( + paths, cache_dir, args, np.asarray(payload["origin"]), output + ) + else: + payload["voxelMaps"], voxel_summary = {}, {} + html_path = write_viewer(payload, output) + summary_path = output / "summary.json" + summary = json.loads(summary_path.read_text()) + summary["voxel_maps"] = voxel_summary + summary["viewer_bytes"] = html_path.stat().st_size + summary["interpretation"] = ( + "Bounded CPU-only surface-voxel memory with recency and sensor-support evidence, compared with point concatenation. Sparse projective clearing checks only stored surface samples; unrepresented volume stays unknown. Floor extensions remain separate priors. Recorded timestamps are arrival times. This is not yet a complete planning costmap." + ) + summary_path.write_text(json.dumps(summary, indent=2) + "\n") + print(f"HTML: {html_path}", flush=True) + return + sys.path.insert(0, str(args.lingbot_repo.resolve())) + model = None + torch.set_num_threads(args.cpu_threads) + viewer_frames, all_metrics = [], [] + origin = None + initial_time = None + newly_processed = 0 + print( + f"Processing {len(paths)} frames; cached frames will be reused. Output: {output}", + flush=True, + ) + print( + f"RGB convention: {args.rgb_convention}; intrinsics: {args.intrinsics_convention}", + flush=True, + ) + for index, path in enumerate(paths): + rgb, raw, k, recorded_k, pose, robot_xy, timestamp = decode_recording_frame( + path, args.rgb_convention, args.intrinsics_convention + ) + if initial_time is None: + initial_time = timestamp + origin = np.array([*robot_xy, 0.0], dtype=float) + cache_path = cache_dir / path.name + metrics_path = cache_dir / f"{path.stem}.json" + if cache_path.exists() and metrics_path.exists(): + with np.load(cache_path, allow_pickle=False) as cached: + refined = cached["depth_refined_m"] + retained = cached["filtered_valid_mask"] + metric = json.loads(metrics_path.read_text()) + else: + if model is None: + if not torch.cuda.is_available(): + raise RuntimeError("Uncached inference requires CUDA") + from mdm.model.v2 import MDMModel + + checkpoint = resolve_local_checkpoint(args.model) + print(f"Local LingBot checkpoint: {checkpoint} (offline)", flush=True) + start = time.perf_counter() + model = load_local_model(MDMModel, checkpoint).to("cuda").eval() + enable_native_attention(model) + torch.cuda.synchronize() + print( + f"Model loaded in {time.perf_counter() - start:.2f}s (excluded from inference times)", + flush=True, + ) + h, w = raw.shape + normalized = k.copy() + normalized[0] /= w + normalized[1] /= h + image_t = ( + torch.from_numpy(rgb.copy()).permute(2, 0, 1).float().div(255).unsqueeze(0).cuda() + ) + depth_t = ( + torch.from_numpy(np.where(valid_depth(raw), raw, 0).astype(np.float32)) + .unsqueeze(0) + .cuda() + ) + k_t = torch.from_numpy(normalized).unsqueeze(0).cuda() + kwargs = dict(depth_in=depth_t, intrinsics=k_t, resolution_level=args.resolution_level) + if newly_processed == 0: + for _ in range(args.warmup): + model.infer(image_t, **kwargs) + torch.cuda.synchronize() + start = time.perf_counter() + prediction = model.infer(image_t, **kwargs) + torch.cuda.synchronize() + inference_s = time.perf_counter() - start + refined = prediction["depth"][0].float().cpu().numpy() + del prediction + valid = valid_depth(refined) + if not valid.any(): + raise RuntimeError(f"No valid prediction for {path.name}") + points = depth_points(refined, k)[valid] + start = time.perf_counter() + retained, filter_stats = filter_depth_mask(refined, raw, k, args) + keep = retained[valid] + filter_s = time.perf_counter() - start + if not keep.any(): + raise RuntimeError(f"All points rejected in {path.name}; inspect filter settings") + world = points[keep] @ pose[:3, :3].T + pose[:3, 3] + start = time.perf_counter() + plane, floor_stats = ( + fit_floor_plane(world, robot_xy, args) + if args.add_floor_plane + else (None, {"status": "disabled"}) + ) + floor_s = time.perf_counter() - start + metric = { + "index": index, + "source_frame": path.name, + "recv_time_s": timestamp, + "elapsed_s": timestamp - initial_time, + "robot_xy": robot_xy.tolist(), + "inference_s": inference_s, + "filter_s": filter_s, + "floor_s": floor_s, + "refined_valid_points": int(valid.sum()), + "retained_points": int(retained.sum()), + "removed_points": int((valid & ~retained).sum()), + "filter": filter_stats, + "floor": floor_stats, + "camera_K_recorded": recorded_k.tolist(), + "camera_K_used": k.tolist(), + } + temporary = cache_path.with_suffix(".tmp") + with temporary.open("wb") as stream: + np.savez_compressed( + stream, + depth_refined_m=refined, + depth_filtered_m=np.where(retained, refined, np.nan), + filtered_valid_mask=retained, + camera_K=k, + camera_pose=pose, + robot_xy=robot_xy, + recv_time_s=timestamp, + floor_plane_world=np.array([]) if plane is None else plane, + ) + temporary.replace(cache_path) + metrics_path.write_text(json.dumps(metric, indent=2) + "\n") + newly_processed += 1 + clouds, counts = {}, {} + for name, depth, mask in [ + ("raw", raw, valid_depth(raw)), + ("refined", refined, valid_depth(refined)), + ("filtered", refined, retained), + ]: + camera_points = depth_points(depth, k)[mask] + world = camera_points @ pose[:3, :3].T + pose[:3, 3] + clouds[name], counts[name] = encode_points( + world, rgb[mask], origin, args.viewer_quantization, args.viewer_points_per_frame + ) + viewer_frames.append( + { + "source": path.name, + "time": timestamp - initial_time, + "robot": robot_xy.tolist(), + "clouds": clouds, + "counts": counts, + "floor": metric["floor"], + "inference_ms": metric["inference_s"] * 1000, + "filter_ms": metric["filter_s"] * 1000, + "floor_ms": metric["floor_s"] * 1000, + "retained": metric["retained_points"], + "removed": metric["removed_points"], + "images": { + "rgb": thumbnail(rgb), + "raw": depth_thumbnail(raw), + "filtered": depth_thumbnail(np.where(retained, refined, np.nan)), + }, + } + ) + all_metrics.append(metric) + if index % 10 == 0 or index == len(paths) - 1: + print( + f"[{index + 1}/{len(paths)}] inference={metric['inference_s'] * 1000:.1f}ms filter={metric['filter_s'] * 1000:.1f}ms floor={metric['floor_s'] * 1000:.1f}ms kept={metric['retained_points']:,}", + flush=True, + ) + payload = { + "sequence": metadata.get("sequence_id", recording.name), + "frames": viewer_frames, + "origin": origin.tolist(), + "quantization": args.viewer_quantization, + "defaultPast": min(args.default_past, len(paths) - 1), + "settings": {key: value for key, value in settings.items() if key != "source_frames"}, + } + voxel_summary = {} + if args.voxel_map: + payload["voxelMaps"], voxel_summary = build_voxel_replay( + paths, cache_dir, args, origin, output + ) + html_path = write_viewer(payload, output) + summary = { + "sequence": payload["sequence"], + "frame_count": len(paths), + "elapsed_recording_s": viewer_frames[-1]["time"], + "newly_processed_frames": newly_processed, + "configuration": settings, + "inference_median_ms": float(np.median([m["inference_s"] for m in all_metrics]) * 1000), + "inference_p95_ms": float( + np.percentile([m["inference_s"] for m in all_metrics], 95) * 1000 + ), + "filter_median_ms": float(np.median([m["filter_s"] for m in all_metrics]) * 1000), + "floor_median_ms": float(np.median([m["floor_s"] for m in all_metrics]) * 1000), + "accepted_floor_frames": sum(m["floor"]["status"] == "accepted" for m in all_metrics), + "viewer_bytes": html_path.stat().st_size, + "voxel_maps": voxel_summary, + "interpretation": "Concatenated point clouds from saved poses, not an occupancy map. Display points are reduced/quantized; cached depths and masks retain full image resolution. Floor extensions are assumed ground, not evidence of free space. recv_time is recorder arrival time, not a sensor synchronization timestamp.", + } + (output / "summary.json").write_text(json.dumps(summary, indent=2) + "\n") + print( + "SUMMARY " + + json.dumps({key: value for key, value in summary.items() if key != "configuration"}), + flush=True, + ) + print(f"HTML: {html_path}", flush=True) + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\nInterrupted; completed frame caches can be resumed.", flush=True) + raise SystemExit(130) diff --git a/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_voxel_map.py b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_voxel_map.py new file mode 100644 index 0000000000000000000000000000000000000000..b0d023bfc634e89603369c59f06487c5d1667039 --- /dev/null +++ b/cases/20261026_goal1012_05/code/stretch_ai/scripts/lingbot_voxel_map.py @@ -0,0 +1,453 @@ +"""Bounded CPU-only surface-voxel memory with sparse projective clearing. + +No ray traversal or dense free-volume reconstruction is performed. Clearing +checks only previously stored surface samples against reliable depth patches. +Unrepresented volume stays unknown; this module is an offline mapping prototype. +""" + +from dataclasses import dataclass +import time + +import numpy as np + + +@dataclass(frozen=True) +class VoxelMapConfig: + voxel_size: float = 0.05 + image_stride: int = 4 + max_update_points: int = 4000 + max_clear_checks: int = 1000 + max_voxels: int = 50000 + radius_m: float = 8.0 + max_depth_m: float = 5.0 + clearing: str = "projective" + clear_margin_m: float = 0.10 + agreement_abs_m: float = 0.04 + agreement_rel: float = 0.02 + + +def voxel_keys(points, size): + cells = np.floor(np.asarray(points, dtype=np.float64) / size).astype(np.int64) + if (np.abs(cells) >= 2**20).any(): + raise ValueError("Coordinates exceed sparse voxel-key bounds") + cells += 2**20 + return (cells[:, 0] << 42) | (cells[:, 1] << 21) | cells[:, 2] + + +def classify_scores(scores, age=None, max_age_s=0.0): + """0 uncertain, 1 supported surface, 2 cleared former surface sample.""" + state = np.zeros(len(scores), dtype=np.uint8) + state[scores >= 0.7] = 1 + state[scores <= -0.7] = 2 + if age is not None and max_age_s > 0: + # An old clearance must not resurrect its deleted surface as a weak + # obstacle. Only a newer hit can restore that voxel. + state[(np.asarray(age) > max_age_s) & (state != 2)] = 0 + return state + + +def depth_limit_mask(depth, raw, max_depth_m): + """Select in-range optical depth without pulling a far sensor reading nearer. + + Missing sensor pixels can still supply uncertain model completions. A + positive raw reading beyond the limit cannot supply even weak occupancy, + regardless of whether refinement has moved it inside the limit. + """ + valid = np.isfinite(depth) & (depth > 0.1) & (depth <= max_depth_m) + return valid & ~(raw > max_depth_m) + + +def clearing_patch_evidence(sensor, prediction, z, config): + """All pixels see beyond the old sample; six of nine must closely agree. + + A denoised/sloping background may disagree at a few pixels even when both + estimates clearly see farther. Missing, near or out-of-range pixels still + veto clearing, including any foreground pixel in either depth image. + """ + valid = np.isfinite(sensor) & np.isfinite(prediction) + valid &= (sensor > 0.1) & (sensor <= config.max_depth_m) + valid &= (prediction > 0.1) & (prediction <= config.max_depth_m) + agreement = ( + np.abs(sensor - prediction) <= config.agreement_abs_m + config.agreement_rel * sensor + ) + margin = config.clear_margin_m + np.sqrt(3) * config.voxel_size / 2 + farther = (sensor > np.asarray(z)[..., None] + margin) & ( + prediction > np.asarray(z)[..., None] + margin + ) + clear = valid.all(axis=-1) & farther.all(axis=-1) & (agreement.sum(axis=-1) >= 6) + return clear, valid, agreement, farther + + +class SurfaceVoxelMap: + fields = { + "ids": (np.uint32, ()), + "points": (np.float32, (3,)), + "colors": (np.uint8, (3,)), + "scores": (np.float32, ()), + "last_seen": (np.float64, ()), + "last_supported": (np.float64, ()), + "last_hit": (np.float64, ()), + "last_frame": (np.uint32, ()), + "evidence_frame": (np.uint32, ()), + "geometry_frame": (np.uint32, ()), + "geometry_support": (np.float32, ()), + "last_hit_support": (np.float32, ()), + "source_raw_depth_m": (np.float32, ()), + "source_refined_depth_m": (np.float32, ()), + } + + def __init__(self, config=VoxelMapConfig()): + if config.voxel_size <= 0 or config.radius_m <= 0 or config.max_voxels < 1: + raise ValueError("Invalid voxel size, radius or map capacity") + if config.image_stride < 1 or config.max_update_points < 1 or config.max_clear_checks < 0: + raise ValueError("Invalid update/clearing budget") + if config.clearing not in ("projective", "none"): + raise ValueError("Clearing must be projective or none") + self.config = config + self.keys = np.empty(0, dtype=np.int64) + self.arrays = { + name: np.empty((0, *shape), dtype=dtype) for name, (dtype, shape) in self.fields.items() + } + self.next_id = 0 + self.clear_cursor = 0 + self.previous_time = -np.inf + self.pixel_grid = None + + def _retain(self, keep): + deleted = self.arrays["ids"][~keep].copy() + self.keys = self.keys[keep] + self.arrays = {name: values[keep] for name, values in self.arrays.items()} + return deleted + + def _aggregate(self, depth, retained, rgb, raw, k, pose, robot_xy): + c = self.config + h, w = depth.shape + if self.pixel_grid is None or self.pixel_grid[0] != (h, w): + v, u = np.mgrid[0 : h : c.image_stride, 0 : w : c.image_stride] + self.pixel_grid = ((h, w), v, u) + _, v, u = self.pixel_grid + z = depth[v, u] + valid = retained[v, u] & depth_limit_mask(z, raw[v, u], c.max_depth_m) + u, v, z = u[valid], v[valid], z[valid] + if len(z) > c.max_update_points: + indices = np.linspace(0, len(z) - 1, c.max_update_points, dtype=int) + u, v, z = u[indices], v[indices], z[indices] + camera = np.column_stack([(u - k[0, 2]) * z / k[0, 0], (v - k[1, 2]) * z / k[1, 1], z]) + world = camera @ pose[:3, :3].T + pose[:3, 3] + local = ((world[:, :2] - robot_xy) ** 2).sum(axis=1) <= c.radius_m**2 + u, v, z, world = u[local], v[local], z[local], world[local] + if not len(world): + return ( + np.empty(0, dtype=np.int64), + world.astype(np.float32), + np.empty((0, 3), dtype=np.uint8), + np.empty(0, dtype=np.float32), + 0, + ) + measurement = raw[v, u] + supported = np.isfinite(measurement) & (measurement > 0.1) & (measurement <= c.max_depth_m) + supported &= np.abs(measurement - z) <= c.agreement_abs_m + c.agreement_rel * z + quality = np.where(supported, 1.0, 0.3) + keys, inverse = np.unique(voxel_keys(world, c.voxel_size), return_inverse=True) + weights = np.bincount(inverse, weights=quality, minlength=len(keys)) + counts = np.bincount(inverse, minlength=len(keys)) + xyz = np.column_stack( + [ + np.bincount(inverse, weights=world[:, j] * quality, minlength=len(keys)) / weights + for j in range(3) + ] + ).astype(np.float32) + rgb_values = rgb[v, u] + colors = np.column_stack( + [ + np.bincount(inverse, weights=rgb_values[:, j] * quality, minlength=len(keys)) + / weights + for j in range(3) + ] + ) + source_support = ( + np.bincount(inverse, weights=supported.astype(float), minlength=len(keys)) / counts + ) + return ( + keys, + xyz, + np.rint(colors).astype(np.uint8), + source_support.astype(np.float32), + len(world), + ) + + def _visible_misses(self, raw, depth, retained, k, pose, hit_keys): + """Capped depth-image comparisons; never enumerate cells along rays.""" + c = self.config + if c.clearing == "none" or c.max_clear_checks == 0 or not len(self.keys): + return np.empty(0, dtype=int), 0 + points = self.arrays["points"] + candidates = np.flatnonzero(self.arrays["scores"] > -0.7) + camera = (points[candidates] - pose[:3, 3]) @ pose[:3, :3] + z = camera[:, 2] + # Insertion and depth-patch validation both limit optical-axis depth, + # not Euclidean ray length. A spherical prefilter stranded off-axis + # samples even when reliable in-range patches contradicted them. + forward = (z > 0.3) & (z <= c.max_depth_m) + camera, candidates, z = camera[forward], candidates[forward], z[forward] + if not len(candidates): + return candidates, 0 + u = np.rint(k[0, 0] * camera[:, 0] / z + k[0, 2]).astype(int) + v = np.rint(k[1, 1] * camera[:, 1] / z + k[1, 2]).astype(int) + h, w = raw.shape + inside = (u >= 1) & (u < w - 1) & (v >= 1) & (v < h - 1) + u, v, z, candidates = u[inside], v[inside], z[inside], candidates[inside] + if not len(candidates): + return candidates, 0 + margin = c.clear_margin_m + np.sqrt(3) * c.voxel_size / 2 + # Cheap centre-pixel comparisons prioritize actually visible + # contradictions, rather than spending the budget on occluded or + # behind-camera samples. Only selected 3x3 patches can clear anything. + sensor, prediction = raw[v, u], depth[v, u] + # The spatial filter selects surface points to *insert*. Its density + # mask cannot veto reliable free-space evidence: a sparse background + # may be filtered out even after a moving foreground object leaves. + # Keep the raw/model agreement, full 3x3 validation and bounded budget. + eligible = np.isfinite(sensor) & np.isfinite(prediction) + eligible &= (sensor > z + margin) & (sensor <= c.max_depth_m) + eligible &= (prediction > z + margin) & (prediction <= c.max_depth_m) + u, v, z, candidates = u[eligible], v[eligible], z[eligible], candidates[eligible] + if len(candidates) > c.max_clear_checks: + positions = (self.clear_cursor + np.arange(c.max_clear_checks)) % len(candidates) + self.clear_cursor = (self.clear_cursor + c.max_clear_checks) % len(candidates) + u, v, z, candidates = u[positions], v[positions], z[positions], candidates[positions] + checked = len(candidates) + du, dv = np.meshgrid([-1, 0, 1], [-1, 0, 1]) + uu, vv = u[:, None] + du.ravel(), v[:, None] + dv.ravel() + sensor = raw[vv, uu] + prediction = depth[vv, uu] + clear, _, _, _ = clearing_patch_evidence(sensor, prediction, z, c) + misses = candidates[clear] + # A hit in this same frame has priority over any clearing check. + if len(misses) and len(hit_keys): + misses = misses[~np.isin(self.keys[misses], hit_keys, assume_unique=True)] + return misses, checked + + def update(self, depth, retained, rgb, raw, k, pose, robot_xy, timestamp, frame_index): + start = time.perf_counter() + c = self.config + if timestamp < self.previous_time: + raise ValueError("Voxel updates must be causal and ordered by timestamp") + if ( + depth.shape != raw.shape + or retained.shape != depth.shape + or rgb.shape[:2] != depth.shape + ): + raise ValueError("RGB-D/mask dimensions differ") + self.previous_time = timestamp + deleted_parts = [] + if len(self.keys): + local = ( + (self.arrays["points"][:, 0] - robot_xy[0]) ** 2 + + (self.arrays["points"][:, 1] - robot_xy[1]) ** 2 + ) <= c.radius_m**2 + if not local.all(): + deleted_parts.append(self._retain(local)) + hit_keys, points, colors, support, sampled = self._aggregate( + depth, retained, rgb, raw, k, pose, robot_xy + ) + clear_start = time.perf_counter() + misses, checks = self._visible_misses(raw, depth, retained, k, pose, hit_keys) + clear_s = time.perf_counter() - clear_start + miss_keys = self.keys[misses].copy() + if len(misses): + # Latest reliable observation overrides accumulated hit evidence. + # _visible_misses requires a raw-supported 3x3 patch beyond the + # old surface; floor elsewhere or occlusion cannot trigger this. + self.arrays["scores"][misses] = -1.0 + self.arrays["last_seen"][misses] = timestamp + self.arrays["last_supported"][misses] = timestamp + self.arrays["last_frame"][misses] = frame_index + self.arrays["evidence_frame"][misses] = frame_index + old_n = len(self.keys) + slots = np.searchsorted(self.keys, hit_keys) + exists = slots < old_n + if old_n: + exists[exists] &= self.keys[slots[exists]] == hit_keys[exists] + new_keys = hit_keys[~exists] + new_count = len(new_keys) + if new_count: + merged = np.union1d(self.keys, new_keys) + old_slots = np.searchsorted(merged, self.keys) + new_slots = np.searchsorted(merged, new_keys) + arrays = {} + for name, (dtype, shape) in self.fields.items(): + values = np.zeros((len(merged), *shape), dtype=dtype) + values[old_slots] = self.arrays[name] + arrays[name] = values + arrays["ids"][new_slots] = np.arange( + self.next_id, self.next_id + new_count, dtype=np.uint32 + ) + self.next_id += new_count + self.keys, self.arrays = merged, arrays + slots = np.searchsorted(self.keys, hit_keys) + if len(hit_keys): + reliable = support >= 0.6 + # Use the newest supported geometry, including height-threshold + # crossings inside the same voxel; averaging can retain obstacles. + alpha = np.where(reliable, 1.0, 0.0).astype(np.float32) + alpha[~exists | (self.arrays["scores"][slots] < 0.7)] = 1.0 + alpha[~exists] = 1.0 + previous = self.arrays["points"][slots] + self.arrays["points"][slots] = alpha[:, None] * points + (1 - alpha[:, None]) * previous + # Preserve the source of the stored geometry, even when weaker + # later completions leave a previously supported point unchanged. + camera = (points - pose[:3, 3]) @ pose[:3, :3] + z = camera[:, 2] + u = np.clip( + np.rint(k[0, 0] * camera[:, 0] / z + k[0, 2]).astype(int), 0, raw.shape[1] - 1 + ) + v = np.clip( + np.rint(k[1, 1] * camera[:, 1] / z + k[1, 2]).astype(int), 0, raw.shape[0] - 1 + ) + sensor = raw[v, u] + sensor = np.where( + np.isfinite(sensor) & (sensor > 0.1) & (sensor <= c.max_depth_m), sensor, 0 + ) + changed_geometry = alpha > 0 + geometry_slots = slots[changed_geometry] + self.arrays["geometry_frame"][geometry_slots] = frame_index + self.arrays["geometry_support"][geometry_slots] = support[changed_geometry] + self.arrays["source_refined_depth_m"][geometry_slots] = z[changed_geometry] + self.arrays["source_raw_depth_m"][geometry_slots] = sensor[changed_geometry] + self.arrays["last_hit_support"][slots] = support + old_colors = self.arrays["colors"][slots] + self.arrays["colors"][slots] = np.rint( + alpha[:, None] * colors + (1 - alpha[:, None]) * old_colors + ).astype(np.uint8) + old_score = self.arrays["scores"][slots] + strong = np.ones(len(slots), dtype=np.float32) + # Repeated model-only completions cannot become independently + # confirmed surfaces just through repetition. + weak = np.where( + np.abs(old_score) >= 0.7, + old_score, + np.minimum(0.65, np.maximum(old_score, 0) + 0.25), + ) + self.arrays["scores"][slots] = np.where(reliable, strong, weak) + self.arrays["last_seen"][slots] = timestamp + self.arrays["last_hit"][slots] = timestamp + self.arrays["last_frame"][slots] = frame_index + supported_slots = slots[reliable] + self.arrays["last_supported"][supported_slots] = timestamp + self.arrays["evidence_frame"][supported_slots] = frame_index + changed_keys = np.union1d(hit_keys, miss_keys) + if len(self.keys) > c.max_voxels: + # Keep the most recently observed surface coverage under pressure. + newest = np.argpartition(self.arrays["last_hit"], -c.max_voxels)[-c.max_voxels :] + keep = np.zeros(len(self.keys), dtype=bool) + keep[newest] = True + deleted_parts.append(self._retain(keep)) + deleted = ( + np.concatenate(deleted_parts).astype(np.uint32) + if deleted_parts + else np.empty(0, dtype=np.uint32) + ) + changed = np.searchsorted(self.keys, changed_keys) + in_bounds = changed < len(self.keys) + changed = changed[in_bounds] + changed = changed[self.keys[changed] == changed_keys[in_bounds]] + state = classify_scores(self.arrays["scores"]) + delta = {name: values[changed].copy() for name, values in self.arrays.items()} + delta["deleted_ids"] = deleted + stats = { + "update_ms": (time.perf_counter() - start) * 1000, + "clearing_ms": clear_s * 1000, + "sampled_points": sampled, + "updated_voxels": len(hit_keys), + "new_voxels": new_count, + "projected_checks": checks, + "depth_limit_kind": "optical_axis", + "clearing_observations": len(misses), + "surface_voxels": int((state == 1).sum()), + "uncertain_voxels": int((state == 0).sum()), + "cleared_voxels": int((state == 2).sum()), + "stored_voxels": len(self.keys), + "evicted_voxels": len(deleted), + "state_array_bytes": sum(values.nbytes for values in self.arrays.values()) + + self.keys.nbytes, + } + return delta, stats + + def reconcile_ground(self, plane, drop_height=0.2, ground_band=0.05): + """Newer measured ground supersedes old below-ground samples in its XY cell. + + A nearer newly measured floor hides an old low sample, so the usual + farther-depth projection test cannot clear that old layer. Compare + bounded stored columns instead. Never erase elevated surfaces or a + same-frame/newer drop, and never use extrapolated/unconfirmed ground. + """ + started = time.perf_counter() + changed = np.empty(0, dtype=int) + if plane is not None and len(self.keys): + a = self.arrays + height = a["points"] @ np.asarray(plane)[:3] + plane[3] + ground = ( + (np.abs(height) <= ground_band) + & (a["scores"] >= 0.7) + & (a["geometry_support"] >= 0.6) + ) + below = (height < -drop_height) & (a["scores"] > -0.7) + if ground.any() and below.any(): + cells = np.floor( + a["points"][:, :2].astype(np.float64) / self.config.voxel_size + ).astype(np.int64) + keys = ((cells[:, 0] + 2**20) << 21) | (cells[:, 1] + 2**20) + proof_keys, inverse = np.unique(keys[ground], return_inverse=True) + proof_time = np.full(len(proof_keys), -np.inf) + np.maximum.at(proof_time, inverse, a["last_supported"][ground]) + latest = a["last_supported"][ground] == proof_time[inverse] + proof_height = np.full(len(proof_keys), np.inf) + np.minimum.at(proof_height, inverse[latest], height[ground][latest]) + proof_frame = np.zeros(len(proof_keys), np.uint32) + np.maximum.at(proof_frame, inverse[latest], a["evidence_frame"][ground][latest]) + candidates = np.flatnonzero(below) + slots = np.searchsorted(proof_keys, keys[candidates]) + match = slots < len(proof_keys) + slots = np.minimum(slots, len(proof_keys) - 1) + match &= proof_keys[slots] == keys[candidates] + # All new measured drop samples win over ground observed in + # that same frame; unknown holes or lower shelves cannot prove + # a floor. Keep a voxel-sized height margin as well. + margin = self.config.clear_margin_m + np.sqrt(3) * self.config.voxel_size / 2 + match &= proof_time[slots] > a["last_hit"][candidates] + match &= proof_height[slots] - height[candidates] > margin + changed, proof = candidates[match], slots[match] + supported_count = int((a["scores"][changed] >= 0.7).sum()) + a["scores"][changed] = -1.0 + a["last_seen"][changed] = proof_time[proof] + a["last_supported"][changed] = proof_time[proof] + a["last_frame"][changed] = proof_frame[proof] + a["evidence_frame"][changed] = proof_frame[proof] + else: + supported_count = 0 + else: + supported_count = 0 + return { + "ground_reconcile_ms": (time.perf_counter() - started) * 1000, + "ground_column_clearing_observations": len(changed), + "ground_column_cleared_supported": supported_count, + "ground_column_cleared_uncertain": len(changed) - supported_count, + "ground_column_cleared_ids": self.arrays["ids"][changed][:16].tolist(), + } + + def snapshot(self, timestamp, max_age_s=15.0): + confirmed = np.abs(self.arrays["scores"]) >= 0.7 + evidence_time = np.where(confirmed, self.arrays["last_supported"], self.arrays["last_seen"]) + age = timestamp - evidence_time + return { + **self.arrays, + "keys": self.keys, + "age_s": age, + "effective_scores": ( + np.where(age > max_age_s, 0, self.arrays["scores"]) + if max_age_s > 0 + else self.arrays["scores"] + ), + "state": classify_scores(self.arrays["scores"], age, max_age_s), + } diff --git a/cases/20261026_goal1012_05/environment/gpu.txt b/cases/20261026_goal1012_05/environment/gpu.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f21625c644284da9c024f225c12e18d47016c7d --- /dev/null +++ b/cases/20261026_goal1012_05/environment/gpu.txt @@ -0,0 +1,2 @@ +name, driver_version, memory.total [MiB] +NVIDIA GeForce RTX 4090 Laptop GPU, 580.178.04, 16376 MiB diff --git a/cases/20261026_goal1012_05/environment/map_metadata_sanitization.json b/cases/20261026_goal1012_05/environment/map_metadata_sanitization.json new file mode 100644 index 0000000000000000000000000000000000000000..675fad6ec6e257311f65e76a22baeb8ef2d67bc9 --- /dev/null +++ b/cases/20261026_goal1012_05/environment/map_metadata_sanitization.json @@ -0,0 +1,7 @@ +{ + "arrays": 50, + "changed_strings": 3, + "original_sha256": "2294d4cbab151e5fe59beade91d02c1bad5401653a683ef808957a5691af890f", + "shared_sha256": "66b9ec777ad19223c100510acebe09a820bf8a382f4299e20fe633b7af6faeff", + "change": "Portable/scrubbed text metadata only; all numeric arrays and other values unchanged." +} diff --git a/cases/20261026_goal1012_05/environment/package_validation.json b/cases/20261026_goal1012_05/environment/package_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1704b7bd86bd00c80bd76cdfb3985e930d2b65 --- /dev/null +++ b/cases/20261026_goal1012_05/environment/package_validation.json @@ -0,0 +1,22 @@ +{ + "extraction_checks_passed": true, + "archives_verified": 9, + "archive_and_member_sha256_checks": "passed by tools/unpack.py", + "all_vggt_manifests": 377, + "actual_model_passes": 376, + "view_references": 2633, + "unique_input_assets": 497, + "raw_rgb_depth_pairs": 749, + "bev_sets": 376, + "packaged_replay_passed": true, + "packaged_start_rejected": true, + "packaged_inspector_passed": true, + "repeated_region_report_identical": true, + "attachment_recheck": { + "nearby_candidates": 13, + "clear_with_retained_evidence": 0 + }, + "secret_and_private_path_scan_passed": true, + "original_recordings_modified": false, + "pretrained_model_weights_included": false +} diff --git a/cases/20261026_goal1012_05/environment/pip_freeze.txt b/cases/20261026_goal1012_05/environment/pip_freeze.txt new file mode 100644 index 0000000000000000000000000000000000000000..640b3f8ffedb7ab01181f180d923c2eb41bc883f --- /dev/null +++ b/cases/20261026_goal1012_05/environment/pip_freeze.txt @@ -0,0 +1,170 @@ +addict==2.4.0 +annotated-doc==0.0.5 +annotated-types==0.8.0 +anyio==4.15.1 +apsw==3.54.1.0 +argcomplete==3.7.2 +asttokens==3.0.2 +attrs==26.1.0 +backports.zstd==1.8.0 +blinker==1.9.0 +certifi==2026.7.22 +cfgv==3.5.0 +charset-normalizer==3.5.2 +click==8.5.0 +cloudpickle==3.1.2 +colorama==0.4.6 +comm==0.2.3 +ConfigArgParse==1.8.0 +contourpy==1.3.3 +-e git+https://github.com/jiaming-ai/CROSS.git@4781371e6f4db4241be0a0df7c238436680ee268#egg=cross +cycler==0.12.1 +dash==4.4.1 +decorator==4.4.2 +-e git+https://github.com/jiaming-ai/CROSS.git@4781371e6f4db4241be0a0df7c238436680ee268#egg=depth_anything_3&subdirectory=third_party/depth-anything-3 +distlib==0.4.4 +e3nn==0.6.0 +einops==0.8.2 +evo==1.38.0 +executing==2.3.0 +fastapi==0.147.0 +fastjsonschema==2.22.2 +filelock==3.32.3 +Flask==3.1.3 +fonttools==4.67.0 +fsspec==2026.7.0 +grpcio==1.84.0 +gtsam==4.2.2 +h11==0.16.0 +hf-xet==1.7.0 +httpcore2==2.13.1 +httpx2==2.13.1 +huggingface_hub==2.2.0 +identify==2.6.20 +idna==3.20 +ImageIO==2.38.1 +imageio-ffmpeg==0.6.0 +importlib_metadata==9.0.1 +iniconfig==2.3.1 +ipython==9.17.1 +ipython_pygments_lexers==1.1.1 +ipywidgets==8.1.9 +itsdangerous==2.2.0 +janus==2.0.0 +jedi==0.20.1 +Jinja2==3.1.6 +joblib==1.6.0 +jsonschema==4.26.0 +jsonschema-specifications==2025.9.1 +jupyter_core==5.9.1 +jupyterlab_widgets==3.0.17 +kiwisolver==1.5.1 +kornia==0.8.3 +kornia_rs==0.2.0 +llvmlite==0.44.0 +loguru==0.7.3 +lz4==4.4.5 +lzfse==0.4.2 +markdown-it-py==4.2.0 +MarkupSafe==3.0.3 +matplotlib==3.11.2 +matplotlib-inline==0.2.2 +mdurl==0.1.2 +moviepy==1.0.3 +mpmath==1.3.0 +narwhals==2.27.1 +natsort==8.4.0 +nbformat==5.11.1 +nest-asyncio==1.6.0 +networkx==3.6.1 +nodeenv==1.11.0 +numba==0.61.2 +numexpr==2.14.2 +numpy==1.26.4 +nvidia-cublas-cu12==12.4.5.8 +nvidia-cuda-cupti-cu12==12.4.127 +nvidia-cuda-nvrtc-cu12==12.4.127 +nvidia-cuda-runtime-cu12==12.4.127 +nvidia-cudnn-cu12==9.1.0.70 +nvidia-cufft-cu12==11.2.1.3 +nvidia-curand-cu12==192.0.2.2 +nvidia-cusolver-cu12==11.6.1.9 +nvidia-cusparse-cu12==12.3.1.170 +nvidia-cusparselt-cu12==0.6.2 +nvidia-nccl-cu12==2.21.5 +nvidia-nvjitlink-cu12==12.4.127 +nvidia-nvtx-cu12==12.4.127 +omegaconf==2.4.0 +open3d==0.20.0 +opencv-contrib-python==4.11.0.86 +opencv-python==4.11.0.86 +opentelemetry-api==1.45.1 +opt-einsum-fx==0.1.4 +opt_einsum==3.4.0 +packaging @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_packaging_1785888127/work +pandas==3.0.6 +parso==0.8.7 +pexpect==4.9.0 +pillow==12.3.0 +pillow_heif==1.8.1 +platformdirs==4.13.0 +plotly==7.1.0 +pluggy==1.7.0 +plyfile==1.1.3 +pre_commit==4.7.0 +proglog==0.1.12 +prompt_toolkit==3.0.53 +psutil==7.2.2 +ptyprocess==0.7.0 +pure_eval==0.2.4 +pyarrow==19.0.1 +pycolmap==4.2.1 +pydantic==2.14.1 +pydantic_core==2.50.1 +Pygments==2.21.0 +pyparsing==3.3.3 +pypose==0.9.5 +pytest==9.1.1 +python-dateutil==2.9.0.post0 +python-discovery==1.6.4 +PyYAML==6.0.3 +pyzmq==27.2.0 +referencing==0.37.0 +requests==2.34.2 +rerun-sdk==0.23.1 +retrying==1.4.2 +rich==15.0.0 +rosbags==0.11.8 +rpds-py==2026.9.1 +ruamel.yaml==0.19.1 +ruff==0.17.0 +safetensors==0.8.0 +scikit-learn==1.9.1 +scipy==1.17.1 +seaborn==0.13.2 +shellingham==1.5.4 +six==1.17.0 +stack-data==0.6.3 +starlette==1.9.0 +sympy==1.13.1 +threadpoolctl==3.7.0 +timm==1.0.30 +torch==2.6.0+cu124 +torchvision==0.21.0+cu124 +tqdm==4.70.1 +traitlets==5.16.1 +trimesh==5.1.1 +triton==3.2.0 +truststore==0.10.5 +typer==0.27.3 +typing-inspection==0.4.4 +typing_extensions==4.16.0 +urllib3==2.8.0 +uvicorn==0.54.0 +-e git+https://github.com/jiaming-ai/CROSS.git@4781371e6f4db4241be0a0df7c238436680ee268#egg=vggt_omega&subdirectory=third_party/vggt-omega +virtualenv==21.14.11 +wcwidth==0.9.2 +Werkzeug==3.1.9 +widgetsnbextension==4.0.16 +xformers==0.0.29.post3 +zipp==4.1.1 diff --git a/cases/20261026_goal1012_05/environment/provenance.json b/cases/20261026_goal1012_05/environment/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..d8908324b81c31fcb80dcb73bed2b7de05ade922 --- /dev/null +++ b/cases/20261026_goal1012_05/environment/provenance.json @@ -0,0 +1,11 @@ +{ + "cross_git_revision": "4781371e6f4db4241be0a0df7c238436680ee268", + "cross_remote": "https://github.com/jiaming-ai/CROSS", + "adapter_git_head": "703d14bc6a5d164824213f0facf2d011aab45950", + "adapter_note": "Relevant uncommitted local adapter source is included; Git HEAD alone is insufficient.", + "python": "3.11.17 (main, Oct 13 2026, 16:45:47) [GCC 15.3.0]", + "binary_assets": "Byte-identical to source recordings; no RGB/tensor/depth recompression.", + "text_redaction": "Session credentials, local absolute paths and private interface IP addresses were scrubbed.", + "models": "Weights are not duplicated. See VGGT provenance for upstream repository, revision and SHA-256.", + "license_note": "Source retains upstream licenses; no new license grant is asserted for the recordings." +} diff --git a/cases/20261026_goal1012_05/environment/source_provenance.json b/cases/20261026_goal1012_05/environment/source_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..ba8ab10a60c82d45f1a40c7781773228159fe6db --- /dev/null +++ b/cases/20261026_goal1012_05/environment/source_provenance.json @@ -0,0 +1,10 @@ +{ + "native_cross_git_revision": "4781371e6f4db4241be0a0df7c238436680ee268", + "recorded_adapter": "Actual pre-run recorded_source snapshot overlaid on unchanged case-02 support code.", + "timing_fix": "Installed for this run; all six survey views completed with zero head cancellations.", + "offline_analysis": "BEV region diagnosis and reference-mask ablation were added after recording.", + "runtime_policy_changes_during_analysis": false, + "query_map": "Complete final native query map and store are included; numeric columns verified unchanged.", + "reference_map": "Same complete phone map as earlier cases, independently downloadable.", + "counterfactuals": "Derived ablation outputs are labeled offline and separated from original vggt_debug." +} diff --git a/cases/20261026_goal1012_05/manifest.json b/cases/20261026_goal1012_05/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9075305cf8fb99cbe11bd0dff9a09ee94ff4f086 --- /dev/null +++ b/cases/20261026_goal1012_05/manifest.json @@ -0,0 +1,21919 @@ +{ + "schema_version": 1, + "case": "stretch_cross_nav_live_20261026_goal1012_05", + "reference_map": "record3d_mapping_20261022_154858", + "archives": [ + { + "path": "archives/run_core.tar.gz", + "bytes": 367815430, + "sha256": "71ab36b2cf266ea5054737b3dddf94b17fe4b2a16651173dc62d7ba752dc1049", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/attachment_recheck_747.json", + "bytes": 2986, + "sha256": "6dbd717673bc85f4e84074189ef6d846408cc22a18e5697b79bd94f820ba486b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/bev_overview.jpg", + "bytes": 176726, + "sha256": "3e0c997ce1afd2c23dbb8a3b6ebed2ca2e4b6cb51a2cf15104c8c50fc4a2bf3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/diagnosis_stdout.log", + "bytes": 2296, + "sha256": "3f3584df7eb8358abb2d9f1feb74d29c105c8346f445f94052f030bcbe5e88b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/occupancy_timeline.csv", + "bytes": 19475, + "sha256": "f51bcd30505943678f2eef7bb4d92c2acfa9aefae2fde248da86faa984751709" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/reference_ablation/head_mask_outputs.npz", + "bytes": 15524162, + "sha256": "de1bfa68797606388c854795452d2b004c4f970e260354b56810ceb8c1eaabd8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/reference_ablation/recomputed_geometry_head_mask_outputs.npz", + "bytes": 13731693, + "sha256": "d27c74eb80db253e3f082a45058b5d182e7c7cfb30e8b2a314e7e1b443bb12b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/reference_ablation/recomputed_geometry_report.json", + "bytes": 3287, + "sha256": "c6abf6652889ea316411366df32c95e91d0ea68772703e1df3cdef78d1f7a0fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/reference_ablation/report.json", + "bytes": 3434, + "sha256": "23e18837a11c22d98dfe529438a0bb9bea8eb5052cb801dc57fb340b8c767b5b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/region_analysis.png", + "bytes": 783347, + "sha256": "7dba4803fb68eaf6c2cc21231de967e33e4ed8505647b2b0fda30c8b6e2c53f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/bev_case_diagnosis/region_report.json", + "bytes": 218445, + "sha256": "e5426064c3618af3de6f3d8cddd174d4d526a6ebf3e54b40e6be953376d70075" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/commands.jsonl", + "bytes": 2843303, + "sha256": "20de091435cd647e517e2ba19906bfa8540d2238e1c0df265aa3dcc85f18c88e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/control.json", + "bytes": 213, + "sha256": "0082225072afbe180a466118571b4bc9ca69279926e0f0cc027eb9f49196639c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/events.jsonl", + "bytes": 4656, + "sha256": "8bd3efb512db0cb0af79ebf9e8583b35ba204b949a123ea32d26e39fbb5da2a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/final_status.json", + "bytes": 50288, + "sha256": "4bd6392a3715b3a7f1dc44e87af57c26401fc6c3e0eedd423cbb6746d2f3be1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000574.npz", + "bytes": 1254777, + "sha256": "b55595ac55aa5f96fa8a0755f5c6840bef993b74d85c769c6598d8c13fffc1d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000578.npz", + "bytes": 1253879, + "sha256": "ce857982456332c9096116aed2e91b3fb0871417eabc7cc2dcc3c7eea5f43b2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000584.npz", + "bytes": 1372315, + "sha256": "b4b9b4f09aa91d032e62fb3ab4ab9c2b037a6917e66b3bc4332e869438551cf3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000588.npz", + "bytes": 1381672, + "sha256": "24bd556491f270d6428f82ab61953833e400ba307a841db09ffb233c19f7d78e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000592.npz", + "bytes": 1370741, + "sha256": "42384ddcd4b7ad484007df11360f50c59d804ece2008dcb2a6f8a7eeb4edb09e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000596.npz", + "bytes": 1290230, + "sha256": "63556021cc2fdcae5d956338c5a9585fe8912be802594dfc1481277c747543a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000601.npz", + "bytes": 1348257, + "sha256": "78e3313ef31309a40087a751fe5ccb7a559b1342ddd1d32f48be6a93cc5f72ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000605.npz", + "bytes": 1353588, + "sha256": "fea928bc86d3c25e91b48cbf04e982d9a96d6a874ba6799240ff5a73d22f0fdd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000610.npz", + "bytes": 1351152, + "sha256": "2784984c1d1dbd46aaf96b3a931670916a9ea50cc8f5f99069fbdc8bce3b74c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000614.npz", + "bytes": 1360503, + "sha256": "e5dca4d9ad0693d5c4b39239ee4d79dbaebdd69b406a0fe0d221cafcf860abbe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000618.npz", + "bytes": 1219615, + "sha256": "bcccb27b12c1e620d727d4805878aace154826a6816a1c8875e84a069851ac56" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000623.npz", + "bytes": 1139785, + "sha256": "1401a3dfb13e5af2e8736116ddd95f1d18a062e9272f1ebcf447b89441eb2c90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000627.npz", + "bytes": 1125542, + "sha256": "057540190796af8e39ed3f540051a984ae752272111b32351405323a3a47371d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000631.npz", + "bytes": 1124414, + "sha256": "a9ffeda074d2de185ecbd004d47e418f537490efc397c73885fb2a2cb38adf92" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000636.npz", + "bytes": 1128553, + "sha256": "a9090d194366b824a064599049a491b4e62f32970788ebbdd2051c4ef653e23a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000640.npz", + "bytes": 1319956, + "sha256": "caeb1f0166ed34433c9a41c1a0c80d83a854b31ffcc6e02fca7c3b549534a26b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000644.npz", + "bytes": 1185570, + "sha256": "455228a38623493012386e2e44d8d505da19d809ef159d7e4348a7933770b936" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000649.npz", + "bytes": 1070730, + "sha256": "b132cb43aa67402b691e75c056ec1ff21fdfa980b9a053f77d93bd62fa21c093" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000654.npz", + "bytes": 1065955, + "sha256": "328ffed6a64b85fbee8e3e2fc26faf545ae4e332156d240540ccf92fb8e13bfc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000658.npz", + "bytes": 1101682, + "sha256": "5832e12918a047f3bda316e2494997c672cbd1192e407fdb30eaba4d2793c7a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000663.npz", + "bytes": 1068489, + "sha256": "c9df8b4dabe9abaacfe86a97e637a074648f33484e66c40b85a656bb1c7f11fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000667.npz", + "bytes": 1094541, + "sha256": "67499320083e261bea4c470f2e9736dedfb46674e52c5b546a722831c510d000" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000671.npz", + "bytes": 1083801, + "sha256": "b2354b82d2e8b513c483e791b9000ee850f0db30ffb2522f4c602455293f9e31" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000676.npz", + "bytes": 1106238, + "sha256": "ade22c2e14d596babb946de95f7991edd1347b6dd1df402d15bd138553a5c609" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000680.npz", + "bytes": 1108488, + "sha256": "b7eeceed013e2000610c35a8788384da2f75a99335401bec3042ca986ab64551" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000685.npz", + "bytes": 1115477, + "sha256": "3e1c140fd88d0b2921ff273aa548eb32919d82f8d327750ab5ac27ea58fa1986" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000690.npz", + "bytes": 1097035, + "sha256": "024537a2d4cf761bad9bda37abb195bab40c4ebb477b3a1271d53701d9320456" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000695.npz", + "bytes": 1321993, + "sha256": "786261c5eb35edc780042da79ae5e50b39bdae0ba71886042a05efa8ed4878d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000700.npz", + "bytes": 1126537, + "sha256": "977ec40056c58e6d24654d06a438f665fe7eb49f6aed89866ea3842c12302868" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000705.npz", + "bytes": 1099719, + "sha256": "f7375e3a59afe984de43e865a7de495b855fa27c7e6778a44899666a276b7b52" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000710.npz", + "bytes": 1107998, + "sha256": "2d16b6dbb2acf1b43ba132e1def41e388e7c8639ace9a68f9dc630abae3b70e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000715.npz", + "bytes": 1111282, + "sha256": "1ed01f6ff1bc896e5067b208aa65c5a5b551c975ceb83916df2875992118b5a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000720.npz", + "bytes": 1296546, + "sha256": "be0bda8c8b90deb5d334e397fdd2f9d500d3cef465d483f48dc5895396df4e47" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000725.npz", + "bytes": 1158918, + "sha256": "68d07863c2fb4a124caf8a1fb935f90065cdf661adb48ec32d80b464c65a4074" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/footprint_evidence/00000742.npz", + "bytes": 1169029, + "sha256": "f3c798ce301bff1cfafabdef05ab86a37a3fa6202703fb7fce34cc138cfe04f9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/latest_plan.json", + "bytes": 42365, + "sha256": "53b90e522f41e718e19db47429fb5c22490247ba76ecd096f5307719653ec368" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/launcher.json", + "bytes": 712, + "sha256": "b380528df4f8835c30367b84c38e8f9b77518aad08192d858f9386cb6c5fd834" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/map.json", + "bytes": 142387, + "sha256": "3885822d32fa48d0c7d4ef34fabba1f32f002237e7bb06b953a5f91259342dde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/graph.json", + "bytes": 1249783, + "sha256": "bef1bcd028f023a2b0ec9acede183a9f70bf8e255fbb0d2c77aed22e46a03592" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/map.pkl", + "bytes": 1258796, + "sha256": "66b9ec777ad19223c100510acebe09a820bf8a382f4299e20fe633b7af6faeff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/map.pkl.store/descriptors.npy", + "bytes": 34865280, + "sha256": "9f552c89ebf5947b6b9829a5684c5d8bd51b27c28b23097c06140f666f5f6684" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/map.pkl.store/images-85869f3a1b874b0d.pack", + "bytes": 180099116, + "sha256": "96a10da2436e1ec3036dbb7c8f90b679e57bac5d016f8547a26ea01a6448013a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/resolved_config.json", + "bytes": 11596, + "sha256": "9904969cbe01abcf4d613cda686cf328b5a5345fb840d42c6cf7cd1cf8e300c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/run.json", + "bytes": 2055, + "sha256": "bab2af4915d1a12bc5e65dc740193374e0e72509a471a5158426e006fcf9023b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/mapping/trajectory.jsonl", + "bytes": 177364, + "sha256": "aaf11797b5536a75001d94aa5dcaf04ae043050cd794bf8d8dbf9d951e5fe709" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/network.jsonl", + "bytes": 7781043, + "sha256": "74e913d16b4232a1973fbacc2921a355238a27fb66c51adeb3e43219ccbaffb8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/observations.jsonl", + "bytes": 10426927, + "sha256": "4f94c9d7f5056a057f7135cddc487cbd1dd6dbfe4b9872aa270c39aef2b3b31e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/operator_monitor.jsonl", + "bytes": 12885, + "sha256": "fdaf4b4bf7253595801b8e0447995f3ade8e5e9aa251776f49bd35328a49e47c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/planner_runtime.json", + "bytes": 370, + "sha256": "e7eb22c7873a7f5a08857eaf68d4ff15bc1fd98ffa3ead8348c76d80db7367e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/preflight_view.jpg", + "bytes": 36348, + "sha256": "5033f925635100aee51b2f605136a4ebe90cbdbdf2593118912b725ce35e0a58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/provenance.json", + "bytes": 2957, + "sha256": "336ddce9f0bc4233f143475c2a4cccb687c770e43f0cc7fca7b247f24d393010" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/scripts/capture_stretch_cross.py", + "bytes": 5825, + "sha256": "7e861070432a0da598c7e4974397c162df0582df0c94da41dd6e09efc7efcf27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/scripts/inspect_stretch_vggt_debug.py", + "bytes": 4631, + "sha256": "5445e49f09b7891d3ecf962aba966bf748dd50cba931df0382e1d416db1f04f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/scripts/live_stretch_cross_nav.py", + "bytes": 59732, + "sha256": "b6efe176c7cc9b0cda4fb62d9e308338e01c24cd0ceb0b9c852ea4b0734e56ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/scripts/view_stretch_cross_nav_live_run.py", + "bytes": 2377, + "sha256": "7b9b7ac8ebdcb8884808a4cf34b4ef0fdf5ee2b042f0ffd81fca16d4e4fefbb9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_control.py", + "bytes": 11273, + "sha256": "7a3c08f8a2032d7fe367b49e7b97fcd6d564ad80991e608675fcc336b01017e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_geometry.py", + "bytes": 1668, + "sha256": "235a2d70fa9a747de21c4478f5676d43211c1451188e83829c085432a5d11310" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_handoff.py", + "bytes": 24115, + "sha256": "bee61e6ce0677ffda2efa836dc14c44ffb0a0adbf4b10b0841de43e73569f6c9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_learned.py", + "bytes": 1996, + "sha256": "b15144072cf25d495fc432d9b0f22abfe40996cf07e0be5e8e47beef0026055b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_recovery.py", + "bytes": 9477, + "sha256": "9ddca6a3f18124eec96edee4558fa568ed7a583c1a6dc20dc709987e9a8d76ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_replay.py", + "bytes": 11226, + "sha256": "b18a7a46290b231b23c611ea34f22c2d542846d4d9e1dd9185086744a81608a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_routing.py", + "bytes": 5791, + "sha256": "f706d7715b2dec1f755997c5c98d1c7d0f93475da23ba026c91b7c080b36138b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_nav_survey.py", + "bytes": 12670, + "sha256": "0373c6ca335999d054caeaf1099c24d42a56e97f0e4b7b098a6bf9368b6a163d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/tests/test_stretch_vggt_debug.py", + "bytes": 11144, + "sha256": "3581f52fa7653cbfdb852f07654dcc5f0f0395133c9d3a81d789a7d3f7f57fda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/cross_run.py", + "bytes": 5150, + "sha256": "96cbcccde95c2b6da8d4cc9cc237ecbdff6604218e59845e92429df9e38ba43b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_control.py", + "bytes": 12419, + "sha256": "09b48f8e6b31d2ab018f12f359ce4db23b35c9d53cd065d6fadfbac55544cb93" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_footprint.py", + "bytes": 4331, + "sha256": "670f0d2a352f836915a0dd8af22ba3f9268fad8fba0ff16c375f76dd759018c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_geometry.py", + "bytes": 4637, + "sha256": "0851f120f415788483d6ef52c4bdb8afd14d9651a1ad4acb87ae19489dd1b3ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_learned.py", + "bytes": 2921, + "sha256": "75facca8ee2cbf17055298bc44301fd9c6c6313e133e7c6a5bedc36ab667710c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_recovery.py", + "bytes": 17986, + "sha256": "189a52c4987f9fd042253ba263b9cd6bcb24a4c79badc46aa43a0cba902d215e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_replay.py", + "bytes": 11248, + "sha256": "8a8b4c95878343eae73605474aa818cb7e283b13c3155b2d2492ddf1c5832570" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_report.py", + "bytes": 21485, + "sha256": "15318ba6d6e7b574c0ba50d49db1ebdbd03c44ff0c0f5e33ff3fb69462d3c4fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_survey.py", + "bytes": 8358, + "sha256": "6725df9d6b83a9bbaf6d7f93d30d0ff16988d5317f6fba1fa958aca720d63e9c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_nav_viewer.py", + "bytes": 8691, + "sha256": "8fdacb65956c47aff77d8f6a19a72960c117a7d89c7a6429f4cf7288dd2b272b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_transport.py", + "bytes": 1097, + "sha256": "dde3814d364392aab6078402199a743b9653cb3b90ebfb5bd2932463930379a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recorded_source/web_console/stretch_vggt_debug.py", + "bytes": 18426, + "sha256": "c9372443e127bbce7e6b7a0a920607c4115cdfa4b3ba0eb98cd1f9a8d282e16b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/recording_validation.json", + "bytes": 1339, + "sha256": "9c0aa8c80abcd19fecd7e1c7ebd5625589ca31a3485c579e561d70715b43f782" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000102/meta.json", + "bytes": 47, + "sha256": "ffa5a9e948ccf0beca0dbbe575208c8b58f2af5f247765e7765577fc095b6e6f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000102/occupancy.png", + "bytes": 105223, + "sha256": "dfd64eb2e0b033241e12aa0d1513b6406567b5ae7c232f8708c9305d75297eb9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000102/uncertainty.png", + "bytes": 113417, + "sha256": "96ce4b30d73999d9be114de4bdc7699638884ccf6c2d6be12ad80939ffc539e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000102/visibility.png", + "bytes": 37970, + "sha256": "99d603010a42e89a65bf587b7c69ec7ac36ec32bdc8b60d6fecf2072e17862a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000109/meta.json", + "bytes": 47, + "sha256": "2d3a1425c06ea0f039b0ea8233ef541d3c650d16d383a3333b906a5cb2e5d13f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000109/occupancy.png", + "bytes": 102857, + "sha256": "0d9ab45be8159b39e695a724fe5e5d383be5b74818f7a5ef17eff4e83ca472a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000109/uncertainty.png", + "bytes": 114260, + "sha256": "a1b0d0f70c5df18a7fae405c4b9362de9dbac1b60d4b2e90171dbfcf923a34a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000109/visibility.png", + "bytes": 38384, + "sha256": "90bcb90837e11baffe34e262af9542d62ff965caf4172e5c395ef84052bf6de7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000113/meta.json", + "bytes": 47, + "sha256": "7664c028c2fb7b395f54d96d7c74e940336395400a2bbdc34a15cae86cb006d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000113/occupancy.png", + "bytes": 101564, + "sha256": "7945553d17c0f180cb02f9c3f438ed566edf12ce0010b0b9dda12426815470d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000113/uncertainty.png", + "bytes": 95010, + "sha256": "11ef962a32eb01cb37bba3c9433e2a673629f19ede53996431b5fda85eb519ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000113/visibility.png", + "bytes": 34199, + "sha256": "2e03cadc8e9843fa0ca74fc77f3798be5fc241cd95e56c32515ca5bdba8529da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000114/meta.json", + "bytes": 47, + "sha256": "f9d8016f4db0b889679291af41286ba7f138bdfb78434bfffc48ffc0d32fe9c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000114/occupancy.png", + "bytes": 102516, + "sha256": "41d90ed448046c367dbefd2f4d02fb6aba6c4f337197678a4374040bcc91a973" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000114/uncertainty.png", + "bytes": 95815, + "sha256": "ce71c95f686b2cdf0b115ce99e23121e989594e75ffb4b53669c74fca6cefe23" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000114/visibility.png", + "bytes": 33921, + "sha256": "ac138c13cb8dbc9bfa9449bc14288f815c1758253770abbaa31584f4b1ac1a96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000115/meta.json", + "bytes": 47, + "sha256": "36defc9575329c60ddf0b1ce2c192ff919f2043bb66f4e559c9a39a6751c7928" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000115/occupancy.png", + "bytes": 102044, + "sha256": "56cb5b6d02f027c5a7c0ea83bfb068ea555bca2ce5b66a493c6ca3c8c58ecff3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000115/uncertainty.png", + "bytes": 93291, + "sha256": "6559b2afdecd5f647f7bda772c992ec18969418f51d46d0987d7d1a330557c9e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000115/visibility.png", + "bytes": 33852, + "sha256": "5c6c491c36853a5c8d38b1c3395305f26d1c7c70c8bef70353d309e4aa4213b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000117/meta.json", + "bytes": 47, + "sha256": "f5c060878c485a4090a3f0d847c4b82d9a4004618c1dadab90349595787e2ee9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000117/occupancy.png", + "bytes": 100745, + "sha256": "6f65eb7dc4a3f34da77226bead6988ed2b5ff531e63ac25e005256fc952052ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000117/uncertainty.png", + "bytes": 93147, + "sha256": "3021f4ff1c966a513763fdde0b15fc01d3f944b4e7e7ba3e838a025bba529bfd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000117/visibility.png", + "bytes": 33915, + "sha256": "08654e951dbe7430bcebb4d85ba4bf848a9e8026e655395af53cee7b659f1648" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000119/meta.json", + "bytes": 47, + "sha256": "679d214d5f8b30a8a1b711550d993595b82c3a8b618eb454de810b28a0ca44c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000119/occupancy.png", + "bytes": 99939, + "sha256": "a34b0d43b2b0192a0d62f5b76722bb67730ff9dea5bc521676381adcc1af41d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000119/uncertainty.png", + "bytes": 92291, + "sha256": "2c064ae01d4a7fc9f3e333d7144e7509abf1a472d1e8e50895536d68afcd2775" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000119/visibility.png", + "bytes": 33694, + "sha256": "08f62edfdebd78a421d717aa74ee073daccfe94a0b7a0252b497ac1b08068b7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000120/meta.json", + "bytes": 47, + "sha256": "81b4b43eb0f7e709ffd5ab9f67c497085dca47e26cdb22de32f43fe7fe991df8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000120/occupancy.png", + "bytes": 101469, + "sha256": "0d307c8c95909a2eec61939f10aaf3d2069219ae4f5638a49545833924f21202" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000120/uncertainty.png", + "bytes": 93931, + "sha256": "2e83be0cbdf0fc0b476e5077f7ba2c3f04be2d24a862562afe7a25a1197e600d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000120/visibility.png", + "bytes": 33894, + "sha256": "c0bd4d8679db322b57fa486c5bdfc497e4cddabf814e6f0a78721fbefca4fd34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000122/meta.json", + "bytes": 47, + "sha256": "c7df2ef4aca68910331867b498079e0ae010703b0801a093272ffe4c589f5fba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000122/occupancy.png", + "bytes": 101609, + "sha256": "cc264c509c067af2bbe4d06ac5c097e8f7478cfa2d8461f5db4f84ea553656b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000122/uncertainty.png", + "bytes": 94331, + "sha256": "73c6684828f62a56cf7738452c5903b2ca974810bf822e175d68e1f57d843de1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000122/visibility.png", + "bytes": 33324, + "sha256": "1b91cf76e9db909fe0c06365ca6b08aecfd4af4ad98ebaaa0d67ec6ed3a7b97d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000123/meta.json", + "bytes": 47, + "sha256": "cab645ff3d01ed0eac7cf9b3a0a1b65c430ea86ebc907ba279dd21562b9c057a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000123/occupancy.png", + "bytes": 102025, + "sha256": "c1fcf62449f63795a81a9eafd471f48e416ef0104db488b4efa55ba9d18ff334" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000123/uncertainty.png", + "bytes": 94824, + "sha256": "69f116df00c4b8ff800132d1d6f94fd7587a58a8e043f593d4ecf13431f2343a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000123/visibility.png", + "bytes": 33593, + "sha256": "fae39c5c5bcbc328e37d36b9d58b2cba6ea23ffe330e969c6ddba9d4452f2f0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000125/meta.json", + "bytes": 47, + "sha256": "7125c1e5860757f5fe96c4c2fe646332e66ef7946e58bdd413e94544da0cba58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000125/occupancy.png", + "bytes": 102030, + "sha256": "c30ac7bf2aa7dcb79a1cbd359fe735156301e86501d0f69afabf5e6bb257dc18" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000125/uncertainty.png", + "bytes": 93440, + "sha256": "98aae29feaa538f45067d576dc75acecfbb57935b7b9dadab6c299ecf1073942" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000125/visibility.png", + "bytes": 33310, + "sha256": "e2edfeb7b94757112cfee2e4c2fd11d37c3ff6218c4916fbaddb87829a7760b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000126/meta.json", + "bytes": 47, + "sha256": "aefffa8624251e93fe219604a4fcb3fb54de5939d09280524552e3077a0c7a4c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000126/occupancy.png", + "bytes": 101521, + "sha256": "14a53d1a739fd42bb06febc354f6490a4ee09835dbd6adac6c3e1d92d88159f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000126/uncertainty.png", + "bytes": 94455, + "sha256": "72bfb5cb08a0b44fcdb877f392ab98647fc81925128637fba22cea09c696dce6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000126/visibility.png", + "bytes": 33758, + "sha256": "932fbb7c6173572e4cb3760640874a55023ff9ea376cd5f6c9626f84707cdffb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000127/meta.json", + "bytes": 47, + "sha256": "23a71ea53b7adea2591e5fad32cc90070246c90682aa367062ca7c18ea2efb5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000127/occupancy.png", + "bytes": 102232, + "sha256": "45e23719005521c124f586a3ee3d03404d95112f166db20db38f4175353360ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000127/uncertainty.png", + "bytes": 94526, + "sha256": "e4b728f783150a0dd02261e59f80d4b526e527eb8a8b5cac5f44c3806820dee1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000127/visibility.png", + "bytes": 33584, + "sha256": "947d4883da1ca4c8d76a72e5fe87702ea1c6f6a102527b2a1d5df28ab1db481e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000128/meta.json", + "bytes": 47, + "sha256": "9ccc3ed6be60512abaf74a3985482b3ce50af51bd02d341d8db140a7b9547fd7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000128/occupancy.png", + "bytes": 101850, + "sha256": "cf0ba6bb2b6456bf22a1674a9628bdf8c96664265d7ec6e824dfd0aa7f55383f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000128/uncertainty.png", + "bytes": 96096, + "sha256": "d1f0273337048b81482a1a127eafbb1282ce2e3a6770153c9fbe8509ac1dc6a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000128/visibility.png", + "bytes": 33285, + "sha256": "cea3a136e7a35783374fa0c74b2980a9b4252ecb6076ded170601bcf53753e45" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000130/meta.json", + "bytes": 47, + "sha256": "689fa0fd010e65dcabc90005b24d058084cdbe2cb26d37ae8d144e48c148e279" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000130/occupancy.png", + "bytes": 101998, + "sha256": "e7f4dd212fec889fd31f84bdd6ec1b53949a68708f7eb7b48f1536ba6049741d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000130/uncertainty.png", + "bytes": 95747, + "sha256": "2d4190a74d099b34e3a4b487f6efa4a9b35e01e5d453d8714aa681766129f2f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000130/visibility.png", + "bytes": 32508, + "sha256": "f1618af30016fd59d5c0dffdad4cbdbc940fc5ae0dc15efc8cbd23959b285ebd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000131/meta.json", + "bytes": 47, + "sha256": "16b296bb94618f84e6dc5aadbc95b1b47bba5bd1fc9ce9eaa71ceef7441cee24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000131/occupancy.png", + "bytes": 102200, + "sha256": "83256ecc04b0dd3d04d3f64b7e3d4c037e66fef943997b71984704339455ce5e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000131/uncertainty.png", + "bytes": 94084, + "sha256": "8311a6f2b273090f5bf84500b12781e4562b5fd84fd28cb6ce4149b4c41d225d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000131/visibility.png", + "bytes": 33236, + "sha256": "5ab9f7b86fa4d772930cddeea2732918f2afe3f7945ed143a1f6f436b5ebda7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000133/meta.json", + "bytes": 47, + "sha256": "49409aa047fc8a44603516cf4aa19fc7a6034f9224088869b907f8ff742b0b71" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000133/occupancy.png", + "bytes": 101148, + "sha256": "e1297c4bc1f815f43757e68ff90707a309c5748494f2779750c8f762d9d8aeaa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000133/uncertainty.png", + "bytes": 93387, + "sha256": "989c2983a77660f1442a0e85e6effefaa37b6d24113d1e5045becc4f9f60b444" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000133/visibility.png", + "bytes": 32585, + "sha256": "a8e97e73bdc56cd25e9b94bb68aae9e8459b7819276b623d42a4caa96e7f6c61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000134/meta.json", + "bytes": 47, + "sha256": "287ef9ae54d00e5930a7997c808c9db3abc0a2e76c61468c12235d5f57ea8d0d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000134/occupancy.png", + "bytes": 100648, + "sha256": "4def34593715a0f04bf8e1d895daeee71deeafd1424ca8aa67340d6f433aa88d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000134/uncertainty.png", + "bytes": 90691, + "sha256": "fa5629c9f1cffb85cb9f51c5ec86c6e316e035b439678c95d701a72f86d062ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000134/visibility.png", + "bytes": 33760, + "sha256": "c94e3894cf0da4c77d7ce73a58f789c6df7995ff46a40083306013a2690d7d01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000136/meta.json", + "bytes": 47, + "sha256": "2d12f36f27fcb2f79cf92b71451a968a6fc7f31b062db9a7c8e2ea11b3cca4a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000136/occupancy.png", + "bytes": 100569, + "sha256": "1905e437d3109bb4db2cbc6c6457af931a042f88b8a2597eb036d9f1a5fc7b3a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000136/uncertainty.png", + "bytes": 91111, + "sha256": "767e8a425a9ea30862416dce5542b35ab60b323723456b6e0372f8a98c6c42da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000136/visibility.png", + "bytes": 34605, + "sha256": "115a7e93dd527b25e3a2ae705557ea87aeb6075dc62537c2fea1855b9c9dbba1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000137/meta.json", + "bytes": 47, + "sha256": "ba22357e12f8478ebc4df2dbbb4acbeb56483332ae2b4b6be7a1093c3d82308e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000137/occupancy.png", + "bytes": 102363, + "sha256": "308149101f04c358c53652c0cc167a78b315b21f42d55d820830d84bf51bab64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000137/uncertainty.png", + "bytes": 93323, + "sha256": "82ade0f97eef6cf70fa501f6de78a767bfbfc5b55de6341e0e0849a5823efaae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000137/visibility.png", + "bytes": 34580, + "sha256": "299587bfa6f04cbf2b308b916a6418866e647ca5cabb07b0402a0cdbaf555027" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000138/meta.json", + "bytes": 47, + "sha256": "09847fbb86dac38165c94423395be38711da90b51036d5fd63ddc59084048f3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000138/occupancy.png", + "bytes": 101952, + "sha256": "6546d69a280a06b3cf08382ff5b3597626a8ad38b07953f0ea04be8d152cc63b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000138/uncertainty.png", + "bytes": 93075, + "sha256": "c287cb7764c129dfd7067c41dc54d415bbed0aa8be5c45b75306fc31c75afb9f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000138/visibility.png", + "bytes": 34288, + "sha256": "1cbeca3a9829b01dd36192e19a1f8c22af12363b33582c92d92460c280915d78" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000140/meta.json", + "bytes": 47, + "sha256": "e837dbfbb702783aebf18a01bff182c4adb2f13a4048c44a703b8106c2d8ddf1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000140/occupancy.png", + "bytes": 102134, + "sha256": "92d460674f9410cf85e03678823234d1904d581db948721571cb2ca586396652" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000140/uncertainty.png", + "bytes": 93927, + "sha256": "4b241ac545d6b045e06007a67b096d7855184e5ea0a4935cd271c175ef47295b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000140/visibility.png", + "bytes": 31468, + "sha256": "26a0a0bb6d2401a77c57a7b13437f768d544bc6d7027ac3dce6d6312eb9bafba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000141/meta.json", + "bytes": 47, + "sha256": "5d37cb138a348cbb7d5ad2bf3c748fca4ee9e9dd5e90fc5969e7a14d4eb7c19c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000141/occupancy.png", + "bytes": 100694, + "sha256": "59aaa5494f7f8649435ef88cdeea40aec2d21cc5b5094a69d0f2ebd4837be2a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000141/uncertainty.png", + "bytes": 92171, + "sha256": "b6bc21279395fa6972f693fc7d0a8f0f8646af1f3fcd05f1e6447b0bff39eef5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000141/visibility.png", + "bytes": 31248, + "sha256": "2acd30c5c2fb1c1c2b747796e0386927e381146c3f1659cccffba33fbbf991c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000142/meta.json", + "bytes": 47, + "sha256": "715445f83ddb899437c6fac8e8301c324e87b9ce7a6f67ad1c357142219bba48" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000142/occupancy.png", + "bytes": 100556, + "sha256": "f6ec049a233b716d03569a641d67be41f90600d6d20889c01351b51b9c598f80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000142/uncertainty.png", + "bytes": 91235, + "sha256": "b5b950e827bec6525843c5996745fc413e954561581e487da3d3c8685c25aa64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000142/visibility.png", + "bytes": 31135, + "sha256": "3701e6838d827bea4bff812df7d609a6696f140e1fc9831542839d4947ad0c98" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000144/meta.json", + "bytes": 47, + "sha256": "058901079b4808708587b70a589deb54b3636eee3d932c2990723a904f990247" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000144/occupancy.png", + "bytes": 99045, + "sha256": "468fde6fd094655d0e1c133ea78a774cd118d47f44e8953e7ad9dd5decb79242" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000144/uncertainty.png", + "bytes": 89725, + "sha256": "9061a278abaeb0f573d1831860c684c2afef109c5bebd174d2056a049f60f744" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000144/visibility.png", + "bytes": 31068, + "sha256": "509e1ef1ba06cf0ed8122f9870ea66dc1734b81ecd7621ce14ac83d8588648c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000145/meta.json", + "bytes": 47, + "sha256": "82e1cf696632d1fac71e1ed4021fc209e14efd339db9bb4bd27b8ff9b76543a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000145/occupancy.png", + "bytes": 98729, + "sha256": "f5d975163a65e49fe949a68fb80c716d07f1e996aedf31059b84d6e4aede95f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000145/uncertainty.png", + "bytes": 88750, + "sha256": "171ad17f0fd986c10c28d90657a4bb55bd3775049d60eef17b8870594097212d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000145/visibility.png", + "bytes": 31218, + "sha256": "289e03b76b4c731356a71b30d56cae2630f03dbe8a05f8e0440799424642d69e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000147/meta.json", + "bytes": 47, + "sha256": "a1c088102361abe1c0e9e4baecdf38a6794e9eb30df1b44887672b348924a25a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000147/occupancy.png", + "bytes": 98303, + "sha256": "7ae511f73aaf76e8aab1780bbb9128271e3b8076347db193c9846bf03b57d2ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000147/uncertainty.png", + "bytes": 88579, + "sha256": "0bc63932008befe5bb9e91bae88220af9068fb076c0caedb714b89de1736c11d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000147/visibility.png", + "bytes": 31131, + "sha256": "5f16fb777746f236aa119a896e8376e57852455f0725c519faf9347f0e6d26db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000148/meta.json", + "bytes": 47, + "sha256": "27444fed34bdbfa7194d4f61fe6ca9f1dc549e0a66ceb7cdf1a3aaabb612b7e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000148/occupancy.png", + "bytes": 99037, + "sha256": "acb73f398fb688f6b49266c60461f6c8c7b52f8a658254272b07ce77c1df757c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000148/uncertainty.png", + "bytes": 89321, + "sha256": "10d0e7a6f9235bef5449c80e3bd6ba37fc10a576c1593620a1b2fa0c1d6716b5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000148/visibility.png", + "bytes": 31289, + "sha256": "45e6de07661388273cbb54674d4610e09339c94d48b083a150713c8e62eca486" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000150/meta.json", + "bytes": 47, + "sha256": "b1b3eecb2c7c3fba1ec0203a3dcbf6f68c02be6c33e8797e893b00ec35511e8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000150/occupancy.png", + "bytes": 100697, + "sha256": "8463a4c5605ec05de53c5cbea1d11d3bee8a3e692ff3b3e68c4cb4afac93108b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000150/uncertainty.png", + "bytes": 91397, + "sha256": "4d404d3e613d6225f89c80ab4d96e3575b12e769f2690e8f334d4d6286ff3856" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000150/visibility.png", + "bytes": 31024, + "sha256": "6762cbb896e59cced9fff60a448658ff2bbc4735c0a12a9fc4033c2fac6c285b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000151/meta.json", + "bytes": 47, + "sha256": "34a7604639a244a70de2793a20af7962bc0365b9238108112709605ee8055961" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000151/occupancy.png", + "bytes": 100728, + "sha256": "e4631e17867679705d65e400acab6f949c9c27b9ca47c01e3a78b075f8c2a1a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000151/uncertainty.png", + "bytes": 91394, + "sha256": "4b63a7b0598bd6ecf752901faab0fb88eef756b9db22af74940769b4625fc552" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000151/visibility.png", + "bytes": 31209, + "sha256": "7dc2f12530e1b3fbaef892b2dcd08dd1226e543e387830fad54189a4bf30bef7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000153/meta.json", + "bytes": 47, + "sha256": "d939d4cacf1889e1a07fbff8452300785c78c1591b211751fcd4076769635df8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000153/occupancy.png", + "bytes": 100097, + "sha256": "0d237084335af1e0a9060aba810777c169b86587d8f2c1070c5e9aa37cd41277" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000153/uncertainty.png", + "bytes": 90997, + "sha256": "cf8efc7e0fa9cca47efaec724a32c99e68d91dd448e4ffa4d754be570070af13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000153/visibility.png", + "bytes": 31557, + "sha256": "ccecc1c2e854e7897bd473b620da943816fdd36d34e97732abae7e5959232fda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000154/meta.json", + "bytes": 47, + "sha256": "b268de5932c4774d0718cbcf01441a9305fb65983b47be848c6527f051641e93" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000154/occupancy.png", + "bytes": 99833, + "sha256": "a4866e7b955865a92cab071d4d35c9b04058decc005f13d1bf398cf9693dc255" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000154/uncertainty.png", + "bytes": 90438, + "sha256": "843e061c8b2947507c3e46642b91b7e9c341558125f6616674e4225163d145b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000154/visibility.png", + "bytes": 31319, + "sha256": "7ae3788d7894e6014e64b6d7a1bd88d0322562fd6b162f54f46e2d3b01bc41a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000155/meta.json", + "bytes": 47, + "sha256": "7b92a0cb03aafd02b8272c4d50867eb807e97e754c299a0a306d430c29670f32" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000155/occupancy.png", + "bytes": 99893, + "sha256": "67314ac9d89d52fcfb2a4dda85c3ce2345680b55462fe23efb9be07643358e25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000155/uncertainty.png", + "bytes": 91225, + "sha256": "eea48a4aba8a90015b2f3497c52e8ffc6654dd5aa2120f403aef581510d6a5a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000155/visibility.png", + "bytes": 31399, + "sha256": "1dfe0f1b551e76b80902e518c647d868984f795cbbd2ae15eb1d5f09dd488612" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000157/meta.json", + "bytes": 47, + "sha256": "4584c8f44ecd4a8da17265bf9d29ff30c73e4eb9a9bc7c0546d87938c32b2dfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000157/occupancy.png", + "bytes": 99956, + "sha256": "b0ebd4a79083ac294f11da289957361546e56c12e14e6e42ac805da40130ed1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000157/uncertainty.png", + "bytes": 91185, + "sha256": "6d2986042b004baca6e0fa10eeee9436214320747d524076d4a4a6848e7e441e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000157/visibility.png", + "bytes": 31305, + "sha256": "dfe26da7a8a7d1f7cebfa94f1332321ddbf19d80bbf67cd5da67f7ef87af97a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000158/meta.json", + "bytes": 47, + "sha256": "f9a9797bcfdf01c9a53a77732e0b87aa1cb52e8f11b0cca0e61de1e6f63f10cb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000158/occupancy.png", + "bytes": 100870, + "sha256": "4df1c7bbed3eeb8df4cbdfcfe2bd9bf3001f313c7443fbd71f1836841d196ba4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000158/uncertainty.png", + "bytes": 91515, + "sha256": "bb6e3b58df3e60801c7508af26d25ab9e279aad464fd829a7056c5db7c9bf587" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000158/visibility.png", + "bytes": 31199, + "sha256": "474ada3e0598ccd02ccb9812f1bf2087294fc72ebfc63e0204366dcd93413783" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000160/meta.json", + "bytes": 47, + "sha256": "b2c6dd8612d05b2673f14bb0edf6da1afdf513d34db4a529ee2ad4d831dd9d05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000160/occupancy.png", + "bytes": 100359, + "sha256": "8a83934e913e7bb42aa6c5515cb7a3ef927ed02344798358c0bb1ef8625f11b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000160/uncertainty.png", + "bytes": 91129, + "sha256": "74e8ced2258adec013dd787ffe65d50f6fec2f62e596410709c45ffd3ab0416b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000160/visibility.png", + "bytes": 31102, + "sha256": "ab741cc29f7a43f117242614fabeef416bcfc07bebcca8d99b1ba1e8f7dff13f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000161/meta.json", + "bytes": 47, + "sha256": "5ac7c06f4fa03a436925cf41474519077599a8ba3af0aaba96b98fd1984d882b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000161/occupancy.png", + "bytes": 100238, + "sha256": "535a72395999c31747380a77cb177368e68d4142150b874e02008d2adb3ba11c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000161/uncertainty.png", + "bytes": 90669, + "sha256": "442c754fcfd48ba384fa93a881240d721bcca1402b428ae22f2a4b2469b897cb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000161/visibility.png", + "bytes": 31054, + "sha256": "407774a1bfd51f87bf3df0e48d23de9062f402882a9c8adc40e8a1129ae30ac2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000163/meta.json", + "bytes": 47, + "sha256": "6d39264f39e565f1002b9798ea45e20f899ae8b2cc423be31d6ffc759a9b63f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000163/occupancy.png", + "bytes": 101065, + "sha256": "13d336d9d5e176f665a988cde6834e184c79c5f46416cfccfe203da6c69eb1bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000163/uncertainty.png", + "bytes": 92647, + "sha256": "a8a711d6d286fccfbffe669df8a99eb05882d79f3ef5db7967ad124e082e185e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000163/visibility.png", + "bytes": 30893, + "sha256": "d7a36446232d8bf57c7e1c28f32bca429afb6caa749ac24a6757cbadac9ae9dc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000165/meta.json", + "bytes": 47, + "sha256": "099c971acd249b6da2c0a812b09b80bfcfe2c4096afd8b1c68326ae2ac7881ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000165/occupancy.png", + "bytes": 99242, + "sha256": "bca19190c4e4ed0bcf300287271968a8d22115eb99343d7bbc643ef7cb7bd7d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000165/uncertainty.png", + "bytes": 89967, + "sha256": "454a18bce303d265d83d3ce9e8987b2e9d60e6ebb8dd83ba3b95063ac5dae7e0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000165/visibility.png", + "bytes": 31547, + "sha256": "a0a51e9879c2a29216c6c05393fd942d5d3c1ea448eca709386e9d964d857a23" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000166/meta.json", + "bytes": 47, + "sha256": "13e86c42b2a68833a0e57ca0eba3b56249b4058d25a792c8047cba476e862f51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000166/occupancy.png", + "bytes": 100429, + "sha256": "1f731511f5edc4808cf00fb38479f05e197de0fa8f37f6e7c564d1f528963ac3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000166/uncertainty.png", + "bytes": 90997, + "sha256": "d33e2f1b5f8c9010c5aa5fda27b1112aa8ada7b30215ea4f7b5b5d923abdf35b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000166/visibility.png", + "bytes": 31307, + "sha256": "39302c7a2baa70630828f2578c6a4589ee3ba7492d3fb2c6153647afa86681f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000167/meta.json", + "bytes": 47, + "sha256": "aaa504d9db49bc497fc13cd3246e2a003ebcec94288b1f2508312be5185a8a26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000167/occupancy.png", + "bytes": 101338, + "sha256": "6c04e81b78b826764053357ceeeeaad121c9210a113f5a11428aa8a437ac5a24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000167/uncertainty.png", + "bytes": 92315, + "sha256": "e78ad8d8a99af72a301185de72e5367ea3a5f3e842f7ddb957cfc5ce4e4bf633" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000167/visibility.png", + "bytes": 31195, + "sha256": "f25a8772902533c6011c49400460865d0ad59319af9d384f3e6415e3bdd2d3c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000169/meta.json", + "bytes": 47, + "sha256": "62e0385b1fd0337e55cbc20261b554b2780eacd1a8272bea8333c14a143d9f5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000169/occupancy.png", + "bytes": 100853, + "sha256": "2ec8c1bab5f7987ad58e6497515309a18b185a5bbc1f7c865956ea4eb3bc0f36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000169/uncertainty.png", + "bytes": 92328, + "sha256": "2cdcb52a20e8e94a17387e45771a72ded43e90e825d7bea81fe5b089c9309856" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000169/visibility.png", + "bytes": 31244, + "sha256": "2e2836e56d2e501b09ec7173d1762bd3c755fdad8855694455acb7e4849868a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000171/meta.json", + "bytes": 47, + "sha256": "35b86f5fe75db122d1ae953fef09bc0c5bf543311c4c3ee6aeacf692795d76f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000171/occupancy.png", + "bytes": 99724, + "sha256": "3ebcf143c1d6d026ec9ca0ee042e653cb32e563373046c3e819bf71fb9273caf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000171/uncertainty.png", + "bytes": 90279, + "sha256": "43d99737f535618496535e6ebe2a35c63ebb7da468a954db15c09b2df287bb91" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000171/visibility.png", + "bytes": 31295, + "sha256": "25d8f73dfb8f65d39dd6a535f833bbe0f3c8e70de31e527da0ea89dd2e7f3661" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000172/meta.json", + "bytes": 47, + "sha256": "b8b15457b49fbbe3e6631206de1b8014cece78520645b5ab318f45341b780bf1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000172/occupancy.png", + "bytes": 100267, + "sha256": "2c660e6e7945d1ae9c8608cf9f5765fcb5a804b8712af99dd6944447c9d5ab8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000172/uncertainty.png", + "bytes": 91262, + "sha256": "2e1f42d0b3f2b0dcbc812ba02b36f95359f47e12755a34bbe2ffd62a998c0b90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000172/visibility.png", + "bytes": 31685, + "sha256": "8b501eb8a5b744271ddc25e6e676e9afab12eeecee14e59caae816eec776d2ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000174/meta.json", + "bytes": 47, + "sha256": "fd474a902fad7d93821543b1b0caef1f3207f08c2e45ba3c9337fc1f9c40ed12" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000174/occupancy.png", + "bytes": 100696, + "sha256": "0b970bc1cbdbc150fa68188fe7ff674b749b09c4e3c5af33aaa1c8b0e7777c73" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000174/uncertainty.png", + "bytes": 92247, + "sha256": "e988989b5273c22d68698a54e811e8cb2b76d190b90b3158b4c65d8e3566803e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000174/visibility.png", + "bytes": 31143, + "sha256": "6334cd155c2f9e7465bd5ee3ae0f8257d15ce0d3ee4bd82666f1dca86c1e2b52" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000175/meta.json", + "bytes": 47, + "sha256": "ffb8c2dbfda96a2c3c4bdffdbeed70a7c76ef0721aa7511832d11db3f05fc48b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000175/occupancy.png", + "bytes": 100700, + "sha256": "eb7acc059a9753cc57ef2ea018b608da509d2d09773e61779565e3614ab12ada" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000175/uncertainty.png", + "bytes": 91235, + "sha256": "44ee80041c73232662819d6d778f48ca6810b36b387ead3806d07a0eab9603a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000175/visibility.png", + "bytes": 31178, + "sha256": "09edefa1631b1ecb5912bab774616c8fb9f4c3e79c09928f30b34a4f55a027f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000177/meta.json", + "bytes": 47, + "sha256": "6e05ff3426e4f818170ef7364170f0e3a9aa97544834356f03b7cd43b9350b57" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000177/occupancy.png", + "bytes": 100124, + "sha256": "a437fcb88c29628f626204e4d982948b26c889d243490a404b4b14f6a2c557bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000177/uncertainty.png", + "bytes": 90393, + "sha256": "ee3dab0b0590314e6dd2ef684632c37b03caeb0db625a354bf01e191878af875" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000177/visibility.png", + "bytes": 31218, + "sha256": "28d583ac3e8d06d7652498a1b37522dee2e50db7a2e1bd583df92a06621d28ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000178/meta.json", + "bytes": 47, + "sha256": "7f97547069d57eb07fedbfb20496ca9f80b3f36900ca8f7e83708614171935a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000178/occupancy.png", + "bytes": 100449, + "sha256": "48290ad3d260ad8cc2da37553f56b94cb4eb3680562b662808327a755838c275" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000178/uncertainty.png", + "bytes": 91059, + "sha256": "6041369205065110d2e676aefbdb4a7e059945278e83460196dbba2aab65a74a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000178/visibility.png", + "bytes": 31080, + "sha256": "afc49ce6e287c5bb60fdf90a111beb2984d6a412ed7ce0ec947489c707a14437" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000180/meta.json", + "bytes": 47, + "sha256": "2c9a173fa32813a6e74edfa601feefdf68aeb9118f9acf38a390518a959b07b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000180/occupancy.png", + "bytes": 99602, + "sha256": "9cdea67d9f35bf700c653f6fb274928e86d2190f2ecb0e8d2bf3fa0ead701620" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000180/uncertainty.png", + "bytes": 89979, + "sha256": "7f5c842cc057c739a7d10bfa9c0b06c235d75ebd0d14cc054715aad9ee2a7550" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000180/visibility.png", + "bytes": 31180, + "sha256": "96cb557373c53d87f8402ef7048a65cf0c393437778e59867759de5bb89d96ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000181/meta.json", + "bytes": 47, + "sha256": "5e2a86167d01426915d2ac75c2d575edd18534cf0408fc440aeec1b0607489c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000181/occupancy.png", + "bytes": 99914, + "sha256": "5b7840eba6f3a93ff76ebd1e9e003f251b6657b7a3c9014e8f3216db169e7439" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000181/uncertainty.png", + "bytes": 90718, + "sha256": "42bee44cdc7dded29ce221ec1573549cf23b4fa03583616b77295ed011451cd1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000181/visibility.png", + "bytes": 31444, + "sha256": "536ecc19302451724223c58920943c2da25874646b23db8908c389193f1f78a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000183/meta.json", + "bytes": 47, + "sha256": "e8bbf81e45b96b2cdfaaaed0e390d1642cae501a9485328b17cffdb8081efeea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000183/occupancy.png", + "bytes": 101092, + "sha256": "d979505dd208a693ffbe7325b915ad69b52cfef9db5df7c6ad859f0490517d05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000183/uncertainty.png", + "bytes": 92172, + "sha256": "7ab47bbce34df9d8b41d8186df9a629e0c34ee3fce5dc088941275d85e50af94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000183/visibility.png", + "bytes": 31497, + "sha256": "a22f7cf787deebd0c6ef8f5ca9e02312601214a6f508fe3ba01eb48fe2bff080" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000184/meta.json", + "bytes": 47, + "sha256": "54343b73750221ac2334bbe7899441c3bc405f16436dc67807170e567c31a6cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000184/occupancy.png", + "bytes": 99559, + "sha256": "6a1e2fb9c526589d8892f017b0ca83a6bf660c29eb7f8973d0b1a6f62efdd64d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000184/uncertainty.png", + "bytes": 89890, + "sha256": "34d90f5f8f71a3a1f52457d8fb1e92e76832c28bf2775d0f8144d830b572288a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000184/visibility.png", + "bytes": 31286, + "sha256": "e4d4e2233bf2929aec1e0e1a286be84f035c6ecf29b7fb73deff27dcd645e1e0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000186/meta.json", + "bytes": 47, + "sha256": "e6723bb4f4423fb52120f69b43d0fee792c80ea80606a4a6c9e495a53b9af3bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000186/occupancy.png", + "bytes": 99831, + "sha256": "16262c8533bda54e49d3c53b665b41d8608ef846c81372fb5a3da9797db0de17" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000186/uncertainty.png", + "bytes": 90248, + "sha256": "d9c610cc1f24051aacf8e869e1710b79d9265b5da5a4b161f642f4ec8ae83d96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000186/visibility.png", + "bytes": 31266, + "sha256": "ed3529b9ec582609a82901406135e7c4d0d86f8b7ffa5e24b4c8d4d42e1a3670" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000187/meta.json", + "bytes": 47, + "sha256": "58e904d6f125eb09fe9ca179dfd884b1a0d1bfbfeb34c1d78cc6381d35859682" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000187/occupancy.png", + "bytes": 100189, + "sha256": "abe9c71072f098fdb90d0eed0a7d65c27a2c3f1e924aa893fd72615b618ec754" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000187/uncertainty.png", + "bytes": 90800, + "sha256": "40c9d1623a1556216de91efe762a9561ff4f65de1b7a420924ed38f4a219ea34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000187/visibility.png", + "bytes": 31224, + "sha256": "29228c036a6b612dcf55e557530ec09bedc06330735462dca206dd9fb582d304" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000189/meta.json", + "bytes": 47, + "sha256": "3e058f342f140c8f2d62f29a089deefd0e1e5d413aed555304138711710e5e01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000189/occupancy.png", + "bytes": 98998, + "sha256": "cd599cc4ba45a2b7aad26675f1a21824cf9aa4911416d15f110967df12def9ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000189/uncertainty.png", + "bytes": 89639, + "sha256": "5aabccb3798e87e24b063fbd677dc2b17d18be3d37b9940a7fcfaa12c64dd49d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000189/visibility.png", + "bytes": 31102, + "sha256": "e52822d62a8feb3d763fabc6282126e94471a954a7c656119f5e14a038d06b73" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000191/meta.json", + "bytes": 47, + "sha256": "df0ea7420f7e57094c3ee39be5e2998a1ca3bfbff2938c20f9eb49b7808099de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000191/occupancy.png", + "bytes": 99351, + "sha256": "8417483af744e9e16a8ce0922e7c44b3b33cf7c98f19ca8efbc56323ce8cdf5d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000191/uncertainty.png", + "bytes": 89685, + "sha256": "cdcfdb1340cf4e0d20b364620e8433cd228c85698782759e72e1aa72adf5e53a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000191/visibility.png", + "bytes": 31116, + "sha256": "623c439030fcd301c23faa037d1b536508bb5e8810946e2ba0a6d31c94883a33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000192/meta.json", + "bytes": 47, + "sha256": "29921c4117d85a1d0d41e85122f5b7f35747854e1fe02683b7a95657b9af4dde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000192/occupancy.png", + "bytes": 100464, + "sha256": "dcb61baf04bc093a37636776527804136a77d4ea865d0e1ef34842172d23e5b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000192/uncertainty.png", + "bytes": 91475, + "sha256": "ab26f4ab292d280fed994b399540f0fe4f92453cb063050ae623d2eb0830a1e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000192/visibility.png", + "bytes": 31328, + "sha256": "4fb10e8801544ee1ed70cef4e7c84d4e5ead3f504ea738d04ecec1e3b4d95ace" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000194/meta.json", + "bytes": 47, + "sha256": "8c6f4e473cf2dd7d029e624015cc72612e2199a7a58bc1968fac01b58f6957b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000194/occupancy.png", + "bytes": 100740, + "sha256": "54efb44d84a3e598e4ae65beaa5c419060e0a928f61e7f9dc107390974d4c05f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000194/uncertainty.png", + "bytes": 92391, + "sha256": "9a31183fbfd4c4e45dc393649949deba09513d9260595f54e892c57f7ac05136" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000194/visibility.png", + "bytes": 31349, + "sha256": "d13bbc2b84b90ab0c774762913f63da5df8c2a80d4100abcad9453518af43047" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000195/meta.json", + "bytes": 47, + "sha256": "b53c249a4ba0896d16fa633d547cefc844b75c5c86fcdc4dfaa0c91d46c5939d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000195/occupancy.png", + "bytes": 100029, + "sha256": "3a1e80c6f0ea1226c828c54149965092a13caeb9d9e4d9a1706e5cd17d15861c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000195/uncertainty.png", + "bytes": 91069, + "sha256": "922d3cef843b735d3a2cf038c6763487b870c3509ef5a0d40a8bb161c6921988" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000195/visibility.png", + "bytes": 31275, + "sha256": "285fd89e3d91f62df61bd99705ac91257fae6fa94f4d8c7718730430e91950c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000197/meta.json", + "bytes": 47, + "sha256": "73a392a796e90451c384019d1db802fb25a9e98f3091eb5aaf2b311fb1bdc61f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000197/occupancy.png", + "bytes": 101211, + "sha256": "aae824c58f0240d47af3e5c6f0eb430874164691763d1b7f42f1ab0b2bba7961" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000197/uncertainty.png", + "bytes": 91869, + "sha256": "444620aab6c24b34fb5fd26e728a110cd0e4da7399626ac3ffdd333222a5394e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000197/visibility.png", + "bytes": 31338, + "sha256": "0d504e11f0e57f578807245e469ea6c1c4b02b79855620fbcdc5113dc0f2cd5e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000198/meta.json", + "bytes": 47, + "sha256": "f82a995d840abe51ca07328879099b74c7f6c5e4f551e716ae4b705615c49c22" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000198/occupancy.png", + "bytes": 101023, + "sha256": "4714db660d62c52d2016e04bc7fb4858cfe174542d6c632f71f7c6691aace0f9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000198/uncertainty.png", + "bytes": 91870, + "sha256": "74b8b52a932607b5521d2a712eb86f1684365dd672764f0dd6d138acd5f3177c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000198/visibility.png", + "bytes": 31023, + "sha256": "5f1baf2ec9e9b5be7d524402da6ad9ae7648607e7209037f9915cd4cd0f19125" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000200/meta.json", + "bytes": 47, + "sha256": "f25972961aaa27b4f330bae93c6d32a0d667c4aae2850dd5772b8ef3f2bd9d33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000200/occupancy.png", + "bytes": 100502, + "sha256": "771a2a377250ffb87bbad9a53e5882f65a133ffdbcb9b5e2596a94d2d55b4a70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000200/uncertainty.png", + "bytes": 90854, + "sha256": "c752b7ebd494c9be3b57bf158c2b28c2b7aed1d1fa69e9fb892dc642b8b53c67" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000200/visibility.png", + "bytes": 31497, + "sha256": "eb6d51bb75fa4c8b81ce577009dcf7022e042a3210332d74e0575cc2a916ead3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000201/meta.json", + "bytes": 47, + "sha256": "834fdfec6ba8a395cad3890e72e35ecc35cbbf75c292bb7e2ebcc97afe14968b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000201/occupancy.png", + "bytes": 99910, + "sha256": "660aa783781c395bb59fcb418eb7aeea73c381862f025da93f665814a6928bc4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000201/uncertainty.png", + "bytes": 90140, + "sha256": "66e24a1afabcf6bcf60655f2ab7b03ef8ccb4712c80aaa40f1993eabd04d9c80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000201/visibility.png", + "bytes": 30843, + "sha256": "cc45fd78e9d0dcbe8d0f9562e3223a666c0731ce1a1b72fbeedc78333e630dbb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000203/meta.json", + "bytes": 47, + "sha256": "fd67062682b648af544bb1e70324f19477218517558f7c6624706137813bb51e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000203/occupancy.png", + "bytes": 98657, + "sha256": "643bbe90bda8ff84ca2232eac37b22264e1bf5563c27d23af38a4688138dcc60" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000203/uncertainty.png", + "bytes": 88860, + "sha256": "ef6e8dad4b0a9e9e2558871255a23c3270a03a70899fb3b071aff893bf250f74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000203/visibility.png", + "bytes": 31542, + "sha256": "588fac30f5476973d6adbde445227fba58198fb81efedab2053cfb4ded308aa5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000204/meta.json", + "bytes": 47, + "sha256": "21a44b8977eab1d20122b0225b851faaa4b0988f6f2b7ee3707e8490ff66d686" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000204/occupancy.png", + "bytes": 100967, + "sha256": "38cdc798de81500dbdb8808e815fde3c6565abc36be0763a83f7223d1847dfb3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000204/uncertainty.png", + "bytes": 92525, + "sha256": "37eea382d8faf96e74774b750e1829c49bde1f53727a6100db59018fb14e4754" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000204/visibility.png", + "bytes": 31214, + "sha256": "edfd27487add5610a8105eca5742f9411381469b0fca85e369a1a0cc21769373" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000206/meta.json", + "bytes": 47, + "sha256": "d97de1dc9d0ac779b342c8f907d2fbdcbd85048b30245e5181e35d0d21a140a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000206/occupancy.png", + "bytes": 99833, + "sha256": "041f22248125228a9a0ad729d502496259e3590faa303d30c9b378dae3147497" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000206/uncertainty.png", + "bytes": 90264, + "sha256": "aac1e71cc0f20820e907dba46aabfa38f8f30083f177a7abe78b5c35f5312356" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000206/visibility.png", + "bytes": 31134, + "sha256": "273745036c9a70f1736afe2bc73941803d9f400465ce5fd621f37f3491dc47a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000207/meta.json", + "bytes": 47, + "sha256": "b312db497f2260d38f679af0c41f508939e245c41ee876e8395b0f8e7be9fa74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000207/occupancy.png", + "bytes": 99650, + "sha256": "eb97839bde5f038e4cdbc40ae5a2365658d31ddf1f84aaccd1728e8d0f1bc6cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000207/uncertainty.png", + "bytes": 90524, + "sha256": "66333b0a37a76159dfe768cfef2885574e22bb997db7cb7e98e0f39be4774a9d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000207/visibility.png", + "bytes": 31172, + "sha256": "c1f0b4001c75464d6c36265297778c039dd9cabe1de4fa0631d2895da09a84d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000209/meta.json", + "bytes": 47, + "sha256": "a25d29584cfa2c5d42ba20a72ff414a80d1ded261950974723907726502cff49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000209/occupancy.png", + "bytes": 100185, + "sha256": "4c88f6b9d07a47a6cec8b2da1ea14e8cafde54fe1069508760e4999b80b11678" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000209/uncertainty.png", + "bytes": 91385, + "sha256": "dc125af6d0ce34af05d18908a37f1656ad31d372bee21e257186546edc538792" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000209/visibility.png", + "bytes": 31195, + "sha256": "dc3e5cbe491392215f4050c26ba63ea7272b20358bf52ca135b3a188cfc882f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000210/meta.json", + "bytes": 47, + "sha256": "45ad16d6d7038a61da8f4a11b9146f6f7c13965e1d797b2fbcd07ceb0bd94c41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000210/occupancy.png", + "bytes": 99726, + "sha256": "209321fa2cedcf56f8f5ca9b3625ded26bd4a4b59bb2c84bc4e44a4ec1eb6645" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000210/uncertainty.png", + "bytes": 90439, + "sha256": "8d191b6fbab5d6d774d004d6108dd71c0bdcdf1e2a6a8c65885554ca6091dfc8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000210/visibility.png", + "bytes": 31250, + "sha256": "f77fc47a828169e3a74be655b5108a3bac6c2cc9e3d992cc42609f5eb62b55f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000212/meta.json", + "bytes": 47, + "sha256": "50138af8a50f5c9a04a0e77702618e1b37127ec86b80f3bce2697e85b3b9858f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000212/occupancy.png", + "bytes": 100598, + "sha256": "b103c34c7f821965aa0da538846759c83994d63dbc79992bfbbaa45d6d5faae4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000212/uncertainty.png", + "bytes": 91642, + "sha256": "af7d61a04c7f7ecd13d2f9b96d0d98d15c4ff313bd84fae97bb9445f7d03deb3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000212/visibility.png", + "bytes": 31425, + "sha256": "1595991f09bda73e29e6793f0e2e46d49e27e0635bf3f703b6347c1d1f7837eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000213/meta.json", + "bytes": 47, + "sha256": "db1a3a89791e783f4a5fef681bbfd4cbed93787a756919aa4ebac8aa0e44f096" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000213/occupancy.png", + "bytes": 99601, + "sha256": "abd20a63839d929b2c8acd45a191be062e870fdfa81e70a6d5a363ff7070c0fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000213/uncertainty.png", + "bytes": 89444, + "sha256": "1329418d23f974d3d5e85d0441f0ae075b5f9b053d2de7311e7db5a4775b5413" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000213/visibility.png", + "bytes": 31096, + "sha256": "46d3ad588c567794ed7a87aae6c79c50522259af2d3c4b9842ca1007f3b6068a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000215/meta.json", + "bytes": 47, + "sha256": "7913c2db263a41f675d2b84e029d83a74a30de4fc7e0586eeec4fddb236947aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000215/occupancy.png", + "bytes": 99575, + "sha256": "9a15e1f8f509983252846cf166eb2141ca301721438725635b55d7644b4dae3b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000215/uncertainty.png", + "bytes": 89817, + "sha256": "734f5ea580bd43275e8ece583ff3a8e188b2ceacbd9551d2e0187e0aac509643" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000215/visibility.png", + "bytes": 31045, + "sha256": "ac2a7dac806a6347689b89f753014f9ce2f0dfd2cca126c8318ee30f03813b44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000216/meta.json", + "bytes": 47, + "sha256": "0971bc9c2a2c3983e8865f9237ce324c63d14fd221b835543b507b40c0d0351a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000216/occupancy.png", + "bytes": 99740, + "sha256": "1241f661eea00a1e6884440e9d5084e07a6bfb5b1efb50bd5b4dc9d0d2b71371" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000216/uncertainty.png", + "bytes": 90178, + "sha256": "ab7fc6ec2aa1d2a25569eab60c7197d2d22889863aeda9d3c71335fa94df3878" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000216/visibility.png", + "bytes": 31525, + "sha256": "0f8d66495e11ef79c17025a6a5a991756c54256118500595089487bdd1ec5483" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000218/meta.json", + "bytes": 47, + "sha256": "117e716fdbeb04978ed9152ad982baaabe512ad230e71ae14d9587b0a4fb667c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000218/occupancy.png", + "bytes": 99611, + "sha256": "6d1a82c6b20b425b7259a7635086d2ce6cc8f5581a7d5bc088d2121a2e98129c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000218/uncertainty.png", + "bytes": 90396, + "sha256": "9b50e7dd5e14d01fa635b99dde35d53686e7237f7e42743b13bc7a1c9f381fed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000218/visibility.png", + "bytes": 31137, + "sha256": "985902dda0d4fabca27f36e067a32e3ad494ff02b38acde0930a31185e73126a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000219/meta.json", + "bytes": 47, + "sha256": "b275314eaf7c90504040c87fa46bb81610bdaebc3ce7cd7f9b31087abd0a55ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000219/occupancy.png", + "bytes": 100432, + "sha256": "58e9dadeab13c28b87d993c4d7786ee320e0c1d2c901523ddb301e9ce18aaecf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000219/uncertainty.png", + "bytes": 90885, + "sha256": "08258a7cce2d1b529fdcc2372c18cf811cc61fb45b8f77a070be2c9a9fb67dd1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000219/visibility.png", + "bytes": 30814, + "sha256": "f32c38f6982d50ba74f5e9c46b66e8c838fca544f8d66c2d06f940f43895a108" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000221/meta.json", + "bytes": 47, + "sha256": "43e3dc83a6f4857cdb0ef0b661c89a51553b497ff50f33e1adc405a8ea8cb1e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000221/occupancy.png", + "bytes": 99407, + "sha256": "a37daff7baa6d3fb5ad2d1ea907c4ae1f50d8435ffe6dbc65947e78afca9c4ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000221/uncertainty.png", + "bytes": 89886, + "sha256": "06c56a68cf4e532fd94dcda96ee0d5a7260f40bed3e41afcaf50ce1f15c6112a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000221/visibility.png", + "bytes": 31290, + "sha256": "45ae5ea26ecf0edc6931f0374a7d9f832674c3b9fdc7c10d2f0b8670486a6dfa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000222/meta.json", + "bytes": 47, + "sha256": "54551f7f2a3832639aba3a5d4eabe48e13f3b9281bf33a61ef6a206b143b54bc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000222/occupancy.png", + "bytes": 99670, + "sha256": "7d41bf27873f74cd57efb9bc349e5eb000ef03e96461b5fe99c44529f615ff6c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000222/uncertainty.png", + "bytes": 89994, + "sha256": "d57eea090d673c52f05eb9b39553c732ec3c3ca540d3736f81f2e9cfdeba5b72" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000222/visibility.png", + "bytes": 31041, + "sha256": "d8975c0804410014c1aebdf9000316b34c697f7b3ce3102bd16fd16269438f0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000224/meta.json", + "bytes": 47, + "sha256": "c706bc078b7096665258573871aade58428ba69f0104de6ee4202a216d41e899" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000224/occupancy.png", + "bytes": 100562, + "sha256": "d847e7ad9958dd56c13b6e2256dcbf7f6c38b7d3f86b50d64b385bc09c8f2562" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000224/uncertainty.png", + "bytes": 91498, + "sha256": "f3514f952e434c16464047e091f9e4cfa059e00750910ad8f4c361348fa5a320" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000224/visibility.png", + "bytes": 31389, + "sha256": "a94aac5991d35d83aef2555cf62d151a083f2fef9783f5deb9331e6776cf08da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000225/meta.json", + "bytes": 47, + "sha256": "529c9504420b84a2a9215c402fc7bfa11b84ee18750a049499095a652e8d77ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000225/occupancy.png", + "bytes": 99818, + "sha256": "a4e70a2e6ae195923b96daa4513cf7c21006137c66511989358647e2d320f40e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000225/uncertainty.png", + "bytes": 90482, + "sha256": "3e3a3e6f1a9f5110e6c627b7d56c4c29ffd906677f4a7c0b5fdb485afa44438c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000225/visibility.png", + "bytes": 31349, + "sha256": "af08b75a53644a3a15f691675974c8117f5dd3a6cbd8a3c93bec03cb7bf96423" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000227/meta.json", + "bytes": 47, + "sha256": "25a853d2e1272b53e875fad7e213e86c58371d25f0b3af9fda3eac495049f739" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000227/occupancy.png", + "bytes": 99822, + "sha256": "d5893b5bbc0bc0bace717a5826639acb598bc7862303faf9bb979b37bace4768" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000227/uncertainty.png", + "bytes": 90245, + "sha256": "9f98d03e8d6e527fa9a0789b3a7811e7fb6500d272c5beb21bc7e096c3926278" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000227/visibility.png", + "bytes": 31110, + "sha256": "5acb4dc29d68ffec0e9328c356a1c72bdd979fbdd83c392a45f5de0dec4e2719" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000228/meta.json", + "bytes": 47, + "sha256": "4d05dd5045231fcb1cacd20ac25494ab8040a3a71fc15877f323964df1555eb1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000228/occupancy.png", + "bytes": 100495, + "sha256": "1d7f3aef30a1b5ce3962810bba3b783afc52820c69ba0885ab369f421ad55f58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000228/uncertainty.png", + "bytes": 91270, + "sha256": "df07c159178122e334a53a9595bde9f95cdc57194274262a49a4192bc9a43543" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000228/visibility.png", + "bytes": 31364, + "sha256": "265ed6a55738ee9365fe3c1c9c0373ed8535256a144fa614617ca38fac62d604" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000230/meta.json", + "bytes": 47, + "sha256": "e6ab08dd5f32433a41534afe8c74c705499e5677b2ffb4fff80d5febaa5bd6f9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000230/occupancy.png", + "bytes": 100180, + "sha256": "501856fec4997cdb82f650819223cc75e5f081da6c33280dabdf7a1a5b60c328" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000230/uncertainty.png", + "bytes": 90698, + "sha256": "b8fc137634cefd18466fa580d52b7d6f5af9d67eca3df0d486ab2401f4727a7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000230/visibility.png", + "bytes": 31301, + "sha256": "2a1b5d32f7f9081e303a1e1203ade524de62838e4f65f5ca0631d8ce9710466b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000231/meta.json", + "bytes": 47, + "sha256": "d65976d9d07fded85087b983af1374c537c9212ee01bdb7eb293ac1858948b3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000231/occupancy.png", + "bytes": 100113, + "sha256": "ea5c1b2ea121f9c2765e550d70a3ba9281da27a0107bb507990c0f77dbea0f81" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000231/uncertainty.png", + "bytes": 90636, + "sha256": "6ed19e7b3d79b717dff714509d02570a320a9211fe74f16588a9a10e42cb1469" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000231/visibility.png", + "bytes": 31468, + "sha256": "fe0a8c6902883f899655f01f35e8c27be1b2249d47ab8af3403ba1d881c60eec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000233/meta.json", + "bytes": 47, + "sha256": "bd922816fbca5e45becb3c11ba9a7fc0d2b29d02df6374cacf88e25c6628de16" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000233/occupancy.png", + "bytes": 99129, + "sha256": "acded9c98103dcfd24399b928eea4aad293b8cbfa3795dcfa23da1f75fd943c7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000233/uncertainty.png", + "bytes": 89316, + "sha256": "68877aaf13b07bbb141628b1c27b2f58cce4a53f7c2d8586218c9ead993325fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000233/visibility.png", + "bytes": 31214, + "sha256": "41c774e57000983fd94138d80e97bd2cb9ac0fb162a4810f6ac36693b0e69c14" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000234/meta.json", + "bytes": 47, + "sha256": "e9424dc58f201b6f095effe72cceb0d36ecc25fca263e55df0423d099cdf29e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000234/occupancy.png", + "bytes": 99878, + "sha256": "348f926aaecda1ff5f825e34b927bc1c264cf7e670b42027ac9b19c551ad128f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000234/uncertainty.png", + "bytes": 90652, + "sha256": "646862fbe42ece3f39948666e6b04f84fe235ff792f52fbf58b0d8b263235676" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000234/visibility.png", + "bytes": 30863, + "sha256": "b174a8596780ce001e48b65b6e24fd3e89ccdfde2bd272c30e6a7d643b9ce2c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000236/meta.json", + "bytes": 47, + "sha256": "50eecbb2e8079a0c83d2b67baa91d6557f9934f946560c0686d679a0ece2d97f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000236/occupancy.png", + "bytes": 100680, + "sha256": "31de74c336ad11217a4d6a9d7b9bbdcf24faf12f48a4d49f8253375c7027e2ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000236/uncertainty.png", + "bytes": 92346, + "sha256": "9dd6c1bbaa4ad5793d4ab6ef82277c8311f4a446f7c46ea46e47a04465eaa21b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000236/visibility.png", + "bytes": 31465, + "sha256": "c3c64a7401fdb87322a552532af46db5c5d6497fab6ef4e73823d173be555114" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000237/meta.json", + "bytes": 47, + "sha256": "f4f38042ac893339fdcd5eebe1b038f2dab33df639457f42ec84b39a970acd1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000237/occupancy.png", + "bytes": 99410, + "sha256": "31f8ff2bbc90f3283fe5afc7d85b9ea01b681ceba35fafb33f4c7f2ed7f92d4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000237/uncertainty.png", + "bytes": 89428, + "sha256": "42a91eb62974e4eae476cc8b7bb6741dce5d1d6be1781568699cdb4a58306179" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000237/visibility.png", + "bytes": 31355, + "sha256": "285de6cb345c5e8cf7e441ba390299831edde0ae4be735e594ff3bded2f8db95" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000239/meta.json", + "bytes": 47, + "sha256": "cc8ab25352fc817b36971ba782dd494a54ebc90c77c121b3a1fd3233459d76b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000239/occupancy.png", + "bytes": 100060, + "sha256": "b3d1b382d877e27715b0eff3ccf06ac4e596b82090c835bedca5d234bf81509a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000239/uncertainty.png", + "bytes": 90446, + "sha256": "24a800b4cf11aa9023e4084e400b616b7f2ae8bfbb82d91ced0afe81b5616e62" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000239/visibility.png", + "bytes": 31281, + "sha256": "52fd1f8627dbfbfcc2a2bee85ba12f946dbd74726ebc0aa94b11be8876557178" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000240/meta.json", + "bytes": 47, + "sha256": "4d37e47e2f7f25f466c7a1cc96e55652bf8af780e60c72f33faad66144dcbfcb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000240/occupancy.png", + "bytes": 101823, + "sha256": "37ed6126b316d238de3f6a119e17c376b6b54e1fe156faed19eec3303c39f1b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000240/uncertainty.png", + "bytes": 93073, + "sha256": "49033d901aa7a5b64fea4f5294413d747f7eb2af9954f77d9cd8f330ee1e464d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000240/visibility.png", + "bytes": 31339, + "sha256": "8776c1d2533479579647bfe6f721536110d164b01fb57d83852324623b30ef4c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000242/meta.json", + "bytes": 47, + "sha256": "23d703400d6342ff8bbe00f5425ba14bf955f48d0df3eca659ea1049329e14c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000242/occupancy.png", + "bytes": 100435, + "sha256": "0510ac2e872f402996adcc330a2d4f376244e0cfc8f7f7acb001d18b2e4c6d51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000242/uncertainty.png", + "bytes": 91450, + "sha256": "4936dedd42761a59854029a131f65c6fa10aad0c36c265196670f447b0c095b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000242/visibility.png", + "bytes": 31230, + "sha256": "a5de852666365a5c691403f97d78348ad918b29b5cb13e0208197422c721d563" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000243/meta.json", + "bytes": 47, + "sha256": "00a8a65094780d287b995adcdf8f7c389bee43e8aea0541f9f1f37b7e831446e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000243/occupancy.png", + "bytes": 99419, + "sha256": "1c734f6078bb56634613e33d61d826769fca363bd0e48d7af9b8386962cea621" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000243/uncertainty.png", + "bytes": 89730, + "sha256": "1889ce465bf1a0a8cce04cbd8d667553cafa4265ce0db203f1fd5ab652b1b837" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000243/visibility.png", + "bytes": 31259, + "sha256": "6e25b3863784382ba56c0096f672b5080c6a01337b46f88064f0c433756bf5d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000245/meta.json", + "bytes": 47, + "sha256": "ed3336f43582a0a4a06ae192d2d8e085eedec680edb54498bdd633ae6403aebb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000245/occupancy.png", + "bytes": 98806, + "sha256": "5d31ff6b308d3fed58b5eba1aae5e77d3ad186dd80c70d9ca7a1aa07a7e0a0aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000245/uncertainty.png", + "bytes": 89033, + "sha256": "11b57808d12babab0a7670e2218eb03138ebdabcf7e3f1bc2b253bee4158ef00" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000245/visibility.png", + "bytes": 31150, + "sha256": "84cda6dc12838c7e56477cbc5fc30b7d105a9aec8ad186908b689249a6d5079a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000246/meta.json", + "bytes": 47, + "sha256": "b7c598d5d1f642a6ce75e01b0a6a76d3f5aa5fa9bef0db55cfb33ce437b27cbb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000246/occupancy.png", + "bytes": 99907, + "sha256": "3955fc6c5def74a4c8b7022b8103bd9d8e5eb7250e33b11f2e13dbe897ad0cf3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000246/uncertainty.png", + "bytes": 90739, + "sha256": "e634c6cc37f52f189a744318780e3cdb1c2f36ad2ed47203f94dde4907b66d9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000246/visibility.png", + "bytes": 31176, + "sha256": "54fad1d3ddd3d58f739956ac5c38dbd740e4a0fd3ac030118798cdf2e673828d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000248/meta.json", + "bytes": 47, + "sha256": "c588f597d10cfd743809f538c2361459dd67a7f0e09ee17280cd27b2fc5f58b8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000248/occupancy.png", + "bytes": 99469, + "sha256": "25b66c47dce908cca58ca3e5ad1011dc23770a31a8845483fea2d06b17cd0379" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000248/uncertainty.png", + "bytes": 89841, + "sha256": "97ff0ba15ce604dd25d9c057459d31dde3291afabf130e01332b3b032902a5a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000248/visibility.png", + "bytes": 31106, + "sha256": "86f71be5c436efafb5100e910efd69e63a689409d05401888a0558c03c5a6d4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000249/meta.json", + "bytes": 47, + "sha256": "3c8032cfa71b2bcd217fc3306b0ef2cce37b15b5d284af47a0ed30643ce1796a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000249/occupancy.png", + "bytes": 99153, + "sha256": "7570980fb850eaf32f83e5418e78538411fd212cc5bd1963e07ae8e6a7513d13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000249/uncertainty.png", + "bytes": 89236, + "sha256": "8ae5732ac0d5c2fe44140eec93e5ae03406da365517a2cc121d60a86e28c2a6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000249/visibility.png", + "bytes": 31322, + "sha256": "33b9a21c165266a6d1389b1199e3831d9a9d412bb5f22a056011ca22238570bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000251/meta.json", + "bytes": 47, + "sha256": "fc47e54bf46af11f3d750168e72d12def58039727fb3f9863198e77883655cbb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000251/occupancy.png", + "bytes": 100179, + "sha256": "cbdb59f604e211bbe7f444342a57031692c7adebd16a7240f8b62bf2a147677d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000251/uncertainty.png", + "bytes": 90954, + "sha256": "e19a9c7d2fa206778e5ffd192830845693e191a5b98b526dda1a2a2a4478871a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000251/visibility.png", + "bytes": 31247, + "sha256": "63ed496db4f49a752635019603a375ce14705bcaf8a9c13fa18a254564a2b2fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000252/meta.json", + "bytes": 47, + "sha256": "7e2c7f1de68f7fc65423305b24e07ff2daf7608eb7174f2d102b87cf159be54f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000252/occupancy.png", + "bytes": 99377, + "sha256": "849108e08392e6f7976276e53548924a8714e7b94a86ec0df7114ea63baae684" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000252/uncertainty.png", + "bytes": 89786, + "sha256": "02e3ee60aee4f32b4c93ad1d404d087c4004c513a606b49f91c97fb771fe6e66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000252/visibility.png", + "bytes": 31122, + "sha256": "d02d7d393004d1f45431100b193015f3764dcc4e7d383b632029401e3f0cc10b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000254/meta.json", + "bytes": 47, + "sha256": "14ee00fcc4c25f318458c0349939ae23ac0fc17a822198aa5e9306c25ab5be44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000254/occupancy.png", + "bytes": 99605, + "sha256": "09934d404c2e4c25e00f04bf34b433785a98fb9ec63d3f36bdd7280721c2e88b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000254/uncertainty.png", + "bytes": 89800, + "sha256": "9ee7841f4adc1fb7019b3176c8e599d9021c482d5931562616abf9c5299308b5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000254/visibility.png", + "bytes": 31489, + "sha256": "d0474b29d4be17f3b91c00e471bcfb36f142a8014a835c51645881cf2781ee0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000255/meta.json", + "bytes": 47, + "sha256": "b9ef9922983ab7ba51a392a7be836c309b47c8023b3f860ca3e4799b7401de42" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000255/occupancy.png", + "bytes": 100808, + "sha256": "ea7d27c263f5584bba3b8cc0a50df2a4a4e06f027e12477892d969e2d10ef54d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000255/uncertainty.png", + "bytes": 91998, + "sha256": "8cb9cd11ab268cea881d31ea26cd934f498ec462d61aab746d2be50da6907881" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000255/visibility.png", + "bytes": 31330, + "sha256": "53c2814fde8ce0c970855c828e99c06eb44a96be865fe14fe33ae565c6e668b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000257/meta.json", + "bytes": 47, + "sha256": "d0e915c3f376ca499fe8fde20b9632c7ff905c11e10b308ef0af3a4e05dbd7c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000257/occupancy.png", + "bytes": 100997, + "sha256": "984ec309b4aec86b70f528fb6339bf6050a250d391d8b7bbbb04337b3ec4ba1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000257/uncertainty.png", + "bytes": 91762, + "sha256": "f05a06bb980187457a0ef08a753e6db3a2e0db214361c91e9f903b73995edcd7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000257/visibility.png", + "bytes": 31469, + "sha256": "7bd9cae82312b3be458d66dc8799327943c76de8d56a68bf9029ad02c4fda0bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000258/meta.json", + "bytes": 47, + "sha256": "a2c026a696650282a7ff09f0dbaa968b3c9f5f7e63ad61f5bf7a2f6b7177b7ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000258/occupancy.png", + "bytes": 99738, + "sha256": "8d51828b25917f78431e0cec551286c648c261329e84e6e46988d8c8e140530b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000258/uncertainty.png", + "bytes": 90351, + "sha256": "612f5336e4bcd1774074b98aa3b5c7b903d2ae3d15dc028f9af44fea423dc567" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000258/visibility.png", + "bytes": 31140, + "sha256": "f4fb14dd126c75ff7a20c747e5d53c387cee5a7cc25c6c044301841990392a55" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000260/meta.json", + "bytes": 47, + "sha256": "4bd4515fcb1d0cef29869edb9af0b6a778035f1e66597acd2486fa0062253024" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000260/occupancy.png", + "bytes": 100118, + "sha256": "016c71a93ecabee787cfa2fdac122f9ef8b942fa961bf07068e78101469d0de6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000260/uncertainty.png", + "bytes": 90604, + "sha256": "fb0eee3e6aacf14ea29c15276006576c802608cedf54188265a85d4192bdac0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000260/visibility.png", + "bytes": 31302, + "sha256": "c738c87cadd1eb2d05e4a9459f6e8cae8363967a99e557bfd84ec1d47e61dfb0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000261/meta.json", + "bytes": 47, + "sha256": "b79f4974d19192b1054a9a322e06b65f42161ceacc3e20e838fcffafee8a7f69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000261/occupancy.png", + "bytes": 98689, + "sha256": "abd82e4b8d5f0c456438aec1eb46e9a3b54993eb3735ccf150b7a40a785adeaa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000261/uncertainty.png", + "bytes": 88696, + "sha256": "6b1942598ffab8702dde11e0eeea871b5e41a12d4d3c3258124e987079124e61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000261/visibility.png", + "bytes": 31102, + "sha256": "98327c231b4e903c0d440d74e32c6743f02dde0452e471a1dd288f7e4dfc8386" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000263/meta.json", + "bytes": 47, + "sha256": "cdc230427a669b6f47075b54a92cc6cc7b5f6eaf0ead00b800f40654acc51f1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000263/occupancy.png", + "bytes": 99685, + "sha256": "0a42cba6008a845c16b421f68c2c2604e9c71669902ddb50d96e5032610ce75f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000263/uncertainty.png", + "bytes": 90206, + "sha256": "78d7e826e7fd447b01407a2b0e79bd367fdb1b9ff2d5dc10a68ea49722d3eda8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000263/visibility.png", + "bytes": 31044, + "sha256": "38cbe528e5ce6e29bea449faad7ddde7a6a1e257f27250d421439f79d9214931" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000264/meta.json", + "bytes": 47, + "sha256": "fc174ea149bc08395f7fb06d541d6ff17bd07fa3c13779ce1ba29f7f295c07ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000264/occupancy.png", + "bytes": 100114, + "sha256": "e31ac716368eee6c65fc86ff626c4f998e6f4d27d3c9449abc659001bcaa0214" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000264/uncertainty.png", + "bytes": 90158, + "sha256": "8aec0e527878b3a71ebe513efb3dd8fc2b8efcc5a651483c9e8379ff1cf79fe1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000264/visibility.png", + "bytes": 31223, + "sha256": "c06e919e52ea933b71d9f3a0fd2c7ab481f276fcbea74e73457a3b4ab509adeb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000266/meta.json", + "bytes": 47, + "sha256": "58c9997294c063581dc3e5683c1049f1a71155e35d5f1a0d7f0e4b79b46548b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000266/occupancy.png", + "bytes": 99888, + "sha256": "7172f3941b06be8d04d5c5d79708dd44b324b3bbaa72798c4d51cdbccb2bc8df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000266/uncertainty.png", + "bytes": 90437, + "sha256": "27efa748372244e9f3303def32cc24f4d256b79010832e765cd768ef9f4a1097" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000266/visibility.png", + "bytes": 31291, + "sha256": "be94bbb97f4dee7ae9e06f39e2b4254bdb4dffe9f3bc29e6b3c2bb02c2054d38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000268/meta.json", + "bytes": 47, + "sha256": "1b9df7c5fea153f19cf819541a15121b8d79926c3e7c8968c4f39436b821997f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000268/occupancy.png", + "bytes": 99539, + "sha256": "a2acc54681427f698529197e22afe87bc7275ab70ea7e94678e83f02ffccdf4a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000268/uncertainty.png", + "bytes": 90144, + "sha256": "c70e4145910fee2092b82f968df69b2709134e503a04925c1fa6eaede942312e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000268/visibility.png", + "bytes": 31255, + "sha256": "6cc671841744d38ae09a03c583e11e5b2c41c32a76985c2850b2b99c81595045" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000269/meta.json", + "bytes": 47, + "sha256": "05433ac8de04be99bbd14e156d216c78f9ee0698ff633fbc981483666c6eacc3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000269/occupancy.png", + "bytes": 100430, + "sha256": "d55354ace279b79c0c39af029c269d8499867f943dbed85171d8c7e94e4e9b2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000269/uncertainty.png", + "bytes": 91340, + "sha256": "8e1030e96bd5eb550f55c318501d23ca976855f24adb38308cb20257273767e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000269/visibility.png", + "bytes": 31230, + "sha256": "4482f71d9b0fcdbb6266e990336cac49aed837a7d77ad3820e1bcad01f2c47a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000271/meta.json", + "bytes": 47, + "sha256": "1cef78f09d1184b9b6f205c4046d036bd41eac89bb45e090f35543643d68b667" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000271/occupancy.png", + "bytes": 100651, + "sha256": "510b71022260ded9d4a7ce3a21dadb4305aee17b33f590c3360d5d2e4a70da29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000271/uncertainty.png", + "bytes": 91427, + "sha256": "bdf16a41637ee537866801a75c27a7100c29bbff8ba9c52fec1b96846d9caae1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000271/visibility.png", + "bytes": 31255, + "sha256": "f6146f1f9ac8eb4b266cdbc50203298e657c3d6f12ffe6d2205570a652ec129d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000272/meta.json", + "bytes": 47, + "sha256": "3161333be77b70a28b4f95deb0d825e2e4c04d2bbb76eeccd1c53a6a1251605c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000272/occupancy.png", + "bytes": 100683, + "sha256": "3089c91c3c30cfc583490aeae15dddc7286c1b5fece8defd08d81840d5949258" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000272/uncertainty.png", + "bytes": 91463, + "sha256": "6cd1dce776ff44a2729ae7b18414e1a1b6a5468725dd781ed943366b3201952c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000272/visibility.png", + "bytes": 31207, + "sha256": "fa6ecacba2a6d8a43e1c953b787af8d3b305620f4e9c97c72b156799efb8c69f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000274/meta.json", + "bytes": 47, + "sha256": "6059e347602ccc1167a890373a9d24103012757b4d584c5625614f9bddccd263" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000274/occupancy.png", + "bytes": 99663, + "sha256": "4c314bd0b18796be7c0c401c54593a50d53c5b24022171e5d72be0f6a9159ba1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000274/uncertainty.png", + "bytes": 90388, + "sha256": "6390cc4b407577644f3ba076a7ea3a28be4414b16e333d9e9550ded02fba3d05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000274/visibility.png", + "bytes": 31334, + "sha256": "ae0cf7ff2b84998b2912f18a9940f6fff5eb92e7d1d7b13ca9d192b6d88637f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000275/meta.json", + "bytes": 47, + "sha256": "7cb7644dc2ce4456111fe0761d5e23804ebae2ca433cef1e54d229aa4fcd21ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000275/occupancy.png", + "bytes": 101519, + "sha256": "7034f31cfe1eb92b8f0f8a51a8e8b59cf5b9353ee2a1f41fefc1619611b284b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000275/uncertainty.png", + "bytes": 92864, + "sha256": "5c4ebbd30141a868954fae185c384383d682400b93b787f097d076e10e1c98dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000275/visibility.png", + "bytes": 31318, + "sha256": "7e18aeffb02f45ed6939081787e9837ca97fdd99a807ec494055efddb8ed2f4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000277/meta.json", + "bytes": 47, + "sha256": "966e51fec344f464d5cb3227f1e01de90eafd9e777178d9f13543896a393dd94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000277/occupancy.png", + "bytes": 99555, + "sha256": "c91a9484196e1cf337aa029552ccec667a1bbc2f3c9371f02971f77a1089efd1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000277/uncertainty.png", + "bytes": 89972, + "sha256": "c2f17c62989c930b0cdf21356ad06d5ab138a26d1c074087b03f4c0458bbbd2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000277/visibility.png", + "bytes": 31240, + "sha256": "3b6aa018410f0b9b2a7c45a01276a4968918d4b794b5810e0fd7d1a02feee597" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000278/meta.json", + "bytes": 47, + "sha256": "e88cd812f6449d461fc89f6dcb9689ec581a15d8d398e6daa0699e3697756e88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000278/occupancy.png", + "bytes": 99903, + "sha256": "ebab5bee87311d9a442249690a35c1126a926538013028613412533b7d43b7b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000278/uncertainty.png", + "bytes": 90596, + "sha256": "ba7dc9aad0435d84b7a9f0c54e7bb004d08ae43c96c53e512b211f18cc10ffdb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000278/visibility.png", + "bytes": 31229, + "sha256": "09e940ffb91124e3d9a660e7b3bd1a2f20c221072640b4e36c81d3441a44f62f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000280/meta.json", + "bytes": 47, + "sha256": "5d08bb94721972feda52808403b6e81791ccbed085fb24fb33a256f447bc3320" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000280/occupancy.png", + "bytes": 99078, + "sha256": "dfea8aef9b5ac2552ecdf8cd542fc288eb77af3fbc44ccf7903ca48891868408" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000280/uncertainty.png", + "bytes": 89638, + "sha256": "5b24123d55617fa7705f391e28259d52639290c158c0ec3eb2dd8ba5fdf7c839" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000280/visibility.png", + "bytes": 31227, + "sha256": "3deba9f742a3b4fcfd947069d63be99a132dcef9762f43afc51e186c8aacf956" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000281/meta.json", + "bytes": 47, + "sha256": "bf2596417a6e545fe0fabb44ab8c471ea27a48df1b029e1922f4b677cb5cc4ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000281/occupancy.png", + "bytes": 99302, + "sha256": "0f467cc645c7e2f1c406742e4dd6f13abacaf3a3ddd42a26fa3594134f429550" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000281/uncertainty.png", + "bytes": 89138, + "sha256": "495b03045dc3ca90ec383d913bfa596b49527bed682e5c98c35941a92b175739" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000281/visibility.png", + "bytes": 31094, + "sha256": "c87bfa8dfbbc9682ed7f8936130234bd0d340158a072d950b521d759d3a7c099" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000283/meta.json", + "bytes": 47, + "sha256": "264c28ebef0d4327cacdb07fadee64535bfee997e06094415fff621c11e37bb1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000283/occupancy.png", + "bytes": 99163, + "sha256": "c1c68d1add0a834e7272cf18bba7a682386c0c0a9e994dd81aacb6c61697653e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000283/uncertainty.png", + "bytes": 89221, + "sha256": "701d269cab71442f5d9196ea36f049b223afcf84107e96e04b20cafdec2c434b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000283/visibility.png", + "bytes": 31262, + "sha256": "fd6976b1286ebbe80fbccbc33ee81179bd30b39b4ca23fc4065f3f8e27faad4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000284/meta.json", + "bytes": 47, + "sha256": "fd4efed31e38b72a8bdafbffe96c43c09b7c9e13c7d2065ded6f8a6cb611981c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000284/occupancy.png", + "bytes": 100262, + "sha256": "dec76545b165ed33b8a6bf38fbf7803a3302d249cb856c3054569516b8d47a05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000284/uncertainty.png", + "bytes": 91268, + "sha256": "2bb494f3be861eb4afd2a1d391fa3ffa70e4acce093063a5fb08e9cc8853594e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000284/visibility.png", + "bytes": 31217, + "sha256": "b1149e007035fc6975e659a812ce72dfc00acfff6874162c42151e113cc47950" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000286/meta.json", + "bytes": 47, + "sha256": "af95ce27ab6b19e46a44de85006472a889636febacd1aae3566f673e086a1ddf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000286/occupancy.png", + "bytes": 99976, + "sha256": "8136a4ce6edc1f9902f59f58c2e4a685c7facfae6868865042001dab60d458b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000286/uncertainty.png", + "bytes": 90501, + "sha256": "4a89a7de41921f73f57737ef4475e7dd4ec87af501e9f41e6273f595b384fc6a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000286/visibility.png", + "bytes": 31176, + "sha256": "f18b4abe4b4928b0ed8b42cdfc966e0660ef32b24d5c50f6f4aaa4911ce608d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000287/meta.json", + "bytes": 47, + "sha256": "85996b22f2d7d36c0bc28370e2300673701178526382d5bff7fc5ba9662e4eec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000287/occupancy.png", + "bytes": 100078, + "sha256": "924256c800d48dcf15b799ec5fcfd62a7e192f44bfd2ca37241435102e524536" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000287/uncertainty.png", + "bytes": 90655, + "sha256": "19a57861cbe6bdcfa2276659a0ef6c9e50077decfb00b39cd6153fdbe4031ce8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000287/visibility.png", + "bytes": 31133, + "sha256": "7b50f1ac656e4afb8bcf59c6e93a861bd07f2331a57804c05a342adcd8e3d7a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000289/meta.json", + "bytes": 47, + "sha256": "2f515bd21b76c143cfd423241f7f73e77f8e8fcd50154882b23f0a087a927272" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000289/occupancy.png", + "bytes": 100242, + "sha256": "50489878a7f1b2a21404e63d85846f6023357a7ae9f5c9e8c663fde6b4db92ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000289/uncertainty.png", + "bytes": 91400, + "sha256": "b763ea1c47bb16c890a5cc8a2882bdb6b9bd9f473390b04cc83439583ff4a5ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000289/visibility.png", + "bytes": 31394, + "sha256": "54ac9f12848aa598cbb41988a40634205813bb82acf65b510b85fa159a7010ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000291/meta.json", + "bytes": 47, + "sha256": "6c3a25269adfd0e1684c069aadff0860fd7d16ebefdbf830df9e1efb7ab49349" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000291/occupancy.png", + "bytes": 101002, + "sha256": "3f005235ed8ae7a45b493e38c2280cc1a4815dc543c0428cc3ddca2828fadd2a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000291/uncertainty.png", + "bytes": 92253, + "sha256": "87ead864f285ee018264786e819ef3cc0830c60d80f65c68a4dd0d39771dee84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000291/visibility.png", + "bytes": 31217, + "sha256": "239fb1fd281d8bc0d67869632aee9775edc7fd99535e2e8ed22c3ef310393879" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000292/meta.json", + "bytes": 47, + "sha256": "f8d817a7b6188b9417d02bfc6e46dbf49a1be022cf4630ec41cc00bb071cde64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000292/occupancy.png", + "bytes": 100627, + "sha256": "aebc3500bac41c295ed35b8a176e3d6052d37320c0b0aac5a676391a7ebf455a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000292/uncertainty.png", + "bytes": 91710, + "sha256": "b87f6996d51e8994cac91a10f86368a3e66b06e7b64c5c2865a59fd05e098726" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000292/visibility.png", + "bytes": 31410, + "sha256": "b6044954311dfb5f5d1cdea0dcb65d0563ff093a4bc9234b34385bb25c16f3ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000293/meta.json", + "bytes": 47, + "sha256": "ea56d3199eae9278315327b9aa1ec30eb13dfdb177e6e13b91427cccbfaf8297" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000293/occupancy.png", + "bytes": 99934, + "sha256": "10e321c4ce45719fef8341e184da47a8f8d6f1e70606f7338377d0fa4d563f83" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000293/uncertainty.png", + "bytes": 90254, + "sha256": "5262d73f1d68758f5707b6d0ccbfe3eafa71ed93674909ed9572c31c07b032fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000293/visibility.png", + "bytes": 31218, + "sha256": "5eee68b79f53d95db5dc045462fae0a74c38ab8009dae70d1f3c19aff6f59907" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000295/meta.json", + "bytes": 47, + "sha256": "1037287bb62529d4f063bca603eb0528b31f4e8da576034e3333d49bc31a6374" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000295/occupancy.png", + "bytes": 101151, + "sha256": "46ad6e37053bc11a07e8ff3415a0beb139fdc18876a3dac6ff03f619b84eba58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000295/uncertainty.png", + "bytes": 92011, + "sha256": "736968932b77048d7d878f1d98a9163da9b5335a3ceed114338a0fb1f06a0aeb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000295/visibility.png", + "bytes": 31441, + "sha256": "603e647e49ff086cce36632e2363aa844f029d22ad87f053ea66c2b80f09b780" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000296/meta.json", + "bytes": 47, + "sha256": "1b8651e6c16a32c93272dfdef50f36c73d46dbb3c893deb43e57b162c687d8bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000296/occupancy.png", + "bytes": 99824, + "sha256": "ce01a044d7a0f8d3a3fee008258af84408f3f447efc12a58358ce725dba369c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000296/uncertainty.png", + "bytes": 90823, + "sha256": "74594a133a765f6e23cd2bfd4bc790d6056d435a8bb7a26be2012bc66cc27c02" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000296/visibility.png", + "bytes": 31357, + "sha256": "f122918dde6364cc6b9b25c86a5c1d3d640a34b38fdebf65c686c8d455968534" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000298/meta.json", + "bytes": 47, + "sha256": "9e5373cfa206e9aa04e59767bc532e2e8187085983cc417b619d9d6210431dc8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000298/occupancy.png", + "bytes": 100027, + "sha256": "880311876b36c6617916e78da185a36dc1cd131bcac19b1b5ef4619e3ef262fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000298/uncertainty.png", + "bytes": 90412, + "sha256": "4aee42a550594c368f02fc5a64e4c0e31271901e839e870cbc729e6d39c72e70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000298/visibility.png", + "bytes": 31249, + "sha256": "061f792f6d9891c9014348b18fd00a7713c1bd05b251e886769e3350e9e81def" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000299/meta.json", + "bytes": 47, + "sha256": "062dfe17815668ee1beb57348c298b34ecef641e598d925f2e57a5ca7987847c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000299/occupancy.png", + "bytes": 99775, + "sha256": "4f2b429d73d6893bf2f113de48563468740f838d69ff3c0ee100c2286add7691" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000299/uncertainty.png", + "bytes": 90459, + "sha256": "7901cbe4a1cd3861745351bf087e23bc5af13ef58636f7ee0a85034b086f514f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000299/visibility.png", + "bytes": 31146, + "sha256": "0069cab134fe8f5fe4d3533a563d8a0b5d3294916f3472492494e1535764c0b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000301/meta.json", + "bytes": 47, + "sha256": "9f59b4334f734ec7fc0bb25636998f0e2d440cd4a77a16ac757bd66b8ae4a9a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000301/occupancy.png", + "bytes": 100705, + "sha256": "d49c2ff0107fa90f6d3391ba2ce02c0b7d34dfa9f5427270fb00d40ba182222c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000301/uncertainty.png", + "bytes": 91561, + "sha256": "d2ac559b956463f5de7a54ea663b8428a5c6f36f0c6df0a290bf0c8a6ab8ad5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000301/visibility.png", + "bytes": 31361, + "sha256": "1d460e02968fcf396db3c014497f3758a2e0dececeb3f0a05499b54983813e80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000303/meta.json", + "bytes": 47, + "sha256": "d1cc353f0e5f1af946cf6a92a14d69df1b4cbaece9a14364e0638b5a72d2ad14" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000303/occupancy.png", + "bytes": 100332, + "sha256": "c5391eb5284643ba209d7999c0fd185a21d23f30acbef5145c4aa0ba19cfb144" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000303/uncertainty.png", + "bytes": 90700, + "sha256": "76c0c98f006907a252766fc0c1b44b0e0651d7b000a74f19e1033b8ed46aad05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000303/visibility.png", + "bytes": 31281, + "sha256": "9e6db8b9e42373ee9343fa2913fdb4c960b5c5ec0f5d4ab0601a98e5e3691bc7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000304/meta.json", + "bytes": 47, + "sha256": "4e205aceaeeceee1bcd364b2a977ae4963e828246c16ec00e601394425be4794" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000304/occupancy.png", + "bytes": 100040, + "sha256": "48186d2b25e473e52eeb9875eac7cc98723b5cd532f16852b2bfe3a3ea330b14" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000304/uncertainty.png", + "bytes": 90667, + "sha256": "aa69c8520115d4a0102e6f6d79118dd8d759fd23585a4cafe09b43d0056d59e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000304/visibility.png", + "bytes": 31291, + "sha256": "abecd81cfe4d032276fa7b93ba6a6a4db985afe2af35882e1318338ed7d077b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000306/meta.json", + "bytes": 47, + "sha256": "caa3a1eb55e62d69fe18f1a61f3e709bb0db29d612ec90a46e0836a8db8f702c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000306/occupancy.png", + "bytes": 100191, + "sha256": "89533c46990503677f7b3572953b136fd2e9e020f3e126a390ff90281fdc25a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000306/uncertainty.png", + "bytes": 90975, + "sha256": "80dc266ac387a395619af559e43bb714efea4d1eefc966c3a00b20c0c54eb0a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000306/visibility.png", + "bytes": 31279, + "sha256": "865ad9d6a3e88e113ac1aa67f52abac7fa0656ea35f35880697a0e4b5afd6e70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000307/meta.json", + "bytes": 47, + "sha256": "de336a5e517c3e98cfbacba98e796fa03baa8dc3b9e3034ed24dc82f5c10d237" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000307/occupancy.png", + "bytes": 101101, + "sha256": "936d4e8fa31313882c12ebd414d3c61c22ea4d09e3b2fd71c9c58e4e17319ece" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000307/uncertainty.png", + "bytes": 92499, + "sha256": "67d35740e9e7e43efaa2a6afc09936d8694a94392d2a3f6728c64606d824c4e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000307/visibility.png", + "bytes": 31198, + "sha256": "0870bd8c762e707fe0b72007c57d501dc11093957a12b56be145a1eff522b0cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000309/meta.json", + "bytes": 47, + "sha256": "4d4ac27e31b26db40fd8b40136b50a3cab7fdea1d55b2a2b3000a0f484d4cc8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000309/occupancy.png", + "bytes": 100049, + "sha256": "d334e9901bf0b8a8d9e09805061b20cd5210bb418503a74c321349c9bbf78bca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000309/uncertainty.png", + "bytes": 90849, + "sha256": "9748b48c491872a217d663e0d13d19bb8b9f80312f22ddefe017daede1ee3bfd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000309/visibility.png", + "bytes": 31336, + "sha256": "ee5b4ca1f93c34b4d9ac78e70e1419bcb7627ec7aefcf9fd1ac26a16f882f705" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000310/meta.json", + "bytes": 47, + "sha256": "07f81d4600b61728718fe60a3b8f9e33de7bde85dba8c3595a874bc47a2de74b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000310/occupancy.png", + "bytes": 101078, + "sha256": "4932a45a5e8de0179eefb7b926b50f11a785c761428d93ef2cd9780f0c550c45" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000310/uncertainty.png", + "bytes": 91785, + "sha256": "e20c1678d1c88476a3497787bae019f8c2d56c4b631429834d2d3a7013ba010a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000310/visibility.png", + "bytes": 31268, + "sha256": "a626fc07da1b7ff7e0ab5707d3872f6d6e12d03600b49db7299cfbd36049d1aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000312/meta.json", + "bytes": 47, + "sha256": "f936883cecb5e409d3fb5f5a2334c6b52327d9ea41ae9e43b29e3cfc9977507a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000312/occupancy.png", + "bytes": 99809, + "sha256": "cbdaaf8cdf131df2a5b573979b115fcd79fec7bf8203945312866e2d80957316" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000312/uncertainty.png", + "bytes": 90508, + "sha256": "76151cd8e5bc2ed3500d2775179ad23472786b6d6a61a8de54cb1ec8076a0508" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000312/visibility.png", + "bytes": 31352, + "sha256": "d41e5f95c2ce21ba75e6fe84505214fa35711c026249347c14d85ebc4e316e6d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000313/meta.json", + "bytes": 47, + "sha256": "1528068719d1913b24bf8179fe9be29d6768704b15922dd16ccb332bff8166c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000313/occupancy.png", + "bytes": 100561, + "sha256": "cb34ee45d2700e396780007fad8886086ffd85010c92d9177107d5f636262a4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000313/uncertainty.png", + "bytes": 92009, + "sha256": "dbc9a1b249bfd8f001cb4a49c5c1ec3c690536f7f950ce46f3b1f3655e5fd429" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000313/visibility.png", + "bytes": 31022, + "sha256": "f9208f215b6914a15fa5cfe897a5c58eb665e63f223ca99c66359becf01a75bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000315/meta.json", + "bytes": 47, + "sha256": "ab2cd4eea58b74ed765be19157b4575c80cffa6967866cb1a3c37c921650bad9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000315/occupancy.png", + "bytes": 100830, + "sha256": "3ec5a64a92562a2663e500bd37ece77f9e701dd4a6222da8dbb38c8cbf39d799" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000315/uncertainty.png", + "bytes": 91595, + "sha256": "c3e21eeb96e529e31da714bab9345bd3593347e5ab9bbf87c61b44763f2ff2c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000315/visibility.png", + "bytes": 31331, + "sha256": "1b8d9287c6b4af97da2cde74ef847bb683978fbe3c82d158afe87ee225b3ff71" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000316/meta.json", + "bytes": 47, + "sha256": "b1cc92e46511805283fd380c9527b55174e3b2799f7d70776b7c01f2a78a5d50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000316/occupancy.png", + "bytes": 99829, + "sha256": "c678b44f7e96567114c4f356518a337ce03a300675343d4af3d22e081ca815e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000316/uncertainty.png", + "bytes": 90169, + "sha256": "709f0bf6ae90cfde5586b23389a2009a0ad43603c452173eccb628e784f7325e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000316/visibility.png", + "bytes": 31284, + "sha256": "d0dec18237ed5f486d458c65c418cec4e3765b91d4aa0faf0cffe1cfc42f705d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000318/meta.json", + "bytes": 47, + "sha256": "c8aae21fcbe761fba57d0b89df98f071bae7e4ecf633303138a04558c9fe08c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000318/occupancy.png", + "bytes": 100731, + "sha256": "4fefeb1fd5a586d2e08592f53913d538d2b5da13cc491c6a05baab3373fc3bc8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000318/uncertainty.png", + "bytes": 91649, + "sha256": "20638592e3ad91e004109feeb7a7f643786d95b851efce9fbc1f8bf3523c08df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000318/visibility.png", + "bytes": 31135, + "sha256": "9a65c7494d89333a213a943cb99066e8132eeebe9ef18950d74ddd6dbc98fa39" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000319/meta.json", + "bytes": 47, + "sha256": "5529d80942d556b91e6c6dad36d18579904b6f915af830faf44dc5de2ce4ffdc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000319/occupancy.png", + "bytes": 99783, + "sha256": "61393a601520b1f3bf44dbe2e9c52f09a1fea9fc3dd5e868290a6fa6cfb88e80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000319/uncertainty.png", + "bytes": 90317, + "sha256": "e3eef4c0b8711f7fa8f7b30b6c9c24eee48636b48d761040c97b2f5722dbf981" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000319/visibility.png", + "bytes": 31172, + "sha256": "51d51956e8d67e8b496fc52d141c03612f1208621039766332323b798b15c23d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000321/meta.json", + "bytes": 47, + "sha256": "f9b6df94211a3c09fcfb3ecba916efbd5370c13f6bbdc3b5f144b0a74b147727" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000321/occupancy.png", + "bytes": 99344, + "sha256": "aa5fc19d64f3d3d69734faf42357bb524239a57e4cc9bdb5ac9aa2a3e1f99144" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000321/uncertainty.png", + "bytes": 89576, + "sha256": "a413d63bf60fb471bf2263206236aba1abc3209ba7b747494b2000aa61e3773e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000321/visibility.png", + "bytes": 31082, + "sha256": "0baaa93d47ac22c9fe6a2ba442b961a04c5cf7b371bafebf6b99088268568dbd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000322/meta.json", + "bytes": 47, + "sha256": "8af8edba52d3f387b6d1d5194342ea7a8268982fde8179f5b2f708d96adb3be4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000322/occupancy.png", + "bytes": 100647, + "sha256": "7a28233dee08be8f15e5eb673bb6093543aa7220244eaa75e6396d75dd49ab78" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000322/uncertainty.png", + "bytes": 91049, + "sha256": "cacd7f95c634ac76ba4da3d741f4c8c1ea51632504215b19599249ef62d1b20a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000322/visibility.png", + "bytes": 31369, + "sha256": "39f0b4eb4ed7c080c82ce64494156c3bcc2069986d0e229841e16fdbedadbb17" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000324/meta.json", + "bytes": 47, + "sha256": "922590672374e00064df69e331103fd242a779c7e5e0993845b182aa5b12477b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000324/occupancy.png", + "bytes": 100424, + "sha256": "5b0e046b0c7661e4381e5da5a2b3d627bb9093977407e329040d42c98d543994" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000324/uncertainty.png", + "bytes": 91186, + "sha256": "f280cb0220e839fd3285b78549af0412a03370770f09bc57d8f37d06ae714318" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000324/visibility.png", + "bytes": 31391, + "sha256": "d4e2b69ea12fd439e11371e7ee8a3b7db5bec1747606667ad37e5f4f816bbf2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000326/meta.json", + "bytes": 47, + "sha256": "8e4e24b28fd1fcf25954998af37fbffcfc0a164da6c14c0d6ec3e91f2cb63732" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000326/occupancy.png", + "bytes": 100903, + "sha256": "427a6aeede04ff45e91a410a811ded9051222ffea618cf9f7224b8c70dfbbb27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000326/uncertainty.png", + "bytes": 92018, + "sha256": "d3a3fb03c67648ccf421feb69d5a1f90d9fb638e007986f0e755c72599d1bb38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000326/visibility.png", + "bytes": 31094, + "sha256": "b00b1f1220bb20d3c9d462f98cbd49cd67173e2f9613b1588e54612a2f8c3066" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000327/meta.json", + "bytes": 47, + "sha256": "0bb624580c0e0a5af1ccfab11423a12eefe23f82ed1d625b10fef74723fed7ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000327/occupancy.png", + "bytes": 99295, + "sha256": "0144476848aa961b7451c33792e9a121535b322ae34dc7fa7d7cf4f38e82bebf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000327/uncertainty.png", + "bytes": 89907, + "sha256": "a4c39c659c8da3bf2e9307287ddfaf570548e0ee3ac2fa312dffe468aaade59a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000327/visibility.png", + "bytes": 31184, + "sha256": "db726a400a12aa174797c6ed8bccda382b76dfee2f848fff6b91fffd45045d65" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000329/meta.json", + "bytes": 47, + "sha256": "100be85d5efd63f11b0c5fd54cd2aec19e2d54eb44e692a2004f32cc97d8289d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000329/occupancy.png", + "bytes": 99615, + "sha256": "1f627fc535ee2cec0ae788a50f9ba1d5ec7a37e8bb59b111af4a9c885e954749" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000329/uncertainty.png", + "bytes": 90390, + "sha256": "9d8116e54c8bed73de491104c705ca4cf9ea89979264fd98a8c2ff9f53511b70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000329/visibility.png", + "bytes": 31419, + "sha256": "2fa20b24d4e93778ac9db259e02351d54d503a1a8d313108ab9231443ff480e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000330/meta.json", + "bytes": 47, + "sha256": "84ac27372146068f8ffc724feee53c972b877e6f23270b618b688f676672b29f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000330/occupancy.png", + "bytes": 99633, + "sha256": "d84073c6458370caf4a6d6917d1d35bfe97b5ca0fa5f5cf7b03c702651fb0e04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000330/uncertainty.png", + "bytes": 89930, + "sha256": "e6d31a7594d3b73900432be4155baefe8686f1145e3693b4388d0637da429476" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000330/visibility.png", + "bytes": 30856, + "sha256": "d04927320b8f048b0ed2c53520173f910042a34587c323c20e6c06602df2ca80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000332/meta.json", + "bytes": 47, + "sha256": "c6a4ee67104ab336f79dbaa7d53d742492d63edc1c17037ef705228988c73d9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000332/occupancy.png", + "bytes": 99786, + "sha256": "9066cfb3f738046faa525603a6721ccf9ee2cb1f4032c30b1c2f8eb7b4a34a43" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000332/uncertainty.png", + "bytes": 90538, + "sha256": "315c7d03e6edcf05f4a88ed4014167cbf821407f5dbcf89f08bc38dd01014194" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000332/visibility.png", + "bytes": 31271, + "sha256": "03a4c1678a27680591f1eb86e86f3bf402a6615878dcbc81edb8f0196ff64aaf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000333/meta.json", + "bytes": 47, + "sha256": "3dea0ab898ad3c2d4067bbeff9432f567640170c6561ca1371e3777650728e0c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000333/occupancy.png", + "bytes": 100767, + "sha256": "b9bc108f7539c5ca0863aceacd75c6a580ab2d93f8b8f200fab805d70afb8a14" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000333/uncertainty.png", + "bytes": 91973, + "sha256": "096f0967a077a9bf986cbbbbc0906dbbe73212a583796ec5388120c77611d8cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000333/visibility.png", + "bytes": 31238, + "sha256": "09a16e6308540506f538aac005985a789f23d29c6d2ae51e00554a61a74f5b86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000335/meta.json", + "bytes": 47, + "sha256": "b77a6cb141f27e1e0005db2089082df165368e63b0dad025efeae5e9b103f105" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000335/occupancy.png", + "bytes": 99884, + "sha256": "c052ba24116a0a902cf9ddbf4eae5f8aba400f569b6bc1fdadb7a108d3febc9f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000335/uncertainty.png", + "bytes": 90595, + "sha256": "5d949b05bdee6e37be93a456c6e0b266392c94019d75b7b917b2af825cee5503" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000335/visibility.png", + "bytes": 31345, + "sha256": "236f8c5c085e1d5b0eccfe9b34ac945c51c594671a2c0d6b3b50367e7922cee6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000336/meta.json", + "bytes": 47, + "sha256": "364f2a44d04f3604e2c518c0f64e570f51a429f2bcf36393ee4f232813aa03b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000336/occupancy.png", + "bytes": 98684, + "sha256": "b8a2fda3aa6aa52ee5a9de496cfd7379caa4b1d6af8b6072890ce1766de4178f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000336/uncertainty.png", + "bytes": 88968, + "sha256": "42cc0dac234af09c331ac43361cc37a8581f808a08c11900f12870d7df23286c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000336/visibility.png", + "bytes": 31206, + "sha256": "3b2909237578de5ce52f395c8b4822986f2fac974de59be89f76c00d403424c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000338/meta.json", + "bytes": 47, + "sha256": "de44f4132853b63318d34af235cda15aa369c5300f481360eee2cc0542d88813" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000338/occupancy.png", + "bytes": 99594, + "sha256": "8120d722876aa9b79746946ba3257295c6054c8d93c5bccdc3a2726da674e5bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000338/uncertainty.png", + "bytes": 90560, + "sha256": "6df19900d96fbbb37c0c8b25554a58e464fd163ab96fd5bc5ccb201e9a3e40d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000338/visibility.png", + "bytes": 31425, + "sha256": "4758dc37f99c8d773e34f66e8df3393b67ddf40e13eff9b24519b61266d2103d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000339/meta.json", + "bytes": 47, + "sha256": "4e2b3fe979ac5c041f2ccb47ddd1bcef893779907dbf49bbde4b9d7e05fdcfdd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000339/occupancy.png", + "bytes": 101681, + "sha256": "ecb91869617036173f8c58436592792180fdc5a192561be7297898d5dea1a240" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000339/uncertainty.png", + "bytes": 92672, + "sha256": "817b0fb3172d7af36c62698c7c808c144e10ba4183ca4cbc0994e86038ad5681" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000339/visibility.png", + "bytes": 31146, + "sha256": "770042c24dbfd3d61527603f5ec1e64386cf9b20eddbb2431fa4bc5a0ea4c07f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000341/meta.json", + "bytes": 47, + "sha256": "a1e1a10a70bee074b67a9aeedda79f92e92cf6ac183f8092b16dbf9022989e69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000341/occupancy.png", + "bytes": 99606, + "sha256": "4d5fe8672a77afea529ab0735d27bf2dfe1b2b346e94bdb2811acad4ee75e69a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000341/uncertainty.png", + "bytes": 89901, + "sha256": "19733ca79ab60108426f00f65743afea1ef7910ae978e5df533ba3f56b151e6d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000341/visibility.png", + "bytes": 31580, + "sha256": "2a58da477d3022f5fe67928a727bd8b1d54a2c387f96eff139bd58faf8034d23" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000342/meta.json", + "bytes": 47, + "sha256": "b14c5eb4d8b474eacdd0a93fa2cb447c52a7854504f56fb9207c49d4dc7b6215" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000342/occupancy.png", + "bytes": 100266, + "sha256": "2a416366aa09a4948b87e5d10f28c3cf21d1ca83bae7683ae20921de48722a63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000342/uncertainty.png", + "bytes": 90510, + "sha256": "6e956fdd7389f98439d931463cd646c2e32d623c210a2c1f5ae8a944bbfd1293" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000342/visibility.png", + "bytes": 31237, + "sha256": "c832565529a6e9af05ab4d5639ffad19de3413bcbf0bca036c19631e2a81fdf1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000344/meta.json", + "bytes": 47, + "sha256": "7262d3ea174da063ed49c497f9b7eb49c459ac4552708502262cb1b43eaeb27d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000344/occupancy.png", + "bytes": 98843, + "sha256": "1686ba6524b7581f17f1c7aa41215f0fe0817fbe5e460b911de410e0f0fbbfaf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000344/uncertainty.png", + "bytes": 88833, + "sha256": "bd7f9a8536b758ce66944a612f01b437a19c611802a92ca0fe650438e18585d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000344/visibility.png", + "bytes": 31264, + "sha256": "19c1f6f411f3702966e43c5a7e420bb2e71a2b244c2ab0951e6fa9021df18368" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000345/meta.json", + "bytes": 47, + "sha256": "df975dcf7a2a9ad47bb0ecaee1774c21351f3b05b11e0f30061bd7776d7075d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000345/occupancy.png", + "bytes": 100371, + "sha256": "f0bb00b018203255a15943fa6a329094211eeab4762e09de626a4b4ca03732fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000345/uncertainty.png", + "bytes": 91324, + "sha256": "c24951b0aeef3c15ded5cc90f0b2935a41aeb02e9d17314bd58376a85f240c37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000345/visibility.png", + "bytes": 31137, + "sha256": "c2b0e6459e71cd6d438e00a3c88afa856fffa195ddf01c57516a3cc7d74dc8ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000347/meta.json", + "bytes": 47, + "sha256": "80bb23a28e8b948190c60a98c93c32b878091de4309110d2c8165982ec6fb868" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000347/occupancy.png", + "bytes": 100088, + "sha256": "2ff2d920a88a5d07ae587e922d32817e6d1c990cb5285322890de54d17677440" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000347/uncertainty.png", + "bytes": 91479, + "sha256": "9d30e4b104b6f8af2796e3e02badc4d660d4aee6c3d027cd57a5929c39ee2f16" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000347/visibility.png", + "bytes": 31396, + "sha256": "71327cf838e9cbad9e277b849212ec63f97c8896479df839422413fabc0b2e84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000348/meta.json", + "bytes": 47, + "sha256": "abd677d3ffe69bfc974eabc06bcd4ec2e7ccae9cd402a02a498095d924354dfa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000348/occupancy.png", + "bytes": 100733, + "sha256": "df28ec94aca166a483a93c62da8ce3c2a2facc8bd08be0ac17598f557935baf7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000348/uncertainty.png", + "bytes": 92167, + "sha256": "045dbaadfc6fbd95f55bdc22f0fe260fd88bc89805aed4043e977a27317903d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000348/visibility.png", + "bytes": 31823, + "sha256": "bf7ef17dfddcabde8c1a06d3684240e8f5b3d405126d4dd58bf3d680ce4572dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000350/meta.json", + "bytes": 47, + "sha256": "f917f4efe80ddb0cd9239cd80a5f18d5a3cd61a031c4c633cb15771dbb8ba582" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000350/occupancy.png", + "bytes": 100167, + "sha256": "e6147d2a5d85dbc6b13751df9bc0a414ba94879d6b67e6c0aa549f2ee8cf9fb4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000350/uncertainty.png", + "bytes": 92099, + "sha256": "7e34758894622b8b6b3b66e42d7dfa4b02a65af73b731149e843a62f905d3373" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000350/visibility.png", + "bytes": 35732, + "sha256": "2df5daae8ec8594d644d0ca11a515989ecddf8bc9d6c120400b99a3ceff062f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000352/meta.json", + "bytes": 47, + "sha256": "514b6350b278a4f83cd232099d95649a54377e8af6ebe728a536663b12379073" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000352/occupancy.png", + "bytes": 100456, + "sha256": "da822cb5f28822fa61e87abf5a02d45f2c263ea665f8d78b2b974146e43f9af6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000352/uncertainty.png", + "bytes": 93084, + "sha256": "685e8211f601c6b31a383898c1332921feda2b7467d3e2e05abb04bfe1d1e3a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000352/visibility.png", + "bytes": 34702, + "sha256": "7e17b1312f6ce409d7fc4c891acf816545cbb8eaec5f521c4440db63936b0171" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000353/meta.json", + "bytes": 47, + "sha256": "1845b75a51ed69dca55268565afdb368b1e9bfc4a7d95e33acfde71ceb81962e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000353/occupancy.png", + "bytes": 99386, + "sha256": "6b707094fa80ccac3fcd75763235796386a40500c12bab3a10d441466b1d86d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000353/uncertainty.png", + "bytes": 91241, + "sha256": "06738947bfd453fe035c416dca2d7287b0d3b9bf0c0ba51d3e4df9f647c80117" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000353/visibility.png", + "bytes": 35079, + "sha256": "9d90c119bb4bf052516d5a1f6a23cc80add272498745b9117f8a13bb740fc2e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000355/meta.json", + "bytes": 47, + "sha256": "0f1bc2402da8950175f4a6a6a348de0c77603804ad3edc4db5c80c4af05576f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000355/occupancy.png", + "bytes": 100359, + "sha256": "21d29b6cc0ab8ad5f598008a7b904cf9fae5698c0c7148010dd4d09afbea6b5d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000355/uncertainty.png", + "bytes": 93294, + "sha256": "5ab41a80a57ada3b84721cab02a4f8ccf0e5ad284f28b12c0f010585839c39e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000355/visibility.png", + "bytes": 33749, + "sha256": "295f52ef099d19d7179dc19ad9c440ac805faede697158eac47fd8501ee5f214" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000357/meta.json", + "bytes": 47, + "sha256": "60eed41919fb8cc1b68fa8524a446d30601a9ac24f0f9b0c0b7893bf71d65308" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000357/occupancy.png", + "bytes": 97807, + "sha256": "c9c5ef741ada4d05983cd801a572b2774a0c19507994b0f46a152f595cb8fbc8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000357/uncertainty.png", + "bytes": 77647, + "sha256": "6ec58073ba714e7b4bdc7cabcbbd057c20ab62c3f567da6e7367448cd07d4260" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000357/visibility.png", + "bytes": 55340, + "sha256": "4d00564af651565cfa1dd567ab31ef885e575e247718776c49e1fbe4ece93797" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000359/meta.json", + "bytes": 47, + "sha256": "46c64a67448f4643eca4f4a864be1039ab374708fcff08b9cebca1ada43310a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000359/occupancy.png", + "bytes": 92699, + "sha256": "0d42202d217b848be49e46148da41808507606f043de7ebe463d10378548b297" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000359/uncertainty.png", + "bytes": 74776, + "sha256": "0db89b63f76ca64228a38459fdc5278cd85fbae09378a4620a00c64eb2290665" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000359/visibility.png", + "bytes": 51435, + "sha256": "51a5dc44f0b5df2bc9c276323ee479432cca110bf8855a143bd5a644a0df6cc1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000360/meta.json", + "bytes": 47, + "sha256": "d86464f8055007ac672f0601567620c6431f12c4e5da3a53487c31ac8130a696" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000360/occupancy.png", + "bytes": 94426, + "sha256": "3e502a3bce4fb8d3490dd452990dd57918250c5dc3b8e25ffcc9a375216f41ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000360/uncertainty.png", + "bytes": 87890, + "sha256": "c6372c2a1b3eaa4a72049f1ca3c377046eca659a4cd2a560d1912e3f35229ef2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000360/visibility.png", + "bytes": 48247, + "sha256": "cf9659c217352eebf4e13c5389ac53211c162e6f58e51ac1c2f1cd871346be21" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000362/meta.json", + "bytes": 47, + "sha256": "bb2c4c9544adcaa24246376fd0f96b34ee40d6f551f2a74b8f31b35302e5f009" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000362/occupancy.png", + "bytes": 113165, + "sha256": "4d000e787ab6bc5ab9c723b8170cf1d1e9a1127df7d5982243f921f9bcd40b2b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000362/uncertainty.png", + "bytes": 115976, + "sha256": "5456ade0f5ed0660c53b95d34246fc7392da916bb2b74d1d2571d62d7b502ab7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000362/visibility.png", + "bytes": 80889, + "sha256": "43262c79b684a61435c491c0c0fdcec33c74a12c970ea6931e41d4f5733bcc6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000364/meta.json", + "bytes": 47, + "sha256": "e5d21b884749ace66fad95db8cd60520216ef4b2ab868c3ce65ad03a3146dd86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000364/occupancy.png", + "bytes": 94344, + "sha256": "42619934b93328d79333f7cdda513e93bac77c478816fb5845f2c54ea477cc10" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000364/uncertainty.png", + "bytes": 75009, + "sha256": "e7ce54a723797c13b7a4235b05b76aa304a4401c51e052e7f757601593ed6b2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000364/visibility.png", + "bytes": 37626, + "sha256": "755146cfd3b417a1873ac914976fa3ab116b84e306813843f49b7fb0ed6e5fe8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000366/meta.json", + "bytes": 47, + "sha256": "5c9f2fdb494deae0735371761683639658e68af0b69491f0bef25ca0f26eab98" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000366/occupancy.png", + "bytes": 94361, + "sha256": "b361e1c59edb6fd0a56be152c80d0a383173da385f73b16b2703e53980c94f23" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000366/uncertainty.png", + "bytes": 75802, + "sha256": "8ab12e0e8946ee78d5cc5cfa125440a6a46e15d43e695a690706865c0a8c3a4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000366/visibility.png", + "bytes": 38451, + "sha256": "b8d5d83e80417045c575c2c64b47da48acb28f712f064e151825714680747616" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000368/meta.json", + "bytes": 47, + "sha256": "c0f1ee5315b77a1cff235be9330bb5bb2b2aeb688b4754709cf5b2784532305f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000368/occupancy.png", + "bytes": 95231, + "sha256": "26818e10b05822f36feb3a17203dcfc5c1188906919b88cc6015dc06da3c9e54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000368/uncertainty.png", + "bytes": 82141, + "sha256": "d20e5a503479160cb3b8de17e7959c7d670e053c90912b74c23592de7f951bc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000368/visibility.png", + "bytes": 53518, + "sha256": "73226dbc7fccd2c771f1d41ecaa2f2464eb7bc389a669c31d6af04d6ccbad24e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000369/meta.json", + "bytes": 47, + "sha256": "8c1aea50f268e0cd7aad695a765a0ad94d19ea3973d4104e00db0aac1b08f4eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000369/occupancy.png", + "bytes": 108885, + "sha256": "3bdb0a2aa03f302046468466688c206344e4b14f6c22f52cb1b639e0e5fe3aea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000369/uncertainty.png", + "bytes": 70531, + "sha256": "886ad7d47ee8464660ec024cbeb9a33fe0db62fcc071e6e6b18df22865ab20ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000369/visibility.png", + "bytes": 108055, + "sha256": "2b2f2f736f1546504facbdbeb6e3a04d7003da3fdcde07e3b230cec9cca5646a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000371/meta.json", + "bytes": 47, + "sha256": "1bb97a58bb841d23227fdfcd85fb9fa3119bffaf676b7af046a17139b8a799d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000371/occupancy.png", + "bytes": 89124, + "sha256": "5598312fa6a455884b6e2237571f02fefe504198384a86f0878d0049ea3d53e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000371/uncertainty.png", + "bytes": 78417, + "sha256": "a92b1b79f8536fed030f2f983ed6ef229aa75cc74bec96ef0c633e68d49b69c9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000371/visibility.png", + "bytes": 56776, + "sha256": "63816facb8901a1aa526152647c5f6899fd93d57a650c20b03f29169baef236d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000373/meta.json", + "bytes": 47, + "sha256": "68c82556cbb61c0b1d6743f093f6dbbb535e3036ee06d78c97332bf3a206f836" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000373/occupancy.png", + "bytes": 88669, + "sha256": "aaa562133ae89931666d29821502252f53e1304a9941b9b7921e902924bb4dd0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000373/uncertainty.png", + "bytes": 76016, + "sha256": "73e723927f69852c3f15aa26f27dd6e88b4bebeb2f03377abf2fc99f9a44cf33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000373/visibility.png", + "bytes": 35869, + "sha256": "46156dbd117f0deae77b256a4985d641605d320d1ee39e920fe605b1fc2741c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000374/meta.json", + "bytes": 47, + "sha256": "abceea96c80067be7ea86ea57bd7f92812f61f809558d094d1c847535e5f022e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000374/occupancy.png", + "bytes": 91655, + "sha256": "54110680e1eb7753aa4cf29dd754271efa655e460f174f1750b6b45b56bbb1f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000374/uncertainty.png", + "bytes": 84816, + "sha256": "5ed1f62064bc7ec78adffd33c08bc98cb9678913a1dcf7d33b88029ac9e58ed1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000374/visibility.png", + "bytes": 59257, + "sha256": "2ad56702a2c211187f309b9d96a3f3fa4000b38ba14df8623b8049c168d85c68" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000376/meta.json", + "bytes": 47, + "sha256": "e9bd175a1dc934ae4bc90e74afb285dbf73441ac644fccec23b8ea3cfde0a2c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000376/occupancy.png", + "bytes": 98423, + "sha256": "7ec06ed1ea41c27ef9bc8af3c5afd57481685536d9d378f235d359a9e7002531" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000376/uncertainty.png", + "bytes": 98094, + "sha256": "f4c195f1b4e94a25fadafb5c63784608931c950972ac589bccac6fa1261ccf26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000376/visibility.png", + "bytes": 65545, + "sha256": "1122b01ab9af307ce75f2eaae3ea4025df68b56723d22fe163d9d6ab679a75d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000378/meta.json", + "bytes": 47, + "sha256": "464a92efafa993b5ead796c61b9fe1697875d55b3cd670009809f5b04a938c27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000378/occupancy.png", + "bytes": 94525, + "sha256": "9000a025d431906586b51695d56187e45b3b278078997622fa0541a3302db38e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000378/uncertainty.png", + "bytes": 76032, + "sha256": "d470b705272fed0010e0045b35f969f1cc5a5f1757d94c91ef34647a31a09ade" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000378/visibility.png", + "bytes": 41733, + "sha256": "488f0e8cb11e454d2376c2b0324ad88af72a662e9139fc6033b48a5b4046f133" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000380/meta.json", + "bytes": 47, + "sha256": "056d91ed2ef0044a51bc5ceda7f1a40528737e4fc1a90bb0991a526b4ecdd72c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000380/occupancy.png", + "bytes": 88545, + "sha256": "34b618b3eccc300386c73cb340552eaede11186574022b15e5e7a4eb28bae48a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000380/uncertainty.png", + "bytes": 66211, + "sha256": "45694ca4c03590fd643037799128e397078226621c19ef3aa05545348593f209" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000380/visibility.png", + "bytes": 45030, + "sha256": "eedf9d45fae39766a754a84f94e9609540fa4363493ddd2b89962be797d5611c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000381/meta.json", + "bytes": 47, + "sha256": "3dbe6a81549e3394c447d6a3757c90ccc9e404c9ac1caf162511159f703aac62" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000381/occupancy.png", + "bytes": 66522, + "sha256": "810ef47f6a9f8f39714efc75bc116b48950dd4521b9d6b15c4ad7997b798f4ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000381/uncertainty.png", + "bytes": 50050, + "sha256": "ba9a7e6ace9f0592d569a0e931b5e33d3c43f7aa8688ffcac2af6c5132e25ab8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000381/visibility.png", + "bytes": 58423, + "sha256": "5d24b7898c4c80e5772e22ce948af75d3eada04d2331d0a01ba5dba01a2c5046" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000383/meta.json", + "bytes": 47, + "sha256": "e24375bc2b6f44dccfdde99d0ef36c870f2077a366025185dc8309efae01b14e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000383/occupancy.png", + "bytes": 76229, + "sha256": "562f6dbe61f7410af28efd7be0c15d345f1b61cdb58e2e9a05a67901af8168e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000383/uncertainty.png", + "bytes": 55160, + "sha256": "c11fb9fe8bc85400bbdc70975859d7c7baa4f2a723c2aee8304cedeea2fb9b3a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000383/visibility.png", + "bytes": 54588, + "sha256": "0f67264f52e28b3b6d29a68d72d1b8b7a9c2918fd03d717d29bfd8cb159d0917" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000385/meta.json", + "bytes": 47, + "sha256": "09938f7c5190fd8f628be056973b3d11d787b41abf8e9045a82f0d4d4ebf14c7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000385/occupancy.png", + "bytes": 72541, + "sha256": "b143809726983a13defdb0df745bc6d3d350af2025aa2430a7f6ad19c0786aa7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000385/uncertainty.png", + "bytes": 50270, + "sha256": "bcdeaf29320debffcad1351c6068ba5d07b827a436a2ee2c3f61ed1124681411" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000385/visibility.png", + "bytes": 41936, + "sha256": "21fed10560b65ad24c8e1cafa08560ac00584fca2739d1509b1b1faa0cac0890" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000386/meta.json", + "bytes": 47, + "sha256": "6d5c6db86d9ab2af00108e6933591af800d482229180e1577e4065c5d7520a41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000386/occupancy.png", + "bytes": 69189, + "sha256": "e882aeeaec50bb8a7e8d4f7e98491feac93d01fa37fac3a4c2180afa5b0d7fed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000386/uncertainty.png", + "bytes": 49936, + "sha256": "25d69027ff4f60dbd66e666ec7b3f5e8c017404e99662179dffb1f31e8432189" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000386/visibility.png", + "bytes": 39387, + "sha256": "770cfb9839259d4ba181540acea57159e03818fff9b1e76f66cd97eb33bafe5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000388/meta.json", + "bytes": 47, + "sha256": "b73f80d5e60cdea376194397dad51b53b1b21f283c2748c7cdc7d87887bf3271" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000388/occupancy.png", + "bytes": 90717, + "sha256": "15ac9a93d2f6a5b3ae778ad61296c235dc6802894fae9ad8f7e590865e2c27d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000388/uncertainty.png", + "bytes": 84871, + "sha256": "2b7d1d55d26e89ba009950f34e11a9c9841f3900db7a98b17e04a648ab8e5a52" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000388/visibility.png", + "bytes": 46076, + "sha256": "8e40837d51c9cab64af11847ab4f9496ab23b2ea032af67fcaa9fd73bc9c4a8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000390/meta.json", + "bytes": 47, + "sha256": "718e75ebff58d2ec6cb4ac0b24e96a4a3978d976ead88c65c7c8ed173703d5b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000390/occupancy.png", + "bytes": 94906, + "sha256": "b5bcdd18ca461ddd2a410e9f4174b60ca685e14cfb0653cd0fd702f2ce8732b5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000390/uncertainty.png", + "bytes": 88192, + "sha256": "7621f6fb01b0bd8d4005552c5464cc61ee68a3721fca75d3e647c7974b2c8c50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000390/visibility.png", + "bytes": 45650, + "sha256": "8a98311798d8cd001a56a91e11c352982a41798229138a4e1c8475071374ce91" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000391/meta.json", + "bytes": 47, + "sha256": "2057c542337640ec64d5a06bf4be3692f3a1180915d7b15b18879ac4a171d30c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000391/occupancy.png", + "bytes": 95126, + "sha256": "e5c2c10602665ae086efbd3de3e8468e00e95838d102911e32e6abe21f59efb3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000391/uncertainty.png", + "bytes": 88596, + "sha256": "cb12b7c5915c05bf4bea9e7506689fc62c9f8a4fe6916120f3baddf80cd4c8cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000391/visibility.png", + "bytes": 45832, + "sha256": "8b37a9f6e3fbc58944aa12e2f3f4be7c72926ec728f30f958876e0dcc1047aa1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000393/meta.json", + "bytes": 47, + "sha256": "c0d7771f0dc80d053d6d45af8d0696fc858704fdac75fe8cf275dbc6c585f7d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000393/occupancy.png", + "bytes": 94166, + "sha256": "a4a3c1eef3a52cad20889e35c4ea031eb41f93b332601b4a9a5873e07c369d65" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000393/uncertainty.png", + "bytes": 88202, + "sha256": "153a34dd504ab6f2936743782f768421a6c3464243500d33045ef6d8f35f113e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000393/visibility.png", + "bytes": 45033, + "sha256": "5ee15c3ede35bc68b44043597c70cb7211adfc54f68643bb923da6b6705c62e0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000394/meta.json", + "bytes": 47, + "sha256": "40b80e028c235499b1c008db3a4f632ddd25f9351524e6b3186d097fc60d8a62" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000394/occupancy.png", + "bytes": 101212, + "sha256": "9708ba06c3eee17dc6030b4f290fbb513a9d8d452cf77de52da2e731c9d85dec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000394/uncertainty.png", + "bytes": 93654, + "sha256": "72d2257845de597cc9611894608e97e060172f955e472909df96a80caded113a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000394/visibility.png", + "bytes": 45241, + "sha256": "7533884ede7d0d80a73094776d5e3ac8bd12eb2c0cc58b67a41d098c78d126fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000396/meta.json", + "bytes": 47, + "sha256": "00c5760c7a881465ab78d4958784931e2c382b221f5dc26949c2227253d01b77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000396/occupancy.png", + "bytes": 103025, + "sha256": "1eeb5230d76f20b2181461f757a6cb9ad6ff247bf160cbed698847bc22b99a4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000396/uncertainty.png", + "bytes": 92799, + "sha256": "5a8062c2d1d23e56fa589993ebf76e38d8ae032f57c339af346bb7a506c05e86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000396/visibility.png", + "bytes": 44021, + "sha256": "53a7c9b9d27bc2b4e39fa05dd17f6e6332ff2b4aaca7573969e4250e8169f172" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000397/meta.json", + "bytes": 47, + "sha256": "4c1b908165660ce6a5b4185f9449c54864a11366b68ad6c4e91f95f42eaa6b07" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000397/occupancy.png", + "bytes": 106716, + "sha256": "117aff2eb9be98a1f71f10fd84e80c1b370181e94ef56520f82f3ece82220e0c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000397/uncertainty.png", + "bytes": 96769, + "sha256": "1109c887330e6f35d7bc5e8ca219286b56716a442ee50da27fca564bb2274d39" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000397/visibility.png", + "bytes": 43980, + "sha256": "1a4fcf0dece8d07b99fcd3e55b92c589d5ba4401c4b6c10ef009240633013bd5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000399/meta.json", + "bytes": 47, + "sha256": "0558c642d9ced2a2d619bd3284d0990bc09859606ffb92327c070f54bf1aae0c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000399/occupancy.png", + "bytes": 108804, + "sha256": "aba755ee4ef1db82dde46cdef691e91c1a91b9241af131237731e9967fd5ef4a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000399/uncertainty.png", + "bytes": 100443, + "sha256": "66c034ede4042eb329b22d47acc18a9be71ee3e45a2850839f21b901ab645c5d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000399/visibility.png", + "bytes": 41678, + "sha256": "8023de2b4e889e99bd737a64b422ebffdeb42e102cb7f8c6d6cf9c959493977f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000400/meta.json", + "bytes": 47, + "sha256": "4b0fb9fdb25e2ac3eddbc8d37bc1464e1aa87ce3973b7243248e7b8c8e8286c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000400/occupancy.png", + "bytes": 113451, + "sha256": "dd93506f330cdab2c0dc99f50db03b3b8bd3992fd89db238eea14259c1ec7190" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000400/uncertainty.png", + "bytes": 109608, + "sha256": "a745fbbd2c108acfa5808b2fc40a276c1fc2f373bf50f6601c217402afa21a1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000400/visibility.png", + "bytes": 43029, + "sha256": "a515b87a140ff9c8babbada190e3c74768f4f00ecd440721c589dff75c24577f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000402/meta.json", + "bytes": 47, + "sha256": "d3bf7c15ef41acfb25ddc720d646e7901815995ca1f9397ed960932a8431b853" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000402/occupancy.png", + "bytes": 112772, + "sha256": "2a47885c942b99dcb6cb7f578e0a02035ff1ac0e6fad6b4bc1a7680be37905df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000402/uncertainty.png", + "bytes": 106690, + "sha256": "6543972e87fd44b76c533bd4f6906f7707077458c44fdcd053f383ad253968e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000402/visibility.png", + "bytes": 41403, + "sha256": "6fd05875e876423cb6cdd41d3edf7bc30cb00061c9c362e57239dd915a99f077" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000403/meta.json", + "bytes": 47, + "sha256": "4190ab16c4a638f268da8e52b3e2e9410c3f4c51cda2ea35a003e930556e2bb0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000403/occupancy.png", + "bytes": 106666, + "sha256": "1d1fe98d68b839cee37b0da9cfe55e2134aeceb2610569dceabf0cb55c65952b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000403/uncertainty.png", + "bytes": 96518, + "sha256": "f694af57dcfe245a8e48bbee52833813ec63341cb8c5f5a7cf906ba4260bdabc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000403/visibility.png", + "bytes": 41756, + "sha256": "d64cef69b3657807592960d65935153c3cfa5e35c8edfa75a80dbf7be6881a7a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000405/meta.json", + "bytes": 47, + "sha256": "c995e4588c69dc44fa8a409641612ed9e14e6d0c314c1386542962956ce130aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000405/occupancy.png", + "bytes": 112331, + "sha256": "035d70230706f8f46abc3a09b48c8250b304b8c0546af1dadf01ae963f10da75" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000405/uncertainty.png", + "bytes": 105646, + "sha256": "0c882ef2a516093ba49d080f858d2de8477020bc378f5ed64dd0f2a2e39a7e02" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000405/visibility.png", + "bytes": 41301, + "sha256": "39ef4c841bfffefda0dfdf18626a44a8a81062a6bb2ecc672796b51ec26ba882" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000406/meta.json", + "bytes": 47, + "sha256": "2d707d9f6334bec9ed7b3a7e02408db993f344a0459d648b98e2d0384bac9bb7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000406/occupancy.png", + "bytes": 112653, + "sha256": "53b94cb06c1bddb12c1a88a3ce1d7c9aa5d5ac4d7559525d7e00b27661a12b4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000406/uncertainty.png", + "bytes": 105477, + "sha256": "af0ec4710588e59f0bd2cfb21b07a3c044add9ab19a28f001d2fbcc60cec9b3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000406/visibility.png", + "bytes": 41915, + "sha256": "bd011433e0122c316efd4e2bc9a1199c7ec8c137363a36907f0b6165d86e84ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000408/meta.json", + "bytes": 47, + "sha256": "86d6e9c928caea69ceaee7f88544217653525c3330c2d7a5c7dd0a0713449e27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000408/occupancy.png", + "bytes": 112855, + "sha256": "832c63a76ce9d7b08d892001e00b63f3f42c613e16eec3ebb969af88a577af3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000408/uncertainty.png", + "bytes": 110171, + "sha256": "817b40555352e0a82ca51a7d1f4e63c1939e48ffac57f5a733195740d703a9b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000408/visibility.png", + "bytes": 43247, + "sha256": "cb4aa6138e286efab079bf35002d73774d05717fc7571529be19bba09bae830c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000409/meta.json", + "bytes": 47, + "sha256": "2741926f742b565e886819aa506d20ccd5275e2a4e4068e17a3e67534e7456f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000409/occupancy.png", + "bytes": 113255, + "sha256": "7974c68c2b8e0534e0343638b1b57e8acb8082f6678b39961103538365bf5501" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000409/uncertainty.png", + "bytes": 108448, + "sha256": "113b52a0151150fe9541c9fd0bb445d6bb11d7665ece2112eaa88b3d51324bda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000409/visibility.png", + "bytes": 41490, + "sha256": "fd6d6bcd4ca7d7049bfd44451042f7aa24194c2a2657ec1269c4875839f28283" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000410/meta.json", + "bytes": 47, + "sha256": "e071ec8cf20755c94f1ce207a31ac5fd3a861f5e2309f7b953b60812c3b3bc85" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000410/occupancy.png", + "bytes": 113122, + "sha256": "464aab265e81b264f13078c830833db3834c52a439a069e61642048614fd8d91" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000410/uncertainty.png", + "bytes": 107409, + "sha256": "2cc8fc0682a4f6b3d9b7ddec7e3835d43f362cc127d992bcc8869f71ba80d56c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000410/visibility.png", + "bytes": 41603, + "sha256": "547bf42c7f9450cb58384b3a9c17234d92d6052e221f3a7c16dc3d8294318105" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000412/meta.json", + "bytes": 47, + "sha256": "2019208642439ea11538cf60e75e9b8d60d944b955c635205eb34eb7dce22adf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000412/occupancy.png", + "bytes": 114153, + "sha256": "087578bb91465b98b64619a904db61b28a71ab49d4967ee25379841929c7cb1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000412/uncertainty.png", + "bytes": 110279, + "sha256": "d549f0b1957adf52f12cc598b706eabd4a46afd8b77b456d799b5207e31491a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000412/visibility.png", + "bytes": 42094, + "sha256": "aa4ae157baa9c11a992c67546516e5bc092fd75f89aa448165a375d93aeb66a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000413/meta.json", + "bytes": 47, + "sha256": "330aef248adb203cd52f4fbecde32467d4a96a0291c778f0ba41e1e360586c27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000413/occupancy.png", + "bytes": 113213, + "sha256": "363fdcf4bd86105028cb5ee07e863223d12ed7a1ed583eb381aa550a93f66154" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000413/uncertainty.png", + "bytes": 108641, + "sha256": "01a43b9ae07201e31f01c9c3167c210af0e246c2874c99a916b43465f18edc32" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000413/visibility.png", + "bytes": 43372, + "sha256": "de379513af8663d90cae34631884f43e4e747be9fba809bdc9b7b07329ca7aa6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000415/meta.json", + "bytes": 47, + "sha256": "b3b60668b9cb66c1fc96c521ecc759923ba75f898075536641e96c4aecc9a967" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000415/occupancy.png", + "bytes": 113908, + "sha256": "7d6431379d0f09613db44909f8a2eb23462b49856973e3cde51c7b4013f420d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000415/uncertainty.png", + "bytes": 110904, + "sha256": "1308372a1e12ad0f57982450ff2c839e246a8f2fd8710e10bf83f9ea29227321" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000415/visibility.png", + "bytes": 43955, + "sha256": "696cf2abf2dc30f2261727531e1f2a4ba25cc39b14d235363de848feeaa4d52a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000416/meta.json", + "bytes": 47, + "sha256": "07dd472954931c70dc5bbbd2a1765960526d353e67c86a16daf5e354970a4b33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000416/occupancy.png", + "bytes": 113076, + "sha256": "fe81f7a0197ffc044fa634153dbf8d24ee0e9a9b53e5823df6fe93b153ee7709" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000416/uncertainty.png", + "bytes": 108460, + "sha256": "8f6d431adf2df848297d158b491d0552d25a8ecbfd6322b96162f3eea5016d28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000416/visibility.png", + "bytes": 43121, + "sha256": "97c62243f25108e961ec8e9301560e446d05bb741a74cf33f81bed0edf2764f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000417/meta.json", + "bytes": 47, + "sha256": "9c3f442ed5e0b5f41016c66881bd31b1a609f6cf3c5ac52e0a088b9918e32bc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000417/occupancy.png", + "bytes": 110601, + "sha256": "d99f13cdc09cc57d6ce6305cbd39022b4f406c01eff6e34333cd65531927b190" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000417/uncertainty.png", + "bytes": 104194, + "sha256": "ceee498d59821e4a2e1a95badddd3ecca4b0cea9055b9f09f0512fb6431c3c04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000417/visibility.png", + "bytes": 42690, + "sha256": "12a10d229c06776a4e6f38b2d23a6442091bc7810463951a0aa5202e7344dd13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000419/meta.json", + "bytes": 47, + "sha256": "9555e3eead954162ed524a13b6fef01a31b758e02d0ba471f8258a061900ed84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000419/occupancy.png", + "bytes": 110906, + "sha256": "ef22cdbeb0625143f5eee2e0cb26338b97db8c304e0d966fa789c6082ef1e5c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000419/uncertainty.png", + "bytes": 104124, + "sha256": "ea7f3234ca3953b43c86f7fd824e99d1bf8a333bdd35fc31d648e6119fa33757" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000419/visibility.png", + "bytes": 43346, + "sha256": "2776b9e442f45e45bffa1ecfa6b54b25b58778583e5da0d8732891f3eaa51f5b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000420/meta.json", + "bytes": 47, + "sha256": "214465737f2d0e789b2ef1881f3a61c9c1c62f23ba4a236b1ce948a7dd887b69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000420/occupancy.png", + "bytes": 110062, + "sha256": "230bff5ee38b697ea34dbf7a9b28fa43dcf434548f19c87c99d53daa377b9f25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000420/uncertainty.png", + "bytes": 102351, + "sha256": "d1c33910bc0808997ab8a659ac63a84e74a1ce40f0b673886d8975936a66cc35" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000420/visibility.png", + "bytes": 42753, + "sha256": "1626c1d8472a5e3ff7c7bf88d7615aa7fbc2e4baaecc1129fa11c04360bef5e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000422/meta.json", + "bytes": 47, + "sha256": "70cdca51e81ccfa877a08993d670857a7158fca8e3ae2ac1664aa10d3ef88337" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000422/occupancy.png", + "bytes": 111143, + "sha256": "32e89c9a6e3bda86c81e875eb0859951efc38121ff43202083bdcd05e7454a1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000422/uncertainty.png", + "bytes": 104330, + "sha256": "8b35fac899a3ccb6ab06ff89f9997c448bf2261d4b5b5e5fa6c99820900d17c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000422/visibility.png", + "bytes": 43725, + "sha256": "3982b31a1ef513ae803ff4ab7eea4fba44b46cf30c86bfcf73d7493f42c291aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000424/meta.json", + "bytes": 47, + "sha256": "4e87dcd0707d4eaf8314f0133be457bf724fbea2b95be288f56e2e39a0dcdb2c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000424/occupancy.png", + "bytes": 107563, + "sha256": "cfca75e6b6b3cb151e628ca8c30d22e5ad563de21e1f148748e952f289cf9f1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000424/uncertainty.png", + "bytes": 99327, + "sha256": "2dcd8b5cf0987afd56db81751180dfc16416208c6d2eab739994ee2a362fece8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000424/visibility.png", + "bytes": 41818, + "sha256": "bc746cbb1377b47c069a2071a1414a11f5db1f54f6e375eea67f4ee789b055ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000425/meta.json", + "bytes": 47, + "sha256": "221f2a39f4e3aa8d0c11435ed00e19e1c994142f28cfd008170b507a7f000244" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000425/occupancy.png", + "bytes": 107322, + "sha256": "c2c580d77f8ee3ca4c65203660a5f7d2c1f7cf540377b221c83da02f4862cd41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000425/uncertainty.png", + "bytes": 97933, + "sha256": "2a65436e90c11e8a513262b0c84fdb0cff95bcec64d4360e16f8b26c39cb3490" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000425/visibility.png", + "bytes": 41271, + "sha256": "426773db5ae13ac62f1e36eedc20122780f70aa74b2356c435cb2a269c610325" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000427/meta.json", + "bytes": 47, + "sha256": "96e3e8e306bf0a8ccdf10050f755f2cc1b6facad2f927fc63e0e97ff9c51dacc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000427/occupancy.png", + "bytes": 108290, + "sha256": "d81a06a4dd78f005fad18207d6e53e7bd6d84f2c26e75e4345085c0fabb834d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000427/uncertainty.png", + "bytes": 100963, + "sha256": "831d0dc56aba7583122dd91715d6845adb5f5b48ccf28a3dd47751e68f8e4176" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000427/visibility.png", + "bytes": 40708, + "sha256": "2425a6d1f6256d8ad1dfbe67224d0f6cf177aeb6b77d045e91a0767f5087d19f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000428/meta.json", + "bytes": 47, + "sha256": "5fb2da4eef4656fbe3c0e62914a628d9a4e4912219d2f92547ce49844bd7ac13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000428/occupancy.png", + "bytes": 107730, + "sha256": "2270ed350b62f108e49b973a953e8159c7eca3e4783a8579977fc3a528684b94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000428/uncertainty.png", + "bytes": 97337, + "sha256": "fec2d59a1afd3618e1b902d542c30b719244cfc8405093297ae4daa5ff1663f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000428/visibility.png", + "bytes": 40577, + "sha256": "94aa3af18b7f2dd3670ad20a2e6e21fde8caf2fab393b70d1b10c0c16c76ef2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000430/meta.json", + "bytes": 47, + "sha256": "3a44798b84ecdb4211a40b129871203ebf9621d719cd4341bf46ea1c97dff4b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000430/occupancy.png", + "bytes": 107797, + "sha256": "28e0aa0815dba92b953b507bda87f14b198307aee583bae6bd2a875eb9a32980" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000430/uncertainty.png", + "bytes": 99890, + "sha256": "8d7c471737070342aab9f1fa4a5c2e28f7769e7eecebfa7145f2a704c4d740df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000430/visibility.png", + "bytes": 39912, + "sha256": "9db36fe01a0d03eed2b07e75c46ae105298ac383bb64f346e60b92dd550a4cf2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000431/meta.json", + "bytes": 47, + "sha256": "f48d2cc64f1022003a3cdd92d44b6194dce0d8ab188c1bb05c0861d52b9776c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000431/occupancy.png", + "bytes": 108399, + "sha256": "bd5a5a8b7f216aedb87523c5096133871fecc462025286209a0bb65cba0bc13f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000431/uncertainty.png", + "bytes": 99943, + "sha256": "1b12925f1b00f6f3445e2570b0b57afdbcae2fb5d373e1ea15a4e20157b48666" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000431/visibility.png", + "bytes": 39576, + "sha256": "d03c1e8537f06b91f4e1308cef9c12412d5e8d1d3fa6bc23ed8a16da3db4ca2c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000433/meta.json", + "bytes": 47, + "sha256": "05206c614573ba208e29fa01dbf2771e087b07bd26f5e48e2683b10a48c64d5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000433/occupancy.png", + "bytes": 108065, + "sha256": "cbd628a7f7f36815a20ea6397179e4e34273f3d78b1ebb06e27c0e35d13fd74d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000433/uncertainty.png", + "bytes": 100501, + "sha256": "31c1a848a730dcaa8ea4652c9357839441f0994691764cb4b2ffa90ad87cde80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000433/visibility.png", + "bytes": 39894, + "sha256": "1611875040cdfb43120cedfc20aa6b62d588e3a7474d520770bd8e5789f5493f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000435/meta.json", + "bytes": 47, + "sha256": "e5e404eba8718785c1bb4d9389a4795d793ec6a808e89c9837ee7ddbba1d3f3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000435/occupancy.png", + "bytes": 108942, + "sha256": "720f9924ccfeb7bebdb95a98869e9e0d9581cdb08c75ca5f3c02f6a96e80e289" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000435/uncertainty.png", + "bytes": 104621, + "sha256": "1abb3738ba983bbfd51a10d68f7ae2886d13224958d4ed8f5c7d035ed286115a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000435/visibility.png", + "bytes": 40173, + "sha256": "255676fcdaebfd8a7b0b756020bcb01d5541b4eaa980d21dea6fd2bf22d0275b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000436/meta.json", + "bytes": 47, + "sha256": "5c5b9a55de4852bc297ae962fc1b9d8d195b725814575d04c400480288140bd3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000436/occupancy.png", + "bytes": 109415, + "sha256": "88c77d09ed703a89f71dd053f2897afdbbb03952cc5b62a7c478165aa6799756" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000436/uncertainty.png", + "bytes": 102335, + "sha256": "4642baf7a45ffec7a3209672aa568217f49f9741cd967883ef61e7c46a5e39a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000436/visibility.png", + "bytes": 39042, + "sha256": "3271fbc8635baff71c160c8d40a223189f33a1fb63d7f2a7824dbfb8899c995a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000438/meta.json", + "bytes": 47, + "sha256": "c85a4db7f0437595ee2d6f81806dc921eed9af6b0f3a564b61ecef9bddcce439" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000438/occupancy.png", + "bytes": 106313, + "sha256": "7d0a1d7eb251dff41a9f9cd8a9a6ba89f321562cd5ba00ab735eacdfb24f203b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000438/uncertainty.png", + "bytes": 93615, + "sha256": "a9a14ca1ef4b19db25017ac6d27ab2344456b63c30384a21112f2df327692297" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000438/visibility.png", + "bytes": 39878, + "sha256": "57cf256fda9123fcbb3b7737d03cb9ca1f29bc59e291c601e9bf419671f4ca2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000439/meta.json", + "bytes": 47, + "sha256": "c9ac0be22cef200eb5cd698fa7928897c3d02c9ae7934da6fe70b0d3e6ae0131" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000439/occupancy.png", + "bytes": 105840, + "sha256": "f9ec24393acad455b466614b7498145d432ae18737fc08c4e57d2af1a287bfe0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000439/uncertainty.png", + "bytes": 92950, + "sha256": "3831917a3e0add1af285443c6eec8a752da12e1041007875e291d286c6040963" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000439/visibility.png", + "bytes": 40056, + "sha256": "fea562e55d19b6a26c59b739a4b8aec74ae440d6cae5d14e51dcb91bf74998cb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000441/meta.json", + "bytes": 47, + "sha256": "895557ce836d5f8acc8820b87fca1ed35de4afa8b72786515c373e9054c321b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000441/occupancy.png", + "bytes": 106664, + "sha256": "5ca707f9f10fde36c282efe87ae9cb3d58ae1555db76978d5954015f43e017cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000441/uncertainty.png", + "bytes": 99027, + "sha256": "417d054a056ce1bd84e6e0c8903b874aaf64e49c1ed2d3d18ff44d9de6181247" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000441/visibility.png", + "bytes": 39562, + "sha256": "e5e24d517720a15023ddfda28f8f5b80484dab7ee873490b1dfb2d2397690876" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000443/meta.json", + "bytes": 47, + "sha256": "e47a8d437f15117b4a4d4ca031d52e9daf212cb6583e87f0cf2671d335513c5b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000443/occupancy.png", + "bytes": 107140, + "sha256": "7c20e935cd6c1815f3c503faa681984880bfdff3054202ea51fc8fe7286e50e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000443/uncertainty.png", + "bytes": 99286, + "sha256": "e99585b36bc1656e8fa7c68aebde5a24b06ec5f9f9494e06f0f5a2c974e69cf0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000443/visibility.png", + "bytes": 40842, + "sha256": "7dda55bb7471b1fa3668c1e110b9026598788fc832b58b1e4fae7b3de452de49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000444/meta.json", + "bytes": 47, + "sha256": "f5dc8fdd82e855c076b86c2ed17c361e6c3468a6f7ff6c2571af0b05c8025b5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000444/occupancy.png", + "bytes": 107534, + "sha256": "bba51ffee844c6f277c456778728a67b34315dbca4c80d6403734af3d417c2e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000444/uncertainty.png", + "bytes": 98533, + "sha256": "988cfd14d8b407c2b0636e7604c1adcc8f4d887738494505edb98325ea282413" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000444/visibility.png", + "bytes": 40150, + "sha256": "358dafba6c598756e6b3b52d4d82641556e4b0699e044c68d21b2b10dcc8cab3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000446/meta.json", + "bytes": 47, + "sha256": "104cf0c5e83d647fdcdf2842ea006ee45dd389813b1eb5993a0eadd3e31a886e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000446/occupancy.png", + "bytes": 108691, + "sha256": "daa639580f86bf30936000676941e196f2f45d0031b1dae6c4bc9f0e8a8d8b1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000446/uncertainty.png", + "bytes": 99434, + "sha256": "64c65a7a12bb4cf75425475a347461789b8fc93688d9b13fb9458c579dd1a8c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000446/visibility.png", + "bytes": 40870, + "sha256": "92bf29fa58379abe8b805f6ed1b1c1eff7523fdbd730c9d6418b2ad9d385e43a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000448/meta.json", + "bytes": 47, + "sha256": "c3439a54eb6c44da0f66c696d38a9bc3010392ecff8cfce0d67803bdec5b0473" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000448/occupancy.png", + "bytes": 107294, + "sha256": "796f87f62e5ab10588f3ff7d8a328ea3b8e7d50ba011263d4ec14a7d50cf820a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000448/uncertainty.png", + "bytes": 96251, + "sha256": "f6626f8f1acd3f7a6f692c435b72acb5cbbeb66387468816359c8cba98c4cfae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000448/visibility.png", + "bytes": 40703, + "sha256": "934fd19666710d9f2e8f998c67efb67b659dd7becedba5efc266545aeeccb3a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000449/meta.json", + "bytes": 47, + "sha256": "c5ed6d8c912594f06b4008412d2d5d04b45c62f8854e5cb7bc8e87c9ff8a29e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000449/occupancy.png", + "bytes": 107085, + "sha256": "1d4d2b930b37e6d03f283d003bd8a9eb3454310459a123b79b14c534eac17092" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000449/uncertainty.png", + "bytes": 96675, + "sha256": "dcc52bbba1380c2c222034703254afb823f03d869f0b42c53a76225a330db15a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000449/visibility.png", + "bytes": 41037, + "sha256": "fa229cbecfedcbf20e19f2e63e4314be249782f6606926e88b0e6789789dfa7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000451/meta.json", + "bytes": 47, + "sha256": "756f98c8bda4dd0f2bb4caeccffc6c915d05fd0e4d33fb0b0dbdfb60732a1606" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000451/occupancy.png", + "bytes": 107732, + "sha256": "e42f9caba346e8f21b8cc24819b7840a6dfb19595c385ca3aa6317499069fbd9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000451/uncertainty.png", + "bytes": 102043, + "sha256": "b50bb8053a021c450204e434a9abbc4df6ac87ca8184f4a7023c3277f39d64e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000451/visibility.png", + "bytes": 40602, + "sha256": "72cb18379e2bcdcb21c84756af147b724aa2f0b84c9b5d7a291be439d7ce7307" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000453/meta.json", + "bytes": 47, + "sha256": "0fde7343bf90ca1316f761574077c73318556db90d393f6a586fe2a267e557eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000453/occupancy.png", + "bytes": 108654, + "sha256": "51fa72513e2d08cea720e3a3a7dfe1b41edeab4468b699c6c47a0dcff9b9833a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000453/uncertainty.png", + "bytes": 102657, + "sha256": "589444aeb41eb6689015911bdc1f2bedcc44522436b88e8095babbbe3ee4a519" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000453/visibility.png", + "bytes": 40578, + "sha256": "ed70af23b5a2ebe5da7dfd6b3bb58dac9937b2fca195779cfb06c2a6abea063d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000454/meta.json", + "bytes": 47, + "sha256": "209e10cf1dd018beb044cadd47215537057681333054f40163d1ee0b376ce707" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000454/occupancy.png", + "bytes": 108107, + "sha256": "a1b642e0ae943155d30f3cf3f12e3542a37bb26c927e265a5efdeda13d75d64b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000454/uncertainty.png", + "bytes": 99417, + "sha256": "305a0842adf61b0d4086c0aa8bc7896ffbd2664233a5396d0a94c8bbdd6ff3ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000454/visibility.png", + "bytes": 40416, + "sha256": "cde5cf8857353595616dc54f7aa6a9484d252539d86842980ca0f535177be928" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000456/meta.json", + "bytes": 47, + "sha256": "a66f697ffe296876a011a19b6781923c7b9928a514d993afaacb0ef5a4e4d48b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000456/occupancy.png", + "bytes": 108902, + "sha256": "027b0bdd57f582497e148864b7eff0d091c643d0ded17a690b89e81702a1b404" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000456/uncertainty.png", + "bytes": 100289, + "sha256": "85146a8bd3e540ac11dc58682e7d3336eece76ca14119387587a94a1bff7427b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000456/visibility.png", + "bytes": 40650, + "sha256": "bcc545156f835487ea10bb1affa6ddca3d3473ff3891781edd698fb5e8642338" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000458/meta.json", + "bytes": 47, + "sha256": "0ec58d2ee90bf5cf59e0df25ba48ee4cac9bb34ad65cfd67cc21dbad7dcafac5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000458/occupancy.png", + "bytes": 107158, + "sha256": "46cbb6bc36c9e21be77f38fab84ab9b13a03d9ca20d2728e21ebc1682b30a845" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000458/uncertainty.png", + "bytes": 99176, + "sha256": "96bb9421ec0f777d8271d60bb594423b953a2c5a6e455882bcd47406dbfd8cf7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000458/visibility.png", + "bytes": 39850, + "sha256": "915843c82012dcf9c212a12f7dc4115e7b8a7ba3e7949051330238af60cb764a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000459/meta.json", + "bytes": 47, + "sha256": "66fb6d1a5897483772ccfe8d0f388e4c0c784a5b2fbe98cfbf24f7ab0eba1adf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000459/occupancy.png", + "bytes": 108617, + "sha256": "fddf909ff626caac07b5378d8bbb159f422c238f0966783c2fa62bd00d011873" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000459/uncertainty.png", + "bytes": 101115, + "sha256": "bd0b484e7760816a638ae7db6bf4eb248b78c406d7b8bcd570c7c75a12da4ba8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000459/visibility.png", + "bytes": 40420, + "sha256": "cf246b2c12dba9982b6eb07b2e7ed3a38ab849f0f18c81f9a9ab89e6912700cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000461/meta.json", + "bytes": 47, + "sha256": "2e7c89bd52ad70d96262ff2a3964dc0b813f5831d90dfcf5c51e7931a198a35a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000461/occupancy.png", + "bytes": 108593, + "sha256": "23df4709615db0940ab00f6f54992d4dfb67de7f32ea6706c2262c466ec880e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000461/uncertainty.png", + "bytes": 101463, + "sha256": "49eeae1b6ba0e6f705c437916fcfc8bd60711a3531500e80702ac9ce0a264c15" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000461/visibility.png", + "bytes": 40303, + "sha256": "447044cc1d8ce0ac0a9de7136e63dd8be5889b01e1607d2fa641f54f4d60df09" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000463/meta.json", + "bytes": 47, + "sha256": "a3ea23d7f5f7ac9b0e0f60dd0e537f82e9f3060b69a7d01eaaa7448d16341497" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000463/occupancy.png", + "bytes": 106247, + "sha256": "c130577d61ae9d7e2d485940fed5a01fed73774152973479779d76dbebfc1d34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000463/uncertainty.png", + "bytes": 96450, + "sha256": "31273f259d8ec3db73a9953ccd79a5fd74088972d0ea7c09725dd1354932ed34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000463/visibility.png", + "bytes": 40299, + "sha256": "af1f997e46ff3e5a642ab054cfb97efd73e3e366fa80abb6044699be6d2d6412" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000464/meta.json", + "bytes": 47, + "sha256": "9d6d82bb307c0f4ca126db67452374e1b788393333686ea9baf35185baa43fb7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000464/occupancy.png", + "bytes": 107072, + "sha256": "8bcaaa49140678a5fa6fc9a8cdaa7c5dff1bfccfad7cd2d412072385eb3f3ec2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000464/uncertainty.png", + "bytes": 98627, + "sha256": "e20338e3d75fa9da0294a9ec0d7030199efcd7aacded805653e3b94a31fdac69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000464/visibility.png", + "bytes": 40264, + "sha256": "44382ffa49086440c6e166706da37cdd59d07b3c0ecfa6a7395ab2920e737999" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000466/meta.json", + "bytes": 47, + "sha256": "70c60c224cca7b2e945b51b7580441ec60a55fa1675af2e082a4c7a9df36a033" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000466/occupancy.png", + "bytes": 109075, + "sha256": "5ed51880f49bcd5acb45693aa91ad5ddb7551edc896f1869bd5361112b9768a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000466/uncertainty.png", + "bytes": 101557, + "sha256": "4f33508130b192b2edd48551347ca08fffdfb451dc36db95c5e2b22ba07e4667" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000466/visibility.png", + "bytes": 40357, + "sha256": "e2f7adf86f9385ad38b3ac0d6ac82ff11c5f90db529a857394bdc2138bba35f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000467/meta.json", + "bytes": 47, + "sha256": "eaeea7f48b68cbf399aae6a8296e1b89ed3985409f77aaaf4f0de9372ec3ca36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000467/occupancy.png", + "bytes": 110300, + "sha256": "757f13ebceb60a477012bebe177e8d47a3d46f62a608f6ce43d0f7cb849671b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000467/uncertainty.png", + "bytes": 104842, + "sha256": "1562f55b8bfef1b37e7f97daddfce4543bb2b2e59a22952c0e8360b14133d109" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000467/visibility.png", + "bytes": 40622, + "sha256": "a97ddd97dfd22badbf5bd873bd4a135a45b9a995f43cee2ae3bfb5ff1dc977c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000469/meta.json", + "bytes": 47, + "sha256": "a8bdeccce28a2f56dc9587fe48908b1076b84d44d9e1e625f5557e776e14bfab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000469/occupancy.png", + "bytes": 109920, + "sha256": "1576d3b5aff6b82b9875fd9c3979a9f65e53a31f456bd0ae0d8eace1a4b79335" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000469/uncertainty.png", + "bytes": 105145, + "sha256": "3f988437faecce43e93fd10054db9133976339a286a44380fbac77c88ab7f709" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000469/visibility.png", + "bytes": 40603, + "sha256": "4075b81d6716be0efcd823240207609f3e898a93f9f883fa6e26918747af6b61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000471/meta.json", + "bytes": 47, + "sha256": "7328fe9a0bb1dcaa1e13a6eb18a0047f197d9339938f757aa3a2d26009e49fc2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000471/occupancy.png", + "bytes": 109799, + "sha256": "2a902c9908cce5b11002d9f8213bf16cdc83fc51efd51add064fbfb1893b0787" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000471/uncertainty.png", + "bytes": 106213, + "sha256": "af5f5f5339b41058d7a8318920367aca2c6de19b3295c69b71de397e2ec5f054" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000471/visibility.png", + "bytes": 40704, + "sha256": "3daf54c8775daa38b2a9a4f50894d5d6a544300385193db3859625f6c7e7c28b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000472/meta.json", + "bytes": 47, + "sha256": "f24bc4c0b3c1e12bf01334e6174019d54bee3da74f67dbd9e542bda3e5be93df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000472/occupancy.png", + "bytes": 109768, + "sha256": "33afad3bed524b7d341438ae6799fdd18fa7d099ba36b5cc8d728dbc108e361b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000472/uncertainty.png", + "bytes": 105984, + "sha256": "340a454585be51f4a6b4ad4aefb9876ac2b36b76efe166ebe5f9d83c6fa054cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000472/visibility.png", + "bytes": 40710, + "sha256": "d8a3687e423a3f76d37e501c2c636eaf10f2063d459983fa9c2cc0556a824850" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000474/meta.json", + "bytes": 47, + "sha256": "5fd9f78ad6d44f8b66f182753707b5aeac86ba665565c6ba414a081aa56ed370" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000474/occupancy.png", + "bytes": 111447, + "sha256": "7a47faa31e1555c85d05c5476e3c0c127b8f907c9210825a8614166d710b6671" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000474/uncertainty.png", + "bytes": 105397, + "sha256": "5ba097bfb2e65ca6c52a4e23f2c60835ff2488291743f0f929223607e71d17d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000474/visibility.png", + "bytes": 40692, + "sha256": "2c062556a4e9ec5b0f40cc7454044f0c4d8050738da59ff3aec5dd772dc04722" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000475/meta.json", + "bytes": 47, + "sha256": "64a6ba519d7b557042487e616a4472b94082edef7853aff70f06579bdbe0d4bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000475/occupancy.png", + "bytes": 109356, + "sha256": "5c096fdf1198cbb233ca85b9271276d9feef9160ba55585a583232d9562b378a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000475/uncertainty.png", + "bytes": 100697, + "sha256": "97240394ad8cddbaa729629c2f241aa24cc473aaaa132b2f9ea4c46db9ca1690" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000475/visibility.png", + "bytes": 39719, + "sha256": "bfafaa4e76b1f38cbc18cfb4c6c63f3800e7a31cb622844ccadc0d69900951bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000477/meta.json", + "bytes": 47, + "sha256": "b9357fa50b59c0126af282a2554c4948b9bbcc0f8e2be95b75f8942e176313eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000477/occupancy.png", + "bytes": 109599, + "sha256": "209dbf23fab9a7fb70baba24af49ea2fd61c62fb5ae2f24e3125e531434d7fb9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000477/uncertainty.png", + "bytes": 101285, + "sha256": "ddd23f9f333da8e4210925a92e31826f3cde78391728e7b2004dce065c4648a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000477/visibility.png", + "bytes": 39820, + "sha256": "c88ca7f19cebf2ffd351593172ede20a25108a44a19de8ce62ea0a8874f32d3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000479/meta.json", + "bytes": 47, + "sha256": "3ebc195977fc7bb485d3f936ee128829c50646c267cdd6fa2d18ba4d8a11fdbe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000479/occupancy.png", + "bytes": 110747, + "sha256": "d72dead464616a538d9a4b9f8124ab977e9f4a9f0bebd936defd5390c3d62ea9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000479/uncertainty.png", + "bytes": 101858, + "sha256": "74128883f235128b9ba020c1c1451561545fea3826af7ccbdea2b63d759c52cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000479/visibility.png", + "bytes": 40000, + "sha256": "ad1ec7ed2a2369ba81ac3949024083f69347fc4c47d09c296c6caf28f1a91a90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000480/meta.json", + "bytes": 47, + "sha256": "bf479c83cc2be6986d896e7d644949db99b8ec1f5bf0005975cdf244d4f9feef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000480/occupancy.png", + "bytes": 108997, + "sha256": "62b8d1d9c40b98a2a458fc5f8998018e57056808c4e075ab804410140476be2c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000480/uncertainty.png", + "bytes": 99944, + "sha256": "75dbfb265f6cab829ab91539fcb97cf758e8aedcfc27cabbccddb0ee9100da86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000480/visibility.png", + "bytes": 39548, + "sha256": "8269c9bb4f0e57f6ae4d3bda4f2f7c48744de397681efc1f5cdc30add6c13e18" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000482/meta.json", + "bytes": 47, + "sha256": "8496b7269f23aa445b65e1653e7524104a7267ce1c9fd6494218750038cbdbe0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000482/occupancy.png", + "bytes": 110519, + "sha256": "cd9183babac7c6050e012210e1a59ff39f9db00897c359c121ed39b05e902d58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000482/uncertainty.png", + "bytes": 106856, + "sha256": "70289112ee3bf6409bf030b35e4a25c6d778f0b1e050dddf2206985ba52a789b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000482/visibility.png", + "bytes": 39884, + "sha256": "5a7d9a925c83d01308b877cd233e3357228445fdaf825b63b2d03fb20755c813" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000483/meta.json", + "bytes": 47, + "sha256": "39c37a0bcac36b4864be4e1fec549ca2f11bdb26c6917d851fb4fbbc9a7d8bba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000483/occupancy.png", + "bytes": 110871, + "sha256": "c8fa897d3b15efa5dfd78effc75352822add10d6b425191d565f9f8306407579" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000483/uncertainty.png", + "bytes": 113031, + "sha256": "81c3d9d2ae3e21b5f61f8e9fe5c1985f295c9d81474ec63a22e13c014ef0351d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000483/visibility.png", + "bytes": 41183, + "sha256": "3ff530e223a26f4a68d71629ce381db1f823f511aab73c59b9829eb59c4cc636" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000485/meta.json", + "bytes": 47, + "sha256": "707cddd9846f9cb4680245b4a862d3f0a1c18015b787e0a6c3ef27b5d72d1a89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000485/occupancy.png", + "bytes": 111513, + "sha256": "0665429da964ee6d21efdfd1b4684165bbc9aea519f2b6a9b35a2cea564bc2a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000485/uncertainty.png", + "bytes": 112405, + "sha256": "8e372ebb0b09bb7cb13947cd994e1b4f0e5df3badbc45658cba9733e7390d1ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000485/visibility.png", + "bytes": 40843, + "sha256": "7ee0a2eaa28edee10871a558b6170ec964fe85f9624d7852032b51838370baf8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000486/meta.json", + "bytes": 47, + "sha256": "bdae7a4ad4fd7201614f350384ea39b49a59757ee2dcfc55395800f65430ff4d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000486/occupancy.png", + "bytes": 111806, + "sha256": "2fc75b673b41b31293a82a3d913439a3984851991fd7b213ed37e5e6b9656182" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000486/uncertainty.png", + "bytes": 107350, + "sha256": "1aa69d17639cd00fd9d3e4664179fdfe10d5688152792fb65b9e194dda72b8a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000486/visibility.png", + "bytes": 40440, + "sha256": "129be8d6c5dcb805bc6574ee0e830ed1efa7ac7bc7fa021231485ee988e2c118" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000488/meta.json", + "bytes": 47, + "sha256": "9d4b9e609a633b18869c974895db8a3970f8a4d8020a83c17dce4a2b36cb5387" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000488/occupancy.png", + "bytes": 109846, + "sha256": "4b16bb98b8a6c6545fd9fd0517fe61745fed34d0f168263d23e001578518468c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000488/uncertainty.png", + "bytes": 109070, + "sha256": "bd94c5bbd6200ee6fac2435bfca932f06a1cd02c6da2840de5f462bec81cea4a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000488/visibility.png", + "bytes": 40748, + "sha256": "f08e531dc5bda8615c8900a41ecf908987b71eca81f5c7cffb374034fb3d20ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000489/meta.json", + "bytes": 47, + "sha256": "0e5a495befc03898b2107748990216f2de4e05fc9be2d3ca5a1c4d51aac4efb0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000489/occupancy.png", + "bytes": 109829, + "sha256": "fa615cc05b879351052200c584b1cf3813caf9192d8119538f9213d14b5e7352" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000489/uncertainty.png", + "bytes": 108115, + "sha256": "9c2f5820462e7255f917b3e59885241464a5dc808d19c5a7e079091d7f6fb378" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000489/visibility.png", + "bytes": 40396, + "sha256": "17a2f0dcf92e119157f8021d34ba57177bf4c91a2b82825d4f350edb08a9f0bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000491/meta.json", + "bytes": 47, + "sha256": "58b96d1e367690c0c37c456494a90d65ecf8fde47102bcb7b76f82c52740dce7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000491/occupancy.png", + "bytes": 108634, + "sha256": "fe2d9c46bf4c1e8ac640340f6ad8099bd95a8392a25295adea27da7977d81044" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000491/uncertainty.png", + "bytes": 103847, + "sha256": "5924783eecdd61cf035ac8473df2c728ed081e8ebba153ec3a5ed3f375dd5cb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000491/visibility.png", + "bytes": 40282, + "sha256": "d27d9a75c4564fb81d2b8c72783e3c9ed30c52f15960929bffe377bd6b385e59" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000492/meta.json", + "bytes": 47, + "sha256": "cd6f90d7a3da0743ddb8bb2935a5c7010da7a771dbb74e72e9ce48e823b7a952" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000492/occupancy.png", + "bytes": 111314, + "sha256": "01d3c41afa4abe053ec8c5b2d9e36e2651dc097c033a1cff72323739276a38e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000492/uncertainty.png", + "bytes": 115747, + "sha256": "f4e668dc3d2e2909bf7ffd4a708c9f156ba696d5197d758221414c6ff2a0bb1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000492/visibility.png", + "bytes": 40037, + "sha256": "2a58ac5b590ada6b0416fd83e502f31d229028dea2faa1c039fbf7dece03f892" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000494/meta.json", + "bytes": 47, + "sha256": "26cddb6b5b64c9403bf95a92b04d4d08465b54a91a2b21099b51a9a6513e2387" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000494/occupancy.png", + "bytes": 111935, + "sha256": "c79304cab6df4934e732e000d754bbf479bf9b1e17cfd95922a81af01ccf8f70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000494/uncertainty.png", + "bytes": 114692, + "sha256": "a5bf1b51d92ad8976f16a6b4f977d365b9ded781ccc45b26f4f02eb39991cadf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000494/visibility.png", + "bytes": 38535, + "sha256": "a9371b2b54be6bd69fe8ca4a774b99ea64c7ee7dc0c3795ade58060c22c5e5de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000495/meta.json", + "bytes": 47, + "sha256": "cc08a89f35856576aa1958a2ac96e760119623249ce2881eff4916e7502887d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000495/occupancy.png", + "bytes": 110100, + "sha256": "352363beb5b41b21b2a864b7e9bd1b7f10bf1b214dc6e07df720327d657b3abe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000495/uncertainty.png", + "bytes": 116547, + "sha256": "19d4c8de5bb6b0d5783c9bd6a9b0c1b87d0b413a410e00ce74c24e0c708fcd8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000495/visibility.png", + "bytes": 38840, + "sha256": "29e88770d41878365ef98ee84dd62be7ac7a41e164acffd89d8d3f97f004742b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000497/meta.json", + "bytes": 47, + "sha256": "8892675b1b3eee83cd74421c0f20a017013865e7e21a2a27ee1a4d195b05cee3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000497/occupancy.png", + "bytes": 109051, + "sha256": "ce95ec59bbff9a2c4a0706b2aebdfec9d21edb472bf96b8d90fbe3bda87bea04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000497/uncertainty.png", + "bytes": 114919, + "sha256": "c710269b91164d5e9f230c7b79b2f38f68425c0d86fb72b9c53ad88d1cdf95d6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000497/visibility.png", + "bytes": 40076, + "sha256": "e55fd4f50158defc07eac7a93dd21a5fb93f0e96a44d26cb0568fe57aaad3951" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000498/meta.json", + "bytes": 47, + "sha256": "102bb2b17f6eb2bbc79ed3ce2e2a67133e5e61807d77828443e179afe0c99d88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000498/occupancy.png", + "bytes": 108890, + "sha256": "8050737e9575df7726f02594895e74cfa3d5b7fd9b77af43b7305e60a379dc93" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000498/uncertainty.png", + "bytes": 117284, + "sha256": "7b161693f137c8227803c1cc026001680fe48b2aa77f34e2b4fbf9324fb2e578" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000498/visibility.png", + "bytes": 39952, + "sha256": "ecdb8f12159f29b3d7fb87de9a051d0d8613b93ec8810dc05a303ce8f82c863e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000500/meta.json", + "bytes": 47, + "sha256": "28d572b575c6f984c83abb798a6121aecad892bebddcd7177b2ad3a82619efbf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000500/occupancy.png", + "bytes": 110984, + "sha256": "7dd22c7f3443f7d35b417aa5e80e0ffee45f8c03a0f66755c78f7bc18cd5063b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000500/uncertainty.png", + "bytes": 119698, + "sha256": "3627ddd73a2a94a0cf3722f2e2618858ab34cabe6c9163ac95969d59b5c38bc6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000500/visibility.png", + "bytes": 40046, + "sha256": "8b54f109a5b2004e534ab6d6a8833ad7eb1f2dc39f9749911df7dd8879965e8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000501/meta.json", + "bytes": 47, + "sha256": "44d7248924762297aed302a9bd77032419c21cd15908933e64a303be6f3fbfd5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000501/occupancy.png", + "bytes": 110174, + "sha256": "a756ab30e421b375acfa4b96fe7f32cddae1fbacd05c9af6bda0396989c2d28e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000501/uncertainty.png", + "bytes": 120752, + "sha256": "51263bfd66cd7875e4fc5db28816d7eb7e05c212e1c5713b89ee237baad43bc1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000501/visibility.png", + "bytes": 39778, + "sha256": "f8a78d011ab142d28b79914a286a67abac6de1ab3a01749688fabeb95aecbf28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000503/meta.json", + "bytes": 47, + "sha256": "72fe39ae3556962370948c901b2856b0c22314c219a30c269176064fa708cb72" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000503/occupancy.png", + "bytes": 111140, + "sha256": "d695d5474fe972f53f2dfda57f4fb0012b7b54227d927c9e9d735dd397bf8c2f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000503/uncertainty.png", + "bytes": 115745, + "sha256": "67c043b31f107cc62edca78164831afff88ffd8178b3018608204ceb325c816e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000503/visibility.png", + "bytes": 39897, + "sha256": "4b13e8806f8ff4ede788fe9d3c8cf264d9ceb787c37b1d4c25dad1a56d4a76be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000504/meta.json", + "bytes": 47, + "sha256": "e644af782230def47963fc5ce4f62520b32e9df27cfe5d9a0a03342e7a96056d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000504/occupancy.png", + "bytes": 110188, + "sha256": "2769c750f0f15b81fd4abee93c1bea179a1a3660f2c51f045c411548c11bfe87" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000504/uncertainty.png", + "bytes": 114337, + "sha256": "4415fbccb5c6d96320a39fa5d5252777d879b8763eafcbb40b5b8793a1191156" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000504/visibility.png", + "bytes": 38887, + "sha256": "d831f7ec08bf394c5183777d26b3b7a50b920e171eefb563bef23a6dcfff786a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000506/meta.json", + "bytes": 47, + "sha256": "b50af54e39088c527715e399ed97583ec3f6bffc728890249f213fe0bfaa0247" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000506/occupancy.png", + "bytes": 108538, + "sha256": "1b55354898ef9cffbc7c017afe0c3bffda432339265c767fc214607e91fec5c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000506/uncertainty.png", + "bytes": 114366, + "sha256": "dd9b3c4b76a9a6860ebfdc991192bc67b79f5421a9fb098c1811ebca9224ff65" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000506/visibility.png", + "bytes": 39752, + "sha256": "333a3f8f668e52f1f06484d4a1fb60192685a38f291536d25cec0e321a1d9204" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000507/meta.json", + "bytes": 47, + "sha256": "fce1e2fd78da1d7076656922af057220e90a3b6a7d9b006f67d0aa212da7d04b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000507/occupancy.png", + "bytes": 110491, + "sha256": "f55f0a52e9c6877cb1ac4d0fe9edf3a522ea5960c5c8d7ffcbff652c45952b99" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000507/uncertainty.png", + "bytes": 114800, + "sha256": "2bfb0c1c8ea053cf085b488349445c31775ccd31fed93a6585293668c3a88e6e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000507/visibility.png", + "bytes": 40100, + "sha256": "1e00e8b3d8d286c3f5a212675071050169e17366acfbd3f52aa6a56236ee0eba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000509/meta.json", + "bytes": 47, + "sha256": "0800306f63c4dd7bef016234f024f61b5a644f5efdd5eb7902b513aa5aa0b588" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000509/occupancy.png", + "bytes": 111198, + "sha256": "09f334c545298126049fa8f144fdd287100d7347fbad0ea5abaf805f7d4b3658" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000509/uncertainty.png", + "bytes": 114117, + "sha256": "32526ac913fb17c1000688ed03f6e7df1937d789cd7fddfcf95868146690f988" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000509/visibility.png", + "bytes": 39772, + "sha256": "3578eebe03d3b62b33d6670b92a884e8c54e2074587a469a1951263e82e2f4eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000510/meta.json", + "bytes": 47, + "sha256": "5bc0c95de399a075dc396966a595013d230e4296736fbcbdf60c95c811089aa0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000510/occupancy.png", + "bytes": 109780, + "sha256": "d8b35df5241f35b4ff3e3c52d3fdfa1c6f78f6627ad377420ed6abbd2cd27a06" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000510/uncertainty.png", + "bytes": 113880, + "sha256": "092ef55262997333a0ef0e13e0b5474f4c12524390eb7923e3f7e3e7f030fb98" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000510/visibility.png", + "bytes": 39177, + "sha256": "de347a4baf096a5a0316e91e7eb12781dad140a7ed7fdefcc92dccb3305827c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000511/meta.json", + "bytes": 47, + "sha256": "5ef68f84889609ac70bb6409bead801bb9918963b0c15b54602c5e3d90b9c81c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000511/occupancy.png", + "bytes": 109257, + "sha256": "f3a45772cc4b55efa3775ac378663925cb1800a4ac285ca3b6e13bf85d85c291" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000511/uncertainty.png", + "bytes": 113179, + "sha256": "064cba8a24dd27e8b7e2eb3226a9a43448fc6259b108e124aa5a46119ab8b5c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000511/visibility.png", + "bytes": 39287, + "sha256": "b407edf70ad178fd03504c1ad25800fe09cf2be83d5503c25907e3a720f0d8ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000513/meta.json", + "bytes": 47, + "sha256": "487604d90f64c716e268de944cae290066470a2230e3a022f62d6f283ef3f203" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000513/occupancy.png", + "bytes": 109346, + "sha256": "397046ccd8266a878de5ca25712a5e90662914799c31af7dcaebac336f8f41be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000513/uncertainty.png", + "bytes": 108161, + "sha256": "0dc0f68340c4da11f6adc13fa75bf6a44cd791a279a938025ceec731895367f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000513/visibility.png", + "bytes": 38949, + "sha256": "eb24a9385cac1915cbbd7fdf1916489e7e0706e84054de226bf88c46f5cf1b8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000515/meta.json", + "bytes": 47, + "sha256": "cbe78312bd88cb79e4a1b2cdf2822b61acbaf189a03dbaed87b60dbe6a47f44e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000515/occupancy.png", + "bytes": 110484, + "sha256": "843afc43c57d28a9507c5b4fcbd9aabed6db8a5362cbf3458a5cbb559181fd10" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000515/uncertainty.png", + "bytes": 112357, + "sha256": "386c779783240ca44d590ffe1af2ccc0341c75f8733b9f122310361fe19f0652" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000515/visibility.png", + "bytes": 39696, + "sha256": "5e507cb1a3f829f3b926a26aa48fc34bbafc53259f6c8c9198cf76ae73879186" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000516/meta.json", + "bytes": 47, + "sha256": "27dbd5f1e0190780f78094ac4e5a9a5d80671de18b106ff6e1220f4b00dd6cd8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000516/occupancy.png", + "bytes": 110247, + "sha256": "0147966b84daefe26d59bb4ca2c3ca245ddb08a137eaa803bda5d046dc2c66d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000516/uncertainty.png", + "bytes": 112790, + "sha256": "6c2fde4f920c5f47fe8ffb2a82700d55deac98b90bb0743eb923358773ce3d85" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000516/visibility.png", + "bytes": 39461, + "sha256": "831f16751030cbcadbeede620ca36fb6f3f4aa0885d21c1d1d1b816619ca1ac4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000518/meta.json", + "bytes": 47, + "sha256": "ce4270307c1a7d0de174a7313fcaef96a24c0b9d6048c084646cfbfb541818e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000518/occupancy.png", + "bytes": 110406, + "sha256": "963d44caebd3057497efc4a54b72209c533fae6ba5766810e7d18167a09c6e82" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000518/uncertainty.png", + "bytes": 110973, + "sha256": "eac94c19b2ffe7e7fbe57f11b2834c62758f7440159bdb921bf8f1211f525eb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000518/visibility.png", + "bytes": 39838, + "sha256": "6803a9f22b03203f122324e570c13323350a67ac81cdc75a7b9da7f6a2cdf6b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000519/meta.json", + "bytes": 47, + "sha256": "dd6eb8f71dea12c52d4814720b5c24d077bba33f5fa84ed55aa4abb5754821ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000519/occupancy.png", + "bytes": 111698, + "sha256": "dda02a03252c52b6e14713f21c1c09030fc617ead45db68ebcadc27af9721a6f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000519/uncertainty.png", + "bytes": 112583, + "sha256": "55b92e823863b202cb7d4c4f8c766997d399778f99e197dc546167293b95ce5b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000519/visibility.png", + "bytes": 40726, + "sha256": "01aa38d8bb8224aeca7ee5206506f98f853441519f19831335bc487118ccc905" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000521/meta.json", + "bytes": 47, + "sha256": "20d3f09d5586ea542142730005e69fa187adb48ae04be588864af8faa22f0e31" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000521/occupancy.png", + "bytes": 109873, + "sha256": "2a385dfee520827506a6d6a40e97e95a0dd1f1113530190c153c2595af7931ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000521/uncertainty.png", + "bytes": 110752, + "sha256": "79c2f20ce77a6b0cdc4e0e452f73295f68db5f9224515ac00f891c0dba52c8f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000521/visibility.png", + "bytes": 39702, + "sha256": "6061c85906e8d912cbb470fba83102de2739aba803567698c262b44a70f2336f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000522/meta.json", + "bytes": 47, + "sha256": "4462f685098ab56f4f892c7ae30bb980b51b297f5134c30e2e4d3d2aac006c25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000522/occupancy.png", + "bytes": 110380, + "sha256": "931f3774bb7ec225808f00d2704c8487c95cb95ad4ba958ecc3697d254591d42" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000522/uncertainty.png", + "bytes": 112838, + "sha256": "b3f7cd1fc9f27da35b1baf8c48d90619cae93dab552a12913720f584006f0401" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000522/visibility.png", + "bytes": 39563, + "sha256": "77cedfe7119efb918fd61e2527a73d19c42e41a6ae8ef785235a2898716ac845" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000524/meta.json", + "bytes": 47, + "sha256": "a370d5b58f858c7ef2137b760cb9ac7975a64ba6ade105ad086d989e56c84a18" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000524/occupancy.png", + "bytes": 111827, + "sha256": "bdfb782e338e564c07f8e6c7e27180a4b6fbaa7126af597e237166d6a6bbfc0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000524/uncertainty.png", + "bytes": 113891, + "sha256": "da9ed90393f3101ea571b96650da4cd8ef51c0599935080b90e5aa8e7726375c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000524/visibility.png", + "bytes": 39492, + "sha256": "dcc564f8e1bed84085e15c9245dc62c50de22ef9a0bca103a838481abc19b7ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000525/meta.json", + "bytes": 47, + "sha256": "ea796b6bf402c1396f3d78a6e55048b8f443e1361f43242a8cb956ef070c2178" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000525/occupancy.png", + "bytes": 110825, + "sha256": "320f4006a2d43c5e5db70b260ba8ef7c9754922f27189d76ce3d9762516069eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000525/uncertainty.png", + "bytes": 110368, + "sha256": "cc2b467186b37b19eb3b8c9d2e908b46e48fbf840d889514a7346f3bbaff2865" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000525/visibility.png", + "bytes": 38920, + "sha256": "cbd5ebf46758b70503e3596c0a6a4bb4018df5b844cf39c2f2a002dcb0c5b10a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000527/meta.json", + "bytes": 47, + "sha256": "761f7c42c1668393e0f9a193271efac61ff26d216ca52cefd61ae493eb8ae52b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000527/occupancy.png", + "bytes": 110301, + "sha256": "67fbe65b8878327e9586ead32897d657d086bb95fcd88c3bd1b955602a211af6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000527/uncertainty.png", + "bytes": 109829, + "sha256": "a029af37547f7262f889a369edc20c746b7412ffc69283f0cb072df214bfe2d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000527/visibility.png", + "bytes": 39269, + "sha256": "4de3b0038987bde6e8061a724e6832956ea8daafa26af541c0de72d85fc81d02" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000528/meta.json", + "bytes": 47, + "sha256": "be4e54f82598e16413a3bccf09f1c0f5b92e159b44d52da76b038ddc4d0b8720" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000528/occupancy.png", + "bytes": 109373, + "sha256": "9539a255b0364a8049c63a620d7dc5052ebecd8c1b7f898631e2a58e54f7a35a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000528/uncertainty.png", + "bytes": 107490, + "sha256": "a9892d3653847cfc56e09c5503cf67a259695a529c7cfc6a2e5b071ea4e7ab11" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000528/visibility.png", + "bytes": 39343, + "sha256": "372057c5fab5ad43366d5347ccf88bfe14f9813d262fe563a9b4aed2b785e25f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000530/meta.json", + "bytes": 47, + "sha256": "27c915428fc5fe3eff64a54754bde9c5e07ccdd208987850598feb81c814419c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000530/occupancy.png", + "bytes": 110677, + "sha256": "ff09cab59fa0fac804a690fa1455eac70907eff1c5ebfe4cb73c3e18275d804d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000530/uncertainty.png", + "bytes": 109802, + "sha256": "440dbfdfd0ff9f3feb145337cfca08ad1000f599a610aef6aa48ad4ca5ba1430" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000530/visibility.png", + "bytes": 39962, + "sha256": "a956a55a7fa5e587ca52a40eb43e494f00d8317c4e5914f88a357a2bbf46684f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000531/meta.json", + "bytes": 47, + "sha256": "424419360594f7f88e0ee2e5a7017f91e5b6af7823363502271660647620ec11" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000531/occupancy.png", + "bytes": 109980, + "sha256": "b3e380fc09a5bb2d6bdd0be1d6ae231f21ebaafa56be68be7bd948f0996f8e5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000531/uncertainty.png", + "bytes": 107714, + "sha256": "6a46f1afc1ff3f6c1d5de2e186c88e4ad40d946d9a3a181eb4f4d76059405352" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000531/visibility.png", + "bytes": 39758, + "sha256": "7b6b223b21bfbf7a8eba1dcf3fd8e71b1682545effe0efbf6772a1b34404750d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000533/meta.json", + "bytes": 47, + "sha256": "a3502fc2516acededd5719054a0577840c451bd616a933b5ad966332f3394a5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000533/occupancy.png", + "bytes": 110815, + "sha256": "627c4156af9673c06a543df3deea6b54611d882880e77aaa8ce76db26d16e582" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000533/uncertainty.png", + "bytes": 110705, + "sha256": "0991aba9df3758b3d768efaacc59390b79ce0698121df601587e91c65db490a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000533/visibility.png", + "bytes": 39556, + "sha256": "409ee58eee0b6684262cb012a30ed0b6e839d400e6e57a627dc3aa680e5e594d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000535/meta.json", + "bytes": 47, + "sha256": "37f58c14f57baec73a3507b394f44835062c0cf214dcd524e5e185a9b6171316" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000535/occupancy.png", + "bytes": 111330, + "sha256": "054035ab2da9b0e380be7c77b82e0af8f684f0a340bd239be10c66e2c8bd540b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000535/uncertainty.png", + "bytes": 111231, + "sha256": "177a27bc10f3b46505912b28a01ad6b847bdecc0b7e271b29b526386ffc5903e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000535/visibility.png", + "bytes": 40622, + "sha256": "77d6504d79b9d627c28b1b6fffa0a1ae59cee87bcd19e3ca93e18b7b8151e405" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000536/meta.json", + "bytes": 47, + "sha256": "4ad37e0b537857d0074cbd8f059939e0728498fae538c11416d0903d40e11c1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000536/occupancy.png", + "bytes": 110355, + "sha256": "12c3a81bd519e8b6eb9443c4f727cdbd9240583d996109eef0e378ce7828d73c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000536/uncertainty.png", + "bytes": 108213, + "sha256": "c9391aed73b0b48243115295892c156c0662d43ec025753fd853b76e7b5053fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000536/visibility.png", + "bytes": 39536, + "sha256": "aa801946878b1ce7a0eb0ed9e1a5eb5c4b2f8de5c9b0a046296509eea19e5b2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000538/meta.json", + "bytes": 47, + "sha256": "cbf847ebbf2014d601b4a02604bb79b6181e3073be6e514afb1a77317420bec9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000538/occupancy.png", + "bytes": 109149, + "sha256": "8a27106e50c039c01631dc5206d67b710555425be256fb6ed2d9d7d80bc05044" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000538/uncertainty.png", + "bytes": 97136, + "sha256": "ce7e067bcc9a3a89a625c827ecf758db425fb8010f44a7ea5c9e513fb59bd3ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000538/visibility.png", + "bytes": 40686, + "sha256": "f61aaa13ae1c5bdba5121d1c8338fb09994fa8039873d4f1a5a02c1fe93836e0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000540/meta.json", + "bytes": 47, + "sha256": "4646bc4b6e4997ac48f91831a5a77d3bd4e1cc2cf2a1f03dedfdc2f9204d0991" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000540/occupancy.png", + "bytes": 109835, + "sha256": "69208dd64533890b2fdfeae46c12ef845573e40961bff3124477f99c8c4a1ef6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000540/uncertainty.png", + "bytes": 99766, + "sha256": "20c3d1ec87769ad88c47d71edd1b244349260e55aed8b25ca154d8bac6fbd287" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000540/visibility.png", + "bytes": 43300, + "sha256": "bd91119c7cedd47978c4134fd390e5d5ff5ad4e6082154d0d27f32726d4cce64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000541/meta.json", + "bytes": 47, + "sha256": "5925478630d412b13c2b3f82098e40cd42f1abfdb198a275dc7e63a87cb1cb51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000541/occupancy.png", + "bytes": 111045, + "sha256": "2bc2bc11ef6b025ecea506fa74a4acae3678b15fe5e4b2ad89d723d2fffcedc1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000541/uncertainty.png", + "bytes": 101487, + "sha256": "cf97936b670b6dbde6f81b356740e95e47e286c7f434bc68613adc44002f868c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000541/visibility.png", + "bytes": 40984, + "sha256": "b3fc1176db0e0aa41cd9c81de769dc0e7b4e97438602de1802d6990e4c97a018" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000543/meta.json", + "bytes": 47, + "sha256": "8d4f68afc99392d7d84923fb42d799ae936df9426ed963e9504108b8b5191d3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000543/occupancy.png", + "bytes": 112258, + "sha256": "b27c50067f4bde36a680f3e874801a7ad4c81ad4d0df28c69d95cfa3812cae2b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000543/uncertainty.png", + "bytes": 104204, + "sha256": "eab0e56c718623669665ce0dc4ed04b3fd0875f2429adae8eff66fae3c2fc4f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000543/visibility.png", + "bytes": 42121, + "sha256": "349beb72a1e0943249b86775cf872aa3fe997030cfd7a36cdc8158fcf4413460" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000545/meta.json", + "bytes": 47, + "sha256": "8457b33b8d224885c600c368a81688e3ce5b7a8934700a80f363786f49826927" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000545/occupancy.png", + "bytes": 108796, + "sha256": "87909d44b27b95c1f75d03fafd63163e5e2a09daa9ec5b3ea799e839ef909599" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000545/uncertainty.png", + "bytes": 120518, + "sha256": "84bf032c03ef7043770077cf38ee99c68005643d78ed630118472c49f719cc88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000545/visibility.png", + "bytes": 45085, + "sha256": "8ed282c82da93c09f7586271e82c75ead86f5c24cce4bfe1f2eca215c365b794" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000547/meta.json", + "bytes": 47, + "sha256": "504ac471d851c52bc63c0b22ee1bb793f0e7759e8a2646d40e090e0cae3cba66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000547/occupancy.png", + "bytes": 110446, + "sha256": "2564d59bb463960de249844cda8d84a5ee5bc1f31d169c187d8d4cc0a0a6ecbb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000547/uncertainty.png", + "bytes": 120679, + "sha256": "075ee413c309413c7a37c7d1c7e264fb7b21d7350136ec203851c5c25742df1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000547/visibility.png", + "bytes": 44434, + "sha256": "d22587db1f15d0d0063e932fff9f6474a0c40cf4ab25b0454bef54bb6ac5a7ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000549/meta.json", + "bytes": 47, + "sha256": "88f84129ed3667eced8074aca2bbdf4d8f0d4ffba4d85d644a3af90199005de0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000549/occupancy.png", + "bytes": 111676, + "sha256": "8b106c20070cb98cd38cc5dee7ae7b3c8e0d80614414a896eadc0f1f188995a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000549/uncertainty.png", + "bytes": 122913, + "sha256": "3f0d71a7162a412a1aeae098a77a17398f37f000b31a7e5d2d12969186abfc92" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000549/visibility.png", + "bytes": 43943, + "sha256": "2e8e80a89d782bcd2d19a5f5dde424857fcefdc26b047881074b7d416f4ad94f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000550/meta.json", + "bytes": 47, + "sha256": "804adc264b7d697bc7fd6551bbbe4d0ea5897b864a6fa541f862fd1f413eeba8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000550/occupancy.png", + "bytes": 109228, + "sha256": "e51959ffe86a26e910a10e8058e66208c5899f8dc37933a2ba5d195f0b7f62fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000550/uncertainty.png", + "bytes": 124337, + "sha256": "466f98afe72e8c096a778b3a9a9f02c39729e0f310b4f9d95ff1292b20978a0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000550/visibility.png", + "bytes": 45229, + "sha256": "06d8ac390ccbeffd9f5a5e17af88cd13153526c0a8c70219e1b7a61276a8ca59" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000552/meta.json", + "bytes": 47, + "sha256": "9d579ceeb5a7c03dd1ccf1e7e6f34fa14bea12b56ad103e598144b148f494744" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000552/occupancy.png", + "bytes": 109830, + "sha256": "1b44ed9b93808d20755830969ffc62f23dff097680662894101ecc11873fd67a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000552/uncertainty.png", + "bytes": 123909, + "sha256": "0c03c664205105de69987a12be7f1196a748aac3eff575edab92c84bcf426e61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000552/visibility.png", + "bytes": 46554, + "sha256": "54389392f99012bc04b7283f6f5e962367046d4f20996f7253ec52b782a08e96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000554/meta.json", + "bytes": 47, + "sha256": "5249c8725c1bdcd44ea67d9c32d3bca1209fad523133087ae75b404298fa14d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000554/occupancy.png", + "bytes": 101927, + "sha256": "2e6cc964de3f94b5a0275a1dc77faa007b33edd952e53408a33d4da62eb5963b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000554/uncertainty.png", + "bytes": 119554, + "sha256": "18f129195fcb19d330fcb2891956164a143c507e221300d08edfcd13e7718a05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000554/visibility.png", + "bytes": 46875, + "sha256": "8a63e750f1fd252b8c25d792ae4ce951546f0769a17fc0748352930d5c8537f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000556/meta.json", + "bytes": 47, + "sha256": "923be97d3bfcd0a5bda87823144468928107defcdccb5e31b7ed84c0b8890f10" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000556/occupancy.png", + "bytes": 103114, + "sha256": "06b12e8e35daa9ff62c01200fd4800456d7f73c345ccd4744b6321a22df62194" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000556/uncertainty.png", + "bytes": 120817, + "sha256": "7f281a1842c590c0f90ebdb112e953aab0157e1a4cd56b32c01f3430c93f94f9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000556/visibility.png", + "bytes": 47193, + "sha256": "cfff7e4943c95bfc04262bfc9826f3a3f60ba60998f89d52764d39428c483f39" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000558/meta.json", + "bytes": 47, + "sha256": "3747a1c150bc20f230b18bd02ece4bf148c6749c3705420b8a3b51f6d453aa36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000558/occupancy.png", + "bytes": 102661, + "sha256": "8f63b04b636291a6e30be8dd272e8d4db2973cc6bd85029f631b4baae5bdae5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000558/uncertainty.png", + "bytes": 118644, + "sha256": "ef8589ba3ade1d4743fccf5df338cce2136abd5d1245729197de59a0eedd48e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000558/visibility.png", + "bytes": 46501, + "sha256": "ac551013361bcf18d0c5b35bc157d9902895de72e89b41b9119ba8dc2ab141e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000559/meta.json", + "bytes": 47, + "sha256": "28944d0f08e8b7ee15c309a17fba9d127d52e134c8f24ef0e1e0a50f1ea22247" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000559/occupancy.png", + "bytes": 103057, + "sha256": "db2b440c2d4a68d97be32be7265a3c53ea8021679cbca0fd0207084f49a41b63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000559/uncertainty.png", + "bytes": 120499, + "sha256": "ba522aad848eea34bd434cda63e373cb72b0e3d48fdf41b7a00303bd08da56e0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000559/visibility.png", + "bytes": 45931, + "sha256": "4afc210098c1b58eabfe69f2d05df6d6997814289cc9f1a8750634988831590d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000561/meta.json", + "bytes": 47, + "sha256": "c4e4fc6c32b37b2f69aac076aa836966d5c3e102d98a1073725cff017de84837" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000561/occupancy.png", + "bytes": 101679, + "sha256": "9c4999847821489d3a5c28ab716047d2713fb324b59aa1528a35475abb108351" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000561/uncertainty.png", + "bytes": 119727, + "sha256": "88f6e4a2818d4760e54439854229b25f775c7c796af6440fbb99d913eea6b64e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000561/visibility.png", + "bytes": 45850, + "sha256": "2da42efb718a04e1bfa89af0b4dc56103ac6ec044520931d5ba3cb91e281eb99" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000563/meta.json", + "bytes": 47, + "sha256": "f86e8b7b264a3371d03b5a6b07ac2ebfc4461e26cba18127817ff2c91f7a5936" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000563/occupancy.png", + "bytes": 106743, + "sha256": "e873580f0ffb9dfa1917af16a0f0be85145da5f05908059b4815c8ab113d60ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000563/uncertainty.png", + "bytes": 127190, + "sha256": "9218321f11c4f5a98f90e847939feb2317a09ffa3e49aac48dbc97cdb4a8db34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000563/visibility.png", + "bytes": 47450, + "sha256": "b1d064b581bd4dd2658b86f0dcccd5dadc721201e9cacbc961516b205cdeabf8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000565/meta.json", + "bytes": 47, + "sha256": "ca264eb1831776c1e67bd20d72c9aa3d55f08b7b0dabfe2107699105cab4a29b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000565/occupancy.png", + "bytes": 106555, + "sha256": "4234be45904b5a52c62339e4dcfa1b19aaf25a0d338013e1b636f85c8346b0e7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000565/uncertainty.png", + "bytes": 126885, + "sha256": "d452605b10dffc247cefa6f6603565ca26a7db7c70a1de7b29eee917b3e9a45f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000565/visibility.png", + "bytes": 47722, + "sha256": "6d4271e943f4cf4267c29391609670afbeb1f9fde0a05bedf94dc7e07dc140a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000567/meta.json", + "bytes": 47, + "sha256": "6e64545380b6394ace58123c271a4681e0266a222d8186dd39f5cb8bdb638824" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000567/occupancy.png", + "bytes": 106603, + "sha256": "483ab2294e299794c26b95e030a9433a73cfbce4f80415ceb759863184cb56d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000567/uncertainty.png", + "bytes": 127475, + "sha256": "487b53483cc33aaff188a93ab481b189deae3b34fa6c249dc7d26d59c9ca80cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000567/visibility.png", + "bytes": 47742, + "sha256": "718f546f7629e941d3b89e3baec4a8b7072f0d39f1fec6cef7d08fc2084ac812" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000569/meta.json", + "bytes": 47, + "sha256": "ba1694d9326680e68ae4ca64d3ed4c17531858dd94ae5b9b7b4f3b2438fab7e7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000569/occupancy.png", + "bytes": 106767, + "sha256": "7be9029ac74482ec2a3fdd3dc76825011c3c50e88ed050a08e4d5252582da630" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000569/uncertainty.png", + "bytes": 127124, + "sha256": "bf61d80fee9f290ae1bc8341d198be37379fd1685933604e60327d9b040be486" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000569/visibility.png", + "bytes": 47861, + "sha256": "9e019e61736abc3ab5768f233e0f2b051f4cb63b91966f37bd7b05b278273505" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000570/meta.json", + "bytes": 47, + "sha256": "2af59b652ac0d58fb51f97733cdc4e5c9c92bc184de4f9c3101c100151308b4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000570/occupancy.png", + "bytes": 107697, + "sha256": "64822908b530ee555b853655e3ced392227a0eb36a0e6cbf8345e36c31092173" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000570/uncertainty.png", + "bytes": 127909, + "sha256": "e6d9656e69bf560f2616cace17423d48163c202ca7b423c4745776ba95dbf8fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000570/visibility.png", + "bytes": 47911, + "sha256": "9c34fcf1bd918dfb459b31b198eff8fe6a5b0bf2c11e695d8a552f1f11f448ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000572/meta.json", + "bytes": 47, + "sha256": "0dc865c8faa0e4d218b4689d09c7e8bf59462b0b530caef1958bcce678f2d15a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000572/occupancy.png", + "bytes": 117686, + "sha256": "97f90ee96814d9cbb87ab516210d0c5a138a058f38c29f34890a3f8d3de87842" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000572/uncertainty.png", + "bytes": 134371, + "sha256": "ce015b37159d3d1583efb3b30cd901db3999ab0a347274d86571f7343f51dccf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000572/visibility.png", + "bytes": 58951, + "sha256": "befe09e62c2f9a02d3a7fb6ba804ca4be75f9d626b8c8bba70f8f58761f665dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000574/meta.json", + "bytes": 47, + "sha256": "932b557de1b1c0ec7b5340997f7bd89632ca2364b52f5cff1849fec0dfd6c008" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000574/occupancy.png", + "bytes": 114052, + "sha256": "a453e59f9ce46546e06455611baab8b2582bff2346e7c5993986afa8431e9b80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000574/uncertainty.png", + "bytes": 133070, + "sha256": "baff2dc8b90a746b5f128eb4880ecd56d44eb1ad5804a8166e1d3062a620df0a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000574/visibility.png", + "bytes": 59668, + "sha256": "3eb615d99bd5ebb47654745eb9a0e06c6f9664add85a8ae8e083b6b77a38dcf3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000576/meta.json", + "bytes": 47, + "sha256": "97948a1de2f2fa956797949dc94acf592d93d64aab4395c03227912beea37191" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000576/occupancy.png", + "bytes": 113832, + "sha256": "c067358931d81db9696b866e20e2a5f99d77ada8ae24ca63412f79519defee8d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000576/uncertainty.png", + "bytes": 131792, + "sha256": "cb15ef2f6cd256cf085f69405f8a1d875aae9199800b407e297cd1cc78b9db54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000576/visibility.png", + "bytes": 61226, + "sha256": "09b5ad3ce3253c258337a654eed84cde44c32f1e7dbcf75bd5a69a1308e5e35b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000578/meta.json", + "bytes": 47, + "sha256": "8878614bde13176cadc74040b6e0ce8209636c4d952f00832b916bda5ed982ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000578/occupancy.png", + "bytes": 115602, + "sha256": "534765d257994a873e9781f660bbdbf93857b7dab848a528a15d75da65f3ef1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000578/uncertainty.png", + "bytes": 132426, + "sha256": "ba0b46a9af086d7a275dd1f621679bbe71600a1247e5545e2f45c5bf9ba2456c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000578/visibility.png", + "bytes": 58795, + "sha256": "2d58a19b15a0983cfeccd2bec824c8ee8cf958002a927741f25eee9da21485a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000580/meta.json", + "bytes": 47, + "sha256": "cd81459bc0ff47d03641905cd028f4f69920cd8f3d7141db61b2f7c66971f93b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000580/occupancy.png", + "bytes": 121000, + "sha256": "944b0946c029ba7113709289e4c98d38e7eac9bf57aca9fbe4d56ad103a54037" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000580/uncertainty.png", + "bytes": 140130, + "sha256": "357d8966d41534ddc1ce97a308f7a5465a2005314230278e89056fbb1cf11b78" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000580/visibility.png", + "bytes": 79268, + "sha256": "e7a976af410c011074debf4941320d0e54786428a7af8908eb23509283744f8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000582/meta.json", + "bytes": 47, + "sha256": "10bd070a14b6b00bd93ef9fcf51c555fc5c079c0e9760eec8b0d4574c9adeba4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000582/occupancy.png", + "bytes": 124651, + "sha256": "009eb2ad3329ba5f4fc5d9bfc14aa612c8e06aa0edc7e8789758f0798522e27e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000582/uncertainty.png", + "bytes": 143552, + "sha256": "e299cd35add04eef47051a8766fc8acb543664d545a8ffb375275ad80bc74ca3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000582/visibility.png", + "bytes": 81496, + "sha256": "570749e1a1314cbef4de15bdf14cd8460d651ffde363c9259567cbd833f11f11" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000584/meta.json", + "bytes": 47, + "sha256": "dbf1fcf48cee2cf5da56246686c05747310504cd4c4bb56429c31c8988dd2ee9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000584/occupancy.png", + "bytes": 119389, + "sha256": "80b5fd7ed841c978917f65552092e2c6092ade227c13824fbf5c887b52523d62" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000584/uncertainty.png", + "bytes": 137404, + "sha256": "c2e7f31581f48fb9c4457bb17b025100f5239ab9cbc3030f978f233282740bd7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000584/visibility.png", + "bytes": 79416, + "sha256": "572ec5176d21b26c1d8d961ad4ac1e1070b04ef93f6875623dbe9cbf918d04e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000586/meta.json", + "bytes": 47, + "sha256": "a7552dc3844fa1a773041b6439dc5e988527bcef38da5a4a931ae83bf932e5ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000586/occupancy.png", + "bytes": 123277, + "sha256": "608ba4cd27d4bd174a6e8eabbfcb6fd84268a216ca51fb90b86674aab49c04e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000586/uncertainty.png", + "bytes": 143288, + "sha256": "85a646cb17d425e4a9637b21922aee1f6ca8be316694d56e9db4bfbccfb1b7ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000586/visibility.png", + "bytes": 81536, + "sha256": "dccb2fa931d65434968dba1c40d7d5667973f2fdae2dbeae79508830bbe88180" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000588/meta.json", + "bytes": 47, + "sha256": "cf793562e5b1433dc98915a8e7fb157de355f3be94e13b5dad07de55af1a3ae7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000588/occupancy.png", + "bytes": 123241, + "sha256": "2a5de599b72c418810281aee08b3c1325f4c8b9070737f9363eb3063545ef049" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000588/uncertainty.png", + "bytes": 142705, + "sha256": "b712695156ff0f30a7128b4b3fdfd40b70f9122b8ab7a320e7d68b9f4c2a553a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000588/visibility.png", + "bytes": 82699, + "sha256": "b986badfe36bb67dbf54e88ae44deb617705853f366ae957140f77e93e0966ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000590/meta.json", + "bytes": 47, + "sha256": "53183fcb34b09ce00ce053b31659cf6d4934e037169198290516677868951c4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000590/occupancy.png", + "bytes": 120510, + "sha256": "651c41f63f19c5d0558ae9084a2d64feb1c3e7f3d913017296edc4950b75ed77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000590/uncertainty.png", + "bytes": 138647, + "sha256": "21d41e83468d8358fabadae6004db61922fb8efbfee2be35d90360dd699137dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000590/visibility.png", + "bytes": 79767, + "sha256": "db9711e56032c209bc65c96f7c4d19c630eea233a235819201897c62acb870ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000592/meta.json", + "bytes": 47, + "sha256": "6ab07e729dfc4f226aaf9b945b4b41e2f86a55fa3a250c055ebf4de714faf266" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000592/occupancy.png", + "bytes": 119665, + "sha256": "01eaae4d0eba0bf698346c07fa36df22cf98f398964115f399d1e15cc78dd290" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000592/uncertainty.png", + "bytes": 139656, + "sha256": "a883665b4f615a45f1d663571421ddd79f48d396a406fa3a19f2f4ea4012be97" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000592/visibility.png", + "bytes": 82295, + "sha256": "19c4df0e7b48f05b65dd942f6019887da093ec049c841170c329d4f5dec57b87" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000594/meta.json", + "bytes": 47, + "sha256": "d6a92a88e920b9e2c79bd3055f32da81e3f48f7c4c68f32ddaa09928ec516b0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000594/occupancy.png", + "bytes": 113298, + "sha256": "ba498a52b20bf1c68ce43a36f3c44d2827a13916773e462c32a0d30872a80f8b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000594/uncertainty.png", + "bytes": 135385, + "sha256": "de728d11e4d39d39b4b435956966bd9e55b9eb70ae5f797569c55192aaa1afe0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000594/visibility.png", + "bytes": 90262, + "sha256": "42d55992f46094f72cbda5025475e9279e464159fb42beab233111a76f317593" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000596/meta.json", + "bytes": 47, + "sha256": "de13fed9d7cec39484443685888b3641fe6edce52801d5f555ed4b2afd97d1ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000596/occupancy.png", + "bytes": 104223, + "sha256": "edd6178d8d3d244843394c043fdf13a6405c3dfd943225ae760031d5e577729e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000596/uncertainty.png", + "bytes": 122183, + "sha256": "71d0e8f4a6b28f58cbb0292184f1baad5ae415cbdf460e264846c3f032a89a27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000596/visibility.png", + "bytes": 60537, + "sha256": "61242523ed41fdc39b18976da1b7da81bbb3cb4382937cbea1ba1cccba276d44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000599/meta.json", + "bytes": 47, + "sha256": "fce686efb68b33868cd17ef496d0ace570d81efef5d3433204e70896a2b308bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000599/occupancy.png", + "bytes": 91866, + "sha256": "2b2066a914859b09e83aeafa0dad14964346bcc1d3f54fc22908545667bf67da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000599/uncertainty.png", + "bytes": 107613, + "sha256": "d7d072866793122f90bd01ffef87c29d5ea8429f5960f47376e8b0a59e0f231d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000599/visibility.png", + "bytes": 58499, + "sha256": "c7dda38c83b2c576b0e7fc1f75166694f085bf8880448059e0aaca7344af0607" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000601/meta.json", + "bytes": 47, + "sha256": "f1e8b21777488c6dada02de91530268e67bb1666bc143d62a2b4831021eee1e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000601/occupancy.png", + "bytes": 94220, + "sha256": "8a3c947f5fcbd99c2098888fd9c8cc2b1633502f9270d659a1adccdddbe4db9e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000601/uncertainty.png", + "bytes": 109977, + "sha256": "cf5209013209f2292988e625a10ba6977357cdefff100f606913d062098691a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000601/visibility.png", + "bytes": 60754, + "sha256": "21cc737b62d4a9cd360ba0e60c8c2277963dfdae8ecc5222f6dada8ef1881e54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000603/meta.json", + "bytes": 47, + "sha256": "6fe08cd8fea7a3bfe80c8e495f36a7994ffd6081fe483c8b96e51d02d4f6e7f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000603/occupancy.png", + "bytes": 90494, + "sha256": "6441ae233ad2c71b08477f50941ea02d6e20cc4c2595d584d7f8dac4e2bec5ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000603/uncertainty.png", + "bytes": 105275, + "sha256": "45267b6a68ab323c3709f556249a76edc13eabf485c41ca6eeec288ea5e830be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000603/visibility.png", + "bytes": 50737, + "sha256": "09b08bb5677fadafc55461f1fbbe6bad14cea944228d20b817b4dacd616cfa54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000605/meta.json", + "bytes": 47, + "sha256": "2d5fecea59838ca05cef5216c806ff0ca2f2008be9546371b01ac2175f0934cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000605/occupancy.png", + "bytes": 93981, + "sha256": "0d2b1f17aa2346ee2be5500bddac6330a763fb02ad547ef73659d7c68d865b70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000605/uncertainty.png", + "bytes": 113021, + "sha256": "ef8e7a5ec6d6e06d707261c2394b08e66c47b288f0e6f60f5dba10f5d84a50ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000605/visibility.png", + "bytes": 64959, + "sha256": "81d75bad541ddd299dc0705988101b6052d94be39789ed0cac9529d4a83119e7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000608/meta.json", + "bytes": 47, + "sha256": "149963116379fc4658a76b92ef28c151bfb152507a7ddd0d4a53081baafbd271" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000608/occupancy.png", + "bytes": 96602, + "sha256": "14f3fe05078c118d63922bc3c14542b7f75e64aa4d748fb646336ac4643acd4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000608/uncertainty.png", + "bytes": 113365, + "sha256": "0291f84a2869d100022d585b619ccf4a84d6766e832cb6f01472101189db5ce2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000608/visibility.png", + "bytes": 60231, + "sha256": "1a9549e6775e4a006655b7984bc35a5c4b3eb681b275e70811bae808e7e9c006" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000610/meta.json", + "bytes": 47, + "sha256": "de438880d60f813bc0196a285db5b03abdbaf8d79e306e8ac76355d90ce396ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000610/occupancy.png", + "bytes": 94838, + "sha256": "5885433e4402e9bcfa8da1a46132c696bd4f15fe9c1b25f2b376220cec37c468" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000610/uncertainty.png", + "bytes": 112384, + "sha256": "3938faba8a0b64aea6b5f16e2c593268c2064e638bb3714a32a1e45aa097b148" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000610/visibility.png", + "bytes": 63714, + "sha256": "0b6173ae312e75284c46c5223d983c3f4e1a2d1933d9d18fc84b066c54ab0e9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000612/meta.json", + "bytes": 47, + "sha256": "667e801c5c3ed6547c1099511c3906dd82fa10701aee26f6921106fb0d0e371f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000612/occupancy.png", + "bytes": 97938, + "sha256": "c2f13b72b9da3dfda3a0b980f653906b98ea3ba6929f4e7dd22556bcde7d4868" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000612/uncertainty.png", + "bytes": 114151, + "sha256": "e8769c24116c61aee90cd1466b798a982581973dba86a30bbe4e2b819b441450" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000612/visibility.png", + "bytes": 60891, + "sha256": "7730dcbbd90f62a4ab9bc2f9c8a2add71e431f70ad111c531e53bba7bbc53c5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000614/meta.json", + "bytes": 47, + "sha256": "8ed03bb9eecc39d40328be2e2c8f86f6f1680f8309e6028a232dc6f396483948" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000614/occupancy.png", + "bytes": 97299, + "sha256": "435f8a58612f01b8ff062d726f1306dcef93b7050ebb5e91c31b2d1416827562" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000614/uncertainty.png", + "bytes": 112435, + "sha256": "fef5e0f6718be5139db24102cc6affad6da1b95eb9afc00b0dc574d22d978d68" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000614/visibility.png", + "bytes": 61016, + "sha256": "03c204bcc22a1cb5d7695524bff1e496737acfc2e8f2deb42942653fc636646a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000616/meta.json", + "bytes": 47, + "sha256": "652d918dda1033a8928479c3434ef09c395fac5b24206d6c11d75769fd72dd65" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000616/occupancy.png", + "bytes": 100720, + "sha256": "1d9f0e1168f96d81b7fa3df5bc53af00ba43a86972690067784a149af5422356" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000616/uncertainty.png", + "bytes": 116426, + "sha256": "0c642ecd40a15a59c1a75b9a4db8a0a0fee50283ff134d53fbe2025624b011ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000616/visibility.png", + "bytes": 55338, + "sha256": "8c72132be4c46bc1f5d4c9a7c1a88c421950a9fe288fd3ea1a7dff6ae7f61328" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000618/meta.json", + "bytes": 47, + "sha256": "884eb2256d866aebdcd0cf1d43bc7e84a9384f1f5b9da4c6993b60f9387343a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000618/occupancy.png", + "bytes": 93258, + "sha256": "441043867aa2775f3bbdc887a9a410a5a67162cebec21ac930508f91a3fd290e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000618/uncertainty.png", + "bytes": 108782, + "sha256": "5cd953803cfd988e6a7b2166c6ca38f6409c61c106dafb90235e49fa6f2ecefc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000618/visibility.png", + "bytes": 63064, + "sha256": "2ca3420a55100cc89463e7ecb6a7c378866ef1b4034ff80884a9edd90ab48732" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000621/meta.json", + "bytes": 47, + "sha256": "22f39430fae84b2e9db0155023c469d1735007dff056ed742bad8a403303611a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000621/occupancy.png", + "bytes": 92029, + "sha256": "64008fb0ee17f5b0580f1958a23ea23c44a4b3efc90f96a9764f0f76069981b8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000621/uncertainty.png", + "bytes": 110496, + "sha256": "f65fc5cb1120abe1494a1ab253a779b289633e9cc8f8ee9999177dbd59d2a11f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000621/visibility.png", + "bytes": 62688, + "sha256": "94193ccf303cff29fe4f588f94bb2ad8c4964fca0ffe10de62ed53a1240b49a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000623/meta.json", + "bytes": 47, + "sha256": "2dd639839815058bdd25cbfabd98b960795a37c62ed2083ba1f802a6660bf438" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000623/occupancy.png", + "bytes": 89509, + "sha256": "7fea63172767a0f1cee4d5757054c135b91949c37cdc8edd31ebfe33f3976b7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000623/uncertainty.png", + "bytes": 108497, + "sha256": "4a1f9efd6faf94940921096a54564c4ba3694fca570a8e0c21970e6f7944c7c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000623/visibility.png", + "bytes": 63386, + "sha256": "31f3cca5317407c143e6a033b7e7c9f82f192da315bb40fa2cb53c39ea7fcd04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000625/meta.json", + "bytes": 47, + "sha256": "bca756d81ff8a9117e27d6c32d5886873a3c643ab505070257ec748a9ed2b2a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000625/occupancy.png", + "bytes": 90750, + "sha256": "1720cc8cb37e1d90f4a5340fd5fe9f74f6fdaea4890658323bff7b26a43fc244" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000625/uncertainty.png", + "bytes": 108100, + "sha256": "730ec44fee0cbd582fa1d71006478ae3bbea1b93faad0ac6f7b3aca36dc4a6d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000625/visibility.png", + "bytes": 60160, + "sha256": "822f568e9e49dca9c93ad86047b412959f37b71df4f3582acfb1ebc4b7e98abc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000627/meta.json", + "bytes": 47, + "sha256": "ca4ba1c2d12e567518c6316da3f626cfda74ead182d34b3d96b3877b97d973e7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000627/occupancy.png", + "bytes": 91067, + "sha256": "879bfb7b0e296f32985373683bdfd7994595b6ec32139c3c8e43104e51983288" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000627/uncertainty.png", + "bytes": 108667, + "sha256": "5aa6cfada340364504aad27294e5c649b4f845d13a636c65ff570e8d93e8503a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000627/visibility.png", + "bytes": 62668, + "sha256": "5fab304023a7722f344c126c9f8780f7471c165966b6a4cee897fd45e12b02f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000629/meta.json", + "bytes": 47, + "sha256": "4494a9d898a3e2299cca8fd2adf5957624d1aed41b2f4eecbe04f8404ca1deae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000629/occupancy.png", + "bytes": 87616, + "sha256": "78437c6c1dc5bbd867f5baa145dcdf537d56a44e089fbeb22e877abe2789745a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000629/uncertainty.png", + "bytes": 106315, + "sha256": "1082a7de68a57f0bd9994570c7827199b57c78c3fbf14c9909d368c45c1d345e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000629/visibility.png", + "bytes": 61086, + "sha256": "d32b5d073559be22096d67c1ea9931b4adf0e4394c7ff48a25658374cb2c2c7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000631/meta.json", + "bytes": 47, + "sha256": "fca936c05278361d8a7a5c86472d50bf64a0dc1931c26c5d52c5a85c6aca8be5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000631/occupancy.png", + "bytes": 89546, + "sha256": "16e364db8cf4148e97f76007bc2fa799f5b69f7f7b8cbb76429142aa62ba7e6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000631/uncertainty.png", + "bytes": 107508, + "sha256": "a322e18606a033bfc5f565a49b84b41de65f9d7bd9922da09170da1eb944a189" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000631/visibility.png", + "bytes": 61483, + "sha256": "44b6951614f832ca2d49c00bc3364a82bd030e95af9babec891ff917473f0434" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000634/meta.json", + "bytes": 47, + "sha256": "599f5c547dbc5558ddaa10cec0170ddc3e3c336ca64eabae546b811d3a889b8a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000634/occupancy.png", + "bytes": 92635, + "sha256": "f8fd417a389ddb72bf9da286bb24c66742750cae5ed7ec27e4c97040a614beec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000634/uncertainty.png", + "bytes": 110548, + "sha256": "2d7389905da0e330e24cf4573d44f262729ab8c14f45672ce7ae96f24511515d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000634/visibility.png", + "bytes": 62121, + "sha256": "1dc86b75c99cad31bbdb544319e3f648216aad5a335de4802ae799829a50267d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000636/meta.json", + "bytes": 47, + "sha256": "f742445ff2fbf5f0dd000382171a9a0d7481ecf962f1dcc0848e12522cc598ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000636/occupancy.png", + "bytes": 92663, + "sha256": "2a82bc56aaf4f9865df7bc0f7a9240b88daf948ff6ce6a32afe8512f95115c91" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000636/uncertainty.png", + "bytes": 108778, + "sha256": "f6bdfc6f28c9a2164798b8eafe6d1b99f3ae280eee629001a8e97e49d6a4a51e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000636/visibility.png", + "bytes": 62437, + "sha256": "dc89933908c72ba51fcf260b9737f2e2b59e7b6cfd4fb78b946d208e32b3e1e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000638/meta.json", + "bytes": 47, + "sha256": "1d684da6b0e5bb686462efc3d8dc994f1f86423851796d72eeca883aac11256a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000638/occupancy.png", + "bytes": 96271, + "sha256": "6112e0c0def0aec1eac5d35c8069be8aca294b33581c7683614a235738dc25a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000638/uncertainty.png", + "bytes": 112714, + "sha256": "1e6cc6c5cd31cbfb1c19ab16c1f12fb8f9be3a60cc4125500765ed9d8c1c67e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000638/visibility.png", + "bytes": 67377, + "sha256": "29e35d165d7eef489042bf6a57faa0f7f983073299a61dac971f6429fe2597de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000640/meta.json", + "bytes": 47, + "sha256": "81848529d7707e21a64e5d779edd025b56048ee1e29e849b94292016ebaac333" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000640/occupancy.png", + "bytes": 93086, + "sha256": "772210c2d898192b54d0a3ee54cbbd067525a7be0095e7719ac946219426bcb5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000640/uncertainty.png", + "bytes": 109918, + "sha256": "d327309526e500cc09094cdceaa4f9e6d4c24fc9752b9e77d9786140fb92713d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000640/visibility.png", + "bytes": 59790, + "sha256": "55ff5b47a89745a82bf2af2c6eba03a1a885e4f8104d091c7e72e8adc41fade6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000642/meta.json", + "bytes": 47, + "sha256": "6bc1d81735ba4ed767d3d6cdfa970b1a0df3a9fa577f4a3f637697e5975ab2a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000642/occupancy.png", + "bytes": 95368, + "sha256": "2e2532ee6c9722f86a74b4c2fc09b36b9a25c3c3c4112a5fd1e024e8b599d1fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000642/uncertainty.png", + "bytes": 113362, + "sha256": "3be620b9eac03ab12bbe8140c93a88b5ff4e49913367d20c76f916b90ae68aed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000642/visibility.png", + "bytes": 60138, + "sha256": "d305badd07f5356d76839256af3555dd6f6dd6c0edad33177659beb966d3292e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000644/meta.json", + "bytes": 47, + "sha256": "a23301dc6a04747a782a6c2fb12020808449f0bea7011667dbd989d33f2c9591" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000644/occupancy.png", + "bytes": 104403, + "sha256": "4c6101e6d2ebf5dba22fe5ea5d5300c56e6d236f8b610b9793778f8c427f1ca0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000644/uncertainty.png", + "bytes": 109905, + "sha256": "a004e64cff1b2eb18342c1334cc112a6e3379fb041e932598e11ee88601bca21" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000644/visibility.png", + "bytes": 66449, + "sha256": "b4f32d5bdee36a1a88d8d98667d6281c2493430e2440f67f797901c47fed648c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000647/meta.json", + "bytes": 47, + "sha256": "c473842cd686a61bb1977f0a246969a4719a8896af5b519caa0907ed17844895" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000647/occupancy.png", + "bytes": 90964, + "sha256": "e8a0e46a627a4e9dc35c5507b93e6aa9c9cddbd7b583e390d0c48a56b66db4bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000647/uncertainty.png", + "bytes": 100831, + "sha256": "9ac608cbaa6413a1c71409bf7d4da3ea098229fd8402b99a7c9cd61ad8885fb5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000647/visibility.png", + "bytes": 62059, + "sha256": "1a28f9889e94ba4687611b71dd452db45ded1295556aff8caf49623aa506a99f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000649/meta.json", + "bytes": 47, + "sha256": "fc9c1a0a57fae579496bdd5d879ab901b1b4baab4b4b9155e824e3b509e8fa49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000649/occupancy.png", + "bytes": 90324, + "sha256": "04989abcceb3e9fe49fbc050c44819dc5c1aa903f12fd7e61d9cf6adebca0bcf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000649/uncertainty.png", + "bytes": 94763, + "sha256": "4e27ee68ffd457a3ef7114dc37d7dfbee684eb1128334136c2885ca888d20d4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000649/visibility.png", + "bytes": 68140, + "sha256": "23f9705c94102ec50c022fdd7ddcda50b1348cd22d220ead6bee703a3294e64d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000652/meta.json", + "bytes": 47, + "sha256": "7b91f004dc33e57514bd34ea0e865966e5c010f72886bbfd5cf038cf576d9445" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000652/occupancy.png", + "bytes": 79518, + "sha256": "1e4fa1954823fd2bb4e3cc8203825b321838e9fcf86da5bfde1278b516c9be0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000652/uncertainty.png", + "bytes": 89661, + "sha256": "9fe6c37682b073dea877f9f402d717ac593ddaad851050cd8b39082ee8e4eac1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000652/visibility.png", + "bytes": 54221, + "sha256": "ab40aa1cd900d4d427bd7e97bc4d879f4e973ffcbc133742c4b4e607e1bb61c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000654/meta.json", + "bytes": 47, + "sha256": "dcd34d93cd486af5a044a5d0ed7d2bad24c583364ea24825bddff8a301b44494" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000654/occupancy.png", + "bytes": 74983, + "sha256": "c72fb185428e138697e9d1875a9a55137cfeba697f9f06146caf9cde2c0b9aac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000654/uncertainty.png", + "bytes": 86828, + "sha256": "60103223add38b7c5bef9f626a3a7de2959fb9e778532ae7b093666c3f6b103c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000654/visibility.png", + "bytes": 53586, + "sha256": "30a4856e9a0005a5073c722f14ddefb941a8b7a422b3c3faf6b32fbf5b498684" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000656/meta.json", + "bytes": 47, + "sha256": "def535ae4e7f2ea6e6d12f7dff840670d6ee0a738e97485326301c8f5841353c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000656/occupancy.png", + "bytes": 81210, + "sha256": "a6ff06ae12e61fb6bce69d02d7481e4ff23c2c752b428a7f520066d1f77f76be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000656/uncertainty.png", + "bytes": 82072, + "sha256": "7618629d8ca3b5823569c7ff34291e74a08e4d2134fcbbdadfa9aa16e55d7c87" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000656/visibility.png", + "bytes": 52543, + "sha256": "773dd2a4d2a94bf142f1a4bccc664cfd98fba2aeaec0df4efc7f6ff653f6e06a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000658/meta.json", + "bytes": 47, + "sha256": "97f77d479a10635d854fd0c96ab421e1462210cb5503e4d1e5571d2cb06864e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000658/occupancy.png", + "bytes": 82808, + "sha256": "7f6f02daf96f6c70bf0f7d5b535402fd72ed3a7d6ea938d5be9e7fd197a9a331" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000658/uncertainty.png", + "bytes": 92131, + "sha256": "beeac82a849762d7c99ab2fac0e0a9113f08c7c8a6d1c641fd5bbbf05d3317e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000658/visibility.png", + "bytes": 56436, + "sha256": "4acdebc58aeae3f60978daaf08936d4ae36357a2e6d380ac92903f5f65ab14b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000660/meta.json", + "bytes": 47, + "sha256": "6619668fcf591cc1030a75b9a492fc7be56c514037687a508469a7f8e0f47c46" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000660/occupancy.png", + "bytes": 76712, + "sha256": "284754fa18aaa120ac0b10819ba05f211376009cecd1c9006f663912f194a236" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000660/uncertainty.png", + "bytes": 77817, + "sha256": "4315e799b7c9b52fbfc1fe177d984b5a3c1bd85211eda2494c860a5cec27298a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000660/visibility.png", + "bytes": 53044, + "sha256": "c2a021a0f503033c4da111aa10b37f529609941b2d980d12a87118742d311137" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000663/meta.json", + "bytes": 47, + "sha256": "75940a587c2b788d40c380f81b62c549bd7bbe1b244ad1c1dc53cd4859acd92c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000663/occupancy.png", + "bytes": 82543, + "sha256": "60327282c88f369a764fb3b21407592cfa9b3e97ef05093cb5363feb9dc77c82" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000663/uncertainty.png", + "bytes": 86653, + "sha256": "310d43c067347d05edfa129b2a0c738efb286fe51ff7a012b3ee92c99d35501b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000663/visibility.png", + "bytes": 53780, + "sha256": "8a4b2c42dff0616bca10a2faa258e2ac91e9a5def28f9981f9800bbf6b34f897" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000665/meta.json", + "bytes": 47, + "sha256": "c3bdf8e3b00478724d8a978eede9e95e4fefc773ca6fe6b408d8103753568417" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000665/occupancy.png", + "bytes": 81469, + "sha256": "161b74910349fa8bc9178ab7eadbff7628b7ebed0938f388ceb0771f881e9692" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000665/uncertainty.png", + "bytes": 77996, + "sha256": "182e554140dd066dde15fb3ecea608f7b2fb1823d3dddb07f489e0b31d7dedbf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000665/visibility.png", + "bytes": 59730, + "sha256": "6ce4d2e1e1fe94d90c6944ce96589810e854552723ba8ee839858f6f5e5a1f2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000667/meta.json", + "bytes": 47, + "sha256": "bbdc0d4e410026843110aed63c7167ad1665c69f7c147ef30ce844a555c64bc6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000667/occupancy.png", + "bytes": 91038, + "sha256": "ca08d411c82cba982245bdce0d6c6b74e025cd0ea6675a1ae53f348d7de9de1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000667/uncertainty.png", + "bytes": 98761, + "sha256": "d56b2759db026bc9bc16a6418c00109e11ec24a00468c50f1a89f411065fa8a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000667/visibility.png", + "bytes": 59541, + "sha256": "12b8646d7fc230d8a7cec7825e4b169daead375d6115e031df09cf362ee89008" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000669/meta.json", + "bytes": 47, + "sha256": "55cf414492ae9673e504b2437a53588b496846dac9e3104aefbc2c5a1d92fb17" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000669/occupancy.png", + "bytes": 88856, + "sha256": "06bc78a6260a8dd7df76dc928f61e81dfca711d20cd933d9ee64b09106ff2dd6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000669/uncertainty.png", + "bytes": 92054, + "sha256": "d3ac1df06a1921b3e8248e7585b45ae5c09659e2ae56bf4468a9c0b994ef864c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000669/visibility.png", + "bytes": 58656, + "sha256": "ab67b17db2c0c1f357723e874ff8ba633ad2851ad8490c94a2fe4b6f2de96809" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000671/meta.json", + "bytes": 47, + "sha256": "22f0ce1290199c7b875c2fadaf9d244a81f971c2a9524664927f73c88442f841" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000671/occupancy.png", + "bytes": 99539, + "sha256": "76ba8a63056bea6d1db5b9e902140de5305371ddc4de7499e6c9f7aba27cf5e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000671/uncertainty.png", + "bytes": 116474, + "sha256": "ce2f87a045d4b52d3415b8b503ff6da8b0259fe133f581462320e1edcece704b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000671/visibility.png", + "bytes": 49775, + "sha256": "15b44eb668eaf4f9315b47b86e08a809389a471ccbdb95f37da8ac997be52239" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000674/meta.json", + "bytes": 47, + "sha256": "0ec41335430744e1111637de70b1136a802c4833fe3179b3d20f3ab8a6b762c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000674/occupancy.png", + "bytes": 90585, + "sha256": "ad1709345de99c97cdfd1b882ae9142d441f792af5a957c0c7146533d4537028" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000674/uncertainty.png", + "bytes": 108222, + "sha256": "d8f0b83dbf05c7d1f29071bd67de3c3ba1480f8e9015feff7573972cb04d35d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000674/visibility.png", + "bytes": 46121, + "sha256": "28a1353d56a76c7256644c2595b8fd2f5937537e128172d57fdd53a71221205a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000676/meta.json", + "bytes": 47, + "sha256": "840401dee07a38ad261bf2665197961f38336acf529fdd66cba62d93b9e8c30d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000676/occupancy.png", + "bytes": 89439, + "sha256": "2243048d0758572cf6b6954c44b4b89a03c38b58fabfa1340a3f300273b2a016" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000676/uncertainty.png", + "bytes": 107735, + "sha256": "8037d0d584605b70501e105b5bcab5881c740cab65c1ee313fd515e48fa8ccfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000676/visibility.png", + "bytes": 46138, + "sha256": "0d16363a40311ef839d0b814cffe0cd92140cc04211bf396ac80342f2f20ecf4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000678/meta.json", + "bytes": 47, + "sha256": "b8ed7159986af59ad7dab07d95db8a5e050da11f8c9e62987439fcdb19730bf6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000678/occupancy.png", + "bytes": 89555, + "sha256": "1379acc312c8a9630dbbc1a738baa2292dd7429e5388792b6e9ca367d9f99217" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000678/uncertainty.png", + "bytes": 107773, + "sha256": "152b3a2de3ede21f84a2def3d16b751fd583c4adede3f32c12ce80523f590bc8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000678/visibility.png", + "bytes": 45695, + "sha256": "4c1639b5d22544c2e5d9b4baf78ce1b22f501972d936861b4b3d45a4cfcf2b4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000680/meta.json", + "bytes": 47, + "sha256": "af429d33885a2e8a4a988c39821b44abd5897167cc477144d565b6146b15b9f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000680/occupancy.png", + "bytes": 89152, + "sha256": "acbffb267adb72de9029b486637fed3a35d39710bae2ccd7f90d387b862f5240" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000680/uncertainty.png", + "bytes": 107637, + "sha256": "6d0f28ed8d240204a758d6c0f5ba810774fa84d495d0c6f54b1b53ea81f22377" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000680/visibility.png", + "bytes": 45989, + "sha256": "5953bded812f2b472e38e30fc3c1ce0d6c964152af6fd7bf6f45efcee179f30c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000683/meta.json", + "bytes": 47, + "sha256": "cb3056e8303ebce9cec0aa81e40970637518f71d92a146498b756ca0d1ccad7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000683/occupancy.png", + "bytes": 89219, + "sha256": "2aaf53807f9338bfe78789e746a8a5e49678de181a0eb75bbcf148befb1df493" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000683/uncertainty.png", + "bytes": 107720, + "sha256": "15dd4c52b5278c0fa9325c5e8bc56dcf12cfbbed30255957e56974743bf10cd7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000683/visibility.png", + "bytes": 46746, + "sha256": "d1bf8027ececd57003729657f72a121cbe4f0744c2aff7746233c47f5b1ac353" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000685/meta.json", + "bytes": 47, + "sha256": "0ebd38ae9ef7483a335f3a745399df45706ef7716cbc37c5383acb93a13494ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000685/occupancy.png", + "bytes": 89332, + "sha256": "87a1892f537da578975c5e2b46cf5a9876bbfc2f121689a065f9164365fbd7fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000685/uncertainty.png", + "bytes": 107985, + "sha256": "2e33c1e0b43031e6c43c55ca1dad150c0d469aa8d4cc1f9a52919a713789dbe8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000685/visibility.png", + "bytes": 46676, + "sha256": "530c90d7845a442640fda7e218df17a99e298d33f6857aef3477cb02431dcd02" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000688/meta.json", + "bytes": 47, + "sha256": "f06d1a1f7f375fc8d5a4a24a1a6aba1db3597d68ff7ea11a4421202c5fdce049" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000688/occupancy.png", + "bytes": 92586, + "sha256": "6af1d343da07271857d889c8e6de63ea25f98aec7ea3baa94bf125eafca64aed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000688/uncertainty.png", + "bytes": 109902, + "sha256": "47c79ab16482b9db2eabd8948f38b1a035cf80ad7780898ec01616da0c79a844" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000688/visibility.png", + "bytes": 44443, + "sha256": "00b7847c68cdc6054a0e60cd0d6c46fdbaad7b7ce033f7aae75840b942b89fe9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000690/meta.json", + "bytes": 47, + "sha256": "bb3f7ee0fdc96b34cbe875232baade5ef71a59cdc6cd32dd66766de85efbfd23" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000690/occupancy.png", + "bytes": 100359, + "sha256": "dc8eca1900ece3ee37fa880d1d023e72498b56326e57608fe38b68d9695f9e28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000690/uncertainty.png", + "bytes": 116867, + "sha256": "6eb8bb81bdacd06aa375a36c71b6e00d6a7c1cf161414e28e88b1a2c16838ab1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000690/visibility.png", + "bytes": 46165, + "sha256": "9ddf0ac4d5ace87597e05e94d5890788c3d8bfdaa0d09f0d2aa95dc2a387622e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000693/meta.json", + "bytes": 47, + "sha256": "dd912d1eb56c60bfeff6fab9e316af8b78958f6f206ac1b9ccb1eaf7af1fca2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000693/occupancy.png", + "bytes": 107777, + "sha256": "4e19e3261ec1cf96a5b193e9977ed865e18cd6124f1f327323e6780713043617" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000693/uncertainty.png", + "bytes": 126370, + "sha256": "9e4303266b4e70417aef725b5374b5423c7dda8b171cdbace2b82f13ae09e932" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000693/visibility.png", + "bytes": 61282, + "sha256": "8bf6e82afb9704a3baf40aba436382cd39b477bb602b0dfff28fbb1cd775d32e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000695/meta.json", + "bytes": 47, + "sha256": "3506adcacd4803edb26e751e12c18335874a1d9155e10d7de6092002ca4d147c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000695/occupancy.png", + "bytes": 122010, + "sha256": "f8806d3658bb8908cc7a0c32062a7eefa58f1e745f2d4ae121c9cf8d9e32d84a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000695/uncertainty.png", + "bytes": 138691, + "sha256": "a7a8e9a1c0d3e8cd9b91d15f4a198e99cbacca18dfc555f728e060b4aa911bdf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000695/visibility.png", + "bytes": 75252, + "sha256": "e1b7a0ef5b426520c5280cbc0c1cf2bb82cd284ed614e0a7531bcc3ccf4ef8c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000697/meta.json", + "bytes": 47, + "sha256": "3ff5f389f640fce0eca52f0f3319e7b25978a3a577ebd489e163c0e57d389d3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000697/occupancy.png", + "bytes": 112180, + "sha256": "f16e224fe2888a8b3b5406b5e454c643cdcb3d3c4aac63643d1d6d6087754e6c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000697/uncertainty.png", + "bytes": 129680, + "sha256": "ab88dd3df24fcc47feae1ec4920e18dab055899572de370a73ed675a82b0d2d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000697/visibility.png", + "bytes": 74133, + "sha256": "b80edb44d8735615de24d2a36b4841bfc75e2fa131aca618b7be54654cb29f60" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000700/meta.json", + "bytes": 47, + "sha256": "afe156de3d0cca40b7ee1f21a0640a694a83d0817d8189da3c3865c346a1d81e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000700/occupancy.png", + "bytes": 110563, + "sha256": "92270da6b3500b1558c400599e3ee5149847cbb6170ad1fbd7069a5c9437ea25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000700/uncertainty.png", + "bytes": 124394, + "sha256": "638e4f97ab15247777c413985ba07b657369c142d1f54cd7458fdb1a23fe8041" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000700/visibility.png", + "bytes": 63018, + "sha256": "a5997f378ed499cd93f66a3325cf327cb0191a238756e617bc7966a81f71c3d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000703/meta.json", + "bytes": 47, + "sha256": "be75633622fa28d97ca8300545d1930004d117134794f6826480ad49c9700b1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000703/occupancy.png", + "bytes": 108396, + "sha256": "fc30274b303bfc01273dd83fffa5f61449447c7c0ac95f6dee917ed4f4e6d787" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000703/uncertainty.png", + "bytes": 123721, + "sha256": "f31ad98309666d05db1d6f9303ee0ac5db82cee08f97638cb20e6674a827b6fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000703/visibility.png", + "bytes": 62539, + "sha256": "d10c95e7a5c5e93575aa3ac96ee1aadb26373e4fd66fec5777f8c2ab7df4279f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000705/meta.json", + "bytes": 47, + "sha256": "775dc8a702f789bed62f943e42aefed7d348ac7fb417417c11a9d8e2888990bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000705/occupancy.png", + "bytes": 108674, + "sha256": "70ff1ad249003a0fba7b5b64441e613a7a20adf7e123512886854e477df50f63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000705/uncertainty.png", + "bytes": 120713, + "sha256": "13fd599a3bc551ee9b20c4823704262dae5b573d462414d197ff907a4e57ccc7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000705/visibility.png", + "bytes": 63048, + "sha256": "aff637c0c3b86bbb1f3f32ebf01d244329aeb73a18edb37a839a56a3fbf3089b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000708/meta.json", + "bytes": 47, + "sha256": "6229482511f97b782f71531e0400c5f03fde6e6ad5958af72300d5f0ed8b826c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000708/occupancy.png", + "bytes": 107745, + "sha256": "31c6013b4edad3e5a2242d958e6cbf04aa8be21c175371e06db5fb8789ca0dda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000708/uncertainty.png", + "bytes": 122672, + "sha256": "32e9977db0aecdfc539cea358e2a3207fd38ab6ef24d1570a06c0bf79e40eb0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000708/visibility.png", + "bytes": 61936, + "sha256": "664752110ecff092038b4fdde20e65dd79344ec850c6d4a284d727a097f5df6e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000710/meta.json", + "bytes": 47, + "sha256": "e30da64754521bfb87f0e440f06632d90b6a3c5562ac5e4bbe3ba291413ecb50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000710/occupancy.png", + "bytes": 107497, + "sha256": "0000979c73b83c0e0336f3a5d110c19ff73e1ddbf09ab97f3fb9409046a26a1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000710/uncertainty.png", + "bytes": 122268, + "sha256": "e34a1a5f93bddbdd7bf7d2cdcbc221a386986457ca42e2c3f1c8c2031945575f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000710/visibility.png", + "bytes": 62241, + "sha256": "707d1f52921f1b3e94a421fc06a6b4f0cd5e496594cabd74861dedc2fb3dfa7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000712/meta.json", + "bytes": 47, + "sha256": "576ec9fdcc07ac63bc75ac3f3150f123a6e4b191264f04e5f4832a6fed088e87" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000712/occupancy.png", + "bytes": 107226, + "sha256": "97afe8dc1a0bd24e03c672d9b2732870867a1cffd9ce52912507a1d4bd1a72db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000712/uncertainty.png", + "bytes": 121490, + "sha256": "287c6d0eddd74b6f20bbe24e6e86c2d72554ec0782280bd3bcbd8d9ae69ce550" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000712/visibility.png", + "bytes": 62035, + "sha256": "b6be552345d2005f4605d517e6ce9aad38a27214a2f4df2d86048f4bb86101ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000715/meta.json", + "bytes": 47, + "sha256": "f5d2689f203c8ba26833a65d5d374059c08cecfea1445b366e6c825c77709d3c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000715/occupancy.png", + "bytes": 109755, + "sha256": "3fd89a6fd338f37a99a6549ad2582ad6bf6591f1816f499ccfc50ed104db2c5e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000715/uncertainty.png", + "bytes": 121815, + "sha256": "4d92d74141bd8d011f1a2b73fb2a31b7fb7d594544e2e80716ab3c09582daed4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000715/visibility.png", + "bytes": 62606, + "sha256": "f416c0598ebc425fbf1da102cee708c321557e4cd61972b10d0aeffaa55f732d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000717/meta.json", + "bytes": 47, + "sha256": "7fcbfed34b3edebad8109fb68fbcce948150f327b330a3fd13b19636c2af3999" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000717/occupancy.png", + "bytes": 111668, + "sha256": "86c91bb2e4ac577125c2e08f7f6e4112e01896d404b3656d326a02cd494efadd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000717/uncertainty.png", + "bytes": 123949, + "sha256": "09738f1e97a7158f74ebe632af3c59549ba868dfa6aaf1598a69edb66febbabf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000717/visibility.png", + "bytes": 63660, + "sha256": "e0eba62749d2d1a6db8d17e078d9c4be44b5e7c98f989a1a10e23539d2eb5252" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000720/meta.json", + "bytes": 47, + "sha256": "a939edb82a934964169e26909a054c63f9364eae15229bfb07473ab73b3e1de3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000720/occupancy.png", + "bytes": 109664, + "sha256": "f9aa57cac6f734c9911cab1d74aef858b21666e6f8f90f7cc890dd35f4007a9d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000720/uncertainty.png", + "bytes": 123736, + "sha256": "477209ee364011c5e84059adc6b621600bd8b95bc287a4f3b82bcaeb8269bfbf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000720/visibility.png", + "bytes": 79272, + "sha256": "9c032cb76a633091ab6857d7100b412660da625788f777e5fa87733c15e53788" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000722/meta.json", + "bytes": 47, + "sha256": "ae93077fd322b72192aae8257301b82693734e5912fbfc8e9494c1c171bbb6de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000722/occupancy.png", + "bytes": 115768, + "sha256": "7f776560d70fe05c2810063fe249beeb40b45f95d4dd12e5c8af0b9c6117582c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000722/uncertainty.png", + "bytes": 132002, + "sha256": "27b08a17f3bc55a9d204baa02a9fe43d366e7af19e313f5eef21b7df08fc808a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000722/visibility.png", + "bytes": 77547, + "sha256": "d7c653100b0928f9877097c60851051e5d30600adc10d48cbaf7e4ae1eb1a5f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000725/meta.json", + "bytes": 47, + "sha256": "3e29e9be6688b4898a29da3febff4b954b4e58023cc5217b7308ad245ff4be46" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000725/occupancy.png", + "bytes": 104110, + "sha256": "1a49f3ec57babfe0f06ab06e52f22176794e9dee0c277851f9e515da8c57782c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000725/uncertainty.png", + "bytes": 118761, + "sha256": "32ac2e4d3f0eea919dda2af84f7167cf19bcffe7f273e6b12778a6836383e2a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000725/visibility.png", + "bytes": 53485, + "sha256": "d355de93bec384daa2dfe753a2f46912a24d64a25ae46d2dd903839deb564dd3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000727/meta.json", + "bytes": 47, + "sha256": "3fa6daff92f39dcf85e4d74f340a3f6d8af29b6eab8027234979c284e8dc2a44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000727/occupancy.png", + "bytes": 103181, + "sha256": "39a698b3b64fcb3c8e1abb840da0e17b1db68230b3914877c2a3193e72516650" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000727/uncertainty.png", + "bytes": 119524, + "sha256": "5c0df5e270935e5ae4dfd17f7f5778da4f93cc86affdbe790440f680cad53557" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000727/visibility.png", + "bytes": 51852, + "sha256": "1067bcb1da0f0802861e0ea897f419b1d03916d3e55316abb83f8387abb04103" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000730/meta.json", + "bytes": 47, + "sha256": "417b76acfe69073a4d37894ecfe8debeb3a1ed7cacc7982e2e743e15d69bfea4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000730/occupancy.png", + "bytes": 101957, + "sha256": "e2f8cb2e12aea14fca659ae8226f317701311807aaccf819e0ec42951a98ca72" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000730/uncertainty.png", + "bytes": 118612, + "sha256": "b0128aa331e704fd21b165b2f29a940ee81f87ee8af9dc4b6c774425eab0ab90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000730/visibility.png", + "bytes": 52520, + "sha256": "1e0af4f12da6eb040bf1374bbac70b14766cf333169beca5523bdfd64e10e64b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000732/meta.json", + "bytes": 47, + "sha256": "bb86062c12493b2a9b455818f4d6c14202072629f7f50094861147a72de0e462" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000732/occupancy.png", + "bytes": 104009, + "sha256": "10d63eb98ce9e8962b4aa2d209c635de5543b78b9d0a9b624c661c97b04cfd9c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000732/uncertainty.png", + "bytes": 119312, + "sha256": "525c307d934d75af9607fb6af837a15b38bf427fbace5ead182df4ef8fa55141" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000732/visibility.png", + "bytes": 53428, + "sha256": "669b920f3fab259eb42df43db7346245a8f18c1f551af384f81408dd849fd26f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000735/meta.json", + "bytes": 47, + "sha256": "600a3efee7507ec86da185eb2f53c4afe1392a45d0c699c3c2fd771d77c3f05c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000735/occupancy.png", + "bytes": 102799, + "sha256": "3216fc9e90120e8a23b6f52ad16aa21492a4edebf6664b7ad4fae6687bc7b641" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000735/uncertainty.png", + "bytes": 118685, + "sha256": "5a5b5cf85e4f2c680cdf6b2962d10079995ac1c5d55faef74877f05a68c663a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000735/visibility.png", + "bytes": 53385, + "sha256": "a2dc80b70101dbca44072f51bd2061bf5ba38a59fd1e1ce8077c3be84ced5b8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000737/meta.json", + "bytes": 47, + "sha256": "63ed2faa73f0306da9a8016cf00918f4afb535cd4fb87cd31cfaf95202e873d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000737/occupancy.png", + "bytes": 103523, + "sha256": "8e059621158f2916078763615fa1164e9946cb9286e3b3f415e5d445de114b26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000737/uncertainty.png", + "bytes": 119302, + "sha256": "c7848d0f9bc968002b8a8ea0c31e311b9a3ec6aa38365f6cce4232ecbcd932f9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000737/visibility.png", + "bytes": 52903, + "sha256": "cd4e4de00d6dd550a3439d40158bbe5a6f49e25f580554eccc4a09f209bd1e90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000740/meta.json", + "bytes": 47, + "sha256": "bef29937a8cd721c01e5aa0662c4e6f7eaebcaa0cc0e3368f55a14d42d6efc2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000740/occupancy.png", + "bytes": 105634, + "sha256": "db1fc0be40830e253b65ef29f4294ad056712c6ad8aecc752db869f6aecd9153" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000740/uncertainty.png", + "bytes": 121217, + "sha256": "f8c4ade1b6574a015e36265e3ea2cd319b5a9e919bf163a3618bc0408cff264f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000740/visibility.png", + "bytes": 54740, + "sha256": "0c7928f1fc53d9a92845975fc54589f9fd61dd5c1efc06869443357088f0671d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000742/meta.json", + "bytes": 47, + "sha256": "f9f96be75bffdf83ae8b21897279f6b9fcf3ba558f12cd684706e76d64752e6c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000742/occupancy.png", + "bytes": 104933, + "sha256": "648dbe8472cbba125f786b0f12533a64ff94c1eacac1ab1a9595fb78950c72da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000742/uncertainty.png", + "bytes": 119794, + "sha256": "3f176644970d7ed2714e11f032496a284df52a08470ffb7dbebaf16b84305802" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000742/visibility.png", + "bytes": 51261, + "sha256": "2e4875d3a1b14bdfd3f0d0ab17178f3343b3a2ed837ba1a43129904c33e6ac14" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000745/meta.json", + "bytes": 47, + "sha256": "e77c95ba3aafd8217c94dec2e7406281591f40f7d0fe034fb6e4068d243be73e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000745/occupancy.png", + "bytes": 114540, + "sha256": "e1bcb1b804d94d94ffa0682c7bce7e4072ba496cbda8c74727cf356e622364bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000745/uncertainty.png", + "bytes": 130242, + "sha256": "e44cb0f7f236e8569574ce06d95f0f3c5b4dd4ccf4d6ee96a3df844cd98313ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000745/visibility.png", + "bytes": 72935, + "sha256": "de06779264106e58d854d6d77923591cd229242e9a09fdaba210e48d950d341f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000747/meta.json", + "bytes": 47, + "sha256": "da2c21cb1fa8104cce2c59192cab2a90d105a0434b1ae1889f874c0b309527ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000747/occupancy.png", + "bytes": 114440, + "sha256": "36ca5faf473dd4123c8f545a947c2d705adcc13ec75386a7f1e917e512e4c3eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000747/uncertainty.png", + "bytes": 130875, + "sha256": "deb678e9d87f2c7de5b3297525ad2e87a3b40b3eaa3840ba591112b632dc4154" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/bev/00000747/visibility.png", + "bytes": 71914, + "sha256": "6dd2530b0da38ff018564caca56c72512e7c355b4ceb99457ebba15bafb0d0f7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/replay/last_bev.json", + "bytes": 47, + "sha256": "da2c21cb1fa8104cce2c59192cab2a90d105a0434b1ae1889f874c0b309527ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/resolved_bev_config.json", + "bytes": 2361, + "sha256": "7cda24b9b0b0ea413c7b12ad463be3422893613465c2503eb35ec9f7669fcdda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/review_server.json", + "bytes": 364, + "sha256": "79d859bda1f2977e0ce3dea1245991c9e94883c507b07410783b55da9c6adc78" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/review_server.log", + "bytes": 63, + "sha256": "d9d2cb3ad2150fc91ac9694384ea0c9a3570a41d4f6d1da5f8d67949c779a009" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/robot_relay.log", + "bytes": 422, + "sha256": "f588be630a49f8cbdf9af5529f1a812c12249d75fcf6a026ecd7926a338c5712" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/robot_relay_close.json", + "bytes": 187, + "sha256": "c12cf47ad229e57334cfc09b40364a87ef611c404c512b4274c9c37e70dce691" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/robot_status.jsonl", + "bytes": 4763221, + "sha256": "8ea967e00dcac77a5e0854aba9aaf001e199f5f71c9bd4a6aa0713fcb3501dac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/runner_stdout.log", + "bytes": 108256, + "sha256": "4c64acc59cb5c22fce6cfe36a94e7329abd1ea4a293a99bbcf5ccb2c6b5cd745" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/stop_audit.json", + "bytes": 121, + "sha256": "57839abd8587ec641810a9f1d0469bc1554c93ae11cdd4ddfa709a5d0b432390" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/summary.json", + "bytes": 2162, + "sha256": "9afea9b7e214f61f538af275594537d96f5e854642c09d0ed976666e3a030555" + } + ] + }, + { + "path": "archives/capture.tar", + "bytes": 124999680, + "sha256": "4a6dec652cc53d8db40188df5d72870d974e17ff282f42ee96bd5ea205e691b4", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/capture.json", + "bytes": 105, + "sha256": "45b7979d891d7b52128088c40354df48be09126a49f5d0e30963a4260a17d1d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000000.png", + "bytes": 132158, + "sha256": "3e61d7980a301d0e6175a515cb60ab459844b44b3692b363269d371c422f69bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000001.png", + "bytes": 130844, + "sha256": "91cf5782cc4cbf4a1a933f357329483facf00d6c15f91af60d155759f5b3b82d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000002.png", + "bytes": 132350, + "sha256": "829e1f6b77a46f255f0d0dee09d62b2818313d697569da62068b3673fb64136e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000003.png", + "bytes": 130296, + "sha256": "a6562afbc43c468ac22bbf26a6c12a649cbf6928f0db09516d790fb9f25e7f28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000004.png", + "bytes": 131899, + "sha256": "f8bb4952ded351231f64ce66e641d4d0ea084bc09ac68dd9df8458440f94fba0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000005.png", + "bytes": 131792, + "sha256": "b6e3ce6d76061107453d5dd5c32b5a0226bbd107b31084184068daf0203a1d77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000006.png", + "bytes": 130700, + "sha256": "452302092e856ebc35f0ad31d797ff7bed3256572b5c7d8f92b585e8e298461e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000007.png", + "bytes": 131260, + "sha256": "04e13e7b99ff3e02133d704a16ce415b3e4a12309e43a09fdf71df946d397a8b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000008.png", + "bytes": 131411, + "sha256": "7e0db0686ce47eabdd36c5ac4101b11f23c0da5e81b3f0371937e5cd27e8b843" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000009.png", + "bytes": 130866, + "sha256": "c90c5745680dd2c8353d8379c1dfc946b3bbd9874a8d2c2339c535f59fb805d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000010.png", + "bytes": 131584, + "sha256": "0230d15c3fb96387e8465f52bde57b7567179bc532f5d0eb476f0b1180beed1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000011.png", + "bytes": 131842, + "sha256": "bc4a8e980bfdeaf4bffc96c75a2bf2abf41c30f6449610702faee32cd1d3ce05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000012.png", + "bytes": 131265, + "sha256": "9d3806c3462f312d5e3e4494846497bca019fbcb4587a6c6c701508dceb14bf5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000013.png", + "bytes": 132184, + "sha256": "fb94f6774fb1f0eb91b1d80f95ef23b3ba4701c6bac5f5a988f0c4145825306b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000014.png", + "bytes": 131548, + "sha256": "73bd95962a20b25ef9bc3765bccdfeb385eb35c215b249499f7d050db32c577d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000015.png", + "bytes": 131469, + "sha256": "eb65236c2b6eec8a2d885de34a744231d52a216f282214593ed9e29fda56daca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000016.png", + "bytes": 130211, + "sha256": "45a39fe9ff119708b6c258b166a99fe2965c8653d45d6b0ca7cfd98f7c645538" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000017.png", + "bytes": 130295, + "sha256": "d177d30d73727fbc5f5494551f32c044ba84d6b90154486e7a31627ef9fe908b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000018.png", + "bytes": 129504, + "sha256": "a7a5eb68b2b9165f437ac4cd0c18d245bd766b869fdc903661558f9b44a6809f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000019.png", + "bytes": 131942, + "sha256": "9699ba454f2569d9b8d03edb586f3aaa4d791c2f334ba5cbfe9e2c1b532f5ecc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000020.png", + "bytes": 132435, + "sha256": "2b6172f835155c30c33271fb7708671adddc9eb320608a449d8f909519853a89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000021.png", + "bytes": 132640, + "sha256": "5427a37772a1ff8876786f17c7dd84b16464ce1565382f41a8b9cc22a9e81540" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000022.png", + "bytes": 130791, + "sha256": "74893c81c838bd155341aa1e7e940ae95fa94447e4e8268578243184d065f3b8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000023.png", + "bytes": 132133, + "sha256": "e54f5ddc88196444e9cddfc387fd1b41e624c8094d4ade7c41be0837421e0022" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000024.png", + "bytes": 131060, + "sha256": "cb07e8cd8d85d9b7f9eac0b3117c605dfb6ce773a68090e0aa103fbbc7c9d267" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000025.png", + "bytes": 130846, + "sha256": "074f621c5a7a62fe4571ebcf2b3ae6f9c2b2ea3f387bc39c1a8c05deeac5f120" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000026.png", + "bytes": 130981, + "sha256": "6e8e7a1b6d6772aa3e5424ca8095885e53c105570d635d27be48347e05b3bac5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000027.png", + "bytes": 132840, + "sha256": "832014b1d5ba3b8ed07a4f1c29368995220a120d6f5fb67b8caab26c573c8703" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000028.png", + "bytes": 133516, + "sha256": "4cdcb0609f032222f173af1762e025205025f1b4bbd18270dc601532fd5bfa8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000029.png", + "bytes": 132923, + "sha256": "a22d99154b372d5468bb82065fad3c629d74c7bdfccd446ef98d2ffdce7fb312" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000030.png", + "bytes": 133018, + "sha256": "67db00438ba725a02e3b05b347e670b7fdaaa31bccdeb8fc5c7016a23b17437c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000031.png", + "bytes": 134211, + "sha256": "f0eac91c290a7b883831052340236c439fc202aeebc4c9f81807e52f9ae177d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000032.png", + "bytes": 133877, + "sha256": "47e2d460600290e0bb3903fe809b0f84ef21e8e3f24df7eb2ea980c793dda2d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000033.png", + "bytes": 132256, + "sha256": "459c120fee98920ba25f7057303f4e8a196146f9e0afcc5926ab70e569db81fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000034.png", + "bytes": 132855, + "sha256": "8444f8f5c8d3cbdc8ec0b8f5d1dc18ece01273f36fe0694cb5ae95b23512ab5d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000035.png", + "bytes": 132973, + "sha256": "bc71a97d91da847202c56f11a869c16275115876cc87237f7d0f9ff01682d721" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000036.png", + "bytes": 133686, + "sha256": "a1a93e371e01844b8fd3646a974199473be755cc33b23025e1cb0a1679716be6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000037.png", + "bytes": 130975, + "sha256": "262cb6796d18b195b9c36c697e4dde40970f3098e0904919cde30cf929671e53" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000038.png", + "bytes": 135002, + "sha256": "fbefde6cbf8cca51ca484bf81531536fef9e553d2fa97b1d52e2c1272b2d288e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000039.png", + "bytes": 133319, + "sha256": "f69100369e63e20f4a6705b28884ddbfe2eca7ecc528ab7b0696e6453a9de31e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000040.png", + "bytes": 132762, + "sha256": "2e9ee134fd056db475816fbf39e9f99605941ad2e4e11e4191f618348b8eadac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000041.png", + "bytes": 130995, + "sha256": "d1a858a234448e0c795bee4b7346a455a2375cb37709292c8acf1722e304f244" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000042.png", + "bytes": 130548, + "sha256": "e1abe35dd5f4218d57cdd126e3ae5b3909ab674f0e092e083bb3685abc50753a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000043.png", + "bytes": 131398, + "sha256": "38bf6ab5170533c7225165fb061b9dc3b2115271a773dbb853741a794c61b1fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000044.png", + "bytes": 130807, + "sha256": "91dc439997d22cb2e3d5b580a010515258eabf0d7c9d07d4afd1149f81080452" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000045.png", + "bytes": 131549, + "sha256": "80571e6760bd0bb77d536023120bc13531749e67960a386291c1b8673fa69c51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000046.png", + "bytes": 132970, + "sha256": "e1f7dbaffc5ca87905ed114c85313131cb4632749ba38fc5e793cfea30f352ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000047.png", + "bytes": 132902, + "sha256": "eb6ca839fba678a8001cab2d2818a9eeaf0b7cd2f919a44f57667fbdf6d979ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000048.png", + "bytes": 131338, + "sha256": "b1131f9e5b28a899744ad71b0e7258a07d7a30b7839804437755cb24a7a32977" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000049.png", + "bytes": 132902, + "sha256": "6a40916412aabd8a30dd5ad36bea3fdc68a03ceac6e0cfa1e72be76519c3ddfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000050.png", + "bytes": 131873, + "sha256": "d5683659f97a209b8ccfe17f4911989a1da6689c7fa7d7c2cb9e9f7cc9c8ed89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000051.png", + "bytes": 132349, + "sha256": "bf95358ee71e576c084a87de2578a2e17d8a8b0fd1560e3ed6aed6e325d4156b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000052.png", + "bytes": 132664, + "sha256": "ea6a5e3e099b35b82d37f201ea3fd663f6c33845a9f3dd9f8a37af34095df625" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000053.png", + "bytes": 131403, + "sha256": "c038d60302ef165d68247e1f2030c67787f4eb320aaeac62eceddee8d264deb6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000054.png", + "bytes": 133250, + "sha256": "fce6d5241b6f9364db2ac821f1b1e953c8dd35a0678cb3913866200c22d278bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000055.png", + "bytes": 131637, + "sha256": "c88fc09be11f903207568106df155793c71e54197c5ca059099296dabe21e5a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000056.png", + "bytes": 131940, + "sha256": "58165f43a2343d1bca3d241bc4ae88bf906c9957a6b648623ea2ebfd47892062" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000057.png", + "bytes": 134272, + "sha256": "a54d3938c231be8467486b4181124c90ef456b014a139447c3edf93a3f835f7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000058.png", + "bytes": 131654, + "sha256": "a0577840a7e0f76d15857ace85e118484f00454f9b641d703da0e142af8e292c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000059.png", + "bytes": 133250, + "sha256": "ae81f34ee22a399389d4fc50079b5f2271db2864c6b682d8f8df3bdb05830318" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000060.png", + "bytes": 132778, + "sha256": "3512a4a61eb602d94a9fbcb4b037155836eafa537381249bc019ac77ebf2b2c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000061.png", + "bytes": 131578, + "sha256": "906e1be7742c00eb13e4f790cf72a5f073c0c0fa20be4a809ae317be96c11ec6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000062.png", + "bytes": 133020, + "sha256": "0839e1abdf64347709a2efa3a6d8d2e750d8ea26d5bfe5726a01f9037433234f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000063.png", + "bytes": 133319, + "sha256": "ddfb7632d90db5a6d248adcdfd1b4354549b5bb69b09b80bbda18006ca232c56" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000064.png", + "bytes": 133299, + "sha256": "702d6f5a6b83a1e5abd2cfae844dfcf011662331b7f3265258ca69eeb58ce7d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000065.png", + "bytes": 131590, + "sha256": "4ac9159c50326646f5edd2e45b34a9011b09e69002e00fdf69f2fa469ac89034" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000066.png", + "bytes": 133423, + "sha256": "f41d105f42cd2d7f9121c2ed60e49e1343a5ceeae5a2b06d60584f134256dbf8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000067.png", + "bytes": 132458, + "sha256": "a9871c43aadf9ddad6d359bac3881a67170aa50ec4d33b533e9a7e8796299e44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000068.png", + "bytes": 132209, + "sha256": "91b507129583ce5b9857aa164543e1741ac2a041ad552a7925ca4fb1f21f3089" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000069.png", + "bytes": 131224, + "sha256": "e41c2ceaf706fbf2120710d0083b4a11f3b7ac783ae4aa81b23180a7992d2705" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000070.png", + "bytes": 131572, + "sha256": "88db721a8d0bb04095ae48062bf84e671de59a531296687ba1354b1a1035d27c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000071.png", + "bytes": 132064, + "sha256": "0274aa4678331e6b56d0ba7fe07f64f7c430f36ae0097ac84bd357b6bb52ae6a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000072.png", + "bytes": 132618, + "sha256": "e11a18eb75c711d37375fc23654a5dd831f69ad58cf00300d52b750853dd1d1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000073.png", + "bytes": 133145, + "sha256": "af5d026a28e29ac2459c963550668c192696b73c78e079ac2998841926edd199" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000074.png", + "bytes": 133044, + "sha256": "f3595aaf69772913cd421eb5c29ea05326a16ffcbf0f514dbd8a6ff3e13ae8b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000075.png", + "bytes": 133115, + "sha256": "de65e946f482be8f2f984a9c1da8194756e893817d3cadeb3d7729064a338552" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000076.png", + "bytes": 132420, + "sha256": "02901cd38e02e3e8e97e808915d5062473fb78673c1922a9fd3470676caf45d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000077.png", + "bytes": 133708, + "sha256": "3ac6f604587b6dea9f95eee8896ebe01ab8f2d13fc323ceaf703514553315644" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000078.png", + "bytes": 132968, + "sha256": "b0927090f3a69892e2c6ba5e23f8b0d4620aa4e8b8e7e9164c502042bb2d0265" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000079.png", + "bytes": 132314, + "sha256": "306159c250381c4a5005f17d6a51c9cc89145c31068141c844b1ac8e6857564d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000080.png", + "bytes": 133238, + "sha256": "542a246fce0d4774e4ec37478715634cd26a3dbcc026a46d2940636570709ee4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000081.png", + "bytes": 133776, + "sha256": "652a38c766cbac7379653f2133d13cf95e8c2c3fae61f8511d891b97730e6f08" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000082.png", + "bytes": 132398, + "sha256": "a13fad8aa15c722dbfb51a94a49d9271c354fe2c1226cbef41ae52849950e35b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000083.png", + "bytes": 133059, + "sha256": "cd95da962586bb2efea8cfcaa243b570b92fe23fb6c7aa1cb21b2d03fac0f97c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000084.png", + "bytes": 132713, + "sha256": "931b2469395b423980acfb577457f028fd63679c3c4d3c56ff9e3d2dc744cb7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000085.png", + "bytes": 133053, + "sha256": "d925ed5e15b9859dcf7940df786fd867adead338de8ca9375e4a59d16bd6b536" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000086.png", + "bytes": 131943, + "sha256": "fd545e937222d5a954e956f9cdba62b418c5eabe5f11b8721172b15edddc499f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000087.png", + "bytes": 132030, + "sha256": "44ca665ae2b4f0eb2b3074f341a5dab0cb20c52c50c3cfcab6b6d770171946d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000088.png", + "bytes": 130754, + "sha256": "52a7d6b4c0b77ae798541cbf03670b2ac6d70ad30c2e60700ccc061427804026" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000089.png", + "bytes": 132804, + "sha256": "928edafeaa16c3699879130e30bd74ead08816d937cd1e17e336681e2c6128b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000090.png", + "bytes": 132506, + "sha256": "10a94dd89d320ca987cf19b7471f0f51b264a2980b9e6db346facbf0dc3d0b89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000091.png", + "bytes": 132772, + "sha256": "9f100a8e664a5b85dc1d870f850393dac1f33ee54460dc4be84c76b6774e9dcb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000092.png", + "bytes": 132937, + "sha256": "38588f80d5d3203e725a9f0269becc6a25ffdbc70400b73ad4fe167b83db2f09" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000093.png", + "bytes": 132825, + "sha256": "3ed148e1e40fdf99df68f081e242060c30292bcb3311a53dd338dd9a46864c4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000094.png", + "bytes": 132696, + "sha256": "4c23a200aa3e1b4a4e57cce98f733152b58c8994695925526c310e75eacc3cc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000095.png", + "bytes": 133826, + "sha256": "6b894f66c1f30749f31ef8a27f2bedc17fbc94ece0c5ccadb9d824119e529f70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000096.png", + "bytes": 132238, + "sha256": "e99daf6d5620938ab26eb72d6540647a9dcf5cab6b230433b19840648282dc28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000097.png", + "bytes": 131998, + "sha256": "1a5916b466403b710beff7caf7671fce8392b5f7d4335d16125229e63b464e58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000098.png", + "bytes": 132437, + "sha256": "5e9f3b0297c279dcf37f22aaf486501f33d30225eff351fd143ddc943dc9c846" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000099.png", + "bytes": 130484, + "sha256": "e62d8ee2994b3ca363b658e0361bfa27631532e1e42333ea56c7c6f77e21c77c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000100.png", + "bytes": 130448, + "sha256": "b93959db2cecd50f0e8d37bab7fc5b62f5574e6f1a0440014c334a4140ed95a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000101.png", + "bytes": 133153, + "sha256": "810bd65dab2e5a8c603ef303acffa63c57c80251ec67f93a4b55018c530406ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000102.png", + "bytes": 131350, + "sha256": "f01b9c1371c4c60b629597f5a168eccac4d579315f7bc0048bbb07774c623eec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000103.png", + "bytes": 132804, + "sha256": "363679d799bddd6d079b6de9ce9d340a459f5a85939e7ba87bc8f0690b65a76d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000104.png", + "bytes": 130725, + "sha256": "f410676f9853d646b3a9cdd682d509523acfb1090c4d8fed91e705550a700ee7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000105.png", + "bytes": 132754, + "sha256": "8e0d480d3b2d35978ddd5b9ca94167a8289206c37118505448d48326059bf9e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000106.png", + "bytes": 133434, + "sha256": "65623780ced9b60beff61e01a81967bd95c0131de740578ab5467917193cf410" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000107.png", + "bytes": 133364, + "sha256": "c0bed4909f3ae041ae8fd10e6c34b771e2dd8cd40f7ec528a0c90c21a28ac546" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000108.png", + "bytes": 134261, + "sha256": "b68de121655fa4e9ced1278bd5a64128367da12b70c9ca9357ba5d05f3a1699a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000109.png", + "bytes": 134715, + "sha256": "5ecb156bd5abc63f9568f73f1589551ce94d09ac6de0c3b81b8a4a60823f40d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000110.png", + "bytes": 133281, + "sha256": "675abe6e8d343d898bfe6f9d7eeeadd142bbf2284167c3c9ed3042e8cdb53d19" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000111.png", + "bytes": 134477, + "sha256": "49ea09fb81d770cb035cbbcb20bfbfc2c87285dd6af67065ec80182ace378aeb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000112.png", + "bytes": 133937, + "sha256": "0821c30b5bc7add09598ea5fc57845b1b7e51ee46f7c35fd029cf6ce104b3b98" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000113.png", + "bytes": 134196, + "sha256": "45d83a3b15c905e44c65ea2db08969173fa1cbbcfea5833dc94ee56328ec46d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000114.png", + "bytes": 133111, + "sha256": "7292517377a9fb1127371af74c1c65d21ebe09c1fb5812a8085a2dcb9150cd94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000115.png", + "bytes": 133327, + "sha256": "a21fbdaebc19267b922e3d8569afca37dc5320557069ce9f11e28a46f8d4a234" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000116.png", + "bytes": 133020, + "sha256": "3123900d3bd92fb5bd6ff5ed72013d242197d1477df39dadee0b94e8a04a68f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000117.png", + "bytes": 134345, + "sha256": "9aa7672fd23afed72602550c4d78043e667b94c6cebcae021d7a76ba25fdfac7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000118.png", + "bytes": 135459, + "sha256": "4bb102632ac07a58be7d498ce7f7094c4ebf7a0d7a507b020f59eebe7609c56b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000119.png", + "bytes": 133337, + "sha256": "ec35d1dd2021744a7cdaacdd781aa9fb6de25a57b1232bb02a19d13d610af69c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000120.png", + "bytes": 132612, + "sha256": "74c5d69dd55abbd86f5106e8309234fca30eb8bb6e1ed63826af42d49aee7d26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000121.png", + "bytes": 132067, + "sha256": "294e3fa23c4144fab799655762c43ed6763f4a19f4a49fc3ebcc608ee0624151" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000122.png", + "bytes": 132216, + "sha256": "272a44276a9c32f0f3355bd6e7f4dd43126e1a35626988f23b651a68f5192395" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000123.png", + "bytes": 132434, + "sha256": "1918b45ea1b59ebb70a4f9c99e6a2f4753f2523ed3ba2232816db0ecba6ef0d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000124.png", + "bytes": 133849, + "sha256": "a2f9daa89c051abe0e1ca4854a1c8b9281d01bb3b391d5ae6e60ac7bdbe976eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000125.png", + "bytes": 131490, + "sha256": "81730a8bffd00973b4c3320ab70a2b0f0c31d005c177397f10df2ee064588c6e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000126.png", + "bytes": 131722, + "sha256": "745debf8a762acfe37cc0d90d9d3ce8d160ecb75696d65083611357fa8a07df4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000127.png", + "bytes": 130827, + "sha256": "efcdc0e927b0af7d651786c182d323a8c119f27c1cf1ec92fd5961748967ac19" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000128.png", + "bytes": 130262, + "sha256": "29abbcecb325a6887571bc87cc14eb2031d57fa356a7f8980b675b6a44e7c8c9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000129.png", + "bytes": 129346, + "sha256": "2490c15df4952b18718915682e14e2a30d733a671d44b59fd1f29312e23754fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000130.png", + "bytes": 130069, + "sha256": "4a22079bba6c628f88111554a280590a67bc31d83d7e9a3feedf4fc76c6bfa8b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000131.png", + "bytes": 130342, + "sha256": "16c763ce9d89839d40d39b04bbfa6a1e2891c0e3ff6b792a85c657ca5630f9fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000132.png", + "bytes": 129475, + "sha256": "abc8ca037bcceb850ff9da736ed2f786cd37579c50aa0997769d9117a39d1439" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000133.png", + "bytes": 128112, + "sha256": "764c866b4697cd5622d5a126083473f854dca9c97685b1bb60a3f1f4f850fa43" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000134.png", + "bytes": 129591, + "sha256": "731f98a41787d56271c3252a7d3cedffe917f09aca7f4cc550cf006ab40c4760" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000135.png", + "bytes": 130452, + "sha256": "cad1f9a244cf68e8bad3268456bd734ff03439a09f1eb91e664b006803f5419e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000136.png", + "bytes": 130226, + "sha256": "369c050fa34b3fb7dd10c0cac4d850a2634b662f37b48818732e3b53ccb59bf4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000137.png", + "bytes": 130029, + "sha256": "5bf36aadeb0dce965e878700eee3aed9789b094f11fc302ebcb627e34dc61aad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000138.png", + "bytes": 128660, + "sha256": "74a40fe55132e376a9106d0241ffdcbf7710c2bf5a52e3d7a0ae3e5762ff6f3a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000139.png", + "bytes": 131806, + "sha256": "ef25b89dea54d8b2b5dd33312d09567c39995eca346bc13f571d93dbb8655a85" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000140.png", + "bytes": 133087, + "sha256": "2450cd0e2b9587ad52c26ae34a0c9b4b857deab6a6962f116ce68ad9b7b670ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000141.png", + "bytes": 129679, + "sha256": "f1a8fe1c059bee0a3ed27390bd6a7acafefff412b08812acd6a33f4351ff8e0a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000142.png", + "bytes": 131683, + "sha256": "f2e502fc801e87eb6618c127bb6329bede8232a17755d135005cee18a5abf849" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000143.png", + "bytes": 129721, + "sha256": "5b66ff382023d470cd11d62f3f173bb3e0e6211e98714a97caf60f8a32d8f940" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000144.png", + "bytes": 129913, + "sha256": "7b02047a30d8378998cd3a998678d6d7701d92aefc0c01f957e473ba76202c32" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000145.png", + "bytes": 130477, + "sha256": "614e7ff03ce8f489163d55925a0df47f9155c96d93fa0ff6bda69d8e0049b06f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000146.png", + "bytes": 130254, + "sha256": "36acd64eb5bf5b1dde6470ca379393e9b794cedada2e6549f31e344c9e809892" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000147.png", + "bytes": 130200, + "sha256": "3e595ef643105eb63a4f4ec3fa525fff9dc9789731edd805fb09f78837906669" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000148.png", + "bytes": 129694, + "sha256": "2ce4d4a5caae7b4d6054d1b24fac58f857fb58db4855a363b52dc9c4a5d58e0d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000149.png", + "bytes": 129719, + "sha256": "e6212cf624e82c924f3b7501b31742a5d2e30820d48248eccc632360e6892290" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000150.png", + "bytes": 130504, + "sha256": "edb9af47dc3ab5889f916c36b9575a3f4fb047cb1544c66c6908014c80e1c0d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000151.png", + "bytes": 131862, + "sha256": "15f6c6ac4cbb237562ed50682aa14580b37299e096c64011d223c64fa1ecd344" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000152.png", + "bytes": 131649, + "sha256": "3a296da7792937c6388528a64f1ce9f271522cd7f184c70d3179b7f4905ffb7a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000153.png", + "bytes": 129169, + "sha256": "932e9a41da4bac8dfceaedcae8776221425c056843d6381a826709f0f3b2e4f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000154.png", + "bytes": 130797, + "sha256": "d885eb430d23aeb70c02127287b9e6d304c62b9bccaf6d2b469c5121a84f5b6d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000155.png", + "bytes": 130381, + "sha256": "c833d0cc4751fa7308cca7cc3ba12a9a9fbaaf05fe1907f693ce0371543c35d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000156.png", + "bytes": 131126, + "sha256": "3f4fd77e74b0dd27b4c7f21a3f399e8ebeb6b675718c306c71bb7e4f5d0a09a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000157.png", + "bytes": 129934, + "sha256": "f7822e66d59632f58784e9b6a740235b3531e244b92dcbc1666a53335b4d6fac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000158.png", + "bytes": 128995, + "sha256": "988e4b9f95f664e39ada18e4302001640d654ce1985ff2d83db3abd50d69f6ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000159.png", + "bytes": 130984, + "sha256": "44fdf6a7cc605683e3fc01d6b19eb4fdff938019e0dbab27cc538b8e7d9fdf17" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000160.png", + "bytes": 128149, + "sha256": "f6bc6587e3c193a511366c2ddd0acfc9fc14c04d901bfaf7c2ab3e874c2f2221" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000161.png", + "bytes": 130602, + "sha256": "fd346286ed3d27e91edea6008f2e9ec6ca2c891e9e5baaeab15ff6450398005b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000162.png", + "bytes": 130536, + "sha256": "1e57a73319cc1d7db9b6e07497b3be821842798b96ec8fdf9414953ec90dd0eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000163.png", + "bytes": 131706, + "sha256": "70cc5d4ca0fe7af37b2d0c781a33a852c0d3751f663f9c6b8a2130d9f8746e82" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000164.png", + "bytes": 130072, + "sha256": "cee16883cb9fa21c86cb6386a1590f29222ec21a2092b704b266a643148db7d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000165.png", + "bytes": 130507, + "sha256": "79393fa6e8025ac3fc112db291779598d66ee46049affddb2df7b65cc486a15c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000166.png", + "bytes": 130947, + "sha256": "5606bddfa3fd57ef287f8eb80e316ab1923f29de1af944c178e383d2e84c4948" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000167.png", + "bytes": 130709, + "sha256": "a5f891e2d5c414181d6cba83658b12663a5ea6acacec761fb244b5f59acd629d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000168.png", + "bytes": 130020, + "sha256": "629b095e8afc6d0fb8a091701a4fb369294731ffb6c9331609f9939a889b5582" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000169.png", + "bytes": 129687, + "sha256": "6058dbd31ca7cc281a9e5ca9ebf39b9b12c26d5f7c8b935de8b7caab7d91a094" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000170.png", + "bytes": 130099, + "sha256": "796ed87aaaf7a410183994cf7a1fec50b04b60911a147ec5283568503abf8a69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000171.png", + "bytes": 130077, + "sha256": "76c8b1e25a18d8a25baea3be808452192cfeaf78d340e49ca5f054d8647c083b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000172.png", + "bytes": 128627, + "sha256": "9e3aefe5d541680a598d5a64b93506001a8d41cdf769d20c11104ae012e9184e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000173.png", + "bytes": 128953, + "sha256": "f04a022870b350485fadf0e4a9f31109c92523eb388be56f55b2f385980b991d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000174.png", + "bytes": 130108, + "sha256": "05ed89910d85fbfb798b3c766afe2f7840016ffd777fee93d11a1c849ad20fe3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000175.png", + "bytes": 130046, + "sha256": "bb51f8ba02b46b9faea6efb9c437515905d2fb3ad87058be3f6ec4e93a4063d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000176.png", + "bytes": 131213, + "sha256": "3d902934428e680f3cc2f80f63a04c2317ca7732e124cd11e1809caaaaa68bfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000177.png", + "bytes": 130040, + "sha256": "5be63c83f167cdc08c94da729c0c80a360b4b696f2c3f628595d5faeba80c702" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000178.png", + "bytes": 130065, + "sha256": "ff1fe8679f9920273c179ed5673b2e3c460eeff5f5b0749dc091648be3490cbb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000179.png", + "bytes": 130389, + "sha256": "4eaea6bbde0894b0d94df95a2796d2f3375cd38259833b81926ca014c0891146" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000180.png", + "bytes": 129072, + "sha256": "fb62c41ee8d2bb114e931cfb126ca419ab87687756d464075a490891dd14e896" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000181.png", + "bytes": 130286, + "sha256": "68e1e5ee47f21a8ebc709020171f3d04be4611ee05b6b7729c5e4e0b6919dc58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000182.png", + "bytes": 130350, + "sha256": "caefd07e59a0c82819e7468e8c9e4f6cdc7e6b4a58946f2f883a9408f12e03d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000183.png", + "bytes": 129417, + "sha256": "d9329338a5d33109b3416b15b07145c70e5b3af651fdbfb98e09483b95809f9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000184.png", + "bytes": 130661, + "sha256": "19f317ab9dbcdd68b7f7fed9f2dff5690a5d9f730e42b2b7148afed0dc8d4aae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000185.png", + "bytes": 128903, + "sha256": "cd058b3e2a72c94c2df7f0c74cfcf057c46bb877fd15b77dba44084f895b3f56" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000186.png", + "bytes": 129044, + "sha256": "407dcc584a651da8b31327c6eb3a1f56aab77e4fd093b2a65bf42b0e6cd47b3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000187.png", + "bytes": 129910, + "sha256": "8a0271a87613cff5706d093b27ad94cd6197ac81a19a93b35837442d358f1831" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000188.png", + "bytes": 130188, + "sha256": "1e8c6b9e0d3629673e8385b2e47e159260e9e0383d3c82ba717248dfce71842b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000189.png", + "bytes": 130459, + "sha256": "d412415e5bd246328cf6cb985e0c8a5b37c062a5e4cbb11725d986827b5c626f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000190.png", + "bytes": 131564, + "sha256": "63f5ff5a89bf5123e497396d0436a9ba30c0df5bcf01b536a2b96f01dc5a8f12" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000191.png", + "bytes": 129768, + "sha256": "722e65ede2f67311f3b4868258126303d790f322eee8199ed768a1f09c6319a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000192.png", + "bytes": 128798, + "sha256": "502ff236d2f9883f61560093e356754ea2986328644cca09ef0bcad0f17f753a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000193.png", + "bytes": 129492, + "sha256": "afe39a8126576052ec0907d9ad732ebf32a49fb137361b1c9a4ae159b5fe6c4c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000194.png", + "bytes": 128256, + "sha256": "3f563a38c7d2a920eab4ebce1b31781c435443cd2bbb830fa3c2a719bcf0d864" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000195.png", + "bytes": 130479, + "sha256": "f66945ac34a5caa8a29f3db28a44e08f5aa6ef6f6484c007e304c068f2ecf2cb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000196.png", + "bytes": 129831, + "sha256": "7b3b740036f0c26b404535a73e00c4b84fbefc44bd376d1c710a2a5d6bd979ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000197.png", + "bytes": 128935, + "sha256": "b61af20fe1395848620b467169cf52775080783de414e3f9dcdd8d70e88bffdd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000198.png", + "bytes": 129444, + "sha256": "651dee3c7bbd70b3a928e137a833d0dc308ab2c5764209f35eb6ef2fc2934740" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000199.png", + "bytes": 129423, + "sha256": "3db45f82f8071d59f74acc47b0a05223ffb96ceace5e76965a44c3a8791825b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000200.png", + "bytes": 129044, + "sha256": "fb42443795fedb9626e9104a3dea05ad1795f801ea63c974fdc9d9e8b72b6682" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000201.png", + "bytes": 129319, + "sha256": "868a3f5bbe18d9ee22dbe779c102f0a960ee0d1082a5a073f102a08fb6f558bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000202.png", + "bytes": 129782, + "sha256": "5dc3568d29686f59799394c9af6453873c2576d0f707bdefa6a30ccac65f7f34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000203.png", + "bytes": 130669, + "sha256": "a255ee901727cfcb058a067eab1c605e6e0928c359e47eb98c845e1a45cda392" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000204.png", + "bytes": 130734, + "sha256": "608bb2cd4a003ba2a2c8a09616591242ef517d682f12553e3400da12f95cddd9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000205.png", + "bytes": 129750, + "sha256": "8c1bf59f0cb2083b9cb640bd1dfdf7c7ff3ebeebb4fb185de8a0ab527f9bca15" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000206.png", + "bytes": 129777, + "sha256": "d2064bf480baca8fb3ad5eaed515c8b75dce2d37414c76f05d0cba7a8429ae1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000207.png", + "bytes": 129979, + "sha256": "669bb97626f9e738f0622c5cb3bfc39e88a57b2757f1902607a7257e1c39272c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000208.png", + "bytes": 129419, + "sha256": "6e6c6cd0e8be44f8e399410833392684f67ddc9699c6e7314c7be59050a395d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000209.png", + "bytes": 127592, + "sha256": "72a659686b922411f7558acf68276b1104427480542dc2d908d008c45cfb5fe6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000210.png", + "bytes": 130344, + "sha256": "3a84390a5d05d87542ea4ac3f487fc05c3fab831ae7a9b217b81cde59fe7f45f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000211.png", + "bytes": 130218, + "sha256": "9428004443c00fdc94914da66ebab5873f4cdc3a26eb19d375a9d35c0673b7c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000212.png", + "bytes": 129465, + "sha256": "47a7e6e786e8a60b42a034aa5e9f595e98c630389f2abd67a6c51ba85e34620a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000213.png", + "bytes": 128977, + "sha256": "b37e9afc4b17135e3eff15366094a871d4a59d7e6b72dd9336aeca95acefd4a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000214.png", + "bytes": 129705, + "sha256": "6cea52d11301a4627b64021af50d68b379149403791bc990003f2540c8522ec7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000215.png", + "bytes": 131384, + "sha256": "6389fc9fc32e25c3f31482d616efa37877dae246b552a72716be092b85098c1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000216.png", + "bytes": 130102, + "sha256": "d82c035b11a98c2ea5fa7b46ae6cf9a26ba34ed3a63b149924f8095bb1a8d698" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000217.png", + "bytes": 129012, + "sha256": "8ef845f0924aa33b95005024a58d7dac15999f893dc0acfa743e5c1acb0dc654" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000218.png", + "bytes": 128591, + "sha256": "d8dd67c1bcffcd19d51724a81d41f473bf6e942ad02c3d94f79cb78bde2739b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000219.png", + "bytes": 130537, + "sha256": "5ad3eebd4e60bf7e75d8d30775a76dc42a7da4a4f6fd831d532b3594dbe16be7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000220.png", + "bytes": 131085, + "sha256": "0c7fd3ef5ce3fd5d8898e43b7645fbd8862866d8def189da1701d3babba8d40b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000221.png", + "bytes": 129800, + "sha256": "b9998715be4bd4b8fa6176d7f9b98cbcb6701583a1943f0923fec1e485cca694" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000222.png", + "bytes": 130870, + "sha256": "eebe293e42cd11566e7cb0d336776da023cf4b7b57fc620baa110d8b643095ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000223.png", + "bytes": 130283, + "sha256": "e13adb4ce073e97753f332c21e99bd7def0126c166affee2af9fce259b5ba9b8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000224.png", + "bytes": 130753, + "sha256": "25d00ae2af1a878d4fc747f3be922509a6b582c5a1a33344d8dfcb22eb7bb1dc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000225.png", + "bytes": 129528, + "sha256": "a94ca2c5b609e35740a4f300c04459bb3fdb2842787abdac14b8df3b5a4a5143" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000226.png", + "bytes": 130130, + "sha256": "8e56cc6489bdc0531195d1c62f7677417054171473a40ae6f7328501d0c1016c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000227.png", + "bytes": 129238, + "sha256": "a8deccae56994ba4d87765f5bd3430a186aad135404b687bc21d34faf150e17b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000228.png", + "bytes": 130053, + "sha256": "ef2e6e4069f5154f83fe2ae2317c3fd88eed50fe102e6d1890308c9cea754b67" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000229.png", + "bytes": 129840, + "sha256": "a987034d8f10be24be8e89c96bdb2dc22a808fb0170e14441165a06feb195de5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000230.png", + "bytes": 129815, + "sha256": "8cd3d5d4e63c0aa4247f987da885823230936aa29ef1208f9dd74ea74c5f658c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000231.png", + "bytes": 132523, + "sha256": "24e17dae0b62c3c2a3322501b8cc65f39547806397fa14d66ad1d34a6ac296f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000232.png", + "bytes": 129817, + "sha256": "80bafc1bdcf2a0540b3492ca7c161a3795e04b4c1d87b273a71b916825b33cef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000233.png", + "bytes": 130039, + "sha256": "ab29cc25bec1dfb9a71ad637bd57726880715a8f2e4b850773490932ce9b7812" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000234.png", + "bytes": 131413, + "sha256": "d21e08895aa80dfc8d1e80efc424678d01cbd3087b72544911bcf0d815e7abe9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000235.png", + "bytes": 129932, + "sha256": "ad84999afaae58e727c47d7158d6dde779c97a2822305ab40c3cb08df07dad83" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000236.png", + "bytes": 131901, + "sha256": "25e87407e7b67196c38268d06dd1ee70934a789be3cb1e0109c2c455e81af52d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000237.png", + "bytes": 130435, + "sha256": "bf39c0a7d9b6d304eb08dfda5431a7b31b47b5415a4d3bd9a2a635e6966e5f37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000238.png", + "bytes": 129961, + "sha256": "82270a16243fc641db276560255168d7bd8cb95d16b3dd0149955bf105d05103" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000239.png", + "bytes": 130087, + "sha256": "a7186e2ee79cb3a6292a6b9e51de06b684ef8a5f0231d94cd9b0c048736cf5f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000240.png", + "bytes": 130070, + "sha256": "900ad16b544b5895c1e61dfab54d715ab4ab0fc094d83fe23913763a40b7dfac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000241.png", + "bytes": 128202, + "sha256": "b5480328e2e028226bb2afb42bd1b54b506245339e8265291ace3c67c0ab8b0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000242.png", + "bytes": 129231, + "sha256": "834e6b245f444b728ab4557cdf286faa15146925fe1f77a562e585f6cf60da22" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000243.png", + "bytes": 129379, + "sha256": "ca0e21f4f6719d5f3bb6bc05eb56d51a499e5d39f41288d0459994584b69fc2f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000244.png", + "bytes": 129114, + "sha256": "01f713719d5ba7f30c70126d98ed0a2b99764d23185892af836512b1b88578ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000245.png", + "bytes": 130253, + "sha256": "396f901844f9549008b0f80d9076d8dccaadc80ec4864f6a067e5a1a93356ba9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000246.png", + "bytes": 129122, + "sha256": "ec997322dbb8f52dc33daa582e3f8a46c3aecdc442e0f33a29f0f8b9dbf85858" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000247.png", + "bytes": 128972, + "sha256": "bb0e7ae5be90ca3099f340dae2205b48b6bc25b790947035199dd99223655116" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000248.png", + "bytes": 129824, + "sha256": "61414efeb86327c69fd3e5b313a35dd69a863e4836e055bd9707f8a3f19aa561" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000249.png", + "bytes": 129453, + "sha256": "4f4821c1679838bdc088ddc945ba1e4d8b1d33711bf8cbeca49f9d49f9de1c5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000250.png", + "bytes": 130027, + "sha256": "b28d3ad44c1c55c343d3d4d40dc97a4721859d10c5d5ace0f354691dc628aac4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000251.png", + "bytes": 130329, + "sha256": "3f67279e0f27ac6a382d86ec66ed12f59dbd25009e7461cb5bac8294a6c8f3a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000252.png", + "bytes": 130899, + "sha256": "21906a5b07614fa681bc61e314a79b40005ea4442e29a07008a19084d97e3bce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000253.png", + "bytes": 129988, + "sha256": "c269d26c6e442db5c70d83619099afc3125b0620557851f9bb1b15138d608dc5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000254.png", + "bytes": 130978, + "sha256": "855c1d142dc04b7eb03240ce9c28f66b9c1a7b08d1f155e8b7f14dbca5987252" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000255.png", + "bytes": 130279, + "sha256": "7a2d479f6051d5605886e81462845d105238993a3fa1bd7e02a19a858d693c92" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000256.png", + "bytes": 130219, + "sha256": "499cbc1aaaff9fb9e1ef1c21708b85c77bdb1efda80f43a0075dc2044e5a9c75" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000257.png", + "bytes": 130031, + "sha256": "90689c4a53728acd1aa3bd417e36171b04ad5d18da7f724c65121c0b62fbc5c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000258.png", + "bytes": 129236, + "sha256": "d327fa666359ae8452b2c912fc1fd77e99b71a25c49b37f46a60b898986b880c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000259.png", + "bytes": 130888, + "sha256": "ebd47112a7e6824cf8c1762c14e48cd0e4823775f6ec17a18f65f07db405b5af" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000260.png", + "bytes": 131295, + "sha256": "459b25a06a9b973d52719176bac3e0c6b15359bb887cec06e2d0ba6886e1d84e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000261.png", + "bytes": 128413, + "sha256": "582ecfff2f857286d47e5d213c4d66c0a4da522d3cd9424d052e82e89de48501" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000262.png", + "bytes": 129243, + "sha256": "deec8b30d16fc66887c9d42c506fdc0184028c0ea49e584d4e91a69216d86197" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000263.png", + "bytes": 130195, + "sha256": "452e2967d1f93462ae9fe32cb626e0991b8f8b7a202bc35312fe8eb4dcdd62c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000264.png", + "bytes": 130130, + "sha256": "03c959742528f36a99398666fa493141c8c4ca238e54f9ab871f12e9b3eda329" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000265.png", + "bytes": 130404, + "sha256": "9602b7bcf5aa10c525f1022a003a1dcf7857ed8da3fbc663e5ae1a0822a6a1f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000266.png", + "bytes": 129575, + "sha256": "8a4eae40cc0b276929ad93591da758f861755021f2a174a7e2bb1f9a4f9a240d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000267.png", + "bytes": 129325, + "sha256": "5571851f4896fa6a8cc09a86fa0b0a6ee807224838a1836a0543ac1bf6a539da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000268.png", + "bytes": 129335, + "sha256": "d52711fa6b83df1fabe2e1310133c066a6e4636cbff047ce1f7710735d2ca35f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000269.png", + "bytes": 130657, + "sha256": "1553b3d5d7d0845c8e91e37d621445dae9eb18d39f09b274e46812c92ea65f68" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000270.png", + "bytes": 129664, + "sha256": "84732f13ab350b915cb59a34e7cba48af01c92ba3e34e7e67cf0aa46be3685f7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000271.png", + "bytes": 131595, + "sha256": "8743760aefcca20228ec3320aaff5c6f3672c70862365a1bba673562262cdd2a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000272.png", + "bytes": 129674, + "sha256": "0cbda1e724ba7d8442c16649f39e2cda2a7328a958af50792a6479fd9dde95d6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000273.png", + "bytes": 128570, + "sha256": "6f34cbb3ed427d13a91c248ad14d1402c5b64939be3fec3cb143b4691dcb5473" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000274.png", + "bytes": 128863, + "sha256": "7b8e5dc1195676ddca6a5fd5e4b19d13b8e56898f5508309c79e67fd8a50fd1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000275.png", + "bytes": 129825, + "sha256": "a44fd3825796d37650d9f676c4c83ab959d0fbb17cce3ca6cba812f89b33a598" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000276.png", + "bytes": 130310, + "sha256": "bd9b469bc86f3299c1cccfdf06f2269f09e6384d278a47de036ceadcc03f6fe6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000277.png", + "bytes": 130583, + "sha256": "faa4997f6c76cad88d6a2fdc1ae1a3edacdd2a1ec1688706a29d44fa89ef90ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000278.png", + "bytes": 130347, + "sha256": "84394b1fca384a43796d93e39d6cd4f5f51c54b5c1ee700102101ae1eb4cc1f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000279.png", + "bytes": 131689, + "sha256": "4f378f0ac2e269109d1a095ce917b77d1700be9f07529e037e4b71baf8385794" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000280.png", + "bytes": 130704, + "sha256": "132ce2223e6bf969390f791d1a49644fb5f88d56d7f193bc833513248619ca47" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000281.png", + "bytes": 127894, + "sha256": "89a5cc77188b68a6bb39c7f59d41da48e5f814b57e3172e2aded2d3abc542099" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000282.png", + "bytes": 129316, + "sha256": "52a83fa0b2478d7a1417052680cf8cc88e4d7a06327cc1a74203ebd901befc8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000283.png", + "bytes": 130347, + "sha256": "60097d5972f7a10611f13e925d64ddc27eca87e9f40f95f9a6a37347ac472fb8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000284.png", + "bytes": 130107, + "sha256": "66e4c0fe07681a93016c3674c4ad4817d0c5a5d5b5759ced85ae3a898305ee4c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000285.png", + "bytes": 129827, + "sha256": "8ee00dc3d10c2717f12d2a106d0c64b224bfb3d2b264790ee721db019bca9b2c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000286.png", + "bytes": 130134, + "sha256": "dbb3b959551b6a9c110ce1d3c96829bad5df9abf64a439431626dea84c221782" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000287.png", + "bytes": 130399, + "sha256": "04600af61e5e27ed90650720154986c73d9294ab9f1ed4cd05df80edc405be6c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000288.png", + "bytes": 129570, + "sha256": "7fc1caad9584ce19d1ff8af933d5d08b746f6535ebc468129861ffb5bcbd4e64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000289.png", + "bytes": 129611, + "sha256": "3854c67e071888ff6164b52fbfdf4c0f5405ead187131fe8cc09a0238681a5df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000290.png", + "bytes": 130152, + "sha256": "b3de6576735c1e32dc89a143cf4f22f44676e36dbd3dec882172b389c91ca95a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000291.png", + "bytes": 130659, + "sha256": "c14116b0a0f5b4e0aa5102033d5380dd63e595a5531f1433ac62f23eef112ff3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000292.png", + "bytes": 130293, + "sha256": "cbc4b9d615f78b06bf724bed8e6b72e09944c26f9e9e2af08b68b0fd0f4b5a99" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000293.png", + "bytes": 129943, + "sha256": "4d4b75b96296ce91c7a0dc8be6505de30981c3c7525371103c511072f7942c02" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000294.png", + "bytes": 129514, + "sha256": "42bfaea2b2dd3bcbc92cbfcff03f2a62d0b3fc653a494616a9dfbf512ad5ed0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000295.png", + "bytes": 130194, + "sha256": "2c512c63ad0f638d73044638be444ab4d83975d8abe9e7eee87e4f94d811ce29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000296.png", + "bytes": 129621, + "sha256": "9f704cccd0be6f9c67ab6c6cfd6438d0b72f48ffcb600168fcbfc4701238cb3d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000297.png", + "bytes": 128492, + "sha256": "d9bbf71857e0cd201f093081c7cebafe351df0587dee5552df35d7defbd3bb37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000298.png", + "bytes": 129919, + "sha256": "746fb00e87652666ed543f48a615e876d856597d0b014ca9f804613e73bea12d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000299.png", + "bytes": 128800, + "sha256": "796874acd5a39e642fe23097820aeab453b8244ea0af6109cd0071c087a976c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000300.png", + "bytes": 130670, + "sha256": "3b1a9447d6ec704bc1c9a6d3b970f316706e231a0b7d1f7caeaa46b6fd83d9a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000301.png", + "bytes": 128460, + "sha256": "8f764e7185c897affd0987ef7eded4d287b21db3d7aa59e3a1e107f40f0c4465" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000302.png", + "bytes": 129847, + "sha256": "95a87eda77ea6fb95db0a29cfdd89d47bf1b37d43a9136d781d760d42b9ed78a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000303.png", + "bytes": 129126, + "sha256": "e118aac441ad2e4900fabacfbec383149aa9415b4166d4dd7553bd3d78ed20bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000304.png", + "bytes": 129204, + "sha256": "972c2acab72d0745d851148785cb06322609ac46090361f79e3a584a4ac2ac41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000305.png", + "bytes": 130900, + "sha256": "9f291c5f7008142ce52f7c29a0ba8d67194d1a88699001b484abdc682e54f205" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000306.png", + "bytes": 130925, + "sha256": "feba586b33333cbc9f09ed5bebb72d7611a19e554e70bd8492854d65faa4003c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000307.png", + "bytes": 130659, + "sha256": "2b501b5723e0a9f01388c0a0bfbfd786f50cf773eab0fb857fa0d79eb521c440" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000308.png", + "bytes": 131581, + "sha256": "5cfe79905092885a212069daa9b0ab595ad2884d28196a86ed49d65d32a9488a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000309.png", + "bytes": 129191, + "sha256": "e8fae97eec8e7c65aaf107bd2595fd21c14faebb65c3717f892a25a990ab6842" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000310.png", + "bytes": 130063, + "sha256": "65494aba13d38ae95b47c8a0cc53a1536c65f66f9472fe19b59195a6770e06e5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000311.png", + "bytes": 128413, + "sha256": "499df78c31e221612918cd9bf2090bd6bb91b27548c2bcd3e24fdfe0383f0b8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000312.png", + "bytes": 129897, + "sha256": "524ebd19b5d7dcc79cb5d734bfdf8bf8086bc62d73f7992ae907e345f0777990" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000313.png", + "bytes": 129995, + "sha256": "492eb48fa6240597bf3eb52b1d4c66fe075908a7dd680d21f3ae28d1f1ca4f69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000314.png", + "bytes": 129065, + "sha256": "da0b015d4ec58aca4e90f3912b1c474f0973cb0512fc208f914fa3392df63ad3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000315.png", + "bytes": 129455, + "sha256": "67c8cd27220e6db0647efa2ee30d1b34a5ccbbc06dd7a5cfd906469eb83b3b2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000316.png", + "bytes": 128668, + "sha256": "76db1e9483de6ec9251b13a2dd81f82a4fa080a73771b38a7f79d00325455e77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000317.png", + "bytes": 129604, + "sha256": "4877d78a98fbf18db5be9560503d6588d37264de2ad16762891545d738e3e3f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000318.png", + "bytes": 129955, + "sha256": "a53f2e783361728fd48ea6e0f3dec441d456ce6c776211d9f19c496a1dfb0445" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000319.png", + "bytes": 130204, + "sha256": "213a7eb19194535e7cd927bae252a4e20245303e7e359c961de02a45ad82536f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000320.png", + "bytes": 130929, + "sha256": "67064b6336b1dbb6946725cff0484e092bce7c193b92de7f152e69ea11e19257" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000321.png", + "bytes": 130121, + "sha256": "8e7f9ea0cbe8910cbc69f0b8fcbc66410052e747a9236e1df4894d8a7f348366" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000322.png", + "bytes": 129855, + "sha256": "9ea6a9e8e550267eaf262088a2ba3fbfa6ed6e78844171793c5eb3ba8ea47d9c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000323.png", + "bytes": 130508, + "sha256": "8aca9433aadcd699ba6cdc00ec57e5caa508b798ab2bbabc6238602bd5a7999f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000324.png", + "bytes": 130195, + "sha256": "330e1eabf2d7546f3ddb95f2a2a32123ff4500e01f80be06d316c8ed8e88ff26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000325.png", + "bytes": 130139, + "sha256": "5b772ba363b73e8c039665c3feeafcbba547c3c7f48c092c42d611ecc16332ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000326.png", + "bytes": 129827, + "sha256": "baedf6f5aa9d81f0d67dbc4156dc421494d855113023703a817f4845268133e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000327.png", + "bytes": 130050, + "sha256": "8d2a22dc50d29297a74dcb6e3859cb7787a4986c77e555525e911ec7aed0bf49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000328.png", + "bytes": 131170, + "sha256": "1a88ed9a5f119d30bd908956557c6a07811026771a9b1d276a508a905564a684" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000329.png", + "bytes": 128988, + "sha256": "1691e30cc2ff339169df9fde5fc3e934f211d0043e6018f0e5e0518dfaf517a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000330.png", + "bytes": 130092, + "sha256": "3c9e736b5228a71a62c3ea1f3ac1f82c4aa393b261e991ee01bd0fff58b156b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000331.png", + "bytes": 131108, + "sha256": "9ee4b0f0aabfddfb373a69e731a454646e03ac2ea71057f00e72b5a8f0d2248c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000332.png", + "bytes": 129582, + "sha256": "8d9a4132699d3ba604ec7e87852c4366120f98a6d142ab7702ee8e5de401cd8b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000333.png", + "bytes": 129425, + "sha256": "d3c031c764147d9e9c5402eaa5e70400187f8fb60f0b3bbaba0fe32f8e370176" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000334.png", + "bytes": 130858, + "sha256": "54da1b53a749dc87cc8c7a78464aae457774b478a9be52d04c4dd9cbb94a7476" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000335.png", + "bytes": 128798, + "sha256": "18af0f148c98a23c60e66797b69bd59c2aebe39f505c916e6b2c77489ee4895b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000336.png", + "bytes": 129949, + "sha256": "a9485f64754017a06047902780ff6a5bcaed394bff1f642c163509971a208362" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000337.png", + "bytes": 130444, + "sha256": "ce127c5ffcf177eccbc63994b17e1589671a2c7383b230cc23e43922cac4b476" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000338.png", + "bytes": 129247, + "sha256": "e6831253334448a1aa335acef4a9f4d6fd96ffc3cc190f55e38e89c7500ad9f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000339.png", + "bytes": 130910, + "sha256": "6e1d4b8f0889bace1515d96bd8d24cb655222d433db6e60435ecefddef6572fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000340.png", + "bytes": 130205, + "sha256": "a2213242ee655281bd3fc1eeb5b87658591b2d22a7d735b9fb87cc7697b57af9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000341.png", + "bytes": 129842, + "sha256": "829fa27069d5a84f41fb3435e8741447d76692e5b09feef85fd166d73192f8fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000342.png", + "bytes": 130089, + "sha256": "4107b776b8ea77f07721d77166093e6ae78a3d92fc7e610ee74abcbacd3c381d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000343.png", + "bytes": 129757, + "sha256": "2ed874906112ee74326f962cd241a818f2a892e1758747236e9a5748a631b3c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000344.png", + "bytes": 130823, + "sha256": "d229b51c235221f7e9893c80d47e765b79bec2aaafb080da57fdd8fcfeffe4a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000345.png", + "bytes": 130366, + "sha256": "5b756f22ea99be1e7859fb6b7881ff8c9184809641a4f26e997ef4ffbf0b42a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000346.png", + "bytes": 130301, + "sha256": "ea5c0cdca99fe9a97e1fd2c92bc45878fd6ff346d4efbb86b75f6c4d9a8c3784" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000347.png", + "bytes": 130380, + "sha256": "e7ef93fe82cec16960778c96639f63032ca034697d9918d9dcce0e13687ca1a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000348.png", + "bytes": 129546, + "sha256": "33d71ec70af187e35d3f7270cc3a692b4596c35b6571b03fdf404fb0849fc2ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000349.png", + "bytes": 125527, + "sha256": "3bf2588b69e89da762029d6204d9957e5c3924ad8222216afa8ebba7b4f43275" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000350.png", + "bytes": 125383, + "sha256": "ee04a0c0c9cbd06bd294f856cf21952e0a029e6192aed2962e77f51311d74bf1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000351.png", + "bytes": 124982, + "sha256": "0fd153540d319977272bafe42eb1ca76ba46f5ce8f8661e6f111d55da1d2c545" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000352.png", + "bytes": 120512, + "sha256": "95f00320f14847fa991adb3c7e4953e25ff70cef55f155a1f3b56e94fd318bcc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000353.png", + "bytes": 119195, + "sha256": "467edd65f8a8d625178e97798f387e2834a73ff39e4380b5135f1094ec4c9763" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000354.png", + "bytes": 117570, + "sha256": "3fcdeae046aab0e7b6728e961d4a11ecfc4e324fd9a48330899f0184f2a4ea73" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000355.png", + "bytes": 114064, + "sha256": "3f0d54bea8da63f4a0dc11d55c4724c473cd99ba7fb34284b628074bef292491" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000356.png", + "bytes": 112797, + "sha256": "c989a8d1446b7e0724856ef4c734c48e0b6ea48f72d87690a2d8d1c5afb69732" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000357.png", + "bytes": 110189, + "sha256": "347c77db902e7387da621529f3718d1006ee34dcb78c8bc37a057e02f66cd9d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000358.png", + "bytes": 106903, + "sha256": "81f46d7a9cdeaa7d6ddae18094aebb494620a0416f2d75b2f2275b361378bc99" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000359.png", + "bytes": 103853, + "sha256": "76d6ba195552f9730f1b26840f43eb80367595d03d525568370b90d45d2e5fa3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000360.png", + "bytes": 101041, + "sha256": "adf47736bc373fade9a2da85eb583e32fc1add4eeb5f9d9346ac2f0faed476c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000361.png", + "bytes": 98883, + "sha256": "f5714ec89c0abd11de69aea1592d2ef2b782ab522f802bf77ba4deb125edb103" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000362.png", + "bytes": 95082, + "sha256": "fffbf69930d7ff86e851ace654aa56f85a8111e3229e6e6ea5aacbfba54dffd5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000363.png", + "bytes": 92716, + "sha256": "eef9d5636250bf9d5d6c6a7a6334de1afb8918b07c65ca9f103766ed12fe6c30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000364.png", + "bytes": 89833, + "sha256": "0abcbd0371f2547a338b142f625c356d02cf1f40e9af35f400c18c52e59b353b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000365.png", + "bytes": 87140, + "sha256": "b30c0aa0ce7a60ba8d27753ce4555077ce14769b7ddbbf38c0d02187c1780ec5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000366.png", + "bytes": 84234, + "sha256": "d14dff172c42470249fe07b1003d6c768f3ed95f25c4d0a6b62478fa9f89d5e5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000367.png", + "bytes": 81495, + "sha256": "d741a20507f573bbb70bbe050c2255e4705e8cc0449a20197456f65218c48227" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000368.png", + "bytes": 80362, + "sha256": "a30cc76013ca44497b50ec9e097bf44e616dd2c6594debe3fba0d43a60090ed2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000369.png", + "bytes": 79380, + "sha256": "56ea471ef209fb76057e0ca248c40ca7f044f5a6d722713a41bac1658c3489a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000370.png", + "bytes": 77112, + "sha256": "4c922a353b5e29c45efc7f1ddb8c59c38d5fd427533e00ebaa13f68de324dae2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000371.png", + "bytes": 75789, + "sha256": "d618db58a3c397b8d35ed0ed6285367f7e1f15da8a43fd4308304906ba8ebe5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000372.png", + "bytes": 75164, + "sha256": "33ef354defbe9702d458ce1b49ffe3679e781e17aa1be1c1a2edca1ace35ea82" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000373.png", + "bytes": 75864, + "sha256": "06d7fd41ac9344b5cf29090f11e5bd852fb6cfb800784e09f5196a26caf0a5c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000374.png", + "bytes": 80331, + "sha256": "45e964946a8b1a5ac8c0f0541c23407a6d351c1606bf0ae04ed19fd0f044bf1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000375.png", + "bytes": 84467, + "sha256": "2aebbd89052cda0d1abec8f5442224404960538aa1feca14151bfdcb3b0c7409" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000376.png", + "bytes": 88575, + "sha256": "c60ab67f16ac6c0a12ae49359b1cf445be723d654e26d82de05eb7bf095d99ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000377.png", + "bytes": 91112, + "sha256": "16de9f9958e4eb366d76b4401f77b555f58e617be5048f5c3817b1b81a017ecc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000378.png", + "bytes": 94373, + "sha256": "cc0b404e21fc09295078baccb5f1a19bf536eeeb89256a6fdb7cfb3ae90df7bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000379.png", + "bytes": 97114, + "sha256": "e6e34a5d0063b125cfca11540de30eb1fa3a3e5bb240b0dee9a55a987286c7ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000380.png", + "bytes": 99755, + "sha256": "882065832cdff1d0fe98e61e8d01e5a91c10fdfc11c6ad8b2baf91f584fa0767" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000381.png", + "bytes": 103578, + "sha256": "ada550cfde5e92433500cada3c014855b6f120995c3626e02b976a906f799a94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000382.png", + "bytes": 106845, + "sha256": "f3509ab11fd644536cda12d52562b7026af121e490e4e839bc28669458f4c38e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000383.png", + "bytes": 108269, + "sha256": "49efac8941bb38b2b2025f4582de75c94a3961d885d9f9da04ad699dbef941d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000384.png", + "bytes": 110306, + "sha256": "a6e45a23431995ff6ed5ab8538b044272dde69995b6849e22cc000b9378150cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000385.png", + "bytes": 112466, + "sha256": "6aa2bcd81ad3d8ea56d2a0027353a424321271dd323e6f24b8018c7b90ec8c5d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000386.png", + "bytes": 114420, + "sha256": "0a3c01a3624ce8fc39f710cdf427b5266b69f05c60e0b16cadd730bc6ef1fa73" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000387.png", + "bytes": 117481, + "sha256": "a679a3005308495eddb000c3cc7279ca5658840c9aa01719d2e952dc5698a1a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000388.png", + "bytes": 116949, + "sha256": "dc2e3323ae390e4e17dc09afa268f7dda6cab6d0b39e292a83c5c0192737b4a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000389.png", + "bytes": 116607, + "sha256": "cc446e7da15893b0a46ea92e9423f7f44049947910436db27a0088de5647e30b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000390.png", + "bytes": 119556, + "sha256": "0dd84169aa91410bf74bf922a2b974be3dec874821fbe9235ad59cb006152eb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000391.png", + "bytes": 119943, + "sha256": "6fad3fdbb912c7e9fb9ca57942f53be707e346d9c5a66d3c52b8390cabd42b17" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000392.png", + "bytes": 120057, + "sha256": "a6f016a2bc50aeeeaa485d325b2a1ef44d857f5bd4ea277678705aa633f14b67" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000393.png", + "bytes": 121509, + "sha256": "30e2038ac29aa71a650bcacbd49e35a9de3ea08306515b7171e812a6bf2a1ce8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000394.png", + "bytes": 124859, + "sha256": "571ae6b50e9db1009b1a648d1ad8dce40cdae9b30783bb5921f3dc3fac9addef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000395.png", + "bytes": 124762, + "sha256": "ef06846c4c321a978606ae2cd950d88a8b5e0c5936d232cf1d0455cf16130881" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000396.png", + "bytes": 128776, + "sha256": "381e2f0a9f47d60e9f3c0f9e6d148c9bfcea74edae2bbe01f5fae7938f454831" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000397.png", + "bytes": 127420, + "sha256": "39878928f9c6df735d25a51d9e18cb7096ca81af7c707e0ea1db2f171eed9904" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000398.png", + "bytes": 129577, + "sha256": "fb73eea2a063cf66617cc19418aeb8426a5bffa8cb9fa1b6ae2f8e8b42086582" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000399.png", + "bytes": 133567, + "sha256": "d009a339be263a9e6e83849b0cf08074572d7a46c4caacac32aaacd9dba3662d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000400.png", + "bytes": 132150, + "sha256": "647136395cc763818eb07e3c5d71205b6860d69577f6a453a04a485952ef2c4d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000401.png", + "bytes": 134192, + "sha256": "8689993c0947acaba4b5063a4e7aba42267022130dd66d2c8c85fb47b4169469" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000402.png", + "bytes": 136833, + "sha256": "88edb9bbf5b1c8594049b7ab4e513b43b151163a867e426d932da13b02cd7044" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000403.png", + "bytes": 131500, + "sha256": "b9eaf3a244ec4963cd20dfce50a2850563649ed365bd59072b26fe995ab1707f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000404.png", + "bytes": 133862, + "sha256": "127d207165fd925977d6c14100d7cd6b14006a4fb2293dd7594025409958c353" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000405.png", + "bytes": 130519, + "sha256": "95ba8464a13bf53ea23bf99dece210c01403c8e7d27be8ff4c02712eb3b197e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000406.png", + "bytes": 132974, + "sha256": "769ff65549658970e939bd351d3dc4e818d44a8fa01e4a7891a3aabd298b70a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000407.png", + "bytes": 133658, + "sha256": "637efda3fe2a3851013c9bde525256a500614f4656a5084f625f98f9898a7922" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000408.png", + "bytes": 133852, + "sha256": "b3fc93c9a84deacaec3db7c11dbdb23caf4e40b18c077b40021fcfa60adf28b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000409.png", + "bytes": 132523, + "sha256": "bd34f6566cf8b53fd9599fd881f185cde3dec7d97ba326299b70fbc31cde98b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000410.png", + "bytes": 133923, + "sha256": "1554b3b454fb04bf48fdc2b668077e83485f3f3f6e30d98bd8e02844b2d4b6f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000411.png", + "bytes": 133714, + "sha256": "accc7c8e7857790615b9f8daf00064440f546461f2a682d724bef7a2a92878d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000412.png", + "bytes": 133638, + "sha256": "042e72a1ea934ba603e35162060370828230d30cfa614033e30fad17d4b2f6f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000413.png", + "bytes": 131600, + "sha256": "53b3e9a51a92d4c6c6e2e0cbf9f1ba014e6a010b9481daf48151df814c98029f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000414.png", + "bytes": 132368, + "sha256": "160c5fa0b2cb8c30104fc245a051df530655b88f6a0c36929804bcc55897942b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000415.png", + "bytes": 132873, + "sha256": "0112afddb821e43febe074a3dd4dd3e2e28ecc3b749dab00acb5aee72fc2c2e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000416.png", + "bytes": 131813, + "sha256": "38c804318c8542e24ab9dd4fe5b279ba1a6dc98e30dd3a65ea51634bb9069e6f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000417.png", + "bytes": 132746, + "sha256": "81be3c07f639e9ef38409a2753cb4dd187b2173f261cef83fd79dcea37cd5487" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000418.png", + "bytes": 133189, + "sha256": "25362c081175cc0f3723809de894f0ade50ec37af910d163c7c289d99c2f982f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000419.png", + "bytes": 133182, + "sha256": "f2b17e958ce4cf2f6bd35b358a6aa8e1335501de992e1146642b2a3df63f83e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000420.png", + "bytes": 133796, + "sha256": "d110047b8bb4962e77d3e220130af8fe7c49048367d8660648c61eccc8ac160d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000421.png", + "bytes": 133113, + "sha256": "1dec6de31f248243b749e083db2cf47ac79f640e1777c96147bb47ea52e00632" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000422.png", + "bytes": 134078, + "sha256": "de30d1af00887eced228f828b20afff0087f3a1207c39bdddeda41417f9ca4ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000423.png", + "bytes": 132793, + "sha256": "9f0a46ad5b5e10150b1ae4b465c31cb3761a7a3358f4614353e90850d5c5b229" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000424.png", + "bytes": 133245, + "sha256": "e8a0f4663888cf61f880ed7d8d634e7c83abe28083716f81ee8c4ea073914353" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000425.png", + "bytes": 133758, + "sha256": "766ffb21829352084deba097fdd505a886a0c28f5beed563a6c6af5bf19ae0a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000426.png", + "bytes": 134668, + "sha256": "6232d58d1f2e23e3d0cff9ea30f0973855972c5d7655151cb2023377f074f90d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000427.png", + "bytes": 134395, + "sha256": "8ccb7e88cde634dfbfa01f4624b3281aceeb1927029977d5bf91c77a0053b7c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000428.png", + "bytes": 133229, + "sha256": "7cbde5d938cd05692fc1ff9f802b7a7df5b32fca042fff6643b4b0936b912cdd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000429.png", + "bytes": 132691, + "sha256": "2a98aeee91adf2f005482d0c108ae6b14adcf1ca2e76513e097afc9f60f4be77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000430.png", + "bytes": 132271, + "sha256": "b5adc519d9a3cdc8e099583b6893d9d73fa51565ada9a8ffb6a9ab59869f4355" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000431.png", + "bytes": 133654, + "sha256": "f4efb36dca6d863445664d34b85b3bd9b02748f29c49f98a97c4a1a34086f004" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000432.png", + "bytes": 132814, + "sha256": "863ea70de59b95ec7b20e0a30d122f7d21c7e750b554676452a7c0a9dabc19d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000433.png", + "bytes": 134016, + "sha256": "be4ebefbf7aac7f048563ad7169baa32ebde660132d11e7281affec8d9a53a30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000434.png", + "bytes": 133853, + "sha256": "049f74d744e69d7e8878c5d88cef3497af0e0039627dee87a192516aef605a8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000435.png", + "bytes": 134823, + "sha256": "886729bff5eb15aaf447c8ce4b4a5685d0af7b16e1241cc75fdaa18fbb89c61d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000436.png", + "bytes": 134634, + "sha256": "10503513928dd4b01b9878efe313eeae9d08bd59b5a3c8434a878f27946b957a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000437.png", + "bytes": 131390, + "sha256": "52a05ac67fb52b6c533c4b16b7d7489388f60c00b0ab82d9f6518eecd3ecaa94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000438.png", + "bytes": 129365, + "sha256": "308fece030992ed4212a9d94b1c59b2d6dae9d5842393127fd79437831dd0dc5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000439.png", + "bytes": 127405, + "sha256": "261672ae33c425e3a91e3207c2416de0edd5c63226dd15a52404169ee4774747" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000440.png", + "bytes": 125943, + "sha256": "93ec1133c465be9b04adf5335195b302e2721177b9fe4524b8b0c3042dbc95c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000441.png", + "bytes": 126452, + "sha256": "774895c83764ff1ab28107be57550a5ff62cb9503b15a0ca92bbba41f4931dc2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000442.png", + "bytes": 124718, + "sha256": "3bbb4cdd437b89eaff6622c352770b921da23e431e894745a89d927082b98aff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000443.png", + "bytes": 121729, + "sha256": "afef7b1a97b7a035ed9c01ecfc08b70b5c5cd2386f0ee9bc7d40cb52e9470c0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000444.png", + "bytes": 120901, + "sha256": "05cac39c4d44871e1d42038d696931f3630680c881a1bea3bc138ab0cbb4e8d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000445.png", + "bytes": 117320, + "sha256": "e1fc5899a42227ec526e1f55d73703f12d6e7a175b9e8324d4592aaad3188262" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000446.png", + "bytes": 116015, + "sha256": "20c8e79d6dfc5753da9f4613bab1dc22a59efb657278812a6c892e091ab94c08" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000447.png", + "bytes": 116426, + "sha256": "25149c1564284d7bb8fe99e6966f2d2d668dc0538218b8870567473bda8ae905" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000448.png", + "bytes": 117813, + "sha256": "7c5c5222e11fc4cb8e1b6a2f7fdbabc99438d091d0c44a2224ab634d0c0ba96c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000449.png", + "bytes": 115014, + "sha256": "f47401646a5e67a77261bef077d8517cb7dddfc1d725166f3524fa609d31ea54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000450.png", + "bytes": 118806, + "sha256": "e69d4d7106bc9bb1b02d19fc412b359e68f826737237f79a7a58bca29d67ff25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000451.png", + "bytes": 122573, + "sha256": "ae08994121df82d87820867ac16ebe2b2611e23a7c60b12831923f3baa244220" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000452.png", + "bytes": 125177, + "sha256": "49127c2272e0a4e4a296eaadacd382543fbfc4da77605771d01995da2a0b0f4d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000453.png", + "bytes": 123997, + "sha256": "5f1a15fc7cf709fc27f2cf55553e3fcc0e499b3cea80b5de3e35a3730910deeb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000454.png", + "bytes": 123526, + "sha256": "523babcff9d90e92607a628300e1e0759a3b62330428243e1c34bd6558bee8fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000455.png", + "bytes": 123484, + "sha256": "8e498dcc0fd650bc26a7a728c25c5bd1664270ff1faa39e3bcb4c3a8a7f3ef19" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000456.png", + "bytes": 125914, + "sha256": "3d9903fa6dc61728acc147dc8a6c192627b2014bc4a1398b829edea2a13f18de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000457.png", + "bytes": 123894, + "sha256": "e3913338c345b0805b86c1f46ea7e9b3b937b82a4ce361cb4ed6c41bed3b1461" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000458.png", + "bytes": 125545, + "sha256": "fa73bf25f2c75cf11ca3051c70caa81fb2f36508f0a505eff549ee480676779f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000459.png", + "bytes": 125411, + "sha256": "67e5ec1c38423b18ed5fcc938fa5da4e11f7321cc0c54a35f241267590f9d616" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000460.png", + "bytes": 127108, + "sha256": "42f6183d1129b2ffcfc9b0765328b812166aff3166ccc1ee140a32aa661a0a8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000461.png", + "bytes": 127309, + "sha256": "110a04adf87e6476490eb57a52b60e0e12f6cd83e06166c6968b862dcd910c5b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000462.png", + "bytes": 127216, + "sha256": "284425ad14359ec103f8f03ee8f9a51f803ed7bdbdf0cc1885f5bcaaf8a156b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000463.png", + "bytes": 129587, + "sha256": "023240438a689fef48400ac86c1403662952914886e957064d1c930cc1d46a96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000464.png", + "bytes": 130162, + "sha256": "0b56cb063842f29360ad890e5407c7f72092fe223283b52dacf1b2606156a425" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000465.png", + "bytes": 131603, + "sha256": "1d4b0910369bafb8dc51ef6c20a0ac88e9accb6c5bee2206f1f0887b59e2baa1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000466.png", + "bytes": 128577, + "sha256": "6b64acb36318efae0e276f1380d9e8930043ce18bb1ea9f088ea0d93480c49e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000467.png", + "bytes": 129979, + "sha256": "bfec9f470ed0f7732f3b42c47004f2c23a41a0c07b974ddf77d0f4a5660addf0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000468.png", + "bytes": 131834, + "sha256": "0f0bf4b5ce4bbfe34b2eeb8afbe13300f7fd2899a8c0a27426e5badb549b90d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000469.png", + "bytes": 129014, + "sha256": "343ff24f95052338eb0ffd1b9db28ed7b8fccad1327e349f45ee37d084a36431" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000470.png", + "bytes": 131552, + "sha256": "75b6976f8b4b4ca5223e7d73910d1b2f0daf2261caea8a0c7fd05d354b4b2bf3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000471.png", + "bytes": 130202, + "sha256": "73b571f5cb38105df710914cbf822aff4d007c515e58cc5425fd5d1f6b6fb5b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000472.png", + "bytes": 130503, + "sha256": "c95beefabfc4f1c0ee36b4a45f7981ea6dde0ae69351a07595f8ac0ef38356c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000473.png", + "bytes": 132055, + "sha256": "24b23a78c48b88283b518148cbf592bcd90afeba6946c34f65cf4a67f8f607b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000474.png", + "bytes": 130461, + "sha256": "16bd2d9fc13af98b33add6a06e53fd812fd614301aa0835f24dbbeb21c9130c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000475.png", + "bytes": 132312, + "sha256": "3c1ddcb24a1294016f14c51e60a727752d32ff6e3427d1917f02c14c2a1ee18b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000476.png", + "bytes": 131534, + "sha256": "41b8c450859677272731cee8f492025c92dbb98a3f5a2f6e742bde1a6d14e14f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000477.png", + "bytes": 131745, + "sha256": "d78544bdcf24d538ad90cbb0fcc3f4cffa19abdb1e2621a0236e4245c6a5ab29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000478.png", + "bytes": 130796, + "sha256": "c808811329f087a22ef900e8c66711036ea4db8b73edbf247a0d3a35e8e3660a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000479.png", + "bytes": 129943, + "sha256": "a6b0e7268effc445be68d3388b6f485fda1f9a2ce85af95215ba952d38a2ea7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000480.png", + "bytes": 130800, + "sha256": "44345274cb9eb621bfaaaef17616e5d921dd5f60f491badf967ae02a28d612fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000481.png", + "bytes": 131349, + "sha256": "e500162947bd6cec40a3ba8a24e81d057c547227d56f76da03a422b44d034cd1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000482.png", + "bytes": 130459, + "sha256": "8d76aae4bd67e273935bce8abed181368b507c16e60b01f253ded692d42123bc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000483.png", + "bytes": 130185, + "sha256": "07e972c2f5d0ca82b91f373a07ed208f9dee0a03212d0d1dc8119a7368a1bdd4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000484.png", + "bytes": 129096, + "sha256": "52c0a8097024784cdfa59d2e1d859f57ad023667543fcc5ad7252a9c002d9b76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000485.png", + "bytes": 130322, + "sha256": "f44dfd5949d0b20a4f6ebd544af60309798ef9f0224c10804923762840817536" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000486.png", + "bytes": 130469, + "sha256": "5aaba375b24fa1957d9701c30410fc3e4c095b467660a82319d1d9bd4072add7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000487.png", + "bytes": 129530, + "sha256": "fa751ba6e45f13a4e1e1a7b5ee42fd201cbf1c6070d28c3281402b36c80a0d8a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000488.png", + "bytes": 130820, + "sha256": "26c8a0d29aa8bc2352981634ab425a275bed1912ae80173c5091926324d7563a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000489.png", + "bytes": 130843, + "sha256": "5e3abfc993aa023fdd7294df7648ff176fe8ae7475433aca68180c197feba002" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000490.png", + "bytes": 131984, + "sha256": "600c11ffd8cd97ae88f56fdba19194bb9ac35306f1745c1916cec80494afb425" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000491.png", + "bytes": 132239, + "sha256": "f0c450bccfb711b8f3d94843f63341f68cb20779ce72f2a892cc2bb5d2387d1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000492.png", + "bytes": 131233, + "sha256": "13e8681e6d2d29ccdba24ae49b53282cb0f8d3ea6b3fb644907bd364807d7573" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000493.png", + "bytes": 132199, + "sha256": "e35c0666017a6fdab1702978fcbd3cd1ae63d44e66c624423d77a67ef39e52d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000494.png", + "bytes": 133234, + "sha256": "c15cf009c655ad1480fe40e45cfff18efaa795deea403b58abbd26a5ae024f2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000495.png", + "bytes": 133355, + "sha256": "304e5baaa1604628966c4b1ade8433c12792bb2e2506affaf1150d0528a79f36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000496.png", + "bytes": 132629, + "sha256": "570b6e2b8dd45cdc1ab183a5f68cfd994c95221516f26a8a0530ef6c79ab16a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000497.png", + "bytes": 131499, + "sha256": "1f3780e39a2bf74264433db93063310d6c22be4548d1ed011e68edcf68d5fd17" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000498.png", + "bytes": 130799, + "sha256": "0deb74cde1be05a92566445f78d774620ff20e168ddc3f5a47f190f2a46a6ddb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000499.png", + "bytes": 131790, + "sha256": "a576045bafb6f629eccae38627398d230915a4fc44e0452eeac2d20d46fb778a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000500.png", + "bytes": 132751, + "sha256": "682c2f8443779118301be113aad0a240d5891edcf1ae059515bbe7ce5c2471ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000501.png", + "bytes": 131918, + "sha256": "f56e3b0305b388b49fbb90a548fc60dd607c57814cd7d325d13040fe834b6b97" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000502.png", + "bytes": 131808, + "sha256": "a1de67887cdefead8f8fcbcaafa073f026cd486d7f7a07fcf977bdcc38c7b317" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000503.png", + "bytes": 131049, + "sha256": "facc76502fc0f8bc49de66a8ef6174c0af4dc97276569077233de9c073fd1ad4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000504.png", + "bytes": 129210, + "sha256": "59ba5db0e1d0590cceb02de8db0ae53fb1869962d47019409bfd558bafe9dcb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000505.png", + "bytes": 129605, + "sha256": "d5c451596e5272508316fe64f7e4344d8cf29057c63274f46d4a393070cfcd67" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000506.png", + "bytes": 129930, + "sha256": "c5ddad1115028b79940cc0416d51bf55d62a80002292f415f31ab282840f9e5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000507.png", + "bytes": 131988, + "sha256": "2a19a12edfcf69b77f0479570a947f61d048e9f322400a62fb607941d567025a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000508.png", + "bytes": 130707, + "sha256": "ae5ac49644008eb4db0d6a0da49a87fddd4d88494361b753c099c8413822e341" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000509.png", + "bytes": 133410, + "sha256": "1e3dd2a40722e011b5bea8ba445182366b976d9ae4218374e9f69475c4bb6603" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000510.png", + "bytes": 130047, + "sha256": "f7dfbbd63a3f65056137753124780465697c46c47cf0fc895342331237e1cc50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000511.png", + "bytes": 132989, + "sha256": "064dde71444c8aaba82886971dad847b3f65aac647751a7c45d83265b477b8e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000512.png", + "bytes": 131162, + "sha256": "ec7162686c92adb9c4e34d7c5c89e18204e024e5e1aa9a59d28bec04eb224eba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000513.png", + "bytes": 129616, + "sha256": "8a6300286809c88deee8e76f0814c62744365b3fd752c218e95f9584a12c5c9a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000514.png", + "bytes": 130008, + "sha256": "e35d1af0ecf2ed33e4567399e60e1d6afb48fdb4630fd2b790df41ecc47632a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000515.png", + "bytes": 129629, + "sha256": "85b1a593e2eb6f2781535d8c3eb9aea990f851be77993ca5b2a85d7a52f23b4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000516.png", + "bytes": 128798, + "sha256": "e3b8cc03e0c5394f02f92f8c75bcd0c5a6e5d857e31241234356d1de5dda0324" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000517.png", + "bytes": 128455, + "sha256": "dba258dbf1d2ef3bd971e3b058560078f3ea85a47635d1069012b681eb7cfe35" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000518.png", + "bytes": 129186, + "sha256": "6b89990503611f16d4255784067168b839b76997c81746d4ec807d5346c29d3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000519.png", + "bytes": 129443, + "sha256": "a4eddc5347312f588de8f16e173e3fc30033f998e1f55cc368481489a6345926" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000520.png", + "bytes": 129142, + "sha256": "13a80a6bca8b24d0f0c772432f4c507f462b123660c9ccd536e7bb25108903ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000521.png", + "bytes": 127968, + "sha256": "5713ffc8c3cacd107e0526fd673eb1819c8e6ffb30017be83abe542c2b398441" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000522.png", + "bytes": 127887, + "sha256": "34eb61b282f03d61936ccff10821d977b45ed92e99ab581826a03382fb208c38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000523.png", + "bytes": 128650, + "sha256": "2e9294b1ea28c8d59a41084cb63b6aa518924e513db6085f0d87c0f5583b406c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000524.png", + "bytes": 126350, + "sha256": "5023b96976529831d3265054750d634192107d0e533152a0bef8d11f15bfaa0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000525.png", + "bytes": 128170, + "sha256": "b043945403439dce77f0986b13d631b27a63a37c4fb117b870576535686a9574" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000526.png", + "bytes": 128579, + "sha256": "8c022cc8a23fa1a3678736be38b166f00b7510c878d47fbc2a485921fbe6ca49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000527.png", + "bytes": 127490, + "sha256": "9035ba080896664a88b528806759e44f1f6add109883eb166e00abb63a8ecf11" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000528.png", + "bytes": 127282, + "sha256": "1903d1f134a75d72573f8aa24b2ace5df1a46a552f3f4b13a4c341e94e58631c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000529.png", + "bytes": 128048, + "sha256": "907f89160db60fbc00a2dcf7c14546db9374be116c7c43047628d304cf3a77e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000530.png", + "bytes": 125869, + "sha256": "1c2fea08769a038dbede066bde90282654152d6f08afb556d2b61509aba0a5b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000531.png", + "bytes": 127154, + "sha256": "d648cfb61f5aac481fa46270f03925cce7f18cbcad776f7618f28a6d386c2f0d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000532.png", + "bytes": 126520, + "sha256": "3751d3a089c0341546612aa054bce500b86680581957838e4f3919cbd6c0cf54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000533.png", + "bytes": 124999, + "sha256": "cdc601360bfd00524de5be6d1ebf3c9241c989bade2c98dd840481cc2bb54684" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000534.png", + "bytes": 127348, + "sha256": "671cad1ab56fb7e477a242a5fe0304a5b06eb8dc1a90cf1803df525667dccdf6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000535.png", + "bytes": 126966, + "sha256": "6ec7db90905d5477e686a71217b1587c6b5ada575f3835e994646fae7c704ea3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000536.png", + "bytes": 127205, + "sha256": "c14a0bae3c1c288a66ae41d7aeafc8890209facb1079d344b7f5335b9281bec0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000537.png", + "bytes": 128433, + "sha256": "ba9619b20003ded9b07f50e3484c81dbdf5b3d6eb7c7926278c68ca5e4341bf4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000538.png", + "bytes": 127437, + "sha256": "50d064e524ed8f220db31350809d51d0703fd7b10c1df8c535397c2337a4025e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000539.png", + "bytes": 129527, + "sha256": "874cff3efbdd6cde0879ae685361aaa2cafa71ae1085180aabad249e32367483" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000540.png", + "bytes": 129039, + "sha256": "a691a1daf8c419a619e28e13772f03adc064a4ffe355cfd855d64224642a6029" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000541.png", + "bytes": 130129, + "sha256": "b6faf7c108474227fae41c367490ee931e543b4b23b85368483e0f0df740f14d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000542.png", + "bytes": 128105, + "sha256": "e3550a6d60fe9bc4255b7a1fdc39855c092f797198f2d1fc1aaba7306a14472c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000543.png", + "bytes": 128042, + "sha256": "a0cf14424ea17dee123ca2bb7eff580866642f6d59f1a303770ec8a8ecce101f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000544.png", + "bytes": 128108, + "sha256": "1fbd06ac6b8b4ac1343d377790b9c1835a8b6d3adbf2815fc0fb70a48c9b32e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000545.png", + "bytes": 129226, + "sha256": "8a2a308425bb4e9a659ec1e1b214b953831fe04b5b245c64b74aff0b2f99e937" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000546.png", + "bytes": 130987, + "sha256": "5784036e8ee092d3421efcd3650d7395f091805d858814884a1836f5594bd0fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000547.png", + "bytes": 128187, + "sha256": "ae01e674a95ea9df284b1cb3b695b199f3292d65597ad021f58396e5b64450d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000548.png", + "bytes": 125947, + "sha256": "0caec148071799bf58760b33b5627bb7f702a5cfb656f371fc3dbe7f4def4444" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000549.png", + "bytes": 126484, + "sha256": "ff8088e97e39cad3843124e80f54dc309b75c8913ee99f8db1efab75d4f3a665" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000550.png", + "bytes": 123829, + "sha256": "e04aa3cd63303cdaf55f9fcc49ce681a034868d10fcc8efe4952e3d41984d36a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000551.png", + "bytes": 124454, + "sha256": "88e602d5f782ead74f33690431c5f8fa8d62cc915b5aa44fe808e22a8dfafb4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000552.png", + "bytes": 125178, + "sha256": "a125f1c6ff675ebf0ed8245b9dcd217117aeb5d70b8ef3c9073752b5c4568437" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000553.png", + "bytes": 126240, + "sha256": "82ea775f686cc64968278fec94cc1a2ef8f25f28dbf2182aa1e7ffe1ae070ef1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000554.png", + "bytes": 125510, + "sha256": "f422a6fca953df121b5883e5449306c8f33f5705bd7131fe1b18264ca2ef16ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000555.png", + "bytes": 126179, + "sha256": "7dcfe83ecde8b85d813905cd91cca3958ed5009df4e6fff4896729a0458970aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000556.png", + "bytes": 125387, + "sha256": "ad39850a9bbe849216cd08c309a03059aaf9c68e0d42a4c1bc2bbf8a02375def" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000557.png", + "bytes": 127484, + "sha256": "0af8d897701398514ec394fced594d9a448894a237758a37acd9d3e97281bce8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000558.png", + "bytes": 126735, + "sha256": "60105cbc0d86a3dbb02d70ca282eb09c7042398a7211e0cf562ca6c1721c680d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000559.png", + "bytes": 126766, + "sha256": "ae3db9a37097e8ea5ba98c4ea64731ac672c153b0552781d4cbcdc90e681c42d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000560.png", + "bytes": 127140, + "sha256": "f083eeb1ac3fcc6ca4043f67feef3d840f38217f2a23914d8649b68e3253b0bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000561.png", + "bytes": 129029, + "sha256": "a671cd4782ee91dba1841fa12a703d99739294b7a5e13919a030da3fc3bf208d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000562.png", + "bytes": 126529, + "sha256": "87355b791e904cea6ccd56a2bc1865e6fbdae7f3625e8d393c571a9d1ede13a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000563.png", + "bytes": 128401, + "sha256": "920eb9cdaea265227a4b5438ef2c95d4162aff650149212e7c917afbc535ff4d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000564.png", + "bytes": 129811, + "sha256": "ed72dd549dc177a635be48d668c8c36491caf87e97fcddc11b26a3e16aad9767" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000565.png", + "bytes": 127518, + "sha256": "79ee67c32db6d01b00a6be23e175d7c182313a00caf24c806fa006cfa647830a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000566.png", + "bytes": 129394, + "sha256": "58a981edb9aee05bc64daca3ada752214c3610fd6e32d1e69bab4469be903655" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000567.png", + "bytes": 127544, + "sha256": "39c4ad96e7d02029de6583beb0c0da94b28f4b32b9827148e56e20280e03819a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000568.png", + "bytes": 129731, + "sha256": "26d305414bfc9012f2ee578ddfc58f2bfc6e70b64ca58bea46996222d00f09d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000569.png", + "bytes": 130105, + "sha256": "72ee98eb94266c7d3cadef416a16a4b6ad6ca606d6f96e5c90336b2313cb8762" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000570.png", + "bytes": 130975, + "sha256": "01576a4784dc98e24a09f643cfa8e1146c41dd48322c36c284c0d258577d356f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000571.png", + "bytes": 129516, + "sha256": "f05eb53f30c9ea4cb0ddfdf483268a859d5ed9c8e5bc91e69c4caa96d10ba84f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000572.png", + "bytes": 131571, + "sha256": "f69bb5e36ae67aabc51b62f69566ff0321df8e119f060c5452625b945f6b6847" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000573.png", + "bytes": 130032, + "sha256": "559cf38414d6e2bc46030323e7784b824a617ddd1c72c36ba868ca974632b79c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000574.png", + "bytes": 130849, + "sha256": "8abbbfd13d2ecebaa724d2e9f0dc04e864bdbbf1b77740643db859cd6558ba83" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000575.png", + "bytes": 132730, + "sha256": "d963c3811b73e14abdccb5f8505fb8b55e0d8b10e4075862de1b4f60c3f37cbe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000576.png", + "bytes": 133348, + "sha256": "7dfba6716f616626f3fd78f0bd64411a94e1f95c68c1c442af077d28c6c4d486" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000577.png", + "bytes": 134881, + "sha256": "7f7680011e7dd942984961ef8f5effe95ebd91bac4bdc541519fbf15d84e0514" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000578.png", + "bytes": 133905, + "sha256": "fd2a0d8c57bae1f790d94d478b0e09e410b8252bab7412906ecd1bd7f6eadbb4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000579.png", + "bytes": 136518, + "sha256": "a8f6848cc640894ca13e967e1ddcd99756059a80f0503c91b1ebf62c461e63f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000580.png", + "bytes": 136161, + "sha256": "fc1a8dd29f08c766136275ec5f8ba342fed81eaf4f7654d582d0ee0e88271e75" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000581.png", + "bytes": 135904, + "sha256": "82e6b493ec27bdddb35a8d88d64ee63988370dd9e201f2a6e320acbefef64921" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000582.png", + "bytes": 135289, + "sha256": "f458ac25c0e58c2485dcb3d8bf1e1e664f692edc4c2015e496ab8d546f963e37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000583.png", + "bytes": 135820, + "sha256": "b5852329f418171dd205c2944336da5d6880981199aec80b6af4d24fc3e32de3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000584.png", + "bytes": 136802, + "sha256": "8e3bb569b5b680076603ee4baccc79f14db17e41ba3aa9bf04c1ee4f297edcb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000585.png", + "bytes": 135029, + "sha256": "f0a0e380678ce13afc909d74e7bfa1096784449c9a307736184820c5b947ae3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000586.png", + "bytes": 136868, + "sha256": "cccdcce1bff6b58784efb12e997d4776f75abe7c85541bb3a2e3c88e158ed6e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000587.png", + "bytes": 136092, + "sha256": "b9dae60d7a4acba4384a9f21d024ab7460974c94348021059215722d513290f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000588.png", + "bytes": 137337, + "sha256": "04ac9e5aa8bab10207d84c39221e1654ad7e6953f333e57f45b8037f4610186b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000589.png", + "bytes": 136059, + "sha256": "49977eb196d3c328355a11ac793bdf526d1727e0e9496cc3ca26fb8059073359" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000590.png", + "bytes": 134829, + "sha256": "408bb46924e21555aa808b2f0f5a94910d83f18618b8d503a00d1997edbe39d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000591.png", + "bytes": 134717, + "sha256": "f869bb1cda2aed9620bdeb233e72245e4c66a1bf49db90026ff713d273ea03b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000592.png", + "bytes": 135464, + "sha256": "0beee6a2f2ebd590d74fcd6b3789c32594618a95eb7e5d468dc809e601204eba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000593.png", + "bytes": 128467, + "sha256": "2c8c22f4a0b04c5b20ef5a1a784e841e84ed94eace807345465e85f67e5df95d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000594.png", + "bytes": 122841, + "sha256": "9b3b2f70e6d63c5770fecc485e40f06de8ece0dd316b91c5a281b25c3aa89264" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000595.png", + "bytes": 119545, + "sha256": "9e0193ce66c2508c633998fd5ab10d0955791bb6fa5e847014243db35ac40566" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000596.png", + "bytes": 114157, + "sha256": "753f2ff27ac075e172bc329fd6f4d79412a33bb9dbc40f1b30ccae9eced42d21" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000597.png", + "bytes": 110920, + "sha256": "cfed7d4d45c80f4bd63a2352f8bbad2aa2dac07c812fd1d1371a4e596d948391" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000598.png", + "bytes": 109053, + "sha256": "d07a96f8e25e138a8e4736db8ce2b828ae66ed2cb2ac7bc9101f3fdc9540c170" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000599.png", + "bytes": 105810, + "sha256": "96169c01a3128d6c432e563f34fe528b01c14c9f41c42c30b487d5b26d014505" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000600.png", + "bytes": 101596, + "sha256": "bdc0aa52e7a617e9467f7adb8bc7f9e73fdfeff53c5a7739e687b0eea26b8202" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000601.png", + "bytes": 95396, + "sha256": "0b79d6be7046afc254d7dadd7a73799c05f04cb693a929ca42cef3792b17dae9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000602.png", + "bytes": 94614, + "sha256": "3e0bfa80664723de7df6f8bc479486184b1059e2066b32e5d05f02472386c1b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000603.png", + "bytes": 94831, + "sha256": "885a526f46d3ac1181a477977774015b7c1e103527529cc9017ee81288dd88ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000604.png", + "bytes": 95675, + "sha256": "92bb55408174be4a6c585e0b23a3634bd5ca632825d0a8b412f3302b41e114ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000605.png", + "bytes": 95068, + "sha256": "509113f2b84cebcbba96de0e357ee92e6fd819e216922bf10bfb133374130549" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000606.png", + "bytes": 95564, + "sha256": "541b4f2ecfd6af3129f9aa3336ab88ecf0fa6ad4a0fd1d7a9e7ba7a7e5dfdea0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000607.png", + "bytes": 94843, + "sha256": "7483545da96b732ba0e7451d761dd4b338c1dfbf594ce19de138c01643d09c6e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000608.png", + "bytes": 95348, + "sha256": "cfe986758c3854790ee8688e0190e4292353f78f0b88071221e4dd236f101f5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000609.png", + "bytes": 95737, + "sha256": "61a295c7a0d22f9c0147f6103f7ab5558046654a51f185ad560bf39fc3d9f2d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000610.png", + "bytes": 94850, + "sha256": "bcc6e8eba049a61fa6e48d6175238fd2d8632c25843c76382497f9519f59f95a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000611.png", + "bytes": 96066, + "sha256": "f86bdf9cb53229b4a80e1b345be07a1c19570964c56cf066b1291727ccc7163b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000612.png", + "bytes": 94966, + "sha256": "3e7d16b91b03ea44abb6a6b405b01a3176bfec4e0ff6be27e5654ac29a123871" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000613.png", + "bytes": 95729, + "sha256": "fd0f78bb401c599ad343068e654a32c788b610b7d9e483b8e42e0bc7a0d0d745" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000614.png", + "bytes": 94135, + "sha256": "28bd6b5b01eaca8a549e601deab61ad9a7fc657c6115ddbdf154e896466ff667" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000615.png", + "bytes": 95488, + "sha256": "1b3ce70b3991be5971048ce9742f7d099a2fe4293fc6cea781ba21130d88207b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000616.png", + "bytes": 94495, + "sha256": "f524a137d5a29e27abe0fd5db19bedb7ea2829ad724c0afd678e62d46e2efe0d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000617.png", + "bytes": 92288, + "sha256": "65cd82299278a1b7c29c6503d933e6467a227afefa2c9da128bc60f571eabaa5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000618.png", + "bytes": 90977, + "sha256": "4c52d544c41afc3cd6a94e4a1f6ee95ce08578f40dc16fc95155988de267f00a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000619.png", + "bytes": 90166, + "sha256": "9f6c67a84ba0e03a999b4dbcb46eb2a5239a6e1ad00dec7d690507f3931321ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000620.png", + "bytes": 85475, + "sha256": "b0317818b7fb4f4445252b9aa72d34c49aaae71202d1249bf4703e67dfbbe946" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000621.png", + "bytes": 85212, + "sha256": "6200dc4c0bf7c781a2010399af989e4e29a33a6aaaebb009717ddbf398d2f485" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000622.png", + "bytes": 86675, + "sha256": "1b93d6dad5f38a232c4abcfccbbd1ab65f46b018fdb7a92e845b2e80c872ee1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000623.png", + "bytes": 86578, + "sha256": "0604ba51c31a4ee9afa0092db1b089ef2763c9e6f4d4f779da09809e84d6a95f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000624.png", + "bytes": 87237, + "sha256": "50f488a2fd7c1d4dc4c380279f729a3f020e761e440c47d50e9feb7033444176" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000625.png", + "bytes": 87091, + "sha256": "387613be1321a2537c9d4cea873e279d4b73ae525cb756ab60fa0660515b8f01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000626.png", + "bytes": 86832, + "sha256": "4f7c8a95c09ded337c5d2a875367cd0177f4a85f18384caa3ccd6db6777084b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000627.png", + "bytes": 86447, + "sha256": "4f51beb822e46d209a2152d70bd1ea6a6db2d475ab85aab71a695fcac09fbd8a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000628.png", + "bytes": 87604, + "sha256": "2dc5269d0eeb5409f7f2b7f1f1f09c063f39aec52c701d9e44c6f1a7436b04f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000629.png", + "bytes": 86566, + "sha256": "577422c841bcb5e0ac55a1c1cf61e9f31d98bd9face8140969e76e93e345d0d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000630.png", + "bytes": 87381, + "sha256": "04c9d63cd9510fec68a1597aed7ab1d0ae0a7872b6ab0ec7ce4539e5f0219499" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000631.png", + "bytes": 87121, + "sha256": "4de0f21dd8359b41b5c2f2d9c1f2325514e59c795dd918e233fefdcdf94db7ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000632.png", + "bytes": 87236, + "sha256": "9644eb503f72c1da8bd6b8659c037a3f777fb7ebd93d83786863b15ffc506636" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000633.png", + "bytes": 87601, + "sha256": "b07876607024d4ead28ed3ad0015fea9c845db063810789c296a226ae6dbc044" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000634.png", + "bytes": 87099, + "sha256": "1e7f667ac53ce9ff256c1b49a31ea258f768819fdd9a02e17e804661c55f1561" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000635.png", + "bytes": 84597, + "sha256": "61dcfb7f5a7afc1f4c96d675a023f93dd3efeba0884215433815bd35d4036443" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000636.png", + "bytes": 86212, + "sha256": "78c8b457794e9aa4560db931f97c94cdfae0c3dd33e9b9e2cc6772a07425d7d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000637.png", + "bytes": 89167, + "sha256": "286399f956ca1210698cf9caedb855080cf49ae4da7d973a360585eda43b7a71" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000638.png", + "bytes": 89470, + "sha256": "623a4a4cc555404855c1f5cbcf6299ba03c5c35ccfbb7f0f0cd87f3106f506f7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000639.png", + "bytes": 92463, + "sha256": "cbb005c0b88f06c67a17e4b704a76df2660c43dfbb1d06760c80179301f64928" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000640.png", + "bytes": 92548, + "sha256": "aec2bbe93e608b3460a291c87d8fff9a37c2389c0e48b6db8bff5957f89ad76b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000641.png", + "bytes": 94505, + "sha256": "d7812e65707b8d1c5363e67b9eaff75ba07254329dc36d3b2366bdd2194ad995" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000642.png", + "bytes": 95506, + "sha256": "847cbf608d4d3d8ef6b90a8fc8981341c423acd7d124b8264ef0ee01b7c9f2cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000643.png", + "bytes": 95817, + "sha256": "d06ef2e9ca9d287b6b5c4da43e1cb01b930c4defc187af71d4fbe2ea35cd3489" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000644.png", + "bytes": 96238, + "sha256": "59d2da6f2d42b8b9445ba6511ec22e84e69059db05f24c4babd69b2cd87725d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000645.png", + "bytes": 97346, + "sha256": "bb960b07317b222becd12c8fe80df7121ee5983685965ceb444eaf714e9415e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000646.png", + "bytes": 96978, + "sha256": "4926039d63de225e6ba33c8e6a95f26919e0e914030c339847a6e3889e365d82" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000647.png", + "bytes": 96519, + "sha256": "32ca55202e9cb84c62ff8ecd8c3998bccb359a9b5ab0bbf4efc12b2f17568162" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000648.png", + "bytes": 95970, + "sha256": "f4606b1132aabe56da7d777572b79627c26329b07d6bcad28cf0c73d84c394b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000649.png", + "bytes": 95770, + "sha256": "a0d51f3e0cf5837afe165fe429c57f96d9ab293076dff200debe5d70595bfdfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000650.png", + "bytes": 96206, + "sha256": "708235817d843c5907712821b109643720b6452bfa33c43c3139a6078ab19aee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000651.png", + "bytes": 95661, + "sha256": "6c1b50115c77c931858ea0bd8cce7a6e57432d013eaea9a525d3d89f5599e88d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000652.png", + "bytes": 95801, + "sha256": "63c6516cf81513b88d9339501f8de21a80bd623dd19cc814a5f4f1a1f3360e86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000653.png", + "bytes": 96276, + "sha256": "d83f5f3a35de1001fb2b622efa9ec0eaeee193ad06cda0a15fcd4de7c20bc34d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000654.png", + "bytes": 95366, + "sha256": "0142c3fcb8e362b810babad1d77b3e4231cb8bf281bf9835018159cebcbc8418" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000655.png", + "bytes": 95931, + "sha256": "d7facbd61a18fcadf7cb6872b70c7b6b104717797f5f27d51bb174794210a8e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000656.png", + "bytes": 95606, + "sha256": "0f079a06a39980494e8ad6ce4c56174ca1a98a9cd52900fa9be7f09a380ad6be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000657.png", + "bytes": 95549, + "sha256": "5828f0467293c638d9c9d56a23a4522e0fafa5fcd914e73363bb8dbbcbeeaa29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000658.png", + "bytes": 95434, + "sha256": "68f0ebbc08a232e7062ddbf32acbf22e8d1b441fb3eda034e801975ee1b619fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000659.png", + "bytes": 96012, + "sha256": "6a693505aa33e6f1eea0b9ab0f97b294a2871057f1f973890f09e86ecaee4283" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000660.png", + "bytes": 96332, + "sha256": "32aeeb7330554785477f0634bd764fcdb492c8f84b4cf42fafc08b3f5f8a5019" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000661.png", + "bytes": 95998, + "sha256": "a6f65dbcb828ee92041877ceead7b98a9c83d258028a091fc81f201543468ae3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000662.png", + "bytes": 95800, + "sha256": "459f79cce8433765d06a578abbbb5f75737762dde54658201c2d65d24a3b13d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000663.png", + "bytes": 95815, + "sha256": "0a46d149c0ab430d7dfa7b1e0fb6c84e3db642eff1e2d235beb39211120fd1ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000664.png", + "bytes": 95333, + "sha256": "7c312fe152eea2799e040be1d7a9a675ab5d2205dd35b7bea37b3bbc9c67af46" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000665.png", + "bytes": 98773, + "sha256": "a9d3fe74aa363395de816efb0559babfccdb7119b229c23092a8d71d37ea54fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000666.png", + "bytes": 100468, + "sha256": "9d9c59457558922a452afafe502b5280c975ef8ef2c50e884a0e8a0c061b0d3a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000667.png", + "bytes": 102881, + "sha256": "99c2be113bf7c00058c308686888ba56a4c99093cce9dde018bdeac29feb7938" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000668.png", + "bytes": 105387, + "sha256": "3d1e369acd5832aa5b4dbbde12603e5655c5ae5c602625ba525415e4effd5e3d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000669.png", + "bytes": 108922, + "sha256": "685199587e6e53b916294d209f4e7b09eedc1fb172266a31697b1433d3a8fd84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000670.png", + "bytes": 113165, + "sha256": "c892959bb79244756d793cbb7b69463cb9e7eb796152adbe4545f44266c7bdca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000671.png", + "bytes": 116972, + "sha256": "8cccce38f4dc4aa64addf49904b86ea90e47272ad40c82a2334b8a1cae1c62f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000672.png", + "bytes": 120930, + "sha256": "6c82a7a9c4f8cb4ca919929d4ded9fa8f79f9afd2cd5216ef5bb450eac0b7c68" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000673.png", + "bytes": 123330, + "sha256": "fadb831c84077ea3d174d4c69bd5c3ed374972cbca1a3c7ecc6d0e6dfc50ac5f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000674.png", + "bytes": 127964, + "sha256": "337edd07486210f32337a4871d99f9f019781b08dbc2ee2ab3ffe6652148bb89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000675.png", + "bytes": 127890, + "sha256": "54a28035d2d6e7ef6b13abc2a70b10bf5615d67dfae10ddf4e6ff5574f268ff7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000676.png", + "bytes": 128093, + "sha256": "a6556339411398a2e08d541a20108e87ed87801dc8194207bccd595c87944c07" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000677.png", + "bytes": 128107, + "sha256": "73530d034a082ff2ac050edb9214aabecd092043dc801392a177d00f108af455" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000678.png", + "bytes": 127484, + "sha256": "e08d7c365a4a177c6098958780a29154fb029e1cc317722295bc118d9033b8eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000679.png", + "bytes": 127460, + "sha256": "a2d3309a5bd2e15427cb1e8961bf726fd6a35934bc2bd7fb8d071944644b2dbf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000680.png", + "bytes": 128754, + "sha256": "2f980575f734c6e7f694ec7bdffda3d91509084242606b159327bbc4a29706bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000681.png", + "bytes": 127522, + "sha256": "8ff6bf58fbe6ce15b52f9c2aaa7dc8f39dcc183ab4df1d5416e00999c00a24ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000682.png", + "bytes": 127146, + "sha256": "8837173ddf8b6182356cfa48343fb3ebe0bcec798f3d03d4da92695618cd0073" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000683.png", + "bytes": 127267, + "sha256": "7a3ef72ca958abb505cfe2c58047b2a72f0225166c7845aeb6b329d00690f5d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000684.png", + "bytes": 127640, + "sha256": "4cb111f754e6fa1b12aa71cd7b936490a58b25fb6a19d44e7d6c6b7a4168e4ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000685.png", + "bytes": 128235, + "sha256": "892ceec9023d4413637138dcb866d184e864b72801292645f4deda5a931c4c8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000686.png", + "bytes": 128090, + "sha256": "ac95b70295a78a781d9e086bbf9c2551e317dbd27857f58df0aaff20ffcd15ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000687.png", + "bytes": 124717, + "sha256": "4853ad020a19c111c82a2a521e104ce989f2ee102fac7324489858bba2a66108" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000688.png", + "bytes": 123856, + "sha256": "3b976e61aa6df3a0799c18b1344704b7092738a4ea15d13ad900a64e96172b32" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000689.png", + "bytes": 121884, + "sha256": "1a7668b87c16bc97715618d73b06c751fd37b0a7aec10fb59977a8321f5bff39" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000690.png", + "bytes": 127886, + "sha256": "79f803655699796ab14e89d7404368fbc6e18777ad9b4428ebeef6ccc2101efe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000691.png", + "bytes": 128703, + "sha256": "68c8d4192d2ee055dfa5c148619768a1ad9d8dbfba40aff35492b7378c9a3b1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000692.png", + "bytes": 131900, + "sha256": "29f5c0744dfe542f4fe76bd7278d4e1db83b9c3dce93ba4eff1ea1045e784264" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000693.png", + "bytes": 132457, + "sha256": "5eb4d537038d0d582ec8193334ead183027a52b3c20a12f6e2bf03f6c0e724a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000694.png", + "bytes": 134161, + "sha256": "e37739ec216db23096f9a3bbd7f8b4a6f2913c91e7ea0bde498c1118a6af312e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000695.png", + "bytes": 133839, + "sha256": "c89081ebe9dcd263a14b1967b9af1960ca1be4f083446ba5d4eb2d605cf6f279" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000696.png", + "bytes": 138612, + "sha256": "09b8296dd5af1ae283ebbeb6501e2842105f9285493f7af6bf4681f034ac9ead" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000697.png", + "bytes": 139751, + "sha256": "916b71dd1ceb6f75a0c56b0cd0d6b0a8f65b74154869e5dd61eb3128cb959381" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000698.png", + "bytes": 136387, + "sha256": "1f71b957a23a2c42cc4bd4030c035207969d5d9217e998e9beeacdaf74abd7ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000699.png", + "bytes": 138203, + "sha256": "c206f0188181e289438ad508a1876eff060ec9f090a9c41c4bccf040116e4241" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000700.png", + "bytes": 136196, + "sha256": "7f4ba188ba382132f32e5e26321dac5deb51895bed07334c3a364c4652863f48" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000701.png", + "bytes": 134359, + "sha256": "a7de11af19e532ff415e6e169874bd4dfbc072395b34dda1c8969ed61e1ca283" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000702.png", + "bytes": 135298, + "sha256": "8b1c39e8d6349fdba4ea697b94286fa9fb05c951f890696cf48c2def67e7d86a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000703.png", + "bytes": 134778, + "sha256": "641a08c9c2381ba925f7d4c2467959b7abffa4b99000298bb078328707ae93fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000704.png", + "bytes": 135843, + "sha256": "fd4ce08d95a75090e89f16849d6964afc27faca7410e5336b19b0a95ec46612d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000705.png", + "bytes": 133600, + "sha256": "206faf3ac7cf818c0b591843a185f01e1126a66703c52e048b8da09a8b136f4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000706.png", + "bytes": 133841, + "sha256": "8261b6ab7747831178861b175ea73b5e1e177c3871e095225fefe8c0e760d6ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000707.png", + "bytes": 135323, + "sha256": "f948949de04fef03f5708a875f9ebffdac8f58aa99f946fdc837299a9a94df63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000708.png", + "bytes": 132926, + "sha256": "98667f7e77e137c3f4402b8c0b8d0be454a679dfdb1828d714e835af3a2cec60" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000709.png", + "bytes": 136160, + "sha256": "159700d2ca0e9305559cfe6ac33d366be48dfe61a8c6dab1efdfeb73be281b11" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000710.png", + "bytes": 132988, + "sha256": "9dc69ad7e1f5bb93a1a22cd7a2ccd985d83e0bdbf17471ce65f0915e11317c3b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000711.png", + "bytes": 135296, + "sha256": "a92115a811bc8fc7e4aa0520bad385201b068c2cfd9233d401de4c226510323c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000712.png", + "bytes": 135903, + "sha256": "3c3ef8fbeb736db98e819b2d09fa6aad6783c38a36459c40298ccbe0f3f00ba7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000713.png", + "bytes": 134061, + "sha256": "79f9bd3894977ef3afce923a9e1fb911e8f1a54acc1b7f6ff5e7a708d4cd9234" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000714.png", + "bytes": 133328, + "sha256": "f05901905b804824917a366a888282b75f9cd6302480c06b69e4273870c02510" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000715.png", + "bytes": 135693, + "sha256": "e595f582070090f3902c2b8073575131f903589c56dd5ac1f4092e1692b20171" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000716.png", + "bytes": 134717, + "sha256": "ff49c7e4a2f7a652096bf1b57910d48cacc14cfba1ff7c7082b814c3439d7f84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000717.png", + "bytes": 137041, + "sha256": "7fab6ffb5191425c690fb57dcfe31f56a227999251a8a5eaff8535ea39014f0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000718.png", + "bytes": 137683, + "sha256": "f1e4d54b83b20a75dc42b64aa17d25713e453d40b42606f22c31987891c2ddc3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000719.png", + "bytes": 138395, + "sha256": "85b693d2fd756200707b09ff8637042df1713ace4f24d03f4726e191895ca71f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000720.png", + "bytes": 138037, + "sha256": "8533e39123081de481e496cf22dc285a550ce0b8b204d10005eb8dd6fa2f3831" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000721.png", + "bytes": 137027, + "sha256": "d57a5a412cad3eeac8d779348f9f14230cd16800aad1dca0fdaf2b2aa94f8b76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000722.png", + "bytes": 135961, + "sha256": "cece671ca99136d65a9636d815ee157006d8998ce60abdc014c768c78f1e92e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000723.png", + "bytes": 136886, + "sha256": "f00fdbec78e74e5b7cf5ba2ab7d342143e6b0cd96e357acd0da73abaa25a5581" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000724.png", + "bytes": 135843, + "sha256": "e8a6b8a0bd5b1a141a758213a2615bcfc23dc2e757cd259bee17f83cb2a0b893" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000725.png", + "bytes": 136462, + "sha256": "15793ff38b9896655a5c71e415064c4e61f5eed83bf675b9652d1571e0e674ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000726.png", + "bytes": 135172, + "sha256": "6c5c5d134f9cfe66a626fae46261ad20db5def9853735c7ef4f1d0a22c0a688e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000727.png", + "bytes": 134609, + "sha256": "d332bfec69507b7e3927def6aff8a2fcee49ae4e7cf7547e3791712c8577f3bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000728.png", + "bytes": 137029, + "sha256": "dfed402a18036cb0f7a396d510f2aaa52000a7455722685daa66e42f40d7025e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000729.png", + "bytes": 135901, + "sha256": "019eb3f23b9d2a74388c0b58c36834d505dbe49ab11dbc8737abfd98e424b70c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000730.png", + "bytes": 134788, + "sha256": "5ef8620c748d3fb974a401813dd6e65e6cb4dc19d95c743129b6803e0f8449e7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000731.png", + "bytes": 135933, + "sha256": "12d3c074bbcf95618445e40b246f415891f9f528c8ff7c5f71e23c931a1b1479" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000732.png", + "bytes": 134907, + "sha256": "e2c3fe2ccc1e35625b6bf1fa0aac45d6cca0d7c04b079331002a828b0a94f1e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000733.png", + "bytes": 133849, + "sha256": "d4c3c73ec6d3c37c32155ee02ce30803c9fd0dd2059713f107622f829901969c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000734.png", + "bytes": 135324, + "sha256": "f9d837216ddccb4fd07fe871ec3ec8abdd984fd84f1ff993f73cb5ca002833d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000735.png", + "bytes": 134394, + "sha256": "132798fb8c9a5d9af06c6ce29d88bd01233b1070873cbc17bc267b2430e88917" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000736.png", + "bytes": 133568, + "sha256": "1f4c0d6102224a1c6ea8dbd1a1181d6973f7ffdcd4a58b1b4bf9ebcff9ddd758" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000737.png", + "bytes": 136282, + "sha256": "74251fafc6b87ef5b5b670b5c32d0cd01a7fa248a6d0982e2cd6929161c9ad04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000738.png", + "bytes": 135907, + "sha256": "b7230ad36b1fb8b0f693d9e20f5dcc254aaa8b855648b04f05ab813b3e36b32d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000739.png", + "bytes": 136256, + "sha256": "5ad2821d18b93f5c69291939b96a47f8fbb4094a88bf2ce846d8c0e0eb4f2e12" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000740.png", + "bytes": 137280, + "sha256": "ebc16021c0b45ebdcbaa4844a4bfe6bb3c626c01a89e4acc68a7d8e9f00cadef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000741.png", + "bytes": 138155, + "sha256": "196a15c485bc48780965b784d037b6995941cc03acccc2de1ba4d1884867e625" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000742.png", + "bytes": 137907, + "sha256": "0909c9390555018f0027072bad90e6dbb0135e7a52be078fd2e0d3ae26d96b52" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000743.png", + "bytes": 139472, + "sha256": "18ad741bd2b66b14e36798f6b83b2fded3e1793f3c16f1382b24edc1984e5b33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000744.png", + "bytes": 139710, + "sha256": "93e142aca7b47a94cb2a02336fc77ae91d2b44e021f34bff31245898bb280508" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000745.png", + "bytes": 140020, + "sha256": "32e4b8470ebd066405536d6c300f809315bae934ff1d3ef549c7e6d02641b966" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000746.png", + "bytes": 138910, + "sha256": "2346666a68e7a24c2c8d8080b1078380848e08c8e62b9978de9eb80dc33b7885" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000747.png", + "bytes": 141127, + "sha256": "451d40062ddc8d8277dade39a6d84380a23f537d81d92855e6a15c6d34c5ba54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/depth/00000748.png", + "bytes": 140443, + "sha256": "62309676664441df9cfb4528e810ca94d74b05460a9e9e3dca7121d512b57c32" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/latest.json", + "bytes": 3959, + "sha256": "b434475c0865bca6377ac8be4abde868d98824bc0a1cd08254c97dfdb24f1b44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/observations.jsonl", + "bytes": 2259796, + "sha256": "e42dd408aa02b35a75916ba585619244694423f996483659bccb2931091d0e7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000000.jpg", + "bytes": 34181, + "sha256": "1d090b8c25f4a915d45a3a4ca74d037c5a9ccc490fa9745dc72e8900074c3be2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000001.jpg", + "bytes": 34119, + "sha256": "155bf238729ca2c6920a33a41cea4cea6fc6f68ca89d49c9c476f3a733bb5a4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000002.jpg", + "bytes": 34177, + "sha256": "25026d82887081eb67be9b37f5c8b37632a360b73533f39a85491af647573ccf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000003.jpg", + "bytes": 34205, + "sha256": "969eba0008f6d45a7ca842beb6055f6fd2ca81c4956ef1ba02ae54f5a56b8386" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000004.jpg", + "bytes": 34267, + "sha256": "eca32559528b51019d97134211e2cd487bb775925a4dbdf45f4e9ce666ac2a2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000005.jpg", + "bytes": 34181, + "sha256": "7221237940d371c15068c8a7e80b8283fffe675eac6a8bc8f4a6dc3d00545c89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000006.jpg", + "bytes": 34296, + "sha256": "1cde54e0e075152c038ff29c7526052525495b3a5a2710e9967ddf8efe9d75fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000007.jpg", + "bytes": 34246, + "sha256": "806dc686802070289cc5ad44f21f21b07267273e1d8e545789da84e48d290a90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000008.jpg", + "bytes": 34291, + "sha256": "531743004f02abe499acd28b0a0a51e3eb76767e11c9c91c713fc6ab7996eac2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000009.jpg", + "bytes": 34268, + "sha256": "bfdb477275ffc79e79afa6fe1427b38562037b8c2280c1aef91612bdf4738f5d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000010.jpg", + "bytes": 34231, + "sha256": "1139877583a5e73be09f3f2776c3d5ba9d9b2fd02d6acda25a6c89911f116260" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000011.jpg", + "bytes": 34194, + "sha256": "e054fd93c5981b23defe670e116d501ee4ca404277c41287f61d6e56f1601b77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000012.jpg", + "bytes": 34293, + "sha256": "7d2d3ad655ac1251d46da3d7451f99a36f59d42209177dc7d6215646fed20adc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000013.jpg", + "bytes": 34159, + "sha256": "e64a68be0f0260d49f83eec81fde75893b725bc86308ac8c89485ddc0efaaaa1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000014.jpg", + "bytes": 34276, + "sha256": "ac67712048599649c287cf2298c5945d21265a43380a41c7ebeea24808ecb8f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000015.jpg", + "bytes": 34085, + "sha256": "a5a961d5185b692ec44d90d29f3e4a23bdd89b367a5d0ad30ba161857f0a1d9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000016.jpg", + "bytes": 34452, + "sha256": "da12971fae94efec7c9369f2fed4766ab153fce12aaff4419a5764115d281d43" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000017.jpg", + "bytes": 34032, + "sha256": "797ce7b09ab956bf84f40fa083bfecedb939753a55a0907f59910811322473fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000018.jpg", + "bytes": 33697, + "sha256": "861488033bc655fff1b26d572545a42a87299a5cdccac1f42d36545fcb1ac35c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000019.jpg", + "bytes": 29872, + "sha256": "0f144a3c712907d47250ddbbce93efbff99fddbc82d30d4d33d5531d9edb1846" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000020.jpg", + "bytes": 32548, + "sha256": "15bf2289790728edb333c7ebcfd5677a9e0b4ac4d5a2d040adbd13613436c075" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000021.jpg", + "bytes": 32698, + "sha256": "ee7e4be885bb49a9a1b1b031d962c890bd61523391ca068da84684b8eb9f593b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000022.jpg", + "bytes": 34311, + "sha256": "4adb56fe2bd3a4a66240218fbc4e864f31bb382dac5779dfed93798eb77ff309" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000023.jpg", + "bytes": 34657, + "sha256": "6e7c54f6544da8298231f130ee6b996f61e3e46b0b4bfb764b7a0ed174eaab2b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000024.jpg", + "bytes": 34559, + "sha256": "41cb8bb687e31e486d04622164e5be4435a2065c29f1d1e3f9c5ad3b34401f30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000025.jpg", + "bytes": 34707, + "sha256": "864668a35cb3882b742983c0e9b14b28d253c9e9448f9bb28890e737bfad1e9e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000026.jpg", + "bytes": 34560, + "sha256": "3d8c4743847c6545e23461b15a6b05b6f4c21ae636d8e009e2c448f397c338cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000027.jpg", + "bytes": 33753, + "sha256": "8c59cd984e76df45f218b6e6e1a471580a8b6978625997f0201dc1c5b9b61289" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000028.jpg", + "bytes": 33593, + "sha256": "513fbf9befdcc97edd9eb20bedf4b01676e849ac6e094f636deba44eb38221c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000029.jpg", + "bytes": 34524, + "sha256": "b3d94fd93992693f43462ea7482edeac788fb1d713eff366dae4692a574caae4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000030.jpg", + "bytes": 30899, + "sha256": "31f5ab78715007850703534431ec9297a3016b9308b0c3da91d38f23f57f9339" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000031.jpg", + "bytes": 32589, + "sha256": "bd863f44177d7919d6c213cfcbf069733039755dd45ffad28d86e2bd8ee3edb4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000032.jpg", + "bytes": 33182, + "sha256": "49a5705ca8047c46c002341b40b86f2bb53a34165818428205df301819b845ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000033.jpg", + "bytes": 34922, + "sha256": "2edc87bb876ae90cc43fd410f1bbe4067b5ca48e26e2404cb466d20c9dd45b2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000034.jpg", + "bytes": 35255, + "sha256": "6f45ed57cd1ecccda76ecda13a6dad43cc4affbe19171b40e86ea060b300d8b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000035.jpg", + "bytes": 33732, + "sha256": "3b2c3f25eb5a17765aa1e120a74c5098c9abee9743d671e678eaa3cf35945b26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000036.jpg", + "bytes": 34917, + "sha256": "bfaabfde1309ebdbc2ec6fa1a3979f1156c8b49620659a7f8e3710de7da992e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000037.jpg", + "bytes": 35233, + "sha256": "0113c09a0db1575395d8ef8b1c83bfbaa4e56236d81705cbd8d82556df94133f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000038.jpg", + "bytes": 34075, + "sha256": "b24bfa50dc6efebaf5f0e98ac996c4f69fe9dfda4c4dde5a670f733ba7675cae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000039.jpg", + "bytes": 35444, + "sha256": "3b77fff9dd37b12874ad6e6d3a17d932d4301f7e245a3a8583da6cbd1ed74334" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000040.jpg", + "bytes": 33563, + "sha256": "8dd2d949342c5a44b7d3ec10030724e553bb614d4df1a9abc4ca7ec74dde3bc1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000041.jpg", + "bytes": 34215, + "sha256": "591011073cad27a85ecaeee51ed458430252a9bab607aef715ad0d302a6b0d0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000042.jpg", + "bytes": 34535, + "sha256": "da37a4ea915d7fcd9bbf6747c842a71ede2a6362cc4e922ad176d2fa9ec31840" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000043.jpg", + "bytes": 34737, + "sha256": "971752cba12939156c0e745c8df868f1ec6088d112313d42b782c8b2c5e9e0c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000044.jpg", + "bytes": 35278, + "sha256": "35fae7d7e21071422b4d0435fa20727dd6a17bdd7c641af5a75cba0543efaeff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000045.jpg", + "bytes": 35325, + "sha256": "e45b179268a87da94c579b0384b17d00179fd7e9f55ca5256e522d737d9a7626" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000046.jpg", + "bytes": 35333, + "sha256": "479323a5506cc317b365b211cfc6705f710dd52ab12805fdb1778700901f0ac9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000047.jpg", + "bytes": 35210, + "sha256": "3ed13f2cad6952199613ecbd79b8b9989dbe0990fb386a7cc4ba02f84e8b20eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000048.jpg", + "bytes": 33502, + "sha256": "d4bec92c95036bdebc192956f11f5f057a1800e90bea79e2f2443dfcf45b270d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000049.jpg", + "bytes": 31830, + "sha256": "89f485632cf78bf4410a98239a770124d65d9b1a97dfe9b53cd31add69b454dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000050.jpg", + "bytes": 34094, + "sha256": "b6dac57587a019a1a472d5b919f80868c938288b829be8e84eadecc2e6c6009a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000051.jpg", + "bytes": 33707, + "sha256": "18b5df3529d94fb65885ed4939dcf5124f8464f5818bac578cf8b180b561647e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000052.jpg", + "bytes": 30669, + "sha256": "cfaebbcd0055f1dcab1110e3be4c15cd88731b157572b32dbbe373866a0506fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000053.jpg", + "bytes": 35333, + "sha256": "d14ab510d04b6de01f6f5f9ebb4d83d3dd9e08e39b5955dd784080931385bcf7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000054.jpg", + "bytes": 33602, + "sha256": "3496a5a17ee9ac754fccdef32c968c7a3c22c3483204b7458bbc44c1aabba482" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000055.jpg", + "bytes": 35713, + "sha256": "1bb962d8ce14bae375892c05a95f0e0fb8f53057c296933f84d5fd488907759b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000056.jpg", + "bytes": 35759, + "sha256": "cbc28049284ab297eb117576bb8b5f7f5ad3561ba50f99c3d79125ee2bbdf6b5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000057.jpg", + "bytes": 35739, + "sha256": "5c83ba6b828aafae24d1f572d3cac5c3243112598708a8465457fc0f1ed8e731" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000058.jpg", + "bytes": 35712, + "sha256": "9f20dd846f4a803fcd05a306c67e869f2f09e80d348d53fcab4a4f84fbd7ce29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000059.jpg", + "bytes": 35757, + "sha256": "d08cbded13b9f9366e82ebd98a35a1077eb5caa008e00c8ab62ea5d37f51cff5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000060.jpg", + "bytes": 35895, + "sha256": "5967ff6cfb94cbb2ebeae320ac517d9ec3471f7febff1d230d0ab9671942753f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000061.jpg", + "bytes": 35762, + "sha256": "761db51bbc521890af9ec12bb06263314f6150da8c12a4e16dc2227ab92f08a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000062.jpg", + "bytes": 35930, + "sha256": "c1e970f5dc9f7997f7cfa1db156090913ab18df799b5d0cd5254bb4e8ae96290" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000063.jpg", + "bytes": 35730, + "sha256": "3bb01dbb9be1bc942decb9cd5b5dd3d2043eb8ba7740a311499eb6ce3fed2919" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000064.jpg", + "bytes": 35757, + "sha256": "4c2848ae087fee406a2a41ca186d490d2366fac5a7100d9a2d0fd35fe0e752a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000065.jpg", + "bytes": 35819, + "sha256": "732ab343943f121bc3a831686e755005a25594cad9785833ef230738399a4e41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000066.jpg", + "bytes": 35862, + "sha256": "4e351393bbe1a81970182de482cb9bfdce3a54df04854b9f1bda985fcd6e4438" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000067.jpg", + "bytes": 35796, + "sha256": "9e7e70a8f3f886991594cffe8f9c8b318f7918d2187db52133d4c1861f5a9342" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000068.jpg", + "bytes": 35804, + "sha256": "f1b58671e72faf39205cd1a616bc1bc509ca9c7ac4fbf562cdef110cb2fef32a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000069.jpg", + "bytes": 35802, + "sha256": "8e3ef6ce24ae2431b8656fccba59682f1f2c2cabb31576e49f5d78c32e5e74fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000070.jpg", + "bytes": 35848, + "sha256": "578591772bc6de59d8e5fc10d048c5d67b85b4995ce1808a1e0c47f6ffe5daa0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000071.jpg", + "bytes": 35854, + "sha256": "cedc7a7f55c8bcc39afe72041f76e97a31ef274b07301f6123d8b542a297c7eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000072.jpg", + "bytes": 35737, + "sha256": "1c7c6b08ca6914f342980f36fafe1309f338f9ec8f79867ea94f372e188f4219" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000073.jpg", + "bytes": 35700, + "sha256": "742fbf68471dd32f93a3e4c4bad7f7295f14474ea14bc70a25bddca47463d102" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000074.jpg", + "bytes": 35825, + "sha256": "3429f32366d96cb524abf6ed8484999510e9b0aa2de66478e00eff8a5aaf98ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000075.jpg", + "bytes": 35789, + "sha256": "2428c627cd325478024e29660682804d5ebebe76e5d03cdc99d62345ea47d869" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000076.jpg", + "bytes": 35803, + "sha256": "d9bb695fba1ab79e6099e9148a0d76633f424037f4a66f4e879ae6b7b43271eb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000077.jpg", + "bytes": 35913, + "sha256": "33509a943cd1fe4a7b019d70bb19d189883d38d27f42681ba69220e1b65f62cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000078.jpg", + "bytes": 35884, + "sha256": "92a7d0b636abe920de328d40b31b517075aa913a081fff54e4ba6280a1a2443e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000079.jpg", + "bytes": 35759, + "sha256": "d85f8e6570ab96495c15de4ff210a60f5820b6e5f9dce77d3661a2e557614bed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000080.jpg", + "bytes": 35778, + "sha256": "4bfad0d4c7e16db09261992c2c5b608164ad4f483c55c6565be6b477dd90290b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000081.jpg", + "bytes": 35785, + "sha256": "2027f50cf220c589fce3d9da39c26646a94436937c41ae8b1aee187dac6be3c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000082.jpg", + "bytes": 35849, + "sha256": "d66c40c001141aebe74fb1cb8c7680752ab28ec459841d8cd8ca549c6b9bf26c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000083.jpg", + "bytes": 35747, + "sha256": "7d2a99b1b81d9f5ea8bab6bf2d18f71786d7f8960ce5d2b642083757cd0d98ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000084.jpg", + "bytes": 35757, + "sha256": "0f548ec7a179766f7629f40a4ff212cb4ce2ed5e4e766d17d70085fd0f7c1243" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000085.jpg", + "bytes": 35808, + "sha256": "24bf71b9ac5e82088e4f971115d55a41ddbd4dd672ffedc2d02d0671ec848e87" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000086.jpg", + "bytes": 35793, + "sha256": "2fe9075c780f4239c1c9e589272da6cf1c95b93fe8205bbb14bf992ed33f63e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000087.jpg", + "bytes": 35836, + "sha256": "cbe00b8d4c122ad74747f22c1855fd863f640bc05653f50326842ac9a75982a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000088.jpg", + "bytes": 35920, + "sha256": "ca2975eb169d23d2acd44c486e2e05a7c6e69255a955bb580d689cb4cee9054b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000089.jpg", + "bytes": 35674, + "sha256": "f3076946b5a9cdf5faaf7616ce794c1e3de0100034c6d81bb0bb9858af8589ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000090.jpg", + "bytes": 35654, + "sha256": "09efa97dba11e4edc45f30d3d8443b1fb030d56a085b4e0a8bbfbd1a5bc6b74d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000091.jpg", + "bytes": 32292, + "sha256": "5fafb4c6565ade9461eea875247eeeaca7f0b7eeb605e90f73eb39410df87556" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000092.jpg", + "bytes": 32995, + "sha256": "c12d796c72462022de1eedd8771182d07a17fad312cc4bb5723e2fbc3ae4929b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000093.jpg", + "bytes": 37674, + "sha256": "b59c7088c3e50ddc4382d3421338b965870e605f565a813925db5845efee564f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000094.jpg", + "bytes": 37917, + "sha256": "2ae854bc453bbf6d2227d980c7f185ebdcdc1380f2f1f96211811c484cb1e948" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000095.jpg", + "bytes": 40670, + "sha256": "6ee1a354647ffcbaf9be69a58ab8bcd6c4f27b560f3b28325ac4c5dee22e968f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000096.jpg", + "bytes": 39516, + "sha256": "e99eb5025434fa254d784f3482232ab3c274d8c9d57d8d05838fc5743c0fa372" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000097.jpg", + "bytes": 38238, + "sha256": "7f8a5257f022b35d65e7f8ebc007e028abb22ef49eeb6e26016813966f2c34aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000098.jpg", + "bytes": 40942, + "sha256": "e1813afbe9d62de635c752ac6602be2d8b8235d914833b42d1502a9b534349f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000099.jpg", + "bytes": 43525, + "sha256": "2b9b9f795f8c10a8e0a51235bfdd57ef226c9a7f3293e03d18dc7603270e7364" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000100.jpg", + "bytes": 43055, + "sha256": "7085ba2e1cda9639d7813b67e450f7b1e5597e5ed027f1cc43c37f8be398da91" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000101.jpg", + "bytes": 45126, + "sha256": "4ba887b582f0866016b0f0092358f608e4b9018d094f3eadf1e4bccb40d77018" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000102.jpg", + "bytes": 43774, + "sha256": "f6d34536ba5644622c0c7a872adc3e1c351b5d153fca3820123a4fd8117bf5ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000103.jpg", + "bytes": 44949, + "sha256": "c30b4f811d6d899a99620dc269e0fb4327b555da092cadb6e8f921fdbd205205" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000104.jpg", + "bytes": 45786, + "sha256": "8c04880bc7bd0a44ec8cc96f3b996b99e8cecfe4320b92f93e62f1abe3f31ea4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000105.jpg", + "bytes": 41276, + "sha256": "0900c7d3ed558d7c37a2792dc83115e3987c84a1effe9e7a3067f181c3d2ec7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000106.jpg", + "bytes": 46290, + "sha256": "c6512bc18fe4c0da018a1282003c49774e1c13da3941cdd92fedab4a1d36ecd9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000107.jpg", + "bytes": 46794, + "sha256": "598b29e336ceee056cc817eca80e196ad84c8dcb9451ae3cd5661bb9d28328ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000108.jpg", + "bytes": 46756, + "sha256": "a90efd5678f74de9657ac2653f93538262d42e05ccf453bd8fded95fcedbc61c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000109.jpg", + "bytes": 42104, + "sha256": "063b8a268b93de065f725bc680c2e029b0efd0478af787099def5d90aa316a43" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000110.jpg", + "bytes": 39031, + "sha256": "43f64b6de49fcb7de7f0e3914f1492f34727be0652785c2ff8e787d632d2c5fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000111.jpg", + "bytes": 38305, + "sha256": "9cbb900dc3b52f0f5f6705e8d2da69d942903277545c926e7920c7bd479b27c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000112.jpg", + "bytes": 38482, + "sha256": "370a70e1f8d5a52ed2c2bc3cf6129ae351f5993fe594c9f7175f1accb19704d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000113.jpg", + "bytes": 38761, + "sha256": "b520ac3e7b26aa6e1c13aa3aa245fbcfff3468cf140dd52ffa64b6a383834030" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000114.jpg", + "bytes": 38439, + "sha256": "4d5d70ac6d3252e1c0bbdf0b2624be3b6004a469ef225e06dbbf60e645f19057" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000115.jpg", + "bytes": 37716, + "sha256": "8485ac523215e9b89bd63bd18d702f97a2854bd3fe57822610f69e1d83f6faf3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000116.jpg", + "bytes": 37594, + "sha256": "16ff1843af01d6e1ade9fff0d9e1f6c0bbcb48a5379b80ac1f02bd629bcc370f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000117.jpg", + "bytes": 34253, + "sha256": "d9ca29593abc8ec2ff597d9094405892d8d92e07ffa219176276a0d32447dfce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000118.jpg", + "bytes": 33961, + "sha256": "4f1caf951dbdc9a69318629120318e93b722716bfd588264c9351dd8eeb1f5d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000119.jpg", + "bytes": 35353, + "sha256": "db58ae91e24bc3608bbc84b5d91fe91fb49ac2427c2b6e66386421f502009dde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000120.jpg", + "bytes": 36111, + "sha256": "2580af3de34430963faf22660eadac217f10b5e99600b0954728ed60db48452d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000121.jpg", + "bytes": 33256, + "sha256": "b73c405de81360424e2df2ac6eed227377b4b0792b874202f32beaea8a31c2f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000122.jpg", + "bytes": 35310, + "sha256": "0403127d818fa7278ed5fb0076d52654139715401678bd5b49edfa08eba9ac00" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000123.jpg", + "bytes": 35074, + "sha256": "a0bccd8c746404448d784758b539eddb92ddc2d2437a012412e8b30d8212fab7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000124.jpg", + "bytes": 33639, + "sha256": "da24142618098bf4660421d98d117434f1f4852babc7e42964194f78954813a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000125.jpg", + "bytes": 34394, + "sha256": "a2815b0a21a1f6e5bef03a8eb1524535b94b9e881f1723e5c680f4e6ea7c7045" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000126.jpg", + "bytes": 34923, + "sha256": "951ae9bbe3fd44f3f7d7930e30c34283aa23d750475a5f812474343290abd45d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000127.jpg", + "bytes": 34752, + "sha256": "54caba18c9c1867494a5a4c48f1707e44a2da2481a5275731a127957fcf3dc10" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000128.jpg", + "bytes": 33535, + "sha256": "43bcff9b6561dd7590ce2cbbb7c1cb2cb019097cc28c21d340f1b609234e4a3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000129.jpg", + "bytes": 34736, + "sha256": "1abe5b8d256c979ae29ec6c4d09dc057e320f18bf476dabaefc168538cfceb51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000130.jpg", + "bytes": 34280, + "sha256": "4a4f17d2ca8ce143949d96276dbe28e897332132b3993f07a7f3fc77280ab4dc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000131.jpg", + "bytes": 33443, + "sha256": "ba75b692f6ae0f06cb335ab40f800900438bf3b0c80c3da79aeb0cec96998724" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000132.jpg", + "bytes": 34107, + "sha256": "8b153dbb497148ad46ce1d3e8bbcaa4ce644857f6280810986594d3ef8b3730d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000133.jpg", + "bytes": 34613, + "sha256": "840659815c36c955a100cacc02bbd152ca4d0f24893101c8953f255ec7a88da3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000134.jpg", + "bytes": 32528, + "sha256": "09a4cf745ec17f69420666cca53028bd521fb104afa80fac9479708c32500e36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000135.jpg", + "bytes": 33865, + "sha256": "ae1da0f74f3624a0510f3c88843815894d727a0c7be7a436fb0f2cb02703948f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000136.jpg", + "bytes": 34239, + "sha256": "abdae64c2a0e5626bf23327024460e7b8dd3be3630470fc3ce0480ffecca235a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000137.jpg", + "bytes": 35859, + "sha256": "c59c8d205a244a0ee4c195beb67a80669a0c75ed556710553745be9e35b86a0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000138.jpg", + "bytes": 35811, + "sha256": "6b566087b5ffe37e0006d9e00cf9eaf44d4c0642c4d9c43f300198abc11cafb5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000139.jpg", + "bytes": 36559, + "sha256": "8bd19d2b146d07e6dea4bdeba871db995837ca68df1bf7aa45de604a2452d7ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000140.jpg", + "bytes": 36526, + "sha256": "3e85cba219a1eb096c5ac4f808e68eedcbf6fac523a677ac86ea8b521e23e33f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000141.jpg", + "bytes": 36769, + "sha256": "c5a605e79532db93813ab5d67e8a57b46bf5fe1a6e4a51d7181903fe43412ac3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000142.jpg", + "bytes": 36831, + "sha256": "83800cae13e772a3cd0876282e85e215c08d83a347a69f6f05b28b784ff8216a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000143.jpg", + "bytes": 36945, + "sha256": "7bb86fb9d27e27f88e943045cc5a6b92fa94d6597a096ef59827c23542fb690e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000144.jpg", + "bytes": 36935, + "sha256": "87114472672959711a8a744275370745f47579f61f1a778d13d79837f9310120" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000145.jpg", + "bytes": 36903, + "sha256": "133abd1f3d14b334203859b0e70edead27f0e2ee729bd92cc1e09db794f0b605" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000146.jpg", + "bytes": 36694, + "sha256": "e76beac50c3b4902e4a4cdb9612719b96171bab5d8eb8d87fe6a4d3f6f7e2c72" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000147.jpg", + "bytes": 36807, + "sha256": "9f65bc0c27f7a1d28566cd4058eb160266c1b63adf595798242c5eb196fe097d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000148.jpg", + "bytes": 36406, + "sha256": "1f9fbe2b6381ab1b5cf9eeb4d36cd04cbdc4049bd846b1bcd5de2a58e5e6bf08" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000149.jpg", + "bytes": 36366, + "sha256": "7268957ec04d8b937d05a7c80229e4693bc5500bde7e5e07cd648bb45132bebc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000150.jpg", + "bytes": 36414, + "sha256": "21835978906b941995b2938ec67a474bfa716450bf43d51d592d284dbc320e74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000151.jpg", + "bytes": 36403, + "sha256": "13be8f16992074b69e977a81b1f25472fd3f2308b2bbbcece624b327e05d4997" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000152.jpg", + "bytes": 36316, + "sha256": "b1497409bb5b9a01766c33f4e40acc04aeb436b201a9f7918804641c954531b8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000153.jpg", + "bytes": 36235, + "sha256": "765359346da62dd5193aa92ebb1ec25d1dcfa2adf7df96f6ba5e917b437165f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000154.jpg", + "bytes": 36383, + "sha256": "74316d8d6b41c623b67d98fe2fbd18f90f8ef3c08d168a0bd70adc07436b053a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000155.jpg", + "bytes": 36326, + "sha256": "212ff8ce6a5570453cc69ad859bccaf96287e0adf2b9b69966a1315a18f3a67c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000156.jpg", + "bytes": 36309, + "sha256": "22690bfcecaac262956a2adeb0d217e6fe66a4298e8d11b5e37a92a052555ee9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000157.jpg", + "bytes": 36339, + "sha256": "9a59f4032033d545ed8f9278c0f339f44de1fa44505a8beb0f4575dbec360ecf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000158.jpg", + "bytes": 36306, + "sha256": "0c1144bbeeff850ff7f82290948e9ea3bcc90f922d616343043e27c21eb36f22" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000159.jpg", + "bytes": 36338, + "sha256": "9e3f31dcdc88b1d00820f818236e3890b215f7d5dbf9b079c37d206533cd27a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000160.jpg", + "bytes": 36225, + "sha256": "75ac21f9094dec8f6520f6f334ca435b8dfd191aa039dc11cff340eedeade990" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000161.jpg", + "bytes": 36295, + "sha256": "38c41f28a1174f428f174ddd214854fd496f8a5f6632be4ffe3e98f77bf8f0b8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000162.jpg", + "bytes": 36414, + "sha256": "28f4950bdd7f29a09fbbe9cea52086c7b2b044e4a8cf056dfd7b075cceaf095d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000163.jpg", + "bytes": 36310, + "sha256": "d90b0adfa38a6b256ac4c1782368abefcb0a8d553efce9246266383a30055562" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000164.jpg", + "bytes": 36340, + "sha256": "b7e10b892b01806b1138363da85ec9797dc8f708fc100a6fe6770f146fae85f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000165.jpg", + "bytes": 36248, + "sha256": "30968ca63006eacfb06eaef8bab1fa1ddcb51e0459225b94fe9d8204aedece96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000166.jpg", + "bytes": 36272, + "sha256": "f78916e791441abe6043038568faf6d8565a25990a667c0feac46e935e0c8878" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000167.jpg", + "bytes": 36364, + "sha256": "405bcf75026b1abf37e7b11d9fb1593cc502d8498b09b37d0c6d7726e62229ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000168.jpg", + "bytes": 36318, + "sha256": "aae4e50b21e30ebaf58d83170f1483c7ee2cdbee84fd34811e5c0a21c7d27215" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000169.jpg", + "bytes": 36238, + "sha256": "798c9900a136b40a06eb7ca7984b8c8558c28df9b85f9a0fbb3ae700002f0d72" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000170.jpg", + "bytes": 36369, + "sha256": "088223e208954df34825bd25fdfcd61cd4cf13536b82ef9a7fd42e345b566082" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000171.jpg", + "bytes": 36311, + "sha256": "3db50b1b81f7321f7429218e42e525c1632863cd9095ba6794161b3be1c85c3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000172.jpg", + "bytes": 36316, + "sha256": "72979004aa3e9e70e377b11aa704c6b86adce8b0cbcebbd677a95253689836ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000173.jpg", + "bytes": 36336, + "sha256": "e02927eca759656a6c43b2fcb3977c8a48ee63756e7ea62996397892ea02a7f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000174.jpg", + "bytes": 36308, + "sha256": "2c4d11c845a26b7ba11294cf55f17e79730ba2a3a02aa637b6699c9e0430471e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000175.jpg", + "bytes": 36324, + "sha256": "16e4f013c18b38bfe0e7a4ef66d64843719e359816e69890758b4d63a5f762e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000176.jpg", + "bytes": 36341, + "sha256": "d939bf162742c26d80741bba66286e22f53db659daa9e8d8e3b71b8eb7c360ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000177.jpg", + "bytes": 36249, + "sha256": "b44548e1d0881a1a225f2d32c801f96333f9150855e58d547b065515a86ad3ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000178.jpg", + "bytes": 36354, + "sha256": "d44bb0147ab5f8a0e5b092653cf4c1858613d9239b3c94cb3b044000a5cb79b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000179.jpg", + "bytes": 36306, + "sha256": "09968886a9076aedfe8d216b51a764f547a6a1bec3234069ea2ddf65262d41c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000180.jpg", + "bytes": 36300, + "sha256": "85d6a9ab71754201e352690ef908f676e5ae2080565cd0c5f899e382de732c79" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000181.jpg", + "bytes": 36279, + "sha256": "bef5beaae803ee6cf62f392612b75e31ffc25f1e319ce5faeed4d5bfa4a2f191" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000182.jpg", + "bytes": 36279, + "sha256": "1a100493c1e60a24b904baf1074e0385a3f1e1c819ab5e258d1ffaf5c0f29549" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000183.jpg", + "bytes": 36364, + "sha256": "b1d52c1992eda112bd1a2683d53522cf55c6a369f178b102bea995d814a3d855" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000184.jpg", + "bytes": 36377, + "sha256": "69ae96c8b95d03884e90a73212079296fbec6c037ae4d74847fb4c2cefeae070" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000185.jpg", + "bytes": 36266, + "sha256": "73514b66421531de2410f34fe66ba6d51fd71628013cdfe551c9fdebfb335ae6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000186.jpg", + "bytes": 36281, + "sha256": "7145b17912af1a6e39380249f0408778f40ab9f1a624ba453c1d39b8ba53858c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000187.jpg", + "bytes": 36394, + "sha256": "5e89224b9cf3d6bbe9c4f7e575723bb4c7c75f2d3dd76e968f43ce65d03fc362" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000188.jpg", + "bytes": 36237, + "sha256": "0285b363db82bc81d4699aca7f1d24dc125a6d9d4f97579dd02f0dfae1f31ff8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000189.jpg", + "bytes": 36349, + "sha256": "cb3ac5c925b93c2ce037b09858711dad3f1d8f7e2eb3273df08363169758afb4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000190.jpg", + "bytes": 36322, + "sha256": "ae7ec0d21112029d9d30b7dd2c6eec3f4fed7e833def4d6e3a9380ed663d4f87" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000191.jpg", + "bytes": 36286, + "sha256": "4885545f724f47cf08e6cf93d86f7fabfbc5d01435df72e9c8b785ef4ea2acc4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000192.jpg", + "bytes": 36280, + "sha256": "4548406fda0f66d3f9596d759df6475c52bcceb3588aed64f3d5dc7eb2b80839" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000193.jpg", + "bytes": 36228, + "sha256": "3b6bb1753fbe02da335ed6ccfc8539efd7f88dc31857f5f11a994a88eb1b9763" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000194.jpg", + "bytes": 36389, + "sha256": "a27f42be614e146310773ac3f981a46652cac6127a9b7990a8830eeafb0a1903" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000195.jpg", + "bytes": 36226, + "sha256": "b0abf33664120be031099e570d4f8de6e571673245dc10602eac978520559ef0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000196.jpg", + "bytes": 36389, + "sha256": "1e1b31e265aac4eadd820a30f7e621baa7428f777e9875c9e4d9bcfd07f4af66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000197.jpg", + "bytes": 36342, + "sha256": "9a48bacb7154e8030a3a6a1d0e9bffb0a93cce93997f327ed72acef3f0196c36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000198.jpg", + "bytes": 36300, + "sha256": "5b760bd6687517152cd68af8b943e7bfb2558e084774209c8bb1350f087144cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000199.jpg", + "bytes": 36307, + "sha256": "2be77b89b8f7388c3fe732f878ec4af828aeb0399f303e8486d0fd7e7cec3166" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000200.jpg", + "bytes": 36304, + "sha256": "a1bb79516684334e17855ebdd873b9e53eafa8fc4b3a7f4b192e5769eff626d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000201.jpg", + "bytes": 36294, + "sha256": "9ebc60d71d07993f2dc73363a51979354740f5bb103f684133e043f72f9645ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000202.jpg", + "bytes": 36354, + "sha256": "c99b39a757651aac21184b10e86032f1220a44c7254b8e6f7fc0aa4e79ef4580" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000203.jpg", + "bytes": 36359, + "sha256": "f56e08888014cb5aec645637afe490809c5d1af3fab3f8183ac0e4853b139d9e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000204.jpg", + "bytes": 36283, + "sha256": "a00c0381a1178b7ac941a9f4988871e4a5d93c27aea640d4461661ba4bc20f1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000205.jpg", + "bytes": 36234, + "sha256": "9820cb7790d41aa9175e714906b065f5153227b1b0ef3423e21bca33414eb0b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000206.jpg", + "bytes": 36259, + "sha256": "c3849fbe544ccdaf3def6fe56a165777e01e533c60e34715e6df13cf99205484" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000207.jpg", + "bytes": 36288, + "sha256": "88ac2add6b2d20e2207b775fb88ce07aa25eb6f972e04b613bbf2ecb883c572d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000208.jpg", + "bytes": 36342, + "sha256": "e76cb87ee50bfa84a66d20b3f717fb8d725e7f83b7d539740a107de215398c28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000209.jpg", + "bytes": 36305, + "sha256": "88e84da57864ce082dedf30506d8f045981e8a7184c2e98a9fcae74c74db0ef5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000210.jpg", + "bytes": 36309, + "sha256": "7949974cd149cbdb330331c9ee59bfa4d97ba7ac540cebe53735f338b1c7c0bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000211.jpg", + "bytes": 36308, + "sha256": "bd6b2bff7363e9bc36aad75ea4ba537ff0565797f8dd761729997f8be91a035b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000212.jpg", + "bytes": 36379, + "sha256": "1b68ffcb5a8e2028154279977951ec832f450a05498b0872dba084b90aca9792" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000213.jpg", + "bytes": 36334, + "sha256": "340a56fee5a0313b339093c12b407cc0fb33d710266502e659b5ced6b4daf078" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000214.jpg", + "bytes": 36483, + "sha256": "55888aa9e5e9c204a3b5b4a025bb77244b9fc6dad5b73211c138b033366ab38f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000215.jpg", + "bytes": 36305, + "sha256": "ccbe09f4ded5d337827232a4df387ad01cfea6387568bc81daabd32e51eaa8f7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000216.jpg", + "bytes": 36390, + "sha256": "15cf604b98c654ee5ef56396d59337df92fcaba62e1614d9f5a03d74a16557be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000217.jpg", + "bytes": 36357, + "sha256": "e89a4dfbffe248cf51733662ef6d7ef433279daf104166f935d8c4d88d0cfc63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000218.jpg", + "bytes": 36330, + "sha256": "b4aef90f757598c2cdeaed6f454002be68995f19812c61d391e94e1f7b1a6dbc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000219.jpg", + "bytes": 36341, + "sha256": "251029e30daba5e80904c4b125a51e34de62334889d97af7584f2870c71e47d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000220.jpg", + "bytes": 36408, + "sha256": "577c118c61ea24c72bf0ecf5324fd694e91cf8930d73da34e75b62d63b185823" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000221.jpg", + "bytes": 36375, + "sha256": "d5044d3f542bacd85c3ccc4ab5424bc38e6dd0453694f331e57a06bdb5518614" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000222.jpg", + "bytes": 36295, + "sha256": "ba55b7012dee1605d85753dc5b5b2adc90c3bd37bb9bf03559b9c45169a04d7c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000223.jpg", + "bytes": 36402, + "sha256": "dc10b878c0065360c15eb797fa6e3cb7c2b9733335e1327b6828ba9456fcb726" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000224.jpg", + "bytes": 36336, + "sha256": "02006fa675b9dad7bb2c447908087fd53bb043d47dce156aba5568e5b0c2e134" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000225.jpg", + "bytes": 36348, + "sha256": "eb4e4f2d2ae97904656beefe9397238b8af90d1e3e0c4ad27e9acadcdbf199ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000226.jpg", + "bytes": 36340, + "sha256": "45be3a522ab6654be02417610ad3ecafd8c4259d870f04551d9f92346d9ceea7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000227.jpg", + "bytes": 36411, + "sha256": "f477807d48fade04c05d986fe65bbf1e879f4880d3eaa1f3570b6f07a89b468b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000228.jpg", + "bytes": 36247, + "sha256": "b29bcc8843294eb875212ad1b4e6d5c0fcb7d16d53e87d345d6dad2a882093af" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000229.jpg", + "bytes": 36223, + "sha256": "1c88e74e320c45af262bc18c06d5a1b07df5858de62cdcccd2343e6ef688a22b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000230.jpg", + "bytes": 36285, + "sha256": "f9cc04a4cb67d498ceca795faaf2c5e94c0eee0a0e42d988aba26931462dd61c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000231.jpg", + "bytes": 36357, + "sha256": "399df0290d7af49a7c579e590e0962e72ba22b9a5605c23e52ebe7bdd3e0e64b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000232.jpg", + "bytes": 36272, + "sha256": "a7bd89ad0352ad6cfc89731b39cdce436cf82147429d831597e8337b352c9e1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000233.jpg", + "bytes": 36362, + "sha256": "acec6f498ec42cda180710806aebd1f776a09ff5045bb40131e958e0409d48cb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000234.jpg", + "bytes": 36440, + "sha256": "35aa708cbbf77d4334aad9f86ab14c44d8fa8c27df366033e8894b7c5976965d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000235.jpg", + "bytes": 36340, + "sha256": "2cc5b66afe96939175f81ecab2d48be97fa879864a12b4a250d173aee5ed0214" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000236.jpg", + "bytes": 36274, + "sha256": "eaa35e54f598fbc496807ad6675cb55ec88f1cb694ac16ee744ea3cd8fafbb5e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000237.jpg", + "bytes": 36364, + "sha256": "e1775629af0329819663e21b2c08ba87e5d8cb0bbe3d7758214cf64dd8132fdb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000238.jpg", + "bytes": 36262, + "sha256": "94794679ecf92a3a98f0f12c0a8a5003c7127c2543462398dffa891bec9cf112" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000239.jpg", + "bytes": 36376, + "sha256": "c3936dbcaed35328002c24607c7d6d0cdb63b6e756123409dabcc593301e1c76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000240.jpg", + "bytes": 36237, + "sha256": "4372a810451554bcb8e05351eadbf603a25994c1df12614062712f6b4d6136dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000241.jpg", + "bytes": 36178, + "sha256": "fc3d6029dd9a084b2bd417fdbf6793edb0fad677996cd1fbd1ee12dc483412d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000242.jpg", + "bytes": 36302, + "sha256": "88b3244087fdf53ea18bb75638380a61ef9a4aac6759a5c6423129c976a5e42f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000243.jpg", + "bytes": 36208, + "sha256": "3408708a61f6e10e2fe2df2dce444a82e5c39703a9e237fbcd8e91ad32895fa1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000244.jpg", + "bytes": 36261, + "sha256": "ca6ac94a56ef3542230f3ede092b52321cf461d58ba51a090fe7c7bccc48fa27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000245.jpg", + "bytes": 36302, + "sha256": "7a44e966712bb3972683e7e13747151efaeeb25e6c754d6f4b6defad1973e583" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000246.jpg", + "bytes": 36335, + "sha256": "35dc8ce83d68c6edbf7885abc004e0a077e1c7f8543d7d0030e589c221379c24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000247.jpg", + "bytes": 36341, + "sha256": "668de0e0d23e4ac26cf3eea012e5f2a927308409ccd6f354ba9f1ec001d19c30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000248.jpg", + "bytes": 36334, + "sha256": "aa256467c663fdb61834aa1cfef0b1668dd4d5009acfd8d43bbc7b9614e077bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000249.jpg", + "bytes": 36265, + "sha256": "1f3f18b66d2da92928488d74a7eb9844d50c09cc4e431bee75ad12817a6a0931" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000250.jpg", + "bytes": 36315, + "sha256": "e35dce4ce4ad667c0e72edc7f98e5c83108bf82c2453cf283cccd8f3727a79f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000251.jpg", + "bytes": 36311, + "sha256": "ffe36a00d379aa47d8a5c0167ca1f9ebaabb11d202263a948131373f84e3dcf0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000252.jpg", + "bytes": 36390, + "sha256": "dd2baf81f1d323329fb38fc1501ae19d3b873a4f4725aad0c6c08056acdfd4aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000253.jpg", + "bytes": 36344, + "sha256": "3e3822e4d64722c8d99e974bdf910e9afef5a30aa34b3f8fa12618755837fac8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000254.jpg", + "bytes": 36245, + "sha256": "8932827daeedaeadfd9f131042d6547eed3249d24e1dab37b741674b36af5a94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000255.jpg", + "bytes": 36309, + "sha256": "9918f8472e4950b508bf0f3bf2b0ad45aa7b29de55ab7f6a3cbc35a7802462b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000256.jpg", + "bytes": 36386, + "sha256": "1d2c2d689f92c69b5656e681614e88d947df4114b45773fea87b585839f8fd29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000257.jpg", + "bytes": 36310, + "sha256": "24859e5f05602e84158e0665107cbfcf5352a49c4bf0cf6adc4d631c01cb6448" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000258.jpg", + "bytes": 36267, + "sha256": "388c46e7713f9580a0f106c9be489a0ce2cfb5f9e4746585e3c70a662250f283" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000259.jpg", + "bytes": 36337, + "sha256": "76f665a54f5d2daa059af81a4f86e4340c75594b3c4a899526ec6839a5932930" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000260.jpg", + "bytes": 36403, + "sha256": "067497ecbba31f2e42b17d9af81f1746b1cc33a02650abf7bf883bb477cd8b1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000261.jpg", + "bytes": 36308, + "sha256": "a647d3ebfad47eec019c72042be2a4163397fd0d1b8fabfd9ebd40cbc498a6b5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000262.jpg", + "bytes": 36418, + "sha256": "22c1f7f4a4c677700d07b998e71aa929271efc74912e1dc5ce5b8517e38c2be4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000263.jpg", + "bytes": 36273, + "sha256": "a6b848bf3d6b1ccf930f6cd8447d8cdec833c088c8f4ffac100406f5488e57e5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000264.jpg", + "bytes": 36365, + "sha256": "2a9d141bff90d8e3fa9b549afcf1603f05c89b6696c426d326805e5f61d50d54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000265.jpg", + "bytes": 36378, + "sha256": "25dbb0778f7784bd8d5d9e7b9d567c51ef5cb291ffd37bdc4636f2aeebe92148" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000266.jpg", + "bytes": 36269, + "sha256": "475acca21bccab7a23bbdee0c91348da5cc4dfa7e1d4d8d4f6f50f245dbaa8d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000267.jpg", + "bytes": 36306, + "sha256": "ca5a8ff84071e0d573610a888f177c6f06693e98b96fde85bfe332a4a2dce5aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000268.jpg", + "bytes": 36348, + "sha256": "1e48ebcee098762310ab1ebff2ad6243da98c2eab2233177868d05a8bf409e33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000269.jpg", + "bytes": 36318, + "sha256": "1e2582b46fdb6582c9bbf0e0c6c5b6d12cc9a5a47d2593e0fb7914758e3312b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000270.jpg", + "bytes": 36455, + "sha256": "01ed1319553babc75cb544a83a2c8dbf25975c79d27b647ccb484771677ef06b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000271.jpg", + "bytes": 36309, + "sha256": "0963cc28730d57601ec7a174e8d94ba8399f7fad730af5bd647e80d10202b703" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000272.jpg", + "bytes": 36370, + "sha256": "702815551ba97e493ed3fae4b98439f4941331260e6c8a4350e4f726fd659cfd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000273.jpg", + "bytes": 36313, + "sha256": "324961525a9cf608fa64043b0a3c958e9b1cf01b32d829280a20ffd0ad83c5d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000274.jpg", + "bytes": 36308, + "sha256": "4be2311d406727f7deda44d27a9833f2f16ea90fd3a8b07f912657ccae811e7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000275.jpg", + "bytes": 36338, + "sha256": "7d5f70e9fb78392aa4e9f4a6e7baa41b3205fabe5c2e641c0bde8fc551725362" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000276.jpg", + "bytes": 36302, + "sha256": "6e2eae894a507a2529d2b99451dde5a6733a8b302de092de434710e030bfc4e5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000277.jpg", + "bytes": 36267, + "sha256": "5d14d167958780c5fa37a4b639a6c71499cd2dd017c26253e44f7a7a817dcf41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000278.jpg", + "bytes": 36345, + "sha256": "a05ae464159765f380c473af4e12427ae34a280ab58b2dd67d6b8863be1b7f80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000279.jpg", + "bytes": 36386, + "sha256": "ea0ac0ba92c06e3e1868f6efb43919068daf72c9292a653a6c2a07dc429bb576" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000280.jpg", + "bytes": 36307, + "sha256": "60413c2a45190b1b40cdb1565861d0df847bd887aa251d320108f92c4dbc4a5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000281.jpg", + "bytes": 36291, + "sha256": "e2f5472bb17419c61c29ac2f9902267ac37ac882bde7db463f03316ccb3aa978" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000282.jpg", + "bytes": 36414, + "sha256": "d01f3ad5560d457b21764d5d1c97c350084721336b2940bbca5b9861e363f66b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000283.jpg", + "bytes": 36301, + "sha256": "c325e28dfba58a0ab62aeadc52b2744c2cf899b27b07b0a7e27156b56182c15d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000284.jpg", + "bytes": 36389, + "sha256": "5e7d4d02cb195ff9c49036a6a5c67ffbbed5e3f6521ac4c8b7401fbc8b1064b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000285.jpg", + "bytes": 36331, + "sha256": "89a382c5f73b1885d4d34c773b9e648f241b96f324f8ddd6b2b62973d3c2b5ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000286.jpg", + "bytes": 36395, + "sha256": "17d43cf081c21aae51fcd09a301f9dd88557b58e148c2ec892a15d44c6a1ab6a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000287.jpg", + "bytes": 36317, + "sha256": "7590cd655bf802c2ec1c0e1fd5f0755182afc1c4c60d512033dc54d028eb4ba7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000288.jpg", + "bytes": 36352, + "sha256": "094f7c03371007347761c6b2554f8158a93759f776fd3fd436dea646c59be92e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000289.jpg", + "bytes": 36309, + "sha256": "81dcc04a57a1d9059f4328e3a5064f2378ab4b0a3a37f9124726af41fac59e7a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000290.jpg", + "bytes": 36392, + "sha256": "3bd6e7da494e8c45859562a2f639f8cf0fbcb5e8b19393d035fe811be1b883ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000291.jpg", + "bytes": 36330, + "sha256": "7ae5c3f70e8c5346e7d8aa329c84d15331e0e9abca4f7040e97907078743e315" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000292.jpg", + "bytes": 36253, + "sha256": "d5e8c65c068977c602198e276c7c8634f38ed3a07a178e9876efb1e41114eb8c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000293.jpg", + "bytes": 36294, + "sha256": "1ed9fda78df0376d45895d2904da9602131c7f8fe8c7291e8e49ee4fcff5c66d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000294.jpg", + "bytes": 36378, + "sha256": "875e5e4f536ac6fc59e969ca7500e71d4e929d00c9f41ddebc4377f1f1e8675b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000295.jpg", + "bytes": 36372, + "sha256": "b00def6ec95ee6835e82985ec2b350e941fca50936f3eb586c734cdd566681f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000296.jpg", + "bytes": 36348, + "sha256": "5033f925635100aee51b2f605136a4ebe90cbdbdf2593118912b725ce35e0a58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000297.jpg", + "bytes": 36288, + "sha256": "7c5a52be76265c1f0c9da8b453380eb00619b806f1eaf28d582f8e193ebe7a76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000298.jpg", + "bytes": 36389, + "sha256": "9a943cd508f8e3a9ee9fec13c57577b0c8183a2cb7b30c3b152000fe4585c751" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000299.jpg", + "bytes": 36404, + "sha256": "5e5b7415dc8b2071de20ace8ae3aba003bd06144e754c7b841f2cfbc9e2fa999" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000300.jpg", + "bytes": 36316, + "sha256": "916a6daf2f78cd839fc8e80795b1fd9dc98af0e36ba5f81b204a1b4a3181fae3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000301.jpg", + "bytes": 36254, + "sha256": "bb481baca127f8300bdf242d9d9c77ec366e0293684ca63523fd5d19876885b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000302.jpg", + "bytes": 36334, + "sha256": "74b8b2b60658b47e79c4184433ecac7ffba750661b0b2af2fb65bd1d0d04d086" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000303.jpg", + "bytes": 36262, + "sha256": "9e8e6783b49bdaa60ef64c008b889fc2504b33650524db8b95109ad83f259880" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000304.jpg", + "bytes": 36255, + "sha256": "62ecfc3d934e872110356d2a7b5d0551eff09c09bf85ef79540849a4153d3586" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000305.jpg", + "bytes": 36322, + "sha256": "a599f163a91bc169a25f95addbd72e88d21d32df87b16f5b0439509f2f35ec74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000306.jpg", + "bytes": 36318, + "sha256": "e9e4b2c65770713b61d2838d0393d6dbb1699b7a5c0b0fea1c954ea5652808ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000307.jpg", + "bytes": 36368, + "sha256": "bf8d8a8fa3924d3886fe2a0a522b2d7debba56e373eab42cd2476370fe6651cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000308.jpg", + "bytes": 36261, + "sha256": "355aab4090dd903b397c7114f4ac3f4e9df901752ef1618b34ada574191e72e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000309.jpg", + "bytes": 36224, + "sha256": "7fc048fe2459dbd55b4dc042fd2979a0c38b9770e1465cf1b11e9d4226203532" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000310.jpg", + "bytes": 36263, + "sha256": "ce3b9762d04c242dc555058fc4c54bd54a5e85d7cfac572b9d4a0b61ae8dc15c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000311.jpg", + "bytes": 36334, + "sha256": "4bc0a5ab23944ba4e40f1beba8ee478904c2bf5d005bb856968e8b6e4a27bc86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000312.jpg", + "bytes": 36278, + "sha256": "52767124d758e6e9ec1af5f095bf239e43f2b26278acda550b9ea85621b59f1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000313.jpg", + "bytes": 36302, + "sha256": "b430b29ac546a5c42b0726f3c189ac8bf6e8fe9e169473a496e525e1ab673ff9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000314.jpg", + "bytes": 36336, + "sha256": "764574d7722cee5ca5d30dea4e4bfac8290a4d73d6dee780d1c8467cb8193430" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000315.jpg", + "bytes": 36274, + "sha256": "700507fd4ff41228a7d754e5f646c3a2e741811aed77a24cab6d4aa027f4e37d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000316.jpg", + "bytes": 36304, + "sha256": "3c2b2d0d48de521dab9c6c42b76a4a73b34c4a5d25d81ff3804bf8c810c8cfef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000317.jpg", + "bytes": 36385, + "sha256": "15668f069a96925deb1f4f8721276a35279b9d77bd4c6aff5f00dfdab3ce164b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000318.jpg", + "bytes": 36304, + "sha256": "53146bd2b6d1269ccb38fb46406545293c81966a3d17ac00c90672209aa0d8fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000319.jpg", + "bytes": 36329, + "sha256": "67a26dea6c564bc99ba106db7e6a576cd795a8636b485e8f26e4d0fc36a3f188" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000320.jpg", + "bytes": 36318, + "sha256": "b5b34b94ca0432dd7f81b6720aaa29be91d64bbde65c4e79e520e7cfe645e919" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000321.jpg", + "bytes": 36275, + "sha256": "735df3e42ab043470a0ec4c7889dd6a205a42eb455ef32d09842932998742638" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000322.jpg", + "bytes": 36263, + "sha256": "2afafe7d2f99a1a8220b25a651abbe8f072f2cf0a75ac03bbccd7bc4f6bc0a47" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000323.jpg", + "bytes": 36327, + "sha256": "01bd742910b8f48233fc0688d1cd273cf12fd5d1282ba8313a49c7aafb9be995" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000324.jpg", + "bytes": 36274, + "sha256": "0fe83c4b80c8b441cdbe74bccc1b641d16003ce2c09ac370e2d20843e7828c38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000325.jpg", + "bytes": 36330, + "sha256": "f8c933d8f223d1f474c63610a6801577916e00e9175c85a322a94d6954b80879" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000326.jpg", + "bytes": 36326, + "sha256": "c3c550bbe643c66ef2ce2a0eca33781630c68c3143d3fd6d9f562d97db606f78" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000327.jpg", + "bytes": 36253, + "sha256": "f2952edd5ffc15e32ad31f896d95e1c73dad4ee716daef783683259195803282" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000328.jpg", + "bytes": 36242, + "sha256": "073c6ef313e51a5102621f10e6ada36fc142cd8bfddd72464e4832fc6dea2813" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000329.jpg", + "bytes": 36314, + "sha256": "ccdf28fafc703c680f70aa0cb5a38cd5d6a3cb6e29bf0c77fbb85263bbf2bacb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000330.jpg", + "bytes": 36283, + "sha256": "52af79510e10a07cb9b0b21f5ba3a14089daddafeae868ff63c8f1cb7a049e7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000331.jpg", + "bytes": 36328, + "sha256": "b825744104a170654c9f02f222711aef474b2e51c285e97b7495ae1f21ab5677" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000332.jpg", + "bytes": 36311, + "sha256": "967a9e0e6cb7286b3f70f427be24d551fcd8831ff89ba4adced04b10a5a3c14e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000333.jpg", + "bytes": 36268, + "sha256": "ae3f40d46f943bcc8a73f0caa69b6a37a731d50170c11a5e49f4a6b30bd6af74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000334.jpg", + "bytes": 36316, + "sha256": "f35b3ab20b308355e16113e692f6ba317421ebc5579222e8d7803575aa845c7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000335.jpg", + "bytes": 36285, + "sha256": "f67cc6c2808f23b2c90ac078944f9d0e86e318c8eebc3cc08e4e6494b779b74f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000336.jpg", + "bytes": 36323, + "sha256": "3113526ceadaf5abce9db7fb9c0d698409043ecb84e78ad59125eca3d852f1f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000337.jpg", + "bytes": 36376, + "sha256": "8244ff789b08f2998c130834a36cd683a7df38cfb1df72b350ad2e01dc3d5b79" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000338.jpg", + "bytes": 36252, + "sha256": "dd34ed742fd3eaddbee8630b245c50843d05be223e9999cfed00920710d21f66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000339.jpg", + "bytes": 36323, + "sha256": "94bb3cc67a80d7f40bde1335f5db620e7841c0126a1dd40a117483a73e5a6354" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000340.jpg", + "bytes": 36214, + "sha256": "531a9fa4b61c3fd92153539f6a094c4f31ce4d0381793bbcea0146cef5f3837e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000341.jpg", + "bytes": 36175, + "sha256": "c6ddde13bd57977162c4160208d9ee01a99b6a0c30d8fe0b60517312d4233ffb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000342.jpg", + "bytes": 36368, + "sha256": "44bc358bc01f42ae708ade46f4c6a7d727126d67175720b5d6405b5dc2b114c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000343.jpg", + "bytes": 36349, + "sha256": "293f9e8797cb745e5ad4890a35afecd1478544717cd0d9b1b462388b97bea3ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000344.jpg", + "bytes": 36334, + "sha256": "d5cf49bf20a2493ee676f7262f95fd891fac44f746a5ec1d193aeebfab97436b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000345.jpg", + "bytes": 36323, + "sha256": "e0a2d54ce33c505eb7fca70a18d2b76ce57c198c39d6c025d6cc34d71ed37762" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000346.jpg", + "bytes": 36236, + "sha256": "baa9851fea6078a607f8486af5d644abedfa8cc819103c91bb1f21609c0d2b2f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000347.jpg", + "bytes": 35790, + "sha256": "ff864f861e34aba84fc3a60e92840f369f5b99f765c27d6cba9193653180df9a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000348.jpg", + "bytes": 30896, + "sha256": "0e34223c5af4580d4405d214de309df4c69fd0f0eaadbb4ec5095645a13822a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000349.jpg", + "bytes": 27547, + "sha256": "a5dc131a3497e37e694e1ece7dcfcfa8f23db527d2845f1428191d243c5c6423" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000350.jpg", + "bytes": 26537, + "sha256": "81937dfdea66787c712a277fbf9daa85a7b6f4c30dc082649d1a906f61d0f1a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000351.jpg", + "bytes": 26681, + "sha256": "e3d0a746b309d9d413348b557c1002e744b25efefe3f38c3d36bdfe1fd872113" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000352.jpg", + "bytes": 24411, + "sha256": "1474cbd206c63c16cf967e8a715cda9708e9553c20984b8e78289fe7e5d992ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000353.jpg", + "bytes": 22405, + "sha256": "e2813eb508e8cc3b3bfb431585420e931c4d03524e8dc96cb0e65973f630e5d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000354.jpg", + "bytes": 21550, + "sha256": "e8e0038f662713b9e77ed90dc01751a0af71ee5d736d0697038b4636636ca4fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000355.jpg", + "bytes": 20435, + "sha256": "664bbae56f6b1f937a724b59edc3649cbfc3242df22b8169bc59eb66f914aeec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000356.jpg", + "bytes": 19552, + "sha256": "1ef62e64bf1391c99a1fd31220ca88f49737bbceb0e8c26f2e1a8562bda9ff41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000357.jpg", + "bytes": 19492, + "sha256": "40037df45bab772391c6c32380e76d8e74b51b157fb07cd4fbca2b0620f18339" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000358.jpg", + "bytes": 19127, + "sha256": "3e12e0fbf57be24d641745d1604599e7dc8e36bc7e070925ee23ba378e1faaa1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000359.jpg", + "bytes": 19885, + "sha256": "5c34233a3f20f923dfb3e22024ef73bb9cfbeedec1534d9c800d225bbebaef12" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000360.jpg", + "bytes": 20173, + "sha256": "95bcab43465df7903436f61073ff249163e085d66ce06ed72207c08afe327c81" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000361.jpg", + "bytes": 20715, + "sha256": "dc07f53546b79dc0d69550a7ae47a555653ce85a5b9a32d6f539fd8130ee2a0a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000362.jpg", + "bytes": 19919, + "sha256": "42aed6511b56fdf1bdd7bc610a4af0de72313bafd63358c30e38918f81e6388e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000363.jpg", + "bytes": 19770, + "sha256": "ff6b48a02cf657e38f235b92e649bffc72fcfde2224353c078717cccd9538e96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000364.jpg", + "bytes": 19616, + "sha256": "589034a88e9f6ee5dd8039cc314d49ff40e06982631bfd74cdf0d4436da0f03e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000365.jpg", + "bytes": 19358, + "sha256": "685477e348a246ada652d951590b81b4f059e1484b9a474accf11ec3dd23fd2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000366.jpg", + "bytes": 18295, + "sha256": "354ba5d387ccf828646e8a9b4f7f323a5c10ab71af0bf13cb6314d05b9962eee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000367.jpg", + "bytes": 18730, + "sha256": "d4d51be3ec2b5f80cb1c7be0d129399211c26a21c2306e73f780d7436a49cf2e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000368.jpg", + "bytes": 18353, + "sha256": "2b91bd865e748d47f34255894a35a070e30d7229d3703ed901804acbed3da2cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000369.jpg", + "bytes": 19449, + "sha256": "e6155c08101888d1161f9522f3ff2c6408ee616b664510d9a0d40e31d92ee287" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000370.jpg", + "bytes": 18332, + "sha256": "e7f76962ef22ba4a136c6bdbaffe1c5c24da3d8c24a70becdaf33e77c0cecc80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000371.jpg", + "bytes": 17589, + "sha256": "7d0612a563b307beece65a511ef7a77a92fdfca4fa4a617dc1592d5bd6bb793b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000372.jpg", + "bytes": 16957, + "sha256": "3342937c38e10ab08d23277f8f06db071f9679df2ce9d45cf1294a29af874622" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000373.jpg", + "bytes": 15879, + "sha256": "946616f5be53c3fa4817d161d2c25677c78a227be9464b7ee250e95d33e33823" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000374.jpg", + "bytes": 15309, + "sha256": "2fc35f757b754df2ace43c67ffbcbdce3557d3c32b9863bfd741dadcd31edb37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000375.jpg", + "bytes": 14890, + "sha256": "eb060bd6278b6589ebe98cccb3af4489a8dfb63c079aa306d80d7ccb7d5960db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000376.jpg", + "bytes": 13156, + "sha256": "c3ce22c3e2fbc212738644b95577dbc60bc32334d97d0ea8babd46900a7f2154" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000377.jpg", + "bytes": 12451, + "sha256": "54c987ae92e8d4eb26060cb177af6351dff70227da1d66a0bd783f2e702fe4ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000378.jpg", + "bytes": 11857, + "sha256": "fa260a2f33153dc1094aa33c25c9b7313b5593979806d868bf1c98ba0d60d112" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000379.jpg", + "bytes": 11039, + "sha256": "7a9509961e6341a5bca4164c2fd0adcd032662b17cf514eb29bd626f962864b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000380.jpg", + "bytes": 10146, + "sha256": "850b1af89176dc757b6ae02a522be78c275faf89b8cab0369c373a8ef9474db4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000381.jpg", + "bytes": 10531, + "sha256": "785de68146fab32f0c0aa03b6f9ec047332d39af9491e705d4f3749524c56135" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000382.jpg", + "bytes": 10468, + "sha256": "bbd4fb1485e66a9539d229609f7c578806b96fa0acfbfa42556a442d175ffd1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000383.jpg", + "bytes": 10461, + "sha256": "2ee290ef4466a2bb32d4e2ec229f28a192611bf4db69f404c0d92dafdff78aab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000384.jpg", + "bytes": 10343, + "sha256": "b81e416ae377cc7fecdcfd77c2c28c68cacc6f6f04ddfbcb9da9854765341442" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000385.jpg", + "bytes": 11051, + "sha256": "7b805184579b6012bb855871ada752cf94c749f59e83281f80ba358b6fccaf61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000386.jpg", + "bytes": 11872, + "sha256": "af045fca3686818234e3c23cc871b2b88444569ece23d835e98c49fbb6bf43be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000387.jpg", + "bytes": 12695, + "sha256": "2c5e93da150846c2dd875ded7cfaa3b5db30f8e2bd9d612d32691724d35fe7c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000388.jpg", + "bytes": 12677, + "sha256": "413bc4bc02e9784d313050f843e959acbd586ba85ed90cf4302bd2dce6c358f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000389.jpg", + "bytes": 13473, + "sha256": "d1636a558dae80a5655e5361af09df789d450cc9169639872658e1141630b446" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000390.jpg", + "bytes": 14418, + "sha256": "720e9f24123a6510f6cd043b0e01c5d8394bff851f9c5f986d19df44d6800851" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000391.jpg", + "bytes": 15454, + "sha256": "1c7f859f066a210528792c40d58a99263f041ca67e9f150631b4e78274faa4ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000392.jpg", + "bytes": 17924, + "sha256": "33eccfd4d3134cca5c40309a0b9f4036e7c9494dda1a04ee229918dcef5bffd5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000393.jpg", + "bytes": 20570, + "sha256": "afe7f96d71b993da6e60f5ed444639ba2c5ea9830c43e1c007223ec1d3a10280" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000394.jpg", + "bytes": 21460, + "sha256": "720877708a117cea1645a6a83c99fc39b6383a25ca4dde108374ded538848084" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000395.jpg", + "bytes": 22530, + "sha256": "ec5ebba35a7d07f2b85643d1fab2af22d8f73b77a0a2fd5463526e63376c5ff3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000396.jpg", + "bytes": 26632, + "sha256": "03406521169778eb8119dd7ffae4069655560d99d6b4b03eeecb6cb1bf5fdee4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000397.jpg", + "bytes": 27931, + "sha256": "037bf4964775c4a82b247b5d92f504e990eb127e137318ad5c4c421d49f9911b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000398.jpg", + "bytes": 27817, + "sha256": "51d4645e047570680c6dff7072759c11f14880f974b60fe6fc16a834cfa6dea7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000399.jpg", + "bytes": 31602, + "sha256": "ca04006bc86a6f50d81420647fbd5f044ae191f5d8ac905f027ea7a8eff46e96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000400.jpg", + "bytes": 33051, + "sha256": "d09a88709e55cbecc08a57163df5dd20bb73b632d9e86017774c8485b274f373" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000401.jpg", + "bytes": 34545, + "sha256": "f50f061f1551b5b3cc100cce4c34ee2b364c699dc847ec6d23cc5597c28ea9cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000402.jpg", + "bytes": 37629, + "sha256": "3486fb95ca63c9741c518e1b37c69cc195a23035a8a49073a017bc13f75f2404" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000403.jpg", + "bytes": 40925, + "sha256": "d5307fdbb90ce0b0be31eb7c15fd340f7cabe1e1c9ae579fccd9f7e2e92ad2d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000404.jpg", + "bytes": 40053, + "sha256": "2fbd36b9a2bd2526e7da12408fc61972923096e4728e296850720fc2a3d49690" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000405.jpg", + "bytes": 40518, + "sha256": "a0291bfc6c62b5d32b0d76a92113e2e55e80e363cd7d1dee9bf9a30d48ce07f7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000406.jpg", + "bytes": 41891, + "sha256": "39ab74bc7b2ad3cebe0f688e84a4f72a38543c4192de73d28c12864554264aa2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000407.jpg", + "bytes": 37856, + "sha256": "03e52048aed95c6e3d0e151b12b56653334c49f1ede1adac033452c77febd4f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000408.jpg", + "bytes": 40718, + "sha256": "7e320a2fc7fcdf87a9b58f1ceb7c0c6a31e3fe880bafbcc7fa987abbfd11f9ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000409.jpg", + "bytes": 40295, + "sha256": "4c8289a72efb5c1ac78b97d8fc9ecf8c3036772dc7e4404a56617e79744fda6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000410.jpg", + "bytes": 41717, + "sha256": "cb405aa01e48f228fc5c448c67141c8b8d01dda531bde597b6bdbfc4b50ebd73" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000411.jpg", + "bytes": 43322, + "sha256": "84b9fd4bf05c725b926058989ee9750f5b1b1ca3f8f53e43656904fdde54361c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000412.jpg", + "bytes": 43170, + "sha256": "c564a45bcc456a549db1795cb713db323bce044d7382879aa13a77ed55adde6d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000413.jpg", + "bytes": 42999, + "sha256": "55bd7fe173244dfd78c090e2f582a76befe9fc8e9f7285f5e5261b7c6df4b321" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000414.jpg", + "bytes": 43403, + "sha256": "34747aae4270a916aaf8ec30ebdf4df962cb06687e09ef96b068af7fc0769831" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000415.jpg", + "bytes": 42711, + "sha256": "c90e6a118d8071410a098bd06d9614f7a65e6fb0ac579cee63e978f8b4a4f143" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000416.jpg", + "bytes": 40900, + "sha256": "c17c26d814b7fff3fc0d14daa32a3948d7e5629c7d87c0a398c9861ace66c055" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000417.jpg", + "bytes": 43563, + "sha256": "682755f34c62b7a6e9de76c1ae4d556982dbe9d70cf24f2b6376b6d4995ad10e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000418.jpg", + "bytes": 42561, + "sha256": "ee7c2512cee10b7adf6ed437b06db2d8a5cc96afe401ba0ab3419759e61de1d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000419.jpg", + "bytes": 43318, + "sha256": "72c580d519a3ea41575e342bdf69a76c6a60ae80a77ce7e5647efec76ee93d94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000420.jpg", + "bytes": 42802, + "sha256": "ba2d2e6e044c24fdccf5a19d8ae19f2e439b9a2f5fa05477385c31b7497a2c23" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000421.jpg", + "bytes": 41238, + "sha256": "5681d347f880dc24b62cc90b29c87107edd0dc9f4a252ba038928602655a1d44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000422.jpg", + "bytes": 43197, + "sha256": "325f7797ebc66dd573f2af674c5fc00001211dcabb1dc802565547f0213b26f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000423.jpg", + "bytes": 43213, + "sha256": "f2b7aa362e6073e65be1d4fa6069cd11cbbf702bcd5104a0ef37ec90e1ab1ba2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000424.jpg", + "bytes": 40682, + "sha256": "e9e21b0dd0bc1ce6baacd5e37d7c87dda15afc3799737aee8b54cad75a30fd77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000425.jpg", + "bytes": 43090, + "sha256": "d3d36db48507fe67aabeaaf3785533b8d06d8468dccafef4a058f5240743e3ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000426.jpg", + "bytes": 43294, + "sha256": "4b7e12b0a93f9d2baa0185d68f6b66b45d924f25b08735b1a6677ad6e9c523ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000427.jpg", + "bytes": 38284, + "sha256": "0e7aa94b68704b15ade705084c017d53f9eb59a53ebe02576c83f9dcc7b1eb0a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000428.jpg", + "bytes": 43182, + "sha256": "dbaed821215706604ccd82997e6a5999c3cd365f73a2f15277e4434d9663e701" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000429.jpg", + "bytes": 42167, + "sha256": "0d7fd67fee5a0a8b322bd254f90c5dc33f93f9be9a3b7bb35cce707fe0c90c38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000430.jpg", + "bytes": 42755, + "sha256": "4bdd581622b15198817ca1d59c502f88a6fc9a26194b0f7fb41dd9f81b4e77c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000431.jpg", + "bytes": 42682, + "sha256": "bf58858613e78700f06e13549caa76f10d59a3bb7d0c842b82e46ef6ded2ecf4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000432.jpg", + "bytes": 42905, + "sha256": "970a223aad253c9c3f7204c651ae00619b56a199e3632148b14415ff3c6f4167" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000433.jpg", + "bytes": 43275, + "sha256": "a2ba88bc8fa644065fea502c2846f5c9a1b1048d15b21f9b9eb462442912e9cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000434.jpg", + "bytes": 42946, + "sha256": "fa5ea2628cfbdaaf1bdc8b9b6fcdba3b6156a5164440461157e28ed088454025" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000435.jpg", + "bytes": 41952, + "sha256": "75ae1896cc572566ad31110a9a8a14f7d27354a8e9e828695226e0f3b6ed4f6e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000436.jpg", + "bytes": 42489, + "sha256": "31dd55bf215d4a856a8758ed45e48926ea3154088eece2409be820dda1e1daaa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000437.jpg", + "bytes": 39657, + "sha256": "26ed7b021ec9a04113537e9f91ced05e28b29ee9b799a89aa5b6e81d3e2a0b77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000438.jpg", + "bytes": 40450, + "sha256": "24b24bde3416f1c2d1839d3996a134be31cdbae99fbf6ce2fd83a6c76e932d4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000439.jpg", + "bytes": 40370, + "sha256": "8d390031d396af8cceda33e7dfc492a0609db4c31c0df1460f14196e3a7401c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000440.jpg", + "bytes": 40354, + "sha256": "a10b343c510848a7925c5447adca1d7764bef770f51c85b5044f2b74103c5c32" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000441.jpg", + "bytes": 41270, + "sha256": "6856a24ed99940fd7f814d4845f95eaae4db1ac2f2e85b96d86c23cd21579326" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000442.jpg", + "bytes": 38667, + "sha256": "87650c03844a0ccd7af259f12e5f3812a1c512b6f9c8714b98b9b93f6089c739" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000443.jpg", + "bytes": 35351, + "sha256": "6829671483240b5f232499bcf78aefd1d4d1cbdd74574c858e7df67502e5c7c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000444.jpg", + "bytes": 38574, + "sha256": "cb701d0ff403df197532ed62a7558d1ed35735809311f61018bbad78159e5ee8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000445.jpg", + "bytes": 37339, + "sha256": "cf94a358a1607afbc4f39abe257b30997475abdf92d55667f8fc4c0e86380c66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000446.jpg", + "bytes": 36994, + "sha256": "27cbac891ca84e37c75893f488525936ed3dd3559c2dde7d330052cc4f1f2669" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000447.jpg", + "bytes": 38023, + "sha256": "ec4f0e6071a6d84f23a265e9aa21f176fed0f954c616cbc74ba58e3f75bf8eaa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000448.jpg", + "bytes": 37861, + "sha256": "84d8f2cb02122eb29b8b419e43dd97d08d916ecd13fcee402e8b8e815fe6c019" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000449.jpg", + "bytes": 37214, + "sha256": "def95c69898fd8ca136546204685ca436fb0912699c17b5f4130ee0752551232" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000450.jpg", + "bytes": 37890, + "sha256": "e3c9abc31c3b288829bbbdad78a7e37727f6e6c0b8eabc4cee768c9cbb9591fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000451.jpg", + "bytes": 35957, + "sha256": "e45d6dd516cc77e93890ac0d3e2bfa6c2c9247d7b1f26035e31021dd36f3e500" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000452.jpg", + "bytes": 40225, + "sha256": "50e5f2bafb001dcda0d4a0071f87ccbe5af8036d77bea6a902184a61e218195c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000453.jpg", + "bytes": 39979, + "sha256": "e14e9e81eeebee3a23177c898c107b3cbfe99b49fae68e8122cd40f48ec6f84b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000454.jpg", + "bytes": 39329, + "sha256": "5e1fd0f904871df09bc0a2b45204f2b1646716493f9ad886abb26c4d0071e301" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000455.jpg", + "bytes": 39928, + "sha256": "3bafd24b893a2417fdbef1d4e96ed8b4e65e08f3ccea420d7cd70757ac1100c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000456.jpg", + "bytes": 39132, + "sha256": "4c3e9c90072254ec55fa39b5651a34364e4bd6fd726f7a8c5fd76d43483e1b36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000457.jpg", + "bytes": 38570, + "sha256": "35eef7a0266fb27e4cf42d6145e389ce5334b7eafcbe488fde61192b29965451" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000458.jpg", + "bytes": 40511, + "sha256": "e5353f5ef1e49045a2d9699680885dcd7e049f69ea99625c23e7862f7516d25a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000459.jpg", + "bytes": 40341, + "sha256": "70792c701ede3e87a0fe97cc32b13f15622402a7d3ef7dab9b48cd86901451f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000460.jpg", + "bytes": 39022, + "sha256": "5c6045dedcd52d0988272b503d4c7ade7b48763b22d6ba3ba11aae619e785b0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000461.jpg", + "bytes": 40641, + "sha256": "b346ec98e53134a9a9ddc99baa23b5e7042c53817f731a28b44561497adcb461" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000462.jpg", + "bytes": 38814, + "sha256": "eaead93d865065a3d5a2d0f58df45bb55f6a50f764effff2e80f2e9891388ff1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000463.jpg", + "bytes": 41481, + "sha256": "245718002b61c18b74054b3ac4baad42160beb3162f438172681eeab1afb7f80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000464.jpg", + "bytes": 41713, + "sha256": "552d27d76b9606c7276725286016aa6b4ceeebc30e9e25bf59484f92052050d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000465.jpg", + "bytes": 37294, + "sha256": "1b3b23bc29a754b1be988e09cc5e9ad3cd720fe7d155443b73176e7e3a7f7cda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000466.jpg", + "bytes": 40282, + "sha256": "ae7e3f685c752c231e45172da4a90512ad1c44c0f902d7ee8261729f49ffa39c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000467.jpg", + "bytes": 41068, + "sha256": "655bd6c8d67180a38b13bf8f6aff352020b5c66cc3f9a5034255115e63d89c1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000468.jpg", + "bytes": 38586, + "sha256": "8999fd07ac6c94f25faaf88f2ec6d410706f6a6e091d4459122c2772f01d499f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000469.jpg", + "bytes": 42109, + "sha256": "9bcee2ee18f7d2dd7033ea2206dfbdc8e8d5640055eef7931e3b153c6e5e38e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000470.jpg", + "bytes": 41725, + "sha256": "10159a138cdb13d54b4817e224dc5d78b8943e74fe987e1e44329904feba5dec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000471.jpg", + "bytes": 41531, + "sha256": "5be349ac4f9d687630bea0500ddf2f8152808e250c65b7c2ced3529a7c924107" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000472.jpg", + "bytes": 40850, + "sha256": "131d04c623ee039d9a83b3785cfe09640ca63afa703c1b0a6abe8ca03b428a4d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000473.jpg", + "bytes": 42060, + "sha256": "e8fa6fa31b268eb46e15d70bc2545679f61a242764dd3c63569707be14b1c5d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000474.jpg", + "bytes": 41958, + "sha256": "5d1ed1532b32bdc01e0d31045939b7d8cdf30c6bc1e351164d9921db2ae41e2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000475.jpg", + "bytes": 42073, + "sha256": "1a92bd85d36a603991babb4132abfac8f6569c1a09609a7dbf7a11e6df212533" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000476.jpg", + "bytes": 41255, + "sha256": "a5e73920b207e037e526492e882d67d43b29c239d58159114c3a347a67c0689a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000477.jpg", + "bytes": 43018, + "sha256": "05b32a4b204e93004136720bda519ec465b37b23e6160d40657aff069fa339fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000478.jpg", + "bytes": 40817, + "sha256": "160944faa8e4de2863a9f61bafa19caec4675e40db2c1de92ad0246e780ffe75" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000479.jpg", + "bytes": 43047, + "sha256": "05dd83692beef1b596c1dc6a8d52d4ee14aad4618995c67d009622b15f26563f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000480.jpg", + "bytes": 42972, + "sha256": "5e9f4f182f05e3e4ffdbfaaa9faf226ba5061316f81f6b04a405741d7799ce95" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000481.jpg", + "bytes": 42700, + "sha256": "c138297d82bcc1c021eceb8419c2b344c4f5806e16bfd12e171adb6a3d4865a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000482.jpg", + "bytes": 40625, + "sha256": "baa376d16a72a5b975e870909001c543e4f99f6fbffee380f6dd796ef0ce9e3b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000483.jpg", + "bytes": 41564, + "sha256": "8305e70cc8f5a19cd0e2a24a23165740a490b15b26568a703eb468057eaa9ac5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000484.jpg", + "bytes": 40206, + "sha256": "13e76cb478a647e9f6839ce5041b49cb74a2833cd55c37c0f55fd09643112184" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000485.jpg", + "bytes": 39687, + "sha256": "bb4021afaab1f4ff015789890117afc68ad5b68bc9a336cd15da3cd6ad71159b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000486.jpg", + "bytes": 40720, + "sha256": "e387dde553e79cf6c6eaf96843c7a8cd85520fe3fe9f7332c361d0057606f53c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000487.jpg", + "bytes": 38519, + "sha256": "47dd750263b894d70562c8b9112bef0b8b8dec8ef0d74aaa8b2f3ffdd3ac4fc3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000488.jpg", + "bytes": 41581, + "sha256": "3d4d2d707ab6edda4a2c3a985fef215434ab74f326faf34a9723dbaa8d46ee22" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000489.jpg", + "bytes": 41995, + "sha256": "d65ba90a482204433f8585fb43126003eb542c362208126fedacc0a71114e826" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000490.jpg", + "bytes": 38726, + "sha256": "070e5f5e48ecfd31aaad5ac71523ccb6e1300a21846485231ec84b200eadfefd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000491.jpg", + "bytes": 41788, + "sha256": "471d2256853a681230b345d0aa031b26e89aab37e5d2c365db0b2fcb2dea442d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000492.jpg", + "bytes": 41315, + "sha256": "23a58721039b6c17f34bbd58df693373792534726abd0c50c4410755b7a491f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000493.jpg", + "bytes": 37923, + "sha256": "e23e1b0343e3eab75185bb8fd4763f88d40ccfbc474775e70d09759cf4596cbd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000494.jpg", + "bytes": 39973, + "sha256": "ef31ba993b366e9a16292dcfc55254614f2b6fc03f57f02640037e02c684dbab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000495.jpg", + "bytes": 40417, + "sha256": "df3d8843440c87538b930283d0ab23470342db4fecc5b6840410eb9b983100a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000496.jpg", + "bytes": 37020, + "sha256": "d9ca4a24061c8413010c966dc7f6629398e8be923b27042811ce9ea94c0b4bf1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000497.jpg", + "bytes": 38599, + "sha256": "1887186470be32161652b03ae7f9fb9152936ca657f28a8897fa45f91f5252bc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000498.jpg", + "bytes": 41278, + "sha256": "30f98ba86571b1e43256302248b6351d6e77a49bfe75d14b33ffea76fd11d03f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000499.jpg", + "bytes": 41220, + "sha256": "d8b75f804a28c281dd21324020bf4cced6370d1da15b5e77268bcfe4087a0f56" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000500.jpg", + "bytes": 38855, + "sha256": "c3cc39b37f623128b81f8ce7131fc285012082a3b8ed76f8bc94a5f5d47431b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000501.jpg", + "bytes": 37900, + "sha256": "11bf016a0bc690d5870b03c296b942af9f487fec5f1c92c22c03f31bdf1b4e21" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000502.jpg", + "bytes": 42528, + "sha256": "5f043f76b3f6d3afc696676441fde7c630e4ce2f8e8115a2363472cd4861082b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000503.jpg", + "bytes": 40628, + "sha256": "272725c46abae225b297aed1061165a210a92672b501c9830c7ede28fcc39707" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000504.jpg", + "bytes": 42466, + "sha256": "a2764e6f5a94204274a114731e10e4985fee1432a37668ac84933e4dbe19628f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000505.jpg", + "bytes": 42968, + "sha256": "41199d5e4b4ca56dc9b751c57c714a155710c521b0004385044b8bc5b4d8bf50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000506.jpg", + "bytes": 42987, + "sha256": "9b598af427ac99b68e0b039ce6fe1685e0739bec5f65c2d15e4927e75a57e601" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000507.jpg", + "bytes": 43019, + "sha256": "6e0381dcea7bc900adf9c6c90616ab300f7d3592b52c29f3b7a4440b60b28671" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000508.jpg", + "bytes": 43602, + "sha256": "7ddc2fb68cb1eff9dded7427360cfe43beaafe3364d60487e41dbc0d6311d9d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000509.jpg", + "bytes": 43006, + "sha256": "9f1ca0f32b3dccf203a6be4b3724c471ab322232189b7629410ad7774137d7ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000510.jpg", + "bytes": 43334, + "sha256": "c422dff5c9ffbbfce3ea4d59c5c5dfb13ab110031e63d3f7c00413d9fc14611f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000511.jpg", + "bytes": 43415, + "sha256": "50539c15a9c1e7cf858ac480606531f714077b40829ffaf1c62232f3829d65f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000512.jpg", + "bytes": 42125, + "sha256": "8193cb79d93ea1a9339d166aa3f281091f4ec0819fe641b2b5152bf845a71818" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000513.jpg", + "bytes": 43443, + "sha256": "437bfef23253e734c198e49b6c75bd216b47879466b45a6e9f1b1edec3bd4601" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000514.jpg", + "bytes": 43026, + "sha256": "0e584cf5ed63684b8692db9d2c121258d42e3f8221ccc2097736aa6d354b590b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000515.jpg", + "bytes": 41103, + "sha256": "641d70fee849b0aad3cb7d1ec86637ea10618aa5724b0f58d0082fe2c1a7a8ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000516.jpg", + "bytes": 44544, + "sha256": "be5500b9e03474389d648efa6fced6d6a4273c7afe364093cd0e35ef5e6a64b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000517.jpg", + "bytes": 44608, + "sha256": "74617252d397a913b579d19e3e10857d517e21abd79f52bc470414a41e32e99d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000518.jpg", + "bytes": 41937, + "sha256": "49a4ada270f0d5176291b403791e1451b45ca4088ebe8832eeeac2aebe581d64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000519.jpg", + "bytes": 42954, + "sha256": "6745c5b1ccc547f6936a7cc0f152e423817195a1e96e18ec7641feb137cd88a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000520.jpg", + "bytes": 43487, + "sha256": "df58675b20ae259c9544f5220247a52d8b0b5fbd57f628368b24033d06e8c7fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000521.jpg", + "bytes": 39683, + "sha256": "d36b08fb79fb80029dfecedfd26d143e9a1a7960ea132a560a3ebae65c075810" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000522.jpg", + "bytes": 42809, + "sha256": "163292b0fc900a7957787e109a4c6a21d52a60a47efe0eed741da1ccf3b176db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000523.jpg", + "bytes": 43324, + "sha256": "cd4d365418528b83bdad6734b6e5fe3efd447362ccb90d0ce27cfeeb3aa03ff8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000524.jpg", + "bytes": 42921, + "sha256": "a9eb02cb6c251a039c3d721ceb5af2d20d8fda698e6d908d8eb1478b5fc0dcc2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000525.jpg", + "bytes": 42374, + "sha256": "72a4a911528d78fcda5976c41033820ff1ec0edbb4234092b807a341ebd21242" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000526.jpg", + "bytes": 42195, + "sha256": "b7e88c90168b22d4a36812183649ff1237312f1265ed66b6411284a444fe935b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000527.jpg", + "bytes": 42181, + "sha256": "170960ec3d3afdd231f02c3c220bd967ee3443f733b25109fee880bc57510dc1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000528.jpg", + "bytes": 41307, + "sha256": "3c2973cd17643fb6a8f092bcb164112de1b11a4dc0f9d1918f9166892d26075a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000529.jpg", + "bytes": 41711, + "sha256": "528d091fe8f73d3d2befbe9ec212f6c4e7192fc8646e83b44643396161de7221" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000530.jpg", + "bytes": 41355, + "sha256": "e3c4c547dc2fe1093b0791114d7d8803dbf44884f3200a2f1ed9474a8f301fd9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000531.jpg", + "bytes": 40901, + "sha256": "79440bfdc1313759193e9a314a5d1ef3f08ef7eab29c38ee6845d057b4ab02df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000532.jpg", + "bytes": 40264, + "sha256": "c134274bc13b086ad46c28600977a1cd08ef3e1566fbcbb9688ccaaa3dd72b42" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000533.jpg", + "bytes": 41531, + "sha256": "9d7ecd126f3be0135670c77f9c874ea56710c025b25d4cc0ce19b2f6a829dfd6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000534.jpg", + "bytes": 41928, + "sha256": "62784f9298f9bebe1a508e4305ce1c397851989d6b6b4936b3394b2c36522e8a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000535.jpg", + "bytes": 39422, + "sha256": "b86e0395cdac0668f48750980c21c2afc9a83ffa9539298e8e09a52003bb4363" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000536.jpg", + "bytes": 41894, + "sha256": "5fddaed5421c72af2b1ce18a355b1da286b1d9a9142e382597e5c06cf649c70f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000537.jpg", + "bytes": 35889, + "sha256": "28a1e32e5a4735a3d1323c2b24dd19094776e39a843b698f12f6232331e351d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000538.jpg", + "bytes": 37502, + "sha256": "3f6a4808e0d59544156c3f16c5538697831b0e12b5fbc40a17674ceaf1a9a734" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000539.jpg", + "bytes": 42425, + "sha256": "bb3963ad2cbcca447632a13d8efbf88057eb091cadeac2815ba4a511a9f4cdcb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000540.jpg", + "bytes": 36893, + "sha256": "9aabeb0685ec5aaaafaf08680df4ab26074fadbd08f8bfd7d3b5c6d16f941cec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000541.jpg", + "bytes": 43270, + "sha256": "2688f9c499f3f19f51e198ef1b30426b02e9936630444f8ddc342fea4dbbaf04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000542.jpg", + "bytes": 43388, + "sha256": "cceb11ca4a0a0fde8952bbeda710a107e2494aa209a84daa3c0a348baf992c5c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000543.jpg", + "bytes": 40558, + "sha256": "b281135ad0d09214a5a1511328cb480ecd6a814a3ff1e59b62a5d2762175df36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000544.jpg", + "bytes": 43035, + "sha256": "983fdc4536c40cbefa1a574c65a800fcefe65898b8b50a9847cc1a8fd322e8be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000545.jpg", + "bytes": 41263, + "sha256": "bfd36f69f6c7044075370234010860956286183050e7f0827e235f1c2303263c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000546.jpg", + "bytes": 38990, + "sha256": "5fa7a09df1f6c979e107644853d488b27f33dc11600db0ddfefefdb4ea627b3c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000547.jpg", + "bytes": 44493, + "sha256": "3ad17cffd58a4aa276a51212c1c57cc885d40fa5c5f76446b331595f172715de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000548.jpg", + "bytes": 44462, + "sha256": "f1c5dbe10a6a0c171bf369113170ad1e641c4fb3112f68974b8fe3b6b9aab7e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000549.jpg", + "bytes": 45963, + "sha256": "eba3b0cfe96527e758ffb3da7c6722baf0997516737ea4589d02d28ccbb0f96c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000550.jpg", + "bytes": 44110, + "sha256": "9757b0a79b10f6f3735fb7bbe651d629cf494957c88f3f4da6eaa1531d9c7518" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000551.jpg", + "bytes": 43370, + "sha256": "59e353108596b3dd729055a53d372af3c3d461d0c221e12fe7c3aab47e803130" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000552.jpg", + "bytes": 45768, + "sha256": "fef61c519f6e177695e1237abb45b0f753be4caa5dbe2da73b101fa22b65126e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000553.jpg", + "bytes": 45079, + "sha256": "0d08f1b03e34069f738455269cc209d4d0622fe57d695fcbeb4296dc762dcdb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000554.jpg", + "bytes": 43568, + "sha256": "ae332de65346bf277695609a27d352b8e06198546933b135dda4d8a336b5199c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000555.jpg", + "bytes": 43440, + "sha256": "46fbdd82f3e0917f5700f1d0a9f6f64ee952c67e3ad1e13d6fb49ce0bc544dd0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000556.jpg", + "bytes": 44462, + "sha256": "3b675ac26b982ee5ffc668ef897d61d364baacc57a965500a7cf4bc5e84bbe60" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000557.jpg", + "bytes": 46618, + "sha256": "b05a7b478b43f1dd118b4a0a23019ac9ddacbee872054c86dbfaf2095e25848b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000558.jpg", + "bytes": 44184, + "sha256": "037d148304efbb596e2288625ef5d5f5d59285f2b997f36df52d82a06ae5779c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000559.jpg", + "bytes": 48305, + "sha256": "2dab12fb5e3d0927f116bf76db0d9064869c6d026497f6134222219493626fb5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000560.jpg", + "bytes": 45775, + "sha256": "da573fad3375726972e8a21ed98c4a392c2af411cc6f0fabf08566c99fb28fb8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000561.jpg", + "bytes": 46442, + "sha256": "7c905d2f9d947743df72649eb8fd3be5366b725cd15d576a53a52d50594d67b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000562.jpg", + "bytes": 48054, + "sha256": "7090b98413346614b74a23f01afa52b0ed96254a913756717cbef6947738af7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000563.jpg", + "bytes": 48211, + "sha256": "f1193a8a3c985ca6f596447bedb035b2d0d56daf2ca9fb93208387b36fc01fc3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000564.jpg", + "bytes": 48188, + "sha256": "3847cb4cc9253b1d221a8f5bc76da3effa553830ef1dd18c5118aa3c273df154" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000565.jpg", + "bytes": 48288, + "sha256": "2a0673da61a71c7afe5dc09199b1858abde32fe5b025941aa051d64407585393" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000566.jpg", + "bytes": 48170, + "sha256": "61626438d3492f5236be413606f554a674b330612103744696a21780d93940a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000567.jpg", + "bytes": 48672, + "sha256": "6278d9df212db238d9e1e423ea7b0a02c01c9907a42ca5bbec216934d4424b69" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000568.jpg", + "bytes": 49004, + "sha256": "944f5058b871c5e9a3140b42d480fcc9f2e4a9bf57379c92891ed7aaed8ebe59" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000569.jpg", + "bytes": 48579, + "sha256": "626632ebf4aae58853879ee7e645f18cadd34e91a6e0f07090d25391101aebf0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000570.jpg", + "bytes": 49676, + "sha256": "dd38b952ead2bdf799a05991a153255a31720bca3834034bb5c13aed0b72cadb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000571.jpg", + "bytes": 50366, + "sha256": "62c4509a4383a6f2a7b834f47ca2089049aa4520831b8e85ad09356499b77306" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000572.jpg", + "bytes": 48540, + "sha256": "e1a9bb8f895896cecff4ff833e19b425999db599fe39646438854b8ddf10d070" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000573.jpg", + "bytes": 47202, + "sha256": "2255aeb3acc4afa61df03c8f6a42951a043e4c18861bb40701b566fbf10cf0d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000574.jpg", + "bytes": 49227, + "sha256": "3f2a22d9a811a371467f067ad42dea9306d6ca33675113059376f44fe61044b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000575.jpg", + "bytes": 45498, + "sha256": "d4b35920699e1b8896a5aa46a5dfe3ebdd34490ab5aad0ef937d184375189895" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000576.jpg", + "bytes": 48181, + "sha256": "a02b4327b2b94c0bbc74a2f92d21f704638fa054a7a51abe40c669b01f0b90d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000577.jpg", + "bytes": 47808, + "sha256": "43aef64bb63900d535183d6aab1e63ffcb11999aebe875dab1041396df116804" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000578.jpg", + "bytes": 45986, + "sha256": "4269c182491aad3fb942792cf18be33f4548f6710c6366bec987126f6793bfb8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000579.jpg", + "bytes": 46464, + "sha256": "c466ee097614a9e909b8e38163c2630590211378e4514418edae89ca49122a7b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000580.jpg", + "bytes": 47596, + "sha256": "f175de1b9d3e3036d1400c419778a6965433dcd1d8943700da334ec7c0920b91" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000581.jpg", + "bytes": 46652, + "sha256": "54f0cb8f3878d658cc089baa1ac673e78060f898e4b22da991bdb607b7c62e8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000582.jpg", + "bytes": 45393, + "sha256": "c3069b8848c8060323a5b72967730fbc94ef212c51d6c9713e7a675a9bd0a675" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000583.jpg", + "bytes": 45248, + "sha256": "ae8ca317f92795cd74ba560acefaf954fc29a723e09aceab8481229b605260a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000584.jpg", + "bytes": 44750, + "sha256": "0582ab2138c2e5547bc99d7bcf8e729c3324dad0a18c499bbc489ee7a58814d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000585.jpg", + "bytes": 44736, + "sha256": "b58c0145e20b8619bba573e5023636b0c4cfe693c968fa94e994cb0e7afd4794" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000586.jpg", + "bytes": 44654, + "sha256": "4d6f2043251050652665d1fe29dfe611ae4b27e76e4b61b94139a2664db00358" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000587.jpg", + "bytes": 44655, + "sha256": "ef23ccdbf3ccf286661a3e495a0bf802908aa0c633cea23b4a696ff644e5e7a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000588.jpg", + "bytes": 44715, + "sha256": "a3e643433167048b9a9b237dfad41196a21901a3f948ed2a9712e59a41ed90af" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000589.jpg", + "bytes": 44725, + "sha256": "b2133c3bc4455e8baa8fdcb0a53706d2e3bfb202be381468b9a7667819c14fde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000590.jpg", + "bytes": 44360, + "sha256": "0177d2d88d02f60577370ea8394fce1f2d4892a157100c5b2a9b45de5cb942a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000591.jpg", + "bytes": 44092, + "sha256": "41e480e4182c57aea800b50723fca6e8d8985a8fa8497c0988e7c8b239d39dd1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000592.jpg", + "bytes": 39312, + "sha256": "292936d706591888bc9b47da43217c689283538f0c8865bdb3afd610d5f153ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000593.jpg", + "bytes": 40297, + "sha256": "250b5c70e9ad018b2280ba60e1b485d476a7d9c48ac8b63ff0a97d8550befbd3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000594.jpg", + "bytes": 34868, + "sha256": "c801f93eca079c93ff3754b53574c507249ff4603205ef38cbecaf5d6a7e0cce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000595.jpg", + "bytes": 30978, + "sha256": "0165fc25aff89ff34445a4047593408c5b9558a1bfa7185c8f9d495c98cea707" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000596.jpg", + "bytes": 29946, + "sha256": "d0d3e985730bab5dc7b68f57d0cfe5e4135b98e2a2a4197719e50a874144b61a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000597.jpg", + "bytes": 26787, + "sha256": "740be4ab96cb2298659fa41ed2b2ca2836fdafbf908c74357482ff0dece4bdc4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000598.jpg", + "bytes": 24189, + "sha256": "44c5364c197f2ffe963217f818b75334063b2d50e69bbcd4504aeb09c976eb0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000599.jpg", + "bytes": 23798, + "sha256": "9f4019d7622242ae9fc6ec917f40879ddf14e168597e6170cceae03d00bede74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000600.jpg", + "bytes": 24300, + "sha256": "edeb6ff0b0084ba81184b49524b2b3cf55bfdb246d990274d9fdb11b0f90da4a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000601.jpg", + "bytes": 24105, + "sha256": "a411d5357554622f65052011a0300406118053258035e62bb21ccc9a438b26a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000602.jpg", + "bytes": 25435, + "sha256": "459d9d278d56bbc76807f6899b04470c917a504fcdc9c6a066951b75dbd6fb74" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000603.jpg", + "bytes": 25505, + "sha256": "9282c9a9559672c99840bca205e1632e8cbc05897fadae0a117c1fd2ac3c7270" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000604.jpg", + "bytes": 25833, + "sha256": "070646e593af445eb2bbca83c55577033f53c5f1f0515326976dd1bf3c8eb197" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000605.jpg", + "bytes": 25738, + "sha256": "1594701570f73bf92ee5ed3fe236df037e070bb076151511391c5fe3a44af01c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000606.jpg", + "bytes": 25344, + "sha256": "9537b3fb34e780f7c48ece9cffd3cafec2d96cf4264906f02cb947638644fda9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000607.jpg", + "bytes": 25353, + "sha256": "2f956aa7557d2c767221bf04a7bc2895b733fb0d42e546bffa33e32fe6b2cce4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000608.jpg", + "bytes": 25423, + "sha256": "388b2fe587447ccae115642c2bd0a7c7580646d94b09c4f800fdf4f42b9cea98" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000609.jpg", + "bytes": 25287, + "sha256": "25e5822e7fb0c7f4e53f976cce0d57d21bf7a0abeb8f659bf7cc6fb6cfe019a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000610.jpg", + "bytes": 25310, + "sha256": "a0d3a4aea7a68dd96fbd762cef2bbcf4dd99126c9ab9200120e69bf26e3eb26a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000611.jpg", + "bytes": 25336, + "sha256": "36eaab1312c4a5f6fc20d524f93bcc3eaa2d39dfb3536303d7652c75958261a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000612.jpg", + "bytes": 25345, + "sha256": "b300e4467130855cf22d201644007824ca9471416c6ba898ab1f10cc08544676" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000613.jpg", + "bytes": 25438, + "sha256": "fa7a510c9494a9b36dbb0528313e66ee6db3eafc9334bffba6d1a8f1f53ce4d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000614.jpg", + "bytes": 25032, + "sha256": "3d2761c91ed9ce45babfebf95368a2200039c8caa9eef2f1f156219dd29cd961" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000615.jpg", + "bytes": 24073, + "sha256": "9ac182a71c850abe609ef2094e055f4baf47d4e10a6ad6dc2a672a520af54b30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000616.jpg", + "bytes": 21903, + "sha256": "9f0ac00cc2cb1eab78adaaaad29f09543297aacdd126b7e92c053670d1f89ed2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000617.jpg", + "bytes": 21257, + "sha256": "35e2f9295120a9a058f45dabeb3828cd4515a128361cf953d2ca221bf54fceed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000618.jpg", + "bytes": 20432, + "sha256": "b9dc197894cd1de0db38b8291d2c3805a9bbf17d8da08ab909ccd8e3be0c4eb5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000619.jpg", + "bytes": 20811, + "sha256": "c4c346c6f3ed2fb789751cbecdf752d59f9a41b35787254bb173fcbe7a509cde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000620.jpg", + "bytes": 20215, + "sha256": "90ea817fc2b5e0b37da34f9b1ee3ac903cc15b170609b25270b52374e66257d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000621.jpg", + "bytes": 20498, + "sha256": "690b406bedfc7e46560dfaab08c5b8cd67ffa9a02886fb85825861056ce4efde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000622.jpg", + "bytes": 20815, + "sha256": "a2cad428f63fcfb79e1d0fd36c39cca8e5a84cead7aa4a93df9636bb1fd87c53" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000623.jpg", + "bytes": 21201, + "sha256": "c95faed75ad6ab149bb04eddc40abfc2348475e6a5e151d28f2d3ffed39585b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000624.jpg", + "bytes": 21225, + "sha256": "c4da90c86d525ddf4f855fa106029760e336867ee16a307d81ffbd4a9429655a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000625.jpg", + "bytes": 21340, + "sha256": "a164c47fe2a04a79313a74565ab7614fb9f5b678d64180d62a7cc18a06899089" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000626.jpg", + "bytes": 21233, + "sha256": "eac7fc30341057dc6a24ac82f680e1d8e6a9bbfda06f23659f9939df895ee5f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000627.jpg", + "bytes": 21294, + "sha256": "5021b57d94747c3ec68a92c890c500d8dbafa8f84302f64764692d10a42ff2d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000628.jpg", + "bytes": 21137, + "sha256": "19b98ae33ac4e195396c07602f789d101c3c1b14f25c28388b61ec1fe63d79be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000629.jpg", + "bytes": 21342, + "sha256": "2062e6ec2b5e929d90304da3028e38d44576aeb10facfdd0129bad7ed25ef467" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000630.jpg", + "bytes": 21183, + "sha256": "f1226b3bb579d35853b4f0fd740bb323381b6084302c5be46c45d03a5dca789e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000631.jpg", + "bytes": 21258, + "sha256": "7ae011fa8628c055fff73f72a23a66aea94b38badf88ae16529bcfa72b653722" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000632.jpg", + "bytes": 21152, + "sha256": "1ff5c998a41cae35db76210bfec3b2e1ccce8293d3e7f5e9ce264c0e5cb5e121" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000633.jpg", + "bytes": 21089, + "sha256": "8f012bce93debb151cf50160794e62e0a495e9a1c34296af1c497962e5051a36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000634.jpg", + "bytes": 19953, + "sha256": "ea95c14f790348fd33fe95c471f91d59ea51b2f93fe9e9234b45c87d539b7779" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000635.jpg", + "bytes": 19744, + "sha256": "a6228a3e60467cbe6e6b0b153363cf6cf3f8642110be46f62cedcdf62a72c11d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000636.jpg", + "bytes": 19626, + "sha256": "3309897458ea3362c3b451c72e75c88b06b482a8e54409cfbba7690810aa74f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000637.jpg", + "bytes": 20186, + "sha256": "a2b2059a07083c2836ff1939c03da9a9b8b38d3bdb6f95fe54b41f68752715fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000638.jpg", + "bytes": 20168, + "sha256": "9d00a4e637609e5a0c7c692e7fb77d9a1f5c402e9306207ffe694573669032c7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000639.jpg", + "bytes": 20110, + "sha256": "8f9fd1c003ab657506f4e2123e7a3cb3dd060108a2c54bfd07ff8151575f8bd0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000640.jpg", + "bytes": 19909, + "sha256": "2f5840cb1578401c1aaeed30f7cc38e2d7f9ecfc57ecda1693bf356e46e20db7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000641.jpg", + "bytes": 21112, + "sha256": "8d5baa7c315df056d7e7d202006ab583190f87a2d698dfd46073d54ccffb451c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000642.jpg", + "bytes": 21273, + "sha256": "8ef44423a27d95d5eec36125ee3eea8a8acf60b6684679d517e7ba2850926a64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000643.jpg", + "bytes": 22403, + "sha256": "28e8722b0c699de11d00887b96eefc76e38bb8e7fdb2a695de0c251feff0b263" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000644.jpg", + "bytes": 22716, + "sha256": "92c975589764e243ac0f1db8a4f0a42bb1270cd70d1858ee6688ae93842e4ff7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000645.jpg", + "bytes": 24803, + "sha256": "a1f67e918ef4cbc6c45935f1cbb6fcbd9460b94e9e994bd6fe181adb5d3c8d9f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000646.jpg", + "bytes": 23982, + "sha256": "d33abfb278d345cc3ad3acaa07de834902f0012e30090d23a89489d0b8be72bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000647.jpg", + "bytes": 26272, + "sha256": "1a200527209d347c8016647f8afcc8fe15c829fa30c77182f2d2a98885ff4ba6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000648.jpg", + "bytes": 26115, + "sha256": "22e33d6f1035282423dc66682720bc4fbb88eb560920bbfe7c314162c20a34d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000649.jpg", + "bytes": 28549, + "sha256": "625b955415aab32c081fb092622d91d598e59d6802950b24f770c88875f295a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000650.jpg", + "bytes": 30739, + "sha256": "1272bf36bf135384e3bf22dd3dd8cdf90ed543b712e7839d828db7e2560588b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000651.jpg", + "bytes": 31449, + "sha256": "d9ef466fd7e042be002b9abd1b96585322a0fb00340a86535355502ecb2bcc9e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000652.jpg", + "bytes": 31515, + "sha256": "ebfb4dbd1c2db35d6dc954ba3ea554af79c7c447b7ea2b89b5c4d7c7afdffb06" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000653.jpg", + "bytes": 31646, + "sha256": "4178440e0e8f5461417c66e0b03b454d6395c6866fb79ccc3545cb6f6ac8d1e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000654.jpg", + "bytes": 31592, + "sha256": "29bcf1142f4ddfd48268d9e7ffb22da400a645a4c4a76865f6b0045a971d6bc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000655.jpg", + "bytes": 31669, + "sha256": "b9095efaf4d2be1a95eb0d9ce067e0f317428c901cc940a41d4e437ca657116e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000656.jpg", + "bytes": 31746, + "sha256": "79a8ba13db9446eed7097e574f1be2774311cac1e9af4f8662fd51e6d8c05218" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000657.jpg", + "bytes": 31795, + "sha256": "28dfea170c10011abf78e16cb46a2e78430fa4ddddd3021608c989b3590c4764" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000658.jpg", + "bytes": 32304, + "sha256": "c82c90702e9475851ebdcdf357ce2d190a5fa314988df3a0661db0c05e041ab9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000659.jpg", + "bytes": 32338, + "sha256": "f146ceaa57d4a6ae5392a60b4d809f52eeb73d1ca2f8133c6978ef2aa55da1fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000660.jpg", + "bytes": 32278, + "sha256": "5622ca2bd56b7e4c28b4a9ca595f297892541962fb33b99f6566a0f122af84da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000661.jpg", + "bytes": 32270, + "sha256": "1a09545bc3302f813da3cf2bb67f0ec391d854b3939ce4d9cb77ac99fe32b879" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000662.jpg", + "bytes": 32306, + "sha256": "02f75febf9cd9337ca10ebaa6cd0d0aa75c747caad6a4a259601ef208352ec55" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000663.jpg", + "bytes": 32245, + "sha256": "cca9790c7397cabb263d2c2a899481cdf5ae7f54150db6134d42189759947817" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000664.jpg", + "bytes": 27605, + "sha256": "491c4c73b1f2a0cd84568a83193964de341907432c4d2bacc02bb2723d1389e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000665.jpg", + "bytes": 27582, + "sha256": "de7188f230a40cf46e48112ce3eec05d49076855862076194279dd0a29ef22f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000666.jpg", + "bytes": 30134, + "sha256": "fab675b1591f82c89a8a5027f67bc8e42b05ac77c677f1065bf8a0338754a6c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000667.jpg", + "bytes": 31917, + "sha256": "d77af89e4f8e0e7e3705e457f80abd914e3e04a5aef9910caff99479285cb36f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000668.jpg", + "bytes": 34366, + "sha256": "1c4a1799c79e3b58502d4d78fe8d46fc0927fa4aff6eec358048d77f2b7667e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000669.jpg", + "bytes": 37403, + "sha256": "a8b3bcbc4bedcc723f668702bccab99f0943f35deb0a4da4b539b250140837b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000670.jpg", + "bytes": 40660, + "sha256": "6c4df7c7c0774539e52ff0ff79c4b3c34cc2ae778512f8b4d2de348c080fe9a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000671.jpg", + "bytes": 42024, + "sha256": "b32504264f5f572ca01bf504659b14dee87e411333765541627f22acc70901ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000672.jpg", + "bytes": 40752, + "sha256": "4531c01319126d4a0bd41731e750229705724a7c264d08004c5b6378c1e8f224" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000673.jpg", + "bytes": 49580, + "sha256": "e37f197e973d6363d2f5b4135a9c73d6a601430279f44c101508491795b3a994" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000674.jpg", + "bytes": 54829, + "sha256": "de3a32b609f99c7c1b8288389510f60b6dbaedb8d5dac381bf40444fcb6c87fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000675.jpg", + "bytes": 55371, + "sha256": "61755ebc9a0bf19e59b0dc860190cbc4cc8684263f3075edd8287bc51e90188b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000676.jpg", + "bytes": 55317, + "sha256": "8a082f0fecba965ba738805eba19eb2400d48462ba589413b5f8cc0dbbf8574c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000677.jpg", + "bytes": 55252, + "sha256": "3cab1839c25c0331d5ce3a886a9281bd31e0caf7a78051cf63ac4a31dc8e3762" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000678.jpg", + "bytes": 55263, + "sha256": "7212b1a4741923fb304c50f7bf28dc0b908edd4e11defc053e9666d1da4ea92c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000679.jpg", + "bytes": 55308, + "sha256": "942627b1a345234113c45be8e5c8dcc169259fb13f6b276f5dfd77779cfb53bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000680.jpg", + "bytes": 55285, + "sha256": "6c904adf99b0c720200756a438967a592108f4ab0ed36d211c60c608e12661dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000681.jpg", + "bytes": 55426, + "sha256": "76b7a5ed76f97931e494312916ff341936211f24aec5446f807c6d7c36aa90ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000682.jpg", + "bytes": 55221, + "sha256": "8318f4e9991fbe52115a25ba31e352bd97550a353ab464045a8a6944c9bf5560" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000683.jpg", + "bytes": 55207, + "sha256": "4863624a1c062eaf6dee3a96e03d73e2ed660de329c43e775a3f0ebbe2213494" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000684.jpg", + "bytes": 55185, + "sha256": "a1d968deb7f74a0605c0f726edd1fdfa97d3a13cdaa55b76df1addd1e62f9869" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000685.jpg", + "bytes": 55332, + "sha256": "4b894f1740862a7806608124365b5c982997ee693e5fc5934bcde968dd02a9df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000686.jpg", + "bytes": 51961, + "sha256": "a9da33a07c38ca8cfe780ea80a27a7d22d7e276070ff5329ec4faab063a48390" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000687.jpg", + "bytes": 48101, + "sha256": "ef55b1e72c449b1396a15ad3a3bea80758b383f949ff11669ba784d8acf70e28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000688.jpg", + "bytes": 42636, + "sha256": "5049e4241f599b301c0f6a4d32a5b01e884d04bc0d65f2bc94ca04c070d6636a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000689.jpg", + "bytes": 41781, + "sha256": "60e4f5aa5a03dad75b681802d0a02c0dfb844d91fa514f8b60aea963f479a415" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000690.jpg", + "bytes": 41486, + "sha256": "bfe35670702e7ea88fff5101bdf77b4b7f64ae38ea4cb64d41c0893f5fc0bda7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000691.jpg", + "bytes": 43874, + "sha256": "8eee1bbdb40aa4889cf63dcdd9fbf23fed69e87857c30c1b9baf1f18412d6de9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000692.jpg", + "bytes": 41972, + "sha256": "7066ad4402fac38af350541b09f7234b306ad84025527298066a779a372a0cf5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000693.jpg", + "bytes": 43195, + "sha256": "074d9067395f58653a47d58669259a8cd2f65d6a1701646eac99f24b57869b2b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000694.jpg", + "bytes": 41808, + "sha256": "a93e4ceb36a0e166be1f40bd043215f4a86e1608f2aacf6a55fa9ec195e4984e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000695.jpg", + "bytes": 41992, + "sha256": "4a6eb255629643d3fa7379271cfa3fdc92658d438a761ffd9230a2cb3b2c1855" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000696.jpg", + "bytes": 36680, + "sha256": "c16ae431a57a8a582b9f5c2692850de476df129213de371d95147b339f245613" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000697.jpg", + "bytes": 35253, + "sha256": "18e92ff35c73239c7a878987da379418a8e0f8b9221e62f4fc948f6d9d726525" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000698.jpg", + "bytes": 35345, + "sha256": "62a938565ac270ef95672d9f98ef4c2f3c07745666777379a3ad007ae2ba0c20" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000699.jpg", + "bytes": 35296, + "sha256": "9fc6bfa4f1450d857fae3aa62602bf6e5d723a2a037621a9eee91c9f55d3c509" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000700.jpg", + "bytes": 36858, + "sha256": "efd85ddcaca3ec33ebc5a55ade34808dc227ecb12e112054ab78bf72ed12ca64" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000701.jpg", + "bytes": 37919, + "sha256": "d272ed986da6fd7c6bfd89ad2aea09b3a563abdf3934090ed57abd56cbd3d543" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000702.jpg", + "bytes": 39190, + "sha256": "354fd8fde2161a2106f92790a299a0a4ad70ffd3766a40079348a6e8cd3877a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000703.jpg", + "bytes": 39907, + "sha256": "d2e7d669a7742b36fc97716ffc8f5dc848ead7d0dc7938a681b1dead6f4bb108" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000704.jpg", + "bytes": 40002, + "sha256": "9c094ae3d0abeb584f872c09e2b9d99d806d0d194ad4c937902c6819aeb6ca4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000705.jpg", + "bytes": 40078, + "sha256": "41944579e9cf2a555b57cee4149a23fd53c966276c50466bee408b5f5a90265b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000706.jpg", + "bytes": 40067, + "sha256": "f8dec712b52bca8a667542292442f4a7efd0e047a0779836d3f5bff8fa94ee7c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000707.jpg", + "bytes": 39927, + "sha256": "40facffd4c2c2395db59dfe7fa4df28ba9cdf9eaf5ebf916776f0b98e8754e77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000708.jpg", + "bytes": 39823, + "sha256": "41a119b9f73e899178e9df291ee0f3e1274722b4d963f890bbca7de62bcf5b04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000709.jpg", + "bytes": 39859, + "sha256": "6f60f23e0bc6955764ec63eddda9e6f9bfda5227d5fa5a5481277f0e09f805cb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000710.jpg", + "bytes": 39637, + "sha256": "16e9f621a3fa3591c94d80a8be7c1e49d3df1ee58fcf43a5de929900f1667871" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000711.jpg", + "bytes": 39712, + "sha256": "88c6921925162cde97d5188b421200e9dab517ed30ae540425930024a8f4a3dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000712.jpg", + "bytes": 39737, + "sha256": "435fd08d8f2db8ac1a9c30c9aaf55ee4355100915f2a1f62492bce2deb36084d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000713.jpg", + "bytes": 39743, + "sha256": "00ac55f571478c31ad5cbf233de1c94a56db5c03fd3fddef45dab4affbd759e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000714.jpg", + "bytes": 39682, + "sha256": "a60c80ff30f13b3fdfcbd9e992e2c6865d3817edb45ab080c430a10d81d92bf1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000715.jpg", + "bytes": 37118, + "sha256": "2a97384525a07479c63a4cf34c4d7c2dff38c9a0a183f2dee498f8d9ba2038b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000716.jpg", + "bytes": 34950, + "sha256": "85b8e1c2cbe09fec19907ecc9f9586bb8350b22e57e27b7a06dc745cc8386a71" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000717.jpg", + "bytes": 34478, + "sha256": "46357cc6f386e82419002513ca1b4475b3738391ed58817452053304695058f5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000718.jpg", + "bytes": 34407, + "sha256": "d8aade89f84f02b220d7eab3d5eb23f570f47417311b6ba23bfb788de24339e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000719.jpg", + "bytes": 33580, + "sha256": "266ca46a47b0c8da325daf31a114cc681cf221f60ffac9a3476297941f33ba04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000720.jpg", + "bytes": 32523, + "sha256": "f80b7ff853b43fe044ef8e1bc8dbbec756a933bca27c3aa22c77f793b45ad697" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000721.jpg", + "bytes": 34292, + "sha256": "a86befcc831502c59703bb2b56016baade2af9fdd431dbe69e8eb3932fb17857" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000722.jpg", + "bytes": 36145, + "sha256": "3476356896cd63d8a24d60c5b2dd9ebec7c425701c24933922857d185ff10aae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000723.jpg", + "bytes": 40569, + "sha256": "6de332644de2866cb82787f181957b78f2c7f3f8c182b57b4896999cb3292308" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000724.jpg", + "bytes": 41331, + "sha256": "4ec5de997897a4e42368dd31a930ce53312fa29b44c081bfd6087ee8ce0d3312" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000725.jpg", + "bytes": 41925, + "sha256": "74ba060fe6662d0fd41d2bd2e79c71730f18c31146b245a61b5004d54b4fc86e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000726.jpg", + "bytes": 42311, + "sha256": "39f6b190caf3a8950d0f909e7b708fba3b938aab6247ae0d52e68cd9dd23c899" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000727.jpg", + "bytes": 43059, + "sha256": "76043dd30ef533fdf0871ca3ab521d691ea63dd691f0b5d52d3155f4dc417e53" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000728.jpg", + "bytes": 43715, + "sha256": "a9cdc84d7160f7ec177cd7c97992c4c08dfaf62a4d1b0aee4414f88eff3b3ea1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000729.jpg", + "bytes": 44356, + "sha256": "acf8f4aa82f13a69a5926843d8b6545f7ca00930217a05fdcff7286b94982ff8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000730.jpg", + "bytes": 44359, + "sha256": "a5b189f15f22cff8c02a535dfb511e50a8eed7855fe3e14fc828838854514fc6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000731.jpg", + "bytes": 44287, + "sha256": "c403cd9118cdc05e3c6c4761717fdf718ac5b48fe9d2778ff3f9705476f2bfb8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000732.jpg", + "bytes": 44447, + "sha256": "37065826bf7a7578f51d1a278a83d2e622dda91388cfa24db3f5012e0e94a100" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000733.jpg", + "bytes": 44636, + "sha256": "9b6531c3067222e03c8e3b284bf165350f90bbed6797d60d20638c44430a82f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000734.jpg", + "bytes": 44568, + "sha256": "dfce3b5c5bf2002eb7f2cc74e651d91a1ce3e0fa26c75f0536eefd2f4eead8b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000735.jpg", + "bytes": 44565, + "sha256": "e64464fff8b727bdb30aacb20f8398464352e75cf7ddad83d8151363ebf82148" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000736.jpg", + "bytes": 44295, + "sha256": "d57c2e2af537d799d025a96fa021a9766d0958ce38b648c097f61bb09679b405" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000737.jpg", + "bytes": 43516, + "sha256": "aef23dabe768a98b7cb829f7e811e93c99ccef76d6a5fa19f9e141e8c868d755" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000738.jpg", + "bytes": 43997, + "sha256": "34910331e9f94d1c114d246f7e52716024c88ec2690df487cccef1314824c7dc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000739.jpg", + "bytes": 43949, + "sha256": "995e33d691cd023a66524b43616e6bf8bbd1bc7f1a9efd3e76d930ab799b0977" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000740.jpg", + "bytes": 41324, + "sha256": "a150f1ec3351cd36900349985e8a873771ce98b42235a81fb8d80687fd17e725" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000741.jpg", + "bytes": 40315, + "sha256": "d3444638f6b9cade510022854a3bd9cc89637a55fffe36dbbb16a7edb7b00bc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000742.jpg", + "bytes": 41228, + "sha256": "3ddd39b00c6cf8a6a89c9109fd694446d3e5f48d27bcedcba9c9f354e5ce363b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000743.jpg", + "bytes": 42167, + "sha256": "d2bd0364d147db6512875b3480d73c3f0a3a38a9b59bf1eced93cd24880a2b8d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000744.jpg", + "bytes": 41483, + "sha256": "6de7202044afc1fa13642c2abc14354dcae00c623e264e3ae4b2309de92fd12e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000745.jpg", + "bytes": 41561, + "sha256": "17eff245b809b5d673cec67b74352f4f9ee450dd0313a7692489d7e0e7701e62" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000746.jpg", + "bytes": 38064, + "sha256": "99dc7ff94a3a5a2b02cf8d137fbebe70d3cd73f67d39264cde56de5a2b7ab7bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000747.jpg", + "bytes": 41572, + "sha256": "68ac018c1520de6c0fe59c3bad2ffadf0217bb5fc9d26021113ee5cbcf3c2c44" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/rgb/00000748.jpg", + "bytes": 41082, + "sha256": "d3d3b58239cfbd561fa3dd98ab92311646b6f7be077055dbc2242638d72f36fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/capture/transport.jsonl", + "bytes": 546636, + "sha256": "72c4b9f14534c97f3739f06f3061389124a7043cd4dc5b53a3a3412096c596cb" + } + ] + }, + { + "path": "archives/vggt_metadata.tar.gz", + "bytes": 9396, + "sha256": "7802f06f457281e0153170f2f8614c2a940dfc886bf6aa2a5b8eed614e458550", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/index.jsonl", + "bytes": 27898, + "sha256": "f5348a69f87ff8631d510307e93b44473bba5cccd81b967454606a337630268f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/planner_config.json", + "bytes": 2361, + "sha256": "7cda24b9b0b0ea413c7b12ad463be3422893613465c2503eb35ec9f7669fcdda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/run.json", + "bytes": 16911, + "sha256": "e699148a36a85eb93762475186cc20486fbca3f519469d86c31a3753ea3b9235" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/status.json", + "bytes": 232, + "sha256": "7bd49ebc4ce27d86943049ca734a2dc98c83b1a265a8a2d8602f437b9c4a5466" + } + ] + }, + { + "path": "archives/vggt_views.tar", + "bytes": 819107840, + "sha256": "935373a868f7cba2a3325fde2d1eb61f69325a55763873021c2253fb535d0ff1", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/00439aa9977038ef0e5566974c002afaa681b11970ab42142d2e007c9ff4af0a.npz", + "bytes": 2011644, + "sha256": "e0964ebb156d0d7f14fe4ad2812b8dad9e6f1c9e97c811ce5e5e1965f423938f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0083bef33721fd2fe81fad51423fd3436a22b2d5a4ed406cdc833c6c9c560471.npz", + "bytes": 551711, + "sha256": "5b9ef85202e0a5ef170fc2e521b4048f42c7b7ea3b71deefdd162d41d6f54018" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/010556b4bbf52dabd56900a228793a7541ed044e62856ab0c2b1f135d4898ec4.npz", + "bytes": 464332, + "sha256": "249c8758df6804cfb6305542db2e8fa63638ed82ed159a5499aba22136ea773b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/028d288afa58fd2d4a71a745e032fb9143b74b91484b7b8bd77fb539346e0f07.npz", + "bytes": 2042183, + "sha256": "9c1e8af319ad6da1eb9d6495554109d779bb38baf89cd4c9d1e8e6b3e4e2bc94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0393148094b2eab318e3ed3013833eee42a97a756cc8b31c8c2e2ec7d9ac2fdc.npz", + "bytes": 294570, + "sha256": "6afdf012d7f07e63c4947fe7f39f1716150b6b88c69ef85c2f9ab278e4dae5ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/03d6c038383499c1f9646ca28d7a4d90e7f5e71195fb2797bf44ed1cc426cdfb.npz", + "bytes": 586084, + "sha256": "d6f589456b9fd67d31ee8264cdf5d1e8a0ef2f119572db67e8180da250cbafab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/05bc558d2ac3036f29751ef128456257f833864f26fe9c545c44a3eec218392c.npz", + "bytes": 540111, + "sha256": "3e5f8052a8e79a8e9d732c517ce3217caa3c3cd671296b920da8458c73c2b3dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/05e615e3df75064cc213dec2014e4e7542f6f5e2a5217911f9fbffc7bfe40d6e.npz", + "bytes": 578052, + "sha256": "e187ca8c59dacd3f74eeac4b6de2e62c680613c68428ad6e83fde54a8ccd42fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/06384b0f0b42f2dcc55e3ab4dd9769b60d1588d3448301db7f813f47c2b832f4.npz", + "bytes": 562337, + "sha256": "2101497a24b1e16a1b212d3ec01c3baebffc895069abf0bd531a832868e88042" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/069c82b73ff6b588df775949e06b87c0cf508f700a785a377d501f73d288485a.npz", + "bytes": 2069833, + "sha256": "da945450a150525abeae1289948ecb13cdfdbe2824bf121ea8dcc9dda0c5bd80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/06a8b725c9a1105254310a7f126f13a37d828358eb3826eb5d2eae1e805a3067.npz", + "bytes": 597022, + "sha256": "1188da3873beccc6e1589d0c3e44235372c6319a93cf2b9a709aabc99ecda6a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/06c9154125f8c1d2a2d7fba3b74a2f89fc76e8d714a88d76df7ab904e177ca76.npz", + "bytes": 510315, + "sha256": "3b960f10ed0852e090bc92d5fb021865f2bf5609e309bf08fb918c36b0fdc2ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/06ec232dcb1d07e56bc2cec903ebeb4aacfec712d78cb6c2add754bdf457ef7b.npz", + "bytes": 1511557, + "sha256": "7c7e1a4c7d3d93c92abcb80aac22747cc24775bea950176052d1a7b68aa9f622" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/08aafe6a803598598dc8165ddc1c7a2d4fc600c59696948c695b0a3af1cfb174.npz", + "bytes": 2018438, + "sha256": "e53a4b67b511ba4f28d689543f493d0ce7c82bdd7dd77347f2efad9c82c155af" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/08d8c11bbc1cbaae169fa042357ab98a96fd7d66bbcabf015923588d37316d93.npz", + "bytes": 2017619, + "sha256": "6b439125623a7755b3ce290109deee1eb5101f810c63e1d267d8aad36cc0e115" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0a96bd7f0469c30d19fe7aea2d1b792dfc14ffbfb149690daca95586278a07d6.npz", + "bytes": 564838, + "sha256": "0951aaac730258bba1fd442d134a83ee9c4ba0d24af5a670b487ea689007be92" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0b7fd60b37e7fcaff4900b6f6c23025a0dde4ac0e53fff998a01f31ae534e4b0.npz", + "bytes": 575359, + "sha256": "573dea6ab43b1121a3faccb788b17087c9eafb8f90f4f95a02b911ebb79c5c9e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0bd425d8d2a4512e0fb2eccfd4e7b0f4aa9bf690eb7eb27b41e36a745995134a.npz", + "bytes": 2026476, + "sha256": "52f0dbd22e076b076a12cee6915b6f14ab6b00efb19f5c6b870768bb5001e70a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0cb66771ff80dd625af5ffd56977ec5c52a7539854012cb283129c8b1315e13c.npz", + "bytes": 2013657, + "sha256": "a01d9fba6081932f8bf4e0a219c6be1f9ce72ddad462adc4fbe73ebe50d5512b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0d3f333fa6a5b7683f722e4e649c8a871e3a3a773657fa1804c9b52d92d7f8e7.npz", + "bytes": 2046074, + "sha256": "1a85b746fcc217778215649ad46a2c73f24728db40a121df0837dcef8716f41e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0df73a6a652c3ecff4067ce5f1311f6c194f4876de1772d5460761501239f5c0.npz", + "bytes": 671860, + "sha256": "d87913ba0e2ad0ef1a9bc398d68fbed88c095eaacb18110e0841478e3480a70a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/0e7b4b35838caf3ea4842ce32e38207009b626655936cc3c0973b83043f5f860.npz", + "bytes": 2018470, + "sha256": "4e430a015b3ba07dfc8ea4caa21991890f27286b4a6032d64ece5a065138c4ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/107478764a4da8b44ca283c4d42cf41feac1315ef95fd45ab54d50acaa6e2933.npz", + "bytes": 697777, + "sha256": "39a3514a646d1c98cbfdfce35c9b236ccabf9214d5412488f1934e6a119cf08c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/110a69ab387bf95ad2a4d2be07c2d3c97e9fd316831c0002383a1c08bc0ab475.npz", + "bytes": 2104248, + "sha256": "22159e8302c7fa479190fa3bcbecd1933831f099d23f13d8dd81e4db3edd4f19" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/11fb5b21b564548337751a666eb8c815ee87212c878fbc4b49629ee6e821110f.npz", + "bytes": 2066478, + "sha256": "1983f516dd12338fa29640f111a780b2eed0e57ad84d71001b30a226e0671217" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/12ac7645eaf8ceba83f6047b04285de7e2907e07aac7b91d76f3cf8d105f0c16.npz", + "bytes": 541992, + "sha256": "bf5413cc7b3378db4dd0c288809b1398de84f23cface96054a630f8cee069aba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/12ef01e1ac3a4733f19b238ad0f54b251de664f4b149985bda73be1f688f5aee.npz", + "bytes": 2040777, + "sha256": "6fc19b0783c1bd843f2056fcf8497367207ccea726487ae9a8f811a2191356a0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/137341c3767cdbf10bdccf89a2d104d311bf5db35c2c6d359a325bf77a0d61be.npz", + "bytes": 2016033, + "sha256": "fa9dc23cb66de691be202ab0e589bc2b961d6d69eec87cef28f0e08462eaff0a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/137f54ac7790a81c29396c302309a4a273e94bcf4d7f78d50bcd6380197bf501.npz", + "bytes": 2013930, + "sha256": "f0fa38ce3aeb0ada43372b523c1c37038d502a7ddbe979550187cfadcb2d3a51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/143cf9c4c753274822c2a704e004017d4f098b07755b4c9b5a687eff7387b8ad.npz", + "bytes": 648624, + "sha256": "f021ea1c2605471c354aa758df21391fa468699fadb7b2fdea6516349e96946b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/148194d1d604814a556a333e3dbbac8e153c23a1c49c6413d6e3f9e86504619e.npz", + "bytes": 2050007, + "sha256": "9983a9f328bce1d262fca733965a620c73627dbb14a0ca94de06d2d85f67b0ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/14d8d589d234dc273db9b76a4c79047511b11a9ed1d299978215adfddb4859a1.npz", + "bytes": 2046072, + "sha256": "523204310226e87372238c390737dbccd5c3009c1db302a4ba0acd4697f17ba3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/14e1220b0808e81cfb3394200ca9aa06f1e5d89be7bbc4d127ee35a06b044ce4.npz", + "bytes": 2015486, + "sha256": "7c55db89ba8cddb29e4de749ac87789f25ef2d05c73548706746422610eb3d1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/15e40530e6e41dcea8038255efa29be03c34843ce05a07775d14de633e37067d.npz", + "bytes": 2048699, + "sha256": "269469fa529203ab6a440f439f617b65dfbc92d084dadb4efce63e05cd9db8cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/163f3f433a5d09becaf05f3e0ae46add2c12d4394cbfbe0c0b333ea2c1a86ce3.npz", + "bytes": 2018129, + "sha256": "3014c70fe42e00638c888383474841aea505a3bc41ce8f22b19e2ff8e893bce5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/169a81925806747a42e9df01b81756349d50a45d51cb7ed5ac1617ac0254978a.npz", + "bytes": 2046187, + "sha256": "8be301f3c507f8821cad225e53ed4a1cf0be26e507d8a152d4c300646be8c477" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/17b00ec512a681ef87e558bb1d137365fcb2be4d5aeb63d6a9fae04f9d129b79.npz", + "bytes": 2064355, + "sha256": "0903312f54e4c37184d630aff37c5bf21efb1e5c8a4d9b876da94ad02168799e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/17d5001c0a3acb30770fb7608c59f9305904285d5a33616f7c920288e1a64316.npz", + "bytes": 1416375, + "sha256": "9cf0fb86c149911c0033d0e617f533345755f24b7bfe0334db012b963ea61324" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/182281fbb8821a99274bde4942f488c1bb348e29962fb9b598601a596a346646.npz", + "bytes": 655412, + "sha256": "b2e4ac3b505c3eed4358aa8e39e51ccb9ba2966527f7c77c0b198efd3f887242" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/18427d7e1f7b000b44d28a2b39565dad00309e8dbbf06b5800bf840dcf561c50.npz", + "bytes": 2043553, + "sha256": "05a34ae982198b4c801a766474965ececb8805afbd707f9d61b77af60cd7e9a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/18c88ba19f982028d80b49d6a2b4a15e26f798145d7652790cee0d0b701d8f56.npz", + "bytes": 2015938, + "sha256": "bb6ebdaf866632e245ba827f91acc219240f1839184db415d981a5359cc6afde" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1939a8a53073d00cc4d235c7bbb13c74e5356e8e98939f76a1bac5631677dd83.npz", + "bytes": 2048040, + "sha256": "1c871def672220e8b3b683f70740a5a34c6b8a8aff20386867f5ac40a762bac4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1a1eb2ae3fcc93de1cfe3c6844d1284bf80d7fc6ebe2b0700aebb4f7a7c85eab.npz", + "bytes": 2018551, + "sha256": "56dcf640429e14368c55354d67967abf9fc59458cfcb7e0cf3271462bfd5194e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1ac1ce0186557f12ee2d9710bf321c13ad80de4361f68a914bdd32816e426b30.npz", + "bytes": 2013322, + "sha256": "a753198c1248bc40819aa51c2b930777901ccb7b9511c01e0f10bf213d281fea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1af380214c7f1ce6711bf9f96c444d8645caf824f8edc2d9c3b4a0330e9e8aa8.npz", + "bytes": 2017673, + "sha256": "13af24094f291b37d8c10a6b735bc93de92c38407a140112a73a0dc97915037f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1bc7de2461e772b1aa020e414cac0d55dc5c8b9b33cdeed3b5246e042b50778c.npz", + "bytes": 2016523, + "sha256": "7a69124fd812ebed0455410fe178f50cd44f6cb4c10b6e2cfc366ea23e4174ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1c83cd3047dc558f49552d5c7a4372b532b66071c0f8285ab13f38e7fa6820a7.npz", + "bytes": 660775, + "sha256": "d86af20ba36ea445d18a78240e99e65aecbefeb37b0cb79a14ff65c230528ebe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1c965cbd3b485aaf27c142cd681d6ba10fb4eb08f3ed57d470a7320373305476.npz", + "bytes": 1373048, + "sha256": "bae1cdb0d57176a093e88a83cfb40e1c12225309ba8e683c42e20d837f74e835" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1ca4cea65834e4e796b4d1c09c484768069fa3f960cc357882499944e8298323.npz", + "bytes": 528231, + "sha256": "1f006804b0490781e6c47862df3d3cd4effc33b9795c3ca762fb68a016b12910" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1cb3b79105f7e3bc29caeb1ae6816fe3c319850bee28791705f6cf7f55dfd98e.npz", + "bytes": 2016830, + "sha256": "66a6056cea1822c3fcca00e3d676e2a6680df9ba0c4e184ca06f43bba67011cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1cd6908ad3633b2ac1047ce764f97222140e98dc53ef21e1129cd6d8dc6647e9.npz", + "bytes": 2016084, + "sha256": "c58910fa6e99e15c316145bb6988c77e24acd3982e86b1e3c49efce2bfbb246c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1db5e09d6729689e72092ae850f27d74b739fe7d30185799ca0fd4f33f24da92.npz", + "bytes": 2009455, + "sha256": "14891ae6ed94ce41b6eaea4faabcc425735adcf793064a5a342bbeb7b0381561" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1df3441193ea98497f69117d1c36913ac2c03b93fb64637230d8ac8765798ab0.npz", + "bytes": 2045475, + "sha256": "36dc8700795faba6e02a0ccd929cab264bacd46d60bfed05999619cb4a008580" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1e5d3e0e6baf9df43c94c24a8e4819fb2168d1feb2bfac01afb4c36004de7934.npz", + "bytes": 2068070, + "sha256": "0a1322db9eba63dbc5f61654ca14303116517dd3bef611922902c99b5f898e51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1e9fee3eb46ab96b7589af2b1b6829403cdbeeede8c79c5ce29583e795414a66.npz", + "bytes": 2016467, + "sha256": "b80ef3abc8ce0326f1517d890be96450e78364bb533e71b90b0ec29768127866" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1ea85d0c1061a82b719ee204cf874b88fa69fedcde57fd981214260a22c12fd8.npz", + "bytes": 2046925, + "sha256": "75b4e1f95c692f0216c262f4e400e4512df0610b09d7c4d2b64b33da92b4b8af" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1ecc808272583d7314dc98ddbe214278d08c57d1c8de9953144cf3e9ff8b5e29.npz", + "bytes": 1401126, + "sha256": "b6325ba9c363f5d465a79c19122d0f9f45994f8f34a863a06a904bd41d10fb63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1f540e6fd815a3b26580c9842d6892f0b5953071b5f6b75b1189b814cb8b85bd.npz", + "bytes": 1548011, + "sha256": "04398f25000718893080adfb62de4813f4ebb110eb8337d68b5351d2e218d336" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1f5a2f430968a8efbcc182cdbe1fe96a88a985f679dde0d709c76e8543193071.npz", + "bytes": 2047913, + "sha256": "fc9ac603dcaeb576c0bcd5edb74c134267041d8f44bad79e936be86eab27990e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1fa035fdbea08ee476dfb6d0bcb29abd2495349792ffc34475014877e83bb080.npz", + "bytes": 2049829, + "sha256": "c342fc7538a6970fb4456015717fb0052c8c89faecd1f5977d77bb13bca503bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/1fc28afcb27a32d552f10c22063e73a3f440b7eb3605480651c4fd619c6da44c.npz", + "bytes": 1987207, + "sha256": "cb17d351e5500df086fd68ffb21fc3ce26724c7ae8eeb1ef256b2eca62b80c6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/20fafad0cbf5ab8f7f182baaaf5e86181c9c84cf879f3eacf88e138ee04e0247.npz", + "bytes": 1963294, + "sha256": "fc4264b0abbf9f3703299a751c52dc79d8e025d40cf0eb3112163f6162590d3b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2100eb4326ecee859a41436ac3142a8747fa9f10546200c8b76f362f06bd22a5.npz", + "bytes": 2030823, + "sha256": "ea132091730752f791fa3b9b73519d8104ec95fdb6208d821a6f8daa1fb12586" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2185a4c3bd10cf91e4e42e4c08a17e67ac9c0e463c0fb3a65299afbac1db4250.npz", + "bytes": 2037510, + "sha256": "96659050f6352d7aecb9a9b3340729d4f1892db0b46f2263ceb97abb1dfdbeaa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/21a3f8c2aca1b179ac91e0495acb79c9dcb1e9e74f1e484269e3c51d5bd88a32.npz", + "bytes": 568634, + "sha256": "c0a9cd7e78ec4d56ccdc2b63e8f5d82d5e908e79e14b748ab6318eca47502d25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/21df8bb3f325d8fb34042284a4aa042bc1d06fe61fa1d9f18822779339991fc8.npz", + "bytes": 2018819, + "sha256": "e1ac10311f06bdbd22d5eae4d603a85193f261a2bba2a54c1045f7c8f18ade0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2257c6eeca640f03d3cc9bab05602b8344204d0a12e676411ab733a5667faf9c.npz", + "bytes": 2043414, + "sha256": "7ba67f299926c76795a334700510abdd7179d9527f997a6aa1c0dab3ba65fad1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/233b4171b6acb6ddb026e11a351ee6f3716522585ffeb57aabcabcf6b98af5d3.npz", + "bytes": 505609, + "sha256": "49c34945b550354619179965cfeb3cb0075e7f0aba5faea483134d1c184a0c77" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/23523fbf0d9b50930c94f76134b2f6c85b8c8c2f6fea555c930cf49ecc7dcc79.npz", + "bytes": 2087075, + "sha256": "13f2f4a6c1794c8854a337d981795379821ab727becee352da6525e20a7e8eb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/245f4277803e8c5fa346bce98e1ba2e554e1ad80592a1f800bee57dd4f9e5715.npz", + "bytes": 2017065, + "sha256": "dd597a6a58646e475294632bee65a17286e99bcad9bf7f072110ac9bc9ee9ce4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/24c80acb7b3ce6807b04b6d92b9bf8093b5f3891419b7e1b0481523f6d11abc0.npz", + "bytes": 2017818, + "sha256": "ea56e73e437e3a1cb06d8c30d250933c0da00034ec1ff445e66965219b23237d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/24ce014dfd445fe704b19a05338e7cf15657fd88d1789b5b5a3cee0acf0f414f.npz", + "bytes": 500919, + "sha256": "71ccc947b07e20ba57e0a66a6bef2535c87b5105945cac34d6f8eed8fe7a5754" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/252d9bc89152a2f1127ab58feae5e58ab66029a1e07311e04011027a4cf1ad16.npz", + "bytes": 2100555, + "sha256": "22dbeeff0126144547bd678c73775f02c7ec8e2991955411ca7b970eb50a143b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/26a675ddd5af17ec2c309f9ef9a9a15ce2697e74c67ff13e3e055e0024d92909.npz", + "bytes": 2018389, + "sha256": "0dd99805a97eb5cabe88690b2940b062e4d9d29807b0b79969eb98060825a2aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/26e11fbbe621f5922a1ea46b79edd9a5f4998b73814f613d6e36face1f0a0633.npz", + "bytes": 2016084, + "sha256": "85492b893be21a90d341571c824c03dbb23770a2695df225c42029b3683b3659" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/26f6f0e8f98d91c46c4f891790475ebf3eb07079f30186a6e8137ec98a729cca.npz", + "bytes": 458638, + "sha256": "6fafb62852b35f45893d980c22032a09159082d7aa322dec30ca965ba0d555e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2794d17db9f29ad88ab80a86a8b0a793f3af51e70d0137458ccec3df7d0a92d2.npz", + "bytes": 669265, + "sha256": "d83abb206c37188251046309e2ad06b07bd9e8307b1b2a66480987948b1a3644" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/28347c9ee85696e32befdd2fb7b9aae01237d238d9b7e1c2773a23d97cd92b69.npz", + "bytes": 2071160, + "sha256": "ef7bb696b2fbbfd303c8b774b67bbad350b88577eb07d7f6acaf7bbe22d5f628" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/283e67932c5f5808fd0fd8b9f896297023ce311e21f2cdf026040402921088d8.npz", + "bytes": 564845, + "sha256": "5d266ad5f75594fb75ba9a1e02eda327e3ee34e0e4b8370534f1bbc34aec156f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/28ebd9cfa6bda4703308355b63757ee7e32384b68b2fc20050e02a8b7f54e80a.npz", + "bytes": 529565, + "sha256": "5cd3150fe366b2775e693a4ffc8c6ca5320dba72519a778204f7dde12e39eaa2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2a3416b7c6a7cfee6e047a684b2120d2f79d952c9cdc79a9253fa665db5a5d4d.npz", + "bytes": 2018695, + "sha256": "d0a49bef2f44861d94c9f2f99d8b2dd206dd048bb51d728d192dcd53be7504d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2aa9124ba474e181663cb61ced238d4928f0c142fe60216a94bad04d30794fe2.npz", + "bytes": 2015927, + "sha256": "c78c812f2c63b12a3cb5e4b92122244c95b033b8023e2d49cbe1fa7e0b2410f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2af9630316d0e2c531abfc804cd542803af94da66cb2d54ab8a1a93fa8843095.npz", + "bytes": 2044448, + "sha256": "3fa77f50a9b37b85cca2170938d8b13fdce72ca66b771c0e845162a4b918f8fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2b050eaceb9b6b80c4e467ace7042e629f2f223274866b7f1dd3b6b71ad0be47.npz", + "bytes": 2048406, + "sha256": "990b0b3692836aa993cc8b8ee963438468d013ce255af94144a6a6cab7948d79" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2b08386b92dbc560fee1c4398f0b55c8a236c00bc9324f8e22584ff85714e8c0.npz", + "bytes": 2104341, + "sha256": "403d1e5f940dc493024a5c317e94da4b752e87666ac55f32f5e9b01de90ba6b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2b2d99ffc4d0a4fc2d20a91db514fbf83369236035090433f087bd59a10a938c.npz", + "bytes": 2107420, + "sha256": "43f37fed1ff31fbfe094330e62a2d91df92b9a67a653e2728cfb43683e37b159" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2b36031f207df8ba223e2d72608c94a8f475bec49fb8467ddbbf402536ec3032.npz", + "bytes": 2001951, + "sha256": "557d64412ce157229e9a7877deb8a2ef3618f0239fc27d741d7d7dad969cb74a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2bba5fb6b8b51642f41e8bf67d8202fef1cc77ae283adba8429bc5c28ad9a3ba.npz", + "bytes": 2060916, + "sha256": "88233b3bd7cc0d6e5d9068fdf12af1bb1c28f35d1ab63c5eed95251c0dfd6851" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2d35737a6b0998afca7c8e94c14329099c437ca4f45020e18dd59b890e5c2527.npz", + "bytes": 2044382, + "sha256": "3c1993cdb3077fa8db224e0a46366bbb80fb5670fe9c219a4cecef172914cb4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2db92392631ca5c0c22bab34880013edbf823494ef242b181fc607c36d3d67c9.npz", + "bytes": 2014180, + "sha256": "b4fb95b2c664464e332f28b3282c84f08b9368598c143b66cd4b1c5283bb562c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2f2b9d3c31d578f64d88f74983ff6da4630a831ed2e71cbafb1cfb382d769913.npz", + "bytes": 2102596, + "sha256": "b1b259bdbd364b09f0f1d66851c1e6f8b8d19ae0c79c8b075e992c31e42d1405" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/2fb5c824f51cff2ef1f98612e02e65f298ccbe6fff349fd2dbb7f66b318a55b8.npz", + "bytes": 2036159, + "sha256": "cec4d4bc517ec8a0907bd2c217cf7cc6b530d7f78bbb0241d98cf598f8c1cf46" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/305878d71c244ddfc4e7991670c270cebb6496922badb4f60bcc429261869817.npz", + "bytes": 573387, + "sha256": "67e27107afdaea83a4275074e292d75c2d5dc6b93d6be9366bb0bf3a2bfa29c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/31b4ea5036d6f04ad53ceb63a7a4587f32da5f5a649f740bba5a6a5fc397f59e.npz", + "bytes": 617586, + "sha256": "dcae007ed46fefafe310eac9ffb37452b5b662c356f65d76e1b726758380cf4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/33eaf957ba2251358d4cd74ec575449096c79b478dc518e14693f5dc7ebd5395.npz", + "bytes": 2016686, + "sha256": "102d5216b3f4ed069e607294ad5677724f720e1a4f1f066ee7db38c24354f405" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/34509cf4109a37bf2ad55be412f1d2dd84aacfc62c552eba3d2de063dbe8a4f7.npz", + "bytes": 572404, + "sha256": "cc506504e93da03c6c387512b60440d5c3d2cd7947ccc15d5131fc08795a1687" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/34ad37d0fb81452e6af88876d9652663dfb7b6e704f57d1ac3605d0f553d9779.npz", + "bytes": 2040341, + "sha256": "a35aa53cf470059cd53c5d2c9bd4341c9e9b4c830398eb8cb77fb770a1ef1609" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3528f61c325396c9211b5a9f0e3e2fa4c38e85de1ccef70db30c573125a6cdb9.npz", + "bytes": 2018427, + "sha256": "b40696baa88b0f6c87f7a39db7c709a6635cc5fb730896d53b1312e406b976ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/355ba4d48e319f75a4d5be266960b0dd42577e3a5ed8d2a19e1286735269f508.npz", + "bytes": 2026463, + "sha256": "c0a187cfdd98434a24fc1a1ebf20a259db5d5443ec135da70de747a683f33636" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/35724fa4e99dee848e4a495e9f50f23b5b3ca77cfdca8888e426b76989a2b09d.npz", + "bytes": 2013819, + "sha256": "6d37339954976d24df39d9cd8078c8509d34dc554b3b26b26683b118f09ae4db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3608accde3420292957145d2dd80abead51d28df3c2cbc6b3dfb99371ddc285d.npz", + "bytes": 1962427, + "sha256": "1b1b379667135efc9b50069d2b1dee52952894ffb52521e2b1f568231331e523" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/365c20f0df391ebd2b221103212a813ad3c4bffef383d827e8138b25e8368716.npz", + "bytes": 589571, + "sha256": "e04dda9311b5fb355dc7bc9e245cdb068edbb05b57c938ac2143ad169a37ae1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/36fe6da8d93d2f94a14a27d1fc62e192ea37c62d549caff20eeaa19deec91169.npz", + "bytes": 2017065, + "sha256": "f63824b7693a0669c99c38076362425f596b0b506492ba9c37af65d417183094" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/37757df2ee71bafd335bfc176ada378b2575af919142634f8182731c9d01f590.npz", + "bytes": 501671, + "sha256": "7e32fbd69e969c12b0ce4dd02e4cf746be929d8d456794aad7aeae909654a1d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3779b0d4da8845acac00e3d4ce12bb73e8cbd37adf4275a227577822ceb5e021.npz", + "bytes": 2018924, + "sha256": "abbf7a07e4275f3f000016ca3a16441bc1f9fea3472274df1843c8baa45aff37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/37b968f1967bcd12dad591077aecb5979e536efce630286761ab54c921b82a21.npz", + "bytes": 2016571, + "sha256": "0ee26e8b703be19753257253cb668c4a60c36dc4a1dba2c054eaa11547e019d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/386c83051ed8c101ed81b59ecd5f929eedd657665f4e9143973d51084b6ea768.npz", + "bytes": 2016608, + "sha256": "b73d222003e2784ccb548cbd4fe2da748c4f3d0ee25aca2cc4e72c87009415e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/388c2841921dfd724f473696c54e8aa339ac3243e686a14ab382f062824e923e.npz", + "bytes": 2014370, + "sha256": "1e57d568da940b66b200bb1d7617f4cd067855d3d650ef167058a13c50dfbf93" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/38f17fc43f29adab552b8a0de376a5e038edb01f32de4e9e5e4299e3a4ea02c9.npz", + "bytes": 2019079, + "sha256": "69580b8fbb07ebca5035d2d5cbe8d4aa8f697f4c103725a067ca91192bc74001" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/39110ac13a76a2f94dd825c588cb2a2ec1f2c1bed8b31f47de92d66902dd02f0.npz", + "bytes": 2018424, + "sha256": "2482d78b4a6af96a23fdeeb15b16b2a1ef75412a1da6827df5260a014f11e911" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/39275600d9ed5c43b655dd44fff1344da8e7f5092bcdb8153c619ea808ec140c.npz", + "bytes": 1970731, + "sha256": "c1f8a3fd924a1de2d3fe0651685474949a7563017a019d6d52f39a646e9e92a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/397eb4a512c6691c4a1ab81641e5ad72cbb6278bfa306c91f6bab1e53208e446.npz", + "bytes": 2041821, + "sha256": "71a450861c151eef3cab921aa586d08367c2a511c3a35bd6fc4635a61430d4f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/39c9b525e3fa07b964beccb03529a3c2a2f3333242d464a5d2f8a2e23286e30b.npz", + "bytes": 1601755, + "sha256": "51a940780613c2fa82162b775a2b8569387f7ae089441c6f9daf7f9abf8f4540" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3a48cb42a3e70459ea2fd8f1d84395ba01c7de0877842e925b853c66657506ca.npz", + "bytes": 2093957, + "sha256": "79fb7280bc3bdb35f0f3422f13a14ba4f0d1c0519caa129aa4061ef79e867451" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3b6b37f292becc087ce14580f1a6d6df9bff15044c46d0da045237d28b76b225.npz", + "bytes": 360571, + "sha256": "1561242e72f6a8f46636127c89ffc31f3de99c6eccfa843a27cc6af73a6ad3ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3b775c4b7b7bf02dc15ff2b7a5b457241a4dd25431c1bef6e718eee9b2e2f625.npz", + "bytes": 2012470, + "sha256": "be0bf2375651a80c34a9a75135c27cf40396487638ed160b8d210f82e5e4f83e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3de911b9b9531aa6a99c2ad36fd7f35e6a2be5e5e9661feda6c43fb9de17bace.npz", + "bytes": 670693, + "sha256": "b6f8acf6e3f8f19eb89549054cc8c5ad00087d072ea9af34ff12f07c6866785d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3e94691b08e92bc5d660b31f0152d5f8d6806ad19c3c889a5baee89737b06ec1.npz", + "bytes": 2015588, + "sha256": "aad29d9c38aa7db9c41e17d43168564aa52298346dc4dae43894a4b03b17f7f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/3fb0bc26adfef1e1973f0f8ad1bd2aa35d097157759f477b3a335e4d9c3c0324.npz", + "bytes": 2021503, + "sha256": "df498d42e24956f33948599a98912921cbff2e408cc1366f467e221dce83d362" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4021f1d9c8905cbaacb45222d37e8f93a347a67e6eaec3e82163bb9b31ce68ea.npz", + "bytes": 2016252, + "sha256": "7160a85dab5925610fedb915ce204e238bd06ed78c1a78aa887b58034dbf2f7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/40b2d0cce709e20b09d329c9c0fd8af7b97009a58aafdb8c1dc500923850d815.npz", + "bytes": 567375, + "sha256": "d4a3ee88f4b162a6e22b0065a661694490d523ed820d56afaa0443593313fb8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/40faa6ae1a897d48717d864899fe06ae66eb5546b3d051d0b30d54eacdfbd9cc.npz", + "bytes": 2102745, + "sha256": "4584c9fc86830c33602b9e3330e4d045bce521601b892ad009d464c38ee9a822" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/41a999ae2ddb56d33ec0797083338438ccee83539a4aa504461e5f77ccb34808.npz", + "bytes": 572862, + "sha256": "7e768c2c6509fa739a4e8cffa161be64797ae1a502724b1ac5280729a12bb5f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4211eb467dde45b33de34438c4d4c7d6ee8036c12a5856ce56eb5e78061741a5.npz", + "bytes": 1630590, + "sha256": "fe55bb86df46231e21a14577aa174afabec036960e1056b57139748da48343f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/42a65e8a2818d174bfb643b4d2b6d063cc6fb5f44e6edbae90192ca2c65d931b.npz", + "bytes": 2018351, + "sha256": "f7c94dde6a9f2ba711e591a2770214284577c7f3dd0e4e0d60f39059772311f0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/42aca9f6f5fb08e28c2d16028d78f7742954734e9aae2a61ae7f45d310a64bf4.npz", + "bytes": 2038957, + "sha256": "58575775aadabfa8b7b1a5a684cf142048446d04fa9e6f367c3700c92155d517" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/438c71806ff7bdeea2a086933877c0050c02ae48153f477f9a53653cef81bc4d.npz", + "bytes": 533304, + "sha256": "311eab6a41059c364893cc698d393f349756bbedea03b9fa141ecf757c77c255" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/439e1cdf019eb8ddad0b85ebf74fb79a434a4b6c09882622864c4dc81eb5126a.npz", + "bytes": 2020489, + "sha256": "3b6eeab8e623ee9eae5500a3a11f8db160e9d27d0dc1adfd793e7df16b431aec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/43cb524208c8a3a712c2d5211d9cfad3869af74e47d8e923ff224af37d1f2ea3.npz", + "bytes": 542735, + "sha256": "d42d3073163b5cb3b89f64cfc585bc2f97fd1c7b9d427abcafa8919a830f0e25" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/43d77603b61b0097bc6571a952cd7661cc58b02374cb25e418356465919e3538.npz", + "bytes": 548854, + "sha256": "344b9a122dc6a1f387093c856d7b3f3539b4b8875c1fadfb3ff6989c222cf616" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4443fcbab4e4af88af73a3d774d1fc81fce938976a06c2e05e9f1edb2eb91bbb.npz", + "bytes": 2037342, + "sha256": "805391948bababc4b80ac490e69cbaa4dc438f611367582a05e4485d337ecd39" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/453f65307a487b41cfabbc5061d34b21341d0ac07050b70612314ce89a23f5f9.npz", + "bytes": 2092571, + "sha256": "dc5bed85b56ef3938b69fb859575778e9151f0c3d7cbf0c8fc0a63195cdb0ba3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/45553d2deb6ec12330aca7f2307196b4ef3538ec2c90b0be18d6a6fcf0144254.npz", + "bytes": 2039254, + "sha256": "92ad9e742ef8cd3abad0242692cc7d921ea50298e24c7c33791464a871c619fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/45b75f0800b904b65a3c37007011cb2229d73e9e687c1b50dbe5254f0d325c98.npz", + "bytes": 2051361, + "sha256": "9333069d2fa3f1bf04e2c6710af9d9a4ce0eface9e5f0bf70381502f7f19b88a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4603c0fc6825f194f5024d8bee4bf09e695588ae7563cde04e2fd1b6d2ee40f6.npz", + "bytes": 2049050, + "sha256": "edb8cbfef6c9518603b586a16e7740f6f8c79c38d5ceb0447511a0bca2c6e083" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/46b64df9e055d624dfbeab5e8297f03b91c5fc5681b9b62248cff32a63167379.npz", + "bytes": 242651, + "sha256": "458f44db08341a295db7b0670b2cdcc2b5735345f08c80224e28db45d9ad608c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/46d62cb8478dbd614a3992bad5ffced9328fc2fb429c0f104382ff146bba3976.npz", + "bytes": 1999223, + "sha256": "59ab6ac94c732d212bf25ab02d562c33c510f1c9577caa65d145cfabe54414b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/471a2218395017d0b65ded3a95342904841f15b813d944ed25e53d51717515ad.npz", + "bytes": 2015379, + "sha256": "e834d90cb76397b87e1393c38340f3168333594c6b459de2b87412e6e049a558" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/478642b6096688402bc139da46bc531554599921705351539293499540d4a9d2.npz", + "bytes": 2033933, + "sha256": "eeb8797c848b201bd04c2c3aed946d67fb7ed166fc9dab848523ab06f561ec2f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/48339a514eebf3ff294461f8be55fa97ded492d950d07c84c2aae09c260e3cb0.npz", + "bytes": 568677, + "sha256": "39c3c6f9949c0051f7bc0f12b84d642130a78390793c6f1ab9e42f1dd4d34f6a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4b09660d2c4d10ac3e030cd5688d63d1ff507623016f3cfef0d59cc74a24893a.npz", + "bytes": 2044375, + "sha256": "5e08c76bd03595f4dbeeea358ada774b2211c9e9f6274de92bc5feaa3b6b284a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4b132049228a6512dcba0c24fd3fe88d0cf419e60c29718e0f53fd0fc9c4ea57.npz", + "bytes": 1854761, + "sha256": "620928442a23f11b0d63ad1088eec6cf2a025f924ef5929e0fc27397852953bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4b9cebcdb549b5028e72e88e38d2158a527710028151e19750a4bc9dd3b041d4.npz", + "bytes": 1592669, + "sha256": "fd3877873bb8b8a6864e492567018966f4e9d2b919511ea4b12133fd505aa8af" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4be63fb1ef878e6684848756307e803a8bd1581d1eea770ccfc372e31f4a76b0.npz", + "bytes": 2017724, + "sha256": "b227e229ad8c16cbfedf2ce286f21a177cd81da064b95423134281e9916ca73e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4bf56d63f46cdf2a9a4d4058c11e068adde676c2fbe2ce827abadbb6cfc4efe2.npz", + "bytes": 2019314, + "sha256": "1ecf01086c468eb236a52f500a14998d7e56a6fe8e57807374d0eb08a1c71989" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4ea72da71910dd584a50650716ff35de875c58f6cc909ae7b3b61aa4d9426ffc.npz", + "bytes": 1976106, + "sha256": "0b265a14c37e722a0fbe6877869ef25f1dc0d102c47610a6973ca555a326cfd1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4ef827acda2ffa3e86dbf036ca27bcfdd79beed2d02de17d78b4fd6d78a1ff68.npz", + "bytes": 2017633, + "sha256": "3d8ba40b7c36d351b2c61743bef77db571ed839b069c57b92e92d077a940f320" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4f79224857627215ff95674502e3697e466d11ec8bff6dd332b11ba3e9ba9962.npz", + "bytes": 1968696, + "sha256": "becf1e3004e6ae8c1316c9376d0f7dc2a26a5e5f51bbb8c509db5e1f0da0cd1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4fb3a06c00fa1c219294afe490f6ec36b6db018cbc28b3e56936954af730587f.npz", + "bytes": 2019139, + "sha256": "e24082cf22f02c35644031f2f879ddc32bef0f9864bd4a399457202cd72ed9e7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/4fec70a0447792ab9ab99273ab67b86d02a0078e0f29261fa7bdb933ea22bd7f.npz", + "bytes": 2018259, + "sha256": "ef8ec5957c7fdc0e19d62fecbef21279444277e492f1dcefee5cd981752b23e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/50238c9136bb77540023d9045689fe604cf9ad29ab7635477f813a4b0cc41e90.npz", + "bytes": 2066429, + "sha256": "edd31a8dc8227c9dc07ac81e3afe51ba56cf141791a359b474cda277eb846b26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5137b6102cfd1cb0c74a29feed6d4d5f4e7aad1add48943ea0c9fbdfa689bc9f.npz", + "bytes": 2042461, + "sha256": "b8ca5d48936115a0e7e15cb8088372e105266ae86fa6f4c2a41f6332b0086ffd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5177c01f885c60d6b3669c33e32e9c76b35b2d11747fc4270a6eeae3aaa07b24.npz", + "bytes": 633260, + "sha256": "f202ddb18d5feba8b8e8f84a0656953147221480f3bc35b75717d54ac7d2caf7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/51b6d2bdd244fc577eb2b58d1c5cbd720fddb52d2f4e5dd3806d5f806f34d326.npz", + "bytes": 2013868, + "sha256": "d2fec8d024232922041be8509f00d07669da573204f26f370dd9b19dabba983d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/51c2f4595347a9452d8b50dba5441a5f33492ac87ea0b97a8a739f7bde7db72f.npz", + "bytes": 2029964, + "sha256": "c146e2f4c0666c2dda02232cb2a112d64faf438f261b2594f4f37e6ff8e823e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/52906f5fb981dde833c43d64f47ddac6c1ea88c384a96d278a4a3aecee8ca55e.npz", + "bytes": 507394, + "sha256": "fd4f49dd20b262160a060544f44c7a669cca986cbdb66e45cafa2e1c8fdfb8a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/52b8438fc0f0ce5b5547cb2b9d48d1f957556b144e7a4dbe8ff18ad41e888238.npz", + "bytes": 2044620, + "sha256": "629000112e51e5df05c4ddd61ff9bc591622ab9cbc3405ebac0e4cd237aea3b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5342da9dfa28fe9f1aeb4612e6b89b01f03f4eab4f2781818268ea06108b1228.npz", + "bytes": 2012791, + "sha256": "935c3360c08ef719896d74d5235f33cb023ddab7afa231d859912f5e0aa54495" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/53723bda972c67043334896da1a858f0533f18268d4cf81f1dd3bae0761b1132.npz", + "bytes": 506675, + "sha256": "0667258c12b0cb88b558c40c72c30ec9717c35733c9ec3fe40204441170278a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/544f80b4866a81112f6548ce0fdfd2649de440c9be968a4ea6ddc349f6fe9ad7.npz", + "bytes": 2020479, + "sha256": "99afcb778290348e35328c545316dbea2bc7bc59895ce1a52585a9b32be20e79" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5537d88669254309e7c49333d9c7a8b884149079ebb3130da4d1f0f9022a73f9.npz", + "bytes": 1997659, + "sha256": "9ad6719375184dde735d0cb78a11dd45f79754d3ad7cb70af57109d48f3379a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5545971aba0bd83fbb6bf77740057dd910ba56b15b8af26291df8335e2a862ea.npz", + "bytes": 593996, + "sha256": "77142eecb8268f9b98481851388b57d63d2ae6c25e31c7211061e50e8cc5d774" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/575755b81b2352077b22b66a4482cfb93a6035fd0f6d2977715948d2f6810757.npz", + "bytes": 1354358, + "sha256": "2ec2dc060161ff939420f277eb52f1d0bf4f70b080f9a9ae6371b379415bc5ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/57f037fc04e117850f865a1d0b5adb280d7d1aa379222993c4f9f30bcab5cba9.npz", + "bytes": 450098, + "sha256": "6af6dc5bb029d83ed28048ac4d7111fae9d207c273ad0fbadd42f4a571583426" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5a7ed1364f185c26b66f3d510410cc8e4051ebc65faea2781ccdd7cd2b7d1b02.npz", + "bytes": 2031930, + "sha256": "109bc03d0d0aa29ea6ea97fc8da48489987b21bb8d13e93b9c52411e55f7ed3a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5af79d589d6a239965037e0ea174a2b292d915e6ec44afc2e9289d7b4e5e39c9.npz", + "bytes": 2045854, + "sha256": "c4cbf35a74903095e2727667e4bd153cc0e552173cea513b8918058905466687" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5b94d3ad8d80ea424d0976151e0fddb6e465cb9f28cac8f5c4a22bf241b39b6f.npz", + "bytes": 2009967, + "sha256": "8a5355349a7bfd0396fc0d3cbd34ed1f53f33dfc3ca863c4596e850938cf5485" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5c877e2f8ff2e4e5356f29313db9afe3c7f5a7f094c28b6343e0dc86884d6db6.npz", + "bytes": 2018569, + "sha256": "c875fe9d75399110a0c596be4e36de0ee74d5294b52ae872a717fab5c479a23d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5cab77958c182ff279b76240342e6572aa048451411e96753cb2bc9ff4c638e6.npz", + "bytes": 409929, + "sha256": "6999b7f4a596a02f31ebe2fba8cc76c2764f0a0a0bfb06ea274d9e0366029502" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5cdfafa45702ab1746c6f8686a8a48d063c1cec74d3422dda648e01ce03e2d9c.npz", + "bytes": 477730, + "sha256": "160b2cfffc89c3bd08c08b5cd45a65483df04dc38ccee0a2596a8d4cfab30ac9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5d27798036b1d0b2b9f0f2175a199f262f948b131d48d208a640140186d1a75b.npz", + "bytes": 2015506, + "sha256": "21c3083f04e647735a54a5574f2971293068499c92d8525f916a98671e97f11d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5d372f8a86be374c651db47caf43c90a1614e940bef47a3ffa8ca7eeb081ec05.npz", + "bytes": 2047544, + "sha256": "feebbaec7522782993aceeac813f8b8fcb1a3449ae6b8568bf98a020ca680fca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5e1a27c1380e140d238a0c698f3372ea78ad3f5235e0eea5d26bcc1ca20ba1da.npz", + "bytes": 2018693, + "sha256": "b0669840b55cc45cc796f2f8c5c138c39dab566ac03a23dc41ddd23c60f1e438" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5e33ef7022d2bc17fb383c23aae8ecc9f1fdb032f830a407768b9c05b1c62caa.npz", + "bytes": 2093504, + "sha256": "c8b9a0c884249b050372f005dabfb7f6f6f2520345099d4b51710aacf1a133a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5e47d0c8864e730becec6f65dcfae2752c821f6f85913824f42cb81b69515847.npz", + "bytes": 2049412, + "sha256": "d3eef40e688a33f268041cb4ad12bc477001cadbee89e8b970b57ecb72413dcb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5e94e4b3a93767f25e7fc29e505d45d4a07cf999e3f231d3d60e59a25a816dca.npz", + "bytes": 2031007, + "sha256": "94ee56e14455fdd6a2409e44adcdd0450d0ecee00aa3180909441f1bf41ae9c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/5f87ff57b5581eb2f4f4f626f52ca32170f5bc0a4ed4ab87f58b461255fdde3c.npz", + "bytes": 2040814, + "sha256": "8e6ba2678f18c11e384be458d8b17cbd91c4b062e0f34a264957a9740bfa79ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/60ff141996d283791c5797e6f9819a0a3d9d4c85a32612a350610ba25d6f8de4.npz", + "bytes": 585865, + "sha256": "d154bb4c8a84dddc3822c4d4f2eb331c9d124ac4a727a673c3c480e95c199341" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/62e94d20c443506e1db66dcbc631db086771ac570c0859d334fed33c417b7332.npz", + "bytes": 2079548, + "sha256": "3a1a43eb4d11015784be4bd2753939da65d77ecb7a683d8f396ba870630db055" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6341a33e9e66e75754b16f2e2b2a0ac2a0afeaaf0f824e84ec091a2ab40ae0be.npz", + "bytes": 2016290, + "sha256": "716333660947918ad2993b9adba5df78afdbd3e5e13d5e46cde59d1a9561b8a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/63a138d573e856151d7ea776cd9d1d53cf77c3a064f9ccd0f5332882c6312f63.npz", + "bytes": 2037287, + "sha256": "15e06bb328d2ca3eb6f7d40926a48471c6fd98f19cce32fbab78c8747dda214d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/643a861466d4bffa97fb1c4ac9488de33acca09ffe7601d4120bba0d2efcc38c.npz", + "bytes": 2002298, + "sha256": "a5ddd20debcd16ef1a6c86dd123e5c9b9d35ddd4ddc3d6e55bbfd187a3bf2b7c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/64413baa73e07b5833fe12c5d6e975dfb0a34c33a6abfae7d2945f04df5ebb03.npz", + "bytes": 533164, + "sha256": "bc6f12ffb6cc160394209b966b40032550499d678ae0236d45e5626c25546ff1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/646657f688f3738136b290f46c9740c5100f534e489c6905c333a4e45f5d2959.npz", + "bytes": 1658509, + "sha256": "41b38c65591acf7197a0f70489560b0f33f11c9359c49045406330ed630d12ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/647c165f46bebc3d384283a1c70ab93b1e915c83e746d1a252ff3145d880975c.npz", + "bytes": 565126, + "sha256": "2647b63bd4a19f9fd53fe9871238acc2442c8527fac4f49dea925a1d3bd6a011" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/64ac94e014a1180c5eb107761d585e0fb72a86aacfd73aed15092f2b2ff35aae.npz", + "bytes": 2067960, + "sha256": "2231e5f695dea9bfa5e4d000b71bf2b0e9e0005a14b853272ae070c6e7301a61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/651d5d7238df24b86dd2af56849e55e9964f3085c634a5daeb1faa1bcc42260c.npz", + "bytes": 2042784, + "sha256": "8892c11446c7348f3a081e8e685ea4f802492bc98dbd3c5924debb300d0cda8a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/663575daf44162c382ef4752f5cbe236b856859c91dd56b85d273aa04e7ce304.npz", + "bytes": 1977814, + "sha256": "edd9d280cb36acf704770748498a64852408a91a594f7cedea1e1133d3b4321f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/669f7d2ab9095e1a212b6b37df0e9c0ac45e415b23c39edd87b874781a2496e6.npz", + "bytes": 2031507, + "sha256": "eabfe7e92c0e9de3d825901916c1395e24412164916d6480c09a554f1322f4bc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/67bd21f2dd067aec0bf9b0d650acbfc8da1d80b1028326c495addacce94358ba.npz", + "bytes": 562810, + "sha256": "eac07168f7b615254e93587b71fe071a90011183cad61e546733db2e8ba09408" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/67c854fc08911b59d1103ff18fdb0c2e27ea05db8f2b9190da11e2680fd2e4d6.npz", + "bytes": 2032940, + "sha256": "e8663512d2af342959232daacf35da94d44f6c115569c5654f0a7bd69c55280e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/681113ecdd5695fa5c7ad802c8f27b36965d27001973cb3a94a4ee98731e7543.npz", + "bytes": 2088125, + "sha256": "8248aedfd02bcf5f1fc7abc52d5fa3488eb092bdd83720cc63684640c6dc160f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/681d5e2f45f547585ecda03e5494af3a9208d8b0e4c646d5dbc31c7d69699664.npz", + "bytes": 1764715, + "sha256": "a8d3eb3612ec32ee54c2f4c3737823893e7088809dad97e90847266de95411ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/68a435cd01b8392313b9b562c0247299eb6aada310a6fde417573253a22840ba.npz", + "bytes": 566121, + "sha256": "d8626a77dd280499060963310e16dfe7f301993ddc779a998ba9930d8848acd7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6a689af052f1be625d6736d465ebfefd4e3527a31e233803439d0fc42a558d08.npz", + "bytes": 2014096, + "sha256": "a356ae39ea5a705bd3d72744da269769476989b8dacd5a80cfa12483a99b8b97" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6aaf67a24241d10b3f7deeda0925be64ca97ff8afa40660a0bf33b427b2110bd.npz", + "bytes": 1790662, + "sha256": "ea05fb4236a017848f69a7302538cdcf18e117460e7771db9e5f4b1c93ddf816" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6ac5e310969d79f2545929203184ddf80006dc0fc81c636eeaa0d20f54ad175b.npz", + "bytes": 451085, + "sha256": "4672aa33afe57c9a1da084138cea36794d4bbb6208fa43fc1d2c3e8ef52c14a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6b1c59d6f92cd8a676c6a12e9856a8e1a879fa1cb4914e32999a549b33f928cc.npz", + "bytes": 2041924, + "sha256": "202a5d752fbc09e8abbd6fd87291eb92d6c77291d26b45a0ad9d9752504eb923" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6b4019ecfa3bb6fc2f3a015a56faace3a40eba7c9a23295bdebcdc46077731c3.npz", + "bytes": 2035327, + "sha256": "7aa3d7d17be94bb0d6cddfe87a94929ed0d9f9f8f42caab6afb58bc7ca26eae1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6b7027f9c262c2bc81803f71ed8677a4d749046027e9460dea935113b0168aff.npz", + "bytes": 2020934, + "sha256": "989e995c17d089cf858c877f0591ed0b356f695071d767eace15ebd5b5a33173" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6b789f3d65920299b6991bd85b8556168de8ebf8809187d87ea3f473e6691bf1.npz", + "bytes": 2017232, + "sha256": "dcccc0ab9a92d56d3264874dd7327b6c78efcd644357fbfa8cac8385b57d1bf0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6c043a90800c4067a7924fcac0df4f8b52d4583521cb2362131ed1c147db02a8.npz", + "bytes": 2043117, + "sha256": "38dbfb05a2e2f7c8ac55310ae3a67e576c78c38caac105536d93f3b170098de8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6c2bbff3409640eba0123f9247b1305840773dda656d11e6f9952ee9bca5cf9c.npz", + "bytes": 592850, + "sha256": "43c2ae67a66930368901fd768bd715a8eac62a2671c24769d5d02132657d0a6c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6c6ae45fc41c417ec2553c03cf9dc31d3cb744fb29d0040b9584ae01ec0a702a.npz", + "bytes": 2020436, + "sha256": "1cf973ce3485b4dd79e98547964da25a5b1b224ab9e8ffbe077576de067c13a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6c997087b14392729644ccf8d770232db5c7b7e142895fedb4124f06b195e410.npz", + "bytes": 2004552, + "sha256": "962155383f82cd5588a30f574d6cfba7483dc7a2f228a37a2e2d55819aedde6c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6d57cbfb1c2d4ab71375678d876bf12311bf425a24241f13be5828a289e05b8b.npz", + "bytes": 2043849, + "sha256": "607c1aa93f5463cb6577822c0264de1e2417a841f5af3a9710b2d5f7831ef29b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6e7d84df14e88201e667343de28eb00d999bcbcb556d10a38981f23fa420b507.npz", + "bytes": 586134, + "sha256": "ae7fb1922865193d020a68a85090ecb40f1f584498c9132596500ef6a7790bd5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6f0c4ee23e5ecdbdae869e2205e6f61e8059e6330863b66250b777cd395da74b.npz", + "bytes": 2068481, + "sha256": "f4ff7e82432fa47f2a65000360b0e793a4366b565b3b665b90d20a6a7d854e38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6f889f507a34fe8dab23b48b3d307a30b63d0fee3169c7da3e9e612c96cb72ec.npz", + "bytes": 2018482, + "sha256": "b8032cfb2d20f3ac5db29d7d042a040d637ca992a76fe5a58026bca7b6af1c53" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/6fac1a633e06efc7ee4ac56afd192b900317b05aafed2169e0924a4e98343f94.npz", + "bytes": 543740, + "sha256": "bbf6782da4df3d8ad0629f3dd7b4be0fc9ed8de3e41cb5b3743ea0b5e022ae33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/707900d4cddb7480c12891e416488fbb872a27aca6a81e5b242c81652c38ae5e.npz", + "bytes": 2069947, + "sha256": "cc70e830509b02cf04cbaa3d159e78f4b312801d60293f27ad97bbeb7130b497" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/70af109496a5a2e17e87864a1faa84a1f0284af497d84ab0a44fc708558dd3e9.npz", + "bytes": 2010581, + "sha256": "d166f994417266ca21fd5090afcaee6cf918b94a17a19583010564734ac210d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/712d588582260f6cdcf054c30a48a3e8dbc7953777f7ac093dbcefedc3a5dfac.npz", + "bytes": 2016758, + "sha256": "61b32a4a90f608a026ab688a05b6d1bc44d9557d719822ee80601de4f06b282b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/714552a52e54ad03c102c48315c92c51b7c1ef52e9b09708ef7bfeb219425e64.npz", + "bytes": 1921122, + "sha256": "6823c7dce624347c757fba22b733acc11c42dd5d787b8840556e637819daed70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/71f0eb2d0db3b999b8a5aaac63c0778e9f0b55cceeacb829da85851f8b7066af.npz", + "bytes": 2086137, + "sha256": "ad0cda3913a50c9d3cbf44f5e47f047af98ce76ff14712e2111cd07178204d13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/71ffb105a8099af0619059dfc414c20cc84ffe3e8deb673e4d93cb3a68a27f1b.npz", + "bytes": 2067305, + "sha256": "a718560d9f4aad1ec7ef7daf092331519104c16e589da80a7f3a09add012184c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/720ef9bbf97a596bd079d16d9774c878a70918bcfbb414a786da2fa0a0244dd6.npz", + "bytes": 1961445, + "sha256": "5171835afc2cf7847346fdc49ecf017bc1197940cebf0c90aca7625b19724bb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7263c42257a85b1e886200ef835953b4d2567ea600b85afa6003f8dcace3575a.npz", + "bytes": 2042763, + "sha256": "ccc23d3f2c6b1428265cf10dc316388482ccc861cc9b66d1f666e73adc72cfe5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/72c288d12fd29d3067f44b0e9e1a4d3b08f701b333d9289d14be1ea2beb2ed7e.npz", + "bytes": 2019025, + "sha256": "984e47300a1418989b06e88a4e10cf9477193af3245c8f298732ebc252e1497a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/737dd4bc24042600371125c978d6db28065a1631db552a31f361c1dc2d372fd8.npz", + "bytes": 1654926, + "sha256": "6e8b5926aaa0d23dff52e8f5168dffe1d63113e476230d6150682c96bab52f3d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/73bc3a8dc62b74c6f7a9fd7dd3501bec68c026263b03a7363bd41a8c65c2100c.npz", + "bytes": 2047695, + "sha256": "8ba09bde9a1069dda2a9eb76b0070e017d00dca04e7cb81f02bf20c515915cc3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/73c6a51533530cd0556348fc10094b9abeb5a978dbfc5c3a0a00ac8872d0d33d.npz", + "bytes": 2103063, + "sha256": "3fc5292028964cc2b7046d831057ed6b1f9b58f01dae427f24ed1c7cfc7de9a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/73ec6db84f33e4abf49974e84e370fe22d9c1fd3b4919287ca51b26149b9d81f.npz", + "bytes": 1980212, + "sha256": "8bc62bb16949bb7f7d9b0de7d4dd7249965ebd9e5f31b457afd4d7054ddd55de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/73f50cf72d64af0d3c22f5d7e16daad1e425229c6e269b12dcbca2c7e48a7d90.npz", + "bytes": 474805, + "sha256": "edbb7f769b1b3610551ed655d995a1287b7425e76e0ee9bd05e689ec747a6dcf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/747763452b56bd9c05c75eec2c2517de9746a5f32fef4d47a2512c4e813c651f.npz", + "bytes": 2044697, + "sha256": "9cfd055682503a0625a587e9e6923c702044cd882e8b6718d0e8f00d9279f182" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7480f6d030fc4991a5137661b22e7df2b4fb8c733b0cc364c4ec34f713b40113.npz", + "bytes": 2052271, + "sha256": "ba63e3ead0b24e3a322e375997826716e4a7766155b6d9e95666f097c496ee26" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/74c75c8ea8d151661d5ff9e95e236d5f5a61b78d8f70d708f99ba6928e5d0ab0.npz", + "bytes": 2041211, + "sha256": "9bd73af141af4c253ab59760c610b8e4dfaa80fc1a16b8c0e498df199f96aa94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/75f9605c7e2a5eeeb4ce8e967d2e3e4e006241b1b99724cdda76f58791da598e.npz", + "bytes": 2020228, + "sha256": "68a0903748836930f27fd8e95ca7ab85c44a0f2a05bf67297c5f9ef002aecbb9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/76a4aad5179ff05f97ce2db23a19c3611c205eb15798259e0fb0ef11b9a962ba.npz", + "bytes": 2015832, + "sha256": "2a7c2cdb0b4bae66dadecd18bfd39dba280be88ffa7befb8ab3f4ffe3644eb90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/76dd85e3a7c3418c53061d0f4d9c519275220db7a938916fee59143f7b5c2758.npz", + "bytes": 2045076, + "sha256": "9e891091fbe639b138d7e4b9441b1c35148c64accaa2b7515c4cfec2e1eb5c7a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/77a6c5d8ee0c4985af8f9c5540ffeee048d007fbbd72dab8f67cfad564bba84d.npz", + "bytes": 2018271, + "sha256": "25d3af7aa74724ff4fa718b90b5e6ed972c8f589da6ead7026295b0ff592bd34" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/77f1ed54e13bf24b38867731acbfbff89bdfd2305204aa03da03ed63b9399984.npz", + "bytes": 2070026, + "sha256": "c7dac2ec5670fbf4d9a49be1bc09ec3f0beb39f4ed45160d2212855f4e34675e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7831a9086f4e1a1dba89fc7497e1aa8c1e53adc93a64cac6e024e4aa3509009f.npz", + "bytes": 618173, + "sha256": "66f50afd641c889ba70ac2d35cb2cf124f71017568877e87fe61fca7cdc974b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/786b409df87fa1b69177abaa24655ffdea5d5834224e5c4677e2345ec3e0f319.npz", + "bytes": 1568767, + "sha256": "03cc3f14b5ab72704a44a8437138dd60d3b8d759d3791191f20e4d77977c9e90" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/794702fa33c759bc41c5b1c80b282aa708dc38a72085a34e60d2bab376f8395f.npz", + "bytes": 2065838, + "sha256": "c9449454555f604832828ee17116351f09daa0718467e6409fc0a183333167a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/795e6bbc0674ca6bd58f58957e28143cb47232c44a54bd8bb433515e769d66bb.npz", + "bytes": 2044227, + "sha256": "8a06fd25361fbf43d1287c60aa7efdc938049d986c6a333d446dc038cfa9af1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/79a1d1dd11c733069d828bf0fef6d71dae9e531f49f05aed6a3d71c06245ae0a.npz", + "bytes": 2018223, + "sha256": "d56a19a002eccd09f0a49b407604d1aa2157b945458c8cf2c73c3a426d010027" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/79babaa7d20e40d7c87d5efbb9f51b7d65ef975c89459a6fe9cd01f714c2f5a4.npz", + "bytes": 342869, + "sha256": "171caddfb2d2fab50140268db1f08177554448d5db47f215d0c42e99fc935a41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/79be809119bad05b8d29ff1ea1e4ebb883a59367129b253cb4324ae9554d9340.npz", + "bytes": 654423, + "sha256": "0fd599eae8ef0e221c182acc004010ba163012a90f1d09b88ac69b99b4dfc900" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7a7482baca30fd1021323b23d167388790b921ab5c6ad962322037be2882bae9.npz", + "bytes": 2016292, + "sha256": "55834b2416c02c6a24e578c1e2e5ac358d0263c4ee285d387183613fcbf89a9d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7a9127694cbb9d450e136b5aa67960611edb1bb147b7c25b0546a42da1414588.npz", + "bytes": 231098, + "sha256": "0ae17e0d6a0a359b2a934f9e46eb70ed44acdd38fbd92abc73971839a67a018e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7ab013853987c66ccef045e241f09d70832ac2455815b1019f594e3027cd82b1.npz", + "bytes": 598463, + "sha256": "0253faf485fbd13e948a87e6fa4d17c55961f8c8fddaaf71a7c7dec32dbd76db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7caf25ede2539bd4322544489d7858651461336721016e05306ea57e6735734b.npz", + "bytes": 2028338, + "sha256": "fde729f6b812e0d335c76937b628e4db8b6ddf0830c52e73244adb87a0f0eb09" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7d24b791df65515c0975b09bf0492a51bf6b42829b9a22154c1bfe98dafd9e4a.npz", + "bytes": 2007845, + "sha256": "00a9f663ffcf2fcd5b5293c0aec72c7da4d523820b1fcd84ced8f4d0cc2fdabe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7d5e236bb67c3c1482a4c044c27c4b921d521ada8225dcd6e21e305c6bef99d9.npz", + "bytes": 2047738, + "sha256": "d95215a17290518c269199fa0338e6d16b2ef0d90abd267bc3043d2b4d4b754f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7dd1ab2b14ef5ee62074a6baff92764062f6c44eefa9c42c39483b2b49aaa233.npz", + "bytes": 1959688, + "sha256": "cddb8b6e11e4885318533ea03b9f9c9cb9c46709e94cd76b28a561b27cb4a2c7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7e54b7abdaa5d579a58126c2ef83399c400f4b4b02385a76ba60e3c3a5d76798.npz", + "bytes": 2044306, + "sha256": "b4db3d80fb656d24dded5cdd561ab30c3432412136c0f7209e74e298b3606bed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/7f1130fc84616730d921aff0033c1b6a074d973051298bc33d0898b215fdea04.npz", + "bytes": 520776, + "sha256": "ffabd8a6437cbcd0d33332d13b712672871914d49d5e76569bd4b3c8b9bca6de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/80317ca0fc28b8bc00ca1f13bcf9d97e31b023b9d5ab07b78ce08fddac038928.npz", + "bytes": 2019505, + "sha256": "dbc6c8b52616c948485afa8623d7da4a1348c3d31bbe432e0a5dc44c1def9355" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/825cc84f150d9c35492da6bb36b56533c4162383207926584b6f2be1b13e1f2b.npz", + "bytes": 656362, + "sha256": "531b78934cbec10acb1cfd490f11a7968ef71e5e06a3db89282eaadbbd5d3e2d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8262ffa54910cbf9818991997d6847a37f8f2db841ff6e5b21e1c93a8aee2098.npz", + "bytes": 2043167, + "sha256": "9bc3a3f9429f12562633131fa7f89f6fb76b640177e583413a25b43b40aa1770" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/838ad67aa26bd0c9ff3a1a2d075c7068a86a454242ffbdf164d0ee87458cc54a.npz", + "bytes": 2048981, + "sha256": "1f4fddea5b29b8508bf4a696ca6d277869839148e7f04e91035975d9e8e6e860" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/83daea3e2d4cd38f6158156a2019af6c68eede659087d84483b3155c58f21249.npz", + "bytes": 2018357, + "sha256": "94c388c3442c5068b44359f915152d2e34cca756936bf4c4558eae485e5993aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/847d4090d7b5b1aeedbf33530adb11e7b675e60ab81a7da4acf5ded7a172cef9.npz", + "bytes": 2013457, + "sha256": "3fafb89d39e7790287ff5984198adfc2e621deb6d5842e5d8b5be6b4ad6112fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/857d65d08eeed71d965a6a24d3cbfa9d61b422a16d76d8172a12f476dfabd5b0.npz", + "bytes": 2017361, + "sha256": "58e5df573fceb639c9270a4c4be414c880fdf6dd2702146f13b1fc323d0be82b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8590fe0ab7f521d522cb71a3034cd6b70c2f614749c08954a3a62f35661a106e.npz", + "bytes": 2017884, + "sha256": "3e8f08bfc48760b1076ff1392ddfb049b880a03c7870cf3d656a162d749746a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/85b5d5227cdc33fdbd731840a477fbcdaab37c36eb6e40035e267f661468744e.npz", + "bytes": 2019283, + "sha256": "e30b894e5ab090b62f6b2a00b4be87305bf7dead4324f9d2815ccd81e3a59a4d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/85c465bbdd0d429edeae5416f765a383588d194a6701c751466cc4f1decc468c.npz", + "bytes": 2039292, + "sha256": "b0bfa15cffbaf34425bdd03c2551a940b8f1f366e2226ddcba882f2a5e20fda3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/85defecf51f8920a3cb5ca22bf437df407d03e0fd66fd3f818b5c7cca59c7c2e.npz", + "bytes": 577824, + "sha256": "86841b2db6545e19c28d5a371971ac97c766c94e4ac081d126af5bc89b104158" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/86493e4c246df679a2894cd1d66b8b4d3657f2860c38b3b3bd60da0937e9cc00.npz", + "bytes": 2038328, + "sha256": "ebf544bc731007a504678e3c365dd2b3348e5748778e0b4c945666ed91ca0355" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8728c7a2e3e717087f0dc033c0b51067d1a84b3a9a979a81be747f81e43520c8.npz", + "bytes": 482066, + "sha256": "909cbf9068485cec54aebba85b32280e09e6c685a10b293686c01f577463bf15" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/87dec97885169c45d640fd9e8fd523584f30ca67ce984132cce101ca774c4dbc.npz", + "bytes": 1902694, + "sha256": "3eb5f0d2ef6cdf9beb5fbcafc91cfaeb54a3e9eec9fbe1166ba5606a882d4f13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/88e1672dcbd899f3a1d9084fa0d08ba6a02fc58c065b37b8e00280ac39b72588.npz", + "bytes": 547469, + "sha256": "86368ecbc2a5575b64bbfd82618499f60c741234140cbd5696efc3dc654604ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8975b41a8ddf2046f8a0b98b4b7b8831b917bcd4aabb97f2c8e22b74c447246b.npz", + "bytes": 2090992, + "sha256": "7629dbf4aff999b23e49aeb675ca105043096780878e6f8f70c347f682514b28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8993356d51465b8bdfe05d184606cbd0c6c757b91cac98310d08096cdcdbcc69.npz", + "bytes": 572552, + "sha256": "a0d5b73a28e5599aedd42f1278846d2d4cf50922377283a081b82919403c6f75" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8aaf6cbd3b7aabf17e24bb7b908909e9c07e9e20627778e0a723e38bd48c5902.npz", + "bytes": 2015630, + "sha256": "d193eb20eda650ba4eea1a6735a63506d0df63ff76cb4c18b422f474a21688ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8ae9bec6a28e64b00f23ce30a65ad7fde73eced04ddecb4b8092558ad3cccf93.npz", + "bytes": 1980633, + "sha256": "d22b9d7e7f0b6ac380f6175bb3e542b8ddedbc4c1967c262f889431c23af332a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8bbb662c2da5e715d414438e1ad5cd64a6a767b8f79bdaa79d69940ca05dc7e7.npz", + "bytes": 625384, + "sha256": "be351dba01eaaf5dd41b920748360d78f4f6a4d4ca0695425946775daf11aacf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8c8894615265418338e8a2fdf1855bfc3d6685ea7472ab8819b8716d8b6203dd.npz", + "bytes": 533720, + "sha256": "796e1fd7071fa1510cc59e2eb9c773823922c47be4d79a173b5cf6da067d0c29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8d0f71744ddbd2a5f65ad7f05e9fd2df8be06dac685741cfdea0feeacc5b9d46.npz", + "bytes": 2015449, + "sha256": "dc27de64dbb2113b630308c26db26967cabf4be1ef7e2746d1f0652362adf652" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8defefb8f715c518ee96b80fc38b99af7decc8ef528a3f9335850b51a7c9f1a8.npz", + "bytes": 585323, + "sha256": "37c5aad14d906f4ef798a0eede5bad2a584686d43fa7c30f47967ca0e67e990e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8e5a3e8737fb05a31de1fd4178b846561afe59e5cd8368cef8f39530d4af409a.npz", + "bytes": 2047008, + "sha256": "bb16a97c56f5fd4904e13b7e67c36dd0ec46bff9463126a1a33a3b6c2a0e70de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8f97b34f0ee1f2a3c800c75fbbbb4e5e1219a1e372db5c014193414c6afc47bd.npz", + "bytes": 469718, + "sha256": "6754e13958e985c4e44871da05878c16272100038e38884981969124bd317041" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/8fbe0b72caa07f4536519385159413465dfdab53676a32c15b4584ec29d7582f.npz", + "bytes": 2058175, + "sha256": "e62469e4a8a7f1a5fa7c22326eb888c5d16d17bd4e81fd9142f549208048dbcc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9000833a7bc4403ab13b3f675eede56b2752df13cdb03571651cbed1d9b73de3.npz", + "bytes": 2014078, + "sha256": "77714ccedafebb2cdba28cc201316e2c8509ac75785600c6e54510fdbf698f7b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/906a40c1b86ab53a3fd09fd25ebcd05831251610ae71b77a414515d1af067cba.npz", + "bytes": 2072242, + "sha256": "e7438abf78fd488af66ef820b13608fccabb9d828c9c022973cf2427547ee0d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/918f88f113f60a33cde33836b4425a3abf4bc179c346027c3a4b68dcc4340e74.npz", + "bytes": 2076505, + "sha256": "9dca7cc48db9e399c2fe27f26b381e428591e9fb9accc0f21d34f8baec87d78e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/91a3e9111ca16778b0e671814494c007fbc2cdebd5948bcaab8ff1b431fb2535.npz", + "bytes": 2098672, + "sha256": "75b272c83d3f63998f3aca79ffc854e61b1b6aba97f69e3cfb61aafda6f4e346" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/924670eb38ca03b8fe55e14c1577053932f2e4fe4d9700c23946798829531b3d.npz", + "bytes": 2016038, + "sha256": "8bed64f086cfc901ffdb0ad67c91112055b6c1f80c1c76989ae04ac4febb6c4e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/92e6bb85dd8acfda72f94da8af1a7a2899cd9ebc317843caa80112300c0345c7.npz", + "bytes": 2081430, + "sha256": "cee4b5562b609552545cac324cd90bfeda8a3a90ba69ab88b991fe718fee652d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9368f11da9937d064e48dfd6c8b821ec976dd4cc22fa07d7d11de62fa9745376.npz", + "bytes": 521340, + "sha256": "bef1b722c50ca47947828f3c997ac3c85a02b65106d4e018e6272d3180aec9c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/937017e0ebbbb5e268fb38f41a1e1499786a2fd2757b6da3c81ab04894ea1b70.npz", + "bytes": 1999131, + "sha256": "d04f0fdad13c86224ff1f9a1b01a8f6be96035607fe356233ff8e1436631b02d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/938b6ce9562147951f93375fd3c209060b91e886cc2863a1ef159f64396a8b5b.npz", + "bytes": 2041782, + "sha256": "3aed26a69a0caeb433e17a73097f6a06f5cc1edc842a8a53825d33593acd4adb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/94b945ab3af6a1268a9133527f5a02f3ec17bf105097a7478aa78f492ffaff35.npz", + "bytes": 2016158, + "sha256": "b27e55905d61bc31fe5f1cd35c0b8ddac6eede5de4b79b2ab9c202ea4daa32a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/94fef71a35b07c883ead37adf76a752ba9829621b95db0c6e36a4c2929e1580a.npz", + "bytes": 2018341, + "sha256": "233f13907e3fce19cf0215e11782c1a759e4fefa336aa78e2f7218609945da38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/955716c635a4bcd5d2e4325f31d3dee790eb0276de6c5d8d576e4c3d350238c4.npz", + "bytes": 2045724, + "sha256": "96833f6eb3600ad5a47f466afc4a16ee0c077e855c0b7b5c53f179e59e54e4be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/966aae8cd87b15302a2c40b9a5bfbe11a0ec5cd201c50761e3fe14a58c1f3565.npz", + "bytes": 1993057, + "sha256": "34126bc6b1a83a6f632051f342834a9e1e0b86f84465ccc11e946e36aa867242" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/96747deaed25c5affe3bcc5f9aa379995800052971447c3ed44438757c00a96e.npz", + "bytes": 584399, + "sha256": "bfa054d08efb34d397d408824d140f379e54ceb8f93928a41193a913e0cf34e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9690164e95b7dcb2e9b9f9f8c169c6bb751b636a57cfec77589c1540ca8353c0.npz", + "bytes": 585723, + "sha256": "a59f4d9389dc8fc3b79424695e96ac47546f08cf419ca1f86847683cec4f076b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9736316cc7a3fac1a1c21482bbcd960a994047504f54ac2a6311cb37e0ba2452.npz", + "bytes": 675185, + "sha256": "7d5a0788d180577e54649fcbe6da28fcfb04c86998784c05d2dd07269647b5e9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/975810d847f3ceb66be3e579b647824109310b8112384ad15e0daef09aa7d035.npz", + "bytes": 404512, + "sha256": "81708c33d6e9024a621066d2b98c94746b906902f3d0c4579fdad219cf41c1fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9874d51580b76c0009521ba6d103ad3ea268b89c6b5543621b393943aa993da4.npz", + "bytes": 2097914, + "sha256": "2266483e4b994fa04f6171699e15622e434c2140d95460145e8be99ea5650606" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/98813134cdb8ed7b33df60e2a00706ae69bdec2d3831feef7fe363dfbd4c3d73.npz", + "bytes": 2018591, + "sha256": "1042f0943d19b26e7267f0f847bc1de486b7df79baabe2be1010d215d5373b01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/98c2e0bc1bb91b358262c75c8cdc5ad8209b67fe5e97027b1b18f5caefc0c5c2.npz", + "bytes": 2018260, + "sha256": "c3c7f8511918a34ba3c1d850ecdaa45610b7bc38cccc0ba2bd839b4131427d86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/98cf178b181cac04a8cb3e7e56f90a2e02301486602680f7691e4e0f7d78c598.npz", + "bytes": 2036448, + "sha256": "e8e217d06766956998422eb1ee5647ec0e8d4ba28d5acc49cdf2d693bc7033b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9908d1e4efff2958a219f210e7af0c553a33dfebc57b9fc1ebca4f9a5bb1c162.npz", + "bytes": 2020362, + "sha256": "48c50dc371f240d08e5b46ceb73091f4593df42ee10c8d5d5dd4623a554cbed9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/99b703f3af198a199d3b3590be20e4b95cd41d0926e537a04e318e28831be9d6.npz", + "bytes": 419767, + "sha256": "46e6186f4cae62bc0cdfe4cffaf88b06abea4f8d7014441831431472d643b624" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9a299ee2c56cd978b744c1a28571bbe4a8cb4e5bb3ec82a695c5f4d00867ed55.npz", + "bytes": 2040531, + "sha256": "63a9d4168b9718b64f0625b83daaa5fa156ecf93acb3056784140bd7bba0ba45" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9a8c698be4b231260e567aab007d5b3cc9aab0557b07b00cef397a63c7dadb65.npz", + "bytes": 2014791, + "sha256": "7398936cc00bed7a1c45f454c1053648df25c6739eec1352345abacf86fc42dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9ab9f99cc0c163a942fbeccc477bd3a04c1fa6cc9533b6d1a945464f50b06db0.npz", + "bytes": 2014429, + "sha256": "538ab540bdf516450f6d7206d376795d28517393214dbee9ece4ee768c1698f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9ac3e0c71562352d5bd1fe7f9c0dec4eb33872d9757cf2be918c342117d1fa83.npz", + "bytes": 2055487, + "sha256": "0171a7528dde3d1fb6fa1a3e7f22f0b4a486dac5b895f9c9f9a60bd1e34aa0e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9b0255b2ec63be451acb951b06ed7451d63b989c1ea78578efc56f6d6c537b06.npz", + "bytes": 1976577, + "sha256": "a7f4d78fd60f6bab99c17e8a70bdb13ef58daf0c7dffe225659b28695f955908" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9c21d0442bb6fb86c6f038ad9eec193afd863c2b14a2a064688a1035b2b23ab8.npz", + "bytes": 512484, + "sha256": "634b0ace8b9e9b42d8562c1b804444962b74bd8ed0423e450a176b2d3e54956e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9c5a4329c166fef96599055128d7277a254cc4e87c6ff10a0379842567a9aaf3.npz", + "bytes": 2037225, + "sha256": "6802875601446f41b00ab453c254eaed0376ad027f8830ec03f09fcab7c91543" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/9debeb4418232da7569cb49671e5d9bc1ae71bba7007778695a8caf1c22f97af.npz", + "bytes": 2025915, + "sha256": "5f27d580b68902b2f34afb53eb7aae4e3744055e629831ead9c1100d05592d1a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a02ce0d39d3e3ae454593192c6db8b46a8b1aad68a8ce5e4912bb56dd664727c.npz", + "bytes": 1949645, + "sha256": "87d1b307b1802e762ff67087318d98fdfa2a017c6a93ba51ab9a420e47626707" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a0c27a28a70e002d851dc82c9a2e2745209a1f1d7328243073e38ed23f01b5f7.npz", + "bytes": 615566, + "sha256": "c5a1cf27455bdb90d3f511ddff8c2c21628e95c956ca2b6962a64ccf4faa2b1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a0d88529d2b2c059eebea39fb21d69f7b5f4d79c5bc7ce1a21ae6bb9a3bedf6f.npz", + "bytes": 2016375, + "sha256": "a3086cd48199f7412601a2dac684f47404542dffc8cefea0f193264a0e54dab4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a135ab2a4caf5fccfc921ceb6d72a8b3ddf15d82270e2ca8fd8df9fc2ebdc8f7.npz", + "bytes": 2009923, + "sha256": "85bdcf3cda1be8aaecc2781fc7286ad273b5d84023472d27d2f5ac45814a2385" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a1560212e94e16273978d360ee2c699a95a494c9e82c75aebe49491ccc06deee.npz", + "bytes": 2037071, + "sha256": "5599d81b1c86bbdc3b085469e722a908790d7944ffa307260238854bb5b950c5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a1ef220484a22c493442c5eb2854a37bad5755225e9bdff3e729f624c42d2f79.npz", + "bytes": 632467, + "sha256": "3b01fcbb81d4d185904d502b4c7e0cb30e5b772825778694cbe9e89ea8de4236" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a21ad2d205f0f317f153e2d59d736b46252c4f535f0a9ce5063fe3723ba23fc0.npz", + "bytes": 2017196, + "sha256": "d1ea3b724cf2056cb68d4eed97cdc8301543d9d5750f0e258c15f29612b405b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a264a16a25e214220b37e8f859e7060f0954f9bb56c02c81286ce591d238911f.npz", + "bytes": 600620, + "sha256": "969ce526d361620f46a9972bd675a6f1a9cda628548278b466e8700f4dadb330" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a295b289149574e9f07755bddfe772a2d1594e2dfff8e4e58502587ba8193cd1.npz", + "bytes": 618619, + "sha256": "7d6502ee513a50a156e3396687aa87f910eb498916aa4f7f1939f4d6cca26e33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a2bcc580d1d5057ce8cc3af3faf52bc40184b5e15808354b74ef06527905225c.npz", + "bytes": 499027, + "sha256": "dfc2b415189bace75022c175f87adffd5fcbbf625122d824cfc10459db11fe88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a355fe6211ce212a5795b271d37490a7937bf77d479d82916694ab1ba940cf99.npz", + "bytes": 1886151, + "sha256": "f157fb5ba164fadec8a5a5751cc15ae860d9fc16cf0d5836c9a98d45688eac65" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a39084c188556ec15bac13db03027f8c8241111fb35cbc3976e420ceeca09afe.npz", + "bytes": 2001267, + "sha256": "f680b31014d02330547a034ef32f07cdbd2ec438da364c5b14ecf7aa56bcc7a9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a3969116df10128344b837d9c37046bf3ff6e8049c4056f671ef8e9003931463.npz", + "bytes": 2018342, + "sha256": "482232cfe47e3de74a07698ee4c5cc5e1f7dae82ae9d5e4c0cdd89941a1f7b71" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a3b09379ca889f6cf307a0b6f3f14988e2773e1041f1d2c88e653e2d8df4aa2f.npz", + "bytes": 2012737, + "sha256": "78ccce499e438f74a2e442d2e61a7dce9de715142e1d72b079be31c7be825398" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a58ae9ca543e69d66d96e03c8694d23815e7961c96543e2747eda03671cda972.npz", + "bytes": 2013794, + "sha256": "94c8885239c08569cb6aa0b303ddfbaace9a3fc8eecf6b1bc367e7b59a7030e5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a5d56488038ad14ef370c2f0a4e2a5776c01538ff5cb919c95089582525ed1d3.npz", + "bytes": 2033058, + "sha256": "b4a5a909973bd27e91d43693fcce5c51e3474d8e7b192b60c3ccd37b18f12a89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a5f6ef593bfdd07ac19e92f6064496e417a58df49a8b37519295a280f71b61f8.npz", + "bytes": 482394, + "sha256": "362339f18025161334f4b7efaa8a70ab9c0d11e0ca4b07ef3cfc7ac02e05936c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a60024a7fd778f86b3a8834c05ab0be1354c0b9fd45f31dd01a135f19da745b9.npz", + "bytes": 2017865, + "sha256": "bc5242e1e49613781b435f3b7f21acfd8788ebf7de6fc907e40cfd70d73c091d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a6cf7422d2816fabcf2a23d66509a0718dddf96e04f898827e87f4443a8c507f.npz", + "bytes": 2045583, + "sha256": "114216dccbea4cb0db0b5e9bb3a012b8b009150a0edac2b09f41268d587e32d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a72591166fb42f09e38d99572a790a4fde429536fb0566f158a207d48159be7c.npz", + "bytes": 2017840, + "sha256": "b77e1b04c335a4e7e87d5346d8ea0a73a73bff63e267b10db4f81bf5d6373567" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a7556d7a684b7d9333ef30f5a73da2c8a831b15ba9e894ce85cd7a9afb1ff9a9.npz", + "bytes": 1999682, + "sha256": "3c514460d4dd047a487544a211419a1adee53ea7411ed7560816f8cd1e048db1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a77621ded839c91864f5f9b35645377a787239b28038321dcdc9ca0b61110ec2.npz", + "bytes": 1996994, + "sha256": "f2f2e3c3eb16870d057a01c6ec012b18065f62dd911e6fd293974c96474dff47" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a7fef532868beed142e9535bc1d8db8b0d6e7a377931ec558a33883fb875d2c5.npz", + "bytes": 2045609, + "sha256": "b789b2307a70769b1268386b3f5146717ff60df2d84a19e39ee3cb05afe581ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a86211e00d76fda2fa0de7820c1964f0e7d0ff7961b4b8a9f4c152cc70b5f9ba.npz", + "bytes": 2011980, + "sha256": "2d3eb2f48aa19b18eedfd161fd5a457240ac91fbcbac675e3aa093a63e21f008" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a956ffae57c1d27185bd2b9ef69243b5577aa8e92ac1927cef0bcccce78f58ce.npz", + "bytes": 572793, + "sha256": "d0dbae9b348003f1711d7115db28c46d390057ff66d4901a3ca435cceb0e4474" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/a975a50d55c91b0513310e459fdd37246dab5a7860c79c2bb5b1a4e0cc628e42.npz", + "bytes": 1983314, + "sha256": "47ba33743ad3ddba29169b720aaeb8112708b1b5486056d920fca66513483507" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/aa1c67f31a1c54dbc4ded6dc8f9358b7ca630133107cdfef4906f1b7c09bf35f.npz", + "bytes": 2068429, + "sha256": "065a976d1cb55c319abb267eb40f10f2e30932d21304c4511e86fafe6f060577" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/aa633a3c3c83a23109c113743091ca2d047d4e2e1b3c840699ea8a3b2a34a29e.npz", + "bytes": 569099, + "sha256": "c415096468abeb4f0f9652371ac1d5eb65eb369dd48e4638d4f9d2b722d3da6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/aac1ef109591f57efb093a876c7d990747b8b1f38d0e764e025b793686a25980.npz", + "bytes": 2091746, + "sha256": "04f4644ff647da11925e944ee96fd0d972c43122265ffe69c236e804790def57" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ab4f76b1b39fc7782aee522aaab8b0ecb5eeb349c8c6feb544e9ec554f8972fe.npz", + "bytes": 2016719, + "sha256": "26c7908be0cdb4e57029838ca9a02fe4940c2de4dc877a4f6394facdf37148bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/abbd98a35feecc3d03b817dd721f44c9bfa1b5df9d42401087a044c7f6542426.npz", + "bytes": 2040010, + "sha256": "7f792ee6235449b072377843ca2b6ff1fdf8d28576fd19ce1e54847b42a03008" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/adb0b82f2c1c6839974ada972d30926785f6584ffc2f51439904739ab51ecd76.npz", + "bytes": 2053511, + "sha256": "207be32846ccb324793ca1fee28216fa982cf22f35eca1116fa4bf29db00adb0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/add4f6f86590867801b1ad7bc153e0ca16c085f5dba26a28bea8c6e9a2fa3812.npz", + "bytes": 613459, + "sha256": "b2f74c3c6b8c1bdbb0f196c8c8bdff457434624710403b49be0b848bd1538c62" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ae8c08a643bd75a71ecf7d0133c02319a882a9a9d07170ba0043b80cb10c7efe.npz", + "bytes": 2018362, + "sha256": "7af6772cf623f041cb97f83049eafce81747e70f9211c2cbf46adf0077f8f24e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/af9336be9f70bd06469436d322572457a35ce84a56133001074739dc3353df79.npz", + "bytes": 2015985, + "sha256": "29f1ca0286671b769e07579aad82a26090f08bc151cc5d5dcc0ec26031d95ae0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b001b128e6a6c1fc567fe8de6db1671d08fc07f939e0b88985d5b387a92c17eb.npz", + "bytes": 2041902, + "sha256": "001a3818a588acf1710232b73030da790e58d2009d63b649a796aca4e0c5165e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b039b19eee347a1268186d4f487b14e574d9a29c876f6a621a925146e89eb66f.npz", + "bytes": 2092400, + "sha256": "ebee65d5bf354253d2085941221d1c86dfb4040f67f6878027da65f3cbceaa33" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b22829e891676b7225121a33777aef2d9bc0e7b0538cbb8beeeebf8c7fa95900.npz", + "bytes": 663623, + "sha256": "f2ca4ea899dc8664dfd8cc6d74e7e7351c68e281d33d5c72eb4d31fe26e6d23f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b270f3928bb36cc02896a633260890b8a089781fb48195d9b0153fb3d6be560e.npz", + "bytes": 2094078, + "sha256": "40ed3c77503a63ddcdd3f462346032837deb9730c92b2139f39ad28448bc1062" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b325ef54c9fa3c8fcb46090f9b6e09119054a24b046573a90f0f12dfb5dc7074.npz", + "bytes": 2048153, + "sha256": "b62b204254d98786b64d1280d6acbe37383d99ddc354ad8f6ba1693419cad48c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b33d379f132ef76a84ef6d83be460f94834c6ddcf3f4d35fe96eeb10956326ff.npz", + "bytes": 2044982, + "sha256": "bf4d3fcb12997b3ce9c91403d3514b9e8c68404a997849d1f6eb285605e9c2f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b4496f84ed756b3419ff99154307cc717597904319ea9d48b147774e206df994.npz", + "bytes": 2016683, + "sha256": "ecdb0c3d8551a2358bde246b76984ab0fef70452621b8b8335cdd5ddead8790c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b5fcfbbb7a28fbe3c4c4ca6c309273aa4e1ef8718480d20156a126052c62528a.npz", + "bytes": 2020165, + "sha256": "16bca63fbdc3bc1ab4a6402d3f27b08923715d1fb6efdf9faf4acc41599f885c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b67a39d6e35235585acd42323e47864f31f8ebf88afb5e4f1dd341b9a689b046.npz", + "bytes": 2043621, + "sha256": "dd0d716205f42fa78b0d0eee2cc4fb763c8667e2f40358a98de1955f8cd59b30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b6a43ac0fb31e1a47cf42138925d6314eab0ddddd256c6cf4b593ac6f9a03710.npz", + "bytes": 663207, + "sha256": "3d554146423d88e90fdb8498bf8c291b9032ec2a660858f88313b66c78c3b711" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b79a08938efe0c7bb8510b74a04ecd80b04851d822efe622e816bc3ce6fdb0f1.npz", + "bytes": 2015461, + "sha256": "a931ea452e8354c9b2c696f932fdad0d98227c96bac17afe879b32eb985ea635" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b86b8e353e824bd7ca69ecabef6c4a3dc81f5f881bdc60ddf70dece96cd50e6c.npz", + "bytes": 1998664, + "sha256": "9c643ebd0fca21482dfefd270df492ddfa541ac7006cd3762f4c8049c39d0d6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b9156b12c06d6e0a5e314bab7346bef43a88a96eb09e0bc28e0ca97be4221e89.npz", + "bytes": 2008047, + "sha256": "1b8a9592355b0fb12938792aae8b8168ec8af50594ec025216ede31fc729d3ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b923a7884cf3df48497710ce9bf3821377c00e8a7154eda1b3f87148712d917f.npz", + "bytes": 666704, + "sha256": "57af79c5c42253143622cc6fd2a503c2aa19c7312c452d9ef27ef8168b1c5a48" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b948b86911d8f3acc628bff551f4a1652e83c737a6c3cd197eaf7c760726f8bb.npz", + "bytes": 425657, + "sha256": "51a93d924b2688c22367014ac3e104216fb4c339fa5abfc7f11411131682f091" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b9a2dfb3ef283598fb6aa5b868e18886ea31f658162dea9351447fa7af6bd26e.npz", + "bytes": 2087485, + "sha256": "281a04c80c061f02ac3c6bd8bd2ab136249d731334c8fde48e4444ec91a3d7bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/b9eafab18618b094a7e040ea942ef8e6e3fdbc20d854c361b60fa3b3531de23e.npz", + "bytes": 2034841, + "sha256": "ce1ef3e35f2efb654c944ee12740f124b727c051b62c105c838b36f88941fdbe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bac3190a8636d76351867426833abf117670c143c4d8dc2b0ae2d86abde6f048.npz", + "bytes": 2041140, + "sha256": "ecc501a4f3de8a91f6e38539bcdb2d6a19a9858f050e8ed87af89ae997593319" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bbf4ce0654ca828e08dcdaa80bb7d84164fa5814e9cf19bdc68ce728a4fa42ad.npz", + "bytes": 2053469, + "sha256": "dfbea1b1bcfe03ec455f0d28ab9d78f47529a0b214bf3a4800d31a88c0acca98" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bbfa24860a513af7ec5e917e667ac528865e66a0149ae0f6889610b29342b882.npz", + "bytes": 2101221, + "sha256": "14f9a7efe77c074cccd36053bf670d18dc598e53c0efcf4ac990b588bb8ac564" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bc6f692e1cbee81d8c56f8c84baa88bc0cc1e97117b84cd57c26b92b4bd5c8e3.npz", + "bytes": 1857868, + "sha256": "bfef224711235458f45ce0692663e2fa1addf3e4aa86d9cfe3d1889d48408d40" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bcda72d39bb9cdcb25fcc3a5d6ac2cf73880bad7c3453ed38ca7513eb739ab77.npz", + "bytes": 1945076, + "sha256": "0b7de1ed7e5c0e956cd83b0f57665b9eea639c83331486e613a2b2c07b62f79c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bd0926d6b33668e30cf8352babea4cdcf81363c842747747d41906b1ca387fc0.npz", + "bytes": 2012842, + "sha256": "96de5dab7a0946adec68b5dd108105e117ac8e3ea3115c598be7cd3dfc2ab468" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bd2cd91525929629e68e4a339a622b921ae700472a051075e4e59d22e33bfd1c.npz", + "bytes": 557895, + "sha256": "0279855c037ab3b811e3502f60286d978d54108b49fc7aebbc177964f731daef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bd4e1aa1421dbefd1e5a4144b23515ec5d1ff6c16a743ad9209eff92df369fb0.npz", + "bytes": 2032884, + "sha256": "3c5bc30bfb143da7446d4956439f4875f0aee0d9ae63908719d40c55507baa7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bd77911adee6be822168c3d44b32640fe73ba5aaa8a1192abdebf20447b7281e.npz", + "bytes": 2016120, + "sha256": "3f232d7c0c0a9f827f8316a8ffd7a51748e320bf2baa84a25ca57838f084ef00" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bd848790ca592806cb8c3643fe5902c2d2da21ea800c08f9e958ea93908ba679.npz", + "bytes": 2018974, + "sha256": "f12be3c2341283c5b3b04c481858b8ea88260d8b474d243ba7bf83dcb9bde973" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bdd441af777c5b6a076f8bf683db6d2b1f9c230afc18144fa30b60177f356a0c.npz", + "bytes": 1973965, + "sha256": "fa97f9d56d28e486492f25328a1790aa27a299517664d651ab378c892855933c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bf0c937c80b3f3ac125e2ffa3bd548bdd61d5952c08c407c12ce74f01362aec8.npz", + "bytes": 2016757, + "sha256": "c175c6259287c4428037c04878050287e4d3337cfdb7a5390ee77f5ea9fd79b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/bf2f49701dc941b6702b95d63298c37258dd24da3344c9b0bed7470b4b7e1785.npz", + "bytes": 2013854, + "sha256": "375e0a4b417cd4e8e07f33d5015077a30d1af126958270ab25eee50fda54f73d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c0f845676b60f9afc71f3399dbb7229789b46a1a202da79fb554155360990e18.npz", + "bytes": 2017309, + "sha256": "978807672725a2fb211f16c03ccdeaaa4cdf7b0ce3c872427bd0b29c50152752" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c1de2b8919d5fb0c0530b9a7b35c9e5821ebaebde483bb027562de421685bb5f.npz", + "bytes": 2043819, + "sha256": "41c9224fbb838cee02538cd935ec4f939b70c16a1417868745218f0d2cec8043" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c2483fbaf44feaa60b45751ea0550be9f546069dd5396e367060af61fef7cedb.npz", + "bytes": 2016062, + "sha256": "315d82b206a6eba0c4eea8dea9ae9e90743d9ef279510300b9d18c7962951adc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c2c5acaac20ecbdead9d132224b08dab662f468f58f491528d3db371b7d66bb7.npz", + "bytes": 551695, + "sha256": "c4836450171433b1a1029245512364f322c62bf087d4d73fcaaecc9fd78d56fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c3abf8973c5296f545b56e45eedf793be6977a0025a8e5a62ac3a76d67dfc084.npz", + "bytes": 465301, + "sha256": "ed7b7f8943de7cdbc4715e5e7064105ce60b476ed46fab33fcce123285c11277" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c435163109052816e00151fd585e225fad8ef5400c3bd5acf3a58994123d65de.npz", + "bytes": 2020932, + "sha256": "215715c6c89059936041eef074aea2285c3f52ad93472b92124626ed13fb290d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c5300b23f970f7372e357ecae686e9048d0700c389bdd1cd30b75d90c2302ffc.npz", + "bytes": 2019116, + "sha256": "ca27cba787bf4543adead556fa0dabd77ed400d25bb6c04b4e81762ba9fae06a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c59166d64f9d346960702ff63a2cc4e15941d68a1b96d0e48724ff498535c390.npz", + "bytes": 398565, + "sha256": "8519b1d9d7c5d3240a739e4423ed2fbbbe85e52b15e3dc4f10ede23c89604879" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c5b3bca511627307650e3103d7b85513e9bc5c3ac3e68897fd4f1d2b6c4ee5af.npz", + "bytes": 2014812, + "sha256": "b4b0a8e63a16b83bdbb529c6c372d6402025f41860936efc51e4edb1197e92fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c61728503fb28ac994fdc77cbef9b1eb6050b3a07081e1b967503d207d26b677.npz", + "bytes": 1430612, + "sha256": "63be9caa668a5f0a98afba4ddc3cf33a06d4bcfa21c06a278278ab594af6c1ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c66ce23cc73b820f639271a884e3ce4cf14aeb89a9e4463cf98130c107ad09ae.npz", + "bytes": 2010584, + "sha256": "c8999933e4bf54bb75f042675edf209517b67b6fd89377719a2abbd8dae91dea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c76c72d49bb212ef091c50e11edca9f58bf6b52c676900efec3530d90e4d4788.npz", + "bytes": 2109559, + "sha256": "e6e8f019f29b113ad2bb27f12b07d11b2e8904e90ea7cf0ca4a848fe2ccee028" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c76c734a739073432b549b5c7072a5996735712adca5658168ddcd48109f8065.npz", + "bytes": 2024998, + "sha256": "ec0db24217a26a41a0103de796e447e1cfec565185c00410ac5e2857d84e20ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c7c89a0e163d2645ec830cb93a2a9ba5799f48387ee9201f99e8ed470cd0c759.npz", + "bytes": 1917066, + "sha256": "19ab27ff89e629eb08c976964d666eaf66b2e1949eb3d66f6e5961ebbb6c4712" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c8cd1046d373df596713b9a34505d861a74bb9286d05849a29ed92a97475247f.npz", + "bytes": 2029360, + "sha256": "2b8145470bab3a7e0d23a86165538a6419389793463cca2662d4f8a9e0dcfe16" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c948ad31e67a4f45ef3d84f080780b4f247033dfc917ad2fb99d314db3b9b496.npz", + "bytes": 2039289, + "sha256": "a22a3f6abd1598338f2fa2205c77e6f7a9a0abc73b7f96022457b27bc62d4515" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/c99430d67b38f64a0f408f5704b088aafb354c77cba4c1cc755217cd2357a07d.npz", + "bytes": 2015768, + "sha256": "cf4dd979406073712db080f27c43c9fad389a694366fe393d166da46f1fa23ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cad770ccd2c3ab44b7b4cddd4e412466fda9d6d8bd5b0ff3ee779826ff38a51c.npz", + "bytes": 1460606, + "sha256": "237d2952d8182fc34953b669f5f4ef777160607bd48ab3dcde5bef3e291cb6c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cb21c1f8f3cca460e5c3d20fbb6e2e04c03ec9a6845b477f7718a86c28b6ac1f.npz", + "bytes": 1683711, + "sha256": "de48d6ea41ef31c8e0171590d7c5a0029db688f82cb9eddbc4901f737eb519d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cb3189a252a88c8b95dda45b15b4319dfca051ed3c306c107e8ec542134231ce.npz", + "bytes": 602083, + "sha256": "f612eff8280e0826804d5f07816a6047708099cd72927fe71a8ead0cac4f4e7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cc5d83e683856782f714f23945685326d9ab5427cd1b044f754e7f1cd9288249.npz", + "bytes": 2018824, + "sha256": "ff7bd28b0497f56a7e0a9e11199f72f3f018721ddff389b6d9592ea3e320dcaa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cc62cf578a1152e4c99c647288d529cf544bafac328881566e6092849cb51746.npz", + "bytes": 2051588, + "sha256": "a5d6c269111f65b990904b76ace614098926504823ea791395f5c4fe7e174d47" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cd02a0ea0d842f586e6130a3c52e10d6ec049a261177b2fed9e8998f1459e456.npz", + "bytes": 2018341, + "sha256": "c6a47df537598456ebfe79762483a2125700f34ff770aea65c2ab78fcc9ea35c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cd640d255dbef1e93aa09a0a1417bc0bc654bb12496e16d4bc92f0d0814d9802.npz", + "bytes": 2015712, + "sha256": "b606a605bf9c9c4f4d688be6b286002422e257134c661d7be731a837893b446c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cdaaff1fbc666103461befebd49991aeb30aaa44bc3243f7ae50ad42540c74dc.npz", + "bytes": 1964609, + "sha256": "2842f7f4256794e2d6c16e3b28c62542e531fb7860632735dc9d878afa3761bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/cfe700a5aab6ae5e27f84be6ba8be89c3119706c0ba1c3bf13fd2882ac636f2a.npz", + "bytes": 2045334, + "sha256": "078896560475c54a278b64e0a0d3bcf5d74cd76a301fc12591f0e10da63d6d30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d01cde709346a71dc9e76ffa469e0a273ed0c766b1d7396e180cf7f8154dbb4e.npz", + "bytes": 656016, + "sha256": "5931971f1ef18c55cf202ac0cfa15313a9c600f413b230532e83c082476d67ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d0c02844fb574268acb879206152f49a3f51b2f82e0f4f540a587f24954c9228.npz", + "bytes": 2051794, + "sha256": "9e7cc1c5c4696ec295d4feb561b4f000d763071280786b509fff8cf58ccd1140" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d0eeeccca00d05c95b7dc8f5b1cad8906bfe16b33a2dbc3dbb4d0d06703aa1e2.npz", + "bytes": 584131, + "sha256": "4279b539e20d62d06089d1614c83f366f26acad8308b98edf5358fe0b3a27ad4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d286c4203568d23f4fc105545f9c0f693a97d0ad3bf3d56cf71acaa220f498a8.npz", + "bytes": 581470, + "sha256": "b104bbaf53de7a7f21d2feb019bec64aac7de362880e64f137489a370ae472ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d29a7a1ab957475b5375b94494d767a8ab9994ae9cc3f122d61996a1f49cf521.npz", + "bytes": 2018608, + "sha256": "2ff50ea66c5dec3b970e9deed58047db0c442b36bed0cde4d03fcedc45a00541" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d2f70d1ac13fdeacf3613e6c2a298fdfff37cbf1d5ea9643dd54e8be7d988d5f.npz", + "bytes": 2016277, + "sha256": "858127cba1826625beeb0bf41230edf15de370c1b1db62306545d0d678920bdf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d37f4bdafcf2534b227d87172ea6e2c0c2cd39904acee28c45383d511c30775f.npz", + "bytes": 2043393, + "sha256": "7fede9c31ebea3ed9cb9686ea454daad916f794d762d38b0aa4d24f38a940742" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d44c386fd665e9286b2e493d160a52df21cb9dfb4542654a9241514ccc6eca72.npz", + "bytes": 558228, + "sha256": "de131287c4349e2f93b32d98bdd9b8094d61d68a14ef8b96271d73b6d9810895" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d4946f03dae0709c42234c3648fe071fe68ae579faca13a0f9a38cd75faef256.npz", + "bytes": 2037481, + "sha256": "7035c2c13851a96dedb67fcdbf2e330f2d9a3f473914edc9c015032351ea862b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d4b5fb85f2f6d9ff29e76bf01eba043443f52da0991a1898443dbf85e08c9bec.npz", + "bytes": 1981360, + "sha256": "80dc1dbec3feeb52c73bb2785473cdbda508e85640d4db21a75c1fa1002c2960" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d5024c2a89afff6aca63c3d3384e24127dd224ecc72a1c2579e1387ccb068656.npz", + "bytes": 657917, + "sha256": "01f9b7505bdbfbace7da857676129e5dc970325d2d2800c73b3cdfc6a7a80b95" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d63fe96e8f858f368a76eb3791e26309c6a99413c1acd47f9d70bc467f6e92a3.npz", + "bytes": 529550, + "sha256": "cded56a32d01c2c2264a5092e8b8721f9724aac719dde3c764b80696a1e3a07a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d67dba4ac663ce8d77f8d588e28f27303a0c60471c38eb571742cec02cf2fdbc.npz", + "bytes": 1948283, + "sha256": "a4e9751648db845d7cf3a08595b4b7ba5fec470d613ca332555743b3074a4002" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d6b15a9b106c3533d3917ae8dd30a1df0cc65053adafdd71b14163ca3489e6a2.npz", + "bytes": 2018791, + "sha256": "912e7d27d0fa2dbd3db173e68a16ac1667032e008bcb0f87ab1d30527d93b19a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d7dcf60a2a00a62d77e564276aa3e4a86d7de45af43978583a226b9bf4d10fb8.npz", + "bytes": 666160, + "sha256": "78b4f8d00a77439a465f89094b9611ecf643da32ba72e6af31b6bba1ee7d2ea6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d7f65ea6424b4c392bc508b70fd1f14b3dd1f1f1a7fe9cca12ba4b64fcaef097.npz", + "bytes": 2018531, + "sha256": "a5691129f356992769be296d9a5e1ff51dd0fbb11e0880e84e10a136862c09ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d81a583b7b5b83b290c93b292c6ad5feb4f7f7b722e65a60ef91dd2fac04ada2.npz", + "bytes": 2044726, + "sha256": "3319f1206f8cb41706c460783491edcb7cc499b3f75e57e23659d6ed441a18d6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d91c56983cf6dcd95b2a4ade731e81c06c460452f7b8e2d2198a56c81c2e7bc4.npz", + "bytes": 502032, + "sha256": "19b7d5215bc7899ce0e467bb74817543148e5b8fa7c157e4deab70b54943d206" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d95c53d7387519d14cf7299538c28073a6ae767a3b801498fc2c8dd253d70455.npz", + "bytes": 1967337, + "sha256": "8b21bbee1d1aeeac81860aa060d33de4a030a690a3798fbe81c615174d807ee8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/d9d98038c8536e1a92a11d2de019500d217a3dce5573e6dc56f090c437b5d820.npz", + "bytes": 2017178, + "sha256": "d76d68849c7e1c5c9179d3aaf377bd4557bff6d9edc7dbd54820da342744f05f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/da8acf530864665e1d3458f85fa310a9b382e83c24fc96fea8327987b9933fd0.npz", + "bytes": 593285, + "sha256": "8ce2195dcf44daf9ece076e2c0d4eb6c26efe2080366301cc92eeb11efe58595" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/db9723ab93182ba97a0857ba1c4c623dc19f8aaac31527bad61386650a781acd.npz", + "bytes": 2017499, + "sha256": "54b79d6e17935c8371cce38c67ea53b388df0fc9a8dfacbf37d2792a940ec08d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dbc78163e3b79c891ba408fdf06cbc2cc33a341a5946fd1d3526667de0ef72b4.npz", + "bytes": 2027338, + "sha256": "e710a3ae3b81d5bd7c917938c0fa9034922ca46799f77d7a989151bcdbb5cd31" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dbf4298ed5cc910a8bc86f17b2d764a32e34b90af247ebcd54978e91146c2f06.npz", + "bytes": 1957590, + "sha256": "32e5f67180c7b2566cdcaf3396d3d77bab34b41406a0145700f0e9a7eb6862e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dc0c5a19b186271e5618ab2fc5f9317064242a1d328db78495fca7929cc8daeb.npz", + "bytes": 2048350, + "sha256": "372731dd88a178a11f5f9a728d7fc9d6682bb04f8ac756d3c67d891404b963a4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dcb00c1e7fc61f162f41c94540e0132bac296072b06e1c3a01c97bfd48354c83.npz", + "bytes": 2019610, + "sha256": "ae9c126a2d33b4186fe33fdd8b62828ff0fb7b1e766bfa28dd7937f8017dec4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dcd8e9fda88639da2d1139e98fe8eed2ec4300d56945b1a97d153e42adf2b3b1.npz", + "bytes": 529064, + "sha256": "fbff00910d2c0eb55c19c16e16ece4a98727b991925cffc0cb56e1221aeaad1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dcfb5997f2e312c189702dd46e9dc64c3243f8dbdc54aead3e4efb7a5bce5891.npz", + "bytes": 1719998, + "sha256": "0c30973731361cb3f29f0cb585def98b83ec6df2d90ee4821b91b70ff6ab3771" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dd27e82be02b086812bf6f92aaf6c5a340d264dded64b7f92ac6ba536699aef3.npz", + "bytes": 2044485, + "sha256": "5420bc0074b5ec3758de9899f7a73b2a1b36f442a4c765c2fb0df25428b60dcb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dd60fea2ee5f876e9e46221fb4b074b0fd0e0a1fcc7d056f1eb372baca664d0d.npz", + "bytes": 2020149, + "sha256": "497eaea1443b3011b0e8002d06ece097da18c967c78f09d2395057bcdaa51bb6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ddbfd468f5281c6dcbd29709c0597d0a5ffaf9d69026600030516e1c7ff726ff.npz", + "bytes": 614951, + "sha256": "448110ab74b6717c271528275b2d601fb8f6e34b9c4d409151ceca7523a3a506" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/de0e20d3700e5088356fc036c60f6e4d14249b11ce910b74da90611de4effe13.npz", + "bytes": 2050610, + "sha256": "3b08645a74b823905394ad87662245c4bfa41b27247e5b01c82318e3c0f4b820" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/df10a37f0ff2421c420990ff535b9aceaba373c49669bc741f68c252335ac412.npz", + "bytes": 2019882, + "sha256": "43e3235922459650d3ad7f4cd422e2ab3df2bb4cc1252b30fb15212c981a719e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/df25461604d0427495de5c429c76f44ae6b6a8d74759545486521aad476cec0e.npz", + "bytes": 2013385, + "sha256": "f654b775813f4528f0f2319d616a09f1b14f9da3ddd5a5fb5fa9a86dfc6bf20c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dfbf057f753ea90d77409b1f10c4c3ff940d04e68e8ec6a43ce9b4285efead85.npz", + "bytes": 2016197, + "sha256": "f2ff129c1aacebee43bf7750fbed80e09b8e66280348b996b86b9509c1c4e186" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/dfff0c5f9a07959054f9860435b865790939fc331b3aaa260bc9a64b2519b8d6.npz", + "bytes": 2044909, + "sha256": "86f8cac4b487aaff577a6807b67825fde4292645c4b158e36d539ca7f207ddf3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e04eeb10ad1a13e78ab30daf40daaa60a3895a40c9d6dbc29afb8e26255ddec0.npz", + "bytes": 2043398, + "sha256": "e9a874a6745b2d54a69bd91d3d21862a3a5ea8de6eba772d7cd26f20c1db7db6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e0935d9fbd3233a46a2b35e4e27e4985dcd5700119f92f801b941104db7b6171.npz", + "bytes": 2020218, + "sha256": "ca1901d68aec3d9ee1b3eac8eedd19da590020b0794cdd935f878001793a6fdf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e184f4b653f0d4b320eaaa3d9289701a1c8a188e2b7b0bf2d0440b3c861ba4e4.npz", + "bytes": 541032, + "sha256": "9cda5bd13c2c4c93032dffaa9fea72fb46e136713e773846022cea36f4b48241" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e22033c142ac6d046dc24c1d6bccb0fffa9c75a608fee858a041beac0f7b355d.npz", + "bytes": 1975732, + "sha256": "240bb3660c35fff8d7e2790321ea22567cf106d2e3807a4ef58c07e8b19f765d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e2376d7b0d9f2b67740acdd4cd8fa40bec450a2172f24d719b543bea952f10c8.npz", + "bytes": 588164, + "sha256": "0375e0c2392e041692ec1403df6d288709810ab58438e2209116be3a717c6289" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e293a821f79b8141413abcad47d784acd583248bef5a1e2a9af4061a827c26c7.npz", + "bytes": 2007275, + "sha256": "37d107389fffd43e9c235539dd6d33e171707e6d662f9c83d6dd49090db1d81b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e2d29ea3006713f42b64f09bac5d49a92c4f7bc76ebe5bbe95896811cd177e6c.npz", + "bytes": 2043579, + "sha256": "476ebc780554af513ae569d2fa1711f308602ac54137029671085b86d66d7a24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e2f7c54a0a6826f2d9f1e78c7203a08cf9e5b6851b08a426dccb2805d3b9880c.npz", + "bytes": 2038156, + "sha256": "4d676cbb81ac542cb068bb027b94fa74e6d3c9fb95f2264863b5acec143193e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e3c79c95c2cdaa369250b31831b6079c08c625ef57520d7688d92f906c2f5b01.npz", + "bytes": 2070891, + "sha256": "6273f615c468f34917d0fd968f9e702671ed2388ed77359e7df6d9bebf9bbb9f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e3d28624ea2e628b9327cd3cd331fa101cc730bebd4d6722dbecaa90e3d2e7c5.npz", + "bytes": 1828397, + "sha256": "a7ba5033c74fdf6651af5af52fa5a4f9169d7d00fa6a025c0f40fffe67c92c36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e3e9453b36fb8b0fd31ff1274faa695abd68cf568d5f26e7f71d969ebb8f330c.npz", + "bytes": 2016453, + "sha256": "8ecc27d97321d505086233d2ba3c0a8aed755f7e6bdee28cd5808a83fffa73a3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e4405e3bc70657017d7e59e5167f596fc1aff357e2692df37943edf57c405003.npz", + "bytes": 633931, + "sha256": "d1e35daa7ba75f09e957c3bd1c572359db35384f84e5171b07c13e9adafab2a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e454909ce8f2f0fbec8b5e3149f910d988972cbf6bbaaa0f240588759c3e63b0.npz", + "bytes": 2017539, + "sha256": "52db27ae2fa200c177c91e4266b5d5d21a16f90c030949bc365f832d7974d0fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e488072f2387795b96d71583f11642c7265dce3145231a7ad65714866514d5a9.npz", + "bytes": 2037339, + "sha256": "2e66bff2a384a7982ac56d8dcb1b98ca08f03f73be6429fc0e6e5113bf1d4627" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e4a74a84f3288cd3bbb833128b9e818632caec58c56359f1de2abc0603ed8675.npz", + "bytes": 2016876, + "sha256": "82a4cdd8581ed314c4c33c88e85341b18423179ec802e344c343e5f82fa44ea7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e55a609790e05c9a462db5f0d2346c5db04d1db466972cdf356cc459983ff405.npz", + "bytes": 2045756, + "sha256": "94e3d645e91e90bb8b9d7911b6607cba690d47dc6b9e2cc2959045f9de2edeed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e5a8b6474c714385eb905cb1c397f3359863404e8cb027dd2717a8d578b8daee.npz", + "bytes": 2091027, + "sha256": "afacd2d16df9555e434ed70c59ba407197986ceafed36bfd02513c0591c0d2d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e65674d8dc67db1f63721a339952eff15a76df161c59888a20abc4e21a3d8de8.npz", + "bytes": 2015112, + "sha256": "476d5f0b2cda2009d77b19f3509e139a8bf3afffba93b29362dd37b23fc57e40" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e6af1b78f43232a2885e365c1a1ee5dc6b0c806fe01d1f475c8ecb2ecd1ad47e.npz", + "bytes": 2017019, + "sha256": "6b9bf33be8a489d87760a99194d6ff2f2529e3c2504165a45bd90036e432962c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e6fd9e7cb9d636f4c12dba5c1eaffbdbabc44211eec68f1d2f025414b8676cf7.npz", + "bytes": 2048471, + "sha256": "95b12ae12942a836d8890f5bb103e7e435bb047ca5cafd3ddf7975be7f5b48aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e845973d01aa3b90b49ed5ceea18e50c5e463ac7452cdcf8959cb8164b252b5b.npz", + "bytes": 2017389, + "sha256": "c81c79b3c34c1fbdee7664165544c90337412e5de97bfae52e7f6608287a78cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e8b372c0daaa44aeb2a13bf0796af8fecfedc669b04efe1c04d5ac0ff401e930.npz", + "bytes": 2016640, + "sha256": "bd3f1d97f88cca675f35cd3320e21a5690cb471b12b6f396af3f15d96f532304" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/e8f1efacf39b7364b61e564bc2a514358d4110798790ba679a816f46b3cfd688.npz", + "bytes": 1960237, + "sha256": "d9c02626f5c186ec5e3540de9da3c28580cef436592778fe4e1019b6f0ed0cb2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ea6fda5003c1156ddb6f11cd44eed970072333102944035b9799a85c3c882343.npz", + "bytes": 2030857, + "sha256": "443c2de95f9968eb61503114a7a2a07a980919bfdeb251f90ee2cfc0e356e761" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/eb3f8b2f0c82ea1b97510cef491e6a4c82155776488908745c32ae5fae2c8b9e.npz", + "bytes": 2048558, + "sha256": "39c50816ee21e92d8891679b3dc60e5d5852091b292664c1cf4883557b75ae88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ebc4c5d8a0cb48a5469d3ba5790bfb05f9c4a34b9d3668ee55543dfaecef357c.npz", + "bytes": 2017739, + "sha256": "f9788f02a4d8a469bf930cf50dce098a7704aa95c9f5c0ed9f249e02f499bea9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ebe9a134b3cf94d536710d31ede572d5271ad16b0d5c79ace32d9e0e9d95b836.npz", + "bytes": 2032783, + "sha256": "422a32dba84eeaa661f5acc975d196177aca21c0f48ab1f9b8ab2e8335340dd0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ec14717a4945573b1bd68aecf1436370528225dd056a2e4de523b877bd8e1b2a.npz", + "bytes": 2031767, + "sha256": "d81b5070110100ac5c8097d476feb40bf6141cebf79111e7df8d41efa698e0f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ecc9577b0fab0b1e55276918fe4e7518852baf5a10755c00d9db8636a2119e74.npz", + "bytes": 2019400, + "sha256": "d22ee7ce9e2577ec71113dd8759636b0334d386ae12ade2417d2bbd7e8008249" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ed0f85ac6b03c3137a16bef3016a07417837a5292a56b12c73cdca55342fc28d.npz", + "bytes": 2018044, + "sha256": "3d3d6b00b280ba5c6bcbce32cc271a0d2e61fe71a09f95dcff4d3277603d0ad6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ed672920a170910be7986c6e5803c64b0abe9b94da073f751d79ab6ec2c52148.npz", + "bytes": 2021890, + "sha256": "0f1dfd0ff8086298831c3bca34247d4ad4a09928a3576fad77f8bb0808bdff8b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/edd6780630a41bde8972f151612503d017211380b74b68b59fbdeb68c0b3668e.npz", + "bytes": 443496, + "sha256": "9b4c8490b6f5a4ba466c4bff94e127bc462396d0485aeacdaa89c0ebb3644083" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ee7719e8f84ebfdcbc1aa1364f35af79db1f756caa47ffb16270ce67f2aa1304.npz", + "bytes": 2015024, + "sha256": "93f07db3e259737bdb6c94c63a3cd6a1a190cd2c008e4d96456eeeecd5e299d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/eef2f9e10a12273fe289e4aa0ca7f1b6be8ea87e22c660da3dc272af1d86d1bc.npz", + "bytes": 1733097, + "sha256": "1b121deb2c84a251820f1b987e3f2b0cdc0f989e505842be3b100ac0b0d23728" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/eef55dd59151e970bae64dad19789832ca674a353d69cd265b62af3101957bf1.npz", + "bytes": 1960124, + "sha256": "fa8029c145b40a1d6a11848806ae649c41f6db01ee67468a7e9827d1d7771425" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ef6f6ccf21841ab40bf01e06459d35d367d45de0b06dfb17936cf9adb7fe2756.npz", + "bytes": 2030715, + "sha256": "6662abfba7ace6f4456763a2c7d1f712adb84c70cce3af7f948653bb253baadd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f001d7acf561a3f9a89628fe14bd4fd76f56a016d13945afe0e97292c40310cf.npz", + "bytes": 2027173, + "sha256": "898e7f9a57e35ad01e3876fc275c05b4596ef94141a114ff9265249c2796e6fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f00ae08798862b308a53cd868bed0b4959f3cf70767a370bf905d2690583f42d.npz", + "bytes": 2018409, + "sha256": "b19f85cf86579db02d99e13182807ee105a9fffa1956e860e44ef9622159b384" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f144195419bdb5470054e09827a869bd93af0b01d042bc3b5693b4a133c12944.npz", + "bytes": 1537453, + "sha256": "425accedd63754a5e92dc4469409d580a5c4dd6a3185431407aa0182f2a90b84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f3a949cc87b350776ac17e0d163075901bd066aff0dcc02e0d3bc47422b5e19d.npz", + "bytes": 504658, + "sha256": "519691dae8d674685f41162394bb8a8420038ebcaa301e66598d511aacf9571c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f3dbd7bdcf64ff4c2c378f039dfe64038550b71930e2669266513903cd71717b.npz", + "bytes": 433668, + "sha256": "76a639254d801b40bd304d76ec36ad29d5bf5d002a71cbcddf0c1bb6b03e3030" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f45ef38497eebc933dca2cf6270fc52f8ae3fdabea1529c4159adb45d54bb48c.npz", + "bytes": 2018070, + "sha256": "12df7166eedc489d5502d64ab402c37c35218ccdbd71fa53144eb47d1ca299fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f471e52b98aa2a39e96c4d15e01aa90644c07106de2bcd02ac9d0336f5445007.npz", + "bytes": 657367, + "sha256": "a224e6eeb488330949077d25094d1363eca36b08c00474befd76976ec5c052a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f5375394988d72c2cc85b059f7ff789348ccfc7e07d5de8159b403f1e27d41a7.npz", + "bytes": 2052432, + "sha256": "9a67c6cad4b66370d64e691a27e82a3e770e362bfb420021af8078d60920a786" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f54dcfc184a6bfa4bd58a3ab7ac14acd83e088179d0ab97f4c9416972842db7a.npz", + "bytes": 2014716, + "sha256": "d851feaf1ba36733db1337b7b59f1daf8f4e81c89b172583ad21e7961c800726" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f5c0e8c6e47e6d31da8d2320d7e8337382dc2543da5813cf82d349eb59de452e.npz", + "bytes": 2016696, + "sha256": "a1aadb9e62fb87f7ec7c5373249e78bd84df6dc183fa8dfd00dea589b7a2ec61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f61712632eb5d461a06fc567ca651a1c7b5a2debd8f082f7d7b85c4c1457c7e6.npz", + "bytes": 615182, + "sha256": "a98a0902d0cc752b52a462d5505f54cb5f78012f816dd36ce5f5333dd6ee54f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f6a1aa7579ec68ea83e2e6b842c28227a7d0f602b6af899072b1a95824c23db8.npz", + "bytes": 2019132, + "sha256": "b4db69fd1b9ab788ff89af1cb9679609b19b386e1b6c88621b4376045ef9160d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f7697eb4d08cb0953627f5f86a6bf162e3c7704a5dcdf622cb83e423d0a51cef.npz", + "bytes": 2017879, + "sha256": "bb22eca013fb423ff101d1e62554b6fb47633d618e78f55e48610529f3fba7d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f7aa255e2aa12383ab9bc14be55c485eac28c0469822c9978c66f294d9e00a92.npz", + "bytes": 319896, + "sha256": "50ea88593655786bbf3fd916b9b938035e0a653381e23a4db3d0759b62bbbe27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f7cf8734099e1712212f55cbde69b8d6e0c9bb68f3cbe484bb0d8badb8dc1912.npz", + "bytes": 2021882, + "sha256": "f2d6709a5a882cd0b5d8b01a89d5c1e8e69c89cf4081729c8306b6b6b3558284" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f7d1e80e009673227e9523853d840c76ac4a590ae3130f3fe79d4116ca78c56f.npz", + "bytes": 2018867, + "sha256": "67e17461e10d49eb75ca5c7b3a9c0e5c0c693dd6aa1e1f7efb9bc0aa5e7fe3c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f866cc677e6c730d207fb47d46352745c78d29a2bf9722a73f01ae88b8d2eb85.npz", + "bytes": 289581, + "sha256": "238309ca29e75f666aad892dcc2476898300c26efa8d38b1da1ccc569a2af5d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/f8e7594cf256a1ca8026e4a705c33c917dc941b1affcbc7a23e6cbe4246baf20.npz", + "bytes": 2013909, + "sha256": "c4ddd5b91f6ce12094c2db0f87648840457b3bb7729736029305caee3ce3010b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fa3d561df6c0f69f0f5b4c64f39eb4efbb5bd33501cc5ad91f7ed8cb89ca386f.npz", + "bytes": 1688225, + "sha256": "4962f2dd6c0d3a7845b5ae246ffdbf28f65fdc1b5af470f8d13298dfe5dd60a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fa6dc910a7fb495797735aee66e8604832bd7960354d6117128a795b94232088.npz", + "bytes": 2091091, + "sha256": "8d0dc179c141d7786ee3af32ecc8dfbc5849432317e83815643eaad24e46e487" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/faf0685d60317a0d72066eb8562567ec3b4040f097c44c82be96ccc634f7da43.npz", + "bytes": 559830, + "sha256": "8d9d477041462150c21c4d0de1e2672b65ef889759ddf1067a34de60beb14ab6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fbe82389c85090d5012a830a95333a9a7267ebc698aef7052b529434dcce46ab.npz", + "bytes": 2018010, + "sha256": "f8688b65ecd2c08d7f226358bf0b59d57caa55add38f2dd729b78f7e89516807" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fc46156e8a3affab6d2e44da0386ed918cf6fd5da84c7ded30c3dd2a65b4ce43.npz", + "bytes": 2017657, + "sha256": "36319b1b29cc92a1de2609d270b818b220c443bc0db905a247661b6472bc61ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fcc496a35f56aaceb344871e35893ddb4bdcb55388016ddc0ba72b845f5bab6b.npz", + "bytes": 2105689, + "sha256": "cc2c8c9c8729e3ede901bf948ad02b87d17726f57809da2b62a56cf48c492a2a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fddbe65188c6fe19ec9ee93e7bb13d91417096ca65af3966ceda4c09d5f608cd.npz", + "bytes": 373273, + "sha256": "89a5b1f39798f0df3ed67abc9f554c930a356261e16c55fe587c2671da15eb1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fde0e1fb958146fafb638cb594c4d2b4f6c49c035f7891bc8cdcea0a2e6650c7.npz", + "bytes": 1510769, + "sha256": "94f870dbf56cec48299deedf39cdb2db30ae3af8dc5e43048f8566d11387ae5f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/fefce26dc81095c618840f4f63c18947863106872cbb03b247a149af48731a87.npz", + "bytes": 561887, + "sha256": "481b56199e02ba2cf5cd059c3dd72c73a1925f5e235038cb39baf09af7feaf9a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ff4a33fcd0660e6cb4265ce3176aa5dabad3560608c5e806b6d80d7ed209decc.npz", + "bytes": 2105456, + "sha256": "52f12de039fe5d6222963e22bc38bf6df20297eaf73fa3962f643ef85981cb0c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/views/ffad560d9a1afc32b295413c0afdd7cfa5cd53d169a48edb7c3a7546e10ceb17.npz", + "bytes": 605753, + "sha256": "2098b9324e0467d9d0a9bbcd78f8491e31b0e33072318faf7b382df833e8592a" + } + ] + }, + { + "path": "archives/vggt_frames_000.tar", + "bytes": 733143040, + "sha256": "dfe5cbec1b39558d5ce92503447663b744944da8bd4994ec0d1cb7908a371c84", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000101/arrays.npz", + "bytes": 2499, + "sha256": "0d9af77517b93dd8c76b691b04ac527c1b31da06244346abf59401f506434b1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000101/frame.json", + "bytes": 3737, + "sha256": "77ca280083af86082838f04471df664091b46e2ed38c908457714cad5f5dfe0e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000102/arrays.npz", + "bytes": 5302827, + "sha256": "07e4d5328d56b5f8270478e37e0967686a9e44bbde0bc87b0dbeef92d13088b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000102/frame.json", + "bytes": 18970, + "sha256": "fa6480d093a45a06db9d834a23a07c9336ef2ce0e21f7fbe9927415e6d210a96" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000109/arrays.npz", + "bytes": 5842917, + "sha256": "625c62de5a91b561a70a35d2f84b74c34be0dfc1262a58622fc3b9989f9f0f2f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000109/frame.json", + "bytes": 19411, + "sha256": "6590034fe164ed221817d312163886114dbb4415a4be469dd88ac0f800a34e40" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000113/arrays.npz", + "bytes": 5115357, + "sha256": "3fda8b94f0833776224e34b6c8cec51bfcc881affea20637e938e6c152cd9719" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000113/frame.json", + "bytes": 19930, + "sha256": "908a99720d4a4d6f08a2d408ea6f94be73ea20a25ddf730a0f7648a4b69cd535" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000114/arrays.npz", + "bytes": 5132093, + "sha256": "b8b49517efeffce99d58d61e4985cecec78a2a67b9e9721654d7ce577d60084c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000114/frame.json", + "bytes": 19918, + "sha256": "5a1a99b0ad4b9668ac4d67601b9515e1861f20012bffecdbbe5ccd3b06a42833" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000115/arrays.npz", + "bytes": 5113684, + "sha256": "8a52bf9f6727978ecc25edaf5cd792b4d59d74774198681c35430b061bfacd8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000115/frame.json", + "bytes": 19919, + "sha256": "40ef6ab41105dbc9ae62ba081cd032b6d7ebcb24a1cf0067d0d7dc92b4718ee8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000117/arrays.npz", + "bytes": 5275332, + "sha256": "b9b5f5bb6dd8e9a5056d16cf38b0f68caec7e3edc6915c3248fb86a2ca20d703" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000117/frame.json", + "bytes": 28345, + "sha256": "48ab2d0145bfa302ecae9ca1c60c285ba1fb1bb67cfe93f210e94e528b9d06f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000119/arrays.npz", + "bytes": 5274758, + "sha256": "6a2ad9245f5015cca5ac16c05428a5305e0769b03b55a4fdb79e76c3dfb14605" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000119/frame.json", + "bytes": 28336, + "sha256": "e932dc4ab94049495be092288b1330e6be4b4726e6cf95714d701535cc8a5230" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000120/arrays.npz", + "bytes": 5292391, + "sha256": "5cdabe745d1a9bfbd943999dfdc4b6c4fa304c6b0f9ff00e58a8112fa97c1b5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000120/frame.json", + "bytes": 28344, + "sha256": "da1d9a744b2dc0e44081ca723d9122899baafa3abf8540caa14867835a29a9a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000122/arrays.npz", + "bytes": 5335617, + "sha256": "22b78af80d2e70ccc35b93a1c288f782e0842681b86c000dcaf9483d34fe566a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000122/frame.json", + "bytes": 28616, + "sha256": "541c1f31f785bf19b8ab4c0371d0405e0bcdc3e015953ad5c0f066703c46c916" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000123/arrays.npz", + "bytes": 5340392, + "sha256": "971b1cdfb0bdb4e3c2d80ed09b641ffd2bd3cce68a3070ae2e0d2e228cb97b51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000123/frame.json", + "bytes": 30084, + "sha256": "3f9b16146907aaecee8a3ac3775b4c42a1e7f243de5af526a19fecd18baa0035" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000125/arrays.npz", + "bytes": 5342000, + "sha256": "268128f1dda7b65346fe7058946eff87ac0bfedc5fae98cf9f1aaba51feb581c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000125/frame.json", + "bytes": 30087, + "sha256": "e503a9efcff438d205772ed89e4bf1df57f35aadc4a20c9048ac5fd43cc6f29e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000126/arrays.npz", + "bytes": 5365223, + "sha256": "256c9b639b2db384707549c327b9bd0e5d78e5010fda644239c3a2117685be58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000126/frame.json", + "bytes": 30099, + "sha256": "39562c3ccde2de8b900cf9c44d1b0facd0356412fb73f997c4f4f935adc0b65c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000127/arrays.npz", + "bytes": 5364772, + "sha256": "c1837bb1ad26344436815824c6731ce2bad464e5e97617f904cea87d3150bd7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000127/frame.json", + "bytes": 30109, + "sha256": "53dee2fc0405bb814ee2068f052e2831aee9251007991c007b401a762c9fb678" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000128/arrays.npz", + "bytes": 5391611, + "sha256": "58c0f8a083aed585ab8a7f72c9e585ba8e7525e1bff5488ccd83ac1af2ba8aec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000128/frame.json", + "bytes": 30102, + "sha256": "f469ac8c0d76e005f5fb4376ab43750252a9a644a476b32c3cd33ab140bc4c73" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000130/arrays.npz", + "bytes": 5367116, + "sha256": "054cc27ab771ec46338098842aeb7121403c150ae0769ecd4e1f245f2bccde79" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000130/frame.json", + "bytes": 30100, + "sha256": "22c11f7e54f7407cc6036435838b8965836b8c96ecb321918a12d41651d8b08d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000131/arrays.npz", + "bytes": 5391021, + "sha256": "add7501f58e997f8371916aa70955698e8a338f6dcfa761b7070addfac51c6e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000131/frame.json", + "bytes": 30115, + "sha256": "85df787c20943705914ff16dfb6e9e4f7ba5ad9b7ded0843c34557e6cd4b99a6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000133/arrays.npz", + "bytes": 5381353, + "sha256": "70aefda2947448a2d8287d4b5e28dcbaa1fff91b37b4d57608ac5ec7580c020b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000133/frame.json", + "bytes": 30114, + "sha256": "354d3d1edb995a01fa837585fb15232acb6a62808fc28fc7dfa77eefbd4e3a76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000134/arrays.npz", + "bytes": 5358734, + "sha256": "97a2f2c12d880ff9277e2a6681c70abbfd916aacbb124209b814ff2ba73f667b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000134/frame.json", + "bytes": 30110, + "sha256": "08294b16bf82c3356ef9e3e7eed35e2f973c51d5341b06c34c483bf8dd33a96d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000136/arrays.npz", + "bytes": 5374955, + "sha256": "be41c011eac85ebeca3b2d3ccf7ff48e4ec2eca8167b029d3e54e7f36ec74c54" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000136/frame.json", + "bytes": 30108, + "sha256": "332a51a64f4ff9d96b0fb43b84171158d99be27760e24084f7e1bce03819cf84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000137/arrays.npz", + "bytes": 5403343, + "sha256": "cf71152563d6926eeb94da1971053e4b889f64a15e56dbee1ff6cfe255b8447c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000137/frame.json", + "bytes": 30110, + "sha256": "e579848ca3faa0a7bf958485d237792610d356e865a328af59a64df5f2b8aaac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000138/arrays.npz", + "bytes": 5396968, + "sha256": "85283bc1e85e926e7ba9b79c44240fe37619a179f793cfc0ec1c2357202f62ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000138/frame.json", + "bytes": 30107, + "sha256": "1ae3de66229323955c30a7d39ef54f3fe16ba709924f72ba0e58f5515c1a2caa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000140/arrays.npz", + "bytes": 5388724, + "sha256": "0ff6be2b24c7029f16aabac578f75f32e6bab27603eed4631d8d905a187e0451" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000140/frame.json", + "bytes": 30106, + "sha256": "5bdf7d0e85b06710532ad254944f68fae65de32eec2526bab88dd88a71a81e49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000141/arrays.npz", + "bytes": 5371081, + "sha256": "51bf84f6790a10aa53906931d1b9655974a6c75829ef1893befb42d642f67452" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000141/frame.json", + "bytes": 30121, + "sha256": "eacd23039218d94b898a85688171f8c31d1413347c660f9c8474dddf9fc5ae28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000142/arrays.npz", + "bytes": 5367506, + "sha256": "0e3913b3a37f5d666864ae90d81880f58be0843ea441a87e5650182a22b247d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000142/frame.json", + "bytes": 30119, + "sha256": "2c58d9b4ae69c7989da9ba0ff4564093fe05f1be025d75b2ece2c616c9acd8a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000144/arrays.npz", + "bytes": 5344878, + "sha256": "26fc4331267f2185ef790de25ce8eba9833eb74915a73e5829012f343224dd13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000144/frame.json", + "bytes": 30128, + "sha256": "1bfb691c19c785c6093ad84b0f6145f14a08802570c336ae789861b525b9ec05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000145/arrays.npz", + "bytes": 5345820, + "sha256": "0574cc8fc2ae2bd69f2e8b9055ed8c2cf3043839594522f6941082e4cbdc662a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000145/frame.json", + "bytes": 30119, + "sha256": "9c0ba951020165e1623507039e2a10e0e79c5c14db96cbd861d5442db17ffad6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000147/arrays.npz", + "bytes": 5345000, + "sha256": "46eff21f81838e4e29ceab9fcbca9232b9b3163d426556b09bfd6c18bd205496" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000147/frame.json", + "bytes": 30115, + "sha256": "fd77bc71a015c247a242c75f711a5014ec3b63fdbf8eb0527e8b9cba46a3f7bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000148/arrays.npz", + "bytes": 5350777, + "sha256": "01d3df870fab98b07d26980162ded679711316659d16a480ee3a81192ddd9ddc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000148/frame.json", + "bytes": 30123, + "sha256": "5206d3f1fa8a91eeb1da4ca841b30cc07c0b5c83a63708151bd4ed4a5b14ab39" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000150/arrays.npz", + "bytes": 5366077, + "sha256": "4cdfb7c3349928127f63c6e7a417d4e5a6206ba6f963dd545ee0bbb233372218" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000150/frame.json", + "bytes": 30115, + "sha256": "22c739ed5e78104081e011887b66e04f1b508f48c8700dc66bb4a9f63faf9ff2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000151/arrays.npz", + "bytes": 5373153, + "sha256": "7789fe5eebe5ca7d940ab4a62cbf4aec02fe1d7fc61206c4484541baf03c206b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000151/frame.json", + "bytes": 30111, + "sha256": "bc9b52b51d105d1e4580cc357d34cca0bba5151384372bd565a75d4469bda7c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000153/arrays.npz", + "bytes": 5368012, + "sha256": "f2f19348826ab08328395a4c54331da62a1a2f6e5a3ac61d83a2cc75e13bafda" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000153/frame.json", + "bytes": 30123, + "sha256": "94a738850e2fe6060728e5656796c1452f76621edc1f746d7628ac4272fc8f28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000154/arrays.npz", + "bytes": 5359831, + "sha256": "7d3e6c0f01ff3eeacdde6fb8c4fb181fd63c21b122e4676c39a0e0404d59c798" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000154/frame.json", + "bytes": 30121, + "sha256": "4cb8e4c7b7df3bed842f22a0573a538e88f9035eb51e4a9bb9371ee22088f372" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000155/arrays.npz", + "bytes": 5367059, + "sha256": "168e82f532824bf79e03378abee2249a8552601d982582ec86d506e24c06b7dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000155/frame.json", + "bytes": 30112, + "sha256": "23235e1e5cb02ade6e9767f54c293f5ae6a3a6f6a61eb8dba954ba92153e56c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000157/arrays.npz", + "bytes": 5365536, + "sha256": "bddc9a3379c57dda48df6ddcdea7f07c70af984bce0ad316993bfd809dc16e09" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000157/frame.json", + "bytes": 30117, + "sha256": "0546b0de9c1b94a0635bfe54411a070706280afcdc9a8c57109b25ae2928aa0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000158/arrays.npz", + "bytes": 5371880, + "sha256": "d4aeebe4ee603fd84a2142cb43f6237b874e68a68c953a462a71779d7171506a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000158/frame.json", + "bytes": 30110, + "sha256": "d94e54442ffdcb082dab9d1db81ea270d3b455114a6f160a390e6d1031c0e3d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000160/arrays.npz", + "bytes": 5359399, + "sha256": "bb88d622fb29c0803e733d7fe92834df0c88b38b8bc0f79a2b26b83d810a91a1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000160/frame.json", + "bytes": 30122, + "sha256": "e592533bb71d757f0690a39c1eaa422ade853d1797562d16f46d746a86505468" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000161/arrays.npz", + "bytes": 5356859, + "sha256": "0682820483bd8990cb3903fd124deb706c147eab00d398128a854717469da826" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000161/frame.json", + "bytes": 30120, + "sha256": "090c42ebdb254b313e88e5df3bae1baa77f73eb5b6d701cea34741bcd57039b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000163/arrays.npz", + "bytes": 5366952, + "sha256": "5da043cc6848f80dc4b6af6240d4444971118ad526dde03b28b953fec7641c03" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000163/frame.json", + "bytes": 30125, + "sha256": "e6ab0e2aac91f5bff081a1ad45051d8ea349399ccb2cfd318ec4062951cab7c2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000165/arrays.npz", + "bytes": 5365451, + "sha256": "5ac8736421f54312dad40ddbbc4ab8b0ce7df54de0ce89caf8c6c9acc15afc60" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000165/frame.json", + "bytes": 30121, + "sha256": "61a4866bb7ff30f23d5732d734199b7b1e0646237fc4e9bf220c82a113a3e480" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000166/arrays.npz", + "bytes": 5366265, + "sha256": "1e487ae758c8dda6e544bc44ec4734ec0c055716d7efe06f172a47e6bf69737c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000166/frame.json", + "bytes": 30123, + "sha256": "65c4f1ad7b47e0e2287086a5427c075789dbaf93131b8bec2c28c6d77326c17a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000167/arrays.npz", + "bytes": 5376516, + "sha256": "f1a3d4a62521df40acd7c42c2a4399fc11242c3ee560d0c1bb5dc43a20ec1401" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000167/frame.json", + "bytes": 30126, + "sha256": "af1d7a2c8d5317ec000d6f6e25880213c09db3e2d7e6a3faeaaead6a8a14d84c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000169/arrays.npz", + "bytes": 5376809, + "sha256": "af29803e3c07b95d833f92948a7d901b84ea279b8b7382453a7cd009c4cf9f7a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000169/frame.json", + "bytes": 30119, + "sha256": "542e3830b1bb10719f5140ee347c1f7761fa87c4ed82c792da90fe34aa872248" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000171/arrays.npz", + "bytes": 5358719, + "sha256": "67ced1440510e6522461b4f3fb589d7fc34a5bec74a34b0fbd4e085212deece4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000171/frame.json", + "bytes": 30117, + "sha256": "7793b45e8fc164bea0a6cb278616177502d82b4956f50f31a08adecc0b00c9df" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000172/arrays.npz", + "bytes": 5379780, + "sha256": "56b0643fa9409e0dacc807a3cd60162535f38fec454bf0e97b04e279b9bc1996" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000172/frame.json", + "bytes": 30123, + "sha256": "feb60467a143908bc8382db1ea6f98fdf3274863e2d715981bff5fe01f021baf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000174/arrays.npz", + "bytes": 5370212, + "sha256": "b2f798e73fd0666c5256ef6a05de648e2c4bac6d1d72cb091890b779cd0738ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000174/frame.json", + "bytes": 30121, + "sha256": "3ff3ed84ecb5a1e26ca91ac73cb53be8fa6a8450f50d1e971d8a5411e4b007c9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000175/arrays.npz", + "bytes": 5368581, + "sha256": "6641fbed072b34127ce9c999e5367bdc30b321037e07e97ea53d9a4b35c0c1fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000175/frame.json", + "bytes": 30121, + "sha256": "260afd84517e5397d205359d8f2346f59d43557d45419f4d2257b8cee70d5275" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000177/arrays.npz", + "bytes": 5360398, + "sha256": "07a23fd3be154389de60f24a338bf891624c04b1b32e3a0c8af2eede4485504c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000177/frame.json", + "bytes": 30115, + "sha256": "604beb1951c138f19a1745d191e193fc02f77d1c540f70ad078f8f089b2a1cc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000178/arrays.npz", + "bytes": 5355076, + "sha256": "6ab33050147e869cacb87ffac96ccb0b99daafca6638f51c016e7ff9f8cbc772" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000178/frame.json", + "bytes": 30181, + "sha256": "fb07b24301efb3e8c214a140e3d38bfbd25990d6a7de8009090182d3a9b52d63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000180/arrays.npz", + "bytes": 5353830, + "sha256": "2d242461a1adacbcdb24a06537184809521352468c37f28df0f0864242fef663" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000180/frame.json", + "bytes": 30120, + "sha256": "603e38d8c788b99ec28eba6669c802f021bc866fb1aac70ccc195eb24c9f9109" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000181/arrays.npz", + "bytes": 5370444, + "sha256": "ac0acd8ebc43025620e50205584552d462c4a776f1f8411d351ce7fbeff9a10b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000181/frame.json", + "bytes": 30118, + "sha256": "df069386c4858bcb620f69ed47c24dc60854c8119ef69a7754582b74a2f41a6a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000183/arrays.npz", + "bytes": 5379468, + "sha256": "42a13debbaacdbcd6d33f10a567f153e859d7df144f57b665cfa2ff0a9e11ceb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000183/frame.json", + "bytes": 30117, + "sha256": "e809ac393b970a99838ea7a6e9947e76d1bc3f5e293a6a8e3356e099217b2f63" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000184/arrays.npz", + "bytes": 5356341, + "sha256": "dfb4614d56bb1aaa1e09b648d527ffe5635da558f122e3f2d1ec6d48d4dfdc28" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000184/frame.json", + "bytes": 30113, + "sha256": "de34ccb34082f109abc0d9a9de634d4964740943b072d7b0c0484fbf7f81a876" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000186/arrays.npz", + "bytes": 5357389, + "sha256": "6b6bb65411de82e09ee564133190ec8fb95501ca3e3913849722749dc3610f84" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000186/frame.json", + "bytes": 30117, + "sha256": "2fe4493696d787ff599509ff5fbc9e626e320afecacdd2a53b3b97a6a4e9da45" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000187/arrays.npz", + "bytes": 5361555, + "sha256": "fd20c76b9907367d967bafbd48ba2aca5517925b394b80b6c6df801d676cf172" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000187/frame.json", + "bytes": 30110, + "sha256": "f48a11815f4e67a7966f499b625cc2a80714bfb3d5185f71d49b96d65200beb3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000189/arrays.npz", + "bytes": 5343720, + "sha256": "a92779d999aa78210f73574c600bad08532f8cbc3775bc1dd0e6ec69c9e895d3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000189/frame.json", + "bytes": 30110, + "sha256": "d9083b497bbacf7387057f5f2e54a47db3b1bbe626bb244d7046c20c4e6326d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000191/arrays.npz", + "bytes": 5356126, + "sha256": "ec80086e30f124c167608d9f3895ac3ae170f8aeb3fe000c6521ce4c6e5e2723" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000191/frame.json", + "bytes": 30113, + "sha256": "5e6af818b09c16c69c8dfb04185f67d882f494cc4ac0d9ee18fd1c8f0913fdb1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000192/arrays.npz", + "bytes": 5367499, + "sha256": "47e75c3e209c3ac5cb6e7ad25d57d3174e6756f7c3d00780b9cb283b555830bf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000192/frame.json", + "bytes": 30182, + "sha256": "a527869cbac4ea391182fdb2cf3c02609c39907c95f7a9a58b2e6f5f0d5e5760" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000194/arrays.npz", + "bytes": 5372123, + "sha256": "36e11ab8c6f7512da701bd660da72f3a99ecaca2ac3ffbc040209946cf85eaba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000194/frame.json", + "bytes": 30112, + "sha256": "8ac242b6d36ea3b6e7f19348a64504b7e8017437b99e0d95826681bef289d4be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000195/arrays.npz", + "bytes": 5368478, + "sha256": "0c3180ec0535bd8263d8675ac216b59612965335c3325ef5d01b250787acf33a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000195/frame.json", + "bytes": 30128, + "sha256": "3043490d1d477f9db5d529e9cc7aa55e8de26c1cad213f226b37335b38241714" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000197/arrays.npz", + "bytes": 5394286, + "sha256": "ed9582a7dc18559078ad1d5fe9804c4e35ec36b512f08506df20317a2ab18950" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000197/frame.json", + "bytes": 30122, + "sha256": "2d98e49de121b530e13b2fddbb212d6175ace20b02de2e2af6f61141510dffee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000198/arrays.npz", + "bytes": 5361011, + "sha256": "b1fcf7143957488767e221a364869512cbd25e5ff0a29957f203297d6a9dc488" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000198/frame.json", + "bytes": 30114, + "sha256": "126deebb52a3dfdfef28488ba0c0af3b90f4be11a57719d8bfac0f3b7916471c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000200/arrays.npz", + "bytes": 5373209, + "sha256": "2975337306c546ca6ab8e85681b84f32524854b0ead7e8b2be861e7f0832a9cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000200/frame.json", + "bytes": 30113, + "sha256": "a358ea03433c01e3bd48754fe2328643dfbc9e46d7d32d56d93f39d5824aaf6f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000201/arrays.npz", + "bytes": 5355349, + "sha256": "adb50ca5ea0a66a510d80cbe7635116dbe4b263b4645dc9744771035142e77f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000201/frame.json", + "bytes": 30119, + "sha256": "f5e850fadaa13b7b0b84fd6fb9beb321b792d96a8ff73f4200b5882fbc86d78f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000203/arrays.npz", + "bytes": 5359578, + "sha256": "1ef1578bc1846743532a5b9a74d506baea809b176f6ee2344589cda13c5f5dd4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000203/frame.json", + "bytes": 30117, + "sha256": "9d4a77f225e7b68d81ca09f25e670972f3b463e8921523d35e4628f0c178f39e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000204/arrays.npz", + "bytes": 5373473, + "sha256": "2fb131371c9e9af7ab43a5f3c6e855080bfa29c894a9d63f5dfd2fcf7fb881ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000204/frame.json", + "bytes": 30115, + "sha256": "22bfefc7a529beba2538777b0a33be1e259f51552a49715c0d27650ed989a2a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000206/arrays.npz", + "bytes": 5361440, + "sha256": "008283311e9d3ab10d88c3cd9af1afee758d6ec7b82051faaccb6c66053898cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000206/frame.json", + "bytes": 30182, + "sha256": "98600d441fec4e052fec7cfcdb909bf897b9b7172408e19035849450d7d66920" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000207/arrays.npz", + "bytes": 5356030, + "sha256": "59d3a75c2768887f0dc20a78a50b940d6ba6f7a775cba52c0f0b1202fcc62ed8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000207/frame.json", + "bytes": 30124, + "sha256": "2b401fa959563f4bc991ade25dd9e31464eb480737d399c44e9f15fce7b5681c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000209/arrays.npz", + "bytes": 5363683, + "sha256": "33500d742200336c626d913651a8fa7e99b442f60742bcedad9f441f8d69d6e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000209/frame.json", + "bytes": 30110, + "sha256": "bd71cb726fdb9628c01b8ba6a7b7fb5afa2f556021e58a5de27233ebdccb30bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000210/arrays.npz", + "bytes": 5355041, + "sha256": "4880b49c9e3ac88e74c011f255d5483bd1c12120f5f0c3b59a797f70a662140e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000210/frame.json", + "bytes": 30120, + "sha256": "09090f5643208f3569d962c2c41e93f74d5cb4fdc1d570d9c45a4189ac413191" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000212/arrays.npz", + "bytes": 5379711, + "sha256": "69416ddc99461d062b7a6922b45093f89ff086e8f31dd153e7fcb6432cb92d19" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000212/frame.json", + "bytes": 30120, + "sha256": "ccae1b1a74c2c4fd2a6f412ee3fddf92cc3d4477de4d3b4d0148cf8555d3dac7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000213/arrays.npz", + "bytes": 5350863, + "sha256": "3f18e712134c1ceefe4392ec59457b3e4e655d896d63171a836c9ec12ba788de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000213/frame.json", + "bytes": 30121, + "sha256": "e6c03bac9b8248022d972ed1186e53b1a6fc8abff0961d6a4ff25c1dd019044b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000215/arrays.npz", + "bytes": 5351908, + "sha256": "58d5ec97cf771325b069a15b8a481b7de1bb00321483cf518df8b886c715ad7b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000215/frame.json", + "bytes": 30107, + "sha256": "aec43a2f25ec613d83f28165e071ac411025e4922b7fc259de4f459246a9b45e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000216/arrays.npz", + "bytes": 5364682, + "sha256": "6506bd5af757d28d14cc854f196304789043de3926e00df32a2478d8ae4e60cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000216/frame.json", + "bytes": 30122, + "sha256": "cb78411679ae7704feac217f7f1d3895c5315fd2759316ca3c862bf8d8926510" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000218/arrays.npz", + "bytes": 5357113, + "sha256": "8f14b9a75faa99c77fe4410031ee39e56766d46bb12423eba6e637941d2f2eb7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000218/frame.json", + "bytes": 30121, + "sha256": "476c18a10ab10585ef9a17287733d3cf3adb88f208b1bb889a167be55b15009a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000219/arrays.npz", + "bytes": 5355186, + "sha256": "ce0c1a26f42ea683d2c612d5c01202123ad859208ae37d37ec09bde777591c7d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000219/frame.json", + "bytes": 30122, + "sha256": "35ec4ed178f4933d9cbb417898d57ec6ad1b843b2dca8deb94ea8467151d4430" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000221/arrays.npz", + "bytes": 5354379, + "sha256": "b78f43309dd50b76b608944a15e9102b733322cc8938efabe162bdb35fa6b2f8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000221/frame.json", + "bytes": 30127, + "sha256": "3d4f91616c688113c7dadfdb4050b612bf8f30049b01d05f59effef4d1fff958" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000222/arrays.npz", + "bytes": 5351788, + "sha256": "a34f753f6720a07da6558d85029f1cc97c4b5a8160fcfd170487552c78bffa66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000222/frame.json", + "bytes": 30114, + "sha256": "990c95fa9b305a9cfc2a790efb559fa677b1eea10d334d7c6b5f002e5e203183" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000224/arrays.npz", + "bytes": 5370086, + "sha256": "93de8973e992120ad3db54c0995889d61d8b7afc9cde2685d17d729e0f7760e3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000224/frame.json", + "bytes": 30112, + "sha256": "988c7e269242089e4f3513c42c06fdb1c76ffebfa34c5ca141f18ed0dd88ced7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000225/arrays.npz", + "bytes": 5362695, + "sha256": "c75c16a690da315f3d0720b686f85ded2ee51270974bd40b32e5d5ce33724e59" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000225/frame.json", + "bytes": 30126, + "sha256": "26eb321b20eb64b8d4579a2adbf3d7de8ab9fef0a975776024875a8a8b5a4dbd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000227/arrays.npz", + "bytes": 5360555, + "sha256": "91c394ba1c474c020ff3f19883f57d408ac0b2152e26e029ed1920a9dda056f9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000227/frame.json", + "bytes": 30126, + "sha256": "17eb89f9fc9455031f90b009b972afc9624e696f20258ce999033d6f2e1000ff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000228/arrays.npz", + "bytes": 5366137, + "sha256": "e5c312db87034d59e613f72ffe40574f9172b705678df30477eceace73271384" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000228/frame.json", + "bytes": 30116, + "sha256": "fe593e28c8b2592aac1a496e75e295230e5725bb10860f10199499fdcc646dcb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000230/arrays.npz", + "bytes": 5357684, + "sha256": "b2a2a6f234e85c60ea9334c8b220a5608a176419fc7a79bbe2ed1697acebf8da" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000230/frame.json", + "bytes": 30114, + "sha256": "66b6d1e760c9e82686e9a416ac8b439d9e9c97d62cb75717122579737f540ed3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000231/arrays.npz", + "bytes": 5367711, + "sha256": "eae894fdece9ab0a687f468d6f87370d77cc6d29f12d7d5ba6490bbf798929c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000231/frame.json", + "bytes": 30117, + "sha256": "990eafd8cfece79d3dd77aaad310acde54349dd4cee1c836eae981d975ff2ce3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000233/arrays.npz", + "bytes": 5349721, + "sha256": "06af7accf6d107e31fa28871d4b00b5715af2c19ffe53386b1928e9d473eba49" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000233/frame.json", + "bytes": 30120, + "sha256": "d5c480b34bda106412617cf9f7d22916089966975a02ec6692f1f763fb927dfc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000234/arrays.npz", + "bytes": 5355221, + "sha256": "fa312e9fa72116a05590285270c251e63442759ca4438024ae0a2d9c4f73541d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000234/frame.json", + "bytes": 30182, + "sha256": "a7697db0aa6b2e042b1c821c571703bfa805a8fc4d61095ca31bdeb6fac92e04" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000236/arrays.npz", + "bytes": 5376031, + "sha256": "a9fe2a011802950d2c830187eeaf7bdf357a5bcac8b04d70b7b08b6e8325f600" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000236/frame.json", + "bytes": 30112, + "sha256": "c3f4aa27c30a845dbd0b10ec67a458fb0bf6559eb523c363d2995823d9082cfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000237/arrays.npz", + "bytes": 5353061, + "sha256": "6cbb82e74ee5544eeff95b9c99fb73b48860c7c86de866fa64f39d1a8c4ac55d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000237/frame.json", + "bytes": 30118, + "sha256": "9d1daed785ba032197c50d91028be54ecc3f39a3481919ec6823cc4e391606ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000239/arrays.npz", + "bytes": 5364753, + "sha256": "ab1f0fad9e47c3ec3dfae82beb35be642d293f9a6431f0548e5c127f2a703b9f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000239/frame.json", + "bytes": 30110, + "sha256": "50136b08615c39dc397abab307d0a6d035ecc525511a0b020cffbea88bb34996" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000240/arrays.npz", + "bytes": 5388816, + "sha256": "8e6fc973745b8a06eb31f26cfd0aa7fc5c6e9f70a86aeaa84de34e398645c188" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000240/frame.json", + "bytes": 30116, + "sha256": "296477fa8953412158fd7c180bd1b38a935212113b618c7dc9da0dcdf14bd8c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000242/arrays.npz", + "bytes": 5367710, + "sha256": "c925bc8749c0c940054d1660017c04d7354a3507e76195e41c938b4d926f4efd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000242/frame.json", + "bytes": 30127, + "sha256": "d8431de9d1fe91874983e9c06b5debd2457ae3c6318696c54a40cb0d1aae159d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000243/arrays.npz", + "bytes": 5351387, + "sha256": "d0af4dcfa4bd044bff155594fb6158f0800d7485440275c5290bca32b34c7e66" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000243/frame.json", + "bytes": 30114, + "sha256": "70497fbc4f311b2208bd415674b3a5a741f40c2322833e0a5e6c7fe1af94998e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000245/arrays.npz", + "bytes": 5341877, + "sha256": "cf67359225cde1cdb95c82133b4ebcc7f98f2fd517755d712e949820f81d21f6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000245/frame.json", + "bytes": 30120, + "sha256": "3a4c342e093faa9951d36d5d7979308e4208a1c95bd1d86f484c9a7ec6d061ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000246/arrays.npz", + "bytes": 5362234, + "sha256": "cda46bf448faf872f667f091669e6da4ef7068777d81cea1717a69c422f0970c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000246/frame.json", + "bytes": 30125, + "sha256": "2b77243c084186067870d7c13242399295915fa4b9308bdcbf830290297a3a36" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000248/arrays.npz", + "bytes": 5354381, + "sha256": "34dee622f09a214b20329aca9519b9a39d57915c34a29d28f202fd37d719ee51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000248/frame.json", + "bytes": 30122, + "sha256": "f2982e60eaa201249aab27e85577ec016e99941acb6b69ead6963ab7c87cafdc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000249/arrays.npz", + "bytes": 5349884, + "sha256": "2d1d51d343f429a8678d4af1e1fd0902bed62149f086036fbf5978c5f9a6301c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000249/frame.json", + "bytes": 30116, + "sha256": "79cdba902ae414834c460605f69ce70f088f54cdb7d28378681959ebce9907cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000251/arrays.npz", + "bytes": 5359658, + "sha256": "34df7aafbc9f5fa84ea8c0bccbbd20b704cd901a5dfbd28276e9c801e0e42c68" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000251/frame.json", + "bytes": 30121, + "sha256": "a4f29adf3ba126e827db6dbaf5161a1968e312c0c0de4b5c296e78599eed0e1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000252/arrays.npz", + "bytes": 5351588, + "sha256": "fb69418c54e43db577a77f6a2426ff76b1b961d242be9214ab54520dfc50c109" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000252/frame.json", + "bytes": 30123, + "sha256": "9a885bf423cdcabce1afbda5a689a125e54e1181bfb8bd5f810a5bc8ac7b0dd9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000254/arrays.npz", + "bytes": 5352399, + "sha256": "c1b663f97a91e611387e8f6c6aad0d665393a51c2c1371042cfeb893274f87b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000254/frame.json", + "bytes": 30110, + "sha256": "45a42fb4e35f0a32db1bfe1c6e70a1d2e85a40a70315eafd8e845f6b616b611c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000255/arrays.npz", + "bytes": 5371662, + "sha256": "fdebafdcab316f7301231c59921e1bad0bf02fc10a85057c8ae92a83c471ee5f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000255/frame.json", + "bytes": 30118, + "sha256": "1b0c76ecba80ea65dcdcf109a92f804f6c2f7c68138435344444d2cbedaffa4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000257/arrays.npz", + "bytes": 5382853, + "sha256": "28c43b5b19ce512e4c5146ee5b23a7c8d917ece356684d80f276f8899ead6c1d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000257/frame.json", + "bytes": 30117, + "sha256": "505e9cd2f992e091f1dc855c970e6c0ffa72496846d82a038dfa20c01b315cc0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000258/arrays.npz", + "bytes": 5352515, + "sha256": "0ab0a19dc6c0ebfc2a79ea9b0064b743cca9cf7f0dbdcab9e6a49f3919157460" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000258/frame.json", + "bytes": 30120, + "sha256": "f8cbf5ddb8700cda92bb73b1f948f0c544e4712a10f9b537d86c4f038292a13d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000260/arrays.npz", + "bytes": 5366744, + "sha256": "e4f0da3b86159e1a5b5c374cd579f25675f7be459adc427b574f03709e8eb0cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000260/frame.json", + "bytes": 30121, + "sha256": "1e49489c22613a2b6d315d530bed53705c35a35ce9c8323c9fc1e925ad025729" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000261/arrays.npz", + "bytes": 5342580, + "sha256": "0d4ab6178c752c7d8e1e960dce763ada2988b3081eb44fcf1ea0ce5f2a6ad5cc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000261/frame.json", + "bytes": 30116, + "sha256": "c346f82e901db30192bc407ee85c254a9ee9671637004f74580e7efc47602b86" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000263/arrays.npz", + "bytes": 5358011, + "sha256": "6037cff027252f648e3b8cefde81ca9fd1b21e754c6441062a59aab2b8c780d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000263/frame.json", + "bytes": 30117, + "sha256": "dc467d81584b0d1077e2faadff7b526e32bc528e8a2407e5861994bdb43f2a5f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000264/arrays.npz", + "bytes": 5356169, + "sha256": "4c5ee882c3fd2eaf9773abc972140b071b9a077b390d5b33c40118c137d3ac1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000264/frame.json", + "bytes": 30119, + "sha256": "54f1c0900da8ee3956f9c338b358451476c24ece87cc3e1c84e0e165d04aff9c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000266/arrays.npz", + "bytes": 5363929, + "sha256": "dc43a73be0183c41c1ec0320f01d33b49af7e552b20c3e9394669d2c72b8ba3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000266/frame.json", + "bytes": 30119, + "sha256": "d2e5f14275fb3c7be41c6254757cf165074838da59714428274f89eb108b48ea" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000268/arrays.npz", + "bytes": 5354638, + "sha256": "caa6a148a36b7cc9c1d1fcadb4f4e764fe0edcf4f3812033a5b007ad8c6edbbe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000268/frame.json", + "bytes": 30120, + "sha256": "815b5561c8f8d0125790a4f3659b9e6dc611f2b837d69fde3d23133e2de9d000" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000269/arrays.npz", + "bytes": 5368115, + "sha256": "65c5998d51cf29078902413fb877e60cbb3c893473957a391491bff4eb42eb2f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000269/frame.json", + "bytes": 30123, + "sha256": "92a3cc517202d544f3a80de6c3e5405b4ae301937d2c7e4682e46e05473add88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000271/arrays.npz", + "bytes": 5371284, + "sha256": "245cdaa6a8bb2ad1e5c7968169b2c3bf66ddf806473ee7e4fe3bb22b71c66cb6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000271/frame.json", + "bytes": 30116, + "sha256": "4e2b29dedb36af02dca17e56fb87a10d2bb5306a3f2646cafc5650b6a52476fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000272/arrays.npz", + "bytes": 5368863, + "sha256": "3ba79636ddd55a9e35b8bc5c06e7364e69ba3a4ef96838e87bd54b9f95796e99" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000272/frame.json", + "bytes": 30116, + "sha256": "ef4090a27e2892fd12db1d7b6a70d77c11df0f0814f63eeea6791017d32c23de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000274/arrays.npz", + "bytes": 5361735, + "sha256": "8303f32876b7f33ab1fca6a54ef62cf47162d62d062169a3a12599cd601ae87c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000274/frame.json", + "bytes": 30111, + "sha256": "d1563f4b666a3447f0de1930d744e5b55476b46ac4565d5a5cef238c4dfc4a76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000275/arrays.npz", + "bytes": 5383141, + "sha256": "af76470f11656d0b919b6f062735409c50d496f25336dbd54917c4ca05fb83ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000275/frame.json", + "bytes": 30119, + "sha256": "4b56bcce6f7dbcd278e818a6f4f803d1232c94720509a2d5158dfa9109448535" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000277/arrays.npz", + "bytes": 5364616, + "sha256": "34259e3d161ce421fa1e25275334a45dc86fdc91f8e79fa4feae89064736bd2b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000277/frame.json", + "bytes": 30121, + "sha256": "d49acaa8ae83a703b4d8db9f368d1846aec56239ef4450a45399afd5b7e55707" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000278/arrays.npz", + "bytes": 5358991, + "sha256": "483c3eae0b4ba262d2500f8f5f7def0aa4d2621421f77fa78745d42b95e597de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000278/frame.json", + "bytes": 30120, + "sha256": "1b0caca63c3b9cc1888595dc7e5b257cb27872d9e79e072d242052b4fb5aea11" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000280/arrays.npz", + "bytes": 5351975, + "sha256": "cd298fdf1b9e79e33a914c13c9f0295148dc52f9a0360f9c53bc9dc9969200b4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000280/frame.json", + "bytes": 30187, + "sha256": "2d62c0cc3718123708e6b010427f452f4174b41588862cd5cf625b3f65475dd4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000281/arrays.npz", + "bytes": 5349508, + "sha256": "d09b5a237ab95e861f77eb93c37f56b3cc64e899caca5b0f11adbb654023950e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000281/frame.json", + "bytes": 30114, + "sha256": "d0ab7cded584603bac965c126e778657826fab15edc437e59de7973033e0faf6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000283/arrays.npz", + "bytes": 5346476, + "sha256": "c822bc3121d609e8560b9d0afb7b39da50dbc0a1eea85aed6a6076a8d128e517" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000283/frame.json", + "bytes": 30123, + "sha256": "63b8db8442f869e8a688c407b6ff2b08846df3e87412703a4afb47a59e42d37b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000284/arrays.npz", + "bytes": 5356899, + "sha256": "f4257925e5dce1ffd8a1a10e76dbd5a852d86766d80e8e67878c1282c751eca7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000284/frame.json", + "bytes": 30113, + "sha256": "d1f3d8fb4dcb9b51220eeb92554f9010cba66816a95154e21d7d987ec6c14a50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000286/arrays.npz", + "bytes": 5354994, + "sha256": "35477add6194899bf3d7b2d16e7bbcfc2ead955f2892b6077d231a8c56309dca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000286/frame.json", + "bytes": 30114, + "sha256": "cf362c955115b3fcbef11350cdce25750d3d48fe4ad13bc051a4d4031bf4e30f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000287/arrays.npz", + "bytes": 5360489, + "sha256": "cd6505fc2f162ef78e272ffe9c209d64533de79806ba8a0e855c470d937277d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000287/frame.json", + "bytes": 30119, + "sha256": "ad5737c202a3d2e089189fa963e713da7aca87525effc2d57eba12cac22265aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000289/arrays.npz", + "bytes": 5376090, + "sha256": "d85af22ca259d2cbf53fd0d7e088f48f5f2d8b0113cca9952c28a0772793e8ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000289/frame.json", + "bytes": 30128, + "sha256": "1a71372987fdb348d7982e42740bae9cd98875ebdb660623f6867a276aa47cc2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000291/arrays.npz", + "bytes": 5370302, + "sha256": "4ae2101e2277750172e8db4deec71e0df6101467419bafb44176554581c0c559" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000291/frame.json", + "bytes": 30121, + "sha256": "dc2cebf16a69bc9b9df5fb9f3eb2cd22f0887fc4f40162015fd74eb575741089" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000292/arrays.npz", + "bytes": 5385833, + "sha256": "c0e5018737ef29ca1255399244b80a182d2e37a3067019a73ea0459a6836f121" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000292/frame.json", + "bytes": 30128, + "sha256": "ac2dd0e03b32d9b26bf8d6f20f66a4ab160b3612893f5c3812f3c674a6424fdc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000293/arrays.npz", + "bytes": 5357660, + "sha256": "d9b3fc2c2f398bc6efcb386782483be18013247ddf55e0892287dd87b0a49a46" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000293/frame.json", + "bytes": 30124, + "sha256": "2365d2c35928c85d3ba80749972bdac0cf35510aafa8112703efb669c5a3c8a2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000295/arrays.npz", + "bytes": 5375653, + "sha256": "8539852c8f1d0bfafc67b1ab0bb65eb7d16a4d20b3860d3738ac885af517baa3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000295/frame.json", + "bytes": 30124, + "sha256": "25c10b08151b9fb9888c8a328091af302978c16ffc3ef257d6f5afb2885631fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000296/arrays.npz", + "bytes": 5362279, + "sha256": "210da6c2c671d974304a36b0b2276699b81669af0b31c9e910a052e97c12946b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000296/frame.json", + "bytes": 30125, + "sha256": "233c7b4b83f43f811d964cee773046324a6f328ea5ce48782b8720a4a40fef97" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000298/arrays.npz", + "bytes": 5360396, + "sha256": "c767eccabd0518f2475c5ba686502daae4fda7e32773613033e99ba44896576d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000298/frame.json", + "bytes": 30112, + "sha256": "9508f5d263e0caff94cc216245b136a92ae295161970d81a9d62a4d92725be56" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000299/arrays.npz", + "bytes": 5359007, + "sha256": "555421301ae1eda4bb55b7c1d3d68841303ed70b64f5999a6335b448127d4680" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000299/frame.json", + "bytes": 30117, + "sha256": "934745bee63e75e00ab5ea3d945102bd645da122a9a43fa8bda9e96b88b0cff9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000301/arrays.npz", + "bytes": 5373989, + "sha256": "d32d47ce852dedf289388f4d1dc2888c6201c0d827fd69c58fb64c44bd92b0ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000301/frame.json", + "bytes": 30115, + "sha256": "e5d5e4531d75ee70d3a8665aa76a078f2e4354aec1c459a877f2ee06c8d52413" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000303/arrays.npz", + "bytes": 5373382, + "sha256": "1ee43501f8c3df81971b46dda99415918306d0ef065e94f40f7f5ae417d70ebb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000303/frame.json", + "bytes": 30108, + "sha256": "a12e7458b868c2a459b7b49d1e9c05b5021f62b65175202917d6117372b7f1a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000304/arrays.npz", + "bytes": 5363234, + "sha256": "f25c56cdf000d2cb5b9f73da8ebfc9292ae00c8efe819f11b8b1421468371bee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000304/frame.json", + "bytes": 30111, + "sha256": "6c90f82eedcd8b7c5d2911028b6896a9ff8e37ce0c803b81203e76113534a6be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000306/arrays.npz", + "bytes": 5359823, + "sha256": "0fc1d963aa9fe1ac5893e582339653d70d1d15984e42cc4ba50fc84486e36457" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000306/frame.json", + "bytes": 30119, + "sha256": "dd5206fc121927fabe1cb411e196e07db10b52a82a3c96c1ecbcdf86d726fa8a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000307/arrays.npz", + "bytes": 5369409, + "sha256": "cb9403943d33ae1d7963be79106be559a3f85b9c2626bb289f1f9e86ac70a18f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000307/frame.json", + "bytes": 30117, + "sha256": "9993c74117bb9c0d353ebc6ca8886fd68b02175371d48d10fcb9b811c4ae37bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000309/arrays.npz", + "bytes": 5368212, + "sha256": "d3965510520d9382d071d4f92aed9f451e1d4febf5a487901f77f65b7feccbfb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000309/frame.json", + "bytes": 30123, + "sha256": "cb848d3349e85402aef83d72ef0573043a3a49a8bc59a6890034e09a7a103baa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000310/arrays.npz", + "bytes": 5369566, + "sha256": "d335b0cb3f018f89d40f69d1b2a56149e88308dfc86bc7ed808105245d0abb81" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000310/frame.json", + "bytes": 30120, + "sha256": "2640dfed82e0a51ba9e57aae2bf7acefe35bf446d0aef1a899531d0edbc3f90f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000312/arrays.npz", + "bytes": 5357352, + "sha256": "54f8d1cb51e37c4ed81c4eb890ceadc9d5c67e5effd482425b9f03d92d8438ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000312/frame.json", + "bytes": 30121, + "sha256": "45b9dbfb0602d33c3afb8ee748b7f23174defdb4af1e6d131c92df046388ac62" + } + ] + }, + { + "path": "archives/vggt_frames_001.tar", + "bytes": 729374720, + "sha256": "74a02595997103e82261b734e8afa42a7b4693f8cd1caec407c3534988ce7d76", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000313/arrays.npz", + "bytes": 5375865, + "sha256": "7ea82e3c27c366290e99e70b12589d883c05a4e37d2d3cd06b5c0c0e4ad54732" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000313/frame.json", + "bytes": 30116, + "sha256": "a87e7440b93b5dcb62818cc8b70ff49661ae418f7c716021d541fa5f467bfd4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000315/arrays.npz", + "bytes": 5368693, + "sha256": "b731004df5e9ff9c1ab9789e1a7234905ad5b556156d60ade9aca744e4afb5d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000315/frame.json", + "bytes": 30115, + "sha256": "a0904890c076a9416063782c25f9a94485ae77a5f39bdbf88703908c375cec7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000316/arrays.npz", + "bytes": 5359842, + "sha256": "8a8d12af1cee0f06f654dbee3a4025f6926d9424646ad6b04231ccce45d59692" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000316/frame.json", + "bytes": 30122, + "sha256": "bb0456cd8833299e73cfbcc5af23a7f3327819bc0b19278c39ba118f66e45b52" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000318/arrays.npz", + "bytes": 5372905, + "sha256": "6b271c3cd9f1eee1b6233e7e7a918d9681fe7ed2e3d69f10572348664a201d7f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000318/frame.json", + "bytes": 30102, + "sha256": "277cfed0d8ec303dddf404293d00e9c68a57c7cf0ffb27c5a6680e14da30f3fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000319/arrays.npz", + "bytes": 5352946, + "sha256": "ab5634da760f488eeb796d40c8302b634f76ecc9e0f045653616ab734d2af02a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000319/frame.json", + "bytes": 30122, + "sha256": "934584fe89a9df10a95f8d1f669b1c13f1a5533786a3ba6cfee1e1095f3ef117" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000321/arrays.npz", + "bytes": 5350601, + "sha256": "4f37471da80569b611c0e2865bb8cd5f8a9790ccbaa8175a39468dfbc4258643" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000321/frame.json", + "bytes": 30116, + "sha256": "823a500c959022b7415b68be78cbbf93ff221295197bded84e5fdf35a4cd2d27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000322/arrays.npz", + "bytes": 5358433, + "sha256": "2b9efd3b059b297d83e08149a846c29594d6a7ebc5e7df2f4f699e19c90cf53e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000322/frame.json", + "bytes": 30178, + "sha256": "14d9ee310d3fe99a21bc1b3b51014f5df1e105af8a621c8e64ee7576b5afa557" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000324/arrays.npz", + "bytes": 5374159, + "sha256": "cfec308a7b7b3f0375e721fa5cb74ad17d474d1a2fb360a1e57a34cfca67a175" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000324/frame.json", + "bytes": 30116, + "sha256": "7bae8c660b5c8b8fe9ee4b6d79680c0627116021482ea1dd02be4efeb8f07607" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000326/arrays.npz", + "bytes": 5363970, + "sha256": "52a9f1eb83659c6c87f7bb936fea11d24c7d5b56c7b7276460b5c87b634b7928" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000326/frame.json", + "bytes": 30121, + "sha256": "3663c53299589b54249d118cc3f7f6af559fdc4bac62deb3eeb320f565e0e26d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000327/arrays.npz", + "bytes": 5352603, + "sha256": "48d4b3ab22d059deec2737084cde2536979e627c862ffaf8e99a5d0ae55b7964" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000327/frame.json", + "bytes": 30117, + "sha256": "14226e8cea7fa41a0f3d7373299db727f8b9a2319d0e45f1436971d59d6dd3ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000329/arrays.npz", + "bytes": 5360950, + "sha256": "9a9d605bed4eb556678bcaec418cebfb1b987359caceffca8c86456060aa6c48" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000329/frame.json", + "bytes": 30117, + "sha256": "d13fdf955f13a87dc8987d86e595889b0ea226970c58e994e3a51c4ab7f73588" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000330/arrays.npz", + "bytes": 5348210, + "sha256": "77ad7f5f672ac1a5413f7e68c6113ed8f69f4ed035deeabf15e4527dca3b50b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000330/frame.json", + "bytes": 30129, + "sha256": "ec2b4b5216b4bfe1d8ae41503d3e9d81c526fb7120749b84df7a214e99be7444" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000332/arrays.npz", + "bytes": 5352334, + "sha256": "6d57d2fb3d58881ed7bfd68e7b1cd61c8a1a6c63896511a84d843654d3b9062d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000332/frame.json", + "bytes": 30118, + "sha256": "7af23269b46f389fe17def95745203ed5ab2970c8b0dd377703baed5556b0b50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000333/arrays.npz", + "bytes": 5378608, + "sha256": "614a32d677268d8eb5aedb01afe149564c7a0563b011defff6a40dd15e5fc15d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000333/frame.json", + "bytes": 30119, + "sha256": "44e325184f0af8640821b22fe1ed5e319ae05c18aa0322275db453db4a643883" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000335/arrays.npz", + "bytes": 5361694, + "sha256": "52318a226642733d99a1264f6af5ed32ae259ca12ba85757af8a87a979c9385f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000335/frame.json", + "bytes": 30122, + "sha256": "8e015281a93746e620fde6aad31eff8faf202008490302aa382a8bc6dca12dc2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000336/arrays.npz", + "bytes": 5343133, + "sha256": "c08fa765e1f9c09411773a065b434a1fd2176e256ca819193f2e1f701bdeee6a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000336/frame.json", + "bytes": 30119, + "sha256": "5516239218e48af3185d3ab9c241a996dea55e1dfde91f1b60aff5a876db6b35" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000338/arrays.npz", + "bytes": 5365719, + "sha256": "825d45acef5cd8362db8ad2596cdadab6400e212edd63245190a2295888561e8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000338/frame.json", + "bytes": 30114, + "sha256": "115e8485a7a4b2c7067bc0eb8600b37ca10089c3e0ada2fc7769779f2a8e72d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000339/arrays.npz", + "bytes": 5382036, + "sha256": "43f256a6a5503779b624ab9def0f930948c32ae4a93b40f49d264cb0636b9f8d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000339/frame.json", + "bytes": 30120, + "sha256": "8403d547131cc3342d495c61dc206d6634d32b921142391469571ca715298d01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000341/arrays.npz", + "bytes": 5366662, + "sha256": "8b2807a2634a828230da448b6dc2d7f596e31dd5469acbd7641573426f7a0a7a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000341/frame.json", + "bytes": 30122, + "sha256": "1e32a4f7417ad38126484db91e543bdf58c07835a08f30bf1f24235b51107028" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000342/arrays.npz", + "bytes": 5361639, + "sha256": "20c480d9b98969a817559b488d0ac9d4dc07d409084f711b4c6c59b416f08137" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000342/frame.json", + "bytes": 30118, + "sha256": "43c880afe20cee873d363677dbc506944d68ff98ba4d595d2ed81da6f81349e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000344/arrays.npz", + "bytes": 5348464, + "sha256": "6a8d22d9162c166c0f51d6688a916d9f0466921d309bd2c8262bf564f5b10ed8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000344/frame.json", + "bytes": 30590, + "sha256": "5f6656511f2dd10df2b1aa994befb6a92de91590e4564622d56f2623dd36a2e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000345/arrays.npz", + "bytes": 5360494, + "sha256": "81debef792e152e0de4755a1dcd585793fcb7463e1e3449b2f5a531f181514b0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000345/frame.json", + "bytes": 30594, + "sha256": "6c8918747b4b5f9f25033617363571e6c9978cf33daa3e2db4dea06826de143e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000347/arrays.npz", + "bytes": 5369583, + "sha256": "2ec3ee883142683e63bf9018c97f35f2a41f11e4b07987798599aaaf920f90fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000347/frame.json", + "bytes": 30594, + "sha256": "fb08792a5211f28028e52b570f22fcbe94bd2b46f07444e4f70eed318b223fb4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000348/arrays.npz", + "bytes": 5376760, + "sha256": "620813483ec85ffa4681321c15b70c9777445ae9a56dad7dd4cea7ed3f3abdff" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000348/frame.json", + "bytes": 30570, + "sha256": "97760bd02b1ed622242543d713e7e6761f5c5b79c0374cd8a9a57fd7a715a3c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000350/arrays.npz", + "bytes": 5326600, + "sha256": "0dcd51ee037d9596eb4acea666a00c4e0b707f9642fd38f84afb129826468213" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000350/frame.json", + "bytes": 30864, + "sha256": "d9ef6c169905b7055de80a3ab1232c703a7811543f91f908e2fc44ae7d805e88" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000352/arrays.npz", + "bytes": 5330332, + "sha256": "a6ce58af2ab3efe10bf8161ec3e7ec5393f5ddc27a7b8414f24613678915a7ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000352/frame.json", + "bytes": 30865, + "sha256": "365ac5da34324f1e105e072c22e575d529cfd04335550a912390d036170165e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000353/arrays.npz", + "bytes": 5277749, + "sha256": "c67af9f9c4c6c231388b1dd0bb0c3fc596c8a784567e7a519fa431de0d066ef0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000353/frame.json", + "bytes": 31143, + "sha256": "581f3b5367328fa69180378eb981bfecb6cacf39adca73fa7b4fdbaaa8a1bd24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000355/arrays.npz", + "bytes": 5252967, + "sha256": "53ebf6c1bfb5cda67d9c20ffd2e63efc081b2479a4bd8d88f6c7c0950536618c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000355/frame.json", + "bytes": 31145, + "sha256": "5f9dcedbee5364df3b1eb1f6839a88078b65bc4a81bc46361494dc351be1c324" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000357/arrays.npz", + "bytes": 5149575, + "sha256": "904bfca4a23e4e86777f40d9fd9f7ebcb67bd67ac1283d0c5fa1b6c17047fb5a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000357/frame.json", + "bytes": 28190, + "sha256": "5ee001a113f474b95783955116b74475b922e70c644108001db0115ee9ee54db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000359/arrays.npz", + "bytes": 5029140, + "sha256": "5e5826b2c704263d16a797614d11480f59bbbf143bb2507e5450c1638eacdacc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000359/frame.json", + "bytes": 28175, + "sha256": "3a0f4e6a4678f04407728f1b9c9bc849828f16852deceba8c4ac8c804ee0b9fa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000360/arrays.npz", + "bytes": 4925550, + "sha256": "e750ba7880fc7a49216bf797393bf93af409e2363e973b4c556b782f93202ddd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000360/frame.json", + "bytes": 29861, + "sha256": "97e0c28213480c1df0bff53537c38726c8b0729a13b0ab206318233261198a7c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000362/arrays.npz", + "bytes": 5201497, + "sha256": "1a2a1d8e5983cf11246cba09997fe0e0869908887068d7593da55f2f667fd5fb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000362/frame.json", + "bytes": 30545, + "sha256": "3db9341d0999ebb6e428761548d5a7ab393ec329e69899832c160a2fe7069865" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000364/arrays.npz", + "bytes": 4764317, + "sha256": "60f7e7a1dc747391142823980b012c567a3af431855469db2329f89bd696998d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000364/frame.json", + "bytes": 30521, + "sha256": "182975eab2e5440948ebaf7c717e3eeb0708df2dd9a0a5ec6a7537d349efb2d8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000366/arrays.npz", + "bytes": 4757729, + "sha256": "fc329269b0fc7e99d16388616a54132d586e6527835a2fc195bfeae1011e93b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000366/frame.json", + "bytes": 30454, + "sha256": "e9cfadbcdf40b7c00b5041a78c1072635336d1e9d83d2d86d102b9f12da48c59" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000368/arrays.npz", + "bytes": 4898086, + "sha256": "4b24985a79befdffcd1a21a974b3c8f003c921fac86f365940fb1ee62e68c24c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000368/frame.json", + "bytes": 30807, + "sha256": "576ba7f43a4d2acdaf5bfb79c3f8616c935d03ca768315941f72e7393d18c9aa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000369/arrays.npz", + "bytes": 5238572, + "sha256": "858f2ed35e0a1cf23618609931f43f7db41c9e921458da292cf70bc6aee078c7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000369/frame.json", + "bytes": 30571, + "sha256": "5166593ded203a5ccc90b59fd3beb5d83fce8e597ceed572daea8f5fc08f8883" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000371/arrays.npz", + "bytes": 4941854, + "sha256": "b89d39631bd280314bb511421bcc2078b05b70145ab26e81b8d2874de6d42081" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000371/frame.json", + "bytes": 30589, + "sha256": "9390d62a74208039a887011de5ec94f96bfa33f4d2a63d1c601c104c8c2911ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000373/arrays.npz", + "bytes": 4888497, + "sha256": "ba9ac53ba35379bf493c8f55f96b775548e5507b41b8ac78d77bf31b6b2e2664" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000373/frame.json", + "bytes": 30671, + "sha256": "cb120e2cc0225884520baee7740c861c416d9f5fba49aed9060a77e84f3eedbc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000374/arrays.npz", + "bytes": 5134870, + "sha256": "12c7ee85aeb3c7b49e95f7caa1cad3269f5440fb1005571b2657f17dbd93254d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000374/frame.json", + "bytes": 30567, + "sha256": "a4bd774564d9260baef31ff48eeef816868867cb0b0765226ea6d11859da5f29" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000376/arrays.npz", + "bytes": 5284372, + "sha256": "b38ca346a41f20196635569225b5df778367006648d38ba071e82d5b0f9310ee" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000376/frame.json", + "bytes": 30575, + "sha256": "b88ab860e5945a39a7d491c7a2ff2d85d20b51f623c33891dac381b162e75811" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000378/arrays.npz", + "bytes": 4955480, + "sha256": "fc3f2de9ded045c16a082d885587871cbfbdf76cb0ebe4884e26a2fc6c164f9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000378/frame.json", + "bytes": 29057, + "sha256": "b7840a3187d6e555f4ed90ba45307e7d6ef315b8e24d0f5e8750927d045d8f51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000380/arrays.npz", + "bytes": 4879907, + "sha256": "a7b6d5e4733d88a2d8d49741761bfaf0127cd63c0dc4f468a868d491a3597612" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000380/frame.json", + "bytes": 28774, + "sha256": "6ac8d330e6b788cb5b37ef949bee7f428b0716b436b91ce739b8305c0c17a23a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000381/arrays.npz", + "bytes": 4159189, + "sha256": "a43c7021204954f2ea519b4d22e2f647ae55840b9c88b4d716342fce1893f0cd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000381/frame.json", + "bytes": 30358, + "sha256": "be94ca3e75cb61b84d11b0491f3098de9b5be018c553a874f94434d33b65596b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000383/arrays.npz", + "bytes": 4353785, + "sha256": "f543836e1b3f572ada07d8a60c9a35ba32f5a5b53b5dae9836a0a2c12484381a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000383/frame.json", + "bytes": 30475, + "sha256": "af3f61dfdedee00e727773bee39b2d5bc4798156a7a9bd8ec3ca19899292d8e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000385/arrays.npz", + "bytes": 4528296, + "sha256": "400ec1283463f361d23b2a65478cec4878bc67bd5f6ae3939e7a9d6bf3d22313" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000385/frame.json", + "bytes": 28530, + "sha256": "e69ffbfcba2074a46a08255e6bdd69b4de97323dc60d444fa879ed10446bcabd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000386/arrays.npz", + "bytes": 4430905, + "sha256": "5186c200f295d9409a450e2c1c511fef753a94a5b1a95e8f4cc0b0cb645ea69a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000386/frame.json", + "bytes": 28516, + "sha256": "c372c51679aa191e9c1939d837a9da7c7d4271bd079b92c90f7de5d131289d60" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000388/arrays.npz", + "bytes": 5237852, + "sha256": "9f34748980eab5f685bb3d4f8ff796e265aa27abfb9e1f2d97f513b09e2d0021" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000388/frame.json", + "bytes": 30061, + "sha256": "545069b8aaf0e885ce153967a9275b60c73f643e25579c48cc12d0bc868aad7c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000390/arrays.npz", + "bytes": 5268061, + "sha256": "f5dffcde8ac14a96b0f4e47c0514dd67028d0f30ea4af39c4eb81f63a9c8173a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000390/frame.json", + "bytes": 30069, + "sha256": "5a602bd2044b86f2e4e8f2b91af013aad825bb48f7fc78c984301860d2bb16e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000391/arrays.npz", + "bytes": 5184476, + "sha256": "d9ec36d3b1383108f3c4cefbb719de8c965b9086443522282b7771837393e177" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000391/frame.json", + "bytes": 30615, + "sha256": "9a4786d564d1e11662238f690ed2ef4d05663a37a4acaa2b70731a8502a391f4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000393/arrays.npz", + "bytes": 5175331, + "sha256": "e078f29c753a1e64f9cb34bbba140cd4f6accf487e05653101b715ae3608cc05" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000393/frame.json", + "bytes": 30588, + "sha256": "e20751e6b64b57d9a3628e25fc54fe7428ff3ce6894865430f9c867750ed92a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000394/arrays.npz", + "bytes": 5222290, + "sha256": "1a0e102687c79844d1d0b88cfd1c112f4dd5bcf8401bd449e14d4abd7fd10894" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000394/frame.json", + "bytes": 30868, + "sha256": "7271cc0006c8823f077fee3c0ce9d8e1266141867d12885f0f119135a60d746e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000396/arrays.npz", + "bytes": 5211681, + "sha256": "745f4585c44f977b23f8e4b1b5a3522669b73b252596ac99d3f111319b8dfce2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000396/frame.json", + "bytes": 30873, + "sha256": "1d16374ff6b49fdd8e94b44e13a01d84fe714232095feb8919e359c24a2c4992" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000397/arrays.npz", + "bytes": 5276936, + "sha256": "e60419154c836869d1e177de3a9f2c0112462a8d1fd6eee5456f81878a1cf81c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000397/frame.json", + "bytes": 30858, + "sha256": "e97d00e8a49d354ddf346c03204a7c65693c43fb50afe1ecf1aef4644cb75259" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000399/arrays.npz", + "bytes": 5308967, + "sha256": "1c675a58cfa2af4f07257f9a900c5e44bf719973bac42776d1816a5338c73d01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000399/frame.json", + "bytes": 30312, + "sha256": "b08e6ffb7d3fc541cd9a2d6dc01337ce7b024f539472a0ff709f2da719bf8852" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000400/arrays.npz", + "bytes": 5430923, + "sha256": "991dd37d27d1be34fd4004b1e3654857921443a5fd297ede09ab5a068a888c9b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000400/frame.json", + "bytes": 30290, + "sha256": "c78a5067b631b6fba7003622c6a8d31e0f637a09bb60d957fd65c1b227955602" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000402/arrays.npz", + "bytes": 5363597, + "sha256": "ad08d99f6c3ac0f3d49c778a7153993d72ca14de34a0cdc46794dbc939592a89" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000402/frame.json", + "bytes": 30300, + "sha256": "c6c369bab25043f78774df5e925a2b1d71881e256419c23586f6514eb47b1b50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000403/arrays.npz", + "bytes": 5308723, + "sha256": "3438dc0516ff456304c264c56b579e05138a440c73cd855fc413ff42153f386a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000403/frame.json", + "bytes": 30300, + "sha256": "8262827fa07cfbeb396a6789b00acae3052b24c5ec5fbeb57ce0d89634ed8c9c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000405/arrays.npz", + "bytes": 5356078, + "sha256": "06df70e2893f2491878958f00a96d51bb1ba6fbe13d67d7a11a72a426b62d84f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000405/frame.json", + "bytes": 30305, + "sha256": "1c5c358ee91a55d60a090e7cf5f41ec749b75fed5da91e96ca9873a1fb89ec42" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000406/arrays.npz", + "bytes": 5388162, + "sha256": "cc067a56766f35596f2b3b95f0ca01fdb78c0e176425dac4c9d08e7a952763c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000406/frame.json", + "bytes": 30027, + "sha256": "818944cf3d12d63c0ce17fbd678bc8b2214418a12b65742b3797d7c0e53e608b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000408/arrays.npz", + "bytes": 5470505, + "sha256": "07027357fdaa80342e074deca9e2f33d9ecabc85621d976a9aac006c43a45553" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000408/frame.json", + "bytes": 30088, + "sha256": "cb17001f29fcf4bbe1eab4e790f34aecd48568f4797bf7e38cd985d9ebe38950" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000409/arrays.npz", + "bytes": 5368879, + "sha256": "38c50769cafbdb70bb5a4ba26919d68ad5cf0a6b704db93218d6a7e31b7e16d2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000409/frame.json", + "bytes": 28556, + "sha256": "3386d41799d07249231d50a6a8a0308c8523e4de1b4ad17dd9c80b9a4ae962db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000410/arrays.npz", + "bytes": 5370061, + "sha256": "f299d2efe8f9c4a17709ae9d742b9fce41fdbf94e234c960650357ab924ac7de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000410/frame.json", + "bytes": 28550, + "sha256": "79792c8a9beb0e0368cc7f6bfa4babb7509c49e53a440d28b0c1f08fab8c2f13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000412/arrays.npz", + "bytes": 5428316, + "sha256": "4d2479ec1ec2f3bbe0b6d36060e5ce8f1d00fabea17fcf0cf074ad0e920281b7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000412/frame.json", + "bytes": 28548, + "sha256": "9c56ed00e7f060fa3d9fc0fe770449ec8456fc73df8624db89089a44a7a18cc6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000413/arrays.npz", + "bytes": 5424992, + "sha256": "ed4736a1fd0b5910da324cd140909b2818e0c504d8dc73e13c93add51107d0f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000413/frame.json", + "bytes": 28554, + "sha256": "10e53aeb1bdacf2ac9223b1eb22ff99e013e2dcc29706c634187e1a40fa9e9ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000415/arrays.npz", + "bytes": 5487320, + "sha256": "d34abf4a0f204807ca602a7cd13679316cd7c5da18b796a885ef374ff555f8c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000415/frame.json", + "bytes": 28823, + "sha256": "5e6c48212c58a52c33adca1747db8cf192ea501e2c2a51c31804b04664404a0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000416/arrays.npz", + "bytes": 5434968, + "sha256": "b2adc806e170c3a0b5dce64a4c6c3be70c385ad22f5989f314240691e4e87ab6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000416/frame.json", + "bytes": 28824, + "sha256": "6f19cb2415349090c5abaf3e0fb179ac20c6b6883ca7cd0d293f6b8598d1bf50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000417/arrays.npz", + "bytes": 5358868, + "sha256": "e8df1504c8abbe3e946c83a4c519af729aae584b33648e1c431cf5468c98c50e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000417/frame.json", + "bytes": 28829, + "sha256": "9fb92958ba87e7f408ede07425fc4a1a24a6fd6d004f52205eb3f07e00c72c13" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000419/arrays.npz", + "bytes": 5391666, + "sha256": "736e5862964a8d3994446df701f6246b4e0e3837ca44359f8bc3845e0e00b027" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000419/frame.json", + "bytes": 28806, + "sha256": "c4400289485797358d21f758ab4722d6f1392fe338486237c6764bd251c68ce7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000420/arrays.npz", + "bytes": 5378245, + "sha256": "5c89cfc6b70c96d93782369816091553797387f31107494b33afd10f6155c59e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000420/frame.json", + "bytes": 28814, + "sha256": "329d134ee159551224a18699d32d5e1c132bf427de2bdd926a4990b2bcd18d9a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000422/arrays.npz", + "bytes": 5426368, + "sha256": "fccbde35bb478e5a04125f9cda9beb21bdc2d563376ad0e11ff90ba91c886c03" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000422/frame.json", + "bytes": 28815, + "sha256": "0667ce197c3aaca16d0920d33595672c7415a3ee56616cdff74a72dd957b6557" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000424/arrays.npz", + "bytes": 5426850, + "sha256": "c0ce52e4c3636d07e2f9792e7b13dc1fdf9372f668061e3d4379fa4b09b5a16e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000424/frame.json", + "bytes": 28809, + "sha256": "244b2977597e56ba028cff92881dc01eecbc8d1be3a50a3508aae6a434053014" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000425/arrays.npz", + "bytes": 5385471, + "sha256": "29054a076873f96ff8ea92f2ffc9d1d77549abaef4fb7b5342f16166fb7679c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000425/frame.json", + "bytes": 28797, + "sha256": "37d1f1ca86084f690d76a7e371dc9395bfeb173b68173a53a363df36505ed101" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000427/arrays.npz", + "bytes": 5406545, + "sha256": "fe3cd90ae0abeacd467eb7bb130927050b65dbb5257206f686f936c16c9d089d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000427/frame.json", + "bytes": 28792, + "sha256": "88576f88f6368fb0723c8f7ccc660cb6b0cc79df627defb9929fb7a058c9f13c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000428/arrays.npz", + "bytes": 5382361, + "sha256": "ee7a517f39bfd62369b7218012eb917d82609a787839f01e1bd106d6c6db2e6d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000428/frame.json", + "bytes": 28787, + "sha256": "6de382bab4169bc3418418c6ccd93d33127d8232e39a1f3e4c04df9a64ca8b85" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000430/arrays.npz", + "bytes": 5378690, + "sha256": "f4cca4040d4f32d39ae49faba17bc7aa05e3be60ae095e79cfd13e9394ebbe07" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000430/frame.json", + "bytes": 28789, + "sha256": "eb039085062b0d125fd3418a73d9b9dd00b0cc33e629f3174c698c30f4918af3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000431/arrays.npz", + "bytes": 5368726, + "sha256": "b38868e862f116ba6e71d84d64842092e0bf13bdf6fadeacc79ab1911204686e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000431/frame.json", + "bytes": 28791, + "sha256": "7566128a4e068e748efb136f9e3099c15b7d0c8f27fce97de615434b82793a52" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000433/arrays.npz", + "bytes": 5374881, + "sha256": "a14e1917c7538f904a7bfa58c2f1b8a4b99b5360756abd749402aa2c71406324" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000433/frame.json", + "bytes": 28513, + "sha256": "7d2583a2b8547586231c5b712afe1d1b9f3ee2d1687bdbf5dda0eeaeea21e86a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000435/arrays.npz", + "bytes": 5414214, + "sha256": "925ea993f9dbe1ad0a24fe30e991427745cfd3c45e7c872387c978ebe4eeb175" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000435/frame.json", + "bytes": 28521, + "sha256": "f18aab392010469999a67fcf403ada0649b519d7c703dc84f25a5f759a6e421c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000436/arrays.npz", + "bytes": 5407626, + "sha256": "a7d8f76fa0e14526606345e3e4ab43aebb2adf07e4affec1d2a10c9b1b5d705a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000436/frame.json", + "bytes": 28582, + "sha256": "551487744a8dec369aca61ac060d7df7cdd0632a87f133d21620a27775736db4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000438/arrays.npz", + "bytes": 5326682, + "sha256": "f6edd729389ea8e86b2251da4e3620083f1263f54d01d73d57c4813dfb67426f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000438/frame.json", + "bytes": 28514, + "sha256": "f5da0f3998808b6a13413c78091228fc14abcf00e6e0fa6213a180be4f84acbc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000439/arrays.npz", + "bytes": 5341755, + "sha256": "e4e17397cfc8f6c2efc4bc7a84f5c52d5b5f24027f93d1f844532911c0f353f3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000439/frame.json", + "bytes": 28521, + "sha256": "b7f5721b5e0f4d419bf81b703ac90da3d6bd1ebc78d44b77eafa8c065ddd3431" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000441/arrays.npz", + "bytes": 5338970, + "sha256": "f82efc862ec4e5fc6c48309e25e7f10744acd29ebfc129a825c9bbff12afe704" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000441/frame.json", + "bytes": 27399, + "sha256": "e64a98894b0296ca08a89b8e06fbc6e75d637a579345312930113d4f493cefdc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000443/arrays.npz", + "bytes": 5395944, + "sha256": "5392ffb2035a2a05118fbc5ecb16c4d734f8c41723afa301080848e72be4c5be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000443/frame.json", + "bytes": 27410, + "sha256": "24f30ce4da1f8038fbc685ebaf40876941f8e57e73efc0d8ac2e9bf3c2944833" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000444/arrays.npz", + "bytes": 5383443, + "sha256": "a4c88586d7d1128adb5250a8465958c8de476d9130f1611d05e6142481d8ea3f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000444/frame.json", + "bytes": 27408, + "sha256": "51cbd3f4ad79a2330c51691a03cc6d17d9019e60bf96a9edf5d20b81ddbf22b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000446/arrays.npz", + "bytes": 5376693, + "sha256": "5770ef7d6f4f2a2c5e41870ff65da63ace46d8c0273e3854b3923bfb5b7c753e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000446/frame.json", + "bytes": 27401, + "sha256": "75fe9289b775bdb578a9d9ccb49ba7e818c305678c473bca51e63f7b1432e88d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000448/arrays.npz", + "bytes": 5334098, + "sha256": "41dcf3e10c0b322cf42c7b6196803d3aceab3fd05131821277d8ce722e3ccc41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000448/frame.json", + "bytes": 27404, + "sha256": "ad21b4d80137ea2c362a2f74e07ef1347b52edc1a7a43b2c76cc63d446f01a08" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000449/arrays.npz", + "bytes": 5345512, + "sha256": "96cc848ef12200892c5ec98e8da439ff5a776c37e24456060f796ffe8f8ed690" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000449/frame.json", + "bytes": 27405, + "sha256": "3ed95b5ba4a5908dacb42c4ebbb15ed1c20adbcd41bd8a2c04fe5cd5ddf0305c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000451/arrays.npz", + "bytes": 5405544, + "sha256": "d229e08cb929a7c5d1421235a123d7034c550a1abc253162c7c19348731d1b7c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000451/frame.json", + "bytes": 27394, + "sha256": "9f8d8d9005958937f612c60df8c1f90b709aeb01ae96d838b199c19523b7d82d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000453/arrays.npz", + "bytes": 5413322, + "sha256": "6ce0fa96172187d5398c0c6a071c2df045fe0d2d972d46bfc2f73d6fc773bbce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000453/frame.json", + "bytes": 27392, + "sha256": "db219db9f60052e0ad1165a046f92f9d50eab9e7c9b1af79e47b2be84494c677" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000454/arrays.npz", + "bytes": 5387487, + "sha256": "995f84c947afd636e258ab02f853e12f0b578e72437aa20d1763b47ebbb43e82" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000454/frame.json", + "bytes": 27396, + "sha256": "f3406f816fccc6d899b3c313d1562960e6139d8316246b3ca8e1559cbbe3d5ad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000456/arrays.npz", + "bytes": 5398610, + "sha256": "3cbc4fda932869ec8c08a2760705a33423739f15a07015cebd9d84ffadb2b63f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000456/frame.json", + "bytes": 27405, + "sha256": "98d387c10ea192c24559964b6d7b673fcbf814a16f53abc0a5a74575e506fa42" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000458/arrays.npz", + "bytes": 5403045, + "sha256": "7fec242bf219066cee94eee370be3b49d055d87ea15ae3382854f4eea56d1c51" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000458/frame.json", + "bytes": 27407, + "sha256": "741e2c5da69d48bf33a8cece4f79bc9e2b074580955ddb27395a17bb757b18be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000459/arrays.npz", + "bytes": 5447899, + "sha256": "4bc91ce61ffc351e3e7cc9360d6d9631ebcb076fefdf2f10dfd10a1569f38b0d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000459/frame.json", + "bytes": 27399, + "sha256": "44ddc7ff8815b05bea0d2d6347791ce1c1212a591b742b8913fcd27e8c506c30" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000461/arrays.npz", + "bytes": 5423994, + "sha256": "41adb46bc2eba72077f238b27c428f64005ab0ec2009d17de8b8813c46fe4ded" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000461/frame.json", + "bytes": 27377, + "sha256": "9b39ab2272e582ebef3e512199f808ded91f6fe2f2a22b2c00390d049cd99d1b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000463/arrays.npz", + "bytes": 5399731, + "sha256": "a1b841a5aa36feffdbe41894bb21ecdf22cda7af9e96606fa903e6793fb9b678" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000463/frame.json", + "bytes": 27386, + "sha256": "07b969ff8e65713e2c7f9266159388526085b2f381be499b8ce5e374f92d024e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000464/arrays.npz", + "bytes": 5382354, + "sha256": "32e1579de378f2902cb105a4819782410a7576644270950f8f483222371a6ebc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000464/frame.json", + "bytes": 27381, + "sha256": "a7f9c37d0156becc741d44e5391011debc40fa2dff6713903020e601962f5f1c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000466/arrays.npz", + "bytes": 5435110, + "sha256": "ef5138c6261a3c8c4d5d6ba0ed2a5cd0c0d1ae12a84172fb1be3d460b869c8ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000466/frame.json", + "bytes": 27390, + "sha256": "9128f94cb1c11df99215d60a24b7a902d76e2b498c98e045d6fa3848159125fd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000467/arrays.npz", + "bytes": 5433856, + "sha256": "775265c33a9941a667b47050b06f86688dd4dd6595562c051411fc18e06e693b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000467/frame.json", + "bytes": 27390, + "sha256": "028e09316a6c642ad85373d246b60188b86a1a6b26c6919dbbb4e7842ecdaa6b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000469/arrays.npz", + "bytes": 5490557, + "sha256": "e7c45c4014d06c90fa0bb802195ddf6784fbc1d160b29a1f3e6ade3afee88109" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000469/frame.json", + "bytes": 27373, + "sha256": "adb1119624ef69a7c1edb126a514547105fedc5d2a7403ec6ea25001df826649" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000471/arrays.npz", + "bytes": 5501888, + "sha256": "1455956276bd83e64dfb80ee4c1f92274842684d58ffcd5da43dcbc07c32d65b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000471/frame.json", + "bytes": 27385, + "sha256": "001e989972853d15aeac5c7f60f6b71186aacaa307b00fab3a3aaa9775fb11c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000472/arrays.npz", + "bytes": 5501161, + "sha256": "04878a5df9e0df745b94c00cab0083dc4a19a71a921a9140699d33a4ac290f8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000472/frame.json", + "bytes": 27379, + "sha256": "96ba626243b6015ebbe6f49f64ca8deacc64ef4e25fac5dc171ab3abab241081" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000474/arrays.npz", + "bytes": 5506306, + "sha256": "83dcefa56f90fbe8f127c0033fdb51c19f479233c42f88dd2e039231df665680" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000474/frame.json", + "bytes": 27376, + "sha256": "c67a97932c7bfd0c6cfe82a224a2e869cd0194fd4a858f6a72f11d5c5fe21b0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000475/arrays.npz", + "bytes": 5476415, + "sha256": "3047c56b418fa44d7105c8b55c645d27084ed2605235642a470f111f7bc956ae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000475/frame.json", + "bytes": 26540, + "sha256": "104d4ae9c00a2d58ab09399c9a9be8c9f8174283aa17ac4241bf2ea717a8ffa1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000477/arrays.npz", + "bytes": 5490553, + "sha256": "40b2c8787354b07794dac2524cab2b906406fa8cfeb4cf7b6e496ef5b829afad" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000477/frame.json", + "bytes": 26540, + "sha256": "e95ec3a6304d61c29ad72404916c83ae14f707806d0fc404bb4c479593d1b53e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000479/arrays.npz", + "bytes": 5497348, + "sha256": "42b9b23b10a4d388eee75c34281ad827d8622e8b29196944715b221bf5473583" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000479/frame.json", + "bytes": 26542, + "sha256": "0b7cebaa48f3dee79fb5d3fadf0dc95686b3b19aff2b90519269aefc99905ae0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000480/arrays.npz", + "bytes": 5468453, + "sha256": "488e965560a56fc964f5ade4876ae64598279c275534489c3962c5d26ed94c70" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000480/frame.json", + "bytes": 26593, + "sha256": "f80ea38d9e8e5c68246108516c6b70505d868b961b4ffec725dbffa5b2ee37bd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000482/arrays.npz", + "bytes": 5527040, + "sha256": "053f61b6d1b517662c31879daba2074deaf4e7bcd068a92d198661b0ea3cd9b3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000482/frame.json", + "bytes": 26534, + "sha256": "acd3619744b9b6101a64b8f5bbe7fb64f607d742275f9c47ca932ad4e4a8dae0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000483/arrays.npz", + "bytes": 5679389, + "sha256": "ef104e78cb70dc90d60d6fc1cbead310048bdb8b71887a699e167e62b4a9a8ce" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000483/frame.json", + "bytes": 26534, + "sha256": "b4b7075b43711d8c4412f61076121f84b07566d177eb3e8e9141481e4f23c382" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000485/arrays.npz", + "bytes": 5617089, + "sha256": "830dbe48450ef078f5527e71d8872048aeb0f8b48aaf1a19fe99ffc83b9164b6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000485/frame.json", + "bytes": 26543, + "sha256": "57b79b76579e943c12f9637ff486bcef887124fc0d19741d940f7ca594a50346" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000486/arrays.npz", + "bytes": 5595836, + "sha256": "9cf6531df489a19254eb5d187e350ba508f5f0b36dbaebea2d86e005838a5a09" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000486/frame.json", + "bytes": 26541, + "sha256": "db1a825b705659f697686e7feb5011327355a39421b758481b01f6444f80e05a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000488/arrays.npz", + "bytes": 5624478, + "sha256": "1c1458341ab15b94a239adcee0e316986bd048c9d1f8772c73022e34e3e26fbc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000488/frame.json", + "bytes": 26521, + "sha256": "94bcfc0222dbd0ba9d47cb01ed494fd5d6668143c2ded55fc9624ff989e83e8e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000489/arrays.npz", + "bytes": 5603670, + "sha256": "d35210f1659e7b43157a80fe838fd60daeda09012e23330d5a99ca3da7b22aa5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000489/frame.json", + "bytes": 26523, + "sha256": "1c002660c5120bbe10a929e22892a77758821f363c93b6a89969b4a8782c4aaf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000491/arrays.npz", + "bytes": 5576542, + "sha256": "a4e4e64b3fec19c037034fb891d3afa0de073590e2ec241da197d8eceda40612" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000491/frame.json", + "bytes": 26518, + "sha256": "6623b777a52eeeece8af6a19b20eaf79025aeab32a02fad2743c01079ea23809" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000492/arrays.npz", + "bytes": 5718018, + "sha256": "9535b981b8dcdafa7e8b01ef470be4d82d736dc83109ca501b4d0b258f4eb04e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000492/frame.json", + "bytes": 26930, + "sha256": "dee7076589918b64d1f87eea5ee13f37eee15ce4b50145273b652c87fa7f221a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000494/arrays.npz", + "bytes": 5695593, + "sha256": "ff0153b885c3cd2eda0c343a883687a1e77ab4be0f2f00dd7e1409a47d3a375a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000494/frame.json", + "bytes": 26929, + "sha256": "ba193800cac064c494e0c52566bfb6e922aaf2eccc433658a273b56f29aee41a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000495/arrays.npz", + "bytes": 5717445, + "sha256": "dfbaaa4fc4b9fddf1d05be0ba36bf38721a3e3d6cb35de4706d49fc2d12ee192" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000495/frame.json", + "bytes": 26947, + "sha256": "4a28a4f0b7c36050e1ab416890a96b609258df7c2b7d953b739221cabeb02e8b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000497/arrays.npz", + "bytes": 5699359, + "sha256": "92c2db23f28e04205e1e3c1568d030e65e381037962e76f643e208dddb269203" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000497/frame.json", + "bytes": 26928, + "sha256": "9dca4bf610d5b9f5411ff713db85925cd4f6ba58c3d84f9387358587e056ac01" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000498/arrays.npz", + "bytes": 5691360, + "sha256": "7fe77342d00480eb47951dd4d07ab672bc1158abfd4269b5db976db8aeef8aab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000498/frame.json", + "bytes": 26916, + "sha256": "e16dc7f4b725666898df65a07b3133a510bccd625ede9e614ac821a999f36802" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000500/arrays.npz", + "bytes": 5716872, + "sha256": "f35379f8378a693690d10fe55f9cde435d198897e919927a4862b0a417a16b4b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000500/frame.json", + "bytes": 26918, + "sha256": "02405087c8ef3aa09d6afcbbea3f7f3b245781fe378a0bbbd15c7101eab6afe7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000501/arrays.npz", + "bytes": 5740947, + "sha256": "1b0cf058b4066ce14bc7f7ea2ea16b618b36d19145f63bff07428671041b1508" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000501/frame.json", + "bytes": 26927, + "sha256": "245c6edf4fe5ca85f7e47b5e45164d2f0a67b4e0ae90170ff314bf74e7d059f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000503/arrays.npz", + "bytes": 5719195, + "sha256": "4daa1692962a9f0fc949eec096686915e85b15cc4e2e40ff71e3a75750af2ef7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000503/frame.json", + "bytes": 26917, + "sha256": "50f7b7f12ce89d5adfa8a7ef7720be4bb65c1805d4f63101588bc6e5e8bb4116" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000504/arrays.npz", + "bytes": 5686866, + "sha256": "2aed239c80040cd8e6e52a7aef27e1d017a7ae3ff87dcfb6b049bb6bf0a32623" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000504/frame.json", + "bytes": 26917, + "sha256": "93db60a2082573058b2be91dfce33dfbfed2acbedd924673449fe050749f565a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000506/arrays.npz", + "bytes": 5713435, + "sha256": "63e1c8a29c9bfde96ad7941da7d44293e9feb4a3621d797b41a2a275fbdbd4e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000506/frame.json", + "bytes": 26925, + "sha256": "2a688ba9aa0c715f35c56d573b2ec5bda536aa51187c5eac83fafa8b9a34b682" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000507/arrays.npz", + "bytes": 5717264, + "sha256": "036ebb3ce6ddffaae7b3d1abd262b813ee1c00373657175b1db9b8fca388a00b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000507/frame.json", + "bytes": 26912, + "sha256": "0ca4977ae466db53025283a4f1db41f16f5af4b2a70b1b1f197bd805dbbe844b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000509/arrays.npz", + "bytes": 5716408, + "sha256": "3b1000c335cd19f977f1ba9973be1416fb41b4db65b315d61b60b3789e6565a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000509/frame.json", + "bytes": 26927, + "sha256": "ad942a7ad842791c57f631d0516a931970651427b964abecaa957ded7c22eaa4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000510/arrays.npz", + "bytes": 5708496, + "sha256": "00b9da06c979afd1a6c6a8559ecd82780de78cdfd4685e5cfd49f131e7109c37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000510/frame.json", + "bytes": 26989, + "sha256": "5eceaef946cb2bd864ae5f32ab59ebea8e8aaa73d24a72b2fd599143475fafa2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000511/arrays.npz", + "bytes": 5736405, + "sha256": "9c8cf5cee2e7147ab4e7a3d3aac1c207058a029fb718a50f30c6d94a867d6554" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000511/frame.json", + "bytes": 26928, + "sha256": "77c441412d5cdd553bad51832e80ae0dd2f5b5ee56090a44edf51e71f9995723" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000513/arrays.npz", + "bytes": 5664877, + "sha256": "1c44ad573849b1c70a16f2dc178557615ac3664127b7a96286b69932023cac5f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000513/frame.json", + "bytes": 26930, + "sha256": "46937c3a8e3fb98146c78abe496ba0d47c1b8ed64f6e8e0b667a0dfac35bc13d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000515/arrays.npz", + "bytes": 5701254, + "sha256": "50e49f5855a01d60eb48ac1883b2d49aed97faaf605ff293e568cfe68c8d80cf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000515/frame.json", + "bytes": 26913, + "sha256": "984d8c4e1b9025dbfecbdf693afd35696a321cfd05addaa3d222789331c67895" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000516/arrays.npz", + "bytes": 5723722, + "sha256": "9dbb658e2489042b88b6b1be306253afeeb34a6a4d3c928d3beb587678fbe149" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000516/frame.json", + "bytes": 26925, + "sha256": "180e89f01292b7ded038a8756448222133be332afeb9f16cf2ddb19a035152a7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000518/arrays.npz", + "bytes": 5686943, + "sha256": "878255cb81df361b4fc90678437b10f58d29221b3962b539250e29a205fb8c18" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000518/frame.json", + "bytes": 26916, + "sha256": "165e6a7d7d388bd176c644e8984c8ce33759050dd0742909ea5abfc643762223" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000519/arrays.npz", + "bytes": 5700871, + "sha256": "cfa083f616f2a79a44450d030cbbe26b7231661bb64b4edbfb31469559eab79b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000519/frame.json", + "bytes": 27327, + "sha256": "6a45763f9fdfd147e86b850e03c019cafed806067ab2da16ca38ff132ac79b81" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000521/arrays.npz", + "bytes": 5697093, + "sha256": "8938daa94273b14db75dd5cc8b4faccb7904f4336b93759bdf7d57f0b31abea0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000521/frame.json", + "bytes": 27323, + "sha256": "ac1d3066915ffa09b3624c561700b83b3c39546341d2bc2eddac2cb33daf044a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000522/arrays.npz", + "bytes": 5680257, + "sha256": "3558c1c5fcf47621ccd20d43bf4f38fec69bfae81a56ae158fdb19f43b151b27" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000522/frame.json", + "bytes": 27325, + "sha256": "1bc34ff5591aa4738603bc05a4e01999747b97df33d20c55b7d9ea1b83f44aae" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000524/arrays.npz", + "bytes": 5698718, + "sha256": "04fe35b648be2d394dbdf79e7ff42915b32328e9a37346d07b6ab88454d21500" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000524/frame.json", + "bytes": 27325, + "sha256": "09c52e594bca61b2518a665ddc2238f1e134e336d2516cf4b6333f157f33c6ea" + } + ] + }, + { + "path": "archives/vggt_frames_002.tar", + "bytes": 597340160, + "sha256": "94113852d76817332b7bea586fead14ee6b229c438dc8c87c31e658d786ab114", + "members": [ + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000525/arrays.npz", + "bytes": 5691187, + "sha256": "2fce623e71142aff3667aeb301665f915c7e45b3cabda3e382b3e8b70d7d9199" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000525/frame.json", + "bytes": 27303, + "sha256": "c02f78c6a489f62cf6f3e11b1a8f1516a6973384cdf7e6b602dccbdc5f22a2d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000527/arrays.npz", + "bytes": 5693859, + "sha256": "2b08bfcd0c9e73d3fff6110cfd61e5dd8caf17c31bbe15a734b3df70f9574368" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000527/frame.json", + "bytes": 27285, + "sha256": "a13616985b903928de9f97d9636368664ebf953bf3165d61b6acc5b877c13577" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000528/arrays.npz", + "bytes": 5643754, + "sha256": "06dfc205c02ea790bfcf2365c6b6e0060eeb47f98c3cc6e06f5d024f626a2a83" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000528/frame.json", + "bytes": 28124, + "sha256": "15d8904d4de70c905f700e9ffb2b7b4ec63c536234ea577591b3a53e83bc1d46" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000530/arrays.npz", + "bytes": 5667104, + "sha256": "8ad4e7d2fdad72f7eba492525cca93f0441d7fd403623bd81852f145b69add50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000530/frame.json", + "bytes": 28126, + "sha256": "c213974623117557a1c3327fd32e33581034d579e153f748034fffba7c030bd6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000531/arrays.npz", + "bytes": 5637214, + "sha256": "f72af3009c5addb48078386bc8d7521f115a0f3f4ff59bb5efc5c56fde972f8f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000531/frame.json", + "bytes": 28126, + "sha256": "1e8fd26f58f7c31d7944c3c2b2c447893a35ff52c53fb4ca92e447744ac41845" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000533/arrays.npz", + "bytes": 5657872, + "sha256": "ea750364708ff8f4857c10073c8da29b947d3097bf74e5febb84b15b977f224a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000533/frame.json", + "bytes": 28111, + "sha256": "f7efb0e2abab32b17f6dfd319cc5406cb6ac2679b4e031c851fa54fb44f4024a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000535/arrays.npz", + "bytes": 5720232, + "sha256": "75f4ae0f04796801725aca9ebe7d38f16edf8e475b4215f2172b4ff1aa008340" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000535/frame.json", + "bytes": 28122, + "sha256": "2af9bd840f96e0ada0f05214199b3813ab02d79028fdb1ae4972d91a6002901b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000536/arrays.npz", + "bytes": 5696146, + "sha256": "7be46d7bf14cc4d9d66dc4485ddad4943a6baaa36f4841c1f0780344162852fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000536/frame.json", + "bytes": 28114, + "sha256": "105402c845c90651e49c6cb5e7a378e36444387711d558af8a000ff364f33b24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000538/arrays.npz", + "bytes": 5541361, + "sha256": "0754b77159238c0917a6d4f241920aa7fd33d37175d048df13b6ca944d2fdfa0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000538/frame.json", + "bytes": 27283, + "sha256": "b08a032fc58563da3858b2b18a1873a3aacea62bdbd5fa851154f1fa4cdd04de" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000540/arrays.npz", + "bytes": 5546092, + "sha256": "7bd0189a7c20b5179f471c266ab39414caf754c794bf60279a9bd234df6a5679" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000540/frame.json", + "bytes": 27262, + "sha256": "30eb6de9a74cfdbc48d19123acba583a27ae96da80e6e8054c4d1a961d07fe0d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000541/arrays.npz", + "bytes": 5634028, + "sha256": "51a09903a7b52f1f74a81c863a1a0664c6b3721ead30071521b083cd121f76ac" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000541/frame.json", + "bytes": 27274, + "sha256": "d6b42377e2c81c939d82fcaeffbc026e313d7043de316e2717f1ba2a1cc2309e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000543/arrays.npz", + "bytes": 5674593, + "sha256": "0245346f123471327fce8941149102a234b200e11af925e1a3c8dfb5ba85729a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000543/frame.json", + "bytes": 27261, + "sha256": "0081571a89519b488f6f13c74285a13d9cba67455a1f634900e71789341a0abf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000545/arrays.npz", + "bytes": 5676373, + "sha256": "b30cf690be843130800eb721b48747e479739cab7ce0652c91b51d0d5f695200" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000545/frame.json", + "bytes": 26834, + "sha256": "abcb5dc785328164d71838ea8bc8cf08c6ec9d5681b0ec641f55ea7463b54735" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000547/arrays.npz", + "bytes": 5676004, + "sha256": "8a8d9dae4cb8af6fe0a7a4d4153958fd897bada0c56f71392d7f9482d75284b5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000547/frame.json", + "bytes": 26830, + "sha256": "2462424351683833fab4c57a95dfd58b53bcc51e32e680aeebdfdd2feaa56a1e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000549/arrays.npz", + "bytes": 5746710, + "sha256": "ad5c352a3aec50fd0a435af990aa89d1d333b4567271c6d096baeddb7a26223f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000549/frame.json", + "bytes": 26837, + "sha256": "c908d67f33c8d5f7a5bed974dde5de872e28a2f1ea133f9e527e16e045f2650c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000550/arrays.npz", + "bytes": 5804085, + "sha256": "ac00d434a2fc36bfd4c05bd3e24662ffd4d1fc102af7ed2bc0e9e44cd521ee47" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000550/frame.json", + "bytes": 28080, + "sha256": "d702e9e8b21fd5b25a0b4300cf68ab0801b7e096485545547ceab633b140f646" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000552/arrays.npz", + "bytes": 5827046, + "sha256": "f9864410e1cec18fa539c646c1b30434c50825d333789ecc98998362c6e287dc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000552/frame.json", + "bytes": 28086, + "sha256": "78d4026eab4248a461816592ff1c73466d7d228f7ef68a34948067051c055327" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000554/arrays.npz", + "bytes": 5785144, + "sha256": "5014ac6120f031ff15c4b28c73683ed8219616389010a7adf95886efc4ec0145" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000554/frame.json", + "bytes": 28348, + "sha256": "c574b3876fd5cbf273704f321836b6d1076bb09ed507b1f70ec2a7256786c332" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000556/arrays.npz", + "bytes": 5757387, + "sha256": "2b062b8d3caf058c750ebe8d7516a1703dfc969ab4d1fb26a2796b3d27d880d1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000556/frame.json", + "bytes": 28343, + "sha256": "681214b9b9c497dada4aef8a93996f8e9eaf2161a539a565b45ff35fe5b25142" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000558/arrays.npz", + "bytes": 5861300, + "sha256": "168eb9fe1192dc7f25abed37ea6f116d55e2c5034294604c8aa7548fac5f8202" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000558/frame.json", + "bytes": 28334, + "sha256": "5ac6ef4e14a0a7eb3538a97907aafb5e1b77ac38e88f7cb612fa36b683bdc33c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000559/arrays.npz", + "bytes": 5882893, + "sha256": "b9f0d0b04261089395be00a0c59b716c705e647fd36931a462dd820d4452db19" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000559/frame.json", + "bytes": 28333, + "sha256": "57c8c3f39619698dd9b7ee5e7bf49c7b4ed278f3b3866e483585697a80d22da3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000561/arrays.npz", + "bytes": 5921905, + "sha256": "2e62ce3c73b8c7c9c983f61f0d1a4f8c2ecb4e6fe4abda2b9785492ecd1a2be8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000561/frame.json", + "bytes": 28339, + "sha256": "73419c524f290291db0b40331d9375f8d809c0fbb5bd7d7a4893f52563786a37" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000563/arrays.npz", + "bytes": 5871592, + "sha256": "c0b0dd0d5398e10aa7f1636d8779734f2b0cbbd9c80f846bbae63efa1ca1889d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000563/frame.json", + "bytes": 28039, + "sha256": "2bab4f0f4b8a2487c9ab76979ceaa0f7a408be50d46778f7cc156804b4c35a58" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000565/arrays.npz", + "bytes": 5900960, + "sha256": "746c17436df9992be7205e61908b631d1f4d9dcf5154b7c5903ea78fdd777ff5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000565/frame.json", + "bytes": 28048, + "sha256": "974a3bd0057819a0ff3dcc28e62ef1cb10bf4aae3a3154c3e03c77cfd97d1af5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000567/arrays.npz", + "bytes": 5897961, + "sha256": "722d9692c8f9fe70373dbb7ff115e92add5b053c48bcffe4c02627b031bd1a41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000567/frame.json", + "bytes": 27905, + "sha256": "22ef48ea0d04fe6e959ba06813d42b037db8a82216c78290baed56d7c531b8b9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000569/arrays.npz", + "bytes": 5984234, + "sha256": "79061ef406113a606f6aba5ede1b5fcc24e2991cdbffaa226b282e1982d9f95b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000569/frame.json", + "bytes": 28055, + "sha256": "1b8cabbec880fd9227dfc8d852991c537b0b15787f8691893d01f70f30d1905b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000570/arrays.npz", + "bytes": 5910455, + "sha256": "5d1d9c22df8d08d24d851dedab098e4609591e9d78ca1c842a092ab9fee7d0e6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000570/frame.json", + "bytes": 28048, + "sha256": "f77ee8d338839256722d428d816cba55d18601c557518f5a1d575056bb88003d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000572/arrays.npz", + "bytes": 6037884, + "sha256": "2cac64b7ea0865ebf515dec8d13a1c2cd7b6247c15c84d0181a56d6b1a542b7e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000572/frame.json", + "bytes": 27629, + "sha256": "80ee20ee3e8b565f7f3179fbedb3b662ef904e43006a557e5f1127c197ca178f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000574/arrays.npz", + "bytes": 6102627, + "sha256": "39cd6e07d131b765a04448fc5fd0de26b9b68b1e3fafb5cad4835a90ea217d9a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000574/frame.json", + "bytes": 27654, + "sha256": "23f2e599a335be3583fe5068483bda74628e496940c0046ac4c59f27a8a4a0db" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000576/arrays.npz", + "bytes": 6146099, + "sha256": "42bc9da3c9f5daec7f86e15736df000ae3905bc59c18bfc7032e222dfb31f426" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000576/frame.json", + "bytes": 27751, + "sha256": "e35c0fb0bcadfeb4d45d05044a8aea54b72ef54f74e3929747b1e5c74754ebaf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000578/arrays.npz", + "bytes": 6098788, + "sha256": "afdb7520c3d01c9c18fac92fa98b5d87436aadae1119ad9e41eceb7da0bdb0d4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000578/frame.json", + "bytes": 27775, + "sha256": "d8578b766a6a43d20c40262f183bd98b0cb5f38546a483c46425f675235c0445" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000580/arrays.npz", + "bytes": 6136798, + "sha256": "c40ce44293c3d90d17414839676cc0feebb040e78f1e21116bfb78a99d2c134b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000580/frame.json", + "bytes": 26622, + "sha256": "d9338a22f0abb2c68434e972bb2472ab92e96843e3d20e49e259d11d011dab0b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000582/arrays.npz", + "bytes": 6154954, + "sha256": "230217a19d31a2252744c696086458fd0e01171b7b779111a15967fd02a36d3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000582/frame.json", + "bytes": 26628, + "sha256": "3698ee74076f0d6bb4f362a5981046ff92edf9c260fd29ca0a649198f762668a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000584/arrays.npz", + "bytes": 6124235, + "sha256": "ac6fda56df8a82eebd25a97d51943956aaf14d3fe7442b8996c751fba2275cfc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000584/frame.json", + "bytes": 26806, + "sha256": "f6523967f607561c6e9a1e4f70cbcacb956ca4dfbd2c5b5d95b0a9a4c79add97" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000586/arrays.npz", + "bytes": 6180495, + "sha256": "c7f9a278b5521b31545a10e3e45fa1b75682902f0b244805d93c6f9111d70448" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000586/frame.json", + "bytes": 26912, + "sha256": "84469cf67540be54a1d080d35b8ed703980df2daed817f704e0811e9cbbd626b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000588/arrays.npz", + "bytes": 6164329, + "sha256": "714f8935e2c1dab59eefd3925958682b837d5961250bb8391f124d45618f1377" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000588/frame.json", + "bytes": 26559, + "sha256": "ea0cc4e44a56d19a0fc3983c699d54ba4b2b742eab629462852761c03ff31238" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000590/arrays.npz", + "bytes": 6106602, + "sha256": "07082a2d7d504860e36e4f275537fa35d5d08c32e7636700ad5ad083525172c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000590/frame.json", + "bytes": 26685, + "sha256": "865e4c54a3d04100c29df32f6d256893cb479c3c2cc2bcd149ae3621346211c0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000592/arrays.npz", + "bytes": 6247951, + "sha256": "485e6bd559f144c3798d0d82aae7aa8e85b97ad96780a7f45a7e6fe83b272cdf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000592/frame.json", + "bytes": 26844, + "sha256": "4e5ba600c9fc76cdf335d8f2017d824c05efdfd9386b2abab146c21205bf94be" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000594/arrays.npz", + "bytes": 5530745, + "sha256": "ed7fb7d18d61b4b091223265955e116025496a87cc09222d4e0ecfec84828be8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000594/frame.json", + "bytes": 26633, + "sha256": "57af127beee729f905dd0761c3878ab1e96f33bbf3ebf233f7cdb17bdd1aedfa" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000596/arrays.npz", + "bytes": 5660966, + "sha256": "25194c310b2b43691404918807e21b99350de0de67659d4b8c801ab78aad9a50" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000596/frame.json", + "bytes": 26854, + "sha256": "4f695ded30e994a8ded75e15ac608b9ea1be64776a6665fb5d39b588a12053d9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000599/arrays.npz", + "bytes": 5345674, + "sha256": "59605b03103e1d3fd8e8fadf65470604c0dd94eec83fd1e86a13455364a026c4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000599/frame.json", + "bytes": 29435, + "sha256": "6e3f8e3043acb3a67a82dc93d7ff99a77ed7fc63ebccb955e4b94d14d73a069a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000601/arrays.npz", + "bytes": 5415768, + "sha256": "0eddc743d077b0cf391829d63517ac104db675ecd1b4df2c287bb298775848fc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000601/frame.json", + "bytes": 29453, + "sha256": "eb6e81922734fd98f0b7f3da06a436bf331e09912971e7366de8b7cd04f1db97" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000603/arrays.npz", + "bytes": 5500812, + "sha256": "4c6e5c70092249d2c91253d716c319280869e829195cea58e190ffc98d36911e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000603/frame.json", + "bytes": 29437, + "sha256": "5361d77067a0e77fef724bc41ca8b678eb96473266b7adcb6e69d0c717821b35" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000605/arrays.npz", + "bytes": 5393299, + "sha256": "db15b5b6d9eb6f9cbb315be29e2532a1d20380acf77880c40b5bdb2cfc3fc433" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000605/frame.json", + "bytes": 29447, + "sha256": "05daef425a8231773c260de40bdf598af6799b33acab3fa29bbcde7ec2bac577" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000608/arrays.npz", + "bytes": 5454657, + "sha256": "9c3cc1ba721d7265000459b8096c63ca004e20c285af418905766a3ce0e1af80" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000608/frame.json", + "bytes": 29445, + "sha256": "1a4d7ec192ffba5e4ef6c871033cbf80e2fc76a758eac29c323c43fff6221334" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000610/arrays.npz", + "bytes": 5373529, + "sha256": "9881e6461f7a85985e0bb8557ce8a604969c99724ec6640dd6676bb5967740b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000610/frame.json", + "bytes": 29442, + "sha256": "4fd97245d9abea0bddf4d02caa1b4108b49cb31c0abbdd2adf753b9331b77d83" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000612/arrays.npz", + "bytes": 5465665, + "sha256": "3f3125fb58f7277fc8d65806ccce184b08704cb631734991d93c27775e65e544" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000612/frame.json", + "bytes": 29426, + "sha256": "4ed9da742dbdb676c34796db2dfc4f5bcbcff2cc4899ba5489f2aff41de5b17a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000614/arrays.npz", + "bytes": 5485042, + "sha256": "4eddc4c5859b8402a809c31707bb32fb6fc4aa154580a6814905e907c06957ec" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000614/frame.json", + "bytes": 29450, + "sha256": "1c0af731d8de870e136733fe42ddf7c05ea9b94f8c83eff88122ad44dba7fd7b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000616/arrays.npz", + "bytes": 5493175, + "sha256": "12a7102d55bc3acd99d678352603882df319fd98210e840222d0d8296a3007e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000616/frame.json", + "bytes": 29145, + "sha256": "43c9540d8e3eeb0e9d0495780938c3ec1985a61553622e4e9ca52493dac671c7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000618/arrays.npz", + "bytes": 5295124, + "sha256": "b4f4cfda785df1d76732bbb40b9a1439461324cf4b6f768e1dbf2680d4fd56dc" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000618/frame.json", + "bytes": 29737, + "sha256": "30040a29911d11018829dd4bdf37c5ea84f30b0bdda82ec7d543a25b6b97a2d0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000621/arrays.npz", + "bytes": 5376176, + "sha256": "750351689a74560089d144aa93c04b648d55b437074c068fbb82c7c371a4bcc5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000621/frame.json", + "bytes": 29664, + "sha256": "5f73456018f68fbea8106ffcda36b941ddb283eee1297025ab98c94b7e74347e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000623/arrays.npz", + "bytes": 5288709, + "sha256": "b539008d397198426fa2643dad56e414dfa140b89fb28e45899ecc48a3cfbb61" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000623/frame.json", + "bytes": 29684, + "sha256": "9e1b9d800929be5d2ff3cf6e8f6f31a1419eeaa77fd393ac540d4ee664122277" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000625/arrays.npz", + "bytes": 5371358, + "sha256": "909bb6cb8d7c5edc2cbdd0c6a10d74929a6f4a579db390ef7cf880f821b6d1c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000625/frame.json", + "bytes": 29654, + "sha256": "f49db59ca3962391c1af5def9d1010e78fb451d63715bacda2b3fb02bf2a142a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000627/arrays.npz", + "bytes": 5309501, + "sha256": "b1a198b3a2e897be536d894f04458f222f20365e8fb618b7e6864562d389688d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000627/frame.json", + "bytes": 29696, + "sha256": "f239b14fab38dc465527c1c3f083fbcd64ea1d9f0dbe61be3f3eae07502c6ecf" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000629/arrays.npz", + "bytes": 5327276, + "sha256": "9fa6d1d7c8a808b08d6e995691183061242ec8bdced8f90e6691000fe788a08e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000629/frame.json", + "bytes": 29671, + "sha256": "e015d5c1e8ac97272a82b68fdf3f69b14ccdd8be5591bae1de33a33ceaebfcc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000631/arrays.npz", + "bytes": 5354838, + "sha256": "fe70f4ef9b33fe517067dc667c92f534dba935e411110acb86cd743d8a5c8d22" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000631/frame.json", + "bytes": 29704, + "sha256": "9e46238b99af5b343183495beb33648d2fcd227be8686e5526f72a208b1d5ed9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000634/arrays.npz", + "bytes": 5387508, + "sha256": "e15b8b9cbb4026c9a6f965ae6f4c2cc1c5570a98ba55f93a9cadaffe6b193da9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000634/frame.json", + "bytes": 29675, + "sha256": "baae5c38bbcdb6d6a4430e1a46e013d62d62ad9890b45ce492913b7a2093c710" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000636/arrays.npz", + "bytes": 5345532, + "sha256": "edd79309d7fc1014fda971012c717e742f34adf255ddafc2c32262aac3485399" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000636/frame.json", + "bytes": 29681, + "sha256": "7c81bfa91f1818933fd234335094a23cd0bdd9595b12acc8c2e6699637ac336b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000638/arrays.npz", + "bytes": 5312204, + "sha256": "2d0fa9a7f1047c0a60e0921e4f214a9512a740c716831b0e36e2c1e61da65bf0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000638/frame.json", + "bytes": 29723, + "sha256": "357573f88b436250e462c9a69b04f896e53ebd129a56f9d1cd14b868e729c1c9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000640/arrays.npz", + "bytes": 5406377, + "sha256": "f05648be1898819e57c20c134aa291485a30bf19f261ab061dc19039dd530504" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000640/frame.json", + "bytes": 29186, + "sha256": "f4bf44f3b1b4e72f94a33b7ba7f44bd0df56a73e814eb28c831cdc5eaf944a42" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000642/arrays.npz", + "bytes": 5457956, + "sha256": "a28dc233a16452844930d213535eb84568e3b0cb8b84713c8c110e3643f10637" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000642/frame.json", + "bytes": 29137, + "sha256": "324bac62152dbdc82d753f844ae97ab6f9fdb01da23a20db0113eb2144e9748b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000644/arrays.npz", + "bytes": 5114349, + "sha256": "c75685e7f3e99e885fb4db0b68832e1c0a7aae61233104ecf96ea2256c5299d7" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000644/frame.json", + "bytes": 28869, + "sha256": "350af1e681a32e1bd1ace6b9e2590e8409fcd7d88ee82521c360b90e2493a1d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000647/arrays.npz", + "bytes": 5021956, + "sha256": "ead0ff7c312e943ab2fef7a6f1aa4f42062a934db6c2257d1ff66552308d02ed" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000647/frame.json", + "bytes": 28821, + "sha256": "263b0b3b06055161c103ebaba217068d0a876ac2e29bbbef6f86e7e7251473dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000649/arrays.npz", + "bytes": 5004206, + "sha256": "b6bc39d55e94811523c54b951f1581dd157a351d97f5f2ddf16effb7f2976a3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000649/frame.json", + "bytes": 28561, + "sha256": "6a95cb721da9b7beaa11542894a8f2fd388fcea9bfbeb7551cb8085b366cc1e2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000652/arrays.npz", + "bytes": 5062917, + "sha256": "fbcc0f361e3c4cd5e3e67fbb97935a148bad23b5c4e81eb2e60a17b66a76161e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000652/frame.json", + "bytes": 29626, + "sha256": "e0fb70f819b17b7e2048ae0053342c2f049e84f659d1d045d9d7f462865515c3" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000654/arrays.npz", + "bytes": 5031835, + "sha256": "ef395e938978fe9382bcf14a82bb72f16e3f91a115e1596734088a7cb22a8681" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000654/frame.json", + "bytes": 29631, + "sha256": "3b925d5cf86c4405ef31504898588089405081aa9e4928e00832d2215975fd24" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000656/arrays.npz", + "bytes": 4927883, + "sha256": "5aac2fedfb2ddfd1eb5bac85abdfdacd2225dad4797bd3453080dfc4524df301" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000656/frame.json", + "bytes": 29591, + "sha256": "c98eb185db8a008c9edcc77aafa4df9904d9a577b9e821e84ce4c0f927bd0765" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000658/arrays.npz", + "bytes": 5173101, + "sha256": "d64eff03c0b0f75596c99ced3f411737b3c62cae5c5c854cfb22625d55c19df6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000658/frame.json", + "bytes": 29669, + "sha256": "264a88b066826266fc63d42aa694ac4316ca9e168f68b903b6771f2a92f5a981" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000660/arrays.npz", + "bytes": 4895319, + "sha256": "001d204bca52face9ecdb8aa8110ff8397de3cfe63af88db2a99fc436a8b058a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000660/frame.json", + "bytes": 29622, + "sha256": "ae97be1cc490f9591a584c3d2a61da38b71b6ee2d5692188ceb35aeade377a4f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000663/arrays.npz", + "bytes": 5010312, + "sha256": "8ed4b102d5e6cb577389e33dda0a964f40b6c8598fe1ff8ccde22d7a0356df95" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000663/frame.json", + "bytes": 29643, + "sha256": "fe02f8fa19db398c78bcba6fb4ed1795cf6f8540c434c15f010f27fb71a9c86c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000665/arrays.npz", + "bytes": 4697244, + "sha256": "b1216470db60d28d54b5182b400ba419f6a0298d13fd115d868c0790301e45e4" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000665/frame.json", + "bytes": 29613, + "sha256": "2b1e133dbbf401f58fac18d9ff458d1493aa3dd2df6d743f0716e1f15038109c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000667/arrays.npz", + "bytes": 5342071, + "sha256": "03581da5385b2f667a9d7714e090d9b6c2911a86adeb706625cd092da9c5b720" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000667/frame.json", + "bytes": 28873, + "sha256": "d054d71d5212e09502b8a833ea252bc801d9598db8b1899c009f399540f71041" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000669/arrays.npz", + "bytes": 5277410, + "sha256": "2e2d816b998f44bea953a4f035e190bd8775cae81fd4aa364b626d755619a76d" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000669/frame.json", + "bytes": 28430, + "sha256": "68d761ee906dd41e2fa2dcf31ceae09ecfc244604012357a10b1d5382873a2c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000671/arrays.npz", + "bytes": 5767383, + "sha256": "6beaffd4f3cd9b28d18ab941479646d48b5f603a17a2bf7abd953b7d91a2971b" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000671/frame.json", + "bytes": 26440, + "sha256": "79efbd21c5beb27c8c8a38d61c072adc65de8a247680cd27eaa1ff95731ab9bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000674/arrays.npz", + "bytes": 5713606, + "sha256": "9d946ee305983ecfe5a40021fcfdae619260dd4284ba9e9d20a40f16d25684c1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000674/frame.json", + "bytes": 27955, + "sha256": "c53ce9da891b17053983432880600b9930673d6df29d477eaafaacd68b6a6b1f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000676/arrays.npz", + "bytes": 5755327, + "sha256": "d2b35a92a8fed14aa87ccc871854848a47c70e23fb98c077c6546c1d811e89c6" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000676/frame.json", + "bytes": 27971, + "sha256": "be3d7be475fd50879c20833f57d36f9712ff8669a603057966b3654b70bb952a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000678/arrays.npz", + "bytes": 5748007, + "sha256": "d7c161e8ad3917b250c8165f17971c69309f96def524f7a9808b1d23d3103fc9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000678/frame.json", + "bytes": 27955, + "sha256": "de7f5672c59d30aaea40f19b7d1dd0c8169ac85fd1022740a37a51aa5bda1969" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000680/arrays.npz", + "bytes": 5753767, + "sha256": "95b813de3d68c093012170dae01dff2133eba68c9b7e813a05933419e7e5378c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000680/frame.json", + "bytes": 27976, + "sha256": "0a1293c222aaba6a34f185090366b7f94244409e04edb08d6fe7f84dec2c90dd" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000683/arrays.npz", + "bytes": 5758123, + "sha256": "15f1776ce04b30a2d54d8b9960dd3838dc398fbe4d09cd3b05f6c152c82480c8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000683/frame.json", + "bytes": 27953, + "sha256": "6d30902184854b7bb71a18a7f5d5361709c5fbf4c920ae948fa728f5f4a1a63f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000685/arrays.npz", + "bytes": 5761293, + "sha256": "a1b93cebffd719a41523090b3c4f28ed3e117f675a056f45a17485afd57830e1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000685/frame.json", + "bytes": 27985, + "sha256": "d3e8e89acebe9f99c1471f2b131e092e32717466ab8609a871283a288e7a69ef" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000688/arrays.npz", + "bytes": 5717411, + "sha256": "f8e4c2044461849ebf3cb520d2eb6cd954a1f354c556b0bb3be285a48bfbd045" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000688/frame.json", + "bytes": 27958, + "sha256": "6460eb11de3f19a46920f7540656b02d152620e15d9fc02d77f2c53f0fa7dcd5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000690/arrays.npz", + "bytes": 5873336, + "sha256": "532a6a1be91a814c0ba1fee7839d4477115c7b03fb233bf11693648383b36471" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000690/frame.json", + "bytes": 27691, + "sha256": "1200e8be8f8f7c1232260cea97e8c0fd2d47bbe2bdb8e6ac4ffc6232eb8ee0ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000693/arrays.npz", + "bytes": 6047095, + "sha256": "f93b8714c1a617689c1f74350ac0a6a8a82fa8fbde239ad361043a9aab8aa683" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000693/frame.json", + "bytes": 26249, + "sha256": "440995ee6b6b7698bde2ce1fdfc8789e5cd0fa7aae7266b4211395a295d31f09" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000695/arrays.npz", + "bytes": 6078997, + "sha256": "a6d1cad85e90d9c9b97c12c422282f5b21e51d98362cb7f173369f4c5e746ec0" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000695/frame.json", + "bytes": 26703, + "sha256": "91066f9b4f5dbd6d60489c6d8f8c9e6665ad603d0b1c414647d39290f3099dd9" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000697/arrays.npz", + "bytes": 6039451, + "sha256": "f5ffe00d1e7613c1cddc1a62d15d1f39addbec3dcaef42623481718e3fa7737e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000697/frame.json", + "bytes": 28227, + "sha256": "89a261c936f5b66d75d600dbdde8ab7dbc27fb09debf7800b887bf6493eec789" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000700/arrays.npz", + "bytes": 5727187, + "sha256": "f28cecaa338b2406062a51d1458b191ac21b66e659d7d5adc7524b20ee2ae2f1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000700/frame.json", + "bytes": 28936, + "sha256": "3b3e6fb7de741c2f396423a8fa62e0a1ab58d435c64ddeb457dc23b8b928444e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000703/arrays.npz", + "bytes": 5713334, + "sha256": "20e391d5bb7f368f5f58cec4d5bdc23d14879025dac850ead079841c26ca452a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000703/frame.json", + "bytes": 28914, + "sha256": "b79f78d344eb44e889114e8f2a1b7aebeb3981e335e6ee57c0195fd540abaf3c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000705/arrays.npz", + "bytes": 5651007, + "sha256": "e01750f18e95b69c16b37709f1e7673ed8fc4f257624ec3e708a61c515bfb6f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000705/frame.json", + "bytes": 28942, + "sha256": "7059b0fa066ca319dad986b9d68cdbe02905917d39b71120ec85b70d4deb80ca" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000708/arrays.npz", + "bytes": 5686668, + "sha256": "39655c5cd562f5724ecc8d69f4eb9fe1e54a793f68d7ee62b56ef72af834ac3c" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000708/frame.json", + "bytes": 28918, + "sha256": "f7017bb26c38584f0435f343d38b8cb06c8791bf9d965b6a532be9b8daf85222" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000710/arrays.npz", + "bytes": 5693073, + "sha256": "21512d5d67c9d013c8ec5088c217cb3abcc44213ce0f4acd5961e64350d0e1a8" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000710/frame.json", + "bytes": 28965, + "sha256": "79492525e89ee7818105885bdeee0039291f9586ee83b86e4b54c0d1e8c7187a" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000712/arrays.npz", + "bytes": 5690091, + "sha256": "a43677d2eb1da4ca095e50c7f79a90daff95691a94ba130f92592d7a6579a409" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000712/frame.json", + "bytes": 28937, + "sha256": "83238076da9c630c80469a99655a7c783e987e54394ec2f5174347569aca8374" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000715/arrays.npz", + "bytes": 5652987, + "sha256": "9c43df70d0600a27535a63c57a2a0c6207345eeb5fa3953f4dc288c7a05569d5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000715/frame.json", + "bytes": 28971, + "sha256": "b051a06d6cc58d09996f731cc10fc45c5ab0e761213a3ea0fc2a32d9e69f13ba" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000717/arrays.npz", + "bytes": 5730952, + "sha256": "04247768db9f274123114eee2275fe9af596c004ff98a4c887f81d0d93d4603f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000717/frame.json", + "bytes": 28934, + "sha256": "5a18552b8c047987aa4a850c55d775ce07fff7170e34eb133b4db6f93372fae1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000720/arrays.npz", + "bytes": 5944422, + "sha256": "1a3374c38b6d3b63d73b412c91cbca44583204ee6bbc3258f1ed814eaa2e7b03" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000720/frame.json", + "bytes": 28324, + "sha256": "bc23b14a5c50b81cfbd718648cac8106200979e0de6e583c69e70e407f18ed3e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000722/arrays.npz", + "bytes": 6027731, + "sha256": "587bcaaf6e3d5d767fc8d3895d69d22f16fa1670c8313c5a7596ce183dffc3a5" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000722/frame.json", + "bytes": 28067, + "sha256": "634c282768a0679115572d64a29cb7db0b627c11647a0430399893bd6aae38f2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000725/arrays.npz", + "bytes": 5865999, + "sha256": "07db6059917d17d57601c60038ba562976a9b4ca8f7a81c1622025d807af1770" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000725/frame.json", + "bytes": 26882, + "sha256": "b091d11768e40dfeadf7b76e28ec743bd11e5ff5cb9cb17721a8e5b9a24e1f0f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000727/arrays.npz", + "bytes": 5882591, + "sha256": "46dfc98ae73c6106035de595957ee3b77f0b65f6b0b656a6248a7e8b384d60ab" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000727/frame.json", + "bytes": 26853, + "sha256": "aea516f269408a2d819797a4ce5f54addd96e0a7be353800b94283eb2d52a85e" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000730/arrays.npz", + "bytes": 5875359, + "sha256": "069c09e91ba3d62a5cf8fbde5af01c554adc4eba51ce3f2e62b82bcb6f6b6390" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000730/frame.json", + "bytes": 26855, + "sha256": "d1d24cf66a75cb82045c12ead46987cfc987c433d3009e0ca56d701d1c90cf41" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000732/arrays.npz", + "bytes": 5897619, + "sha256": "41a41675e85615983b0cf140d5811151ae080e6dde48e06c8647e2886116de94" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000732/frame.json", + "bytes": 26438, + "sha256": "c9680e8233efb17c2726a52e01eb458421a28b72471904acb2e49379e7179836" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000735/arrays.npz", + "bytes": 5845911, + "sha256": "6d3cc4ed9daedf56d57e1ba75692754c577e583a95d8e1d92b21bbbf0fa4e258" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000735/frame.json", + "bytes": 26868, + "sha256": "6fcac766de7af1eafa48e771e299892eb317f198bbb3c08822f35fc2900306b1" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000737/arrays.npz", + "bytes": 5856186, + "sha256": "049a640d536965a45cd38bb701ef9db7b406d3df5e7edc014b8e8b74d44d0553" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000737/frame.json", + "bytes": 26811, + "sha256": "98c0af23c237cdfed50c1a866c97f31029043e41046ae09f276d0a18316319bb" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000740/arrays.npz", + "bytes": 5940148, + "sha256": "81b8c9c84e1682d3f06a1b35ee449d2f15040535d012a2a0843a27d7fd1190b2" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000740/frame.json", + "bytes": 26812, + "sha256": "9c677621382a5c51c1f1135cc26c61f4bd363237213628efb15cdd0d776273fe" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000742/arrays.npz", + "bytes": 5976107, + "sha256": "800a3d2a023992aefd471834add30bd7956082f65f0996f825ebae58c4328d76" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000742/frame.json", + "bytes": 26859, + "sha256": "a1354bd791ff6c0ea326a335912041ddcd557ad6d3f89b3066b209251b34f060" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000745/arrays.npz", + "bytes": 5926859, + "sha256": "d8036cda91382e1e010c5cbbe7536504be192767e3d119d0475f7f565e6c094f" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000745/frame.json", + "bytes": 26648, + "sha256": "080ededc736355efddc5466c9f1adccb771a8b0eaf3d021707f10b9b8b579e38" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000747/arrays.npz", + "bytes": 5901700, + "sha256": "496402dcf1410f401581e0bf63ed6e581ba73ded96b8a41d7d430bbde07df713" + }, + { + "path": "runs/stretch_cross_nav_live_20261026_goal1012_05/vggt_debug/frames/00000747/frame.json", + "bytes": 26603, + "sha256": "2d3bb50b275181d8101909e4782acd113d985cb16dd3e7691ad7e44500f9174b" + } + ] + }, + { + "path": "archives/reference_map.tar", + "bytes": 208558080, + "sha256": "3876fa21325aea0a41dba3f647a8645815ed9f431c3e3e399e8a3f3d47768200", + "members": [ + { + "path": "maps/record3d_mapping_20261022_154858/evaluation.json", + "bytes": 820, + "sha256": "1f624456623271e912166844c4ca126af91ffd62b8dc9461b50efae261eb2060" + }, + { + "path": "maps/record3d_mapping_20261022_154858/graph.json", + "bytes": 1177913, + "sha256": "63d793ae13880f5b4f373daa72fa96bcc07ec14f2e930d51bfcc72f40f32c989" + }, + { + "path": "maps/record3d_mapping_20261022_154858/map.pkl", + "bytes": 1186929, + "sha256": "2c38075f8a5c20a7e676c627b9770ef87d4dc6d0e5e4d736f311114d1089f12a" + }, + { + "path": "maps/record3d_mapping_20261022_154858/map.pkl.store/descriptors.npy", + "bytes": 32669824, + "sha256": "9c16c503496067fb87682f85124674101c399da42b58ed70367df6b200707917" + }, + { + "path": "maps/record3d_mapping_20261022_154858/map.pkl.store/images-5a793edc47fa4d11.pack", + "bytes": 171875892, + "sha256": "0f279c36e4d1c97911203d0435754c3001880d1b56c139a2b327138490f47d5d" + }, + { + "path": "maps/record3d_mapping_20261022_154858/resolved_config.json", + "bytes": 11393, + "sha256": "fc11b31939f218a61855a08cd70280ed531a0357d035f7425291c4e3da02c480" + }, + { + "path": "maps/record3d_mapping_20261022_154858/run.json", + "bytes": 2055, + "sha256": "60d5fa2725f02aa23a878e81fec594a6dd55c724494fe283a0535349325a0768" + }, + { + "path": "maps/record3d_mapping_20261022_154858/trajectory.jsonl", + "bytes": 1616122, + "sha256": "08ea55c2fff47d8705b89c073de9c32c820fa92d3394bbc7355bb13904d4d939" + } + ] + }, + { + "path": "archives/CROSS_source.tar.gz", + "bytes": 28251800, + "sha256": "c3dd418506684ae4b05b49daeeb6456509d1542621911e0029fa6c420d75c64b", + "native_git_revision": "4781371e6f4db4241be0a0df7c238436680ee268" + } + ] +} diff --git a/cases/20261026_goal1012_05/previews/00000747/bev_stages.png b/cases/20261026_goal1012_05/previews/00000747/bev_stages.png new file mode 100644 index 0000000000000000000000000000000000000000..d75b6474e856bdcb8eabcf7178de2aedd27cf85f --- /dev/null +++ b/cases/20261026_goal1012_05/previews/00000747/bev_stages.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ef9102f39e71e009e5e2d520714be27838b4f02392a13527e6a5a1072fd4fab +size 631951 diff --git a/cases/20261026_goal1012_05/previews/00000747/input_views.jpg b/cases/20261026_goal1012_05/previews/00000747/input_views.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9a828a1acf8dbf67627d3dbf8b641c18a63e505d --- /dev/null +++ b/cases/20261026_goal1012_05/previews/00000747/input_views.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b471e1c4e4d0b061f6feae099fed888b19c9d9bd124a5efbe7ab3d10b7e0064 +size 258796 diff --git a/cases/20261026_goal1012_05/previews/00000747/manifest.json b/cases/20261026_goal1012_05/previews/00000747/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2e5fdae26b25efcc50d9ea841cf546bb7f4ea8 --- /dev/null +++ b/cases/20261026_goal1012_05/previews/00000747/manifest.json @@ -0,0 +1,1102 @@ +{ + "capture_frame": 747, + "source": { + "frame_id": 751, + "sensor_stamp": 1793014394.720137, + "sensor_age": 0.05171036720275879, + "camera_K": { + "npz_key": "data.source.camera_K", + "shape": [ + 3, + 3 + ], + "dtype": "float32" + }, + "camera_pose": { + "npz_key": "data.source.camera_pose", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "camera_in_base": { + "npz_key": "data.source.camera_in_base", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "camera_frame": "camera_color_optical_frame", + "camera_tf_stamp": 1793014394.720137, + "base_tf_stamp": 1793014394.720137, + "head_joints": { + "npz_key": "data.source.head_joints", + "shape": [ + 2 + ], + "dtype": "float64" + }, + "base_pose": { + "npz_key": "data.source.base_pose", + "shape": [ + 3 + ], + "dtype": "float64" + }, + "world_frame": "odom", + "sync_difference": 0.0, + "robot_description_path": "/robot/ament_ws/install/stretch_description/share/stretch_description/urdf/stretch.urdf", + "robot_description_file_sha256": "1f750396d0e97cfd050cdab0d71d09ba189b0435fb3967ce13e4523daf4012a9", + "robot_description_error": "", + "controller_calibration_path": "/robot/ament_ws/install/stretch_core/share/stretch_core/config/controller_calibration_head.yaml", + "controller_calibration_file_sha256": "b24382d61772a35bd4ebb1d9d38aa5694ee81bfb1b9bb160e13067af26cad739", + "controller_calibration_error": "", + "base_pose_matrix": { + "npz_key": "data.source.base_pose_matrix", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "odom_pose_matrix": { + "npz_key": "data.source.odom_pose_matrix", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "map_from_odom": { + "npz_key": "data.source.map_from_odom", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "pose_audit_error": "", + "capture_metrics": { + "capture_started_monotonic": 19071.503903897, + "pre_encode_s": 0.004299416999856476, + "encode_s": 0.01224742400154355, + "rgb_bytes": 41572, + "depth_bytes": 141127, + "publish_ros_s": 1793014394.7719193, + "prepare_s": 0.01695852000193554 + }, + "frame_idx": 747, + "relative_time_s": 187.50790691375732, + "received_monotonic": 2876891.282105787, + "received_unix_s": 1793014081.6326458, + "transport": { + "source_age_at_send_s": 0.05171036720275879, + "status_local_age_s": 0.2545796991325915, + "source_frame_gap": -1, + "source_age_via_status_s": 0.17728853225708008, + "post_publish_delay_via_status_s": 0.1255781650543213, + "wire_bytes": 184947, + "recv_call_s": 2.2564083337783813e-05, + "deserialize_s": 7.134303450584412e-05, + "receive_gap_s": 0.3683361792936921 + } + }, + "passes": [ + { + "image_dtype": "torch.float32", + "head_calls": [ + { + "inputs": { + "pts": 17, + "patch_hw": [ + 32, + 24 + ], + "hw": [ + 512, + 384 + ], + "log_scale": 1.6356731392600983, + "up_cam": { + "npz_key": "data.passes.0.head_calls.0.inputs.up_cam", + "shape": [ + 3 + ], + "dtype": "float64" + }, + "views": { + "npz_key": "data.passes.0.head_calls.0.inputs.views", + "shape": [ + 7 + ], + "dtype": "bool" + } + }, + "outputs": { + "prob": { + "npz_key": "data.passes.0.head_calls.0.outputs.prob", + "shape": [ + 400, + 400 + ], + "dtype": "float32" + }, + "observability": { + "npz_key": "data.passes.0.head_calls.0.outputs.observability", + "shape": [ + 400, + 400 + ], + "dtype": "float32" + }, + "uncertainty": { + "npz_key": "data.passes.0.head_calls.0.outputs.uncertainty", + "shape": [ + 400, + 400 + ], + "dtype": "float32" + }, + "up_cam": { + "npz_key": "data.passes.0.head_calls.0.outputs.up_cam", + "shape": [ + 3 + ], + "dtype": "float32" + }, + "up_head": { + "npz_key": "data.passes.0.head_calls.0.outputs.up_head", + "shape": [ + 3 + ], + "dtype": "float32" + }, + "log_scale": 1.6356731392600983, + "res": 0.05, + "size": 400, + "uncertainty_kind": "error" + } + } + ], + "infer_args": { + "n_depth": null, + "focal": 1.2627574920654296 + }, + "effective_calib_focal": 1.2627574920654296, + "prediction": { + "c2w": { + "npz_key": "data.passes.0.prediction.c2w", + "shape": [ + 7, + 4, + 4 + ], + "dtype": "float64" + }, + "K": { + "npz_key": "data.passes.0.prediction.K", + "shape": [ + 7, + 3, + 3 + ], + "dtype": "float32" + }, + "depth": { + "npz_key": "data.passes.0.prediction.depth", + "shape": [ + 7, + 512, + 384 + ], + "dtype": "float32" + }, + "depth_conf": { + "npz_key": "data.passes.0.prediction.depth_conf", + "shape": [ + 7, + 512, + 384 + ], + "dtype": "float32" + }, + "hw": [ + 512, + 384 + ], + "covis": { + "npz_key": "data.passes.0.prediction.covis", + "shape": [ + 7, + 7 + ], + "dtype": "float32" + }, + "log_scale": 1.8687732219696045 + }, + "pose_encoding": { + "npz_key": "data.passes.0.pose_encoding", + "shape": [ + 1, + 7, + 9 + ], + "dtype": "float32" + }, + "estimate_context": { + "ref_rel_poses": [ + [ + 3, + 5, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.0.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 1, + 5, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.1.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 0, + 5, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.2.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 2, + 5, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.3.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 4, + 5, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.4.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 3, + 4, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.5.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 1, + 4, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.6.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 0, + 4, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.7.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ], + [ + 2, + 4, + { + "npz_key": "data.passes.0.estimate_context.ref_rel_poses.8.2", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + } + ] + ], + "ref_cam_ids": [ + 0, + 0, + 0, + 0, + 0, + 0 + ], + "source_context": { + "ref_loaded": [ + true, + true, + true, + true, + true, + true + ], + "session_unanchored": false + }, + "odom_anchor": { + "T_prev_curr": { + "npz_key": "data.passes.0.estimate_context.odom_anchor.T_prev_curr", + "shape": [ + 4, + 4 + ], + "dtype": "float32" + } + } + }, + "estimator_info": { + "valid": true, + "scale": { + "scale": 5.1329119989697185, + "valid": true, + "n_anchors": 6, + "n_used": 6, + "ratios": [ + 5.14853192396791, + 5.163791475379884, + 4.982407790195626, + 5.000042495748056, + 5.03197935956614, + 5.04643152932583 + ], + "weights": [ + 0.9817171093124949, + 0.9123261083840531, + 0.10808463202554679, + 0.09146311112261563, + 0.08342399435768988, + 0.07708614540201691 + ], + "rot_err_deg": [ + 1.2817197919563073, + 1.1725184041376082, + 0.6728890390334868, + 0.35665199137917897, + 0.23054285671089145, + 0.12464652725418635 + ], + "dir_cos": [ + 0.9989078839133847, + 0.9988650544225958, + 0.9995192585901481, + 0.9995098237081814, + 0.9999387778721391, + 0.9999915679595324 + ], + "kinds": [ + "map", + "map", + "map", + "map", + "map", + "map" + ], + "log_std": 0.010650329020547857, + "method": "adaptive" + }, + "covis": [ + 0.4239387512207031, + 0.391903281211853, + 0.43367522954940796, + 0.317655473947525, + 0.5988354682922363, + 0.04206017032265663 + ], + "valid_masks": [ + true, + true, + true, + true, + true, + false + ], + "t_model": 0.19113712292164564, + "t_total": 0.23672699742019176, + "n_views": 7, + "view_tags": [ + "curr_L", + "ref0_L", + "ref1_L", + "ref2_L", + "ref3_L", + "ref4_L", + "ref5_L" + ], + "c2w_metric": { + "npz_key": "data.passes.0.estimator_info.c2w_metric", + "shape": [ + 7, + 4, + 4 + ], + "dtype": "float64" + } + }, + "principal_point_rotation": { + "npz_key": "data.passes.0.principal_point_rotation", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "camera_calibrations": { + "0": { + "M": { + "npz_key": "data.passes.0.camera_calibrations.0.M", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "rig": null + }, + "1": { + "M": { + "npz_key": "data.passes.0.camera_calibrations.1.M", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "rig": null + } + }, + "relative_pose_result": { + "poses": { + "npz_key": "data.passes.0.relative_pose_result.poses", + "shape": [ + 5, + 4, + 4 + ], + "dtype": "float32" + }, + "valid": { + "npz_key": "data.passes.0.relative_pose_result.valid", + "shape": [ + 6 + ], + "dtype": "bool" + }, + "confidence": { + "npz_key": "data.passes.0.relative_pose_result.confidence", + "shape": [ + 5 + ], + "dtype": "float32" + } + }, + "views": [ + { + "index": 0, + "role": "curr_L", + "asset": "2bba5fb6b8b51642f41e8bf67d8202fef1cc77ae283adba8429bc5c28ad9a3ba", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32" + }, + { + "index": 1, + "role": "ref0_L", + "asset": "143cf9c4c753274822c2a704e004017d4f098b07755b4c9b5a687eff7387b8ad", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 799, + "score": 0.3600059449672699, + "verified": true, + "loaded": true + } + }, + { + "index": 2, + "role": "ref1_L", + "asset": "825cc84f150d9c35492da6bb36b56533c4162383207926584b6f2be1b13e1f2b", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 798, + "score": 0.355035662651062, + "verified": true, + "loaded": true + } + }, + { + "index": 3, + "role": "ref2_L", + "asset": "d5024c2a89afff6aca63c3d3384e24127dd224ecc72a1c2579e1387ccb068656", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 800, + "score": 0.33797478675842285, + "verified": true, + "loaded": true + } + }, + { + "index": 4, + "role": "ref3_L", + "asset": "107478764a4da8b44ca283c4d42cf41feac1315ef95fd45ab54d50acaa6e2933", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 797, + "score": 0.325212687253952, + "verified": true, + "loaded": true + } + }, + { + "index": 5, + "role": "ref4_L", + "asset": "3de911b9b9531aa6a99c2ad36fd7f35e6a2be5e5e9661feda6c43fb9de17bace", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 803, + "score": 0.3141624629497528, + "verified": true, + "loaded": true + } + }, + { + "index": 6, + "role": "ref5_L", + "asset": "b6a43ac0fb31e1a47cf42138925d6314eab0ddddd256c6cf4b593ac6f9a03710", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 527, + "score": 0.3073595464229584, + "verified": false, + "loaded": true + } + } + ] + } + ], + "outputs": { + "observation": { + "frame_idx": 747, + "time_s": 187.50790691375732, + "localized": true, + "localized_streak": 371, + "weights": { + "npz_key": "data.outputs.observation.weights", + "shape": [ + 5 + ], + "dtype": "float32" + }, + "retrieval": [ + { + "id": 799, + "score": 0.3600059449672699, + "verified": true, + "loaded": true + }, + { + "id": 798, + "score": 0.355035662651062, + "verified": true, + "loaded": true + }, + { + "id": 800, + "score": 0.33797478675842285, + "verified": true, + "loaded": true + }, + { + "id": 797, + "score": 0.325212687253952, + "verified": true, + "loaded": true + }, + { + "id": 803, + "score": 0.3141624629497528, + "verified": true, + "loaded": true + }, + { + "id": 527, + "score": 0.3073595464229584, + "verified": false, + "loaded": true + } + ], + "camera_display": { + "npz_key": "data.outputs.observation.camera_display", + "shape": [ + 3 + ], + "dtype": "float64" + }, + "global_route": { + "npz_key": "data.outputs.observation.global_route", + "shape": [ + 0, + 3 + ], + "dtype": "float64" + }, + "local_path_display": { + "npz_key": "data.outputs.observation.local_path_display", + "shape": [ + 16, + 3 + ], + "dtype": "float64" + }, + "goal_keyframe": 1012, + "route_ids": [], + "goal_distance": 13.779970679622087, + "planner_name": "episode-map route", + "n_views": 7, + "scale_source": "anchors", + "bev_size": 400, + "bev_res": 0.05, + "gravity_head_deg": 0.8934595321641463, + "map_correction_at_base_m": 0.0, + "map_correction_angle_deg": 0.0, + "correction_recovery": { + "started": false, + "large": false, + "pending": false, + "distance_m": 0.0, + "rotation_deg": 0.0, + "deadline": 12.0, + "stable_samples": 0 + }, + "camera_in_base": { + "npz_key": "data.outputs.observation.camera_in_base", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "neutral_camera_in_base": { + "npz_key": "data.outputs.observation.neutral_camera_in_base", + "shape": [ + 4, + 4 + ], + "dtype": "float64" + }, + "local_path_body": { + "npz_key": "data.outputs.observation.local_path_body", + "shape": [ + 16, + 2 + ], + "dtype": "float32" + }, + "goal_body": { + "npz_key": "data.outputs.observation.goal_body", + "shape": [ + 2 + ], + "dtype": "float64" + }, + "route_cost_m": null, + "route_attachment": { + "nearest_keyframe": 803, + "nearest_distance_m": 0.13215980506721525, + "attachment_limit_m": 0.75, + "candidate_count": 0, + "connection_check": "measured_depth", + "switch_margin_m": 0.25 + }, + "corner_observation": { + "phase": "cruise", + "target": { + "npz_key": "data.outputs.observation.corner_observation.target", + "shape": [ + 2 + ], + "dtype": "float64" + }, + "hold": false, + "head_target": null, + "scan_w": 0.0, + "speed_scale": 1.0, + "lookahead": 0.4 + }, + "rectangle_clear": true, + "head_survey": { + "active": true, + "braking": true, + "pass": 1, + "view": 1, + "total": 6, + "label": "waiting for base to stop", + "settled_views": 0, + "reason": "measured depth" + }, + "footprint_diagnostics": { + "clear": true, + "reason": "clear", + "sweep_time_s": null, + "blocking_cell_count": 0, + "cells": [], + "ignored_current_body_cell_count": 0, + "self_cells": [], + "depth_supported_cells": 0, + "depth_note": "Nearby obstacle returns only; no returns does not establish free space", + "command_capture_frame": 742 + }, + "footprint_evidence": null, + "native_local_path_body": { + "npz_key": "data.outputs.observation.native_local_path_body", + "shape": [ + 16, + 2 + ], + "dtype": "float32" + }, + "native_planner_status": 6, + "blind_zone": false, + "native_map_camera": { + "npz_key": "data.outputs.observation.native_map_camera", + "shape": [ + 4, + 4 + ], + "dtype": "float32" + }, + "compute_s": 0.5188539298251271, + "input_age_at_publish_s": 0.554309019818902 + }, + "consumed_bev": { + "prob": { + "npz_key": "data.outputs.consumed_bev.prob", + "shape": [ + 400, + 400 + ], + "dtype": "float16" + }, + "observability": { + "npz_key": "data.outputs.consumed_bev.observability", + "shape": [ + 400, + 400 + ], + "dtype": "float16" + }, + "uncertainty": { + "npz_key": "data.outputs.consumed_bev.uncertainty", + "shape": [ + 400, + 400 + ], + "dtype": "float16" + }, + "up_cam": { + "npz_key": "data.outputs.consumed_bev.up_cam", + "shape": [ + 3 + ], + "dtype": "float64" + }, + "log_scale": 1.6356731392600983, + "res": 0.05, + "size": 400, + "uncertainty_kind": "error", + "n_views": 7, + "R_bev_from_cam": { + "npz_key": "data.outputs.consumed_bev.R_bev_from_cam", + "shape": [ + 3, + 3 + ], + "dtype": "float64" + }, + "gravity_source": "given", + "gravity_head_deg": 0.8934595321641463, + "t_bev": 0.042520000133663416, + "scale_source": "anchors", + "n_extra": 0 + }, + "body_grid": { + "prob": { + "npz_key": "data.outputs.body_grid.prob", + "shape": [ + 400, + 400 + ], + "dtype": "float32" + }, + "obs": { + "npz_key": "data.outputs.body_grid.obs", + "shape": [ + 400, + 400 + ], + "dtype": "float32" + }, + "err": { + "npz_key": "data.outputs.body_grid.err", + "shape": [ + 400, + 400 + ], + "dtype": "float32" + }, + "base_pixel_to_camera_pixel": { + "npz_key": "data.outputs.body_grid.base_pixel_to_camera_pixel", + "shape": [ + 2, + 3 + ], + "dtype": "float64" + } + }, + "planner_debug": { + "occ": { + "npz_key": "data.outputs.planner_debug.occ", + "shape": [ + 100, + 100 + ], + "dtype": "float16" + }, + "obs": { + "npz_key": "data.outputs.planner_debug.obs", + "shape": [ + 100, + 100 + ], + "dtype": "float16" + }, + "err": { + "npz_key": "data.outputs.planner_debug.err", + "shape": [ + 100, + 100 + ], + "dtype": "float16" + }, + "map_res": { + "npz_key": "data.outputs.planner_debug.map_res", + "shape": [], + "dtype": "float32" + }, + "map_half": { + "npz_key": "data.outputs.planner_debug.map_half", + "shape": [], + "dtype": "float32" + }, + "path": { + "npz_key": "data.outputs.planner_debug.path", + "shape": [ + 16, + 2 + ], + "dtype": "float32" + }, + "target": { + "npz_key": "data.outputs.planner_debug.target", + "shape": [ + 2 + ], + "dtype": "float32" + }, + "goal_used": { + "npz_key": "data.outputs.planner_debug.goal_used", + "shape": [ + 2 + ], + "dtype": "float32" + }, + "status": { + "npz_key": "data.outputs.planner_debug.status", + "shape": [], + "dtype": "int8" + }, + "vis_threshold": { + "npz_key": "data.outputs.planner_debug.vis_threshold", + "shape": [], + "dtype": "float32" + }, + "log_scale": { + "npz_key": "data.outputs.planner_debug.log_scale", + "shape": [], + "dtype": "float32" + }, + "odometry_scale": { + "npz_key": "data.outputs.planner_debug.odometry_scale", + "shape": [], + "dtype": "bool" + }, + "up_head_deg": { + "npz_key": "data.outputs.planner_debug.up_head_deg", + "shape": [], + "dtype": "float32" + }, + "n_views": { + "npz_key": "data.outputs.planner_debug.n_views", + "shape": [], + "dtype": "int8" + }, + "blind_zone": { + "npz_key": "data.outputs.planner_debug.blind_zone", + "shape": [], + "dtype": "bool" + }, + "bumps": { + "npz_key": "data.outputs.planner_debug.bumps", + "shape": [], + "dtype": "int16" + } + }, + "planner_state": { + "pose": { + "npz_key": "data.outputs.planner_state.pose", + "shape": [ + 3 + ], + "dtype": "float64" + }, + "expect": 0.25, + "bumps": [], + "route": { + "npz_key": "data.outputs.planner_state.route", + "shape": [ + 16, + 2 + ], + "dtype": "float64" + }, + "route_age": 0, + "no_route": 0, + "side": 0.0, + "log_scale": 1.6356731392600983, + "n_bumps": 0, + "world": { + "o": { + "npz_key": "data.outputs.planner_state.world.o", + "shape": [ + 2 + ], + "dtype": "float64" + }, + "num": { + "npz_key": "data.outputs.planner_state.world.num", + "shape": [ + 800, + 800 + ], + "dtype": "float32" + }, + "den": { + "npz_key": "data.outputs.planner_state.world.den", + "shape": [ + 800, + 800 + ], + "dtype": "float32" + }, + "seen": { + "npz_key": "data.outputs.planner_state.world.seen", + "shape": [ + 800, + 800 + ], + "dtype": "float32" + }, + "c": { + "res": 0.1, + "size": 800, + "range_m": 6.0, + "w_floor": 0.05, + "decay": 1.0, + "unknown_p": 0.25, + "block_p": 0.6, + "block_w": 0.5, + "risk_weight": 4.0, + "radius": 0.23, + "margin_m": 4.0, + "retry": true, + "retry_block_p": 0.85, + "retry_radii": [] + } + } + } + } +} diff --git a/cases/20261026_goal1012_05/previews/00000747/predicted_depth.jpg b/cases/20261026_goal1012_05/previews/00000747/predicted_depth.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4f32840ebfa3d70b964c7aa4dd15d75cc2bfe416 --- /dev/null +++ b/cases/20261026_goal1012_05/previews/00000747/predicted_depth.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3261dd3e93363573304889605cbd81c3f8ad0df69522e072be1da16fd423991 +size 131426 diff --git a/cases/20261026_goal1012_05/previews/rgb_00000574.jpg b/cases/20261026_goal1012_05/previews/rgb_00000574.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b875e84b1a363a763ec0c797463623a13470fe7d --- /dev/null +++ b/cases/20261026_goal1012_05/previews/rgb_00000574.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f2a22d9a811a371467f067ad42dea9306d6ca33675113059376f44fe61044b6 +size 49227 diff --git a/cases/20261026_goal1012_05/previews/rgb_00000627.jpg b/cases/20261026_goal1012_05/previews/rgb_00000627.jpg new file mode 100644 index 0000000000000000000000000000000000000000..61ee851abfc6949d157aad3d340edfe5fccfe01d --- /dev/null +++ b/cases/20261026_goal1012_05/previews/rgb_00000627.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5021b57d94747c3ec68a92c890c500d8dbafa8f84302f64764692d10a42ff2d8 +size 21294 diff --git a/cases/20261026_goal1012_05/previews/rgb_00000708.jpg b/cases/20261026_goal1012_05/previews/rgb_00000708.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5b823af17e75fa5f50aad864b8bd9dd6eda3cbcd --- /dev/null +++ b/cases/20261026_goal1012_05/previews/rgb_00000708.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41a119b9f73e899178e9df291ee0f3e1274722b4d963f890bbca7de62bcf5b04 +size 39823 diff --git a/cases/20261026_goal1012_05/previews/rgb_00000730.jpg b/cases/20261026_goal1012_05/previews/rgb_00000730.jpg new file mode 100644 index 0000000000000000000000000000000000000000..16626ebddf1e06950aec0a9328e8527516379dbd --- /dev/null +++ b/cases/20261026_goal1012_05/previews/rgb_00000730.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5b189f15f22cff8c02a535dfb511e50a8eed7855fe3e14fc828838854514fc6 +size 44359 diff --git a/cases/20261026_goal1012_05/previews/rgb_00000747.jpg b/cases/20261026_goal1012_05/previews/rgb_00000747.jpg new file mode 100644 index 0000000000000000000000000000000000000000..67cd8fb25140f221633e0fd4314d136f50f80330 --- /dev/null +++ b/cases/20261026_goal1012_05/previews/rgb_00000747.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68ac018c1520de6c0fe59c3bad2ffadf0217bb5fc9d26021113ee5cbcf3c2c44 +size 41572 diff --git a/cases/20261026_goal1012_05/reports/attachment_recheck_747.json b/cases/20261026_goal1012_05/reports/attachment_recheck_747.json new file mode 100644 index 0000000000000000000000000000000000000000..259343a54a40f03584d93d70934096f96289d621 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/attachment_recheck_747.json @@ -0,0 +1,121 @@ +{ + "frame": 747, + "evidence_frame": 742, + "scope": "Recheck final attachments using the earlier saved obstacle memory; no policy or runtime data modified.", + "starting_footprint_half_extent_m": 0.23, + "self_mask_half_extent_m": 0.2, + "points_in_starting_footprint_outside_self_mask": 10, + "blocking_points_in_final_base_xy": [ + [ + -0.20818898309501427, + -0.13223104882451628 + ], + [ + -0.2091901381097042, + -0.08752089686059934 + ], + [ + -0.2091901381097042, + -0.08752089686059934 + ], + [ + -0.2091901381097042, + -0.08752089686059934 + ], + [ + -0.2177317064966115, + -0.10560518864910425 + ], + [ + -0.2177317064966115, + -0.10560518864910425 + ], + [ + -0.2177317064966115, + -0.10560518864910425 + ], + [ + -0.22627327488351878, + -0.12368948043760918 + ], + [ + -0.22627327488351878, + -0.12368948043760918 + ], + [ + -0.22627327488351878, + -0.12368948043760918 + ] + ], + "base_motion_since_evidence_m": 0.07443575601135649, + "nearby_permanent_keyframes": 13, + "clear_using_retained_evidence": 0, + "candidates": [ + { + "keyframe": 798, + "distance_m": 0.6707816045880128, + "clear_using_retained_evidence": false + }, + { + "keyframe": 799, + "distance_m": 0.6188904289325527, + "clear_using_retained_evidence": false + }, + { + "keyframe": 800, + "distance_m": 0.5764512593010866, + "clear_using_retained_evidence": false + }, + { + "keyframe": 801, + "distance_m": 0.5136345744868496, + "clear_using_retained_evidence": false + }, + { + "keyframe": 802, + "distance_m": 0.2773704397106106, + "clear_using_retained_evidence": false + }, + { + "keyframe": 803, + "distance_m": 0.13215980506721525, + "clear_using_retained_evidence": false + }, + { + "keyframe": 804, + "distance_m": 0.23426610549688076, + "clear_using_retained_evidence": false + }, + { + "keyframe": 805, + "distance_m": 0.5072946414651825, + "clear_using_retained_evidence": false + }, + { + "keyframe": 1093, + "distance_m": 0.6756134108050047, + "clear_using_retained_evidence": false + }, + { + "keyframe": 1096, + "distance_m": 0.25279283599193453, + "clear_using_retained_evidence": false + }, + { + "keyframe": 1097, + "distance_m": 0.3110869600311748, + "clear_using_retained_evidence": false + }, + { + "keyframe": 1099, + "distance_m": 0.47066720912725135, + "clear_using_retained_evidence": false + }, + { + "keyframe": 1100, + "distance_m": 0.6096151038356824, + "clear_using_retained_evidence": false + } + ], + "interpretation": "The recorded memory alone suffices to veto every attachment at path fraction zero. This locates the blocking condition; source-time self observations, depth noise and physical returns have not yet been distinguished." +} diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/bev_overview.jpg b/cases/20261026_goal1012_05/reports/bev_diagnosis/bev_overview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cd39f95cae40ae2eb65ad812c742e6bfd26030ba --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/bev_overview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e0c997ce1afd2c23dbb8a3b6ebed2ca2e4b6cb51a2cf15104c8c50fc4a2bf3e +size 176726 diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/diagnosis_stdout.log b/cases/20261026_goal1012_05/reports/bev_diagnosis/diagnosis_stdout.log new file mode 100644 index 0000000000000000000000000000000000000000..4d082cbb300d95c5c06d7778a583e88c1c276fa6 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/diagnosis_stdout.log @@ -0,0 +1,82 @@ +{ + "frame": 747, + "reprojection_difference": 0.0, + "cells": [ + { + "label": "A", + "body_xy": [ + 0.47500000000000003, + 0.47500000000000003 + ], + "current_occupancy": 0.8838977813720703, + "observability": 0.7338104248046875, + "raw_head_occupancy": 0.8839430809020996, + "native_memory": { + "row": 417, + "column": 368, + "weight": 53.98088836669922, + "observability_sum": 44.741146087646484, + "occupancy": 0.5113029216934264, + "block_threshold": 0.6, + "bump_count": 0 + }, + "floor_observations": 22, + "latest_floor_observation": { + "frame": 639, + "time_s": 160.44688963890076, + "pixel_uv": [ + 16.089594677917507, + 404.1374870896022 + ], + "expected_ground_depth_m": 1.4058574430693884, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.025953017301026282, + "min_height_m": -0.03139929094761995, + "max_height_m": -0.02077560156038527, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.433 + } + }, + { + "label": "B", + "body_xy": [ + 0.525, + 0.525 + ], + "current_occupancy": 0.9477920532226562, + "observability": 0.6408309936523438, + "raw_head_occupancy": 0.9475653171539307, + "native_memory": { + "row": 416, + "column": 368, + "weight": 46.50336456298828, + "observability_sum": 36.735713958740234, + "occupancy": 0.5922914811750517, + "block_threshold": 0.6, + "bump_count": 0 + }, + "floor_observations": 21, + "latest_floor_observation": { + "frame": 638, + "time_s": 160.1800639629364, + "pixel_uv": [ + 28.090755546743964, + 368.96042609559504 + ], + "expected_ground_depth_m": 1.4555152419013113, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.024798533046793247, + "min_height_m": -0.031145085416439677, + "max_height_m": -0.014036362329058916, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.484 + } + } + ] +} diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/occupancy_timeline.csv b/cases/20261026_goal1012_05/reports/bev_diagnosis/occupancy_timeline.csv new file mode 100644 index 0000000000000000000000000000000000000000..6b1abe38f32e7d065a26f76450e8afa0c19379fe --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/occupancy_timeline.csv @@ -0,0 +1,233 @@ +frame,time_s,cell,current_occupancy,current_observability,fused_occupancy +509,127.9301085472107,A,0.2726869583129883,0.011574029922485352,0.508592687025332 +509,127.9301085472107,B,0.3488154411315918,0.00967833399772644,0.5454652660882197 +510,128.1965687274933,A,0.3237476348876953,0.011660635471343994,0.5080326400959085 +510,128.1965687274933,B,0.3632242679595947,0.010079815983772278,0.5452086924921687 +511,128.4297091960907,A,0.26646995544433594,0.010962128639221191,0.5074083204348053 +511,128.4297091960907,B,0.35195350646972656,0.009231358766555786,0.5448848641951936 +513,128.92903351783752,A,0.3465557098388672,0.010922908782958984,0.5069596883757667 +513,128.92903351783752,B,0.3912339210510254,0.009488433599472046,0.5447632713407259 +515,129.42800521850586,A,0.31317138671875,0.012766838073730469,0.506505513285595 +515,129.42800521850586,B,0.46138715744018555,0.009359747171401978,0.5446307508345354 +516,129.69410228729248,A,0.26503753662109375,0.012942075729370117,0.5059244987175313 +516,129.69410228729248,B,0.3500981330871582,0.01093532145023346,0.5443252485123924 +518,130.19383597373962,A,0.3072967529296875,0.01105952262878418,0.5053861796197127 +518,130.19383597373962,B,0.39202308654785156,0.008446425199508667,0.5441092698856568 +519,130.42703199386597,A,0.2418041229248047,0.011387467384338379,0.5047603100156742 +519,130.42703199386597,B,0.38154172897338867,0.008479341864585876,0.5438038380624968 +521,130.92680644989014,A,0.28030967712402344,0.012359440326690674,0.5041562543973893 +521,130.92680644989014,B,0.3249354362487793,0.01070481538772583,0.5435241989479991 +522,131.19338965415955,A,0.28673744201660156,0.012944936752319336,0.5035827415403512 +522,131.19338965415955,B,0.3860440254211426,0.011090561747550964,0.5432622858920674 +524,131.62657284736633,A,0.28682708740234375,0.011223196983337402,0.5030060668877675 +524,131.62657284736633,B,0.376708984375,0.009506464004516602,0.54295153220833 +525,131.9265434741974,A,0.32684326171875,0.011984825134277344,0.5025300787486752 +525,131.9265434741974,B,0.366729736328125,0.01043081283569336,0.542752592149172 +527,132.42651104927063,A,0.2507171630859375,0.011266708374023438,0.5018992906800318 +527,132.42651104927063,B,0.3393867015838623,0.009681060910224915,0.5424179060044129 +528,132.65982294082642,A,0.3356590270996094,0.010901451110839844,0.5013812010930889 +528,132.65982294082642,B,0.38034653663635254,0.009303227066993713,0.5422005771889187 +530,133.0932457447052,A,0.23714661598205566,0.012550786137580872,0.5007662087057959 +530,133.0932457447052,B,0.3685441017150879,0.009303256869316101,0.5418625185057451 +531,133.42665243148804,A,0.35608530044555664,0.011797428131103516,0.5004017040286948 +531,133.42665243148804,B,0.4470973014831543,0.009135887026786804,0.5417876874633573 +533,133.92706084251404,A,0.28679323196411133,0.012731879949569702,0.4998982330372465 +533,133.92706084251404,B,0.39054298400878906,0.010953128337860107,0.5415975730895655 +535,134.42777132987976,A,0.25605952739715576,0.012484848499298096,0.49922611990354765 +535,134.42777132987976,B,0.29424285888671875,0.010969579219818115,0.541150076349304 +536,134.62805676460266,A,0.2598245143890381,0.01213548332452774,0.49858545066637816 +536,134.62805676460266,B,0.3427581787109375,0.010401010513305664,0.540744587731467 +538,135.1948790550232,A,0.2997932434082031,0.006709694862365723,0.4980782482548314 +538,135.1948790550232,B,0.38278961181640625,0.0059299468994140625,0.5403371366015222 +540,135.69496893882751,A,0.22658920288085938,0.006748676300048828,0.4973304869045836 +540,135.69496893882751,B,0.25676774978637695,0.0064144134521484375,0.5396360756198983 +541,135.9284007549286,A,0.20854568481445312,0.006540775299072266,0.4965913205019195 +541,135.9284007549286,B,0.26973915100097656,0.0060272216796875,0.538943792293445 +543,136.39527821540833,A,0.21304559707641602,0.006696790456771851,0.4958201857912073 +543,136.39527821540833,B,0.243499755859375,0.00612601637840271,0.5382124759930991 +545,136.9289104938507,A,0.17064034938812256,0.010247044265270233,0.4949773476915858 +545,136.9289104938507,B,0.2037968635559082,0.009605556726455688,0.5375309280155971 +547,137.4292619228363,A,0.2316570281982422,0.009800940752029419,0.49427734461984824 +547,137.4292619228363,B,0.2701399326324463,0.009248100221157074,0.5370240815188175 +549,137.92966985702515,A,0.3260815143585205,0.010991595685482025,0.4938250137576276 +549,137.92966985702515,B,0.3816804885864258,0.010312497615814209,0.5368181812842784 +550,138.1965847015381,A,0.3629312515258789,0.012037515640258789,0.4936241903735783 +550,138.1965847015381,B,0.4513072967529297,0.010457873344421387,0.536801617875833 +552,138.69708919525146,A,0.2598257064819336,0.012081563472747803,0.4930302416750219 +552,138.69708919525146,B,0.30027055740356445,0.011335328221321106,0.5363895224164896 +554,139.1976673603058,A,0.3812119960784912,0.013056360185146332,0.49278805465655634 +554,139.1976673603058,B,0.42934727668762207,0.012069925665855408,0.5363151255843374 +556,139.66485595703125,A,0.2886465787887573,0.015067823231220245,0.4923229280836042 +556,139.66485595703125,B,0.38540101051330566,0.012280307710170746,0.536008624184301 +558,140.20023441314697,A,0.22928690910339355,0.02318444848060608,0.4917160542228713 +558,140.20023441314697,B,0.26180267333984375,0.019998550415039062,0.5355129036005297 +559,140.43453240394592,A,0.29271697998046875,0.02502363920211792,0.49119161645633674 +559,140.43453240394592,B,0.299102783203125,0.023982524871826172,0.5351536818912868 +561,140.90232372283936,A,0.2932562828063965,0.021074682474136353,0.49061728397482074 +561,140.90232372283936,B,0.3033447265625,0.019723892211914062,0.5347379529512445 +563,141.43563747406006,A,0.3754868507385254,0.029462188482284546,0.49044099551897374 +563,141.43563747406006,B,0.490966796875,0.02306222915649414,0.5347484438998265 +565,141.90228271484375,A,0.3458423614501953,0.029344916343688965,0.4901415593224306 +565,141.90228271484375,B,0.3951232433319092,0.02545294165611267,0.5346081495344842 +567,142.40226316452026,A,0.37001800537109375,0.027936458587646484,0.48986232686288106 +567,142.40226316452026,B,0.4197673797607422,0.024277091026306152,0.534485114842861 +569,142.93589091300964,A,0.3683476448059082,0.03748553991317749,0.48954788722732684 +569,142.93589091300964,B,0.37192535400390625,0.03402477502822876,0.5343349923358159 +570,143.20294046401978,A,0.3749728202819824,0.029746562242507935,0.4892776749268605 +570,143.20294046401978,B,0.42824506759643555,0.02693416178226471,0.5342302476896605 +572,143.7037115097046,A,0.834228515625,0.40548133850097656,0.49552311274868355 +572,143.7037115097046,B,0.8738927841186523,0.288707971572876,0.537546110194816 +574,144.2038311958313,A,0.7709894180297852,0.42719507217407227,0.500909124343983 +574,144.2038311958313,B,0.8365764617919922,0.32256031036376953,0.5406954607686706 +576,144.70392322540283,A,0.7235913276672363,0.2063589096069336,0.5028220848273118 +576,144.70392322540283,B,0.7524528503417969,0.1867985725402832,0.5426111815909694 +578,145.20404195785522,A,0.5722064971923828,0.48323822021484375,0.5048722785658978 +578,145.20404195785522,B,0.716585636138916,0.3815648555755615,0.5455116536529032 +580,145.67079043388367,A,0.7413730621337891,0.6760101318359375,0.5096713226941784 +580,145.67079043388367,B,0.8747587203979492,0.6590290069580078,0.5560567022919723 +582,146.2042510509491,A,0.432159423828125,0.7179741859436035,0.5132721346690131 +582,146.2042510509491,B,0.9160242080688477,0.5981931686401367,0.5658778397353601 +584,146.70434093475342,A,0.4569258689880371,0.7316684722900391,0.5170707628643116 +584,146.70434093475342,B,0.9119138717651367,0.6235418319702148,0.5752152534612568 +586,147.20445132255554,A,0.4395792484283447,0.7276086807250977,0.5204093642425567 +586,147.20445132255554,B,0.920039176940918,0.5997047424316406,0.5840581198899016 +588,147.67119145393372,A,0.43125295639038086,0.7613177299499512,0.5229719703792911 +588,147.67119145393372,B,0.8876323699951172,0.6527347564697266,0.5927706264347514 +590,148.2046456336975,A,0.3789263963699341,0.7492122650146484,0.5244286800890713 +590,148.2046456336975,B,0.8938589096069336,0.6490726470947266,0.6009517431161361 +592,148.70472931861877,A,0.43050289154052734,0.6865444183349609,0.5258025466728217 +592,148.70472931861877,B,0.8235149383544922,0.5952730178833008,0.606917431170195 +594,149.204843044281,A,0.4291801452636719,0.2793235778808594,0.5247914280719768 +594,149.204843044281,B,0.4334993362426758,0.2823753356933594,0.6050267095799551 +596,149.67158889770508,A,0.0971517562866211,0.09414339065551758,0.5235892431481991 +596,149.67158889770508,B,0.15001094341278076,0.05529683828353882,0.6041660830436361 +599,150.44025254249573,A,0.08762812614440918,0.28580665588378906,0.5205085974398064 +599,150.44025254249573,B,0.14083003997802734,0.11002874374389648,0.6025423781074308 +601,150.94117259979248,A,0.06507492065429688,0.3173027038574219,0.5170943293494409 +601,150.94117259979248,B,0.11108124256134033,0.07997238636016846,0.601389331010731 +603,151.44134092330933,A,0.2700023651123047,0.4037322998046875,0.5150686063199369 +603,151.44134092330933,B,0.3119833469390869,0.0631752610206604,0.6009761185729005 +605,151.90816497802734,A,0.20870018005371094,0.42401885986328125,0.512096782924082 +605,151.90816497802734,B,0.33211565017700195,0.10985422134399414,0.6002987778761102 +608,152.70844197273254,A,0.09896373748779297,0.41070556640625,0.508149250206342 +608,152.70844197273254,B,0.14651215076446533,0.111319899559021,0.598966154552711 +610,153.20862317085266,A,0.05432462692260742,0.4001331329345703,0.5038956573347039 +610,153.20862317085266,B,0.0999457836151123,0.08693063259124756,0.5978210243669667 +612,153.70878267288208,A,0.04251909255981445,0.39043426513671875,0.49964558829833006 +612,153.70878267288208,B,0.07830065488815308,0.1115720272064209,0.5961267991342543 +614,154.17561554908752,A,0.05932605266571045,0.3145742416381836,0.49649786245666006 +614,154.17561554908752,B,0.09706854820251465,0.08481121063232422,0.5947717815414082 +616,154.70911502838135,A,0.055685997009277344,0.5463027954101562,0.49091875167342014 +616,154.70911502838135,B,0.10462862253189087,0.1203606128692627,0.5934985693367922 +618,155.2092957496643,A,0.21317386627197266,0.7904510498046875,0.4862031589429417 +618,155.2092957496643,B,0.5341920852661133,0.6211891174316406,0.5944239284405377 +621,155.94318771362305,A,0.03321939706802368,0.8436098098754883,0.4740580203503001 +621,155.94318771362305,B,0.06849360466003418,0.8251495361328125,0.5809056949150215 +623,156.4441225528717,A,0.019951075315475464,0.8879060745239258,0.46136797458437184 +623,156.4441225528717,B,0.027593135833740234,0.867584228515625,0.5651946533629109 +625,156.94480419158936,A,0.024538278579711914,0.90478515625,0.44947481124532024 +625,156.94480419158936,B,0.05308812856674194,0.8915615081787109,0.5533467389619183 +627,157.34504199028015,A,0.022823810577392578,0.8837051391601562,0.43828060210503195 +627,157.34504199028015,B,0.03885698318481445,0.8686676025390625,0.5402886037228399 +629,157.94539785385132,A,0.03222155570983887,0.846466064453125,0.42838187221094554 +629,157.94539785385132,B,0.05013167858123779,0.8331546783447266,0.5286881495302697 +631,158.4456968307495,A,0.01913166046142578,0.9037322998046875,0.4179845638304804 +631,158.4456968307495,B,0.03804129362106323,0.8921108245849609,0.5173611908194634 +634,159.21282148361206,A,0.01762866973876953,0.9033889770507812,0.40800415566225073 +634,159.21282148361206,B,0.029750287532806396,0.8914699554443359,0.5055143897590578 +636,159.71311497688293,A,0.01774214208126068,0.8306732177734375,0.39924069438525733 +636,159.71311497688293,B,0.023192107677459717,0.8124685287475586,0.4941663330250024 +638,160.1800639629364,A,0.05801007151603699,0.8373961448669434,0.39263208720198256 +638,160.1800639629364,B,0.12257003784179688,0.7737903594970703,0.4891618279122022 +640,160.7137131690979,A,0.08757007122039795,0.7135171890258789,0.3882981525882286 +640,160.7137131690979,B,0.137786865234375,0.36412906646728516,0.48728417560206755 +642,161.11395597457886,A,0.09514045715332031,0.26204872131347656,0.38705400112931454 +642,161.11395597457886,B,0.17366087436676025,0.056640684604644775,0.48688971166509687 +644,161.71431279182434,A,0.09238910675048828,0.10198211669921875,0.38638387954958997 +644,161.71431279182434,B,0.1302165985107422,0.06670188903808594,0.48619185082936023 +647,162.44808840751648,A,0.16769838333129883,0.049202919006347656,0.38611035976874986 +647,162.44808840751648,B,0.20860755443572998,0.04427605867385864,0.485800394691842 +649,162.915034532547,A,0.2034587860107422,0.05222892761230469,0.3858785946739987 +649,162.915034532547,B,0.25028038024902344,0.04726278781890869,0.4854667920547782 +652,163.68216013908386,A,0.39304542541503906,0.1114959716796875,0.38592431202858135 +652,163.68216013908386,B,0.4619102478027344,0.1075124740600586,0.48539061431263875 +654,164.2158133983612,A,0.4476776123046875,0.11020612716674805,0.38611977991095475 +654,164.2158133983612,B,0.5123367309570312,0.10759258270263672,0.48545427960141346 +656,164.71610689163208,A,0.3125495910644531,0.06974506378173828,0.3860046838449324 +656,164.71610689163208,B,0.3783149719238281,0.07236194610595703,0.4852330561759958 +658,165.1830542087555,A,0.3210887908935547,0.10845136642456055,0.3858548508441506 +658,165.1830542087555,B,0.3954658508300781,0.10821533203125,0.4849598409018492 +660,165.7166986465454,A,0.3977680206298828,0.10831928253173828,0.38589870585677694 +660,165.7166986465454,B,0.4540214538574219,0.10586261749267578,0.4848453209776508 +663,166.41756391525269,A,0.336578369140625,0.09772872924804688,0.385794290019657 +663,166.41756391525269,B,0.4060859680175781,0.0953369140625,0.48461727991730935 +665,166.91810822486877,A,0.3308539390563965,0.07106733322143555,0.38569310903459114 +665,166.91810822486877,B,0.35347747802734375,0.07241630554199219,0.48434259487256215 +667,167.45181918144226,A,0.4312934875488281,0.18230104446411133,0.3860187637756403 +667,167.45181918144226,B,0.5053596496582031,0.16657447814941406,0.48460889734525375 +669,167.9525306224823,A,0.24520111083984375,0.04103904962539673,0.38584670012141087 +669,167.9525306224823,B,0.28823089599609375,0.04082345962524414,0.48432652675464377 +671,168.45375227928162,A,0.17613697052001953,0.06010878086090088,0.3855952905083082 +671,168.45375227928162,B,0.2677001953125,0.0349578857421875,0.48409133414232164 +674,169.22139954566956,A,0.4721832275390625,0.015866458415985107,0.3857482092123262 +674,169.22139954566956,B,0.580078125,0.01384735107421875,0.4842673397436902 +676,169.7216601371765,A,0.447723388671875,0.01492089033126831,0.38587071862331535 +676,169.7216601371765,B,0.5556640625,0.01282501220703125,0.4844109557166412 +678,170.2219295501709,A,0.42143821716308594,0.015168383717536926,0.3859613071283616 +678,170.2219295501709,B,0.532958984375,0.01282501220703125,0.4845240436713837 +680,170.68883800506592,A,0.4277653694152832,0.015168383717536926,0.38605923578668305 +680,170.68883800506592,B,0.538818359375,0.01282501220703125,0.48464445360888647 +683,171.45591711997986,A,0.4480133056640625,0.015924930572509766,0.38618156161824446 +683,171.45591711997986,B,0.5575942993164062,0.014036178588867188,0.48478961820661215 +685,171.95618677139282,A,0.440338134765625,0.015139341354370117,0.3862937504689387 +685,171.95618677139282,B,0.5490646362304688,0.012795448303222656,0.4849230524547427 +688,172.72327136993408,A,0.45215606689453125,0.014663934707641602,0.38642175392239353 +688,172.72327136993408,B,0.5551090240478516,0.012932904064655304,0.4850758304895806 +690,173.22354197502136,A,0.4609260559082031,0.031946659088134766,0.3865619147672772 +690,173.22354197502136,B,0.5517520904541016,0.026392176747322083,0.4852347614287946 +693,173.9239113330841,A,0.8431282043457031,0.6866559982299805,0.39444477279592566 +693,173.9239113330841,B,0.9150619506835938,0.5652256011962891,0.49132463740270654 +695,174.39082670211792,A,0.8930454254150391,0.6356706619262695,0.40201510511990185 +695,174.39082670211792,B,0.8955326080322266,0.5712604522705078,0.4976501399451869 +697,174.95779275894165,A,0.8282442092895508,0.6592283248901367,0.4091157426199237 +697,174.95779275894165,B,0.9301004409790039,0.5686206817626953,0.5038133425082928 +700,175.724862575531,A,0.8370761871337891,0.5824642181396484,0.414999779194072 +700,175.724862575531,B,0.9352264404296875,0.48309898376464844,0.5081457421644028 +703,176.4585883617401,A,0.8225936889648438,0.5140848159790039,0.4201028932434211 +703,176.4585883617401,B,0.9294338226318359,0.4996633529663086,0.5126923736319969 +705,176.95935988426208,A,0.8107376098632812,0.5060625076293945,0.4248319177562589 +705,176.95935988426208,B,0.9320430755615234,0.45971107482910156,0.5167006516941389 +708,177.7284858226776,A,0.8136615753173828,0.547825813293457,0.429960554743693 +708,177.7284858226776,B,0.929290771484375,0.5348272323608398,0.5214192551322246 +710,178.22863793373108,A,0.8086318969726562,0.5323333740234375,0.43480248039518277 +710,178.22863793373108,B,0.9274158477783203,0.515263557434082,0.5258394394868533 +712,178.72869753837585,A,0.80389404296875,0.5185346603393555,0.43940233193872347 +712,178.72869753837585,B,0.9276599884033203,0.5181999206542969,0.5302109563431935 +715,179.49748587608337,A,0.8261642456054688,0.5451202392578125,0.44420561304377426 +715,179.49748587608337,B,0.93280029296875,0.5229835510253906,0.5344993604459509 +717,179.99883842468262,A,0.7965660095214844,0.5971527099609375,0.44920706504094626 +717,179.99883842468262,B,0.9247417449951172,0.5470724105834961,0.5389181540652208 +720,180.7341113090515,A,0.405595064163208,0.726593017578125,0.4516058302896514 +720,180.7341113090515,B,0.9079399108886719,0.5777511596679688,0.5443059543783605 +722,181.23414206504822,A,0.5485520362854004,0.7428932189941406,0.4552777034785105 +722,181.23414206504822,B,0.8965530395507812,0.6044082641601562,0.5494871045096793 +725,182.00115442276,A,0.8349533081054688,0.7840423583984375,0.4620875758671121 +725,182.00115442276,B,0.942718505859375,0.5946187973022461,0.5543315765084358 +727,182.5023181438446,A,0.810455322265625,0.7727813720703125,0.46824182693174354 +727,182.5023181438446,B,0.9308090209960938,0.5590248107910156,0.5589508307845705 +730,183.2361490726471,A,0.7509765625,0.7811126708984375,0.47379894353423374 +730,183.2361490726471,B,0.9202022552490234,0.5442209243774414,0.56332755951133 +732,183.73587656021118,A,0.816253662109375,0.769775390625,0.47978554798870493 +732,183.73587656021118,B,0.9393405914306641,0.5752449035644531,0.5677860082520644 +735,184.5046648979187,A,0.8186721801757812,0.783172607421875,0.4857212723177166 +735,184.5046648979187,B,0.9381961822509766,0.5869112014770508,0.5721715563517562 +737,185.00601506233215,A,0.79998779296875,0.783782958984375,0.4911908230784994 +737,185.00601506233215,B,0.9325752258300781,0.5933399200439453,0.5766629367821341 +740,185.7073998451233,A,0.8680362701416016,0.717503547668457,0.49645080734636665 +740,185.7073998451233,B,0.9373359680175781,0.6602096557617188,0.5810727302802657 +742,186.2406198978424,A,0.8623857498168945,0.7256393432617188,0.5013386478223908 +742,186.2406198978424,B,0.9101486206054688,0.5850257873535156,0.5842847301924843 +745,187.00708031654358,A,0.7903666496276855,0.7508492469787598,0.5061255118140574 +745,187.00708031654358,B,0.9331130981445312,0.6717376708984375,0.5880093663913674 +747,187.50790691375732,A,0.8838977813720703,0.7338104248046875,0.5113029216934264 +747,187.50790691375732,B,0.9477920532226562,0.6408309936523438,0.5922914811750517 diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/head_mask_outputs.npz b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/head_mask_outputs.npz new file mode 100644 index 0000000000000000000000000000000000000000..559dc0c2a6072752211dbfa696c6a3b1708b22ca --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/head_mask_outputs.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de1bfa68797606388c854795452d2b004c4f970e260354b56810ceb8c1eaabd8 +size 15524162 diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/recomputed_geometry_head_mask_outputs.npz b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/recomputed_geometry_head_mask_outputs.npz new file mode 100644 index 0000000000000000000000000000000000000000..469a21cbbc795bd2248ca98e4edfdf8bc5b51cc7 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/recomputed_geometry_head_mask_outputs.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d27c74eb80db253e3f082a45058b5d182e7c7cfb30e8b2a314e7e1b443bb12b7 +size 13731693 diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/recomputed_geometry_report.json b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/recomputed_geometry_report.json new file mode 100644 index 0000000000000000000000000000000000000000..6649d0557d040d1dab92b6c0a85e986e7ed43b4c --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/recomputed_geometry_report.json @@ -0,0 +1,122 @@ +{ + "capture_frame": 747, + "method": "Recompute the recorded backbone once, then change only the BEV-head valid/lift mask. Keep all seven backbone-context images, recorded scale/gravity and TF.", + "limitations": "Removing a head view does not remove that image from the transformer context. This tests explicit reference lifting, not full removal of historical appearance or training priors.", + "source": "offline_counterfactual; never used for robot execution", + "results": { + "all_recorded_views": { + "head_view_mask": [ + true, + true, + true, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8859496116638184, + "raw_occupancy_at_cell": 0.8858327865600586, + "observability_at_cell": 0.7300963401794434, + "raw_occupancy_max_abs_difference_from_recording": 0.08989441394805908, + "base_occupancy_max_abs_difference_from_recording": 0.08939361572265625 + }, + "head_lifts_current_view_only": { + "head_view_mask": [ + true, + false, + false, + false, + false, + false, + false + ], + "occupancy_at_cell_190_190": 0.04447031021118164, + "raw_occupancy_at_cell": 0.04447046294808388, + "observability_at_cell": 0.014962740242481232 + }, + "head_drops_view_1_kf_799": { + "head_view_mask": [ + true, + false, + true, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8854703903198242, + "raw_occupancy_at_cell": 0.8853887319564819, + "observability_at_cell": 0.7078971862792969 + }, + "head_drops_view_2_kf_798": { + "head_view_mask": [ + true, + true, + false, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8896665573120117, + "raw_occupancy_at_cell": 0.8896282315254211, + "observability_at_cell": 0.7287354469299316 + }, + "head_drops_view_3_kf_800": { + "head_view_mask": [ + true, + true, + true, + false, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8743329048156738, + "raw_occupancy_at_cell": 0.8743072748184204, + "observability_at_cell": 0.6786651611328125 + }, + "head_drops_view_4_kf_797": { + "head_view_mask": [ + true, + true, + true, + true, + false, + true, + true + ], + "occupancy_at_cell_190_190": 0.8927874565124512, + "raw_occupancy_at_cell": 0.8927912712097168, + "observability_at_cell": 0.742469310760498 + }, + "head_drops_view_5_kf_803": { + "head_view_mask": [ + true, + true, + true, + true, + true, + false, + true + ], + "occupancy_at_cell_190_190": 0.8814592361450195, + "raw_occupancy_at_cell": 0.8815363049507141, + "observability_at_cell": 0.744997501373291 + }, + "head_drops_view_6_kf_527": { + "head_view_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "occupancy_at_cell_190_190": 0.8879485130310059, + "raw_occupancy_at_cell": 0.8880559802055359, + "observability_at_cell": 0.7932653427124023 + } + } +} diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/report.json b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/report.json new file mode 100644 index 0000000000000000000000000000000000000000..6f1833cd76786106c7704d7e8707d460679f359d --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/reference_ablation/report.json @@ -0,0 +1,129 @@ +{ + "capture_frame": 747, + "method": "Recompute the recorded backbone tokens once, retain exact recorded depth/confidence/pose, then change only the BEV-head valid/lift mask. Keep all seven backbone-context images, recorded scale/gravity and TF.", + "limitations": "Removing a head view does not remove that image from the transformer context. This tests explicit reference lifting, not full removal of historical appearance or training priors. Recomputed token/reduction results are near, but not bit-identical to the recording.", + "source": "offline_counterfactual; never used for robot execution", + "repeated_baseline_max_abs_difference": 0.00189208984375, + "results": { + "all_recorded_views": { + "head_view_mask": [ + true, + true, + true, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8844938278198242, + "observability_at_cell": 0.7340607643127441, + "raw_occupancy_max_abs_difference_from_recording": 0.005351722240447998, + "raw_occupancy_mean_abs_difference_from_recording": 0.0007901069475337863, + "base_occupancy_max_abs_difference_from_recording": 0.005076408386230469 + }, + "head_lifts_current_view_only": { + "head_view_mask": [ + true, + false, + false, + false, + false, + false, + false + ], + "occupancy_at_cell_190_190": 0.04581734538078308, + "observability_at_cell": 0.015535324811935425 + }, + "head_drops_view_1_kf_799": { + "head_view_mask": [ + true, + false, + true, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8825254440307617, + "observability_at_cell": 0.712122917175293 + }, + "head_drops_view_2_kf_798": { + "head_view_mask": [ + true, + true, + false, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8882107734680176, + "observability_at_cell": 0.730994701385498 + }, + "head_drops_view_3_kf_800": { + "head_view_mask": [ + true, + true, + true, + false, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8726034164428711, + "observability_at_cell": 0.679936408996582 + }, + "head_drops_view_4_kf_797": { + "head_view_mask": [ + true, + true, + true, + true, + false, + true, + true + ], + "occupancy_at_cell_190_190": 0.8915820121765137, + "observability_at_cell": 0.745872974395752 + }, + "head_drops_view_5_kf_803": { + "head_view_mask": [ + true, + true, + true, + true, + true, + false, + true + ], + "occupancy_at_cell_190_190": 0.8810768127441406, + "observability_at_cell": 0.748713493347168 + }, + "head_drops_view_6_kf_527": { + "head_view_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "occupancy_at_cell_190_190": 0.8860878944396973, + "observability_at_cell": 0.7969183921813965 + }, + "all_recorded_views_repeat": { + "head_view_mask": [ + true, + true, + true, + true, + true, + true, + true + ], + "occupancy_at_cell_190_190": 0.8844938278198242, + "observability_at_cell": 0.7340607643127441 + } + } +} diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/region_analysis.png b/cases/20261026_goal1012_05/reports/bev_diagnosis/region_analysis.png new file mode 100644 index 0000000000000000000000000000000000000000..72fee50e9d0aa3c098a1ff101e4f9170e258a165 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/region_analysis.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dba4803fb68eaf6c2cc21231de967e33e4ed8505647b2b0fda30c8b6e2c53f5 +size 783347 diff --git a/cases/20261026_goal1012_05/reports/bev_diagnosis/region_report.json b/cases/20261026_goal1012_05/reports/bev_diagnosis/region_report.json new file mode 100644 index 0000000000000000000000000000000000000000..39b32e4f334259b3f32bf5445ec784a8649b0190 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/bev_diagnosis/region_report.json @@ -0,0 +1,7928 @@ +{ + "run": "stretch_cross_nav_live_20261026_goal1012_05", + "capture_frame": 747, + "display_provenance": "The viewer uses the current reprojected VGGT BEV. Native planner WorldMap memory is separate.", + "reprojection_max_abs_difference": 0.0, + "cells": [ + { + "label": "A", + "row": 190, + "column": 190, + "body_xy": [ + 0.47500000000000003, + 0.47500000000000003 + ], + "world_xy": [ + 6.701585830660293, + 0.7991575554864934 + ], + "current_occupancy": 0.8838977813720703, + "observability": 0.7338104248046875, + "error_score": 0.18278980255126953, + "raw_head_occupancy": 0.8839430809020996, + "native_memory": { + "row": 417, + "column": 368, + "weight": 53.98088836669922, + "observability_sum": 44.741146087646484, + "occupancy": 0.5113029216934264, + "block_threshold": 0.6, + "bump_count": 0 + }, + "current_floor_projection": { + "frame": 747, + "time_s": 187.50790691375732, + "pixel_uv": [ + -92.24348723995686, + 975.6239939028961 + ], + "expected_ground_depth_m": 0.938675195501837, + "inside_image": false + }, + "floor_observations": 22, + "latest_floor_observation": { + "frame": 639, + "time_s": 160.44688963890076, + "pixel_uv": [ + 16.089594677917507, + 404.1374870896022 + ], + "expected_ground_depth_m": 1.4058574430693884, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.025953017301026282, + "min_height_m": -0.03139929094761995, + "max_height_m": -0.02077560156038527, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.433 + }, + "depth_history": [ + { + "frame": 508, + "time_s": 127.69694423675537, + "pixel_uv": [ + -229.8382438259111, + 545.5187112481658 + ], + "expected_ground_depth_m": 1.751976360535203, + "inside_image": false + }, + { + "frame": 509, + "time_s": 127.9301085472107, + "pixel_uv": [ + -238.28372530358146, + 552.8007301080495 + ], + "expected_ground_depth_m": 1.726009903653903, + "inside_image": false + }, + { + "frame": 510, + "time_s": 128.1965687274933, + "pixel_uv": [ + -242.36256026003355, + 558.6031926884569 + ], + "expected_ground_depth_m": 1.7060466072820093, + "inside_image": false + }, + { + "frame": 511, + "time_s": 128.4297091960907, + "pixel_uv": [ + -252.23361254158, + 566.5958490548281 + ], + "expected_ground_depth_m": 1.6790082596283107, + "inside_image": false + }, + { + "frame": 512, + "time_s": 128.696124792099, + "pixel_uv": [ + -265.0157461241534, + 576.7837603664948 + ], + "expected_ground_depth_m": 1.645748611111751, + "inside_image": false + }, + { + "frame": 513, + "time_s": 128.92903351783752, + "pixel_uv": [ + -276.96918807320617, + 585.9186263999757 + ], + "expected_ground_depth_m": 1.616997125728321, + "inside_image": false + }, + { + "frame": 514, + "time_s": 129.19517183303833, + "pixel_uv": [ + -292.3260479026333, + 597.5359632327569 + ], + "expected_ground_depth_m": 1.5818426612164682, + "inside_image": false + }, + { + "frame": 515, + "time_s": 129.42800521850586, + "pixel_uv": [ + -301.59775350992896, + 606.065121480148 + ], + "expected_ground_depth_m": 1.5571059365385558, + "inside_image": false + }, + { + "frame": 516, + "time_s": 129.69410228729248, + "pixel_uv": [ + -304.64245458883613, + 611.8743659637953 + ], + "expected_ground_depth_m": 1.5408798096137757, + "inside_image": false + }, + { + "frame": 517, + "time_s": 129.92731618881226, + "pixel_uv": [ + -314.5427841382035, + 621.0902588522437 + ], + "expected_ground_depth_m": 1.5155449901003366, + "inside_image": false + }, + { + "frame": 518, + "time_s": 130.19383597373962, + "pixel_uv": [ + -326.8461383828073, + 631.9028088601269 + ], + "expected_ground_depth_m": 1.486826890915184, + "inside_image": false + }, + { + "frame": 519, + "time_s": 130.42703199386597, + "pixel_uv": [ + -338.7633128005106, + 642.283225554216 + ], + "expected_ground_depth_m": 1.460256893993857, + "inside_image": false + }, + { + "frame": 520, + "time_s": 130.69354057312012, + "pixel_uv": [ + -344.43680651400973, + 650.0699264788681 + ], + "expected_ground_depth_m": 1.4411015923815587, + "inside_image": false + }, + { + "frame": 521, + "time_s": 130.92680644989014, + "pixel_uv": [ + -343.6697837557271, + 653.823109734693 + ], + "expected_ground_depth_m": 1.4322172343104165, + "inside_image": false + }, + { + "frame": 522, + "time_s": 131.19338965415955, + "pixel_uv": [ + -343.9751879199149, + 658.8091463491533 + ], + "expected_ground_depth_m": 1.4205192710351606, + "inside_image": false + }, + { + "frame": 523, + "time_s": 131.42664432525635, + "pixel_uv": [ + -352.6192800833885, + 668.051855131869 + ], + "expected_ground_depth_m": 1.3989578619329874, + "inside_image": false + }, + { + "frame": 524, + "time_s": 131.62657284736633, + "pixel_uv": [ + -361.318571138611, + 676.5671042957775 + ], + "expected_ground_depth_m": 1.379631613709966, + "inside_image": false + }, + { + "frame": 525, + "time_s": 131.9265434741974, + "pixel_uv": [ + -381.681111516428, + 694.8756215703113 + ], + "expected_ground_depth_m": 1.3412207007862373, + "inside_image": false + }, + { + "frame": 526, + "time_s": 132.1931939125061, + "pixel_uv": [ + -386.5521133934442, + 701.9749620537774 + ], + "expected_ground_depth_m": 1.3250439232918694, + "inside_image": false + }, + { + "frame": 527, + "time_s": 132.42651104927063, + "pixel_uv": [ + -388.78225894889067, + 707.6610894622204 + ], + "expected_ground_depth_m": 1.313553507229991, + "inside_image": false + }, + { + "frame": 528, + "time_s": 132.65982294082642, + "pixel_uv": [ + -389.7424613938571, + 712.8690649822078 + ], + "expected_ground_depth_m": 1.3032463498517375, + "inside_image": false + }, + { + "frame": 529, + "time_s": 132.89320373535156, + "pixel_uv": [ + -393.7899912299255, + 719.9261089196827 + ], + "expected_ground_depth_m": 1.2894268940183098, + "inside_image": false + }, + { + "frame": 530, + "time_s": 133.0932457447052, + "pixel_uv": [ + -398.77818195752855, + 727.0318967322277 + ], + "expected_ground_depth_m": 1.2757697918032647, + "inside_image": false + }, + { + "frame": 531, + "time_s": 133.42665243148804, + "pixel_uv": [ + -404.56370917452296, + 736.3825258708531 + ], + "expected_ground_depth_m": 1.2570306196226748, + "inside_image": false + }, + { + "frame": 532, + "time_s": 133.69339776039124, + "pixel_uv": [ + -408.62521003079894, + 745.3789726627112 + ], + "expected_ground_depth_m": 1.2419202756620589, + "inside_image": false + }, + { + "frame": 533, + "time_s": 133.92706084251404, + "pixel_uv": [ + -411.87959042380817, + 752.2239210118747 + ], + "expected_ground_depth_m": 1.2297622503532197, + "inside_image": false + }, + { + "frame": 534, + "time_s": 134.1941056251526, + "pixel_uv": [ + -415.85179132031726, + 760.5021799688316 + ], + "expected_ground_depth_m": 1.2153714142030827, + "inside_image": false + }, + { + "frame": 535, + "time_s": 134.42777132987976, + "pixel_uv": [ + -418.9187340771524, + 767.2573266203347 + ], + "expected_ground_depth_m": 1.2038815216043786, + "inside_image": false + }, + { + "frame": 536, + "time_s": 134.62805676460266, + "pixel_uv": [ + -423.7763721585182, + 774.974746904787 + ], + "expected_ground_depth_m": 1.190972431772276, + "inside_image": false + }, + { + "frame": 537, + "time_s": 134.92816853523254, + "pixel_uv": [ + -425.7984121149365, + 783.3499214476735 + ], + "expected_ground_depth_m": 1.177961666462156, + "inside_image": false + }, + { + "frame": 538, + "time_s": 135.1948790550232, + "pixel_uv": [ + -426.4715419763546, + 788.7359896599445 + ], + "expected_ground_depth_m": 1.1688208297704006, + "inside_image": false + }, + { + "frame": 539, + "time_s": 135.4282522201538, + "pixel_uv": [ + -420.23386725645855, + 789.5833059478784 + ], + "expected_ground_depth_m": 1.1676905801554085, + "inside_image": false + }, + { + "frame": 540, + "time_s": 135.69496893882751, + "pixel_uv": [ + -410.52800279088564, + 789.0450893543615 + ], + "expected_ground_depth_m": 1.1688504150068728, + "inside_image": false + }, + { + "frame": 541, + "time_s": 135.9284007549286, + "pixel_uv": [ + -401.23714481886384, + 787.4437881825473 + ], + "expected_ground_depth_m": 1.1716775689690238, + "inside_image": false + }, + { + "frame": 542, + "time_s": 136.1951858997345, + "pixel_uv": [ + -389.1836386151079, + 784.9775564983997 + ], + "expected_ground_depth_m": 1.1755482767361278, + "inside_image": false + }, + { + "frame": 543, + "time_s": 136.39527821540833, + "pixel_uv": [ + -381.1320037183037, + 784.3152357434425 + ], + "expected_ground_depth_m": 1.1773049075546291, + "inside_image": false + }, + { + "frame": 544, + "time_s": 136.6954255104065, + "pixel_uv": [ + -364.903344417744, + 780.0652710384497 + ], + "expected_ground_depth_m": 1.1846679399381759, + "inside_image": false + }, + { + "frame": 545, + "time_s": 136.9289104938507, + "pixel_uv": [ + -350.210732959519, + 776.1850499412772 + ], + "expected_ground_depth_m": 1.1919085135430132, + "inside_image": false + }, + { + "frame": 546, + "time_s": 137.1957597732544, + "pixel_uv": [ + -335.1539273592911, + 771.7728426132942 + ], + "expected_ground_depth_m": 1.1992376925431567, + "inside_image": false + }, + { + "frame": 547, + "time_s": 137.4292619228363, + "pixel_uv": [ + -318.41619428804506, + 765.4388566128755 + ], + "expected_ground_depth_m": 1.2099550936900212, + "inside_image": false + }, + { + "frame": 548, + "time_s": 137.6961317062378, + "pixel_uv": [ + -305.02708303496405, + 764.5968077417791 + ], + "expected_ground_depth_m": 1.212968014292755, + "inside_image": false + }, + { + "frame": 549, + "time_s": 137.92966985702515, + "pixel_uv": [ + -292.9182887030292, + 761.4816435756296 + ], + "expected_ground_depth_m": 1.2180121214861588, + "inside_image": false + }, + { + "frame": 550, + "time_s": 138.1965847015381, + "pixel_uv": [ + -274.9606461912671, + 755.5098558392953 + ], + "expected_ground_depth_m": 1.2277870481266648, + "inside_image": false + }, + { + "frame": 551, + "time_s": 138.39678049087524, + "pixel_uv": [ + -266.20704999338955, + 755.9985465169555 + ], + "expected_ground_depth_m": 1.2284074929190556, + "inside_image": false + }, + { + "frame": 552, + "time_s": 138.69708919525146, + "pixel_uv": [ + -250.4718473676342, + 753.7660977072901 + ], + "expected_ground_depth_m": 1.2328659278435268, + "inside_image": false + }, + { + "frame": 553, + "time_s": 138.93068385124207, + "pixel_uv": [ + -226.84177922348195, + 745.9626392325602 + ], + "expected_ground_depth_m": 1.2487595852133961, + "inside_image": false + }, + { + "frame": 554, + "time_s": 139.1976673603058, + "pixel_uv": [ + -194.54513671927063, + 731.3602826634626 + ], + "expected_ground_depth_m": 1.2755298302040612, + "inside_image": false + }, + { + "frame": 555, + "time_s": 139.39791750907898, + "pixel_uv": [ + -173.01254567086986, + 723.865866674016 + ], + "expected_ground_depth_m": 1.2905784943733143, + "inside_image": false + }, + { + "frame": 556, + "time_s": 139.66485595703125, + "pixel_uv": [ + -151.52269884361343, + 718.6491055059817 + ], + "expected_ground_depth_m": 1.3015258266899705, + "inside_image": false + }, + { + "frame": 557, + "time_s": 139.93251729011536, + "pixel_uv": [ + -147.37190515468944, + 724.2922816323629 + ], + "expected_ground_depth_m": 1.2907721246805544, + "inside_image": false + }, + { + "frame": 558, + "time_s": 140.20023441314697, + "pixel_uv": [ + -149.5213960125699, + 735.4889863264202 + ], + "expected_ground_depth_m": 1.2708231332341429, + "inside_image": false + }, + { + "frame": 559, + "time_s": 140.43453240394592, + "pixel_uv": [ + -150.15599784125448, + 742.0615355255579 + ], + "expected_ground_depth_m": 1.257448054474271, + "inside_image": false + }, + { + "frame": 560, + "time_s": 140.70231819152832, + "pixel_uv": [ + -152.31982984001237, + 752.2743310357863 + ], + "expected_ground_depth_m": 1.2387901330312228, + "inside_image": false + }, + { + "frame": 561, + "time_s": 140.90232372283936, + "pixel_uv": [ + -154.29974436707698, + 760.4461533791599 + ], + "expected_ground_depth_m": 1.224689024949753, + "inside_image": false + }, + { + "frame": 562, + "time_s": 141.20231890678406, + "pixel_uv": [ + -158.03972282724874, + 773.2523222280404 + ], + "expected_ground_depth_m": 1.2028314214809133, + "inside_image": false + }, + { + "frame": 563, + "time_s": 141.43563747406006, + "pixel_uv": [ + -160.68299281846245, + 783.6033312602025 + ], + "expected_ground_depth_m": 1.1859597098049537, + "inside_image": false + }, + { + "frame": 564, + "time_s": 141.70227813720703, + "pixel_uv": [ + -164.64840353880206, + 795.5907691652562 + ], + "expected_ground_depth_m": 1.1665124477163866, + "inside_image": false + }, + { + "frame": 565, + "time_s": 141.90228271484375, + "pixel_uv": [ + -168.14132868528208, + 806.1928867701272 + ], + "expected_ground_depth_m": 1.150784143307317, + "inside_image": false + }, + { + "frame": 566, + "time_s": 142.20227646827698, + "pixel_uv": [ + -172.33843841557447, + 818.7229355217443 + ], + "expected_ground_depth_m": 1.1301946739113633, + "inside_image": false + }, + { + "frame": 567, + "time_s": 142.40226316452026, + "pixel_uv": [ + -176.56128509480462, + 830.2918234635843 + ], + "expected_ground_depth_m": 1.114200261887017, + "inside_image": false + }, + { + "frame": 568, + "time_s": 142.70224165916443, + "pixel_uv": [ + -182.05044797242795, + 847.625221682262 + ], + "expected_ground_depth_m": 1.0906383532755453, + "inside_image": false + }, + { + "frame": 569, + "time_s": 142.93589091300964, + "pixel_uv": [ + -188.4925964275551, + 861.8735938570021 + ], + "expected_ground_depth_m": 1.0711107311885024, + "inside_image": false + }, + { + "frame": 570, + "time_s": 143.20294046401978, + "pixel_uv": [ + -194.7370938953007, + 876.3502052536062 + ], + "expected_ground_depth_m": 1.0515443482016407, + "inside_image": false + }, + { + "frame": 571, + "time_s": 143.4366283416748, + "pixel_uv": [ + -200.60079495914763, + 891.0200958779799 + ], + "expected_ground_depth_m": 1.033039773798067, + "inside_image": false + }, + { + "frame": 572, + "time_s": 143.7037115097046, + "pixel_uv": [ + -207.2633396950598, + 908.3576254167408 + ], + "expected_ground_depth_m": 1.01199930634214, + "inside_image": false + }, + { + "frame": 573, + "time_s": 143.93710446357727, + "pixel_uv": [ + -202.20560605982925, + 914.8759107298607 + ], + "expected_ground_depth_m": 1.0051512579900073, + "inside_image": false + }, + { + "frame": 574, + "time_s": 144.2038311958313, + "pixel_uv": [ + -190.50574454679773, + 914.5012345854168 + ], + "expected_ground_depth_m": 1.0052051210689035, + "inside_image": false + }, + { + "frame": 575, + "time_s": 144.43721055984497, + "pixel_uv": [ + -189.62363905273844, + 924.0700338802244 + ], + "expected_ground_depth_m": 0.9942120509029673, + "inside_image": false + }, + { + "frame": 576, + "time_s": 144.70392322540283, + "pixel_uv": [ + -188.3265776951476, + 936.0891102119153 + ], + "expected_ground_depth_m": 0.9813606605081051, + "inside_image": false + }, + { + "frame": 577, + "time_s": 144.93731570243835, + "pixel_uv": [ + -182.98167063675797, + 940.6557256039156 + ], + "expected_ground_depth_m": 0.9759356085581438, + "inside_image": false + }, + { + "frame": 578, + "time_s": 145.20404195785522, + "pixel_uv": [ + -179.67722252181431, + 950.242161515417 + ], + "expected_ground_depth_m": 0.9656005098375876, + "inside_image": false + }, + { + "frame": 579, + "time_s": 145.37074160575867, + "pixel_uv": [ + -174.85364545675415, + 951.3277779249617 + ], + "expected_ground_depth_m": 0.96444529562165, + "inside_image": false + }, + { + "frame": 580, + "time_s": 145.67079043388367, + "pixel_uv": [ + -164.30111653267784, + 948.5337002926616 + ], + "expected_ground_depth_m": 0.9681807374297178, + "inside_image": false + }, + { + "frame": 581, + "time_s": 145.87084197998047, + "pixel_uv": [ + -157.11859209805817, + 943.715445708043 + ], + "expected_ground_depth_m": 0.9735733495523472, + "inside_image": false + }, + { + "frame": 582, + "time_s": 146.2042510509491, + "pixel_uv": [ + -155.42660207999253, + 942.6911096492113 + ], + "expected_ground_depth_m": 0.9748279643134738, + "inside_image": false + }, + { + "frame": 583, + "time_s": 146.4042899608612, + "pixel_uv": [ + -154.83096400966696, + 941.0103789410904 + ], + "expected_ground_depth_m": 0.9761710466203071, + "inside_image": false + }, + { + "frame": 584, + "time_s": 146.70434093475342, + "pixel_uv": [ + -155.1663821075404, + 942.4832935318881 + ], + "expected_ground_depth_m": 0.9750614741078674, + "inside_image": false + }, + { + "frame": 585, + "time_s": 146.93772959709167, + "pixel_uv": [ + -154.42009901563586, + 940.4629724162165 + ], + "expected_ground_depth_m": 0.9766883322728007, + "inside_image": false + }, + { + "frame": 586, + "time_s": 147.20445132255554, + "pixel_uv": [ + -154.3082183029177, + 940.368674367263 + ], + "expected_ground_depth_m": 0.9767944734781586, + "inside_image": false + }, + { + "frame": 587, + "time_s": 147.43782591819763, + "pixel_uv": [ + -154.9363208953702, + 942.2976498657582 + ], + "expected_ground_depth_m": 0.9752701107480267, + "inside_image": false + }, + { + "frame": 588, + "time_s": 147.67119145393372, + "pixel_uv": [ + -154.85120304252467, + 942.2187423318387 + ], + "expected_ground_depth_m": 0.9753585327701857, + "inside_image": false + }, + { + "frame": 589, + "time_s": 147.93792295455933, + "pixel_uv": [ + -154.18840975186288, + 940.2624663567699 + ], + "expected_ground_depth_m": 0.976913907856731, + "inside_image": false + }, + { + "frame": 590, + "time_s": 148.2046456336975, + "pixel_uv": [ + -154.1652565377523, + 940.2466116845852 + ], + "expected_ground_depth_m": 0.9769318585579893, + "inside_image": false + }, + { + "frame": 591, + "time_s": 148.43802094459534, + "pixel_uv": [ + -150.24147765843378, + 928.0312838991889 + ], + "expected_ground_depth_m": 0.986619338316152, + "inside_image": false + }, + { + "frame": 592, + "time_s": 148.70472931861877, + "pixel_uv": [ + -139.49690816832597, + 893.8855230695693 + ], + "expected_ground_depth_m": 1.0141724566103811, + "inside_image": false + }, + { + "frame": 593, + "time_s": 148.9381194114685, + "pixel_uv": [ + -122.71778404503685, + 838.2317178507984 + ], + "expected_ground_depth_m": 1.0603655287993263, + "inside_image": false + }, + { + "frame": 594, + "time_s": 149.204843044281, + "pixel_uv": [ + -105.99397434829815, + 779.4294924212085 + ], + "expected_ground_depth_m": 1.1104222180476662, + "inside_image": false + }, + { + "frame": 595, + "time_s": 149.43821930885315, + "pixel_uv": [ + -91.54836020365025, + 724.6697058941378 + ], + "expected_ground_depth_m": 1.1573529892384464, + "inside_image": false + }, + { + "frame": 596, + "time_s": 149.67158889770508, + "pixel_uv": [ + -80.59982376632173, + 679.5942145983922 + ], + "expected_ground_depth_m": 1.1954532312786503, + "inside_image": false + }, + { + "frame": 597, + "time_s": 149.93884825706482, + "pixel_uv": [ + -69.75259728354472, + 630.4824768988827 + ], + "expected_ground_depth_m": 1.2354902693412497, + "inside_image": false + }, + { + "frame": 598, + "time_s": 150.20624589920044, + "pixel_uv": [ + -61.20393762904019, + 587.6307363149414 + ], + "expected_ground_depth_m": 1.268378639838443, + "inside_image": false + }, + { + "frame": 599, + "time_s": 150.44025254249573, + "pixel_uv": [ + -53.426708357866666, + 543.2511588927019 + ], + "expected_ground_depth_m": 1.2994291591403062, + "inside_image": false + }, + { + "frame": 600, + "time_s": 150.67429089546204, + "pixel_uv": [ + -48.06120879396159, + 507.78406808161577 + ], + "expected_ground_depth_m": 1.3213705276531114, + "inside_image": false + }, + { + "frame": 601, + "time_s": 150.94117259979248, + "pixel_uv": [ + -43.55607038032659, + 473.04109128659184 + ], + "expected_ground_depth_m": 1.3398833223733542, + "inside_image": false + }, + { + "frame": 602, + "time_s": 151.20793175697327, + "pixel_uv": [ + -40.87445800188213, + 449.039607098018 + ], + "expected_ground_depth_m": 1.350723992869482, + "inside_image": false + }, + { + "frame": 603, + "time_s": 151.44134092330933, + "pixel_uv": [ + -40.378544640860476, + 444.0856429196629 + ], + "expected_ground_depth_m": 1.352747523234827, + "inside_image": false + }, + { + "frame": 604, + "time_s": 151.70808744430542, + "pixel_uv": [ + -40.36486636236983, + 444.0737971941195 + ], + "expected_ground_depth_m": 1.3527628522727997, + "inside_image": false + }, + { + "frame": 605, + "time_s": 151.90816497802734, + "pixel_uv": [ + -40.34686240742758, + 444.06765369113464 + ], + "expected_ground_depth_m": 1.352771083247863, + "inside_image": false + }, + { + "frame": 606, + "time_s": 152.20827507972717, + "pixel_uv": [ + -40.34933555296068, + 444.06443399985653 + ], + "expected_ground_depth_m": 1.3527750904803248, + "inside_image": false + }, + { + "frame": 607, + "time_s": 152.44168901443481, + "pixel_uv": [ + -40.357616549736434, + 444.0785724104111 + ], + "expected_ground_depth_m": 1.3527570013332337, + "inside_image": false + }, + { + "frame": 608, + "time_s": 152.70844197273254, + "pixel_uv": [ + -40.36983741548763, + 444.0788346099551 + ], + "expected_ground_depth_m": 1.3527563552944795, + "inside_image": false + }, + { + "frame": 609, + "time_s": 152.9085168838501, + "pixel_uv": [ + -40.360196436319576, + 444.07876902651435 + ], + "expected_ground_depth_m": 1.352756686344709, + "inside_image": false + }, + { + "frame": 610, + "time_s": 153.20862317085266, + "pixel_uv": [ + -40.353995294361376, + 444.0721849700964 + ], + "expected_ground_depth_m": 1.3527651704877632, + "inside_image": false + }, + { + "frame": 611, + "time_s": 153.4420337677002, + "pixel_uv": [ + -40.36260994294635, + 444.0806629008883 + ], + "expected_ground_depth_m": 1.3527542297300998, + "inside_image": false + }, + { + "frame": 612, + "time_s": 153.70878267288208, + "pixel_uv": [ + -40.34335683852998, + 444.06115691813744 + ], + "expected_ground_depth_m": 1.3527793878333307, + "inside_image": false + }, + { + "frame": 613, + "time_s": 153.9422013759613, + "pixel_uv": [ + -40.33320209659449, + 444.05420908976464 + ], + "expected_ground_depth_m": 1.3527884339730285, + "inside_image": false + }, + { + "frame": 614, + "time_s": 154.17561554908752, + "pixel_uv": [ + -39.90926996320275, + 443.70734539763106 + ], + "expected_ground_depth_m": 1.3532288350529569, + "inside_image": false + }, + { + "frame": 615, + "time_s": 154.44236826896667, + "pixel_uv": [ + -35.77584105783819, + 440.35001675874497 + ], + "expected_ground_depth_m": 1.3575151477640213, + "inside_image": false + }, + { + "frame": 616, + "time_s": 154.70911502838135, + "pixel_uv": [ + -21.889666893674647, + 429.59919039584446 + ], + "expected_ground_depth_m": 1.371453513306263, + "inside_image": false + }, + { + "frame": 617, + "time_s": 154.94253540039062, + "pixel_uv": [ + 1.3882602649895852, + 413.3424893059249 + ], + "expected_ground_depth_m": 1.393179431160137, + "inside_image": false + }, + { + "frame": 618, + "time_s": 155.2092957496643, + "pixel_uv": [ + 27.957402443239165, + 397.27161037947394 + ], + "expected_ground_depth_m": 1.415505338483753, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01823952987447086, + "min_height_m": -0.02089057501341851, + "max_height_m": -0.013832180125233684, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.436 + }, + { + "frame": 619, + "time_s": 155.44270586967468, + "pixel_uv": [ + 49.885390909065485, + 385.86308955689054 + ], + "expected_ground_depth_m": 1.431932872192406, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.010215029349695426, + "min_height_m": -0.013960532680524995, + "max_height_m": -0.007674405828420161, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.443 + }, + { + "frame": 620, + "time_s": 155.709454536438, + "pixel_uv": [ + 76.82185435307065, + 373.9916881048658 + ], + "expected_ground_depth_m": 1.4496312736995878, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02573976064649708, + "min_height_m": -0.0291490101177041, + "max_height_m": -0.021826704022742227, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.481 + }, + { + "frame": 621, + "time_s": 155.94318771362305, + "pixel_uv": [ + 101.95969164750858, + 364.93796266772017 + ], + "expected_ground_depth_m": 1.463646319573039, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.019187971158059147, + "min_height_m": -0.023669429570030154, + "max_height_m": -0.013141044873606456, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.484 + }, + { + "frame": 622, + "time_s": 156.2103397846222, + "pixel_uv": [ + 117.47753096943426, + 360.2859346407921 + ], + "expected_ground_depth_m": 1.47107945560265, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02261858802430794, + "min_height_m": -0.025292646071291003, + "max_height_m": -0.020041572678424657, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 623, + "time_s": 156.4441225528717, + "pixel_uv": [ + 123.83686546553372, + 358.58126828937407 + ], + "expected_ground_depth_m": 1.4738549796101235, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.020324012683862636, + "min_height_m": -0.02511415241814774, + "max_height_m": -0.015187530529947146, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 624, + "time_s": 156.71133017539978, + "pixel_uv": [ + 125.2453297850742, + 358.22239428754244 + ], + "expected_ground_depth_m": 1.4744437457503325, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.019693117530162674, + "min_height_m": -0.025189435102885183, + "max_height_m": -0.013831473553596707, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.499 + }, + { + "frame": 625, + "time_s": 156.94480419158936, + "pixel_uv": [ + 125.2551492918152, + 358.2167360554245 + ], + "expected_ground_depth_m": 1.4744528060970645, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.015061559213531694, + "min_height_m": -0.019201546535897007, + "max_height_m": -0.01097090400799905, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.492 + }, + { + "frame": 626, + "time_s": 157.17827677726746, + "pixel_uv": [ + 125.22660607001235, + 358.22784167859527 + ], + "expected_ground_depth_m": 1.4744345060836046, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01906596795122284, + "min_height_m": -0.023117036299785232, + "max_height_m": -0.016349858132215456, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 627, + "time_s": 157.34504199028015, + "pixel_uv": [ + 125.27726445618714, + 358.2105959868556 + ], + "expected_ground_depth_m": 1.474463277292398, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02030044458548308, + "min_height_m": -0.022664312371547313, + "max_height_m": -0.016201564201923313, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.499 + }, + { + "frame": 628, + "time_s": 157.71192288398743, + "pixel_uv": [ + 125.25032123070858, + 358.2191890683556 + ], + "expected_ground_depth_m": 1.4744488463033505, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.019990498936860668, + "min_height_m": -0.025139871535101666, + "max_height_m": -0.017068867663258658, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.499 + }, + { + "frame": 629, + "time_s": 157.94539785385132, + "pixel_uv": [ + 125.30293086633976, + 358.2040192794552 + ], + "expected_ground_depth_m": 1.474474603651273, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01649088710448665, + "min_height_m": -0.01920154653589745, + "max_height_m": -0.01358431700311069, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 630, + "time_s": 158.17887139320374, + "pixel_uv": [ + 125.25652109627472, + 358.21838863541575 + ], + "expected_ground_depth_m": 1.4744503963381483, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02122827851863862, + "min_height_m": -0.025139871535102554, + "max_height_m": -0.019065967951223284, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.499 + }, + { + "frame": 631, + "time_s": 158.4456968307495, + "pixel_uv": [ + 125.26275340287629, + 358.2166734517454 + ], + "expected_ground_depth_m": 1.4744533244113067, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02321662633725108, + "min_height_m": -0.027769437306473632, + "max_height_m": -0.019781606180464317, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.502 + }, + { + "frame": 632, + "time_s": 158.7125210762024, + "pixel_uv": [ + 125.27196064950789, + 358.21543853368104 + ], + "expected_ground_depth_m": 1.4744556958734243, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01762422229444449, + "min_height_m": -0.021831509080327383, + "max_height_m": -0.01358431700311069, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 633, + "time_s": 158.91264176368713, + "pixel_uv": [ + 125.27946317524813, + 358.2085316465343 + ], + "expected_ground_depth_m": 1.4744665057441875, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01777221864494294, + "min_height_m": -0.02504074439953574, + "max_height_m": -0.013732610933402167, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 634, + "time_s": 159.21282148361206, + "pixel_uv": [ + 125.0318992572185, + 358.27741504459317 + ], + "expected_ground_depth_m": 1.4743542493761894, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02049348625824776, + "min_height_m": -0.025135313364676115, + "max_height_m": -0.013826768721840077, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.499 + }, + { + "frame": 635, + "time_s": 159.4462926387787, + "pixel_uv": [ + 111.69103749679903, + 361.93814716587394 + ], + "expected_ground_depth_m": 1.4684183531897634, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02200004732799221, + "min_height_m": -0.024899346302821757, + "max_height_m": -0.019253872410330608, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.492 + }, + { + "frame": 636, + "time_s": 159.71311497688293, + "pixel_uv": [ + 92.76895496513933, + 368.0268629765101 + ], + "expected_ground_depth_m": 1.4588053787027198, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.011288616292150389, + "min_height_m": -0.018374503739977843, + "max_height_m": -0.002127660290025979, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.474 + }, + { + "frame": 637, + "time_s": 159.9465901851654, + "pixel_uv": [ + 70.7461953759196, + 376.4682823434366 + ], + "expected_ground_depth_m": 1.445882315331515, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.022266367068608295, + "min_height_m": -0.026982848743276167, + "max_height_m": -0.019560762869353265, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.47 + }, + { + "frame": 638, + "time_s": 160.1800639629364, + "pixel_uv": [ + 44.668007214777084, + 388.4297472948543 + ], + "expected_ground_depth_m": 1.4281918584635798, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01686708299189532, + "min_height_m": -0.019484006508599494, + "max_height_m": -0.015118317754024835, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.45 + }, + { + "frame": 639, + "time_s": 160.44688963890076, + "pixel_uv": [ + 16.089594677917507, + 404.1374870896022 + ], + "expected_ground_depth_m": 1.4058574430693884, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.025953017301026282, + "min_height_m": -0.03139929094761995, + "max_height_m": -0.02077560156038527, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.433 + }, + { + "frame": 640, + "time_s": 160.7137131690979, + "pixel_uv": [ + -10.229627767488779, + 421.195081887638 + ], + "expected_ground_depth_m": 1.3825842150410783, + "inside_image": false + }, + { + "frame": 641, + "time_s": 160.94718861579895, + "pixel_uv": [ + -33.03837281650302, + 438.1662155600967 + ], + "expected_ground_depth_m": 1.3603211595629663, + "inside_image": false + }, + { + "frame": 642, + "time_s": 161.11395597457886, + "pixel_uv": [ + -51.258254641612716, + 453.32120844155094 + ], + "expected_ground_depth_m": 1.3411240033611602, + "inside_image": false + }, + { + "frame": 643, + "time_s": 161.44748878479004, + "pixel_uv": [ + -85.2074840725561, + 485.8213194670692 + ], + "expected_ground_depth_m": 1.3019240350176424, + "inside_image": false + }, + { + "frame": 644, + "time_s": 161.71431279182434, + "pixel_uv": [ + -109.82517847538477, + 513.4234022656915 + ], + "expected_ground_depth_m": 1.2705397168246721, + "inside_image": false + }, + { + "frame": 645, + "time_s": 161.9477882385254, + "pixel_uv": [ + -130.33164819650574, + 539.5085256655872 + ], + "expected_ground_depth_m": 1.242335557439594, + "inside_image": false + }, + { + "frame": 646, + "time_s": 162.21461582183838, + "pixel_uv": [ + -152.8302371004052, + 572.058127133583 + ], + "expected_ground_depth_m": 1.2089518948771036, + "inside_image": false + }, + { + "frame": 647, + "time_s": 162.44808840751648, + "pixel_uv": [ + -174.54960157175293, + 608.3819112814458 + ], + "expected_ground_depth_m": 1.173857799690464, + "inside_image": false + }, + { + "frame": 648, + "time_s": 162.71491241455078, + "pixel_uv": [ + -193.5240564150708, + 645.2982217126229 + ], + "expected_ground_depth_m": 1.1403097867029584, + "inside_image": false + }, + { + "frame": 649, + "time_s": 162.915034532547, + "pixel_uv": [ + -204.34206506201102, + 669.223275141787 + ], + "expected_ground_depth_m": 1.119614651166745, + "inside_image": false + }, + { + "frame": 650, + "time_s": 163.21521592140198, + "pixel_uv": [ + -212.03753872600703, + 687.8622969060632 + ], + "expected_ground_depth_m": 1.104024882007321, + "inside_image": false + }, + { + "frame": 651, + "time_s": 163.44868874549866, + "pixel_uv": [ + -214.04372258828857, + 692.9731060537446 + ], + "expected_ground_depth_m": 1.099828734607147, + "inside_image": false + }, + { + "frame": 652, + "time_s": 163.68216013908386, + "pixel_uv": [ + -214.83285719639144, + 695.0203571441023 + ], + "expected_ground_depth_m": 1.0981570857901568, + "inside_image": false + }, + { + "frame": 653, + "time_s": 163.9489872455597, + "pixel_uv": [ + -214.8303872834807, + 695.0335691035117 + ], + "expected_ground_depth_m": 1.0981462157772355, + "inside_image": false + }, + { + "frame": 654, + "time_s": 164.2158133983612, + "pixel_uv": [ + -214.82494588645451, + 695.0110240202613 + ], + "expected_ground_depth_m": 1.0981648012237635, + "inside_image": false + }, + { + "frame": 655, + "time_s": 164.44928455352783, + "pixel_uv": [ + -214.81948051871908, + 694.9927357524949 + ], + "expected_ground_depth_m": 1.098179881931195, + "inside_image": false + }, + { + "frame": 656, + "time_s": 164.71610689163208, + "pixel_uv": [ + -214.8341350297577, + 695.0243608324091 + ], + "expected_ground_depth_m": 1.0981537840982, + "inside_image": false + }, + { + "frame": 657, + "time_s": 164.882874250412, + "pixel_uv": [ + -214.81608851028204, + 694.9880226652555 + ], + "expected_ground_depth_m": 1.0981837759735509, + "inside_image": false + }, + { + "frame": 658, + "time_s": 165.1830542087555, + "pixel_uv": [ + -214.81986416299665, + 694.9861412675598 + ], + "expected_ground_depth_m": 1.098185311001952, + "inside_image": false + }, + { + "frame": 659, + "time_s": 165.44987845420837, + "pixel_uv": [ + -214.8329456761326, + 695.0366910978153 + ], + "expected_ground_depth_m": 1.0981436353199725, + "inside_image": false + }, + { + "frame": 660, + "time_s": 165.7166986465454, + "pixel_uv": [ + -214.82860686545808, + 695.0295163003535 + ], + "expected_ground_depth_m": 1.0981495597702073, + "inside_image": false + }, + { + "frame": 661, + "time_s": 165.95030975341797, + "pixel_uv": [ + -214.81693584644043, + 694.9894885368219 + ], + "expected_ground_depth_m": 1.0981825656259736, + "inside_image": false + }, + { + "frame": 662, + "time_s": 166.2173068523407, + "pixel_uv": [ + -214.819176339883, + 694.9960697830969 + ], + "expected_ground_depth_m": 1.098177137546895, + "inside_image": false + }, + { + "frame": 663, + "time_s": 166.41756391525269, + "pixel_uv": [ + -214.81983448075462, + 694.9968847398632 + ], + "expected_ground_depth_m": 1.0981764639490692, + "inside_image": false + }, + { + "frame": 664, + "time_s": 166.7179663181305, + "pixel_uv": [ + -215.78311445773608, + 697.7662410318293 + ], + "expected_ground_depth_m": 1.095978845849921, + "inside_image": false + }, + { + "frame": 665, + "time_s": 166.91810822486877, + "pixel_uv": [ + -227.05643742003087, + 730.4124703501216 + ], + "expected_ground_depth_m": 1.0701588789080012, + "inside_image": false + }, + { + "frame": 666, + "time_s": 167.21832060813904, + "pixel_uv": [ + -253.11882000443796, + 800.1067775759133 + ], + "expected_ground_depth_m": 1.014641621274787, + "inside_image": false + }, + { + "frame": 667, + "time_s": 167.45181918144226, + "pixel_uv": [ + -273.5324642578159, + 850.6690841350107 + ], + "expected_ground_depth_m": 0.9748616643921441, + "inside_image": false + }, + { + "frame": 668, + "time_s": 167.71865367889404, + "pixel_uv": [ + -302.2828948318462, + 917.730317941555 + ], + "expected_ground_depth_m": 0.9236953052639157, + "inside_image": false + }, + { + "frame": 669, + "time_s": 167.9525306224823, + "pixel_uv": [ + -336.18822888729585, + 992.3027686035471 + ], + "expected_ground_depth_m": 0.8697293294448429, + "inside_image": false + }, + { + "frame": 670, + "time_s": 168.21983933448792, + "pixel_uv": [ + -381.5952562175007, + 1086.909643250402 + ], + "expected_ground_depth_m": 0.8064635634756516, + "inside_image": false + }, + { + "frame": 671, + "time_s": 168.45375227928162, + "pixel_uv": [ + -423.2475915369959, + 1169.9328949196251 + ], + "expected_ground_depth_m": 0.7559289700294879, + "inside_image": false + }, + { + "frame": 672, + "time_s": 168.72112798690796, + "pixel_uv": [ + -487.7589829144459, + 1293.5947992398117 + ], + "expected_ground_depth_m": 0.6889621321914079, + "inside_image": false + }, + { + "frame": 673, + "time_s": 168.95458912849426, + "pixel_uv": [ + -566.8768372555402, + 1439.6576384742784 + ], + "expected_ground_depth_m": 0.6213567345875937, + "inside_image": false + }, + { + "frame": 674, + "time_s": 169.22139954566956, + "pixel_uv": [ + -642.0986609823299, + 1574.6419974295948 + ], + "expected_ground_depth_m": 0.5682841032920483, + "inside_image": false + }, + { + "frame": 675, + "time_s": 169.45485591888428, + "pixel_uv": [ + -667.8895021861937, + 1620.2706243003045 + ], + "expected_ground_depth_m": 0.5521064411724284, + "inside_image": false + }, + { + "frame": 676, + "time_s": 169.7216601371765, + "pixel_uv": [ + -673.8818323151826, + 1630.8365837111962 + ], + "expected_ground_depth_m": 0.5484760717613661, + "inside_image": false + }, + { + "frame": 677, + "time_s": 169.95512056350708, + "pixel_uv": [ + -673.8015001120648, + 1630.6941515998383 + ], + "expected_ground_depth_m": 0.5485253970966426, + "inside_image": false + }, + { + "frame": 678, + "time_s": 170.2219295501709, + "pixel_uv": [ + -673.8622903067753, + 1630.7978538577436 + ], + "expected_ground_depth_m": 0.5484894743791624, + "inside_image": false + }, + { + "frame": 679, + "time_s": 170.42203426361084, + "pixel_uv": [ + -673.8629902958218, + 1630.8031081016918 + ], + "expected_ground_depth_m": 0.5484876636757638, + "inside_image": false + }, + { + "frame": 680, + "time_s": 170.68883800506592, + "pixel_uv": [ + -673.8649601394136, + 1630.8077477217093 + ], + "expected_ground_depth_m": 0.5484860595363767, + "inside_image": false + }, + { + "frame": 681, + "time_s": 170.95564937591553, + "pixel_uv": [ + -673.8704099165797, + 1630.8101778705336 + ], + "expected_ground_depth_m": 0.5484852021424688, + "inside_image": false + }, + { + "frame": 682, + "time_s": 171.18910884857178, + "pixel_uv": [ + -673.8477705223268, + 1630.7732746878805 + ], + "expected_ground_depth_m": 0.5484979886722114, + "inside_image": false + }, + { + "frame": 683, + "time_s": 171.45591711997986, + "pixel_uv": [ + -675.6937957885424, + 1633.8949566170563 + ], + "expected_ground_depth_m": 0.5474224143697031, + "inside_image": false + }, + { + "frame": 684, + "time_s": 171.68937182426453, + "pixel_uv": [ + -674.5701660449724, + 1632.0049674538768 + ], + "expected_ground_depth_m": 0.5480731479636622, + "inside_image": false + }, + { + "frame": 685, + "time_s": 171.95618677139282, + "pixel_uv": [ + -675.6695317488252, + 1633.8418840313357 + ], + "expected_ground_depth_m": 0.5474406999806603, + "inside_image": false + }, + { + "frame": 686, + "time_s": 172.22300148010254, + "pixel_uv": [ + -667.3969186389404, + 1619.886003669436 + ], + "expected_ground_depth_m": 0.5522828415801553, + "inside_image": false + }, + { + "frame": 687, + "time_s": 172.4564619064331, + "pixel_uv": [ + -623.8060965688371, + 1547.4980732275844 + ], + "expected_ground_depth_m": 0.5788464365163994, + "inside_image": false + }, + { + "frame": 688, + "time_s": 172.72327136993408, + "pixel_uv": [ + -552.3537681310062, + 1433.370943918459 + ], + "expected_ground_depth_m": 0.6263774195262514, + "inside_image": false + }, + { + "frame": 689, + "time_s": 172.9567322731018, + "pixel_uv": [ + -476.84398423280106, + 1319.5225062900186 + ], + "expected_ground_depth_m": 0.68232593659735, + "inside_image": false + }, + { + "frame": 690, + "time_s": 173.22354197502136, + "pixel_uv": [ + -406.10851624408195, + 1219.9107773645994 + ], + "expected_ground_depth_m": 0.7402528746423145, + "inside_image": false + }, + { + "frame": 691, + "time_s": 173.4569981098175, + "pixel_uv": [ + -343.0073928925121, + 1137.40209207285 + ], + "expected_ground_depth_m": 0.7963353972348055, + "inside_image": false + }, + { + "frame": 692, + "time_s": 173.72380185127258, + "pixel_uv": [ + -282.89350309026855, + 1064.9060528493192 + ], + "expected_ground_depth_m": 0.8532346139686123, + "inside_image": false + }, + { + "frame": 693, + "time_s": 173.9239113330841, + "pixel_uv": [ + -239.04491391180537, + 1016.082736463969 + ], + "expected_ground_depth_m": 0.8964533768378563, + "inside_image": false + }, + { + "frame": 694, + "time_s": 174.22407221794128, + "pixel_uv": [ + -181.56669220795635, + 957.6501466117223 + ], + "expected_ground_depth_m": 0.9544512554864484, + "inside_image": false + }, + { + "frame": 695, + "time_s": 174.39082670211792, + "pixel_uv": [ + -149.39988562633494, + 927.8704030655562 + ], + "expected_ground_depth_m": 0.9870837568402419, + "inside_image": false + }, + { + "frame": 696, + "time_s": 174.72433185577393, + "pixel_uv": [ + -92.742266426882, + 880.7936906358182 + ], + "expected_ground_depth_m": 1.0436835125267616, + "inside_image": false + }, + { + "frame": 697, + "time_s": 174.95779275894165, + "pixel_uv": [ + -61.210560191370575, + 857.7144486972132 + ], + "expected_ground_depth_m": 1.0740090936042714, + "inside_image": false + }, + { + "frame": 698, + "time_s": 175.2246024608612, + "pixel_uv": [ + -18.456526256302727, + 830.1260731580878 + ], + "expected_ground_depth_m": 1.1128547949914385, + "inside_image": false + }, + { + "frame": 699, + "time_s": 175.45805859565735, + "pixel_uv": [ + 14.454825383888812, + 811.9044798087682 + ], + "expected_ground_depth_m": 1.140283774703814, + "inside_image": false + }, + { + "frame": 700, + "time_s": 175.724862575531, + "pixel_uv": [ + 50.67776103222475, + 794.9842837825838 + ], + "expected_ground_depth_m": 1.1672388351459602, + "inside_image": false + }, + { + "frame": 701, + "time_s": 175.95832324028015, + "pixel_uv": [ + 73.17508391402667, + 786.1644223719725 + ], + "expected_ground_depth_m": 1.1819618170588166, + "inside_image": false + }, + { + "frame": 702, + "time_s": 176.1917815208435, + "pixel_uv": [ + 86.86334757889415, + 781.4434843998463 + ], + "expected_ground_depth_m": 1.1900701825134083, + "inside_image": false + }, + { + "frame": 703, + "time_s": 176.4585883617401, + "pixel_uv": [ + 91.91649264638842, + 779.8257896610716 + ], + "expected_ground_depth_m": 1.1928909134399888, + "inside_image": false + }, + { + "frame": 704, + "time_s": 176.7253439426422, + "pixel_uv": [ + 91.93098486150845, + 779.8218150995627 + ], + "expected_ground_depth_m": 1.1928981255874516, + "inside_image": false + }, + { + "frame": 705, + "time_s": 176.95935988426208, + "pixel_uv": [ + 91.94890931483276, + 779.8133730808296 + ], + "expected_ground_depth_m": 1.192912804796935, + "inside_image": false + }, + { + "frame": 706, + "time_s": 177.22683358192444, + "pixel_uv": [ + 91.92619364558917, + 779.825504162746 + ], + "expected_ground_depth_m": 1.1928918624006122, + "inside_image": false + }, + { + "frame": 707, + "time_s": 177.46089720726013, + "pixel_uv": [ + 91.90639517438811, + 779.8306871300191 + ], + "expected_ground_depth_m": 1.1928824128367166, + "inside_image": false + }, + { + "frame": 708, + "time_s": 177.7284858226776, + "pixel_uv": [ + 91.90313431962542, + 779.8310352447929 + ], + "expected_ground_depth_m": 1.1928816820751558, + "inside_image": false + }, + { + "frame": 709, + "time_s": 177.9952368736267, + "pixel_uv": [ + 91.9069620769447, + 779.8293372849187 + ], + "expected_ground_depth_m": 1.1928846454979367, + "inside_image": false + }, + { + "frame": 710, + "time_s": 178.22863793373108, + "pixel_uv": [ + 91.90760594325366, + 779.8302133580264 + ], + "expected_ground_depth_m": 1.1928832468050405, + "inside_image": false + }, + { + "frame": 711, + "time_s": 178.4953751564026, + "pixel_uv": [ + 91.94958759138274, + 779.8174948760495 + ], + "expected_ground_depth_m": 1.1929061068853062, + "inside_image": false + }, + { + "frame": 712, + "time_s": 178.72869753837585, + "pixel_uv": [ + 91.91682159898633, + 779.8253424371592 + ], + "expected_ground_depth_m": 1.192891660186048, + "inside_image": false + }, + { + "frame": 713, + "time_s": 178.96265506744385, + "pixel_uv": [ + 91.91046679115112, + 779.8309290761116 + ], + "expected_ground_depth_m": 1.1928822203040248, + "inside_image": false + }, + { + "frame": 714, + "time_s": 179.1966314315796, + "pixel_uv": [ + 91.92896320715995, + 779.8195777972679 + ], + "expected_ground_depth_m": 1.1929016788669697, + "inside_image": false + }, + { + "frame": 715, + "time_s": 179.49748587608337, + "pixel_uv": [ + 91.31806472362861, + 780.0191193030121 + ], + "expected_ground_depth_m": 1.1925535191918353, + "inside_image": false + }, + { + "frame": 716, + "time_s": 179.73150539398193, + "pixel_uv": [ + 74.42833566006627, + 785.7109646073219 + ], + "expected_ground_depth_m": 1.1827330392006326, + "inside_image": false + }, + { + "frame": 717, + "time_s": 179.99883842468262, + "pixel_uv": [ + 52.87083595533183, + 794.0692719452445 + ], + "expected_ground_depth_m": 1.1687428190134053, + "inside_image": false + }, + { + "frame": 718, + "time_s": 180.23277139663696, + "pixel_uv": [ + 22.070457417148223, + 808.0753533166613 + ], + "expected_ground_depth_m": 1.1462500414174213, + "inside_image": false + }, + { + "frame": 719, + "time_s": 180.46672105789185, + "pixel_uv": [ + -10.246782727950755, + 825.3341695081136 + ], + "expected_ground_depth_m": 1.1199218705353005, + "inside_image": false + }, + { + "frame": 720, + "time_s": 180.7341113090515, + "pixel_uv": [ + -50.50823776949685, + 850.4018119936521 + ], + "expected_ground_depth_m": 1.08401532128923, + "inside_image": false + }, + { + "frame": 721, + "time_s": 180.9675269126892, + "pixel_uv": [ + -88.41610424862029, + 877.4949542059787 + ], + "expected_ground_depth_m": 1.0479064178850328, + "inside_image": false + }, + { + "frame": 722, + "time_s": 181.23414206504822, + "pixel_uv": [ + -119.90635208107862, + 902.4852984755323 + ], + "expected_ground_depth_m": 1.0167835382348904, + "inside_image": false + }, + { + "frame": 723, + "time_s": 181.500741481781, + "pixel_uv": [ + -143.5266578598251, + 922.6663228677107 + ], + "expected_ground_depth_m": 0.9930248136685549, + "inside_image": false + }, + { + "frame": 724, + "time_s": 181.70068097114563, + "pixel_uv": [ + -148.3923613334753, + 926.9784833413186 + ], + "expected_ground_depth_m": 0.9880967692493021, + "inside_image": false + }, + { + "frame": 725, + "time_s": 182.00115442276, + "pixel_uv": [ + -148.57639105995307, + 927.1321213796145 + ], + "expected_ground_depth_m": 0.9879221546434435, + "inside_image": false + }, + { + "frame": 726, + "time_s": 182.20161271095276, + "pixel_uv": [ + -148.5732787571996, + 927.1273296977301 + ], + "expected_ground_depth_m": 0.987927592367372, + "inside_image": false + }, + { + "frame": 727, + "time_s": 182.5023181438446, + "pixel_uv": [ + -148.59313338137662, + 927.1532981232427 + ], + "expected_ground_depth_m": 0.9878980544816344, + "inside_image": false + }, + { + "frame": 728, + "time_s": 182.7362141609192, + "pixel_uv": [ + -148.57231472409157, + 927.1379947367946 + ], + "expected_ground_depth_m": 0.9879156716556148, + "inside_image": false + }, + { + "frame": 729, + "time_s": 183.00291919708252, + "pixel_uv": [ + -148.62404968940115, + 927.1782317280113 + ], + "expected_ground_depth_m": 0.9878694217224757, + "inside_image": false + }, + { + "frame": 730, + "time_s": 183.2361490726471, + "pixel_uv": [ + -148.58592675879893, + 927.1481885764953 + ], + "expected_ground_depth_m": 0.9879039423945397, + "inside_image": false + }, + { + "frame": 731, + "time_s": 183.50267910957336, + "pixel_uv": [ + -148.5862870865803, + 927.1485279950242 + ], + "expected_ground_depth_m": 0.9879035540013763, + "inside_image": false + }, + { + "frame": 732, + "time_s": 183.73587656021118, + "pixel_uv": [ + -148.58301390863573, + 927.1419967591067 + ], + "expected_ground_depth_m": 0.9879109431826163, + "inside_image": false + }, + { + "frame": 733, + "time_s": 184.00312423706055, + "pixel_uv": [ + -148.59751274914188, + 927.1566440987873 + ], + "expected_ground_depth_m": 0.9878942066783221, + "inside_image": false + }, + { + "frame": 734, + "time_s": 184.23716068267822, + "pixel_uv": [ + -148.55291349635837, + 927.1171573770873 + ], + "expected_ground_depth_m": 0.9879394539963466, + "inside_image": false + }, + { + "frame": 735, + "time_s": 184.5046648979187, + "pixel_uv": [ + -148.60816619286987, + 927.161946577058 + ], + "expected_ground_depth_m": 0.9878880232818181, + "inside_image": false + }, + { + "frame": 736, + "time_s": 184.73876118659973, + "pixel_uv": [ + -148.56869254973853, + 927.1470252599631 + ], + "expected_ground_depth_m": 0.9879056429003328, + "inside_image": false + }, + { + "frame": 737, + "time_s": 185.00601506233215, + "pixel_uv": [ + -147.70950007463054, + 928.5538399620874 + ], + "expected_ground_depth_m": 0.986352588323736, + "inside_image": false + }, + { + "frame": 738, + "time_s": 185.20640349388123, + "pixel_uv": [ + -148.7551420469471, + 934.6656276235848 + ], + "expected_ground_depth_m": 0.979553317566948, + "inside_image": false + }, + { + "frame": 739, + "time_s": 185.5069968700409, + "pixel_uv": [ + -153.72154077709806, + 950.7069655563116 + ], + "expected_ground_depth_m": 0.9620968933556128, + "inside_image": false + }, + { + "frame": 740, + "time_s": 185.7073998451233, + "pixel_uv": [ + -149.24361495129878, + 956.4358964803606 + ], + "expected_ground_depth_m": 0.9561475755438595, + "inside_image": false + }, + { + "frame": 741, + "time_s": 186.00746846199036, + "pixel_uv": [ + -141.36793344282606, + 966.5646119907266 + ], + "expected_ground_depth_m": 0.9468614631703417, + "inside_image": false + }, + { + "frame": 742, + "time_s": 186.2406198978424, + "pixel_uv": [ + -133.1649089964459, + 970.3880928076971 + ], + "expected_ground_depth_m": 0.9426050613615772, + "inside_image": false + }, + { + "frame": 743, + "time_s": 186.50705480575562, + "pixel_uv": [ + -123.66685612795827, + 976.9996307902087 + ], + "expected_ground_depth_m": 0.9366313775480349, + "inside_image": false + }, + { + "frame": 744, + "time_s": 186.7401638031006, + "pixel_uv": [ + -118.55760690363438, + 983.8473556551442 + ], + "expected_ground_depth_m": 0.9298458045111537, + "inside_image": false + }, + { + "frame": 745, + "time_s": 187.00708031654358, + "pixel_uv": [ + -108.50917656003253, + 984.5777080068777 + ], + "expected_ground_depth_m": 0.9293655468967909, + "inside_image": false + }, + { + "frame": 746, + "time_s": 187.24079704284668, + "pixel_uv": [ + -101.84809272272248, + 982.8362393599681 + ], + "expected_ground_depth_m": 0.9312335812421143, + "inside_image": false + }, + { + "frame": 747, + "time_s": 187.50790691375732, + "pixel_uv": [ + -92.24348723995686, + 975.6239939028961 + ], + "expected_ground_depth_m": 0.938675195501837, + "inside_image": false + } + ], + "column_free_space": { + "method": "Measured depth exceeds expected optical depth by >8 cm at projected column samples; only finite recorded depth between 0.1 and 10 m is used.", + "samples": [ + { + "height_m": 0.12, + "free_frames": [ + 618, + 619, + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637, + 638, + 639 + ], + "surface_frames": [] + }, + { + "height_m": 0.24, + "free_frames": [ + 619, + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637, + 638 + ], + "surface_frames": [] + }, + { + "height_m": 0.36, + "free_frames": [ + 619, + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637 + ], + "surface_frames": [] + }, + { + "height_m": 0.48, + "free_frames": [ + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637, + 700, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716, + 717 + ], + "surface_frames": [] + }, + { + "height_m": 0.6, + "free_frames": [ + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 700, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716, + 717 + ], + "surface_frames": [] + }, + { + "height_m": 0.72, + "free_frames": [ + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 700, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716, + 717 + ], + "surface_frames": [] + }, + { + "height_m": 0.84, + "free_frames": [ + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716 + ], + "surface_frames": [] + }, + { + "height_m": 0.96, + "free_frames": [ + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716 + ], + "surface_frames": [] + }, + { + "height_m": 1.08, + "free_frames": [ + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716 + ], + "surface_frames": [] + }, + { + "height_m": 1.2000000000000002, + "free_frames": [ + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715 + ], + "surface_frames": [] + }, + { + "height_m": 1.3199999999999998, + "free_frames": [ + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715 + ], + "surface_frames": [] + }, + { + "height_m": 1.44, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.56, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.6800000000000002, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.7999999999999998, + "free_frames": [], + "surface_frames": [] + } + ], + "note": "Discrete historical ray evidence, not a continuous collision certificate." + } + }, + { + "label": "B", + "row": 189, + "column": 189, + "body_xy": [ + 0.525, + 0.525 + ], + "world_xy": [ + 6.677729022156299, + 0.7325929050479629 + ], + "current_occupancy": 0.9477920532226562, + "observability": 0.6408309936523438, + "error_score": 0.11614227294921875, + "raw_head_occupancy": 0.9475653171539307, + "native_memory": { + "row": 416, + "column": 368, + "weight": 46.50336456298828, + "observability_sum": 36.735713958740234, + "occupancy": 0.5922914811750517, + "block_threshold": 0.6, + "bump_count": 0 + }, + "current_floor_projection": { + "frame": 747, + "time_s": 187.50790691375732, + "pixel_uv": [ + -108.19413917753675, + 932.6645338782233 + ], + "expected_ground_depth_m": 0.9839077480138945, + "inside_image": false + }, + "floor_observations": 21, + "latest_floor_observation": { + "frame": 638, + "time_s": 160.1800639629364, + "pixel_uv": [ + 28.090755546743964, + 368.96042609559504 + ], + "expected_ground_depth_m": 1.4555152419013113, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.024798533046793247, + "min_height_m": -0.031145085416439677, + "max_height_m": -0.014036362329058916, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.484 + }, + "depth_history": [ + { + "frame": 508, + "time_s": 127.69694423675537, + "pixel_uv": [ + -259.8072475385426, + 552.8850165571671 + ], + "expected_ground_depth_m": 1.7242037586165169, + "inside_image": false + }, + { + "frame": 509, + "time_s": 127.9301085472107, + "pixel_uv": [ + -268.87008734999415, + 560.4547551066423 + ], + "expected_ground_depth_m": 1.6980498817409573, + "inside_image": false + }, + { + "frame": 510, + "time_s": 128.1965687274933, + "pixel_uv": [ + -273.361081748788, + 566.3930978151709 + ], + "expected_ground_depth_m": 1.678256094893762, + "inside_image": false + }, + { + "frame": 511, + "time_s": 128.4297091960907, + "pixel_uv": [ + -283.9407337133, + 574.736780102114 + ], + "expected_ground_depth_m": 1.6509362234546088, + "inside_image": false + }, + { + "frame": 512, + "time_s": 128.696124792099, + "pixel_uv": [ + -297.6465340053968, + 585.3933643110048 + ], + "expected_ground_depth_m": 1.6172983298989827, + "inside_image": false + }, + { + "frame": 513, + "time_s": 128.92903351783752, + "pixel_uv": [ + -310.4594007479822, + 594.9819713304662 + ], + "expected_ground_depth_m": 1.5881533088690913, + "inside_image": false + }, + { + "frame": 514, + "time_s": 129.19517183303833, + "pixel_uv": [ + -326.93585278566394, + 607.2033005241319 + ], + "expected_ground_depth_m": 1.5524861565870476, + "inside_image": false + }, + { + "frame": 515, + "time_s": 129.42800521850586, + "pixel_uv": [ + -336.96535719229377, + 616.0987513028248 + ], + "expected_ground_depth_m": 1.5276250701504035, + "inside_image": false + }, + { + "frame": 516, + "time_s": 129.69410228729248, + "pixel_uv": [ + -340.3978449300888, + 622.0079849149048 + ], + "expected_ground_depth_m": 1.5117202451959413, + "inside_image": false + }, + { + "frame": 517, + "time_s": 129.92731618881226, + "pixel_uv": [ + -351.1233538599131, + 631.6265573649616 + ], + "expected_ground_depth_m": 1.486259216368392, + "inside_image": false + }, + { + "frame": 518, + "time_s": 130.19383597373962, + "pixel_uv": [ + -364.43683872537116, + 642.958199277474 + ], + "expected_ground_depth_m": 1.4573084436092443, + "inside_image": false + }, + { + "frame": 519, + "time_s": 130.42703199386597, + "pixel_uv": [ + -377.34248883607023, + 653.8558813229018 + ], + "expected_ground_depth_m": 1.430505768487815, + "inside_image": false + }, + { + "frame": 520, + "time_s": 130.69354057312012, + "pixel_uv": [ + -383.6109064575803, + 661.8587483118743 + ], + "expected_ground_depth_m": 1.4115937749185656, + "inside_image": false + }, + { + "frame": 521, + "time_s": 130.92680644989014, + "pixel_uv": [ + -382.9601015628221, + 665.5168583426375 + ], + "expected_ground_depth_m": 1.403278617906297, + "inside_image": false + }, + { + "frame": 522, + "time_s": 131.19338965415955, + "pixel_uv": [ + -383.4785660637978, + 670.4453122084175 + ], + "expected_ground_depth_m": 1.3921654957647553, + "inside_image": false + }, + { + "frame": 523, + "time_s": 131.42664432525635, + "pixel_uv": [ + -392.9176626180768, + 680.0515661258389 + ], + "expected_ground_depth_m": 1.3706274965581444, + "inside_image": false + }, + { + "frame": 524, + "time_s": 131.62657284736633, + "pixel_uv": [ + -402.39309011799435, + 688.951899930671 + ], + "expected_ground_depth_m": 1.3512270156078618, + "inside_image": false + }, + { + "frame": 525, + "time_s": 131.9265434741974, + "pixel_uv": [ + -424.5253755725832, + 708.2350524492858 + ], + "expected_ground_depth_m": 1.3123341005763811, + "inside_image": false + }, + { + "frame": 526, + "time_s": 132.1931939125061, + "pixel_uv": [ + -429.9380677666511, + 715.4946143400963 + ], + "expected_ground_depth_m": 1.2965280362809828, + "inside_image": false + }, + { + "frame": 527, + "time_s": 132.42651104927063, + "pixel_uv": [ + -432.4872728528263, + 721.2004704636407 + ], + "expected_ground_depth_m": 1.285474771251141, + "inside_image": false + }, + { + "frame": 528, + "time_s": 132.65982294082642, + "pixel_uv": [ + -433.6684256707574, + 726.3423583237494 + ], + "expected_ground_depth_m": 1.2757172494042146, + "inside_image": false + }, + { + "frame": 529, + "time_s": 132.89320373535156, + "pixel_uv": [ + -438.1796739551015, + 733.5050161432888 + ], + "expected_ground_depth_m": 1.2622611463207591, + "inside_image": false + }, + { + "frame": 530, + "time_s": 133.0932457447052, + "pixel_uv": [ + -443.6897609396812, + 740.7821488946048 + ], + "expected_ground_depth_m": 1.2488433738534939, + "inside_image": false + }, + { + "frame": 531, + "time_s": 133.42665243148804, + "pixel_uv": [ + -450.115717157463, + 750.2716846374749 + ], + "expected_ground_depth_m": 1.23063225053148, + "inside_image": false + }, + { + "frame": 532, + "time_s": 133.69339776039124, + "pixel_uv": [ + -454.66563330425345, + 759.3119517402465 + ], + "expected_ground_depth_m": 1.2160386132529624, + "inside_image": false + }, + { + "frame": 533, + "time_s": 133.92706084251404, + "pixel_uv": [ + -458.3017574224853, + 766.1783649182483 + ], + "expected_ground_depth_m": 1.2043307024036847, + "inside_image": false + }, + { + "frame": 534, + "time_s": 134.1941056251526, + "pixel_uv": [ + -462.7305744245375, + 774.4772814255741 + ], + "expected_ground_depth_m": 1.1904765279252756, + "inside_image": false + }, + { + "frame": 535, + "time_s": 134.42777132987976, + "pixel_uv": [ + -466.14976282210006, + 781.2251371479033 + ], + "expected_ground_depth_m": 1.1794504569808044, + "inside_image": false + }, + { + "frame": 536, + "time_s": 134.62805676460266, + "pixel_uv": [ + -471.50784136028443, + 789.0521454433893 + ], + "expected_ground_depth_m": 1.1668692728439745, + "inside_image": false + }, + { + "frame": 537, + "time_s": 134.92816853523254, + "pixel_uv": [ + -473.8036282384797, + 797.2395683097947 + ], + "expected_ground_depth_m": 1.1546485704483986, + "inside_image": false + }, + { + "frame": 538, + "time_s": 135.1948790550232, + "pixel_uv": [ + -474.59040179622673, + 802.4017678838356 + ], + "expected_ground_depth_m": 1.1462076660723786, + "inside_image": false + }, + { + "frame": 539, + "time_s": 135.4282522201538, + "pixel_uv": [ + -467.8363842221209, + 802.5703029821606 + ], + "expected_ground_depth_m": 1.1461628352900746, + "inside_image": false + }, + { + "frame": 540, + "time_s": 135.69496893882751, + "pixel_uv": [ + -457.3100437786787, + 801.0712355250104 + ], + "expected_ground_depth_m": 1.1487643990236016, + "inside_image": false + }, + { + "frame": 541, + "time_s": 135.9284007549286, + "pixel_uv": [ + -447.22969543395624, + 798.6112964341115 + ], + "expected_ground_depth_m": 1.1528327087232053, + "inside_image": false + }, + { + "frame": 542, + "time_s": 136.1951858997345, + "pixel_uv": [ + -434.158178027139, + 795.0450059928222 + ], + "expected_ground_depth_m": 1.158313880584084, + "inside_image": false + }, + { + "frame": 543, + "time_s": 136.39527821540833, + "pixel_uv": [ + -425.4372726781361, + 793.6189704293902 + ], + "expected_ground_depth_m": 1.161221000375396, + "inside_image": false + }, + { + "frame": 544, + "time_s": 136.6954255104065, + "pixel_uv": [ + -407.863379073951, + 787.984196197502 + ], + "expected_ground_depth_m": 1.170608614572183, + "inside_image": false + }, + { + "frame": 545, + "time_s": 136.9289104938507, + "pixel_uv": [ + -391.97731775316794, + 782.8900051328792 + ], + "expected_ground_depth_m": 1.1796563787204235, + "inside_image": false + }, + { + "frame": 546, + "time_s": 137.1957597732544, + "pixel_uv": [ + -375.7204911912311, + 777.2520602174907 + ], + "expected_ground_depth_m": 1.1888704336018345, + "inside_image": false + }, + { + "frame": 547, + "time_s": 137.4292619228363, + "pixel_uv": [ + -357.67662436911974, + 769.6737949645108 + ], + "expected_ground_depth_m": 1.2015144408828498, + "inside_image": false + }, + { + "frame": 548, + "time_s": 137.6961317062378, + "pixel_uv": [ + -343.27491540161543, + 767.6515171888956 + ], + "expected_ground_depth_m": 1.2064910214305973, + "inside_image": false + }, + { + "frame": 549, + "time_s": 137.92966985702515, + "pixel_uv": [ + -330.26280640803907, + 763.5694793445825 + ], + "expected_ground_depth_m": 1.213151869163915, + "inside_image": false + }, + { + "frame": 550, + "time_s": 138.1965847015381, + "pixel_uv": [ + -310.9928165522945, + 756.2699104080496 + ], + "expected_ground_depth_m": 1.2251880294006148, + "inside_image": false + }, + { + "frame": 551, + "time_s": 138.39678049087524, + "pixel_uv": [ + -301.6160323866442, + 755.9696105217594 + ], + "expected_ground_depth_m": 1.227193344010126, + "inside_image": false + }, + { + "frame": 552, + "time_s": 138.69708919525146, + "pixel_uv": [ + -284.77520778899947, + 752.4554111785536 + ], + "expected_ground_depth_m": 1.2339262728086133, + "inside_image": false + }, + { + "frame": 553, + "time_s": 138.93068385124207, + "pixel_uv": [ + -259.5350489406292, + 743.1159096032934 + ], + "expected_ground_depth_m": 1.25267939172006, + "inside_image": false + }, + { + "frame": 554, + "time_s": 139.1976673603058, + "pixel_uv": [ + -225.16639985722693, + 726.7141353263085 + ], + "expected_ground_depth_m": 1.2831005594913618, + "inside_image": false + }, + { + "frame": 555, + "time_s": 139.39791750907898, + "pixel_uv": [ + -202.33179057960353, + 717.9906792446108 + ], + "expected_ground_depth_m": 1.3007721290026737, + "inside_image": false + }, + { + "frame": 556, + "time_s": 139.66485595703125, + "pixel_uv": [ + -179.61110866492746, + 711.4689361320712 + ], + "expected_ground_depth_m": 1.3145360594809206, + "inside_image": false + }, + { + "frame": 557, + "time_s": 139.93251729011536, + "pixel_uv": [ + -175.25705860919584, + 716.4342202469616 + ], + "expected_ground_depth_m": 1.3049034678794995, + "inside_image": false + }, + { + "frame": 558, + "time_s": 140.20023441314697, + "pixel_uv": [ + -177.55761612683372, + 727.093418872161 + ], + "expected_ground_depth_m": 1.2855443192676987, + "inside_image": false + }, + { + "frame": 559, + "time_s": 140.43453240394592, + "pixel_uv": [ + -178.2478727931499, + 733.2191438846827 + ], + "expected_ground_depth_m": 1.272681061691059, + "inside_image": false + }, + { + "frame": 560, + "time_s": 140.70231819152832, + "pixel_uv": [ + -180.54929615528607, + 742.8762244420685 + ], + "expected_ground_depth_m": 1.2545711256437262, + "inside_image": false + }, + { + "frame": 561, + "time_s": 140.90232372283936, + "pixel_uv": [ + -182.64445750629488, + 750.6287454358362 + ], + "expected_ground_depth_m": 1.2408515439506813, + "inside_image": false + }, + { + "frame": 562, + "time_s": 141.20231890678406, + "pixel_uv": [ + -186.5937113311796, + 762.7967523202338 + ], + "expected_ground_depth_m": 1.2195032314898229, + "inside_image": false + }, + { + "frame": 563, + "time_s": 141.43563747406006, + "pixel_uv": [ + -189.36942857767283, + 772.5890148062311 + ], + "expected_ground_depth_m": 1.2030924181178886, + "inside_image": false + }, + { + "frame": 564, + "time_s": 141.70227813720703, + "pixel_uv": [ + -193.53948009642417, + 783.9736108041141 + ], + "expected_ground_depth_m": 1.1840475868500242, + "inside_image": false + }, + { + "frame": 565, + "time_s": 141.90228271484375, + "pixel_uv": [ + -197.2013489091269, + 794.0745092496469 + ], + "expected_ground_depth_m": 1.168637401818827, + "inside_image": false + }, + { + "frame": 566, + "time_s": 142.20227646827698, + "pixel_uv": [ + -201.5934654224947, + 805.8593380882164 + ], + "expected_ground_depth_m": 1.1485148374470544, + "inside_image": false + }, + { + "frame": 567, + "time_s": 142.40226316452026, + "pixel_uv": [ + -206.01084569783959, + 816.8973016286229 + ], + "expected_ground_depth_m": 1.1327909943323888, + "inside_image": false + }, + { + "frame": 568, + "time_s": 142.70224165916443, + "pixel_uv": [ + -211.70524361029817, + 833.2828180489462 + ], + "expected_ground_depth_m": 1.109793923256547, + "inside_image": false + }, + { + "frame": 569, + "time_s": 142.93589091300964, + "pixel_uv": [ + -218.4579757938017, + 846.8936022740545 + ], + "expected_ground_depth_m": 1.090442446607497, + "inside_image": false + }, + { + "frame": 570, + "time_s": 143.20294046401978, + "pixel_uv": [ + -224.97967331178063, + 860.6347804204679 + ], + "expected_ground_depth_m": 1.0711241231316362, + "inside_image": false + }, + { + "frame": 571, + "time_s": 143.4366283416748, + "pixel_uv": [ + -231.07138852014893, + 874.5234527234641 + ], + "expected_ground_depth_m": 1.0529208975843658, + "inside_image": false + }, + { + "frame": 572, + "time_s": 143.7037115097046, + "pixel_uv": [ + -237.95632386718106, + 890.8666654297816 + ], + "expected_ground_depth_m": 1.0322846274803985, + "inside_image": false + }, + { + "frame": 573, + "time_s": 143.93710446357727, + "pixel_uv": [ + -232.2092075693086, + 895.9699483120927 + ], + "expected_ground_depth_m": 1.026906915053285, + "inside_image": false + }, + { + "frame": 574, + "time_s": 144.2038311958313, + "pixel_uv": [ + -219.32454059821168, + 893.9022538713284 + ], + "expected_ground_depth_m": 1.0290395704747244, + "inside_image": false + }, + { + "frame": 575, + "time_s": 144.43721055984497, + "pixel_uv": [ + -218.0769106090571, + 902.217285394227 + ], + "expected_ground_depth_m": 1.0190282365697345, + "inside_image": false + }, + { + "frame": 576, + "time_s": 144.70392322540283, + "pixel_uv": [ + -216.2784420323028, + 912.6500712208556 + ], + "expected_ground_depth_m": 1.0074109845807304, + "inside_image": false + }, + { + "frame": 577, + "time_s": 144.93731570243835, + "pixel_uv": [ + -210.20490620701085, + 915.7931748109131 + ], + "expected_ground_depth_m": 1.0033465789136256, + "inside_image": false + }, + { + "frame": 578, + "time_s": 145.20404195785522, + "pixel_uv": [ + -206.21516733591434, + 923.6631805700556 + ], + "expected_ground_depth_m": 0.9943930446886773, + "inside_image": false + }, + { + "frame": 579, + "time_s": 145.37074160575867, + "pixel_uv": [ + -200.82394094072757, + 923.8633445255523 + ], + "expected_ground_depth_m": 0.9941851147286693, + "inside_image": false + }, + { + "frame": 580, + "time_s": 145.67079043388367, + "pixel_uv": [ + -189.23775670300108, + 919.9087604919354 + ], + "expected_ground_depth_m": 0.9995298573014683, + "inside_image": false + }, + { + "frame": 581, + "time_s": 145.87084197998047, + "pixel_uv": [ + -181.4595004470919, + 914.6598466998621 + ], + "expected_ground_depth_m": 1.0057943830467677, + "inside_image": false + }, + { + "frame": 582, + "time_s": 146.2042510509491, + "pixel_uv": [ + -179.62660521219212, + 913.5339623639891 + ], + "expected_ground_depth_m": 1.0072588870311145, + "inside_image": false + }, + { + "frame": 583, + "time_s": 146.4042899608612, + "pixel_uv": [ + -179.01856876942335, + 911.9248756206513 + ], + "expected_ground_depth_m": 1.0085915210916832, + "inside_image": false + }, + { + "frame": 584, + "time_s": 146.70434093475342, + "pixel_uv": [ + -179.34626077020098, + 913.315378878046 + ], + "expected_ground_depth_m": 1.0075212745078392, + "inside_image": false + }, + { + "frame": 585, + "time_s": 146.93772959709167, + "pixel_uv": [ + -178.58205184499417, + 911.3780281783032 + ], + "expected_ground_depth_m": 1.0091404991396813, + "inside_image": false + }, + { + "frame": 586, + "time_s": 147.20445132255554, + "pixel_uv": [ + -178.46168244276706, + 911.2797349548258 + ], + "expected_ground_depth_m": 1.0092587031534157, + "inside_image": false + }, + { + "frame": 587, + "time_s": 147.43782591819763, + "pixel_uv": [ + -179.09848162068687, + 913.12047863274 + ], + "expected_ground_depth_m": 1.0077552952262727, + "inside_image": false + }, + { + "frame": 588, + "time_s": 147.67119145393372, + "pixel_uv": [ + -179.00714284293332, + 913.039439863822 + ], + "expected_ground_depth_m": 1.0078523507604338, + "inside_image": false + }, + { + "frame": 589, + "time_s": 147.93792295455933, + "pixel_uv": [ + -178.3329559049948, + 911.169911787675 + ], + "expected_ground_depth_m": 1.0093906663655003, + "inside_image": false + }, + { + "frame": 590, + "time_s": 148.2046456336975, + "pixel_uv": [ + -178.30792968686725, + 911.1527728047646 + ], + "expected_ground_depth_m": 1.0094113827917037, + "inside_image": false + }, + { + "frame": 591, + "time_s": 148.43802094459534, + "pixel_uv": [ + -174.33148177468385, + 899.4921997158715 + ], + "expected_ground_depth_m": 1.0189578652540106, + "inside_image": false + }, + { + "frame": 592, + "time_s": 148.70472931861877, + "pixel_uv": [ + -163.43632752528342, + 866.8425790213795 + ], + "expected_ground_depth_m": 1.0460801092993797, + "inside_image": false + }, + { + "frame": 593, + "time_s": 148.9381194114685, + "pixel_uv": [ + -146.40437634508515, + 813.4487564541535 + ], + "expected_ground_depth_m": 1.0914480341201578, + "inside_image": false + }, + { + "frame": 594, + "time_s": 149.204843044281, + "pixel_uv": [ + -129.40728430050427, + 756.7834933604954 + ], + "expected_ground_depth_m": 1.1404603610512496, + "inside_image": false + }, + { + "frame": 595, + "time_s": 149.43821930885315, + "pixel_uv": [ + -114.72400673402011, + 703.7851465476672 + ], + "expected_ground_depth_m": 1.186222081538932, + "inside_image": false + }, + { + "frame": 596, + "time_s": 149.67158889770508, + "pixel_uv": [ + -103.6069146901117, + 659.9944195971592 + ], + "expected_ground_depth_m": 1.2231955633608254, + "inside_image": false + }, + { + "frame": 597, + "time_s": 149.93884825706482, + "pixel_uv": [ + -92.61820825481352, + 612.1112743890301 + ], + "expected_ground_depth_m": 1.2618187162931838, + "inside_image": false + }, + { + "frame": 598, + "time_s": 150.20624589920044, + "pixel_uv": [ + -83.9850112535322, + 570.177569148992 + ], + "expected_ground_depth_m": 1.2933215663909017, + "inside_image": false + }, + { + "frame": 599, + "time_s": 150.44025254249573, + "pixel_uv": [ + -76.17929180665142, + 526.6036174829077 + ], + "expected_ground_depth_m": 1.32276586149993, + "inside_image": false + }, + { + "frame": 600, + "time_s": 150.67429089546204, + "pixel_uv": [ + -70.84332267566195, + 491.67368178847653 + ], + "expected_ground_depth_m": 1.3432965235282175, + "inside_image": false + }, + { + "frame": 601, + "time_s": 150.94117259979248, + "pixel_uv": [ + -66.4167849208137, + 457.3630574530743 + ], + "expected_ground_depth_m": 1.3603249742950476, + "inside_image": false + }, + { + "frame": 602, + "time_s": 151.20793175697327, + "pixel_uv": [ + -63.81948069038307, + 433.60405359332293 + ], + "expected_ground_depth_m": 1.3700871378336028, + "inside_image": false + }, + { + "frame": 603, + "time_s": 151.44134092330933, + "pixel_uv": [ + -63.34531071821141, + 428.69571984102635 + ], + "expected_ground_depth_m": 1.3718811332416303, + "inside_image": false + }, + { + "frame": 604, + "time_s": 151.70808744430542, + "pixel_uv": [ + -63.33052870791634, + 428.68309722593915 + ], + "expected_ground_depth_m": 1.3718979384473569, + "inside_image": false + }, + { + "frame": 605, + "time_s": 151.90816497802734, + "pixel_uv": [ + -63.31103162661873, + 428.67540751129025 + ], + "expected_ground_depth_m": 1.3719084541335216, + "inside_image": false + }, + { + "frame": 606, + "time_s": 152.20827507972717, + "pixel_uv": [ + -63.31372722561687, + 428.6726254610596 + ], + "expected_ground_depth_m": 1.3719120005494585, + "inside_image": false + }, + { + "frame": 607, + "time_s": 152.44168901443481, + "pixel_uv": [ + -63.32264618721283, + 428.6868474175109 + ], + "expected_ground_depth_m": 1.371893270465536, + "inside_image": false + }, + { + "frame": 608, + "time_s": 152.70844197273254, + "pixel_uv": [ + -63.335897256100104, + 428.6883758378036 + ], + "expected_ground_depth_m": 1.3718909322037756, + "inside_image": false + }, + { + "frame": 609, + "time_s": 152.9085168838501, + "pixel_uv": [ + -63.32544293801049, + 428.6873034877296 + ], + "expected_ground_depth_m": 1.3718926033768633, + "inside_image": false + }, + { + "frame": 610, + "time_s": 153.20862317085266, + "pixel_uv": [ + -63.31874655826255, + 428.6804345034763 + ], + "expected_ground_depth_m": 1.3719017128735889, + "inside_image": false + }, + { + "frame": 611, + "time_s": 153.4420337677002, + "pixel_uv": [ + -63.32805201204639, + 428.6893452884679 + ], + "expected_ground_depth_m": 1.3718898792347263, + "inside_image": false + }, + { + "frame": 612, + "time_s": 153.70878267288208, + "pixel_uv": [ + -63.30725739454155, + 428.6689029030234 + ], + "expected_ground_depth_m": 1.3719170126491553, + "inside_image": false + }, + { + "frame": 613, + "time_s": 153.9422013759613, + "pixel_uv": [ + -63.29627539067206, + 428.66127613297135 + ], + "expected_ground_depth_m": 1.3719272213640985, + "inside_image": false + }, + { + "frame": 614, + "time_s": 154.17561554908752, + "pixel_uv": [ + -62.83804926705192, + 428.2885814281778 + ], + "expected_ground_depth_m": 1.3724136477602047, + "inside_image": false + }, + { + "frame": 615, + "time_s": 154.44236826896667, + "pixel_uv": [ + -58.37182867621338, + 424.68421620093375 + ], + "expected_ground_depth_m": 1.3771457058637504, + "inside_image": false + }, + { + "frame": 616, + "time_s": 154.70911502838135, + "pixel_uv": [ + -43.38690928275203, + 413.1468776153818 + ], + "expected_ground_depth_m": 1.3925453140459292, + "inside_image": false + }, + { + "frame": 617, + "time_s": 154.94253540039062, + "pixel_uv": [ + -18.328006605569293, + 395.7049416442117 + ], + "expected_ground_depth_m": 1.4165969700270824, + "inside_image": false + }, + { + "frame": 618, + "time_s": 155.2092957496643, + "pixel_uv": [ + 10.191969972792032, + 378.4583696488794 + ], + "expected_ground_depth_m": 1.441385850018027, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.025935383650148358, + "min_height_m": -0.027647336153787228, + "max_height_m": -0.02006522266150812, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.47 + }, + { + "frame": 619, + "time_s": 155.44270586967468, + "pixel_uv": [ + 33.67373196675373, + 366.2005770335079 + ], + "expected_ground_depth_m": 1.4596897977903784, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.022469904126834805, + "min_height_m": -0.02463777644627041, + "max_height_m": -0.01861540353229274, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.484 + }, + { + "frame": 620, + "time_s": 155.709454536438, + "pixel_uv": [ + 62.45989575867908, + 353.4151525167154 + ], + "expected_ground_depth_m": 1.4794947649677643, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.02468607856321503, + "min_height_m": -0.027510332108084512, + "max_height_m": -0.02107709442104788, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.51 + }, + { + "frame": 621, + "time_s": 155.94318771362305, + "pixel_uv": [ + 89.27528948931827, + 343.6201519554741 + ], + "expected_ground_depth_m": 1.4952732201316177, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.021351891412917823, + "min_height_m": -0.02420025517714386, + "max_height_m": -0.01849025924897596, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.521 + }, + { + "frame": 622, + "time_s": 156.2103397846222, + "pixel_uv": [ + 105.8093016458821, + 338.55852479765065 + ], + "expected_ground_depth_m": 1.5036947408742471, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.022071645408087814, + "min_height_m": -0.029115277748231305, + "max_height_m": -0.019204998257776884, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.528 + }, + { + "frame": 623, + "time_s": 156.4441225528717, + "pixel_uv": [ + 112.5813826140759, + 336.69584164137933 + ], + "expected_ground_depth_m": 1.5068528218287933, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.022483167566877738, + "min_height_m": -0.02473575036205644, + "max_height_m": -0.019017993560360713, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.532 + }, + { + "frame": 624, + "time_s": 156.71133017539978, + "pixel_uv": [ + 114.08121219502186, + 336.30247605258677 + ], + "expected_ground_depth_m": 1.5075247035817783, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.021234840880892225, + "min_height_m": -0.034139594495697256, + "max_height_m": -0.012167143864495689, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.532 + }, + { + "frame": 625, + "time_s": 156.94480419158936, + "pixel_uv": [ + 114.09143339568915, + 336.2968408434462 + ], + "expected_ground_depth_m": 1.5075341622628935, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.013727907938168693, + "min_height_m": -0.017680508230503156, + "max_height_m": -0.009700688035305216, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.524 + }, + { + "frame": 626, + "time_s": 157.17827677726746, + "pixel_uv": [ + 114.06133668244243, + 336.30830221758407 + ], + "expected_ground_depth_m": 1.5075143818013998, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.019198810597749194, + "min_height_m": -0.02203279655747381, + "max_height_m": -0.012856126197174023, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.528 + }, + { + "frame": 627, + "time_s": 157.34504199028015, + "pixel_uv": [ + 114.11493011383232, + 336.2902303181239 + ], + "expected_ground_depth_m": 1.507545929079427, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.026774367806289945, + "min_height_m": -0.033487276977228975, + "max_height_m": -0.019669980313586466, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.54 + }, + { + "frame": 628, + "time_s": 157.71192288398743, + "pixel_uv": [ + 114.08638410073044, + 336.2993085506729 + ], + "expected_ground_depth_m": 1.507529986779641, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.024664163742431855, + "min_height_m": -0.03072784443322618, + "max_height_m": -0.019669980313586688, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.536 + }, + { + "frame": 629, + "time_s": 157.94539785385132, + "pixel_uv": [ + 114.14223952466254, + 336.2830643306468 + ], + "expected_ground_depth_m": 1.5075587920243376, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.011804203011657854, + "min_height_m": -0.021040810053167602, + "max_height_m": -0.0037365999369867176, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.521 + }, + { + "frame": 630, + "time_s": 158.17887139320374, + "pixel_uv": [ + 114.09303790099733, + 336.2983033090429 + ], + "expected_ground_depth_m": 1.5075319557280173, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.019821547621604596, + "min_height_m": -0.024085343259550474, + "max_height_m": -0.01558166784373971, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.532 + }, + { + "frame": 631, + "time_s": 158.4456968307495, + "pixel_uv": [ + 114.09966064852192, + 336.2964543356544 + ], + "expected_ground_depth_m": 1.5075352498504073, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01573323515175562, + "min_height_m": -0.02446154496766506, + "max_height_m": -0.009700688035304994, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.528 + }, + { + "frame": 632, + "time_s": 158.7125210762024, + "pixel_uv": [ + 114.109538537199, + 336.2949190161778 + ], + "expected_ground_depth_m": 1.5075382404841082, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.001627915962858495, + "min_height_m": -0.012856126197174023, + "max_height_m": 0.0036852595870879856, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.51 + }, + { + "frame": 633, + "time_s": 158.91264176368713, + "pixel_uv": [ + 114.11716128184985, + 336.2882341817334 + ], + "expected_ground_depth_m": 1.5075491986529195, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.024664163742432077, + "min_height_m": -0.034139594495697256, + "max_height_m": -0.01966998031358691, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.54 + }, + { + "frame": 634, + "time_s": 159.21282148361206, + "pixel_uv": [ + 113.8539952106939, + 336.3626671294445 + ], + "expected_ground_depth_m": 1.5074227610989763, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.01924421564545642, + "min_height_m": -0.024760206771043514, + "max_height_m": -0.015677578919058632, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.532 + }, + { + "frame": 635, + "time_s": 159.4462926387787, + "pixel_uv": [ + 99.6453936093269, + 340.3594929009559 + ], + "expected_ground_depth_m": 1.5006741623381865, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.016126611776823507, + "min_height_m": -0.021166253797303414, + "max_height_m": -0.012928994386868009, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.521 + }, + { + "frame": 636, + "time_s": 159.71311497688293, + "pixel_uv": [ + 79.47601089624595, + 346.96854087672693 + ], + "expected_ground_depth_m": 1.4898105743578334, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.021565209374973415, + "min_height_m": -0.024264735183893604, + "max_height_m": -0.01938744590799346, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.513 + }, + { + "frame": 637, + "time_s": 159.9465901851654, + "pixel_uv": [ + 55.97206506207683, + 356.0865994965751 + ], + "expected_ground_depth_m": 1.4752900100691437, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.019342242734660342, + "min_height_m": -0.022059036148430744, + "max_height_m": -0.016975012249251575, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.495 + }, + { + "frame": 638, + "time_s": 160.1800639629364, + "pixel_uv": [ + 28.090755546743964, + 368.96042609559504 + ], + "expected_ground_depth_m": 1.4555152419013113, + "inside_image": true, + "valid_depth_pixels": 49, + "nearby_returns": 49, + "median_height_m": -0.024798533046793247, + "min_height_m": -0.031145085416439677, + "max_height_m": -0.014036362329058916, + "floor_returns": 49, + "elevated_returns": 0, + "median_depth_m": 1.484 + }, + { + "frame": 639, + "time_s": 160.44688963890076, + "pixel_uv": [ + -2.537246355622322, + 385.82795637919827 + ], + "expected_ground_depth_m": 1.430663309266381, + "inside_image": false + }, + { + "frame": 640, + "time_s": 160.7137131690979, + "pixel_uv": [ + -30.825647491936767, + 404.1291185782488 + ], + "expected_ground_depth_m": 1.4048607081082092, + "inside_image": false + }, + { + "frame": 641, + "time_s": 160.94718861579895, + "pixel_uv": [ + -55.41544758759434, + 422.3402896856266 + ], + "expected_ground_depth_m": 1.3802442302032278, + "inside_image": false + }, + { + "frame": 642, + "time_s": 161.11395597457886, + "pixel_uv": [ + -75.11505480966966, + 438.6131603642658 + ], + "expected_ground_depth_m": 1.359059791820261, + "inside_image": false + }, + { + "frame": 643, + "time_s": 161.44748878479004, + "pixel_uv": [ + -111.97918782017398, + 473.5652665830067 + ], + "expected_ground_depth_m": 1.3158985669256436, + "inside_image": false + }, + { + "frame": 644, + "time_s": 161.71431279182434, + "pixel_uv": [ + -138.86221506383228, + 503.32102129267776 + ], + "expected_ground_depth_m": 1.2814225629587885, + "inside_image": false + }, + { + "frame": 645, + "time_s": 161.9477882385254, + "pixel_uv": [ + -161.3721627840802, + 531.5115998699873 + ], + "expected_ground_depth_m": 1.2504900104732806, + "inside_image": false + }, + { + "frame": 646, + "time_s": 162.21461582183838, + "pixel_uv": [ + -186.21404727212604, + 566.7896330348984 + ], + "expected_ground_depth_m": 1.2139326690568475, + "inside_image": false + }, + { + "frame": 647, + "time_s": 162.44808840751648, + "pixel_uv": [ + -210.37062837946112, + 606.2969513593055 + ], + "expected_ground_depth_m": 1.1755619864668776, + "inside_image": false + }, + { + "frame": 648, + "time_s": 162.71491241455078, + "pixel_uv": [ + -231.65018409744232, + 646.6046902611225 + ], + "expected_ground_depth_m": 1.138934011911688, + "inside_image": false + }, + { + "frame": 649, + "time_s": 162.915034532547, + "pixel_uv": [ + -243.87491098228782, + 672.8121126942781 + ], + "expected_ground_depth_m": 1.1163641993089195, + "inside_image": false + }, + { + "frame": 650, + "time_s": 163.21521592140198, + "pixel_uv": [ + -252.6205191033092, + 693.2764518981263 + ], + "expected_ground_depth_m": 1.0993740502838978, + "inside_image": false + }, + { + "frame": 651, + "time_s": 163.44868874549866, + "pixel_uv": [ + -254.90781289600974, + 698.895398916324 + ], + "expected_ground_depth_m": 1.0948023894540322, + "inside_image": false + }, + { + "frame": 652, + "time_s": 163.68216013908386, + "pixel_uv": [ + -255.80865428786987, + 701.1468347280546 + ], + "expected_ground_depth_m": 1.0929815404628949, + "inside_image": false + }, + { + "frame": 653, + "time_s": 163.9489872455597, + "pixel_uv": [ + -255.80664442773005, + 701.1604274631874 + ], + "expected_ground_depth_m": 1.0929704603442292, + "inside_image": false + }, + { + "frame": 654, + "time_s": 164.2158133983612, + "pixel_uv": [ + -255.80007465828317, + 701.1360458480315 + ], + "expected_ground_depth_m": 1.092990373347006, + "inside_image": false + }, + { + "frame": 655, + "time_s": 164.44928455352783, + "pixel_uv": [ + -255.79365654846794, + 701.1161385897913 + ], + "expected_ground_depth_m": 1.093006636535726, + "inside_image": false + }, + { + "frame": 656, + "time_s": 164.71610689163208, + "pixel_uv": [ + -255.81014356392708, + 701.1512027907625 + ], + "expected_ground_depth_m": 1.0929779718026786, + "inside_image": false + }, + { + "frame": 657, + "time_s": 164.882874250412, + "pixel_uv": [ + -255.78994846137687, + 701.1107644535136 + ], + "expected_ground_depth_m": 1.0930110344175752, + "inside_image": false + }, + { + "frame": 658, + "time_s": 165.1830542087555, + "pixel_uv": [ + -255.79378038281914, + 701.1092497819947 + ], + "expected_ground_depth_m": 1.0930122556479527, + "inside_image": false + }, + { + "frame": 659, + "time_s": 165.44987845420837, + "pixel_uv": [ + -255.80942327262414, + 701.1640257313737 + ], + "expected_ground_depth_m": 1.0929675148340343, + "inside_image": false + }, + { + "frame": 660, + "time_s": 165.7166986465454, + "pixel_uv": [ + -255.80463269077174, + 701.1559460857583 + ], + "expected_ground_depth_m": 1.0929741233462185, + "inside_image": false + }, + { + "frame": 661, + "time_s": 165.95030975341797, + "pixel_uv": [ + -255.79088679048834, + 701.1124106807187 + ], + "expected_ground_depth_m": 1.0930096879778897, + "inside_image": false + }, + { + "frame": 662, + "time_s": 166.2173068523407, + "pixel_uv": [ + -255.79347987249355, + 701.1196081511157 + ], + "expected_ground_depth_m": 1.0930038069096981, + "inside_image": false + }, + { + "frame": 663, + "time_s": 166.41756391525269, + "pixel_uv": [ + -255.79419520743963, + 701.1205461901999 + ], + "expected_ground_depth_m": 1.0930030390249845, + "inside_image": false + }, + { + "frame": 664, + "time_s": 166.7179663181305, + "pixel_uv": [ + -256.8715549532029, + 703.9872925949617 + ], + "expected_ground_depth_m": 1.090726658733552, + "inside_image": false + }, + { + "frame": 665, + "time_s": 166.91810822486877, + "pixel_uv": [ + -269.3566706649131, + 736.9600597719201 + ], + "expected_ground_depth_m": 1.0645625718410006, + "inside_image": false + }, + { + "frame": 666, + "time_s": 167.21832060813904, + "pixel_uv": [ + -298.23276132838595, + 807.4531096952267 + ], + "expected_ground_depth_m": 1.0083842597564312, + "inside_image": false + }, + { + "frame": 667, + "time_s": 167.45181918144226, + "pixel_uv": [ + -320.86509989707105, + 858.6750901475189 + ], + "expected_ground_depth_m": 0.9681872156194248, + "inside_image": false + }, + { + "frame": 668, + "time_s": 167.71865367889404, + "pixel_uv": [ + -352.7655201429131, + 926.7109450835261 + ], + "expected_ground_depth_m": 0.9165430865687874, + "inside_image": false + }, + { + "frame": 669, + "time_s": 167.9525306224823, + "pixel_uv": [ + -390.43264478447134, + 1002.5199879677898 + ], + "expected_ground_depth_m": 0.8621213367811839, + "inside_image": false + }, + { + "frame": 670, + "time_s": 168.21983933448792, + "pixel_uv": [ + -440.95500026688075, + 1098.9030137838427 + ], + "expected_ground_depth_m": 0.798387364169964, + "inside_image": false + }, + { + "frame": 671, + "time_s": 168.45375227928162, + "pixel_uv": [ + -487.38382823070054, + 1183.6872691000592 + ], + "expected_ground_depth_m": 0.7475179452503502, + "inside_image": false + }, + { + "frame": 672, + "time_s": 168.72112798690796, + "pixel_uv": [ + -559.4584900993063, + 1310.3305091269751 + ], + "expected_ground_depth_m": 0.6801512721257797, + "inside_image": false + }, + { + "frame": 673, + "time_s": 168.95458912849426, + "pixel_uv": [ + -648.1228022738255, + 1460.4531633827887 + ], + "expected_ground_depth_m": 0.6121937561185772, + "inside_image": false + }, + { + "frame": 674, + "time_s": 169.22139954566956, + "pixel_uv": [ + -732.7009860581688, + 1599.7123857292272 + ], + "expected_ground_depth_m": 0.5588773349793896, + "inside_image": false + }, + { + "frame": 675, + "time_s": 169.45485591888428, + "pixel_uv": [ + -761.7637682679979, + 1646.901404382603 + ], + "expected_ground_depth_m": 0.5426303567995675, + "inside_image": false + }, + { + "frame": 676, + "time_s": 169.7216601371765, + "pixel_uv": [ + -768.5235750379036, + 1657.8412039179739 + ], + "expected_ground_depth_m": 0.5389834272943794, + "inside_image": false + }, + { + "frame": 677, + "time_s": 169.95512056350708, + "pixel_uv": [ + -768.4264013880398, + 1657.681721324312 + ], + "expected_ground_depth_m": 0.5390367897339197, + "inside_image": false + }, + { + "frame": 678, + "time_s": 170.2219295501709, + "pixel_uv": [ + -768.4998204850128, + 1657.7984176635348 + ], + "expected_ground_depth_m": 0.5389977337269849, + "inside_image": false + }, + { + "frame": 679, + "time_s": 170.42203426361084, + "pixel_uv": [ + -768.500780658303, + 1657.8037301398388 + ], + "expected_ground_depth_m": 0.5389959648234309, + "inside_image": false + }, + { + "frame": 680, + "time_s": 170.68883800506592, + "pixel_uv": [ + -768.503195908415, + 1657.808762063136 + ], + "expected_ground_depth_m": 0.538994283692696, + "inside_image": false + }, + { + "frame": 681, + "time_s": 170.95564937591553, + "pixel_uv": [ + -768.5095837654475, + 1657.8125117030033 + ], + "expected_ground_depth_m": 0.5389930137430945, + "inside_image": false + }, + { + "frame": 682, + "time_s": 171.18910884857178, + "pixel_uv": [ + -768.482289479139, + 1657.7707302408214 + ], + "expected_ground_depth_m": 0.539007000078482, + "inside_image": false + }, + { + "frame": 683, + "time_s": 171.45591711997986, + "pixel_uv": [ + -770.7117634043854, + 1661.2914574499953 + ], + "expected_ground_depth_m": 0.5378353149727184, + "inside_image": false + }, + { + "frame": 684, + "time_s": 171.68937182426453, + "pixel_uv": [ + -769.3549070823675, + 1659.1581497781103 + ], + "expected_ground_depth_m": 0.5385447090601444, + "inside_image": false + }, + { + "frame": 685, + "time_s": 171.95618677139282, + "pixel_uv": [ + -770.6821124820066, + 1661.233429156656 + ], + "expected_ground_depth_m": 0.5378546255744456, + "inside_image": false + }, + { + "frame": 686, + "time_s": 172.22300148010254, + "pixel_uv": [ + -760.6999399840066, + 1645.5038120733686 + ], + "expected_ground_depth_m": 0.5431299475142053, + "inside_image": false + }, + { + "frame": 687, + "time_s": 172.4564619064331, + "pixel_uv": [ + -708.4588294485286, + 1564.3699772184882 + ], + "expected_ground_depth_m": 0.5720791208656378, + "inside_image": false + }, + { + "frame": 688, + "time_s": 172.72327136993408, + "pixel_uv": [ + -624.0903991773542, + 1437.9727311097242 + ], + "expected_ground_depth_m": 0.6239217359536751, + "inside_image": false + }, + { + "frame": 689, + "time_s": 172.9567322731018, + "pixel_uv": [ + -536.550603199768, + 1313.6961472921932 + ], + "expected_ground_depth_m": 0.6850197237824984, + "inside_image": false + }, + { + "frame": 690, + "time_s": 173.22354197502136, + "pixel_uv": [ + -455.9602013704672, + 1206.408725934755 + ], + "expected_ground_depth_m": 0.7483679404137361, + "inside_image": false + }, + { + "frame": 691, + "time_s": 173.4569981098175, + "pixel_uv": [ + -385.1437729784327, + 1118.5420328845873 + ], + "expected_ground_depth_m": 0.8097913817769532, + "inside_image": false + }, + { + "frame": 692, + "time_s": 173.72380185127258, + "pixel_uv": [ + -318.5563314488688, + 1042.0658416852898 + ], + "expected_ground_depth_m": 0.8722110347734879, + "inside_image": false + }, + { + "frame": 693, + "time_s": 173.9239113330841, + "pixel_uv": [ + -270.48764898935025, + 990.9332657568483 + ], + "expected_ground_depth_m": 0.9196998898465898, + "inside_image": false + }, + { + "frame": 694, + "time_s": 174.22407221794128, + "pixel_uv": [ + -208.06997664974887, + 930.1115826360659 + ], + "expected_ground_depth_m": 0.9835497665210756, + "inside_image": false + }, + { + "frame": 695, + "time_s": 174.39082670211792, + "pixel_uv": [ + -173.41100437799037, + 899.2606358159769 + ], + "expected_ground_depth_m": 1.0195483182211236, + "inside_image": false + }, + { + "frame": 696, + "time_s": 174.72433185577393, + "pixel_uv": [ + -112.79748884894045, + 850.6719564009859 + ], + "expected_ground_depth_m": 1.0821388103164158, + "inside_image": false + }, + { + "frame": 697, + "time_s": 174.95779275894165, + "pixel_uv": [ + -79.28353024610995, + 826.91606735018 + ], + "expected_ground_depth_m": 1.1157779172576305, + "inside_image": false + }, + { + "frame": 698, + "time_s": 175.2246024608612, + "pixel_uv": [ + -34.067623608018955, + 798.552928692882 + ], + "expected_ground_depth_m": 1.1590080640465505, + "inside_image": false + }, + { + "frame": 699, + "time_s": 175.45805859565735, + "pixel_uv": [ + 0.5790820502270538, + 779.8162029942836 + ], + "expected_ground_depth_m": 1.1896667869104243, + "inside_image": false + }, + { + "frame": 700, + "time_s": 175.724862575531, + "pixel_uv": [ + 38.56977980420872, + 762.3815548263219 + ], + "expected_ground_depth_m": 1.219961362563494, + "inside_image": false + }, + { + "frame": 701, + "time_s": 175.95832324028015, + "pixel_uv": [ + 62.097831405085174, + 753.2589045757982 + ], + "expected_ground_depth_m": 1.2366135625928703, + "inside_image": false + }, + { + "frame": 702, + "time_s": 176.1917815208435, + "pixel_uv": [ + 76.39053445560374, + 748.3566729330132 + ], + "expected_ground_depth_m": 1.245832355589541, + "inside_image": false + }, + { + "frame": 703, + "time_s": 176.4585883617401, + "pixel_uv": [ + 81.66276393614339, + 746.6722441289597 + ], + "expected_ground_depth_m": 1.249049954075351, + "inside_image": false + }, + { + "frame": 704, + "time_s": 176.7253439426422, + "pixel_uv": [ + 81.67790914648126, + 746.6680246809073 + ], + "expected_ground_depth_m": 1.2490583353830051, + "inside_image": false + }, + { + "frame": 705, + "time_s": 176.95935988426208, + "pixel_uv": [ + 81.69640927506536, + 746.6597291247027 + ], + "expected_ground_depth_m": 1.249074198447131, + "inside_image": false + }, + { + "frame": 706, + "time_s": 177.22683358192444, + "pixel_uv": [ + 81.67305811145079, + 746.6714921640119 + ], + "expected_ground_depth_m": 1.2490518620720195, + "inside_image": false + }, + { + "frame": 707, + "time_s": 177.46089720726013, + "pixel_uv": [ + 81.65235142765536, + 746.6770411057346 + ], + "expected_ground_depth_m": 1.2490407969955046, + "inside_image": false + }, + { + "frame": 708, + "time_s": 177.7284858226776, + "pixel_uv": [ + 81.64890774890598, + 746.6775139126397 + ], + "expected_ground_depth_m": 1.2490397625745808, + "inside_image": false + }, + { + "frame": 709, + "time_s": 177.9952368736267, + "pixel_uv": [ + 81.65286534519103, + 746.675833845598 + ], + "expected_ground_depth_m": 1.2490429866334698, + "inside_image": false + }, + { + "frame": 710, + "time_s": 178.22863793373108, + "pixel_uv": [ + 81.65360739875207, + 746.6765649426059 + ], + "expected_ground_depth_m": 1.2490417180823719, + "inside_image": false + }, + { + "frame": 711, + "time_s": 178.4953751564026, + "pixel_uv": [ + 81.69740130870743, + 746.6632906802063 + ], + "expected_ground_depth_m": 1.2490678752956075, + "inside_image": false + }, + { + "frame": 712, + "time_s": 178.72869753837585, + "pixel_uv": [ + 81.66308422877997, + 746.671836833727 + ], + "expected_ground_depth_m": 1.2490507008214102, + "inside_image": false + }, + { + "frame": 713, + "time_s": 178.96265506744385, + "pixel_uv": [ + 81.65669581858317, + 746.6770411549857 + ], + "expected_ground_depth_m": 1.2490410339047224, + "inside_image": false + }, + { + "frame": 714, + "time_s": 179.1966314315796, + "pixel_uv": [ + 81.6756127889792, + 746.6661772331883 + ], + "expected_ground_depth_m": 1.249061518062641, + "inside_image": false + }, + { + "frame": 715, + "time_s": 179.49748587608337, + "pixel_uv": [ + 81.03883174967011, + 746.8728334655942 + ], + "expected_ground_depth_m": 1.2486663312305057, + "inside_image": false + }, + { + "frame": 716, + "time_s": 179.73150539398193, + "pixel_uv": [ + 63.40706258236903, + 752.788883288878 + ], + "expected_ground_depth_m": 1.237488474078479, + "inside_image": false + }, + { + "frame": 717, + "time_s": 179.99883842468262, + "pixel_uv": [ + 40.865621758210196, + 761.4363103018848 + ], + "expected_ground_depth_m": 1.2216589102012496, + "inside_image": false + }, + { + "frame": 718, + "time_s": 180.23277139663696, + "pixel_uv": [ + 8.578364017982743, + 775.8747296223511 + ], + "expected_ground_depth_m": 1.196356454059471, + "inside_image": false + }, + { + "frame": 719, + "time_s": 180.46672105789185, + "pixel_uv": [ + -25.412531573845484, + 793.6266856983758 + ], + "expected_ground_depth_m": 1.166895349584872, + "inside_image": false + }, + { + "frame": 720, + "time_s": 180.7341113090515, + "pixel_uv": [ + -67.94148605278738, + 819.3958109802593 + ], + "expected_ground_depth_m": 1.1268964793069582, + "inside_image": false + }, + { + "frame": 721, + "time_s": 180.9675269126892, + "pixel_uv": [ + -108.19041804064337, + 847.2739406634007 + ], + "expected_ground_depth_m": 1.0868187407846515, + "inside_image": false + }, + { + "frame": 722, + "time_s": 181.23414206504822, + "pixel_uv": [ + -141.79213136084223, + 873.0352157580234 + ], + "expected_ground_depth_m": 1.0523641755191233, + "inside_image": false + }, + { + "frame": 723, + "time_s": 181.500741481781, + "pixel_uv": [ + -167.10268450346294, + 893.8791190547697 + ], + "expected_ground_depth_m": 1.02610834893333, + "inside_image": false + }, + { + "frame": 724, + "time_s": 181.70068097114563, + "pixel_uv": [ + -172.32822155965638, + 898.337141801411 + ], + "expected_ground_depth_m": 1.020667885904551, + "inside_image": false + }, + { + "frame": 725, + "time_s": 182.00115442276, + "pixel_uv": [ + -172.52628371709784, + 898.4977029187269 + ], + "expected_ground_depth_m": 1.0204731180604936, + "inside_image": false + }, + { + "frame": 726, + "time_s": 182.20161271095276, + "pixel_uv": [ + -172.52300499873127, + 898.4930717297835 + ], + "expected_ground_depth_m": 1.0204787323574365, + "inside_image": false + }, + { + "frame": 727, + "time_s": 182.5023181438446, + "pixel_uv": [ + -172.54407001877374, + 898.5185906219477 + ], + "expected_ground_depth_m": 1.020447723231878, + "inside_image": false + }, + { + "frame": 728, + "time_s": 182.7362141609192, + "pixel_uv": [ + -172.52160824639034, + 898.5022819034556 + ], + "expected_ground_depth_m": 1.0204677621214255, + "inside_image": false + }, + { + "frame": 729, + "time_s": 183.00291919708252, + "pixel_uv": [ + -172.5773568778473, + 898.544743633722 + ], + "expected_ground_depth_m": 1.020415657398663, + "inside_image": false + }, + { + "frame": 730, + "time_s": 183.2361490726471, + "pixel_uv": [ + -172.5362887333648, + 898.5131098063189 + ], + "expected_ground_depth_m": 1.020454463275529, + "inside_image": false + }, + { + "frame": 731, + "time_s": 183.50267910957336, + "pixel_uv": [ + -172.53667515439787, + 898.5134573858919 + ], + "expected_ground_depth_m": 1.0204540384728968, + "inside_image": false + }, + { + "frame": 732, + "time_s": 183.73587656021118, + "pixel_uv": [ + -172.53327415176562, + 898.5072800995439 + ], + "expected_ground_depth_m": 1.020461502857669, + "inside_image": false + }, + { + "frame": 733, + "time_s": 184.00312423706055, + "pixel_uv": [ + -172.54879110320036, + 898.5221324393881 + ], + "expected_ground_depth_m": 1.0204433752922806, + "inside_image": false + }, + { + "frame": 734, + "time_s": 184.23716068267822, + "pixel_uv": [ + -172.50088388840956, + 898.4813239800467 + ], + "expected_ground_depth_m": 1.0204933142238115, + "inside_image": false + }, + { + "frame": 735, + "time_s": 184.5046648979187, + "pixel_uv": [ + -172.56036539783042, + 898.5282632900647 + ], + "expected_ground_depth_m": 1.0204357653460319, + "inside_image": false + }, + { + "frame": 736, + "time_s": 184.73876118659973, + "pixel_uv": [ + -172.51732990222288, + 898.5096858187942 + ], + "expected_ground_depth_m": 1.0204590212132607, + "inside_image": false + }, + { + "frame": 737, + "time_s": 185.00601506233215, + "pixel_uv": [ + -171.52568523819897, + 899.6217419641254 + ], + "expected_ground_depth_m": 1.0191564242525737, + "inside_image": false + }, + { + "frame": 738, + "time_s": 185.20640349388123, + "pixel_uv": [ + -172.48157400174492, + 905.1146295055075 + ], + "expected_ground_depth_m": 1.0126288493984303, + "inside_image": false + }, + { + "frame": 739, + "time_s": 185.5069968700409, + "pixel_uv": [ + -177.42689161901404, + 919.8173230493059 + ], + "expected_ground_depth_m": 0.9955051937241468, + "inside_image": false + }, + { + "frame": 740, + "time_s": 185.7073998451233, + "pixel_uv": [ + -172.2445933450238, + 924.1191045392551 + ], + "expected_ground_depth_m": 0.9907579392676205, + "inside_image": false + }, + { + "frame": 741, + "time_s": 186.00746846199036, + "pixel_uv": [ + -163.1257812598185, + 931.8413269953417 + ], + "expected_ground_depth_m": 0.9835298935287615, + "inside_image": false + }, + { + "frame": 742, + "time_s": 186.2406198978424, + "pixel_uv": [ + -153.8568019316705, + 933.8667933808516 + ], + "expected_ground_depth_m": 0.9809220020133768, + "inside_image": false + }, + { + "frame": 743, + "time_s": 186.50705480575562, + "pixel_uv": [ + -143.04931692900684, + 938.2487599859136 + ], + "expected_ground_depth_m": 0.9769475716507117, + "inside_image": false + }, + { + "frame": 744, + "time_s": 186.7401638031006, + "pixel_uv": [ + -137.09531329020706, + 943.399121546509 + ], + "expected_ground_depth_m": 0.9714209460930737, + "inside_image": false + }, + { + "frame": 745, + "time_s": 187.00708031654358, + "pixel_uv": [ + -125.89097899319867, + 942.595214832694 + ], + "expected_ground_depth_m": 0.9725891604469664, + "inside_image": false + }, + { + "frame": 746, + "time_s": 187.24079704284668, + "pixel_uv": [ + -118.56013085153876, + 940.1689936235705 + ], + "expected_ground_depth_m": 0.9753981223496768, + "inside_image": false + }, + { + "frame": 747, + "time_s": 187.50790691375732, + "pixel_uv": [ + -108.19413917753675, + 932.6645338782233 + ], + "expected_ground_depth_m": 0.9839077480138945, + "inside_image": false + } + ], + "column_free_space": { + "method": "Measured depth exceeds expected optical depth by >8 cm at projected column samples; only finite recorded depth between 0.1 and 10 m is used.", + "samples": [ + { + "height_m": 0.12, + "free_frames": [ + 619, + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637, + 638 + ], + "surface_frames": [] + }, + { + "height_m": 0.24, + "free_frames": [ + 619, + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637 + ], + "surface_frames": [] + }, + { + "height_m": 0.36, + "free_frames": [ + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 637, + 700, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716, + 717 + ], + "surface_frames": [] + }, + { + "height_m": 0.48, + "free_frames": [ + 620, + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 700, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716, + 717 + ], + "surface_frames": [] + }, + { + "height_m": 0.6, + "free_frames": [ + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 636, + 700, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716, + 717 + ], + "surface_frames": [] + }, + { + "height_m": 0.72, + "free_frames": [ + 621, + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 635, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716 + ], + "surface_frames": [] + }, + { + "height_m": 0.84, + "free_frames": [ + 622, + 623, + 624, + 625, + 626, + 627, + 628, + 629, + 630, + 631, + 632, + 633, + 634, + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716 + ], + "surface_frames": [] + }, + { + "height_m": 0.96, + "free_frames": [ + 701, + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715, + 716 + ], + "surface_frames": [] + }, + { + "height_m": 1.08, + "free_frames": [ + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715 + ], + "surface_frames": [] + }, + { + "height_m": 1.2000000000000002, + "free_frames": [ + 702, + 703, + 704, + 705, + 706, + 707, + 708, + 709, + 710, + 711, + 712, + 713, + 714, + 715 + ], + "surface_frames": [] + }, + { + "height_m": 1.3199999999999998, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.44, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.56, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.6800000000000002, + "free_frames": [], + "surface_frames": [] + }, + { + "height_m": 1.7999999999999998, + "free_frames": [], + "surface_frames": [] + } + ], + "note": "Discrete historical ray evidence, not a continuous collision certificate." + } + } + ], + "occupancy_timeline": [ + { + "frame": 509, + "time_s": 127.9301085472107, + "cell": "A", + "current_occupancy": 0.2726869583129883, + "current_observability": 0.011574029922485352, + "fused_occupancy": 0.508592687025332 + }, + { + "frame": 509, + "time_s": 127.9301085472107, + "cell": "B", + "current_occupancy": 0.3488154411315918, + "current_observability": 0.00967833399772644, + "fused_occupancy": 0.5454652660882197 + }, + { + "frame": 510, + "time_s": 128.1965687274933, + "cell": "A", + "current_occupancy": 0.3237476348876953, + "current_observability": 0.011660635471343994, + "fused_occupancy": 0.5080326400959085 + }, + { + "frame": 510, + "time_s": 128.1965687274933, + "cell": "B", + "current_occupancy": 0.3632242679595947, + "current_observability": 0.010079815983772278, + "fused_occupancy": 0.5452086924921687 + }, + { + "frame": 511, + "time_s": 128.4297091960907, + "cell": "A", + "current_occupancy": 0.26646995544433594, + "current_observability": 0.010962128639221191, + "fused_occupancy": 0.5074083204348053 + }, + { + "frame": 511, + "time_s": 128.4297091960907, + "cell": "B", + "current_occupancy": 0.35195350646972656, + "current_observability": 0.009231358766555786, + "fused_occupancy": 0.5448848641951936 + }, + { + "frame": 513, + "time_s": 128.92903351783752, + "cell": "A", + "current_occupancy": 0.3465557098388672, + "current_observability": 0.010922908782958984, + "fused_occupancy": 0.5069596883757667 + }, + { + "frame": 513, + "time_s": 128.92903351783752, + "cell": "B", + "current_occupancy": 0.3912339210510254, + "current_observability": 0.009488433599472046, + "fused_occupancy": 0.5447632713407259 + }, + { + "frame": 515, + "time_s": 129.42800521850586, + "cell": "A", + "current_occupancy": 0.31317138671875, + "current_observability": 0.012766838073730469, + "fused_occupancy": 0.506505513285595 + }, + { + "frame": 515, + "time_s": 129.42800521850586, + "cell": "B", + "current_occupancy": 0.46138715744018555, + "current_observability": 0.009359747171401978, + "fused_occupancy": 0.5446307508345354 + }, + { + "frame": 516, + "time_s": 129.69410228729248, + "cell": "A", + "current_occupancy": 0.26503753662109375, + "current_observability": 0.012942075729370117, + "fused_occupancy": 0.5059244987175313 + }, + { + "frame": 516, + "time_s": 129.69410228729248, + "cell": "B", + "current_occupancy": 0.3500981330871582, + "current_observability": 0.01093532145023346, + "fused_occupancy": 0.5443252485123924 + }, + { + "frame": 518, + "time_s": 130.19383597373962, + "cell": "A", + "current_occupancy": 0.3072967529296875, + "current_observability": 0.01105952262878418, + "fused_occupancy": 0.5053861796197127 + }, + { + "frame": 518, + "time_s": 130.19383597373962, + "cell": "B", + "current_occupancy": 0.39202308654785156, + "current_observability": 0.008446425199508667, + "fused_occupancy": 0.5441092698856568 + }, + { + "frame": 519, + "time_s": 130.42703199386597, + "cell": "A", + "current_occupancy": 0.2418041229248047, + "current_observability": 0.011387467384338379, + "fused_occupancy": 0.5047603100156742 + }, + { + "frame": 519, + "time_s": 130.42703199386597, + "cell": "B", + "current_occupancy": 0.38154172897338867, + "current_observability": 0.008479341864585876, + "fused_occupancy": 0.5438038380624968 + }, + { + "frame": 521, + "time_s": 130.92680644989014, + "cell": "A", + "current_occupancy": 0.28030967712402344, + "current_observability": 0.012359440326690674, + "fused_occupancy": 0.5041562543973893 + }, + { + "frame": 521, + "time_s": 130.92680644989014, + "cell": "B", + "current_occupancy": 0.3249354362487793, + "current_observability": 0.01070481538772583, + "fused_occupancy": 0.5435241989479991 + }, + { + "frame": 522, + "time_s": 131.19338965415955, + "cell": "A", + "current_occupancy": 0.28673744201660156, + "current_observability": 0.012944936752319336, + "fused_occupancy": 0.5035827415403512 + }, + { + "frame": 522, + "time_s": 131.19338965415955, + "cell": "B", + "current_occupancy": 0.3860440254211426, + "current_observability": 0.011090561747550964, + "fused_occupancy": 0.5432622858920674 + }, + { + "frame": 524, + "time_s": 131.62657284736633, + "cell": "A", + "current_occupancy": 0.28682708740234375, + "current_observability": 0.011223196983337402, + "fused_occupancy": 0.5030060668877675 + }, + { + "frame": 524, + "time_s": 131.62657284736633, + "cell": "B", + "current_occupancy": 0.376708984375, + "current_observability": 0.009506464004516602, + "fused_occupancy": 0.54295153220833 + }, + { + "frame": 525, + "time_s": 131.9265434741974, + "cell": "A", + "current_occupancy": 0.32684326171875, + "current_observability": 0.011984825134277344, + "fused_occupancy": 0.5025300787486752 + }, + { + "frame": 525, + "time_s": 131.9265434741974, + "cell": "B", + "current_occupancy": 0.366729736328125, + "current_observability": 0.01043081283569336, + "fused_occupancy": 0.542752592149172 + }, + { + "frame": 527, + "time_s": 132.42651104927063, + "cell": "A", + "current_occupancy": 0.2507171630859375, + "current_observability": 0.011266708374023438, + "fused_occupancy": 0.5018992906800318 + }, + { + "frame": 527, + "time_s": 132.42651104927063, + "cell": "B", + "current_occupancy": 0.3393867015838623, + "current_observability": 0.009681060910224915, + "fused_occupancy": 0.5424179060044129 + }, + { + "frame": 528, + "time_s": 132.65982294082642, + "cell": "A", + "current_occupancy": 0.3356590270996094, + "current_observability": 0.010901451110839844, + "fused_occupancy": 0.5013812010930889 + }, + { + "frame": 528, + "time_s": 132.65982294082642, + "cell": "B", + "current_occupancy": 0.38034653663635254, + "current_observability": 0.009303227066993713, + "fused_occupancy": 0.5422005771889187 + }, + { + "frame": 530, + "time_s": 133.0932457447052, + "cell": "A", + "current_occupancy": 0.23714661598205566, + "current_observability": 0.012550786137580872, + "fused_occupancy": 0.5007662087057959 + }, + { + "frame": 530, + "time_s": 133.0932457447052, + "cell": "B", + "current_occupancy": 0.3685441017150879, + "current_observability": 0.009303256869316101, + "fused_occupancy": 0.5418625185057451 + }, + { + "frame": 531, + "time_s": 133.42665243148804, + "cell": "A", + "current_occupancy": 0.35608530044555664, + "current_observability": 0.011797428131103516, + "fused_occupancy": 0.5004017040286948 + }, + { + "frame": 531, + "time_s": 133.42665243148804, + "cell": "B", + "current_occupancy": 0.4470973014831543, + "current_observability": 0.009135887026786804, + "fused_occupancy": 0.5417876874633573 + }, + { + "frame": 533, + "time_s": 133.92706084251404, + "cell": "A", + "current_occupancy": 0.28679323196411133, + "current_observability": 0.012731879949569702, + "fused_occupancy": 0.4998982330372465 + }, + { + "frame": 533, + "time_s": 133.92706084251404, + "cell": "B", + "current_occupancy": 0.39054298400878906, + "current_observability": 0.010953128337860107, + "fused_occupancy": 0.5415975730895655 + }, + { + "frame": 535, + "time_s": 134.42777132987976, + "cell": "A", + "current_occupancy": 0.25605952739715576, + "current_observability": 0.012484848499298096, + "fused_occupancy": 0.49922611990354765 + }, + { + "frame": 535, + "time_s": 134.42777132987976, + "cell": "B", + "current_occupancy": 0.29424285888671875, + "current_observability": 0.010969579219818115, + "fused_occupancy": 0.541150076349304 + }, + { + "frame": 536, + "time_s": 134.62805676460266, + "cell": "A", + "current_occupancy": 0.2598245143890381, + "current_observability": 0.01213548332452774, + "fused_occupancy": 0.49858545066637816 + }, + { + "frame": 536, + "time_s": 134.62805676460266, + "cell": "B", + "current_occupancy": 0.3427581787109375, + "current_observability": 0.010401010513305664, + "fused_occupancy": 0.540744587731467 + }, + { + "frame": 538, + "time_s": 135.1948790550232, + "cell": "A", + "current_occupancy": 0.2997932434082031, + "current_observability": 0.006709694862365723, + "fused_occupancy": 0.4980782482548314 + }, + { + "frame": 538, + "time_s": 135.1948790550232, + "cell": "B", + "current_occupancy": 0.38278961181640625, + "current_observability": 0.0059299468994140625, + "fused_occupancy": 0.5403371366015222 + }, + { + "frame": 540, + "time_s": 135.69496893882751, + "cell": "A", + "current_occupancy": 0.22658920288085938, + "current_observability": 0.006748676300048828, + "fused_occupancy": 0.4973304869045836 + }, + { + "frame": 540, + "time_s": 135.69496893882751, + "cell": "B", + "current_occupancy": 0.25676774978637695, + "current_observability": 0.0064144134521484375, + "fused_occupancy": 0.5396360756198983 + }, + { + "frame": 541, + "time_s": 135.9284007549286, + "cell": "A", + "current_occupancy": 0.20854568481445312, + "current_observability": 0.006540775299072266, + "fused_occupancy": 0.4965913205019195 + }, + { + "frame": 541, + "time_s": 135.9284007549286, + "cell": "B", + "current_occupancy": 0.26973915100097656, + "current_observability": 0.0060272216796875, + "fused_occupancy": 0.538943792293445 + }, + { + "frame": 543, + "time_s": 136.39527821540833, + "cell": "A", + "current_occupancy": 0.21304559707641602, + "current_observability": 0.006696790456771851, + "fused_occupancy": 0.4958201857912073 + }, + { + "frame": 543, + "time_s": 136.39527821540833, + "cell": "B", + "current_occupancy": 0.243499755859375, + "current_observability": 0.00612601637840271, + "fused_occupancy": 0.5382124759930991 + }, + { + "frame": 545, + "time_s": 136.9289104938507, + "cell": "A", + "current_occupancy": 0.17064034938812256, + "current_observability": 0.010247044265270233, + "fused_occupancy": 0.4949773476915858 + }, + { + "frame": 545, + "time_s": 136.9289104938507, + "cell": "B", + "current_occupancy": 0.2037968635559082, + "current_observability": 0.009605556726455688, + "fused_occupancy": 0.5375309280155971 + }, + { + "frame": 547, + "time_s": 137.4292619228363, + "cell": "A", + "current_occupancy": 0.2316570281982422, + "current_observability": 0.009800940752029419, + "fused_occupancy": 0.49427734461984824 + }, + { + "frame": 547, + "time_s": 137.4292619228363, + "cell": "B", + "current_occupancy": 0.2701399326324463, + "current_observability": 0.009248100221157074, + "fused_occupancy": 0.5370240815188175 + }, + { + "frame": 549, + "time_s": 137.92966985702515, + "cell": "A", + "current_occupancy": 0.3260815143585205, + "current_observability": 0.010991595685482025, + "fused_occupancy": 0.4938250137576276 + }, + { + "frame": 549, + "time_s": 137.92966985702515, + "cell": "B", + "current_occupancy": 0.3816804885864258, + "current_observability": 0.010312497615814209, + "fused_occupancy": 0.5368181812842784 + }, + { + "frame": 550, + "time_s": 138.1965847015381, + "cell": "A", + "current_occupancy": 0.3629312515258789, + "current_observability": 0.012037515640258789, + "fused_occupancy": 0.4936241903735783 + }, + { + "frame": 550, + "time_s": 138.1965847015381, + "cell": "B", + "current_occupancy": 0.4513072967529297, + "current_observability": 0.010457873344421387, + "fused_occupancy": 0.536801617875833 + }, + { + "frame": 552, + "time_s": 138.69708919525146, + "cell": "A", + "current_occupancy": 0.2598257064819336, + "current_observability": 0.012081563472747803, + "fused_occupancy": 0.4930302416750219 + }, + { + "frame": 552, + "time_s": 138.69708919525146, + "cell": "B", + "current_occupancy": 0.30027055740356445, + "current_observability": 0.011335328221321106, + "fused_occupancy": 0.5363895224164896 + }, + { + "frame": 554, + "time_s": 139.1976673603058, + "cell": "A", + "current_occupancy": 0.3812119960784912, + "current_observability": 0.013056360185146332, + "fused_occupancy": 0.49278805465655634 + }, + { + "frame": 554, + "time_s": 139.1976673603058, + "cell": "B", + "current_occupancy": 0.42934727668762207, + "current_observability": 0.012069925665855408, + "fused_occupancy": 0.5363151255843374 + }, + { + "frame": 556, + "time_s": 139.66485595703125, + "cell": "A", + "current_occupancy": 0.2886465787887573, + "current_observability": 0.015067823231220245, + "fused_occupancy": 0.4923229280836042 + }, + { + "frame": 556, + "time_s": 139.66485595703125, + "cell": "B", + "current_occupancy": 0.38540101051330566, + "current_observability": 0.012280307710170746, + "fused_occupancy": 0.536008624184301 + }, + { + "frame": 558, + "time_s": 140.20023441314697, + "cell": "A", + "current_occupancy": 0.22928690910339355, + "current_observability": 0.02318444848060608, + "fused_occupancy": 0.4917160542228713 + }, + { + "frame": 558, + "time_s": 140.20023441314697, + "cell": "B", + "current_occupancy": 0.26180267333984375, + "current_observability": 0.019998550415039062, + "fused_occupancy": 0.5355129036005297 + }, + { + "frame": 559, + "time_s": 140.43453240394592, + "cell": "A", + "current_occupancy": 0.29271697998046875, + "current_observability": 0.02502363920211792, + "fused_occupancy": 0.49119161645633674 + }, + { + "frame": 559, + "time_s": 140.43453240394592, + "cell": "B", + "current_occupancy": 0.299102783203125, + "current_observability": 0.023982524871826172, + "fused_occupancy": 0.5351536818912868 + }, + { + "frame": 561, + "time_s": 140.90232372283936, + "cell": "A", + "current_occupancy": 0.2932562828063965, + "current_observability": 0.021074682474136353, + "fused_occupancy": 0.49061728397482074 + }, + { + "frame": 561, + "time_s": 140.90232372283936, + "cell": "B", + "current_occupancy": 0.3033447265625, + "current_observability": 0.019723892211914062, + "fused_occupancy": 0.5347379529512445 + }, + { + "frame": 563, + "time_s": 141.43563747406006, + "cell": "A", + "current_occupancy": 0.3754868507385254, + "current_observability": 0.029462188482284546, + "fused_occupancy": 0.49044099551897374 + }, + { + "frame": 563, + "time_s": 141.43563747406006, + "cell": "B", + "current_occupancy": 0.490966796875, + "current_observability": 0.02306222915649414, + "fused_occupancy": 0.5347484438998265 + }, + { + "frame": 565, + "time_s": 141.90228271484375, + "cell": "A", + "current_occupancy": 0.3458423614501953, + "current_observability": 0.029344916343688965, + "fused_occupancy": 0.4901415593224306 + }, + { + "frame": 565, + "time_s": 141.90228271484375, + "cell": "B", + "current_occupancy": 0.3951232433319092, + "current_observability": 0.02545294165611267, + "fused_occupancy": 0.5346081495344842 + }, + { + "frame": 567, + "time_s": 142.40226316452026, + "cell": "A", + "current_occupancy": 0.37001800537109375, + "current_observability": 0.027936458587646484, + "fused_occupancy": 0.48986232686288106 + }, + { + "frame": 567, + "time_s": 142.40226316452026, + "cell": "B", + "current_occupancy": 0.4197673797607422, + "current_observability": 0.024277091026306152, + "fused_occupancy": 0.534485114842861 + }, + { + "frame": 569, + "time_s": 142.93589091300964, + "cell": "A", + "current_occupancy": 0.3683476448059082, + "current_observability": 0.03748553991317749, + "fused_occupancy": 0.48954788722732684 + }, + { + "frame": 569, + "time_s": 142.93589091300964, + "cell": "B", + "current_occupancy": 0.37192535400390625, + "current_observability": 0.03402477502822876, + "fused_occupancy": 0.5343349923358159 + }, + { + "frame": 570, + "time_s": 143.20294046401978, + "cell": "A", + "current_occupancy": 0.3749728202819824, + "current_observability": 0.029746562242507935, + "fused_occupancy": 0.4892776749268605 + }, + { + "frame": 570, + "time_s": 143.20294046401978, + "cell": "B", + "current_occupancy": 0.42824506759643555, + "current_observability": 0.02693416178226471, + "fused_occupancy": 0.5342302476896605 + }, + { + "frame": 572, + "time_s": 143.7037115097046, + "cell": "A", + "current_occupancy": 0.834228515625, + "current_observability": 0.40548133850097656, + "fused_occupancy": 0.49552311274868355 + }, + { + "frame": 572, + "time_s": 143.7037115097046, + "cell": "B", + "current_occupancy": 0.8738927841186523, + "current_observability": 0.288707971572876, + "fused_occupancy": 0.537546110194816 + }, + { + "frame": 574, + "time_s": 144.2038311958313, + "cell": "A", + "current_occupancy": 0.7709894180297852, + "current_observability": 0.42719507217407227, + "fused_occupancy": 0.500909124343983 + }, + { + "frame": 574, + "time_s": 144.2038311958313, + "cell": "B", + "current_occupancy": 0.8365764617919922, + "current_observability": 0.32256031036376953, + "fused_occupancy": 0.5406954607686706 + }, + { + "frame": 576, + "time_s": 144.70392322540283, + "cell": "A", + "current_occupancy": 0.7235913276672363, + "current_observability": 0.2063589096069336, + "fused_occupancy": 0.5028220848273118 + }, + { + "frame": 576, + "time_s": 144.70392322540283, + "cell": "B", + "current_occupancy": 0.7524528503417969, + "current_observability": 0.1867985725402832, + "fused_occupancy": 0.5426111815909694 + }, + { + "frame": 578, + "time_s": 145.20404195785522, + "cell": "A", + "current_occupancy": 0.5722064971923828, + "current_observability": 0.48323822021484375, + "fused_occupancy": 0.5048722785658978 + }, + { + "frame": 578, + "time_s": 145.20404195785522, + "cell": "B", + "current_occupancy": 0.716585636138916, + "current_observability": 0.3815648555755615, + "fused_occupancy": 0.5455116536529032 + }, + { + "frame": 580, + "time_s": 145.67079043388367, + "cell": "A", + "current_occupancy": 0.7413730621337891, + "current_observability": 0.6760101318359375, + "fused_occupancy": 0.5096713226941784 + }, + { + "frame": 580, + "time_s": 145.67079043388367, + "cell": "B", + "current_occupancy": 0.8747587203979492, + "current_observability": 0.6590290069580078, + "fused_occupancy": 0.5560567022919723 + }, + { + "frame": 582, + "time_s": 146.2042510509491, + "cell": "A", + "current_occupancy": 0.432159423828125, + "current_observability": 0.7179741859436035, + "fused_occupancy": 0.5132721346690131 + }, + { + "frame": 582, + "time_s": 146.2042510509491, + "cell": "B", + "current_occupancy": 0.9160242080688477, + "current_observability": 0.5981931686401367, + "fused_occupancy": 0.5658778397353601 + }, + { + "frame": 584, + "time_s": 146.70434093475342, + "cell": "A", + "current_occupancy": 0.4569258689880371, + "current_observability": 0.7316684722900391, + "fused_occupancy": 0.5170707628643116 + }, + { + "frame": 584, + "time_s": 146.70434093475342, + "cell": "B", + "current_occupancy": 0.9119138717651367, + "current_observability": 0.6235418319702148, + "fused_occupancy": 0.5752152534612568 + }, + { + "frame": 586, + "time_s": 147.20445132255554, + "cell": "A", + "current_occupancy": 0.4395792484283447, + "current_observability": 0.7276086807250977, + "fused_occupancy": 0.5204093642425567 + }, + { + "frame": 586, + "time_s": 147.20445132255554, + "cell": "B", + "current_occupancy": 0.920039176940918, + "current_observability": 0.5997047424316406, + "fused_occupancy": 0.5840581198899016 + }, + { + "frame": 588, + "time_s": 147.67119145393372, + "cell": "A", + "current_occupancy": 0.43125295639038086, + "current_observability": 0.7613177299499512, + "fused_occupancy": 0.5229719703792911 + }, + { + "frame": 588, + "time_s": 147.67119145393372, + "cell": "B", + "current_occupancy": 0.8876323699951172, + "current_observability": 0.6527347564697266, + "fused_occupancy": 0.5927706264347514 + }, + { + "frame": 590, + "time_s": 148.2046456336975, + "cell": "A", + "current_occupancy": 0.3789263963699341, + "current_observability": 0.7492122650146484, + "fused_occupancy": 0.5244286800890713 + }, + { + "frame": 590, + "time_s": 148.2046456336975, + "cell": "B", + "current_occupancy": 0.8938589096069336, + "current_observability": 0.6490726470947266, + "fused_occupancy": 0.6009517431161361 + }, + { + "frame": 592, + "time_s": 148.70472931861877, + "cell": "A", + "current_occupancy": 0.43050289154052734, + "current_observability": 0.6865444183349609, + "fused_occupancy": 0.5258025466728217 + }, + { + "frame": 592, + "time_s": 148.70472931861877, + "cell": "B", + "current_occupancy": 0.8235149383544922, + "current_observability": 0.5952730178833008, + "fused_occupancy": 0.606917431170195 + }, + { + "frame": 594, + "time_s": 149.204843044281, + "cell": "A", + "current_occupancy": 0.4291801452636719, + "current_observability": 0.2793235778808594, + "fused_occupancy": 0.5247914280719768 + }, + { + "frame": 594, + "time_s": 149.204843044281, + "cell": "B", + "current_occupancy": 0.4334993362426758, + "current_observability": 0.2823753356933594, + "fused_occupancy": 0.6050267095799551 + }, + { + "frame": 596, + "time_s": 149.67158889770508, + "cell": "A", + "current_occupancy": 0.0971517562866211, + "current_observability": 0.09414339065551758, + "fused_occupancy": 0.5235892431481991 + }, + { + "frame": 596, + "time_s": 149.67158889770508, + "cell": "B", + "current_occupancy": 0.15001094341278076, + "current_observability": 0.05529683828353882, + "fused_occupancy": 0.6041660830436361 + }, + { + "frame": 599, + "time_s": 150.44025254249573, + "cell": "A", + "current_occupancy": 0.08762812614440918, + "current_observability": 0.28580665588378906, + "fused_occupancy": 0.5205085974398064 + }, + { + "frame": 599, + "time_s": 150.44025254249573, + "cell": "B", + "current_occupancy": 0.14083003997802734, + "current_observability": 0.11002874374389648, + "fused_occupancy": 0.6025423781074308 + }, + { + "frame": 601, + "time_s": 150.94117259979248, + "cell": "A", + "current_occupancy": 0.06507492065429688, + "current_observability": 0.3173027038574219, + "fused_occupancy": 0.5170943293494409 + }, + { + "frame": 601, + "time_s": 150.94117259979248, + "cell": "B", + "current_occupancy": 0.11108124256134033, + "current_observability": 0.07997238636016846, + "fused_occupancy": 0.601389331010731 + }, + { + "frame": 603, + "time_s": 151.44134092330933, + "cell": "A", + "current_occupancy": 0.2700023651123047, + "current_observability": 0.4037322998046875, + "fused_occupancy": 0.5150686063199369 + }, + { + "frame": 603, + "time_s": 151.44134092330933, + "cell": "B", + "current_occupancy": 0.3119833469390869, + "current_observability": 0.0631752610206604, + "fused_occupancy": 0.6009761185729005 + }, + { + "frame": 605, + "time_s": 151.90816497802734, + "cell": "A", + "current_occupancy": 0.20870018005371094, + "current_observability": 0.42401885986328125, + "fused_occupancy": 0.512096782924082 + }, + { + "frame": 605, + "time_s": 151.90816497802734, + "cell": "B", + "current_occupancy": 0.33211565017700195, + "current_observability": 0.10985422134399414, + "fused_occupancy": 0.6002987778761102 + }, + { + "frame": 608, + "time_s": 152.70844197273254, + "cell": "A", + "current_occupancy": 0.09896373748779297, + "current_observability": 0.41070556640625, + "fused_occupancy": 0.508149250206342 + }, + { + "frame": 608, + "time_s": 152.70844197273254, + "cell": "B", + "current_occupancy": 0.14651215076446533, + "current_observability": 0.111319899559021, + "fused_occupancy": 0.598966154552711 + }, + { + "frame": 610, + "time_s": 153.20862317085266, + "cell": "A", + "current_occupancy": 0.05432462692260742, + "current_observability": 0.4001331329345703, + "fused_occupancy": 0.5038956573347039 + }, + { + "frame": 610, + "time_s": 153.20862317085266, + "cell": "B", + "current_occupancy": 0.0999457836151123, + "current_observability": 0.08693063259124756, + "fused_occupancy": 0.5978210243669667 + }, + { + "frame": 612, + "time_s": 153.70878267288208, + "cell": "A", + "current_occupancy": 0.04251909255981445, + "current_observability": 0.39043426513671875, + "fused_occupancy": 0.49964558829833006 + }, + { + "frame": 612, + "time_s": 153.70878267288208, + "cell": "B", + "current_occupancy": 0.07830065488815308, + "current_observability": 0.1115720272064209, + "fused_occupancy": 0.5961267991342543 + }, + { + "frame": 614, + "time_s": 154.17561554908752, + "cell": "A", + "current_occupancy": 0.05932605266571045, + "current_observability": 0.3145742416381836, + "fused_occupancy": 0.49649786245666006 + }, + { + "frame": 614, + "time_s": 154.17561554908752, + "cell": "B", + "current_occupancy": 0.09706854820251465, + "current_observability": 0.08481121063232422, + "fused_occupancy": 0.5947717815414082 + }, + { + "frame": 616, + "time_s": 154.70911502838135, + "cell": "A", + "current_occupancy": 0.055685997009277344, + "current_observability": 0.5463027954101562, + "fused_occupancy": 0.49091875167342014 + }, + { + "frame": 616, + "time_s": 154.70911502838135, + "cell": "B", + "current_occupancy": 0.10462862253189087, + "current_observability": 0.1203606128692627, + "fused_occupancy": 0.5934985693367922 + }, + { + "frame": 618, + "time_s": 155.2092957496643, + "cell": "A", + "current_occupancy": 0.21317386627197266, + "current_observability": 0.7904510498046875, + "fused_occupancy": 0.4862031589429417 + }, + { + "frame": 618, + "time_s": 155.2092957496643, + "cell": "B", + "current_occupancy": 0.5341920852661133, + "current_observability": 0.6211891174316406, + "fused_occupancy": 0.5944239284405377 + }, + { + "frame": 621, + "time_s": 155.94318771362305, + "cell": "A", + "current_occupancy": 0.03321939706802368, + "current_observability": 0.8436098098754883, + "fused_occupancy": 0.4740580203503001 + }, + { + "frame": 621, + "time_s": 155.94318771362305, + "cell": "B", + "current_occupancy": 0.06849360466003418, + "current_observability": 0.8251495361328125, + "fused_occupancy": 0.5809056949150215 + }, + { + "frame": 623, + "time_s": 156.4441225528717, + "cell": "A", + "current_occupancy": 0.019951075315475464, + "current_observability": 0.8879060745239258, + "fused_occupancy": 0.46136797458437184 + }, + { + "frame": 623, + "time_s": 156.4441225528717, + "cell": "B", + "current_occupancy": 0.027593135833740234, + "current_observability": 0.867584228515625, + "fused_occupancy": 0.5651946533629109 + }, + { + "frame": 625, + "time_s": 156.94480419158936, + "cell": "A", + "current_occupancy": 0.024538278579711914, + "current_observability": 0.90478515625, + "fused_occupancy": 0.44947481124532024 + }, + { + "frame": 625, + "time_s": 156.94480419158936, + "cell": "B", + "current_occupancy": 0.05308812856674194, + "current_observability": 0.8915615081787109, + "fused_occupancy": 0.5533467389619183 + }, + { + "frame": 627, + "time_s": 157.34504199028015, + "cell": "A", + "current_occupancy": 0.022823810577392578, + "current_observability": 0.8837051391601562, + "fused_occupancy": 0.43828060210503195 + }, + { + "frame": 627, + "time_s": 157.34504199028015, + "cell": "B", + "current_occupancy": 0.03885698318481445, + "current_observability": 0.8686676025390625, + "fused_occupancy": 0.5402886037228399 + }, + { + "frame": 629, + "time_s": 157.94539785385132, + "cell": "A", + "current_occupancy": 0.03222155570983887, + "current_observability": 0.846466064453125, + "fused_occupancy": 0.42838187221094554 + }, + { + "frame": 629, + "time_s": 157.94539785385132, + "cell": "B", + "current_occupancy": 0.05013167858123779, + "current_observability": 0.8331546783447266, + "fused_occupancy": 0.5286881495302697 + }, + { + "frame": 631, + "time_s": 158.4456968307495, + "cell": "A", + "current_occupancy": 0.01913166046142578, + "current_observability": 0.9037322998046875, + "fused_occupancy": 0.4179845638304804 + }, + { + "frame": 631, + "time_s": 158.4456968307495, + "cell": "B", + "current_occupancy": 0.03804129362106323, + "current_observability": 0.8921108245849609, + "fused_occupancy": 0.5173611908194634 + }, + { + "frame": 634, + "time_s": 159.21282148361206, + "cell": "A", + "current_occupancy": 0.01762866973876953, + "current_observability": 0.9033889770507812, + "fused_occupancy": 0.40800415566225073 + }, + { + "frame": 634, + "time_s": 159.21282148361206, + "cell": "B", + "current_occupancy": 0.029750287532806396, + "current_observability": 0.8914699554443359, + "fused_occupancy": 0.5055143897590578 + }, + { + "frame": 636, + "time_s": 159.71311497688293, + "cell": "A", + "current_occupancy": 0.01774214208126068, + "current_observability": 0.8306732177734375, + "fused_occupancy": 0.39924069438525733 + }, + { + "frame": 636, + "time_s": 159.71311497688293, + "cell": "B", + "current_occupancy": 0.023192107677459717, + "current_observability": 0.8124685287475586, + "fused_occupancy": 0.4941663330250024 + }, + { + "frame": 638, + "time_s": 160.1800639629364, + "cell": "A", + "current_occupancy": 0.05801007151603699, + "current_observability": 0.8373961448669434, + "fused_occupancy": 0.39263208720198256 + }, + { + "frame": 638, + "time_s": 160.1800639629364, + "cell": "B", + "current_occupancy": 0.12257003784179688, + "current_observability": 0.7737903594970703, + "fused_occupancy": 0.4891618279122022 + }, + { + "frame": 640, + "time_s": 160.7137131690979, + "cell": "A", + "current_occupancy": 0.08757007122039795, + "current_observability": 0.7135171890258789, + "fused_occupancy": 0.3882981525882286 + }, + { + "frame": 640, + "time_s": 160.7137131690979, + "cell": "B", + "current_occupancy": 0.137786865234375, + "current_observability": 0.36412906646728516, + "fused_occupancy": 0.48728417560206755 + }, + { + "frame": 642, + "time_s": 161.11395597457886, + "cell": "A", + "current_occupancy": 0.09514045715332031, + "current_observability": 0.26204872131347656, + "fused_occupancy": 0.38705400112931454 + }, + { + "frame": 642, + "time_s": 161.11395597457886, + "cell": "B", + "current_occupancy": 0.17366087436676025, + "current_observability": 0.056640684604644775, + "fused_occupancy": 0.48688971166509687 + }, + { + "frame": 644, + "time_s": 161.71431279182434, + "cell": "A", + "current_occupancy": 0.09238910675048828, + "current_observability": 0.10198211669921875, + "fused_occupancy": 0.38638387954958997 + }, + { + "frame": 644, + "time_s": 161.71431279182434, + "cell": "B", + "current_occupancy": 0.1302165985107422, + "current_observability": 0.06670188903808594, + "fused_occupancy": 0.48619185082936023 + }, + { + "frame": 647, + "time_s": 162.44808840751648, + "cell": "A", + "current_occupancy": 0.16769838333129883, + "current_observability": 0.049202919006347656, + "fused_occupancy": 0.38611035976874986 + }, + { + "frame": 647, + "time_s": 162.44808840751648, + "cell": "B", + "current_occupancy": 0.20860755443572998, + "current_observability": 0.04427605867385864, + "fused_occupancy": 0.485800394691842 + }, + { + "frame": 649, + "time_s": 162.915034532547, + "cell": "A", + "current_occupancy": 0.2034587860107422, + "current_observability": 0.05222892761230469, + "fused_occupancy": 0.3858785946739987 + }, + { + "frame": 649, + "time_s": 162.915034532547, + "cell": "B", + "current_occupancy": 0.25028038024902344, + "current_observability": 0.04726278781890869, + "fused_occupancy": 0.4854667920547782 + }, + { + "frame": 652, + "time_s": 163.68216013908386, + "cell": "A", + "current_occupancy": 0.39304542541503906, + "current_observability": 0.1114959716796875, + "fused_occupancy": 0.38592431202858135 + }, + { + "frame": 652, + "time_s": 163.68216013908386, + "cell": "B", + "current_occupancy": 0.4619102478027344, + "current_observability": 0.1075124740600586, + "fused_occupancy": 0.48539061431263875 + }, + { + "frame": 654, + "time_s": 164.2158133983612, + "cell": "A", + "current_occupancy": 0.4476776123046875, + "current_observability": 0.11020612716674805, + "fused_occupancy": 0.38611977991095475 + }, + { + "frame": 654, + "time_s": 164.2158133983612, + "cell": "B", + "current_occupancy": 0.5123367309570312, + "current_observability": 0.10759258270263672, + "fused_occupancy": 0.48545427960141346 + }, + { + "frame": 656, + "time_s": 164.71610689163208, + "cell": "A", + "current_occupancy": 0.3125495910644531, + "current_observability": 0.06974506378173828, + "fused_occupancy": 0.3860046838449324 + }, + { + "frame": 656, + "time_s": 164.71610689163208, + "cell": "B", + "current_occupancy": 0.3783149719238281, + "current_observability": 0.07236194610595703, + "fused_occupancy": 0.4852330561759958 + }, + { + "frame": 658, + "time_s": 165.1830542087555, + "cell": "A", + "current_occupancy": 0.3210887908935547, + "current_observability": 0.10845136642456055, + "fused_occupancy": 0.3858548508441506 + }, + { + "frame": 658, + "time_s": 165.1830542087555, + "cell": "B", + "current_occupancy": 0.3954658508300781, + "current_observability": 0.10821533203125, + "fused_occupancy": 0.4849598409018492 + }, + { + "frame": 660, + "time_s": 165.7166986465454, + "cell": "A", + "current_occupancy": 0.3977680206298828, + "current_observability": 0.10831928253173828, + "fused_occupancy": 0.38589870585677694 + }, + { + "frame": 660, + "time_s": 165.7166986465454, + "cell": "B", + "current_occupancy": 0.4540214538574219, + "current_observability": 0.10586261749267578, + "fused_occupancy": 0.4848453209776508 + }, + { + "frame": 663, + "time_s": 166.41756391525269, + "cell": "A", + "current_occupancy": 0.336578369140625, + "current_observability": 0.09772872924804688, + "fused_occupancy": 0.385794290019657 + }, + { + "frame": 663, + "time_s": 166.41756391525269, + "cell": "B", + "current_occupancy": 0.4060859680175781, + "current_observability": 0.0953369140625, + "fused_occupancy": 0.48461727991730935 + }, + { + "frame": 665, + "time_s": 166.91810822486877, + "cell": "A", + "current_occupancy": 0.3308539390563965, + "current_observability": 0.07106733322143555, + "fused_occupancy": 0.38569310903459114 + }, + { + "frame": 665, + "time_s": 166.91810822486877, + "cell": "B", + "current_occupancy": 0.35347747802734375, + "current_observability": 0.07241630554199219, + "fused_occupancy": 0.48434259487256215 + }, + { + "frame": 667, + "time_s": 167.45181918144226, + "cell": "A", + "current_occupancy": 0.4312934875488281, + "current_observability": 0.18230104446411133, + "fused_occupancy": 0.3860187637756403 + }, + { + "frame": 667, + "time_s": 167.45181918144226, + "cell": "B", + "current_occupancy": 0.5053596496582031, + "current_observability": 0.16657447814941406, + "fused_occupancy": 0.48460889734525375 + }, + { + "frame": 669, + "time_s": 167.9525306224823, + "cell": "A", + "current_occupancy": 0.24520111083984375, + "current_observability": 0.04103904962539673, + "fused_occupancy": 0.38584670012141087 + }, + { + "frame": 669, + "time_s": 167.9525306224823, + "cell": "B", + "current_occupancy": 0.28823089599609375, + "current_observability": 0.04082345962524414, + "fused_occupancy": 0.48432652675464377 + }, + { + "frame": 671, + "time_s": 168.45375227928162, + "cell": "A", + "current_occupancy": 0.17613697052001953, + "current_observability": 0.06010878086090088, + "fused_occupancy": 0.3855952905083082 + }, + { + "frame": 671, + "time_s": 168.45375227928162, + "cell": "B", + "current_occupancy": 0.2677001953125, + "current_observability": 0.0349578857421875, + "fused_occupancy": 0.48409133414232164 + }, + { + "frame": 674, + "time_s": 169.22139954566956, + "cell": "A", + "current_occupancy": 0.4721832275390625, + "current_observability": 0.015866458415985107, + "fused_occupancy": 0.3857482092123262 + }, + { + "frame": 674, + "time_s": 169.22139954566956, + "cell": "B", + "current_occupancy": 0.580078125, + "current_observability": 0.01384735107421875, + "fused_occupancy": 0.4842673397436902 + }, + { + "frame": 676, + "time_s": 169.7216601371765, + "cell": "A", + "current_occupancy": 0.447723388671875, + "current_observability": 0.01492089033126831, + "fused_occupancy": 0.38587071862331535 + }, + { + "frame": 676, + "time_s": 169.7216601371765, + "cell": "B", + "current_occupancy": 0.5556640625, + "current_observability": 0.01282501220703125, + "fused_occupancy": 0.4844109557166412 + }, + { + "frame": 678, + "time_s": 170.2219295501709, + "cell": "A", + "current_occupancy": 0.42143821716308594, + "current_observability": 0.015168383717536926, + "fused_occupancy": 0.3859613071283616 + }, + { + "frame": 678, + "time_s": 170.2219295501709, + "cell": "B", + "current_occupancy": 0.532958984375, + "current_observability": 0.01282501220703125, + "fused_occupancy": 0.4845240436713837 + }, + { + "frame": 680, + "time_s": 170.68883800506592, + "cell": "A", + "current_occupancy": 0.4277653694152832, + "current_observability": 0.015168383717536926, + "fused_occupancy": 0.38605923578668305 + }, + { + "frame": 680, + "time_s": 170.68883800506592, + "cell": "B", + "current_occupancy": 0.538818359375, + "current_observability": 0.01282501220703125, + "fused_occupancy": 0.48464445360888647 + }, + { + "frame": 683, + "time_s": 171.45591711997986, + "cell": "A", + "current_occupancy": 0.4480133056640625, + "current_observability": 0.015924930572509766, + "fused_occupancy": 0.38618156161824446 + }, + { + "frame": 683, + "time_s": 171.45591711997986, + "cell": "B", + "current_occupancy": 0.5575942993164062, + "current_observability": 0.014036178588867188, + "fused_occupancy": 0.48478961820661215 + }, + { + "frame": 685, + "time_s": 171.95618677139282, + "cell": "A", + "current_occupancy": 0.440338134765625, + "current_observability": 0.015139341354370117, + "fused_occupancy": 0.3862937504689387 + }, + { + "frame": 685, + "time_s": 171.95618677139282, + "cell": "B", + "current_occupancy": 0.5490646362304688, + "current_observability": 0.012795448303222656, + "fused_occupancy": 0.4849230524547427 + }, + { + "frame": 688, + "time_s": 172.72327136993408, + "cell": "A", + "current_occupancy": 0.45215606689453125, + "current_observability": 0.014663934707641602, + "fused_occupancy": 0.38642175392239353 + }, + { + "frame": 688, + "time_s": 172.72327136993408, + "cell": "B", + "current_occupancy": 0.5551090240478516, + "current_observability": 0.012932904064655304, + "fused_occupancy": 0.4850758304895806 + }, + { + "frame": 690, + "time_s": 173.22354197502136, + "cell": "A", + "current_occupancy": 0.4609260559082031, + "current_observability": 0.031946659088134766, + "fused_occupancy": 0.3865619147672772 + }, + { + "frame": 690, + "time_s": 173.22354197502136, + "cell": "B", + "current_occupancy": 0.5517520904541016, + "current_observability": 0.026392176747322083, + "fused_occupancy": 0.4852347614287946 + }, + { + "frame": 693, + "time_s": 173.9239113330841, + "cell": "A", + "current_occupancy": 0.8431282043457031, + "current_observability": 0.6866559982299805, + "fused_occupancy": 0.39444477279592566 + }, + { + "frame": 693, + "time_s": 173.9239113330841, + "cell": "B", + "current_occupancy": 0.9150619506835938, + "current_observability": 0.5652256011962891, + "fused_occupancy": 0.49132463740270654 + }, + { + "frame": 695, + "time_s": 174.39082670211792, + "cell": "A", + "current_occupancy": 0.8930454254150391, + "current_observability": 0.6356706619262695, + "fused_occupancy": 0.40201510511990185 + }, + { + "frame": 695, + "time_s": 174.39082670211792, + "cell": "B", + "current_occupancy": 0.8955326080322266, + "current_observability": 0.5712604522705078, + "fused_occupancy": 0.4976501399451869 + }, + { + "frame": 697, + "time_s": 174.95779275894165, + "cell": "A", + "current_occupancy": 0.8282442092895508, + "current_observability": 0.6592283248901367, + "fused_occupancy": 0.4091157426199237 + }, + { + "frame": 697, + "time_s": 174.95779275894165, + "cell": "B", + "current_occupancy": 0.9301004409790039, + "current_observability": 0.5686206817626953, + "fused_occupancy": 0.5038133425082928 + }, + { + "frame": 700, + "time_s": 175.724862575531, + "cell": "A", + "current_occupancy": 0.8370761871337891, + "current_observability": 0.5824642181396484, + "fused_occupancy": 0.414999779194072 + }, + { + "frame": 700, + "time_s": 175.724862575531, + "cell": "B", + "current_occupancy": 0.9352264404296875, + "current_observability": 0.48309898376464844, + "fused_occupancy": 0.5081457421644028 + }, + { + "frame": 703, + "time_s": 176.4585883617401, + "cell": "A", + "current_occupancy": 0.8225936889648438, + "current_observability": 0.5140848159790039, + "fused_occupancy": 0.4201028932434211 + }, + { + "frame": 703, + "time_s": 176.4585883617401, + "cell": "B", + "current_occupancy": 0.9294338226318359, + "current_observability": 0.4996633529663086, + "fused_occupancy": 0.5126923736319969 + }, + { + "frame": 705, + "time_s": 176.95935988426208, + "cell": "A", + "current_occupancy": 0.8107376098632812, + "current_observability": 0.5060625076293945, + "fused_occupancy": 0.4248319177562589 + }, + { + "frame": 705, + "time_s": 176.95935988426208, + "cell": "B", + "current_occupancy": 0.9320430755615234, + "current_observability": 0.45971107482910156, + "fused_occupancy": 0.5167006516941389 + }, + { + "frame": 708, + "time_s": 177.7284858226776, + "cell": "A", + "current_occupancy": 0.8136615753173828, + "current_observability": 0.547825813293457, + "fused_occupancy": 0.429960554743693 + }, + { + "frame": 708, + "time_s": 177.7284858226776, + "cell": "B", + "current_occupancy": 0.929290771484375, + "current_observability": 0.5348272323608398, + "fused_occupancy": 0.5214192551322246 + }, + { + "frame": 710, + "time_s": 178.22863793373108, + "cell": "A", + "current_occupancy": 0.8086318969726562, + "current_observability": 0.5323333740234375, + "fused_occupancy": 0.43480248039518277 + }, + { + "frame": 710, + "time_s": 178.22863793373108, + "cell": "B", + "current_occupancy": 0.9274158477783203, + "current_observability": 0.515263557434082, + "fused_occupancy": 0.5258394394868533 + }, + { + "frame": 712, + "time_s": 178.72869753837585, + "cell": "A", + "current_occupancy": 0.80389404296875, + "current_observability": 0.5185346603393555, + "fused_occupancy": 0.43940233193872347 + }, + { + "frame": 712, + "time_s": 178.72869753837585, + "cell": "B", + "current_occupancy": 0.9276599884033203, + "current_observability": 0.5181999206542969, + "fused_occupancy": 0.5302109563431935 + }, + { + "frame": 715, + "time_s": 179.49748587608337, + "cell": "A", + "current_occupancy": 0.8261642456054688, + "current_observability": 0.5451202392578125, + "fused_occupancy": 0.44420561304377426 + }, + { + "frame": 715, + "time_s": 179.49748587608337, + "cell": "B", + "current_occupancy": 0.93280029296875, + "current_observability": 0.5229835510253906, + "fused_occupancy": 0.5344993604459509 + }, + { + "frame": 717, + "time_s": 179.99883842468262, + "cell": "A", + "current_occupancy": 0.7965660095214844, + "current_observability": 0.5971527099609375, + "fused_occupancy": 0.44920706504094626 + }, + { + "frame": 717, + "time_s": 179.99883842468262, + "cell": "B", + "current_occupancy": 0.9247417449951172, + "current_observability": 0.5470724105834961, + "fused_occupancy": 0.5389181540652208 + }, + { + "frame": 720, + "time_s": 180.7341113090515, + "cell": "A", + "current_occupancy": 0.405595064163208, + "current_observability": 0.726593017578125, + "fused_occupancy": 0.4516058302896514 + }, + { + "frame": 720, + "time_s": 180.7341113090515, + "cell": "B", + "current_occupancy": 0.9079399108886719, + "current_observability": 0.5777511596679688, + "fused_occupancy": 0.5443059543783605 + }, + { + "frame": 722, + "time_s": 181.23414206504822, + "cell": "A", + "current_occupancy": 0.5485520362854004, + "current_observability": 0.7428932189941406, + "fused_occupancy": 0.4552777034785105 + }, + { + "frame": 722, + "time_s": 181.23414206504822, + "cell": "B", + "current_occupancy": 0.8965530395507812, + "current_observability": 0.6044082641601562, + "fused_occupancy": 0.5494871045096793 + }, + { + "frame": 725, + "time_s": 182.00115442276, + "cell": "A", + "current_occupancy": 0.8349533081054688, + "current_observability": 0.7840423583984375, + "fused_occupancy": 0.4620875758671121 + }, + { + "frame": 725, + "time_s": 182.00115442276, + "cell": "B", + "current_occupancy": 0.942718505859375, + "current_observability": 0.5946187973022461, + "fused_occupancy": 0.5543315765084358 + }, + { + "frame": 727, + "time_s": 182.5023181438446, + "cell": "A", + "current_occupancy": 0.810455322265625, + "current_observability": 0.7727813720703125, + "fused_occupancy": 0.46824182693174354 + }, + { + "frame": 727, + "time_s": 182.5023181438446, + "cell": "B", + "current_occupancy": 0.9308090209960938, + "current_observability": 0.5590248107910156, + "fused_occupancy": 0.5589508307845705 + }, + { + "frame": 730, + "time_s": 183.2361490726471, + "cell": "A", + "current_occupancy": 0.7509765625, + "current_observability": 0.7811126708984375, + "fused_occupancy": 0.47379894353423374 + }, + { + "frame": 730, + "time_s": 183.2361490726471, + "cell": "B", + "current_occupancy": 0.9202022552490234, + "current_observability": 0.5442209243774414, + "fused_occupancy": 0.56332755951133 + }, + { + "frame": 732, + "time_s": 183.73587656021118, + "cell": "A", + "current_occupancy": 0.816253662109375, + "current_observability": 0.769775390625, + "fused_occupancy": 0.47978554798870493 + }, + { + "frame": 732, + "time_s": 183.73587656021118, + "cell": "B", + "current_occupancy": 0.9393405914306641, + "current_observability": 0.5752449035644531, + "fused_occupancy": 0.5677860082520644 + }, + { + "frame": 735, + "time_s": 184.5046648979187, + "cell": "A", + "current_occupancy": 0.8186721801757812, + "current_observability": 0.783172607421875, + "fused_occupancy": 0.4857212723177166 + }, + { + "frame": 735, + "time_s": 184.5046648979187, + "cell": "B", + "current_occupancy": 0.9381961822509766, + "current_observability": 0.5869112014770508, + "fused_occupancy": 0.5721715563517562 + }, + { + "frame": 737, + "time_s": 185.00601506233215, + "cell": "A", + "current_occupancy": 0.79998779296875, + "current_observability": 0.783782958984375, + "fused_occupancy": 0.4911908230784994 + }, + { + "frame": 737, + "time_s": 185.00601506233215, + "cell": "B", + "current_occupancy": 0.9325752258300781, + "current_observability": 0.5933399200439453, + "fused_occupancy": 0.5766629367821341 + }, + { + "frame": 740, + "time_s": 185.7073998451233, + "cell": "A", + "current_occupancy": 0.8680362701416016, + "current_observability": 0.717503547668457, + "fused_occupancy": 0.49645080734636665 + }, + { + "frame": 740, + "time_s": 185.7073998451233, + "cell": "B", + "current_occupancy": 0.9373359680175781, + "current_observability": 0.6602096557617188, + "fused_occupancy": 0.5810727302802657 + }, + { + "frame": 742, + "time_s": 186.2406198978424, + "cell": "A", + "current_occupancy": 0.8623857498168945, + "current_observability": 0.7256393432617188, + "fused_occupancy": 0.5013386478223908 + }, + { + "frame": 742, + "time_s": 186.2406198978424, + "cell": "B", + "current_occupancy": 0.9101486206054688, + "current_observability": 0.5850257873535156, + "fused_occupancy": 0.5842847301924843 + }, + { + "frame": 745, + "time_s": 187.00708031654358, + "cell": "A", + "current_occupancy": 0.7903666496276855, + "current_observability": 0.7508492469787598, + "fused_occupancy": 0.5061255118140574 + }, + { + "frame": 745, + "time_s": 187.00708031654358, + "cell": "B", + "current_occupancy": 0.9331130981445312, + "current_observability": 0.6717376708984375, + "fused_occupancy": 0.5880093663913674 + }, + { + "frame": 747, + "time_s": 187.50790691375732, + "cell": "A", + "current_occupancy": 0.8838977813720703, + "current_observability": 0.7338104248046875, + "fused_occupancy": 0.5113029216934264 + }, + { + "frame": 747, + "time_s": 187.50790691375732, + "cell": "B", + "current_occupancy": 0.9477920532226562, + "current_observability": 0.6408309936523438, + "fused_occupancy": 0.5922914811750517 + } + ], + "vggt_input_views": [ + { + "index": 0, + "role": "curr_L", + "asset": "2bba5fb6b8b51642f41e8bf67d8202fef1cc77ae283adba8429bc5c28ad9a3ba", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32" + }, + { + "index": 1, + "role": "ref0_L", + "asset": "143cf9c4c753274822c2a704e004017d4f098b07755b4c9b5a687eff7387b8ad", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 799, + "score": 0.3600059449672699, + "verified": true, + "loaded": true + } + }, + { + "index": 2, + "role": "ref1_L", + "asset": "825cc84f150d9c35492da6bb36b56533c4162383207926584b6f2be1b13e1f2b", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 798, + "score": 0.355035662651062, + "verified": true, + "loaded": true + } + }, + { + "index": 3, + "role": "ref2_L", + "asset": "d5024c2a89afff6aca63c3d3384e24127dd224ecc72a1c2579e1387ccb068656", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 800, + "score": 0.33797478675842285, + "verified": true, + "loaded": true + } + }, + { + "index": 4, + "role": "ref3_L", + "asset": "107478764a4da8b44ca283c4d42cf41feac1315ef95fd45ab54d50acaa6e2933", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 797, + "score": 0.325212687253952, + "verified": true, + "loaded": true + } + }, + { + "index": 5, + "role": "ref4_L", + "asset": "3de911b9b9531aa6a99c2ad36fd7f35e6a2be5e5e9661feda6c43fb9de17bace", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 803, + "score": 0.3141624629497528, + "verified": true, + "loaded": true + } + }, + { + "index": 6, + "role": "ref5_L", + "asset": "b6a43ac0fb31e1a47cf42138925d6314eab0ddddd256c6cf4b593ac6f9a03710", + "shape": [ + 3, + 512, + 384 + ], + "dtype": "float32", + "reference": { + "id": 527, + "score": 0.3073595464229584, + "verified": false, + "loaded": true + } + } + ], + "finding": "The selected nearby forward-left cells have high current learned occupancy despite positive survey floor and free-space ray evidence. This supports a false-occupancy diagnosis at these cells, without declaring the entire left-hand furniture row absent.", + "stop_relationship": "The eventual fatal stop was the separate measured-depth graph-attachment veto. These selected cells are not asserted to have caused that stop." +} diff --git a/cases/20261026_goal1012_05/reports/events.jsonl b/cases/20261026_goal1012_05/reports/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..069ce33225731f115aac065a2e6c7cfa26800d9c --- /dev/null +++ b/cases/20261026_goal1012_05/reports/events.jsonl @@ -0,0 +1,13 @@ +{"type": "start_requested", "time_unix": 1793013980.7868829, "goal": 1012} +{"type": "head_survey_started", "time_unix": 1793014038.8666608, "frame_idx": 574, "reason": "learned path footprint", "pass_number": 1, "targets": [["front floor", [-0.04122100222405805, -1.0320351276720363]], ["left floor", [0.508778997775942, -1.0320351276720363]], ["right floor", [-0.741221002224058, -1.0320351276720363]], ["right surroundings", [-0.741221002224058, -0.397176858764722]], ["left surroundings", [0.508778997775942, -0.397176858764722]], ["return to driving view", [-0.04122100222405805, -0.397176858764722]]]} +{"type": "head_survey_base_stopped", "time_unix": 1793014041.8597274, "frame_idx": 586, "pass_number": 1, "base_pose_matrix": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_view", "time_unix": 1793014047.211621, "pass_number": 1, "label": "front floor", "frame_idx": 608, "head_joints": [-0.041219550209537506, -0.9826981008822665], "camera_in_base": [[0.004144595668101936, -0.8418478472993997, 0.5396990127136742, 0.0224211486795447], [-0.9999310669256657, -0.009417965447480692, -0.007011656275770772, -0.0012562885123333645], [0.010985614395537774, -0.5396327491212859, -0.8418288497979594, 1.2886754081222378], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_view", "time_unix": 1793014052.0489259, "pass_number": 1, "label": "left floor", "frame_idx": 627, "head_joints": [0.4926057639746656, -0.9826981008822665], "camera_in_base": [[0.5122099565992982, -0.716911150782027, 0.4729475258894307, 0.019218627033746216], [-0.8586264109770352, -0.4402870630138409, 0.26250331143690503, 0.01985091433726581], [0.020041126047195518, -0.5405420464931799, -0.8410782658229405, 1.2887664922273172], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_view", "time_unix": 1793014059.3595529, "pass_number": 1, "label": "right floor", "frame_idx": 656, "head_joints": [-0.7177050776671053, -0.9826981008822665], "camera_in_base": [[-0.6227032359273972, -0.6627771198635738, 0.41589321868827583, 0.010629692728207907], [-0.7824542590757071, 0.5257893389506025, -0.3336328873180436, -0.025386200486346544], [0.0024520236202742463, -0.5331716988280925, -0.8460035030358513, 1.288324807190352], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_view", "time_unix": 1793014064.9717376, "pass_number": 1, "label": "right surroundings", "frame_idx": 678, "head_joints": [-0.7192390584549908, -0.4043873438493797], "camera_in_base": [[-0.630277443601548, -0.3296722392468439, 0.702898683137953, 0.01436460025640951], [-0.7763020417554592, 0.25563610476444654, -0.5761990297693713, -0.028774971343977607], [0.010270542994482185, -0.908826934355949, -0.4170469030406121, 1.310999629063823], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_view", "time_unix": 1793014072.298401, "pass_number": 1, "label": "left surroundings", "frame_idx": 708, "head_joints": [0.4926057639746656, -0.40438734384937974], "camera_in_base": [[0.5049750617571835, -0.340024335622281, 0.793337026860561, 0.023300638276837482], [-0.8626862431229732, -0.2284272301923147, 0.45121330480498667, 0.022453221750824356], [0.02779627546451452, -0.9122524056922479, -0.40868437134175717, 1.3114872027095155], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_view", "time_unix": 1793014077.923458, "pass_number": 1, "label": "return to driving view", "frame_idx": 730, "head_joints": [-0.03815158863376622, -0.4043873438493797], "camera_in_base": [[-0.001073527635922139, -0.40997840228697974, 0.9120945988200077, 0.02730063769028046], [-0.9998226691241521, -0.01670827060171498, -0.008687001724214216, -0.0011589892001060836], [0.0188010064590049, -0.9119421820223667, -0.40988776366758417, 1.311391966382319], [0.0, 0.0, 0.0, 1.0]]} +{"type": "head_survey_complete", "time_unix": 1793014077.923515, "frame_idx": 730, "pass_number": 1} +{"type": "head_survey_started", "time_unix": 1793014081.6445105, "frame_idx": 745, "reason": "measured depth", "pass_number": 1, "targets": [["front floor", [-0.04119437234070686, -1.0320563310353856]], ["left floor", [0.5088056276592932, -1.0320563310353856]], ["right floor", [-0.7411943723407068, -1.0320563310353856]], ["right surroundings", [-0.7411943723407068, -0.39719806212807124]], ["left surroundings", [0.5088056276592932, -0.39719806212807124]], ["return to driving view", [-0.04119437234070686, -0.39719806212807124]]]} +{"type": "stop", "time_unix": 1793014081.6930854, "reason": "no global route; navigation ended"} +{"type": "stop", "time_unix": 1793014273.915511, "reason": "Process interrupted by operator"} diff --git a/cases/20261026_goal1012_05/reports/observations.jsonl b/cases/20261026_goal1012_05/reports/observations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94439f312ac52fa1df8ba6ebb58a54674425e35a --- /dev/null +++ b/cases/20261026_goal1012_05/reports/observations.jsonl @@ -0,0 +1,377 @@ +{"frame_idx": 101, "time_s": 25.81933331489563, "localized": false, "localized_streak": 0, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [], "camera_display": null, "global_route": [], "local_path_display": [], "goal_keyframe": 1012, "route_ids": [], "goal_distance": null, "planner_name": "Waiting for committed map pose", "n_views": 0, "trajectory": [], "compute_s": 0.06747387629002333, "input_age_at_publish_s": 0.15184282697737217, "vggt_debug_frame": "frames/00000101/frame.json"} +{"frame_idx": 102, "time_s": 26.052767753601074, "localized": false, "localized_streak": 0, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 302, "score": 0.5724989175796509, "verified": true, "loaded": true}, {"id": 301, "score": 0.5052975416183472, "verified": true, "loaded": true}, {"id": 300, "score": 0.4965639114379883, "verified": true, "loaded": true}, {"id": 15, "score": 0.4915359318256378, "verified": true, "loaded": true}, {"id": 297, "score": 0.49003419280052185, "verified": true, "loaded": true}, {"id": 298, "score": 0.48438358306884766, "verified": true, "loaded": true}], "camera_display": null, "global_route": [], "local_path_display": [], "goal_keyframe": 1012, "route_ids": [], "goal_distance": null, "planner_name": "Waiting for committed map pose", "n_views": 7, "trajectory": [], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9542027386980423, "compute_s": 1.8038722821511328, "input_age_at_publish_s": 1.8206834751181304, "vggt_debug_frame": "frames/00000102/frame.json"} +{"frame_idx": 109, "time_s": 27.820261240005493, "localized": false, "localized_streak": 0, "weights": [0.00990277249366045, 0.9900972247123718, 0.0, 0.0, 0.0], "retrieval": [{"id": 302, "score": 0.5724989175796509, "verified": true, "loaded": true}, {"id": 301, "score": 0.5052975416183472, "verified": true, "loaded": true}, {"id": 300, "score": 0.4965639114379883, "verified": true, "loaded": true}, {"id": 15, "score": 0.4915359318256378, "verified": true, "loaded": true}, {"id": 297, "score": 0.49003419280052185, "verified": true, "loaded": true}, {"id": 298, "score": 0.48438358306884766, "verified": true, "loaded": true}], "camera_display": null, "global_route": [], "local_path_display": [], "goal_keyframe": 1012, "route_ids": [], "goal_distance": null, "planner_name": "Waiting for committed map pose", "n_views": 8, "trajectory": [], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7514688599722512, "compute_s": 0.9596139648929238, "input_age_at_publish_s": 1.0018040132708848, "vggt_debug_frame": "frames/00000109/frame.json"} +{"frame_idx": 113, "time_s": 28.78925323486328, "localized": false, "localized_streak": 0, "weights": [0.009900989942252636, 0.9900990128517151, 0.0, 0.0, 0.0], "retrieval": [{"id": 298, "score": 0.5893861055374146, "verified": true, "loaded": true}, {"id": 299, "score": 0.5866245031356812, "verified": true, "loaded": true}, {"id": 19, "score": 0.5790277123451233, "verified": true, "loaded": true}, {"id": 15, "score": 0.5789916515350342, "verified": true, "loaded": true}, {"id": 300, "score": 0.5765047669410706, "verified": true, "loaded": true}, {"id": 17, "score": 0.567136824131012, "verified": true, "loaded": true}], "camera_display": null, "global_route": [], "local_path_display": [], "goal_keyframe": 1012, "route_ids": [], "goal_distance": null, "planner_name": "Waiting for committed map pose", "n_views": 7, "trajectory": [], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5040781366236402, "compute_s": 0.36487733479589224, "input_age_at_publish_s": 0.393262738827616, "vggt_debug_frame": "frames/00000113/frame.json"} +{"frame_idx": 114, "time_s": 29.023369789123535, "localized": false, "localized_streak": 0, "weights": [0.009900989942252636, 0.9900990128517151, 0.0, 0.0, 0.0], "retrieval": [{"id": 298, "score": 0.5893861055374146, "verified": true, "loaded": true}, {"id": 299, "score": 0.5866245031356812, "verified": true, "loaded": true}, {"id": 19, "score": 0.5790277123451233, "verified": true, "loaded": true}, {"id": 15, "score": 0.5789916515350342, "verified": true, "loaded": true}, {"id": 300, "score": 0.5765047669410706, "verified": true, "loaded": true}, {"id": 17, "score": 0.567136824131012, "verified": true, "loaded": true}], "camera_display": null, "global_route": [], "local_path_display": [], "goal_keyframe": 1012, "route_ids": [], "goal_distance": null, "planner_name": "Waiting for committed map pose", "n_views": 7, "trajectory": [], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5040781366236402, "compute_s": 0.3109151739627123, "input_age_at_publish_s": 0.4450552808120847, "vggt_debug_frame": "frames/00000114/frame.json"} +{"frame_idx": 115, "time_s": 29.32344102859497, "localized": false, "localized_streak": 0, "weights": [0.009900989942252636, 0.9900990128517151, 0.0, 0.0, 0.0], "retrieval": [{"id": 298, "score": 0.5893861055374146, "verified": true, "loaded": true}, {"id": 299, "score": 0.5866245031356812, "verified": true, "loaded": true}, {"id": 19, "score": 0.5790277123451233, "verified": true, "loaded": true}, {"id": 15, "score": 0.5789916515350342, "verified": true, "loaded": true}, {"id": 300, "score": 0.5765047669410706, "verified": true, "loaded": true}, {"id": 17, "score": 0.567136824131012, "verified": true, "loaded": true}], "camera_display": null, "global_route": [], "local_path_display": [], "goal_keyframe": 1012, "route_ids": [], "goal_distance": null, "planner_name": "Waiting for committed map pose", "n_views": 7, "trajectory": [], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5102354455613072, "compute_s": 0.3512684381566942, "input_age_at_publish_s": 0.562111706007272, "vggt_debug_frame": "frames/00000115/frame.json"} +{"frame_idx": 117, "time_s": 29.823534965515137, "localized": true, "localized_streak": 1, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 298, "score": 0.5893861055374146, "verified": true, "loaded": true}, {"id": 299, "score": 0.5866245031356812, "verified": true, "loaded": true}, {"id": 19, "score": 0.5790277123451233, "verified": true, "loaded": true}, {"id": 15, "score": 0.5789916515350342, "verified": true, "loaded": true}, {"id": 300, "score": 0.5765047669410706, "verified": true, "loaded": true}, {"id": 17, "score": 0.567136824131012, "verified": true, "loaded": true}], "camera_display": [-5.449514337929369, 0.14633862346936777, -0.13900732510583041], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.973183592634566, -0.11676053567695366, -1.4341070793271091], [-4.514360517132385, -0.24290333889500193, -1.4223643168870883], [-4.055537440933026, -0.36904614038706907, -1.4106215545132577], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856], [-3.9667039149155836, -0.3796925882750317, -1.4089517082149856]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.152933851468735, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7903735760951908, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042769289372248664, -0.4030405516860781, 0.9151721267474485, 0.02726120704254864], [-0.9998137411416027, -0.01550033183889793, -0.011498814604844365, -0.0012977405538521225], [0.018819960236367617, -0.9150508474448107, -0.40289918799525504, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.47518599033355713, 0.018187081441283226], [-0.9480558037757874, -0.03624316304922104], [-1.4209256172180176, -0.09067340940237045], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959]], "goal_body": [-1.4971169758157137, -0.06593280465700535], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 303, "nearest_distance_m": 0.17575797465860457, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5760242248832979, "remaining_m": 20.015750914812088, "total_m": 20.591775139695386, "selection_total_m": 20.591775139695386, "best_candidate_total_m": 20.591775139695386, "selected_on_previous_route": false}, "corner_observation": {"phase": "cruise", "target": [9.060454653832783, 0.30854122553949204], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.47518599033355713, 0.018187081441283226], [-0.9480558037757874, -0.03624316304922104], [-1.4209256172180176, -0.09067340940237045], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959], [-1.5073169469833374, -0.11399868875741959]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9994730949401855, -0.02237739972770214, 0.023511549457907677, -0.09478122740983963], [0.02278601936995983, 0.9995914101600647, -0.017257705330848694, -2.708935022354126], [-0.02311575971543789, 0.017784345895051956, 0.999574601650238, 5.770294189453125], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6004029810428619, "input_age_at_publish_s": 0.6239454918541014, "vggt_debug_frame": "frames/00000117/frame.json"} +{"frame_idx": 119, "time_s": 30.29086446762085, "localized": true, "localized_streak": 2, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 298, "score": 0.5893861055374146, "verified": true, "loaded": true}, {"id": 299, "score": 0.5866245031356812, "verified": true, "loaded": true}, {"id": 19, "score": 0.5790277123451233, "verified": true, "loaded": true}, {"id": 15, "score": 0.5789916515350342, "verified": true, "loaded": true}, {"id": 300, "score": 0.5765047669410706, "verified": true, "loaded": true}, {"id": 17, "score": 0.567136824131012, "verified": true, "loaded": true}], "camera_display": [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.06446180743921, -0.11050694968592278, -1.435298005798658], [-4.5679496350330755, -0.16921271068637633, -1.429889166482365], [-4.130827008640464, -0.33385311347919, -1.4207696930277829], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656], [-4.043405523070668, -0.44469200211330495, -1.4159402000397656]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.181711558512518, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7559001699819036, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364917, 0.9157890531050259, 0.02725580518264792], [-0.99981337039335, -0.015519242036847458, -0.01150554254660019, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409435, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.45287543535232544, 0.04319508746266365], [-0.9358190298080444, -0.08628638833761215], [-1.4029213190078735, -0.09530173242092133], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884]], "goal_body": [-1.4975041724045806, -0.06485001683726699], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.17873803034654068, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6268383770277984, "remaining_m": 20.015750914812088, "total_m": 20.642589291839887, "selection_total_m": 20.642589291839887, "best_candidate_total_m": 20.642589291839887, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.09279446554263, 0.24932271733373257], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.45287543535232544, 0.04319508746266365], [-0.9358190298080444, -0.08628638833761215], [-1.4029213190078735, -0.09530173242092133], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884], [-1.5252565145492554, -0.024695783853530884]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9995941519737244, -0.018786480650305748, 0.021414106711745262, -0.10114444047212601], [0.019373590126633644, 0.9994327425956726, -0.027547480538487434, -2.735785961151123], [-0.02088443748652935, 0.02795116789638996, 0.9993910789489746, 5.817025661468506], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3069093278609216, "input_age_at_publish_s": 0.36727567482739687, "vggt_debug_frame": "frames/00000119/frame.json"} +{"frame_idx": 120, "time_s": 30.55824589729309, "localized": true, "localized_streak": 3, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 298, "score": 0.5893861055374146, "verified": true, "loaded": true}, {"id": 299, "score": 0.5866245031356812, "verified": true, "loaded": true}, {"id": 19, "score": 0.5790277123451233, "verified": true, "loaded": true}, {"id": 15, "score": 0.5789916515350342, "verified": true, "loaded": true}, {"id": 300, "score": 0.5765047669410706, "verified": true, "loaded": true}, {"id": 17, "score": 0.567136824131012, "verified": true, "loaded": true}], "camera_display": [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.132664095181713, -0.1714712793649822, -1.4389024484709423], [-4.636159999405882, -0.23034387733740314, -1.434696172053253], [-4.177082328813118, -0.35593962881965346, -1.4282208841467214], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681], [-4.103308672001388, -0.364687282572306, -1.427595889585681]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.195448345875615, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8076331577580814, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.40163650569364945, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933499, -0.01551924203684768, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358337, -0.915667663740943, -0.40149474804000773, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4502466022968292, 0.12843473255634308], [-0.9334292411804199, -0.00015193190483842045], [-1.4064925909042358, -0.05287381634116173], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812]], "goal_body": [-1.4976859553409296, -0.05920896980050161], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.15906123457411908, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6614906559404125, "remaining_m": 20.015750914812088, "total_m": 20.6772415707525, "selection_total_m": 20.6772415707525, "best_candidate_total_m": 20.6772415707525, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.115020516888098, 0.2166187828707009], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4502466022968292, 0.12843473255634308], [-0.9334292411804199, -0.00015193190483842045], [-1.4064925909042358, -0.05287381634116173], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812], [-1.478286862373352, -0.07198002189397812]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996451735496521, -0.016949055716395378, 0.02054918184876442, -0.09941122680902481], [0.01757030002772808, 0.9993821978569031, -0.03043830208480358, -2.7469279766082764], [-0.020020585507154465, 0.03078855760395527, 0.9993253946304321, 5.850080490112305], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3206204390153289, "input_age_at_publish_s": 0.5467307507060468, "vggt_debug_frame": "frames/00000120/frame.json"} +{"frame_idx": 122, "time_s": 31.0596284866333, "localized": true, "localized_streak": 4, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6273584961891174, "verified": true, "loaded": true}, {"id": 18, "score": 0.6097681522369385, "verified": true, "loaded": true}, {"id": 17, "score": 0.6082317233085632, "verified": true, "loaded": true}, {"id": 299, "score": 0.5986981391906738, "verified": true, "loaded": true}, {"id": 298, "score": 0.5976983308792114, "verified": true, "loaded": true}, {"id": 15, "score": 0.5949152112007141, "verified": true, "loaded": true}], "camera_display": [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.2087184600954926, -0.16279273313770037, -1.4383403526526735], [-4.712309043173006, -0.22230593659134623, -1.4323515165302816], [-4.2534205607069, -0.34849108152018804, -1.4241504044941469], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086], [-4.107308096593119, -0.36600809509540433, -1.4223876594954086]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.232973156219227, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.682449222698148, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361876, -0.4016365056936493, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847375, -0.0115055425466003, -0.0012976112942695295], [0.01883339787435817, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4549965560436249, 0.1479492485523224], [-0.9384023547172546, 0.020204102620482445], [-1.4115568399429321, -0.03169400617480278], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857]], "goal_body": [-1.4978952662064535, -0.05408068312624559], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.131118322760299, "attachment_limit_m": 0.75, "candidate_count": 23, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7429027428296445, "remaining_m": 20.015750914812088, "total_m": 20.758653657641734, "selection_total_m": 20.758653657641734, "best_candidate_total_m": 20.758653657641734, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.154988652832067, 0.1527285470696855], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4549965560436249, 0.1479492485523224], [-0.9384023547172546, 0.020204102620482445], [-1.4115568399429321, -0.03169400617480278], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857], [-1.5538418292999268, -0.06929435580968857]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996567964553833, -0.016637269407510757, 0.020235830917954445, -0.09864602237939835], [0.017178572714328766, 0.9994911551475525, -0.02687668800354004, -2.782291889190674], [-0.019778380170464516, 0.027215085923671722, 0.9994339346885681, 5.925563812255859], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37417720817029476, "input_age_at_publish_s": 0.4146275040693581, "vggt_debug_frame": "frames/00000122/frame.json"} +{"frame_idx": 123, "time_s": 31.32629418373108, "localized": true, "localized_streak": 5, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6273584961891174, "verified": true, "loaded": true}, {"id": 18, "score": 0.6097681522369385, "verified": true, "loaded": true}, {"id": 17, "score": 0.6082317233085632, "verified": true, "loaded": true}, {"id": 299, "score": 0.5986981391906738, "verified": true, "loaded": true}, {"id": 298, "score": 0.5976983308792114, "verified": true, "loaded": true}, {"id": 15, "score": 0.5949152112007141, "verified": true, "loaded": true}], "camera_display": [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.285505692108988, -0.15798880239243918, -1.435683724304771], [-4.789100849659086, -0.2175484567739545, -1.429780629397515], [-4.330222574259599, -0.3437776572021338, -1.4216886210479462], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408], [-4.251536132374614, -0.35321862842069596, -1.42075290540408]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.256121255580744, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7630773638685883, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224089, -0.4030405516860779, 0.9151721267474483, 0.027261207042545976], [-0.9998137411416026, -0.01550033183889793, -0.011498814604843921, -0.0012977405538556752], [0.018819960236367617, -0.9150508474448105, -0.4028991879952546, 1.3117021917484173], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4241254925727844, 0.16654352843761444], [-0.9074674248695374, 0.038557019084692], [-1.3805959224700928, -0.013577340170741081], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251]], "goal_body": [-1.455148376166234, 0.0068707226393291965], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.129496255930134, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6556319299147879, "remaining_m": 46.9613796826452, "total_m": 47.61701161255999, "selection_total_m": 47.61701161255999, "best_candidate_total_m": 47.61701161255999, "selected_on_previous_route": false}, "corner_observation": {"phase": "cruise", "target": [9.249954256106447, 0.11211865163665741], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4241254925727844, 0.16654352843761444], [-0.9074674248695374, 0.038557019084692], [-1.3805959224700928, -0.013577340170741081], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251], [-1.4572117328643799, -0.03386480733752251]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996446967124939, -0.016589980572462082, 0.020862828940153122, -0.10323217511177063], [0.017122164368629456, 0.999525785446167, -0.025594286620616913, -2.8034603595733643], [-0.020428325980901718, 0.02594241127371788, 0.99945467710495, 5.961867809295654], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34235525922849774, "input_age_at_publish_s": 0.4984056609682739, "vggt_debug_frame": "frames/00000123/frame.json"} +{"frame_idx": 125, "time_s": 31.82625722885132, "localized": true, "localized_streak": 6, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6273584961891174, "verified": true, "loaded": true}, {"id": 18, "score": 0.6097681522369385, "verified": true, "loaded": true}, {"id": 17, "score": 0.6082317233085632, "verified": true, "loaded": true}, {"id": 299, "score": 0.5986981391906738, "verified": true, "loaded": true}, {"id": 298, "score": 0.5976983308792114, "verified": true, "loaded": true}, {"id": 15, "score": 0.5949152112007141, "verified": true, "loaded": true}], "camera_display": [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.3017994336941, -0.07599916394669215, -1.4296591818553086], [-4.8052995635916815, -0.13410686565950414, -1.4191063273078988], [-4.38435670975214, -0.3272845681104908, -1.404551851071127], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937], [-4.323821967794116, -0.40389224255563505, -1.4005562582614937]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.289957021315924, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8825436213623477, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361765, -0.40163650569364917, 0.9157890531050257, 0.027255805182650583], [-0.9998133703933502, -0.01551924203684743, -0.01150554254660019, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409434, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.45175397396087646, 0.10517647862434387], [-0.9348354339599609, -0.023789742961525917], [-1.3975682258605957, 0.0007194814970716834], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046]], "goal_body": [-1.4556545770137745, 0.020823851359348944], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.17607040243978409, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7399929050390619, "remaining_m": 46.9613796826452, "total_m": 47.70137258768426, "selection_total_m": 47.70137258768426, "best_candidate_total_m": 47.70137258768426, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.302011796335377, 0.056056856845286135], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.45175397396087646, 0.10517647862434387], [-0.9348354339599609, -0.023789742961525917], [-1.3975682258605957, 0.0007194814970716834], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046], [-1.4821511507034302, 0.04965703561902046]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996722340583801, -0.014950992539525032, 0.020781951025128365, -0.09509345144033432], [0.01532285287976265, 0.9997232556343079, -0.017850857228040695, -2.8439841270446777], [-0.02050931192934513, 0.018163446336984634, 0.9996246695518494, 6.036714553833008], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3240952230989933, "input_age_at_publish_s": 0.3360957386903465, "vggt_debug_frame": "frames/00000125/frame.json"} +{"frame_idx": 126, "time_s": 32.05956149101257, "localized": true, "localized_streak": 7, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6273584961891174, "verified": true, "loaded": true}, {"id": 18, "score": 0.6097681522369385, "verified": true, "loaded": true}, {"id": 17, "score": 0.6082317233085632, "verified": true, "loaded": true}, {"id": 299, "score": 0.5986981391906738, "verified": true, "loaded": true}, {"id": 298, "score": 0.5976983308792114, "verified": true, "loaded": true}, {"id": 15, "score": 0.5949152112007141, "verified": true, "loaded": true}], "camera_display": [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.375018731602605, -0.13388094992397015, -1.4277491024241724], [-4.878522115483051, -0.191576750179137, -1.415010370901782], [-4.419331569114963, -0.3160763183969859, -1.4004342416699478], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353], [-4.390619456787707, -0.3194128232376041, -1.3996975685796353]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.310801191283012, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0618519007383096, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.4016365056936489, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.01551924203684743, -0.011505542546599912, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409432, -0.4014947480400073, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44635891914367676, 0.18926101922988892], [-0.9294964075088501, 0.06050485000014305], [-1.4025412797927856, 0.007616998627781868], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443]], "goal_body": [-1.447041727019566, 0.027768675907531737], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.1472408867143857, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5827338644663952, "remaining_m": 47.17544632218778, "total_m": 47.75818018665418, "selection_total_m": 47.75818018665418, "best_candidate_total_m": 47.75818018665418, "selected_on_previous_route": false}, "corner_observation": {"phase": "cruise", "target": [9.329281178226374, 0.02159292478545046], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44635891914367676, 0.18926101922988892], [-0.9294964075088501, 0.06050485000014305], [-1.4025412797927856, 0.007616998627781868], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443], [-1.4304808378219604, 0.00017109453619923443]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997071623802185, -0.013337918557226658, 0.02019019052386284, -0.09316153824329376], [0.013615741394460201, 0.9998136162757874, -0.01368593331426382, -2.8627963066101074], [-0.02000388503074646, 0.013956830836832523, 0.9997024536132812, 6.0797438621521], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.32381396600976586, "input_age_at_publish_s": 0.42308543901890516, "vggt_debug_frame": "frames/00000126/frame.json"} +{"frame_idx": 127, "time_s": 32.32685565948486, "localized": true, "localized_streak": 8, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6273584961891174, "verified": true, "loaded": true}, {"id": 18, "score": 0.6097681522369385, "verified": true, "loaded": true}, {"id": 17, "score": 0.6082317233085632, "verified": true, "loaded": true}, {"id": 299, "score": 0.5986981391906738, "verified": true, "loaded": true}, {"id": 298, "score": 0.5976983308792114, "verified": true, "loaded": true}, {"id": 15, "score": 0.5949152112007141, "verified": true, "loaded": true}], "camera_display": [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.414634885367792, -0.13005313309066668, -1.4301012447190298], [-4.918139486645252, -0.1878557122086928, -1.4178050305960608], [-4.458965439712382, -0.3124490047513486, -1.4035132130048298], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605], [-4.387460627815913, -0.3207736733618143, -1.4017423237645605]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.323763745003045, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.2081019300890445, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936492, 0.9157890531050255, 0.02725580518264703], [-0.9998133703933499, -0.015519242036847486, -0.011505542546600023, -0.0012976112942695295], [0.018833397874358393, -0.9156676637409432, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4454633891582489, 0.2002330720424652], [-0.9285670518875122, 0.07134994119405746], [-1.4015979766845703, 0.018337788060307503], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694]], "goal_body": [-1.4475415148302533, 0.03295274085160815], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.12904384067034794, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6191716852919231, "remaining_m": 47.17544632218778, "total_m": 47.794618007479706, "selection_total_m": 47.794618007479706, "best_candidate_total_m": 47.794618007479706, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.354251753712688, -0.010403048517265437], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4454633891582489, 0.2002330720424652], [-0.9285670518875122, 0.07134994119405746], [-1.4015979766845703, 0.018337788060307503], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694], [-1.4711741209030151, -0.00022384762996807694]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996858835220337, -0.015383513644337654, 0.019785109907388687, -0.08957450091838837], [0.01566307805478573, 0.9997785687446594, -0.014053565450012684, -2.8765087127685547], [-0.019564535468816757, 0.014359046705067158, 0.9997054934501648, 6.113897323608398], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.32561464607715607, "input_age_at_publish_s": 0.5044516259804368, "vggt_debug_frame": "frames/00000127/frame.json"} +{"frame_idx": 128, "time_s": 32.56075358390808, "localized": true, "localized_streak": 9, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6290228366851807, "verified": true, "loaded": true}, {"id": 18, "score": 0.594907283782959, "verified": true, "loaded": true}, {"id": 17, "score": 0.5654772520065308, "verified": true, "loaded": true}, {"id": 20, "score": 0.5487865209579468, "verified": true, "loaded": true}, {"id": 298, "score": 0.533889889717102, "verified": true, "loaded": true}, {"id": 299, "score": 0.5240314602851868, "verified": true, "loaded": true}], "camera_display": [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.459053084425555, -0.05383760328530762, -1.4330637561763735], [-4.9625640418359165, -0.11186563450642328, -1.421600445880005], [-4.539764575583501, -0.301680836684171, -1.406628993342134], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527], [-4.476156502370959, -0.3821631385059119, -1.402449912090527]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.348689389140723, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8853687165303648, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042769289372242, -0.4030405516860782, 0.9151721267474486, 0.027261207042547753], [-0.9998137411416027, -0.015500331838898068, -0.011498814604843755, -0.0012977405538538989], [0.018819960236367617, -0.9150508474448107, -0.40289918799525504, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4204276204109192, 0.1432880163192749], [-0.903642475605011, 0.014822352677583694], [-1.3668513298034668, 0.036056652665138245], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401]], "goal_body": [-1.4511312562027174, 0.032218767458442654], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.10881261320447964, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.657279218078093, "remaining_m": 47.17544632218778, "total_m": 47.832725540265876, "selection_total_m": 47.832725540265876, "best_candidate_total_m": 47.832725540265876, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.368097015847754, -0.038257086271264215], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4204276204109192, 0.1432880163192749], [-0.903642475605011, 0.014822352677583694], [-1.3668513298034668, 0.036056652665138245], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401], [-1.4556645154953003, 0.087564617395401]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997112154960632, -0.012268044985830784, 0.020663468167185783, -0.09551452100276947], [0.012581807561218739, 0.9998064637184143, -0.015123482793569565, -2.8960931301116943], [-0.020473932847380638, 0.015379099175333977, 0.9996721148490906, 6.150197505950928], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3443335182964802, "input_age_at_publish_s": 0.5915379710495472, "vggt_debug_frame": "frames/00000128/frame.json"} +{"frame_idx": 130, "time_s": 33.0620002746582, "localized": true, "localized_streak": 10, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6290228366851807, "verified": true, "loaded": true}, {"id": 18, "score": 0.594907283782959, "verified": true, "loaded": true}, {"id": 17, "score": 0.5654772520065308, "verified": true, "loaded": true}, {"id": 20, "score": 0.5487865209579468, "verified": true, "loaded": true}, {"id": 298, "score": 0.533889889717102, "verified": true, "loaded": true}, {"id": 299, "score": 0.5240314602851868, "verified": true, "loaded": true}], "camera_display": [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.514693664610258, -0.04169422076441709, -1.4360051960851596], [-5.059409628006415, -0.1738846383989081, -1.424063705319352], [-4.600449569156245, -0.2995288205407709, -1.4123236742029457], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395], [-4.542526372170297, -0.30640519519153475, -1.4111933811219395]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.377851476086626, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8767715482510163, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042928122103185196, -0.40222753368081493, 0.9155296734199152, 0.027258090268921897], [-0.9998135264559651, -0.015511282154205969, -0.011502714532656166, -0.0012976658459500356], [0.01882774758206901, -0.9154083303504408, -0.4020859418656717, 1.3117382456788218], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4423823654651642, 0.15062491595745087], [-0.9145200252532959, 0.10605488717556], [-1.3876619338989258, 0.054041847586631775], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389]], "goal_body": [-1.463814441884232, 0.07417641901450123], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.12288886661757802, "attachment_limit_m": 0.75, "candidate_count": 18, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7305281904699299, "remaining_m": 47.17544632218778, "total_m": 47.905974512657714, "selection_total_m": 47.905974512657714, "best_candidate_total_m": 47.905974512657714, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.434070286450254, -0.07187153671672247], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4423823654651642, 0.15062491595745087], [-0.9145200252532959, 0.10605488717556], [-1.3876619338989258, 0.054041847586631775], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389], [-1.4440629482269287, 0.03912258520722389]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996840357780457, -0.015423698350787163, 0.01984742097556591, -0.09130439907312393], [0.015798445791006088, 0.999697208404541, -0.018865259364247322, -2.9265036582946777], [-0.019550440832972527, 0.019172856584191322, 0.999625027179718, 6.218027114868164], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3538855738006532, "input_age_at_publish_s": 0.4526342200115323, "vggt_debug_frame": "frames/00000130/frame.json"} +{"frame_idx": 131, "time_s": 33.32924485206604, "localized": true, "localized_streak": 11, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6290228366851807, "verified": true, "loaded": true}, {"id": 18, "score": 0.594907283782959, "verified": true, "loaded": true}, {"id": 17, "score": 0.5654772520065308, "verified": true, "loaded": true}, {"id": 20, "score": 0.5487865209579468, "verified": true, "loaded": true}, {"id": 298, "score": 0.533889889717102, "verified": true, "loaded": true}, {"id": 299, "score": 0.5240314602851868, "verified": true, "loaded": true}], "camera_display": [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.529927335734959, -0.016284751010580578, -1.4270024340257506], [-5.088066996542672, -0.17233105050401942, -1.4122532207092893], [-4.6667098749643525, -0.36485954912360885, -1.3966397520915417], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287], [-4.61467700180034, -0.3710566801806614, -1.3953342670563287]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.404112893324623, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9327589331963498, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004293331040406023, -0.4022009769115765, 0.9155413379416306, 0.02725798794177159], [-0.999813519443497, -0.015511639826291779, -0.011502841731817981, -0.001297663399146387], [0.01882800166202836, -0.9154199927908898, -0.40205937764482225, 1.3117394230757227], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4524451196193695, 0.13256175816059113], [-0.9209423065185547, 0.11470288038253784], [-1.383862018585205, 0.13832859694957733], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598]], "goal_body": [-1.4678550981099763, 0.08771470009128979], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.13629057084981822, "attachment_limit_m": 0.75, "candidate_count": 17, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3781125622022585, "remaining_m": 47.570219894871116, "total_m": 47.94833245707338, "selection_total_m": 47.94833245707338, "best_candidate_total_m": 47.94833245707338, "selected_on_previous_route": false}, "corner_observation": {"phase": "cruise", "target": [9.464804369193034, -0.09643608860419758], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4524451196193695, 0.13256175816059113], [-0.9209423065185547, 0.11470288038253784], [-1.383862018585205, 0.13832859694957733], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598], [-1.4345299005508423, 0.12490122020244598]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996795058250427, -0.010704769752919674, 0.02294021286070347, -0.09756089746952057], [0.011042541824281216, 0.9998317360877991, -0.014648275449872017, -2.9510550498962402], [-0.022779544815421104, 0.014896899461746216, 0.9996294975280762, 6.249458312988281], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.35507758893072605, "input_age_at_publish_s": 0.5489726196974516, "vggt_debug_frame": "frames/00000131/frame.json"} +{"frame_idx": 133, "time_s": 33.83036923408508, "localized": true, "localized_streak": 12, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6290228366851807, "verified": true, "loaded": true}, {"id": 18, "score": 0.594907283782959, "verified": true, "loaded": true}, {"id": 17, "score": 0.5654772520065308, "verified": true, "loaded": true}, {"id": 20, "score": 0.5487865209579468, "verified": true, "loaded": true}, {"id": 298, "score": 0.533889889717102, "verified": true, "loaded": true}, {"id": 299, "score": 0.5240314602851868, "verified": true, "loaded": true}], "camera_display": [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.630674891276938, 0.03625369876538276, -1.4354625292177132], [-5.208581495145546, -0.15482716462170387, -1.4221182582992575], [-4.786488043582927, -0.3459080498584317, -1.4087739857418702], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239], [-4.613471268373754, -0.36590914481622416, -1.405344737892239]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.432906777384165, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7409347535480316, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936492, 0.9157890531050253, 0.027255805182646142], [-0.99981337039335, -0.015519242036847403, -0.011505542546600134, -0.0012976112942695295], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.41560226678848267, 0.12174458801746368], [-0.8785539865493774, 0.14473383128643036], [-1.341505765914917, 0.16772307455539703], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813]], "goal_body": [-1.4804574572168794, 0.12997811418080396], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.1204591306847958, "attachment_limit_m": 0.75, "candidate_count": 15, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.44619763812866897, "remaining_m": 47.570219894871116, "total_m": 48.01641753299978, "selection_total_m": 48.01641753299978, "best_candidate_total_m": 48.01641753299978, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.534576421361951, -0.1284260315097407], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.41560226678848267, 0.12174458801746368], [-0.8785539865493774, 0.14473383128643036], [-1.341505765914917, 0.16772307455539703], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813], [-1.5098344087600708, 0.1228669062256813]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999729573726654, -0.011088228784501553, 0.02044227346777916, -0.09419256448745728], [0.011501654051244259, 0.9997293949127197, -0.02021867223083973, -2.977926015853882], [-0.020212553441524506, 0.02044832520186901, 0.9995865821838379, 6.314352035522461], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34041861491277814, "input_age_at_publish_s": 0.40233383188024163, "vggt_debug_frame": "frames/00000133/frame.json"} +{"frame_idx": 134, "time_s": 34.03083372116089, "localized": true, "localized_streak": 13, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6300662755966187, "verified": true, "loaded": true}, {"id": 18, "score": 0.5887483954429626, "verified": true, "loaded": true}, {"id": 20, "score": 0.560275137424469, "verified": true, "loaded": true}, {"id": 17, "score": 0.546642541885376, "verified": true, "loaded": true}, {"id": 21, "score": 0.5363701581954956, "verified": true, "loaded": true}, {"id": 298, "score": 0.517748236656189, "verified": true, "loaded": true}], "camera_display": [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.6456245917819885, 0.033873109468816054, -1.4337936396784259], [-5.223842491583534, -0.1578897328898421, -1.4203890705384978], [-4.802060419080778, -0.3496525642731001, -1.4069845022153797], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169], [-4.612869152337721, -0.37184292547495357, -1.4034745039659169]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.440910738710958, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8375210072989846, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936492, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847292, -0.0115055425466003, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.43042227625846863, 0.12585869431495667], [-0.8933786153793335, 0.14875520765781403], [-1.356334924697876, 0.1716517210006714], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927]], "goal_body": [-1.483226896828449, 0.1378784639436218], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.1138728845689339, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4732419278460355, "remaining_m": 47.570219894871116, "total_m": 48.04346182271715, "selection_total_m": 48.04346182271715, "best_candidate_total_m": 48.04346182271715, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.55561444325739, -0.1483909947587609], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.43042227625846863, 0.12585869431495667], [-0.8933786153793335, 0.14875520765781403], [-1.356334924697876, 0.1716517210006714], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927], [-1.5404212474822998, 0.12255696207284927]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999666154384613, -0.016022825613617897, 0.02026849053800106, -0.09042957425117493], [0.016434477642178535, 0.9996586441993713, -0.02030903846025467, -2.9905080795288086], [-0.01993616484105587, 0.02063535898923874, 0.9995882511138916, 6.338626384735107], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.33801989583298564, "input_age_at_publish_s": 0.4998230142518878, "vggt_debug_frame": "frames/00000134/frame.json"} +{"frame_idx": 136, "time_s": 34.59734082221985, "localized": true, "localized_streak": 14, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6300662755966187, "verified": true, "loaded": true}, {"id": 18, "score": 0.5887483954429626, "verified": true, "loaded": true}, {"id": 20, "score": 0.560275137424469, "verified": true, "loaded": true}, {"id": 17, "score": 0.546642541885376, "verified": true, "loaded": true}, {"id": 21, "score": 0.5363701581954956, "verified": true, "loaded": true}, {"id": 298, "score": 0.517748236656189, "verified": true, "loaded": true}], "camera_display": [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.7123790080188055, 0.04433214827616894, -1.4425633059385508], [-5.294436558521509, -0.15460559808803254, -1.4327865907579536], [-4.872922382754744, -0.34718654223533996, -1.423238694545078], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235], [-4.757109644966905, -0.3609957220893927, -1.4221314212887235]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.472026087837556, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8046268929961327, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224145, -0.4030405516860779, 0.9151721267474482, 0.027261207042546864], [-0.9998137411416026, -0.015500331838898013, -0.011498814604843755, -0.0012977405538538989], [0.018819960236367728, -0.9150508474448105, -0.4028991879952546, 1.3117021917484168], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.45039379596710205, 0.13669882714748383], [-0.9123367667198181, 0.16762427985668182], [-1.3752528429031372, 0.19131982326507568], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528]], "goal_body": [-1.4854271593260033, 0.13103178139113503], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.12426842497480727, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5462651223038676, "remaining_m": 47.570219894871116, "total_m": 48.11648501717498, "selection_total_m": 48.11648501717498, "best_candidate_total_m": 48.11648501717498, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.58868843430512, -0.2240862549852997], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.45039379596710205, 0.13669882714748383], [-0.9123367667198181, 0.16762427985668182], [-1.3752528429031372, 0.19131982326507568], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528], [-1.4880038499832153, 0.16145814955234528]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996429681777954, -0.018594326451420784, 0.01918739639222622, -0.08902052789926529], [0.019114946946501732, 0.9994440674781799, -0.027316555380821228, -3.0184831619262695], [-0.018668795004487038, 0.027673568576574326, 0.9994426965713501, 6.408215045928955], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3614212488755584, "input_age_at_publish_s": 0.3787120031192899, "vggt_debug_frame": "frames/00000136/frame.json"} +{"frame_idx": 137, "time_s": 34.83053255081177, "localized": true, "localized_streak": 15, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6300662755966187, "verified": true, "loaded": true}, {"id": 18, "score": 0.5887483954429626, "verified": true, "loaded": true}, {"id": 20, "score": 0.560275137424469, "verified": true, "loaded": true}, {"id": 17, "score": 0.546642541885376, "verified": true, "loaded": true}, {"id": 21, "score": 0.5363701581954956, "verified": true, "loaded": true}, {"id": 298, "score": 0.517748236656189, "verified": true, "loaded": true}], "camera_display": [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.720800284113773, 0.06524808925885495, -1.4363904567977839], [-5.315424263639649, -0.15595683335311694, -1.4238454381417949], [-4.893997750833897, -0.34861809105256736, -1.4122640398200743], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616], [-4.745159441278858, -0.3663956230468255, -1.4101416047732616]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.48827440172499, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7469017163423324, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004286944593566655, -0.40252787545883184, 0.9153976903972674, 0.027259245242987618], [-0.999813605763453, -0.015507237028356963, -0.011501275147956791, -0.001297693489229701], [0.018824872810575544, -0.9152763708729433, -0.4023863679168569, 1.3117249287464121], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4567644000053406, 0.12015167623758316], [-0.9152891039848328, 0.17648817598819733], [-1.3781962394714355, 0.200358048081398], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497]], "goal_body": [-1.4865942913616066, 0.12611134595105455], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.13443409337068257, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5722794421895323, "remaining_m": 47.570219894871116, "total_m": 48.14249933706065, "selection_total_m": 48.14249933706065, "best_candidate_total_m": 48.14249933706065, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.60101900981254, -0.25620845490743], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4567644000053406, 0.12015167623758316], [-0.9152891039848328, 0.17648817598819733], [-1.3781962394714355, 0.200358048081398], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497], [-1.5231256484985352, 0.16203242540359497]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996567964553833, -0.01737293228507042, 0.01960931532084942, -0.09052513539791107], [0.01783081516623497, 0.9995666146278381, -0.02342217229306698, -3.0349297523498535], [-0.019193904474377632, 0.023763781413435936, 0.9995333552360535, 6.431032657623291], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3460776670835912, "input_age_at_publish_s": 0.45826779399067163, "vggt_debug_frame": "frames/00000137/frame.json"} +{"frame_idx": 138, "time_s": 35.09705686569214, "localized": true, "localized_streak": 16, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6300662755966187, "verified": true, "loaded": true}, {"id": 18, "score": 0.5887483954429626, "verified": true, "loaded": true}, {"id": 20, "score": 0.560275137424469, "verified": true, "loaded": true}, {"id": 17, "score": 0.546642541885376, "verified": true, "loaded": true}, {"id": 21, "score": 0.5363701581954956, "verified": true, "loaded": true}, {"id": 298, "score": 0.517748236656189, "verified": true, "loaded": true}], "camera_display": [-6.182427969742465, 0.422775645085105, -0.14023579975554795], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.753512623544216, 0.09722381398509583, -1.4368711928775475], [-5.36278942345705, -0.15006254239803685, -1.4241728750404896], [-4.903900006336089, -0.2762158958837393, -1.4155444242903736], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882], [-4.815746437102822, -0.28677872433554263, -1.4144099589179882]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.5114170634528, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.687023157004239, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042495194262019975, -0.4044436498962564, 0.9145530469268802, 0.02726651340926889], [-0.9998141116600655, -0.015481431981208799, -0.011492057657571164, -0.0012978685746425356], [0.018806480533052117, -0.914431877901468, -0.4043026798916307, 1.31163993056982], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4630579948425293, 0.1006740853190422], [-0.9175882935523987, 0.18657290935516357], [-1.3907421827316284, 0.13466911017894745], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573]], "goal_body": [-1.4880549599491348, 0.11920019901060352], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.13654485563178265, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6172260604666083, "remaining_m": 47.570219894871116, "total_m": 48.18744595533772, "selection_total_m": 48.18744595533772, "best_candidate_total_m": 48.18744595533772, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.614169229247064, -0.29302661763263027], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4630579948425293, 0.1006740853190422], [-0.9175882935523987, 0.18657290935516357], [-1.3907421827316284, 0.13466911017894745], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573], [-1.4765864610671997, 0.11198273301124573]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996553659439087, -0.017154084518551826, 0.019872091710567474, -0.0917164534330368], [0.017607195302844048, 0.9995837211608887, -0.02285543642938137, -3.056311845779419], [-0.019471757113933563, 0.02319745160639286, 0.9995412826538086, 6.472363471984863], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.334292802028358, "input_age_at_publish_s": 0.5564186461269855, "vggt_debug_frame": "frames/00000138/frame.json"} +{"frame_idx": 140, "time_s": 35.59751105308533, "localized": true, "localized_streak": 17, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.837397059575357, 0.11893890617771685, -1.4324798875043734], [-5.447735089302428, -0.13016810849664573, -1.4173683673386885], [-4.994203292328514, -0.26541206655657223, -1.4058352488836618], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899], [-4.815116447866124, -0.2865946599253082, -1.402542419508899]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.54867886802282, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.777378268574669, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.4016365056936493, 0.9157890531050256, 0.027255805182648807], [-0.99981337039335, -0.015519242036847763, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44036033749580383, 0.10961437970399857], [-0.8946292400360107, 0.1976989209651947], [-1.3662266731262207, 0.15633587539196014], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703]], "goal_body": [-1.4899381090913202, 0.1092007683390448], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1045023965656832, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6855170602612052, "remaining_m": 47.570219894871116, "total_m": 48.25573695513232, "selection_total_m": 48.25573695513232, "best_candidate_total_m": 48.25573695513232, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.638379680219021, -0.35076036037111874], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44036033749580383, 0.10961437970399857], [-0.8946292400360107, 0.1976989209651947], [-1.3662266731262207, 0.15633587539196014], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703], [-1.540547251701355, 0.11003274470567703]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996668100357056, -0.016017314046621323, 0.02024092525243759, -0.0937412828207016], [0.016432546079158783, 0.9996544718742371, -0.020517371594905853, -3.0895791053771973], [-0.019905298948287964, 0.02084314450621605, 0.9995845556259155, 6.5344133377075195], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3373249648138881, "input_age_at_publish_s": 0.37658431893214583, "vggt_debug_frame": "frames/00000140/frame.json"} +{"frame_idx": 141, "time_s": 35.83107399940491, "localized": true, "localized_streak": 18, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.853771788485933, 0.12149473618094397, -1.4329775450532414], [-5.458345392021615, -0.11734708852265108, -1.4176272966866563], [-4.972688810738891, -0.19477718156001878, -1.4074873668958894], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249], [-4.878512604613817, -0.2057711854889721, -1.4056833402655249]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.558714171439746, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7844504592025375, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364917, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.01551924203684732, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44544222950935364, 0.1131107285618782], [-0.9012181162834167, 0.18999652564525604], [-1.3814491033554077, 0.08351293951272964], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355]], "goal_body": [-1.4900110685348398, 0.11157444814503559], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1052503430441374, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7081283844083327, "remaining_m": 47.570219894871116, "total_m": 48.27834827927945, "selection_total_m": 48.27834827927945, "best_candidate_total_m": 48.27834827927945, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.650595666027684, -0.36562855342584877], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44544222950935364, 0.1131107285618782], [-0.9012181162834167, 0.18999652564525604], [-1.3814491033554077, 0.08351293951272964], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355], [-1.4730918407440186, 0.059122588485479355]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996857047080994, -0.016421055421233177, 0.018941640853881836, -0.09277892112731934], [0.01678970642387867, 0.9996694326400757, -0.019470475614070892, -3.098430871963501], [-0.018615655601024628, 0.019782382994890213, 0.9996309876441956, 6.555413246154785], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.33826186833903193, "input_age_at_publish_s": 0.5040271822363138, "vggt_debug_frame": "frames/00000141/frame.json"} +{"frame_idx": 142, "time_s": 36.06462526321411, "localized": true, "localized_streak": 19, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.862478194348009, 0.12213690436421487, -1.434450719918921], [-5.462786881040824, -0.10911696075822519, -1.419703723125531], [-4.981010807315913, -0.19313672577696117, -1.4098997733489878], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422], [-4.8762109411034, -0.20525094847101144, -1.4080194136091422]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.561972366728952, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8675622562019133, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364917, 0.9157890531050257, 0.02725580518264703], [-0.99981337039335, -0.015519242036847486, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409433, -0.4014947480400075, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4481963813304901, 0.11566708981990814], [-0.9050828814506531, 0.18425056338310242], [-1.384190320968628, 0.0856621190905571], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169]], "goal_body": [-1.4898920254181018, 0.11379710600304926], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10806940307590517, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7181864639211772, "remaining_m": 47.570219894871116, "total_m": 48.288406358792294, "selection_total_m": 48.288406358792294, "best_candidate_total_m": 48.288406358792294, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.659692457948847, -0.37560688094380845], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4481963813304901, 0.11566708981990814], [-0.9050828814506531, 0.18425056338310242], [-1.384190320968628, 0.0856621190905571], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169], [-1.4861434698104858, 0.05848018825054169]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996948838233948, -0.017028363421559334, 0.017894981428980827, -0.0916595384478569], [0.01739315129816532, 0.9996399879455566, -0.020430991426110268, -3.1016879081726074], [-0.01754063181579113, 0.020736007019877434, 0.9996311068534851, 6.564889430999756], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34264907985925674, "input_age_at_publish_s": 0.5949725499376655, "vggt_debug_frame": "frames/00000142/frame.json"} +{"frame_idx": 144, "time_s": 36.59910726547241, "localized": true, "localized_streak": 20, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.288807814563137, 0.463044014223398, -0.14235016191101152], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.87059001008998, 0.12545893750776393, -1.4358246809600295], [-5.4855653662709045, -0.1321444424059175, -1.420033049531519], [-5.026125344260182, -0.2560515711718061, -1.4086136519402739], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331], [-4.956920980981229, -0.26400235290666973, -1.4073270588063331]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.567045894616626, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9080088677664107, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936493, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.01551924203684732, -0.01150554254660019, -0.0012976112942659768], [0.018833397874358115, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44951221346855164, 0.11665336787700653], [-0.9024810791015625, 0.2149999588727951], [-1.3754669427871704, 0.16158762574195862], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576]], "goal_body": [-1.4900023033925467, 0.1137960483777063], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11165621791212199, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7289171930508614, "remaining_m": 47.570219894871116, "total_m": 48.29913708792198, "selection_total_m": 48.29913708792198, "best_candidate_total_m": 48.29913708792198, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664289863217915, -0.3805635323256599], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44951221346855164, 0.11665336787700653], [-0.9024810791015625, 0.2149999588727951], [-1.3754669427871704, 0.16158762574195862], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576], [-1.4427688121795654, 0.14357173442840576]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996930360794067, -0.016516242176294327, 0.018468914553523064, -0.09112365543842316], [0.016883544623851776, 0.9996591806411743, -0.01991165801882744, -3.1050217151641846], [-0.018133753910660744, 0.02021736651659012, 0.9996311664581299, 6.575172424316406], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34406065894290805, "input_age_at_publish_s": 0.45212414441630244, "vggt_debug_frame": "frames/00000144/frame.json"} +{"frame_idx": 145, "time_s": 36.832961320877075, "localized": true, "localized_streak": 21, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.864537939704071, 0.12136664600319147, -1.432920038383848], [-5.479563645290279, -0.13632249977588184, -1.417301956240177], [-4.982925375664314, -0.19348952318216295, -1.4082269463974402], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945], [-4.872567113590971, -0.20619262793454585, -1.4062103839231945]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564924355586136, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9124750631406421, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936493, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847264, -0.011505542546600023, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409431, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44951358437538147, 0.1166611909866333], [-0.9024814367294312, 0.21501237154006958], [-1.3854771852493286, 0.08572546392679214], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505]], "goal_body": [-1.4901927796030392, 0.11167795672820291], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10672430594790704, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7208894121432298, "remaining_m": 47.570219894871116, "total_m": 48.291109307014345, "selection_total_m": 48.291109307014345, "best_candidate_total_m": 48.291109307014345, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.6623542022687, -0.38147738866554837], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44951358437538147, 0.1166611909866333], [-0.9024814367294312, 0.21501237154006958], [-1.3854771852493286, 0.08572546392679214], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505], [-1.492803931236267, 0.05699653923511505]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996891021728516, -0.016492076218128204, 0.018702097237110138, -0.09291034191846848], [0.016870670020580292, 0.9996522068977356, -0.020269688218832016, -3.10441517829895], [-0.018361303955316544, 0.02057890221476555, 0.9996196031570435, 6.566993713378906], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3418979072012007, "input_age_at_publish_s": 0.519340586848557, "vggt_debug_frame": "frames/00000145/frame.json"} +{"frame_idx": 147, "time_s": 37.33400845527649, "localized": true, "localized_streak": 22, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882266865817593, 0.09773570781820773, -1.4352895067048603], [-5.483576537268801, -0.13531644137930954, -1.4206608466231296], [-4.986986608112932, -0.1929362498798275, -1.4118056848722866], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332], [-4.8766194484789605, -0.20574224220063808, -1.409837624950332]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565772795809846, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7668227242676743, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043043590923607655, -0.401636505693649, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933497, -0.015519242036847347, -0.0115055425465998, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.40149474804000707, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457710385322571, 0.14505617320537567], [-0.9024812579154968, 0.21503515541553497], [-1.3854795694351196, 0.08575774729251862], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066]], "goal_body": [-1.4902281594360671, 0.11109945243403396], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10976070149725989, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7245406966706265, "remaining_m": 47.570219894871116, "total_m": 48.294760591541745, "selection_total_m": 48.294760591541745, "best_candidate_total_m": 48.294760591541745, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661820780007767, -0.3817689431775134], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457710385322571, 0.14505617320537567], [-0.9024812579154968, 0.21503515541553497], [-1.3854795694351196, 0.08575774729251862], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066], [-1.492825984954834, 0.05702581629157066]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999666154384613, -0.01702514849603176, 0.019434073939919472, -0.09225291758775711], [0.017426570877432823, 0.999634325504303, -0.020676590502262115, -3.103205919265747], [-0.019074944779276848, 0.021008357405662537, 0.9995973110198975, 6.571320056915283], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3494668211787939, "input_age_at_publish_s": 0.38150140177458525, "vggt_debug_frame": "frames/00000147/frame.json"} +{"frame_idx": 148, "time_s": 37.601200103759766, "localized": true, "localized_streak": 23, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879814536790898, 0.09752176680891278, -1.4333032210145662], [-5.480926275501179, -0.1351829283012238, -1.4185367837501064], [-4.984288576770819, -0.1923650338875733, -1.4095274299709653], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942], [-4.8739039445599825, -0.20507455804215802, -1.4075249756017942]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56488322189013, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8944676421381721, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936495, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847763, -0.011505542546600134, -0.0012976112942659768], [0.01883339787435845, -0.9156676637409432, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457700550556183, 0.1450621634721756], [-0.9024780988693237, 0.21505598723888397], [-1.3854790925979614, 0.0857887789607048], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144]], "goal_body": [-1.490088462136332, 0.11253458888292123], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1083610653855954, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7226379692786976, "remaining_m": 47.570219894871116, "total_m": 48.292857864149816, "selection_total_m": 48.292857864149816, "best_candidate_total_m": 48.292857864149816, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663108882233619, -0.38119260427603596], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457700550556183, 0.1450621634721756], [-0.9024780988693237, 0.21505598723888397], [-1.3854790925979614, 0.0857887789607048], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144], [-1.4928327798843384, 0.057057350873947144]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996883273124695, -0.016609881073236465, 0.01863614097237587, -0.09210358560085297], [0.01698897033929825, 0.9996481537818909, -0.020371034741401672, -3.1040537357330322], [-0.018291223794221878, 0.020681295543909073, 0.9996187686920166, 6.5688934326171875], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3714622505940497, "input_age_at_publish_s": 0.49568356666713953, "vggt_debug_frame": "frames/00000148/frame.json"} +{"frame_idx": 150, "time_s": 38.1022093296051, "localized": true, "localized_streak": 24, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882121917149531, 0.09888178531899339, -1.4339627330586566], [-5.483112968652403, -0.13362171362022757, -1.4192852924078314], [-5.023632984222841, -0.2574075845328352, -1.4081620089435645], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946], [-4.954383192647867, -0.26534482595830333, -1.4069158578765946]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56605542526667, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8242850975712778, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364945, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847347, -0.01150554254660019, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457748830318451, 0.14504890143871307], [-0.9024843573570251, 0.2150338739156723], [-1.375471591949463, 0.16163353621959686], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188]], "goal_body": [-1.4900577272484397, 0.113328955180378], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10928011505811157, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7251650471632546, "remaining_m": 47.570219894871116, "total_m": 48.29538494203437, "selection_total_m": 48.29538494203437, "best_candidate_total_m": 48.29538494203437, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663848711826851, -0.38080906963610334], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457748830318451, 0.14504890143871307], [-0.9024843573570251, 0.2150338739156723], [-1.375471591949463, 0.16163353621959686], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188], [-1.4428153038024902, 0.14360825717449188]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997008442878723, -0.016296518966555595, 0.018239673227071762, -0.09204067289829254], [0.016670605167746544, 0.9996498823165894, -0.020548958331346512, -3.1046812534332275], [-0.01789841055870056, 0.020846877247095108, 0.9996224641799927, 6.571387767791748], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3554671979509294, "input_age_at_publish_s": 0.38354426342993975, "vggt_debug_frame": "frames/00000150/frame.json"} +{"frame_idx": 151, "time_s": 38.33538198471069, "localized": true, "localized_streak": 25, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28567141051888, 0.460703710294188, -0.14032361947660005], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881910286722645, 0.09782706931261664, -1.433071742789843], [-5.483008271041312, -0.13484779130163282, -1.4182080845321268], [-4.986367831684156, -0.1919986022492095, -1.4091489825139494], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249], [-4.87598612843145, -0.20470075589193026, -1.4071355357555249]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56604878489715, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8810978132282881, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936492, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.015519242036847486, -0.011505542546600245, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44577088952064514, 0.1450580209493637], [-0.9024802446365356, 0.2150430828332901], [-1.3854795694351196, 0.08576946705579758], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903]], "goal_body": [-1.4901337912792285, 0.11246196761079053], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10869283850525832, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7248654041989979, "remaining_m": 47.570219894871116, "total_m": 48.29508529907012, "selection_total_m": 48.29508529907012, "best_candidate_total_m": 48.29508529907012, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663039131427913, -0.3811774901087459], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44577088952064514, 0.1450580209493637], [-0.9024802446365356, 0.2150430828332901], [-1.3854795694351196, 0.08576946705579758], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903], [-1.492829442024231, 0.05703752860426903]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996874928474426, -0.01683090254664421, 0.018484270200133324, -0.092234306037426], [0.01720370724797249, 0.9996479749679565, -0.020198361948132515, -3.105159282684326], [-0.01813780702650547, 0.020510045811533928, 0.9996250867843628, 6.5709099769592285], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3657147982157767, "input_age_at_publish_s": 0.4995139944367111, "vggt_debug_frame": "frames/00000151/frame.json"} +{"frame_idx": 153, "time_s": 38.83497190475464, "localized": true, "localized_streak": 26, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880463359761266, 0.09849333572557395, -1.4347675534128295], [-5.481518869933832, -0.13413023044950112, -1.4202391648372916], [-5.022070622196739, -0.2580549007999018, -1.4093518321900653], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037], [-4.952819910481714, -0.2660135609897951, -1.4081459795640037]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56353101931194, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8404135962973702, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361765, -0.4016365056936492, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933503, -0.01551924203684732, -0.011505542546600245, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457799792289734, 0.14503443241119385], [-0.9024912714958191, 0.2150079607963562], [-1.3754769563674927, 0.16159366071224213], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345]], "goal_body": [-1.4898732356309863, 0.11412264936027072], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11013536146804905, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7231517122622758, "remaining_m": 47.570219894871116, "total_m": 48.293371607133395, "selection_total_m": 48.293371607133395, "best_candidate_total_m": 48.293371607133395, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66466953237105, -0.3805554158964934], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457799792289734, 0.14503443241119385], [-0.9024912714958191, 0.2150079607963562], [-1.3754769563674927, 0.16159366071224213], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345], [-1.4428226947784424, 0.14356571435928345]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996881484985352, -0.01701880432665348, 0.018274538218975067, -0.09083674848079681], [0.01740121655166149, 0.9996285438537598, -0.020974908024072647, -3.103020429611206], [-0.017910782247781754, 0.021286364644765854, 0.9996129870414734, 6.569624900817871], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.35383465606719255, "input_age_at_publish_s": 0.3680901280604303, "vggt_debug_frame": "frames/00000153/frame.json"} +{"frame_idx": 154, "time_s": 39.10138821601868, "localized": true, "localized_streak": 27, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878413362944689, 0.09704768922536822, -1.4334632331866772], [-5.479463591434864, -0.13556129341006606, -1.4188456880792848], [-4.982808104671218, -0.192616970113332, -1.410016652590015], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116], [-4.872411074374071, -0.20529936498853374, -1.4080541263023116]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56382473466224, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.763940572022379, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936493, 0.9157890531050256, 0.02725580518264792], [-0.99981337039335, -0.015519242036847458, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409432, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578278064727783, 0.14502669870853424], [-0.9024949073791504, 0.21499495208263397], [-1.3854868412017822, 0.08569391816854477], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872]], "goal_body": [-1.4900312249772523, 0.11289463472439232], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10803957138164282, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.720807757581869, "remaining_m": 47.570219894871116, "total_m": 48.29102765245298, "selection_total_m": 48.29102765245298, "best_candidate_total_m": 48.29102765245298, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663548569517875, -0.38102526765489025], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578278064727783, 0.14502669870853424], [-0.9024949073791504, 0.21499495208263397], [-1.3854868412017822, 0.08569391816854477], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872], [-1.4928467273712158, 0.05695277452468872]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996920824050903, -0.016623061150312424, 0.018423013389110565, -0.0920541062951088], [0.017003919929265976, 0.9996408820152283, -0.020712923258543015, -3.103215456008911], [-0.018072083592414856, 0.02101980894804001, 0.9996157288551331, 6.567219257354736], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36298441607505083, "input_age_at_publish_s": 0.4653789531439543, "vggt_debug_frame": "frames/00000154/frame.json"} +{"frame_idx": 155, "time_s": 39.335118770599365, "localized": true, "localized_streak": 28, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879297430065023, 0.0963010677783025, -1.4330048440646748], [-5.480416839030797, -0.13643557649661986, -1.4185356874688273], [-4.983777725117776, -0.19365077105656958, -1.4098168849783677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677], [-4.873388558124116, -0.20636814052597074, -1.4078789353998677]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564932640430108, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7528916740995567, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361876, -0.40163650569364917, 0.9157890531050258, 0.027255805182649695], [-0.9998133703933503, -0.01551924203684718, -0.011505542546600411, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457704424858093, 0.14506281912326813], [-0.9024776220321655, 0.21506266295909882], [-1.38547945022583, 0.08579844981431961], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763]], "goal_body": [-1.4902344144341222, 0.1113601267630756], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10678423061221082, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7206926229762444, "remaining_m": 47.570219894871116, "total_m": 48.29091251784736, "selection_total_m": 48.29091251784736, "best_candidate_total_m": 48.29091251784736, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662013066568717, -0.381662055543746], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457704424858093, 0.14506281912326813], [-0.9024776220321655, 0.21506266295909882], [-1.38547945022583, 0.08579844981431961], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763], [-1.4928374290466309, 0.05706659331917763]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996880888938904, -0.016513286158442497, 0.018737124279141426, -0.09321153163909912], [0.01690611056983471, 0.9996364116668701, -0.021004028618335724, -3.1038498878479004], [-0.018383467569947243, 0.02131424844264984, 0.999603807926178, 6.567054748535156], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36180880200117826, "input_age_at_publish_s": 0.588617161847651, "vggt_debug_frame": "frames/00000155/frame.json"} +{"frame_idx": 157, "time_s": 39.83598613739014, "localized": true, "localized_streak": 29, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878878835536671, 0.09763402629734053, -1.4336838504945428], [-5.480073805238639, -0.13522963627254558, -1.4191660881201302], [-4.9834540483149254, -0.19258631691431383, -1.41027853446983], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494], [-4.873054538953149, -0.2053368158953628, -1.408302814493494]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564628122503343, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7484868035255948, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936493, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847375, -0.011505542546600023, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409431, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457835555076599, 0.14502887427806854], [-0.9024934768676758, 0.21501275897026062], [-1.3854875564575195, 0.08571978658437729], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692]], "goal_body": [-1.4901635457911588, 0.11161872494599967], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10785146482204971, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7211650848751764, "remaining_m": 47.570219894871116, "total_m": 48.29138497974629, "selection_total_m": 48.29138497974629, "best_candidate_total_m": 48.29138497974629, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662361231575899, -0.38157040643062845], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457835555076599, 0.14502887427806854], [-0.9024934768676758, 0.21501275897026062], [-1.3854875564575195, 0.08571978658437729], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692], [-1.4928580522537231, 0.05697771534323692]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996837377548218, -0.016135206446051598, 0.019288020208477974, -0.0924220085144043], [0.016536032781004906, 0.999646782875061, -0.02080554887652397, -3.103384256362915], [-0.01894550584256649, 0.0211179181933403, 0.9995974898338318, 6.567608833312988], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3660242068581283, "input_age_at_publish_s": 0.4609973467886448, "vggt_debug_frame": "frames/00000157/frame.json"} +{"frame_idx": 158, "time_s": 40.103118896484375, "localized": true, "localized_streak": 30, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882015897703212, 0.09733055702684545, -1.4323772829309493], [-5.483143585307314, -0.13539427551689975, -1.4174893112995726], [-4.986509380061948, -0.19259012235588724, -1.4083715358320603], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724], [-4.876109926725071, -0.20530448995065775, -1.4063446971622724]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56673574760719, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8062268848166187, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364906, 0.9157890531050258, 0.027255805182649695], [-0.99981337039335, -0.015519242036847403, -0.011505542546600023, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409434, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457864463329315, 0.1450185477733612], [-0.9024985432624817, 0.214987650513649], [-1.3854892253875732, 0.08568170666694641], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085]], "goal_body": [-1.4902556703027507, 0.11151646948507565], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10776393777104058, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7247120508402447, "remaining_m": 47.570219894871116, "total_m": 48.29493194571136, "selection_total_m": 48.29493194571136, "best_candidate_total_m": 48.29493194571136, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66226084919675, -0.38152100333256833], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457864463329315, 0.1450185477733612], [-0.9024985432624817, 0.214987650513649], [-1.3854892253875732, 0.08568170666694641], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085], [-1.4928557872772217, 0.056937601417303085]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996849298477173, -0.01674843393266201, 0.018695374950766563, -0.09291442483663559], [0.017124095931649208, 0.9996509552001953, -0.020117975771427155, -3.1057779788970947], [-0.018351903185248375, 0.020431779325008392, 0.9996228218078613, 6.57062292098999], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37206590501591563, "input_age_at_publish_s": 0.6135907699353993, "vggt_debug_frame": "frames/00000158/frame.json"} +{"frame_idx": 160, "time_s": 40.60384678840637, "localized": true, "localized_streak": 31, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.877192931773681, 0.0961307905344082, -1.4332740063423688], [-5.4782816424876035, -0.13656438381143854, -1.4189722705906185], [-4.98163265961953, -0.19370190512053576, -1.410304450637054], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967], [-4.871217743080068, -0.2064047039008825, -1.4083774225961967]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564278090063166, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.722734198749041, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936493, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933498, -0.01551924203684743, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358504, -0.9156676637409429, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457927942276001, 0.14500437676906586], [-0.9025049209594727, 0.2149745672941208], [-1.385493278503418, 0.08565991371870041], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759]], "goal_body": [-1.49024827133439, 0.1111097359159422], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10612500166359846, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7183527789043521, "remaining_m": 47.570219894871116, "total_m": 48.28857267377547, "selection_total_m": 48.28857267377547, "best_candidate_total_m": 48.28857267377547, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661943798824964, -0.38173160087024816], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457927942276001, 0.14500437676906586], [-0.9025049209594727, 0.2149745672941208], [-1.385493278503418, 0.08565991371870041], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759], [-1.4928711652755737, 0.05691069737076759]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996938109397888, -0.01591421477496624, 0.018946465104818344, -0.09354259818792343], [0.01631651259958744, 0.9996405839920044, -0.021271582692861557, -3.1028006076812744], [-0.018601134419441223, 0.02157421037554741, 0.9995942115783691, 6.564977169036865], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36296104500070214, "input_age_at_publish_s": 0.45550601882860065, "vggt_debug_frame": "frames/00000160/frame.json"} +{"frame_idx": 161, "time_s": 40.83752226829529, "localized": true, "localized_streak": 32, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880593839171196, 0.09778657345969322, -1.4322764918697657], [-5.481618545919499, -0.13476512296199772, -1.4174455240959332], [-5.022155604002369, -0.25860913990575085, -1.4062649667167109], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402], [-4.952904042050497, -0.26655584525887743, -1.4050190264977402]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564488729570527, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9336818320396942, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936491, 0.9157890531050258, 0.02725580518264792], [-0.99981337039335, -0.01551924203684718, -0.01150554254660019, -0.0012976112942677531], [0.01883339787435806, -0.9156676637409434, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457843601703644, 0.1450209766626358], [-0.9024977684020996, 0.21498093008995056], [-1.3754818439483643, 0.16155244410037994], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765]], "goal_body": [-1.4899642648548759, 0.11366005664379464], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1085393236917605, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7235838577632531, "remaining_m": 47.570219894871116, "total_m": 48.29380375263437, "selection_total_m": 48.29380375263437, "best_candidate_total_m": 48.29380375263437, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66426394186096, -0.3806887486894809], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457843601703644, 0.1450209766626358], [-0.9024977684020996, 0.21498093008995056], [-1.3754818439483643, 0.16155244410037994], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765], [-1.4428272247314453, 0.1435224413871765]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996899366378784, -0.01711798645555973, 0.018081679940223694, -0.0914183259010315], [0.017484968528151512, 0.9996402859687805, -0.020336462184786797, -3.105254888534546], [-0.01772705465555191, 0.020646313205361366, 0.9996296763420105, 6.569329738616943], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3953512613661587, "input_age_at_publish_s": 0.6195369102060795, "vggt_debug_frame": "frames/00000161/frame.json"} +{"frame_idx": 163, "time_s": 41.337695598602295, "localized": true, "localized_streak": 33, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8850478771070325, 0.10076983174728582, -1.4350688848626398], [-5.486126857498357, -0.13186731946490315, -1.4201138325580591], [-5.0266922813862, -0.2557990156478045, -1.4087422923724575], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628], [-4.9574314483887285, -0.2637601160143861, -1.407463754086628]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56683559292816, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7983019753797895, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361876, -0.40163650569364917, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933503, -0.015519242036847514, -0.011505542546600467, -0.0012976112942695295], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445777028799057, 0.14504843950271606], [-0.9024840593338013, 0.21505101025104523], [-1.375472068786621, 0.16165772080421448], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417]], "goal_body": [-1.4899475563673175, 0.11420081006019889], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11213371615589532, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7294974107962721, "remaining_m": 47.570219894871116, "total_m": 48.299717305667386, "selection_total_m": 48.299717305667386, "best_candidate_total_m": 48.299717305667386, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66464697260292, -0.3804923706391599], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445777028799057, 0.14504843950271606], [-0.9024840593338013, 0.21505101025104523], [-1.375472068786621, 0.16165772080421448], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417], [-1.4428298473358154, 0.143629789352417]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996910095214844, -0.016722319647669792, 0.018390553072094917, -0.09071081876754761], [0.017089439556002617, 0.9996541142463684, -0.019989846274256706, -3.1051952838897705], [-0.01804991625249386, 0.020297953858971596, 0.9996310472488403, 6.575661659240723], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37836558697745204, "input_age_at_publish_s": 0.48347971495240927, "vggt_debug_frame": "frames/00000163/frame.json"} +{"frame_idx": 165, "time_s": 41.83704090118408, "localized": true, "localized_streak": 34, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883194918366911, 0.09797112341307024, -1.4333572748407608], [-5.484349698473178, -0.13479046149238805, -1.4183156430636161], [-4.987722885982189, -0.1920290669356488, -1.4090661585854392], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717], [-4.877318647499687, -0.20475368140224237, -1.407009921854717]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56717146847729, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7957774846426968, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936494, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847403, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457946717739105, 0.14499607682228088], [-0.9025091528892517, 0.21495038270950317], [-1.3854942321777344, 0.08562357723712921], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029]], "goal_body": [-1.4902252611789328, 0.11177630234817515], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10920776062919642, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7265696458204455, "remaining_m": 47.570219894871116, "total_m": 48.29678954069156, "selection_total_m": 48.29678954069156, "best_candidate_total_m": 48.29678954069156, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.6625629538517, -0.3813959301934019], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457946717739105, 0.14499607682228088], [-0.9025091528892517, 0.21495038270950317], [-1.3854942321777344, 0.08562357723712921], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029], [-1.492865800857544, 0.05687316134572029]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996805191040039, -0.016947487369179726, 0.01875178888440132, -0.09247138351202011], [0.01731850765645504, 0.9996538758277893, -0.019803600385785103, -3.105496644973755], [-0.01840967684984207, 0.020122027024626732, 0.9996280074119568, 6.572675704956055], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3741747043095529, "input_age_at_publish_s": 0.3880259459838271, "vggt_debug_frame": "frames/00000165/frame.json"} +{"frame_idx": 166, "time_s": 42.103259325027466, "localized": true, "localized_streak": 35, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882275103388444, 0.09737381366988895, -1.4340132931641996], [-5.483457173875376, -0.13544752335190946, -1.4191779860789264], [-4.986835088001898, -0.19276788023633618, -1.4101843433958403], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187], [-4.876440725352921, -0.20550964842952446, -1.4081851422953187]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566087437810545, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.811174840633278, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364906, 0.9157890531050258, 0.027255805182649695], [-0.99981337039335, -0.015519242036847514, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457871615886688, 0.14501534402370453], [-0.9025002121925354, 0.21497809886932373], [-1.385489583015442, 0.08566735684871674], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789]], "goal_body": [-1.4901987264200942, 0.11171850668165706], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10914431721038724, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.724921351975064, "remaining_m": 47.570219894871116, "total_m": 48.29514124684618, "selection_total_m": 48.29514124684618, "best_candidate_total_m": 48.29514124684618, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662476204607469, -0.38146038074046407], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457871615886688, 0.14501534402370453], [-0.9025002121925354, 0.21497809886932373], [-1.385489583015442, 0.08566735684871674], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789], [-1.4928535223007202, 0.05692280828952789]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996761083602905, -0.017162524163722992, 0.018792007118463516, -0.09239224344491959], [0.01754322648048401, 0.9996402859687805, -0.020284919068217278, -3.1043267250061035], [-0.018437106162309647, 0.020608020946383476, 0.9996176362037659, 6.571323871612549], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37119026063010097, "input_age_at_publish_s": 0.498775796033442, "vggt_debug_frame": "frames/00000166/frame.json"} +{"frame_idx": 167, "time_s": 42.336881160736084, "localized": true, "localized_streak": 36, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883391222410417, 0.09870383361712243, -1.4322307250679125], [-5.484476835028378, -0.13393616748003367, -1.4171392722275966], [-4.987834911669147, -0.19101601917745192, -1.407722837900566], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853], [-4.877423598083471, -0.20370577558498937, -1.4056294161000853]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.568054672950936, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8167630733067135, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043043590923608765, -0.4016365056936493, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933498, -0.015519242036847625, -0.01150554254659969, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579896330833435, 0.14498446881771088], [-0.902514636516571, 0.21493160724639893], [-1.3854968547821045, 0.08559424430131912], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517]], "goal_body": [-1.490252713946791, 0.11187163157381275], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1084945259434807, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7271845280494031, "remaining_m": 47.570219894871116, "total_m": 48.29740442292052, "selection_total_m": 48.29740442292052, "best_candidate_total_m": 48.29740442292052, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662663380918822, -0.38131405870063856], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579896330833435, 0.14498446881771088], [-0.902514636516571, 0.21493160724639893], [-1.3854968547821045, 0.08559424430131912], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517], [-1.4928714036941528, 0.05684052035212517]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996917843818665, -0.016311632469296455, 0.01871495135128498, -0.09275004267692566], [0.016678309068083763, 0.9996686577796936, -0.01960691809654236, -3.106853723526001], [-0.018388928845524788, 0.01991301029920578, 0.9996325969696045, 6.572864055633545], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36946802167221904, "input_age_at_publish_s": 0.6487422701902688, "vggt_debug_frame": "frames/00000167/frame.json"} +{"frame_idx": 169, "time_s": 42.83749437332153, "localized": true, "localized_streak": 37, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.884442683134829, 0.09946067910651735, -1.435510934591629], [-5.485652873284538, -0.1334137610140962, -1.420751587326263], [-4.989038370646666, -0.1907925173545575, -1.4117138903454978], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676], [-4.878643152172602, -0.2035475742929993, -1.409704849600676]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.567173782026433, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7722275934682871, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364934, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847652, -0.011505542546599967, -0.0012976112942659768], [0.018833397874358504, -0.9156676637409431, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457853138446808, 0.14502207934856415], [-0.902496874332428, 0.2149949073791504], [-1.385488510131836, 0.08569280058145523], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816]], "goal_body": [-1.4901784708458536, 0.1120343406561991], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11094126906282316, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7277318812325163, "remaining_m": 47.570219894871116, "total_m": 48.29795177610363, "selection_total_m": 48.29795177610363, "best_candidate_total_m": 48.29795177610363, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66273719370234, -0.38133408586997053], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457853138446808, 0.14502207934856415], [-0.902496874332428, 0.2149949073791504], [-1.385488510131836, 0.08569280058145523], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816], [-1.492855429649353, 0.05694952234625816]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999678373336792, -0.016645504161715508, 0.019133657217025757, -0.09192648530006409], [0.017034610733389854, 0.9996476769447327, -0.02035634033381939, -3.104308843612671], [-0.01878807321190834, 0.02067572809755802, 0.9996097087860107, 6.574304103851318], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37368788896128535, "input_age_at_publish_s": 0.5197752532549202, "vggt_debug_frame": "frames/00000169/frame.json"} +{"frame_idx": 171, "time_s": 43.33806276321411, "localized": true, "localized_streak": 38, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8807731262444864, 0.09902304488733815, -1.4334967918593517], [-5.481934528241197, -0.13376707466419901, -1.4187200315731727], [-5.022540125791581, -0.2578680767203938, -1.407572957683561], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513], [-4.9532717231773855, -0.26585588827772355, -1.406329486727513]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.563711983875866, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7877475591251684, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364917, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933502, -0.015519242036847652, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409434, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580164551734924, 0.1449771225452423], [-0.902518093585968, 0.21491923928260803], [-1.3754981756210327, 0.16145552694797516], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768]], "goal_body": [-1.4898686460701307, 0.11388155673597355], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11017553761105636, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.724247300746976, "remaining_m": 47.570219894871116, "total_m": 48.29446719561809, "selection_total_m": 48.29446719561809, "best_candidate_total_m": 48.29446719561809, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664616366017647, -0.38063421145019827], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580164551734924, 0.1449771225452423], [-0.902518093585968, 0.21491923928260803], [-1.3754981756210327, 0.16145552694797516], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768], [-1.442862868309021, 0.14341498911380768]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996763467788696, -0.017215868458151817, 0.018729884177446365, -0.09028377383947372], [0.017597844824194908, 0.9996365308761597, -0.02042398974299431, -3.1044116020202637], [-0.01837145909667015, 0.020746983587741852, 0.9996159672737122, 6.5701751708984375], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38247859105467796, "input_age_at_publish_s": 0.4143498237244785, "vggt_debug_frame": "frames/00000171/frame.json"} +{"frame_idx": 172, "time_s": 43.60499954223633, "localized": true, "localized_streak": 39, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882408321583874, 0.09950559534440995, -1.4350507514159387], [-5.483425651093896, -0.13304058156949772, -1.4203219544329644], [-5.023953937063899, -0.25686160647422174, -1.4092506660458695], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823], [-4.954680730852973, -0.2648072132848194, -1.408020157464823]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564526343308728, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8269432561666519, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050258, 0.02725580518264792], [-0.99981337039335, -0.015519242036847264, -0.01150554254660019, -0.0012976112942695295], [0.018833397874358115, -0.9156676637409434, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578880071640015, 0.14501646161079407], [-0.9024991393089294, 0.21499860286712646], [-1.3754838705062866, 0.161576509475708], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926]], "goal_body": [-1.4898278819331794, 0.11481340397129958], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11134485104314665, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7259668854630583, "remaining_m": 47.570219894871116, "total_m": 48.296186780334175, "selection_total_m": 48.296186780334175, "best_candidate_total_m": 48.296186780334175, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665324980253473, -0.380260059483959], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578880071640015, 0.14501646161079407], [-0.9024991393089294, 0.21499860286712646], [-1.3754838705062866, 0.161576509475708], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926], [-1.44284987449646, 0.14354194700717926]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999691367149353, -0.017107203602790833, 0.01801329106092453, -0.0904361829161644], [0.017476815730333328, 0.9996357560157776, -0.020565461367368698, -3.1037755012512207], [-0.017654910683631897, 0.02087393030524254, 0.9996262192726135, 6.572321891784668], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37287843599915504, "input_age_at_publish_s": 0.5242522531189024, "vggt_debug_frame": "frames/00000172/frame.json"} +{"frame_idx": 174, "time_s": 44.10549068450928, "localized": true, "localized_streak": 40, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882172574393003, 0.09701189000441879, -1.4338756745860306], [-5.48346347430954, -0.13599877836003849, -1.4190826145935949], [-4.986868489414061, -0.19353852523781612, -1.4099959455570337], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127], [-4.876467548243969, -0.20633053957290493, -1.4079758342721127]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56706281921005, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7827204682106494, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936494, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847541, -0.011505542546599912, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409433, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44577524065971375, 0.14505741000175476], [-0.9024794101715088, 0.21507929265499115], [-1.3854827880859375, 0.08582095801830292], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591]], "goal_body": [-1.4903803819549188, 0.11021219245196412], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1081921666524917, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7244711175344893, "remaining_m": 47.570219894871116, "total_m": 48.29469101240561, "selection_total_m": 48.29469101240561, "best_candidate_total_m": 48.29469101240561, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.660942362877512, -0.38213982944271563], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44577524065971375, 0.14505741000175476], [-0.9024794101715088, 0.21507929265499115], [-1.3854827880859375, 0.08582095801830292], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591], [-1.4928621053695679, 0.05708479508757591]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999673068523407, -0.016688527539372444, 0.019371548667550087, -0.09336666762828827], [0.0170810054987669, 0.9996485114097595, -0.020275037735700607, -3.104433298110962], [-0.0190263781696558, 0.02059929445385933, 0.999606728553772, 6.570966720581055], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36304164584726095, "input_age_at_publish_s": 0.4026100430637598, "vggt_debug_frame": "frames/00000174/frame.json"} +{"frame_idx": 175, "time_s": 44.33880829811096, "localized": true, "localized_streak": 41, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880096080042742, 0.09779182488122906, -1.4322537967731044], [-5.481079781368152, -0.13469788765887447, -1.4175430582291404], [-4.984407994623471, -0.1915827592770487, -1.4085300812985], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537], [-4.8739839927597455, -0.204229855007382, -1.4065262449089537]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565703009511967, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7555626693251325, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.40163650569364906, 0.9157890531050256, 0.02725580518264792], [-0.9998133703933502, -0.015519242036847042, -0.011505542546600356, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579142332077026, 0.1450103223323822], [-0.9025019407272339, 0.21499168872833252], [-1.3854925632476807, 0.08568563312292099], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015]], "goal_body": [-1.49012715844274, 0.11268773035155], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10730343409506934, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7228339402714565, "remaining_m": 47.570219894871116, "total_m": 48.29305383514257, "selection_total_m": 48.29305383514257, "best_candidate_total_m": 48.29305383514257, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663349155349625, -0.38106279706812474], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579142332077026, 0.1450103223323822], [-0.9025019407272339, 0.21499168872833252], [-1.3854925632476807, 0.08568563312292099], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015], [-1.4928748607635498, 0.056937288492918015]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997029304504395, -0.016101568937301636, 0.01829628087580204, -0.09267938882112503], [0.01647496595978737, 0.9996552467346191, -0.02044437825679779, -3.1052544116973877], [-0.01796078495681286, 0.020739734172821045, 0.9996235370635986, 6.5687408447265625], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37114751571789384, "input_age_at_publish_s": 0.5412182416766882, "vggt_debug_frame": "frames/00000175/frame.json"} +{"frame_idx": 177, "time_s": 44.805340051651, "localized": true, "localized_streak": 42, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883588928194536, 0.09937691553828909, -1.4338239684704597], [-5.484685927526705, -0.13330035302742704, -1.4190089499010208], [-5.02525820465036, -0.2572729457857488, -1.4078063552305178], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247], [-4.955990428556493, -0.2652410364401865, -1.406553714271247]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56604824303022, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8157235102182196, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364895, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933498, -0.015519242036847292, -0.011505542546600245, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457854628562927, 0.14502567052841187], [-0.9024947881698608, 0.21501414477825165], [-1.3754805326461792, 0.1616005301475525], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178]], "goal_body": [-1.4900097515534911, 0.11348157818081883], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11033066032519562, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7270208604098023, "remaining_m": 47.570219894871116, "total_m": 48.29724075528092, "selection_total_m": 48.29724075528092, "best_candidate_total_m": 48.29724075528092, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664055205957926, -0.3807778890932155], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457854628562927, 0.14502567052841187], [-0.9024947881698608, 0.21501414477825165], [-1.3754805326461792, 0.1616005301475525], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178], [-1.4428445100784302, 0.14356781542301178]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999686598777771, -0.016941741108894348, 0.018431859090924263, -0.09123691916465759], [0.01731574907898903, 0.9996434450149536, -0.02032466046512127, -3.1054015159606934], [-0.018080951645970345, 0.020637450739741325, 0.9996235370635986, 6.572981834411621], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39181976625695825, "input_age_at_publish_s": 0.43002410884946585, "vggt_debug_frame": "frames/00000177/frame.json"} +{"frame_idx": 178, "time_s": 45.10524368286133, "localized": true, "localized_streak": 43, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881302110859442, 0.09831138596938516, -1.4340756172763838], [-5.482319641024427, -0.13423935217031513, -1.4194139586029968], [-5.022847950836338, -0.2580637377100672, -1.4083757401353678], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684], [-4.953574630923978, -0.26600972808848855, -1.407146920192684]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564840281680002, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8394520049599224, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092360932, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847514, -0.01150554254659969, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457869529724121, 0.1450222134590149], [-0.902496337890625, 0.21501044929027557], [-1.3754818439483643, 0.16159453988075256], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187]], "goal_body": [-1.489977262812371, 0.11367966708400146], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10949295009313235, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7241340936395614, "remaining_m": 47.570219894871116, "total_m": 48.29435398851068, "selection_total_m": 48.29435398851068, "best_candidate_total_m": 48.29435398851068, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664251025418944, -0.3807064283278224], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457869529724121, 0.1450222134590149], [-0.902496337890625, 0.21501044929027557], [-1.3754818439483643, 0.16159453988075256], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187], [-1.4428482055664062, 0.14356082677841187]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996939301490784, -0.016837703064084053, 0.018124978989362717, -0.09155355393886566], [0.017211483791470528, 0.9996382594108582, -0.020667780190706253, -3.1040358543395996], [-0.017770424485206604, 0.020973414182662964, 0.999622106552124, 6.57042932510376], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39506884617730975, "input_age_at_publish_s": 0.5812424160540104, "vggt_debug_frame": "frames/00000178/frame.json"} +{"frame_idx": 180, "time_s": 45.60568451881409, "localized": true, "localized_streak": 44, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882641576622412, 0.09898606646427055, -1.4340341181015828], [-5.483817494319608, -0.13382733129057467, -1.419229731559848], [-4.987193404702701, -0.19111632441284065, -1.4101476524322558], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833], [-4.876779082977976, -0.20385337969800954, -1.4081284355737833]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566300719616272, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7419725969296478, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936491, 0.9157890531050256, 0.027255805182650583], [-0.99981337039335, -0.015519242036847403, -0.0115055425466003, -0.0012976112942659768], [0.018833397874358393, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579383730888367, 0.1450033187866211], [-0.9025052785873413, 0.2149786651134491], [-1.3854939937591553, 0.0856655091047287], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037]], "goal_body": [-1.4901281151606027, 0.11233436929531204], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10973702803769061, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7259617498575371, "remaining_m": 47.570219894871116, "total_m": 48.296181644728655, "selection_total_m": 48.296181644728655, "best_candidate_total_m": 48.296181644728655, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663063014937443, -0.38123011183291367], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579383730888367, 0.1450033187866211], [-0.9025052785873413, 0.2149786651134491], [-1.3854939937591553, 0.0856655091047287], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037], [-1.4928767681121826, 0.05691535025835037]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996820688247681, -0.01659277267754078, 0.018985645845532417, -0.09182935953140259], [0.01697702892124653, 0.9996505975723267, -0.020260285586118698, -3.104834794998169], [-0.018642837181687355, 0.02057616412639618, 0.9996144771575928, 6.57215690612793], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3684230991639197, "input_age_at_publish_s": 0.42495822301134467, "vggt_debug_frame": "frames/00000180/frame.json"} +{"frame_idx": 181, "time_s": 45.83923959732056, "localized": true, "localized_streak": 45, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883165539222036, 0.09916647806853529, -1.4358690032015256], [-5.484260474188087, -0.13352704033059304, -1.4213661096817471], [-4.987613013098427, -0.1906679799926021, -1.4126331087379769], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539], [-4.8771962497831804, -0.20337177694230757, -1.4106915517813539]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565943859773917, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7528916740995567, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936494, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933503, -0.015519242036847347, -0.01150554254660019, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458029568195343, 0.14497408270835876], [-0.9025194644927979, 0.21491605043411255], [-1.385499358177185, 0.08556976169347763], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476]], "goal_body": [-1.4900853366841647, 0.11278579131946542], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11062743330005438, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7258315911007666, "remaining_m": 47.570219894871116, "total_m": 48.29605148597188, "selection_total_m": 48.29605148597188, "best_candidate_total_m": 48.29605148597188, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663566126243266, -0.3809942110911405], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458029568195343, 0.14497408270835876], [-0.9025194644927979, 0.21491605043411255], [-1.385499358177185, 0.08556976169347763], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476], [-1.49287748336792, 0.05681293085217476]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996868371963501, -0.01661289669573307, 0.018715281039476395, -0.09180688112974167], [0.01700410805642605, 0.9996361136436462, -0.02094181813299656, -3.1033554077148438], [-0.018360566347837448, 0.021253494545817375, 0.9996055364608765, 6.572585582733154], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.374916042201221, "input_age_at_publish_s": 0.5853506880812347, "vggt_debug_frame": "frames/00000181/frame.json"} +{"frame_idx": 183, "time_s": 46.3394775390625, "localized": true, "localized_streak": 46, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88204563541065, 0.09627174614152878, -1.432432826091852], [-5.483227169291503, -0.13653457594986573, -1.4173663549324054], [-4.9866065000590325, -0.19381229925468535, -1.4080294905071387], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212], [-4.876186602220711, -0.20654756988518663, -1.405953508556212]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.567926306962434, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9051635213395328, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.4016365056936494, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847652, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358504, -0.9156676637409431, -0.40149474804000773, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579440355300903, 0.14500436186790466], [-0.9025045037269592, 0.21498894691467285], [-1.3854944705963135, 0.08568038791418076], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139]], "goal_body": [-1.4904412918811634, 0.11012178499362157], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10710880723305076, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7247184147517584, "remaining_m": 47.570219894871116, "total_m": 48.29493830962287, "selection_total_m": 48.29493830962287, "best_candidate_total_m": 48.29493830962287, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.660981362338108, -0.3820783153693744], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579440355300903, 0.14500436186790466], [-0.9025045037269592, 0.21498894691467285], [-1.3854944705963135, 0.08568038791418076], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139], [-1.4928836822509766, 0.05692959204316139]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996817708015442, -0.01669245772063732, 0.018913261592388153, -0.09402886033058167], [0.017064882442355156, 0.9996601939201355, -0.01970403455197811, -3.105634927749634], [-0.018577925860881805, 0.020020516589283943, 0.9996269345283508, 6.5708842277526855], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3725049910135567, "input_age_at_publish_s": 0.41426260909065604, "vggt_debug_frame": "frames/00000183/frame.json"} +{"frame_idx": 184, "time_s": 46.60606551170349, "localized": true, "localized_streak": 47, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.877212944479178, 0.09520830790667212, -1.4322351281545387], [-5.478411009372715, -0.1376655908593989, -1.4177893611850974], [-4.981789565642559, -0.19502026027307995, -1.4089816823511172], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307], [-4.871372460530711, -0.20777232270051726, -1.4070234124261307]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564821068524086, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.730943154827677, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.40163650569364917, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.015519242036847403, -0.011505542546600134, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579577445983887, 0.14499877393245697], [-0.9025073051452637, 0.21497373282909393], [-1.3854951858520508, 0.08565745502710342], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034]], "goal_body": [-1.4903847989150714, 0.10984255797019338], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10514856539314398, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7181891468596913, "remaining_m": 47.570219894871116, "total_m": 48.28840904173081, "selection_total_m": 48.28840904173081, "best_candidate_total_m": 48.28840904173081, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.660787531203619, -0.3822533938622754], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579577445983887, 0.14499877393245697], [-0.9025073051452637, 0.21497373282909393], [-1.3854951858520508, 0.08565745502710342], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034], [-1.4928810596466064, 0.05690573900938034]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996826648712158, -0.016163982450962067, 0.01932123862206936, -0.09411562234163284], [0.016568537801504135, 0.9996429085731506, -0.02096494473516941, -3.103581190109253], [-0.018975460901856422, 0.021278416737914085, 0.9995934963226318, 6.564596176147461], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37971847923472524, "input_age_at_publish_s": 0.6023239381611347, "vggt_debug_frame": "frames/00000184/frame.json"} +{"frame_idx": 186, "time_s": 47.105900287628174, "localized": true, "localized_streak": 48, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881903316302408, 0.09931388863451218, -1.4355234950295697], [-5.483014693173624, -0.1334075211647816, -1.421011662943813], [-4.986371561990181, -0.19057481780748464, -1.4122093005854244], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485], [-4.875948577451258, -0.2032853168755313, -1.4102521949626485]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565377285073687, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.78042672289953, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936492, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847486, -0.011505542546600078, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409433, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457886219024658, 0.14502128958702087], [-0.9024964570999146, 0.21502076089382172], [-1.3854910135269165, 0.08572950214147568], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432]], "goal_body": [-1.490035920244027, 0.11307070110961404], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11032730552821865, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7248048082687263, "remaining_m": 47.570219894871116, "total_m": 48.295024703139845, "selection_total_m": 48.295024703139845, "best_candidate_total_m": 48.295024703139845, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663688287487812, -0.3809755587072823], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457886219024658, 0.14502128958702087], [-0.9024964570999146, 0.21502076089382172], [-1.3854910135269165, 0.08572950214147568], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432], [-1.4928793907165527, 0.05698304995894432]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996904134750366, -0.016321798786520958, 0.01878082938492298, -0.09159297496080399], [0.016713285818696022, 0.9996422529220581, -0.020880401134490967, -3.1032207012176514], [-0.018433304503560066, 0.021187826991081238, 0.9996055960655212, 6.5714826583862305], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3809233861975372, "input_age_at_publish_s": 0.4860836202278733, "vggt_debug_frame": "frames/00000186/frame.json"} +{"frame_idx": 187, "time_s": 47.339401960372925, "localized": true, "localized_streak": 49, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879560167254572, 0.09706180874821779, -1.433189144071421], [-5.48060115403293, -0.1355344706695334, -1.4186068873728659], [-4.983942789836687, -0.19254057265928992, -1.4096189080473964], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733], [-4.87351456341958, -0.20521543838637513, -1.4076204992740733]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566302724517517, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7429006995167828, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364917, 0.9157890531050257, 0.02725580518264703], [-0.99981337039335, -0.015519242036847514, -0.011505542546599856, -0.0012976112942695295], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457911252975464, 0.14501440525054932], [-0.9024996757507324, 0.21500922739505768], [-1.3854925632476807, 0.0857115387916565], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143]], "goal_body": [-1.4902988745566408, 0.11127310320016104], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10671422943972629, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7216932657462006, "remaining_m": 47.570219894871116, "total_m": 48.29191316061732, "selection_total_m": 48.29191316061732, "best_candidate_total_m": 48.29191316061732, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662019239750242, -0.3816403118176924], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457911252975464, 0.14501440525054932], [-0.9024996757507324, 0.21500922739505768], [-1.3854925632476807, 0.0857115387916565], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143], [-1.4928823709487915, 0.05696316808462143]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997014403343201, -0.015695855021476746, 0.018725097179412842, -0.09376920014619827], [0.0160817913711071, 0.9996575713157654, -0.02064131759107113, -3.104128360748291], [-0.018394701182842255, 0.02093628980219364, 0.9996115565299988, 6.568134784698486], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.380159177351743, "input_age_at_publish_s": 0.625865472946316, "vggt_debug_frame": "frames/00000187/frame.json"} +{"frame_idx": 189, "time_s": 47.83988428115845, "localized": true, "localized_streak": 50, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882642570354237, 0.09852262681263824, -1.4335513950743919], [-5.483841436131373, -0.13432385936574764, -1.4186519783971185], [-4.98722385154425, -0.1916592970916451, -1.4095088111124499], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611], [-4.876814490653324, -0.20440627174436976, -1.4074760772784611]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566402129688218, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8651264701592759, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936492, 0.9157890531050258, 0.027255805182648807], [-0.99981337039335, -0.015519242036847292, -0.01150554254660019, -0.0012976112942695295], [0.018833397874358115, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578030705451965, 0.14504334330558777], [-0.9024860858917236, 0.2150552123785019], [-1.3854858875274658, 0.08578350394964218], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537]], "goal_body": [-1.490149642955615, 0.11217887575404173], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10943042850587632, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.725952413252806, "remaining_m": 47.570219894871116, "total_m": 48.29617230812392, "selection_total_m": 48.29617230812392, "best_candidate_total_m": 48.29617230812392, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662799983014288, -0.38134130827625823], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578030705451965, 0.14504334330558777], [-0.9024860858917236, 0.2150552123785019], [-1.3854858875274658, 0.08578350394964218], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537], [-1.4928677082061768, 0.05704347416758537]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996803402900696, -0.01677963323891163, 0.018912358209490776, -0.09196139127016068], [0.01715911738574505, 0.9996510148048401, -0.020085040479898453, -3.1051719188690186], [-0.01856873743236065, 0.020403139293193817, 0.9996193647384644, 6.5720391273498535], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37289122166112065, "input_age_at_publish_s": 0.5008564838208258, "vggt_debug_frame": "frames/00000189/frame.json"} +{"frame_idx": 191, "time_s": 48.30713152885437, "localized": true, "localized_streak": 51, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88346431856202, 0.09913144394958007, -1.4330809638299264], [-5.48453453951966, -0.13349647540054832, -1.4182069816989733], [-5.025090570590595, -0.25740378574283884, -1.4069504058677835], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774], [-4.955810073196844, -0.2653634424645688, -1.4056904269053774]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56622378855494, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8114248315015105, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936493, 0.9157890531050258, 0.02725580518264792], [-0.99981337039335, -0.015519242036847625, -0.01150554254660019, -0.0012976112942695295], [0.018833397874358393, -0.9156676637409433, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578778743743896, 0.14502361416816711], [-0.9024953246116638, 0.21502487361431122], [-1.3754814863204956, 0.1616153120994568], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191]], "goal_body": [-1.4900239662916208, 0.11348742236970033], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10977236362863635, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7269134504221474, "remaining_m": 47.570219894871116, "total_m": 48.29713334529326, "selection_total_m": 48.29713334529326, "best_candidate_total_m": 48.29713334529326, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664048498811452, -0.3807800356924511], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578778743743896, 0.14502361416816711], [-0.9024953246116638, 0.21502487361431122], [-1.3754814863204956, 0.1616153120994568], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191], [-1.442857027053833, 0.1435801386833191]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996896386146545, -0.01693020761013031, 0.018274223431944847, -0.09143127501010895], [0.01729881763458252, 0.9996461868286133, -0.0202050618827343, -3.105994462966919], [-0.017925681546330452, 0.02051491290330887, 0.9996288418769836, 6.572668552398682], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3651753361336887, "input_age_at_publish_s": 0.3710903567261994, "vggt_debug_frame": "frames/00000191/frame.json"} +{"frame_idx": 192, "time_s": 48.607768297195435, "localized": true, "localized_streak": 52, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8813064058242075, 0.09906059468850525, -1.4326460011235134], [-5.482398726043914, -0.13360413866441956, -1.4177547091255585], [-5.022966888375749, -0.25755135356224823, -1.4064396024531338], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214], [-4.9536861301068535, -0.2655170200293977, -1.4051679009813214]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565153026644428, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.796668530413675, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.40163650569364945, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847736, -0.0115055425465998, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579997658729553, 0.14498665928840637], [-0.9025130867958069, 0.21495161950588226], [-1.3754949569702148, 0.16150349378585815], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486]], "goal_body": [-1.4899734695897546, 0.11353264118246764], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10928904575197734, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7250186243487056, "remaining_m": 47.570219894871116, "total_m": 48.29523851921982, "selection_total_m": 48.29523851921982, "best_candidate_total_m": 48.29523851921982, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664223437823116, -0.38074964713268306], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579997658729553, 0.14498665928840637], [-0.9025130867958069, 0.21495161950588226], [-1.3754949569702148, 0.16150349378585815], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486], [-1.4428701400756836, 0.14346250891685486]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996881484985352, -0.0167070459574461, 0.018558889627456665, -0.09111985564231873], [0.017079846933484077, 0.9996517896652222, -0.020113948732614517, -3.105536937713623], [-0.018216382712125778, 0.02042466029524803, 0.9996254444122314, 6.570727825164795], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37042990885674953, "input_age_at_publish_s": 0.4996899222023785, "vggt_debug_frame": "frames/00000192/frame.json"} +{"frame_idx": 194, "time_s": 49.07548713684082, "localized": true, "localized_streak": 53, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.875916476000251, 0.09533978622856853, -1.4306102938479797], [-5.477052818999198, -0.13742417731007972, -1.4160978363232977], [-4.980415280828723, -0.1946496599936811, -1.4073604291463673], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719], [-4.869996528987052, -0.20737277089172323, -1.4054178173907719]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.562890322409835, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.818456389358413, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.99981337039335, -0.015519242036847458, -0.011505542546600245, -0.0012976112942659768], [0.018833397874358337, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457958936691284, 0.14499761164188385], [-0.9025079607963562, 0.21496893465518951], [-1.3854951858520508, 0.08565036952495575], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177]], "goal_body": [-1.490144630059657, 0.11155771028004724], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10509938718065, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.717216955115425, "remaining_m": 47.570219894871116, "total_m": 48.28743684998654, "selection_total_m": 48.28743684998654, "best_candidate_total_m": 48.28743684998654, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66239812967236, -0.3815984654770227], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457958936691284, 0.14499761164188385], [-0.9025079607963562, 0.21496893465518951], [-1.3854951858520508, 0.08565036952495575], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177], [-1.492879033088684, 0.05689864233136177]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996838569641113, -0.01668788306415081, 0.018805501982569695, -0.09277617931365967], [0.01708073727786541, 0.9996351003646851, -0.02092701569199562, -3.1044259071350098], [-0.018449412658810616, 0.02124161273241043, 0.9996041059494019, 6.562963962554932], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3734421171247959, "input_age_at_publish_s": 0.37823831802234054, "vggt_debug_frame": "frames/00000194/frame.json"} +{"frame_idx": 195, "time_s": 49.342265367507935, "localized": true, "localized_streak": 54, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287370261685506, 0.460582900397811, -0.13882090358869253], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8830179970439875, 0.09778278374716098, -1.4314083932060027], [-5.484123880018158, -0.1348965018148105, -1.4163812064365267], [-4.9874837385455475, -0.19201632074555963, -1.4071127649995663], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651], [-4.877058935310433, -0.20471654027302488, -1.4050519859862651]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56758898756783, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8301204775921401, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936494, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847264, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580039381980896, 0.14498616755008698], [-0.9025132656097412, 0.21495288610458374], [-1.385498046875, 0.08562494814395905], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826]], "goal_body": [-1.4902747180087972, 0.11159056922809096], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10759666615488314, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7261412483729714, "remaining_m": 47.570219894871116, "total_m": 48.296361143244084, "selection_total_m": 48.296361143244084, "best_candidate_total_m": 48.296361143244084, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662390906303397, -0.3814624701772781], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580039381980896, 0.14498616755008698], [-0.9025132656097412, 0.21495288610458374], [-1.385498046875, 0.08562494814395905], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826], [-1.4928866624832153, 0.056869685649871826]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996875524520874, -0.016690826043486595, 0.01860780641436577, -0.09295056760311127], [0.017059070989489555, 0.9996582269668579, -0.019809884950518608, -3.1071903705596924], [-0.01827080175280571, 0.020121125504374504, 0.9996305704116821, 6.57163143157959], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38715386390686035, "input_age_at_publish_s": 0.5202100849710405, "vggt_debug_frame": "frames/00000195/frame.json"} +{"frame_idx": 197, "time_s": 49.808815717697144, "localized": true, "localized_streak": 55, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881898163910051, 0.09873020154703305, -1.4344287061181356], [-5.482915049000228, -0.13381229838197584, -1.4196472320631748], [-5.023440451675873, -0.25761852965317367, -1.408528724403799], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572], [-4.95415270726399, -0.2655636298236477, -1.4072918118542572]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564675758887468, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9608217072818274, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364956, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.015519242036847736, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358337, -0.9156676637409433, -0.40149474804000773, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580328464508057, 0.14497824013233185], [-0.9025170207023621, 0.21493954956531525], [-1.3754980564117432, 0.16148453950881958], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775]], "goal_body": [-1.4899003083744822, 0.11424287037597103], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11049406370830428, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7252424809376237, "remaining_m": 47.570219894871116, "total_m": 48.29546237580874, "selection_total_m": 48.29546237580874, "best_candidate_total_m": 48.29546237580874, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664896885609485, -0.3804523632918402], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580328464508057, 0.14497824013233185], [-0.9025170207023621, 0.21493954956531525], [-1.3754980564117432, 0.16148453950881958], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775], [-1.4428768157958984, 0.1434415727853775]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996899962425232, -0.017174862325191498, 0.018025824800133705, -0.09093393385410309], [0.017542820423841476, 0.9996368288993835, -0.02045711688697338, -3.10400390625], [-0.017667928710579872, 0.02076699770987034, 0.9996282458305359, 6.571535587310791], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37457462260499597, "input_age_at_publish_s": 0.3992250938899815, "vggt_debug_frame": "frames/00000197/frame.json"} +{"frame_idx": 198, "time_s": 50.10873222351074, "localized": true, "localized_streak": 56, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880208155242229, 0.0970793715698699, -1.4325537026492363], [-5.481102450756863, -0.1352650483205684, -1.4179697160076188], [-5.021562503231422, -0.25884390384584943, -1.4070260095166798], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483], [-4.9522741954567895, -0.26675409155040963, -1.4058116114203483]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564818348054274, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8812420633493531, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936492, 0.9157890531050256, 0.02725580518264792], [-0.99981337039335, -0.01551924203684757, -0.011505542546600078, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579267501831055, 0.14500921964645386], [-0.9025022387504578, 0.2149975299835205], [-1.3754867315292358, 0.16157342493534088], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674]], "goal_body": [-1.4900370104603236, 0.1135099764586488], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10748804581439006, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7222798476416225, "remaining_m": 47.570219894871116, "total_m": 48.29249974251274, "selection_total_m": 48.29249974251274, "best_candidate_total_m": 48.29249974251274, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664103704015353, -0.38073901086457285], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579267501831055, 0.14500921964645386], [-0.9025022387504578, 0.2149975299835205], [-1.3754867315292358, 0.16157342493534088], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674], [-1.4428629875183105, 0.1435358077287674]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997051954269409, -0.01671305112540722, 0.017611969262361526, -0.09247279167175293], [0.017079321667551994, 0.9996365904808044, -0.020855695009231567, -3.104752540588379], [-0.01725700870156288, 0.021150346845388412, 0.9996273517608643, 6.568296909332275], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.381612507160753, "input_age_at_publish_s": 0.5345363733358681, "vggt_debug_frame": "frames/00000198/frame.json"} +{"frame_idx": 200, "time_s": 50.60812211036682, "localized": true, "localized_streak": 57, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880156337322865, 0.09737681203136717, -1.432535634335166], [-5.481283346663472, -0.13535517850860312, -1.417764497959717], [-4.984646758745853, -0.19253211895405276, -1.408657538007268], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565], [-4.874220165112205, -0.20524532014306018, -1.4066326166961565]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56604285991209, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7555626693251325, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933498, -0.01551924203684732, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458036422729492, 0.14497731626033783], [-0.9025174379348755, 0.21493832767009735], [-1.3855000734329224, 0.08560225367546082], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363]], "goal_body": [-1.4902453641742393, 0.11140903350723741], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10727576148194842, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7228147601620473, "remaining_m": 47.570219894871116, "total_m": 48.29303465503316, "selection_total_m": 48.29303465503316, "best_candidate_total_m": 48.29303465503316, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662272655443791, -0.38157042027106813], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458036422729492, 0.14497731626033783], [-0.9025174379348755, 0.21493832767009735], [-1.3855000734329224, 0.08560225367546082], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363], [-1.49289071559906, 0.05684449523687363]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996885061264038, -0.016244670376181602, 0.018946850672364235, -0.09298361837863922], [0.016628621146082878, 0.9996559023857117, -0.020286226645112038, -3.1049559116363525], [-0.018610788509249687, 0.020594967529177666, 0.9996146559715271, 6.568891525268555], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3659322611056268, "input_age_at_publish_s": 0.4040740942582488, "vggt_debug_frame": "frames/00000200/frame.json"} +{"frame_idx": 201, "time_s": 50.841081380844116, "localized": true, "localized_streak": 58, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88337938177388, 0.09852369881453882, -1.4331732152699808], [-5.484239669115572, -0.13373756351034416, -1.4182025128415594], [-5.024685041487071, -0.25722507221843127, -1.4068495861302317], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722], [-4.955399977433995, -0.2651211938561442, -1.4055762476972722]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.567173464109118, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8764037060656666, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.401636505693649, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933503, -0.01551924203684743, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409432, -0.4014947480400073, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579872488975525, 0.14498892426490784], [-0.9025121331214905, 0.21495163440704346], [-1.3754940032958984, 0.16150398552417755], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544]], "goal_body": [-1.4900726096803585, 0.11376755637252389], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10921774664916546, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7269276153556292, "remaining_m": 47.570219894871116, "total_m": 48.29714751022674, "selection_total_m": 48.29714751022674, "best_candidate_total_m": 48.29714751022674, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664373770114759, -0.3805433277733138], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579872488975525, 0.14498892426490784], [-0.9025121331214905, 0.21495163440704346], [-1.3754940032958984, 0.16150398552417755], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544], [-1.4428657293319702, 0.14346401393413544]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997087717056274, -0.01660611294209957, 0.017510510981082916, -0.09238174557685852], [0.01695549301803112, 0.9996562600135803, -0.01999650150537491, -3.1058757305145264], [-0.017172429710626602, 0.02028757706284523, 0.9996467232704163, 6.572901248931885], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3614348666742444, "input_age_at_publish_s": 0.5206304299645126, "vggt_debug_frame": "frames/00000201/frame.json"} +{"frame_idx": 203, "time_s": 51.30731248855591, "localized": true, "localized_streak": 59, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8788930588188855, 0.09804638949768396, -1.4333786345759092], [-5.480000063166905, -0.1346477045349248, -1.4185513756346981], [-4.983358877286974, -0.19178092623106657, -1.4094248772086386], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762], [-4.872932984466632, -0.2044842269549143, -1.4073956424655762]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564456009903758, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7419725969296478, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936493, 0.9157890531050255, 0.027255805182648807], [-0.99981337039335, -0.015519242036847292, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458030164241791, 0.14497847855091095], [-0.9025169610977173, 0.21493840217590332], [-1.3854995965957642, 0.08560261130332947], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466]], "goal_body": [-1.4900292185319914, 0.11286377313863472], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1086572363541136, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7223041780005401, "remaining_m": 47.570219894871116, "total_m": 48.29252407287166, "selection_total_m": 48.29252407287166, "best_candidate_total_m": 48.29252407287166, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663638629561401, -0.38102858232248127], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458030164241791, 0.14497847855091095], [-0.9025169610977173, 0.21493840217590332], [-1.3854995965957642, 0.08560261130332947], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466], [-1.4928885698318481, 0.05684538185596466]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996892213821411, -0.016387907788157463, 0.01878645457327366, -0.09169463068246841], [0.01676684431731701, 0.9996554851531982, -0.02019391767680645, -3.103768825531006], [-0.018449047580361366, 0.02050263248383999, 0.9996195435523987, 6.568567276000977], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3686773390509188, "input_age_at_publish_s": 0.3989623603411019, "vggt_debug_frame": "frames/00000203/frame.json"} +{"frame_idx": 204, "time_s": 51.60761308670044, "localized": true, "localized_streak": 60, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88044833777372, 0.0963679093945462, -1.4328556970634359], [-5.481566233303271, -0.1363667245909177, -1.4183798954810185], [-4.984924765576526, -0.19355337439618125, -1.4096058428923859], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184], [-4.874506417312775, -0.20626765910357925, -1.4076551080366184]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566221291830683, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8404135962973702, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936493, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847486, -0.011505542546600356, -0.0012976112942659768], [0.018833397874358393, -0.9156676637409433, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579049944877625, 0.14501363039016724], [-0.9025002717971802, 0.21499992907047272], [-1.3854920864105225, 0.08569812029600143], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492]], "goal_body": [-1.4903573765806692, 0.1106108609767944], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10638681944690095, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7217373128994145, "remaining_m": 47.570219894871116, "total_m": 48.29195720777053, "selection_total_m": 48.29195720777053, "best_candidate_total_m": 48.29195720777053, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661424484478047, -0.3819092006946053], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579049944877625, 0.14501363039016724], [-0.9025002717971802, 0.21499992907047272], [-1.3854920864105225, 0.08569812029600143], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492], [-1.4928756952285767, 0.0569504089653492]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996893405914307, -0.0163019560277462, 0.01885540969669819, -0.09390474110841751], [0.016696330159902573, 0.9996410608291626, -0.020950842648744583, -3.1045284271240234], [-0.018507102504372597, 0.02125915139913559, 0.9996026754379272, 6.568050384521484], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37888224609196186, "input_age_at_publish_s": 0.5343448310159147, "vggt_debug_frame": "frames/00000204/frame.json"} +{"frame_idx": 206, "time_s": 52.10809636116028, "localized": true, "localized_streak": 61, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881940821700908, 0.09967023413342879, -1.4348716042372942], [-5.482944011659965, -0.13286944302358972, -1.4204206377700825], [-5.023461241678779, -0.25667180028204584, -1.4096026260921444], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215], [-4.954176093759074, -0.26461568384191114, -1.4084051251998215]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56406913699533, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8555455338441228, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050255, 0.02725580518264703], [-0.9998133703933502, -0.01551924203684743, -0.011505542546600023, -0.0012976112942695295], [0.01883339787435817, -0.9156676637409432, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458007216453552, 0.14498457312583923], [-0.9025141000747681, 0.21494802832603455], [-1.3754956722259521, 0.16149795055389404], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385]], "goal_body": [-1.4898282481568925, 0.11471679068111462], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1107216410752041, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7248328964780058, "remaining_m": 47.570219894871116, "total_m": 48.29505279134912, "selection_total_m": 48.29505279134912, "best_candidate_total_m": 48.29505279134912, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665327312054888, -0.38028098185717785], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458007216453552, 0.14498457312583923], [-0.9025141000747681, 0.21494802832603455], [-1.3754956722259521, 0.16149795055389404], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385], [-1.442871332168579, 0.1434565633535385]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996935129165649, -0.016847776249051094, 0.018139639869332314, -0.09052298963069916], [0.01723007671535015, 0.9996282458305359, -0.02112945355474949, -3.1037540435791016], [-0.017776912078261375, 0.02143552340567112, 0.9996121525764465, 6.571112155914307], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.368611513171345, "input_age_at_publish_s": 0.40263732243329287, "vggt_debug_frame": "frames/00000206/frame.json"} +{"frame_idx": 207, "time_s": 52.3414511680603, "localized": true, "localized_streak": 62, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883518352746508, 0.09962252545087313, -1.4344815346450015], [-5.484766873097588, -0.13330463391255165, -1.419507060415272], [-4.988161836795253, -0.19072880147324245, -1.4102418337127818], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216], [-4.8777426819769385, -0.2034969598510159, -1.4081817284452216]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566724114123126, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8655503330901098, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936491, 0.9157890531050256, 0.02725580518264703], [-0.9998133703933499, -0.015519242036847486, -0.011505542546600245, -0.0012976112942695295], [0.018833397874358337, -0.9156676637409432, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579172134399414, 0.1450137197971344], [-0.9024999141693115, 0.2150113433599472], [-1.3854929208755493, 0.08571439981460571], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707]], "goal_body": [-1.4901141746681492, 0.11238069384276839], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11078509704929466, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7275372533523344, "remaining_m": 47.570219894871116, "total_m": 48.29775714822345, "selection_total_m": 48.29775714822345, "best_candidate_total_m": 48.29775714822345, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663070226081848, -0.381250031453902], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579172134399414, 0.1450137197971344], [-0.9024999141693115, 0.2150113433599472], [-1.3854929208755493, 0.08571439981460571], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707], [-1.4928854703903198, 0.05696548521518707]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996761679649353, -0.01668884977698326, 0.019209330901503563, -0.09141403436660767], [0.017070643603801727, 0.9996564984321594, -0.019886167719960213, -3.1049256324768066], [-0.018870854750275612, 0.020207645371556282, 0.9996176958084106, 6.573760986328125], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36395143810659647, "input_age_at_publish_s": 0.5160500160418451, "vggt_debug_frame": "frames/00000207/frame.json"} +{"frame_idx": 209, "time_s": 52.8079719543457, "localized": true, "localized_streak": 63, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8792004136697855, 0.09592410811464891, -1.4326052307302215], [-5.480316875700243, -0.13680505700413814, -1.418078790089441], [-4.98367453573649, -0.1939859267615507, -1.409318409233379], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354], [-4.873253497564498, -0.2066992420620819, -1.4073706688630354]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56511389328376, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.796668530413675, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364906, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933502, -0.015519242036847042, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579747319221497, 0.14499324560165405], [-0.9025100469589233, 0.2149617224931717], [-1.3854962587356567, 0.08563912659883499], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252]], "goal_body": [-1.4902767931216143, 0.111023298995237], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10638270515235142, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7205651730973388, "remaining_m": 47.570219894871116, "total_m": 48.29078506796846, "selection_total_m": 48.29078506796846, "best_candidate_total_m": 48.29078506796846, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661881251761804, -0.38174718118561424], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579747319221497, 0.14499324560165405], [-0.9025100469589233, 0.2149617224931717], [-1.3854962587356567, 0.08563912659883499], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252], [-1.4928810596466064, 0.05688617005944252]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996861219406128, -0.016617007553577423, 0.018748577684164047, -0.09345979243516922], [0.017007973045110703, 0.9996371269226074, -0.020890042185783386, -3.1041147708892822], [-0.018394645303487778, 0.021202359348535538, 0.9996059536933899, 6.566856861114502], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36113571003079414, "input_age_at_publish_s": 0.3882745676673949, "vggt_debug_frame": "frames/00000209/frame.json"} +{"frame_idx": 210, "time_s": 53.07454562187195, "localized": true, "localized_streak": 64, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878811880304964, 0.09709858057181364, -1.4337269436655717], [-5.479897107865018, -0.1355918963634295, -1.4194358736671773], [-4.9832436532413364, -0.19271358520645165, -1.410923671178788], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728], [-4.872809204405714, -0.20541499441960998, -1.409030922334728]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56370765322909, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7665229828476218, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847541, -0.01150554254659969, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409433, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458009600639343, 0.14498738944530487], [-0.9025124311447144, 0.21496392786502838], [-1.3854985237121582, 0.08564096689224243], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477]], "goal_body": [-1.4900794101187116, 0.11241198166304589], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10768176787170194, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7202484362379616, "remaining_m": 47.570219894871116, "total_m": 48.290468331109075, "selection_total_m": 48.290468331109075, "best_candidate_total_m": 48.290468331109075, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66318994340484, -0.3812342696313974], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458009600639343, 0.14498738944530487], [-0.9025124311447144, 0.21496392786502838], [-1.3854985237121582, 0.08564096689224243], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477], [-1.492893934249878, 0.05688507482409477]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996892213821411, -0.016549941152334213, 0.01864190213382244, -0.09230495244264603], [0.016948077827692032, 0.9996272325515747, -0.021405449137091637, -3.103088617324829], [-0.018280694261193275, 0.021714741364121437, 0.9995970726013184, 6.566705226898193], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3964079082943499, "input_age_at_publish_s": 0.5370562016032636, "vggt_debug_frame": "frames/00000210/frame.json"} +{"frame_idx": 212, "time_s": 53.608837604522705, "localized": true, "localized_streak": 65, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.877594739073112, 0.09534804312877743, -1.4312679191213233], [-5.478726300083991, -0.13740098805663603, -1.4166417194998835], [-4.982087771068066, -0.1945985569173425, -1.4077779326031246], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473], [-4.87165698620278, -0.20731681470588015, -1.4058070119752473]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564433634515062, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.885124455579215, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364906, 0.9157890531050253, 0.027255805182648807], [-0.99981337039335, -0.015519242036847208, -0.011505542546600023, -0.0012976112942659768], [0.018833397874358115, -0.915667663740943, -0.40149474804000707, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44581174850463867, 0.14495402574539185], [-0.9025285243988037, 0.2148958444595337], [-1.3855048418045044, 0.08553650975227356], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296]], "goal_body": [-1.4902676722702397, 0.11086909262672762], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10540352173827582, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7190625143796416, "remaining_m": 47.570219894871116, "total_m": 48.28928240925076, "selection_total_m": 48.28928240925076, "best_candidate_total_m": 48.28928240925076, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661860869563618, -0.3817936080437732], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44581174850463867, 0.14495402574539185], [-0.9025285243988037, 0.2148958444595337], [-1.3855048418045044, 0.08553650975227356], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296], [-1.4928977489471436, 0.056772634387016296]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996833205223083, -0.016675343737006187, 0.018845578655600548, -0.09341473877429962], [0.017064308747649193, 0.999640703201294, -0.020670831203460693, -3.104576587677002], [-0.01849411241710186, 0.02098587155342102, 0.9996086955070496, 6.565031051635742], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3701453311368823, "input_age_at_publish_s": 0.4187175347469747, "vggt_debug_frame": "frames/00000212/frame.json"} +{"frame_idx": 213, "time_s": 53.80934143066406, "localized": true, "localized_streak": 66, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883434407623195, 0.09972352157346087, -1.4348287948582386], [-5.484402353456128, -0.13274093877844617, -1.4201377668559967], [-5.024900116007071, -0.25644965355119265, -1.4090761120829938], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674], [-4.955603221426234, -0.2643807291624807, -1.4078441051658674]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56564594384511, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8327570115284656, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364906, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933502, -0.015519242036847042, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358115, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445801705121994, 0.14498628675937653], [-0.9025128483772278, 0.2149653136730194], [-1.3754953145980835, 0.16152282059192657], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256]], "goal_body": [-1.4899124157870378, 0.11449121382434546], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11095121129295328, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7268609215697919, "remaining_m": 47.570219894871116, "total_m": 48.29708081644091, "selection_total_m": 48.29708081644091, "best_candidate_total_m": 48.29708081644091, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665074622636148, -0.3803422919842928], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445801705121994, 0.14498628675937653], [-0.9025128483772278, 0.2149653136730194], [-1.3754953145980835, 0.16152282059192657], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256], [-1.44288170337677, 0.14347970485687256]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996981024742126, -0.016801467165350914, 0.017928166314959526, -0.09103737026453018], [0.017170121893286705, 0.9996401071548462, -0.02061099372804165, -3.104495048522949], [-0.017575418576598167, 0.020912600681185722, 0.9996268153190613, 6.573124408721924], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37740084808319807, "input_age_at_publish_s": 0.5506675313226879, "vggt_debug_frame": "frames/00000213/frame.json"} +{"frame_idx": 215, "time_s": 54.3434853553772, "localized": true, "localized_streak": 67, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8837787843732, 0.09926767638513656, -1.4327945507206428], [-5.4846913297635576, -0.13307929482758407, -1.4177568824740967], [-5.025163106171366, -0.25666230603209694, -1.4063740323033098], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544], [-4.955873077771213, -0.26457374123476285, -1.4050995613630544]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566487727756478, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8541379641179652, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364934, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.015519242036847625, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409434, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457904100418091, 0.14501738548278809], [-0.902498185634613, 0.2150176763534546], [-1.3754838705062866, 0.16160373389720917], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418]], "goal_body": [-1.4899393569198074, 0.11462399187752981], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11002979297695178, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7277802888062017, "remaining_m": 47.570219894871116, "total_m": 48.29800018367732, "selection_total_m": 48.29800018367732, "best_candidate_total_m": 48.29800018367732, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66508987999791, -0.3802831331827724], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457904100418091, 0.14501738548278809], [-0.902498185634613, 0.2150176763534546], [-1.3754838705062866, 0.16160373389720917], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418], [-1.4428633451461792, 0.14356684684753418]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997029900550842, -0.016953736543655396, 0.0175070371478796, -0.09131614118814468], [0.017301388084888458, 0.9996522665023804, -0.019900964573025703, -3.106440544128418], [-0.017163554206490517, 0.020197948440909386, 0.9996486902236938, 6.5734171867370605], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3610246991738677, "input_age_at_publish_s": 0.40541862975806, "vggt_debug_frame": "frames/00000215/frame.json"} +{"frame_idx": 216, "time_s": 54.57647943496704, "localized": true, "localized_streak": 68, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879182045447479, 0.09705600640417078, -1.4325130997013709], [-5.480349178589352, -0.13574889878118235, -1.4178110764058158], [-4.983720382252054, -0.19302633605970154, -1.408916006462748], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735], [-4.873300972032247, -0.20576129409152166, -1.4069382946819735]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564149258369802, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.907649577145911, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936493, 0.9157890531050256, 0.02725580518264703], [-0.99981337039335, -0.01551924203684743, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578784704208374, 0.14502346515655518], [-0.9024953842163086, 0.21502462029457092], [-1.3854905366897583, 0.0857354924082756], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404]], "goal_body": [-1.4900797618815074, 0.11232863944556204], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10775634173652299, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7215898349705772, "remaining_m": 47.570219894871116, "total_m": 48.291809729841695, "selection_total_m": 48.291809729841695, "best_candidate_total_m": 48.291809729841695, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663017619186451, -0.3813112057694119], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578784704208374, 0.14502346515655518], [-0.9024953842163086, 0.21502462029457092], [-1.3854905366897583, 0.0857354924082756], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404], [-1.4928786754608154, 0.056989628821611404]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996810555458069, -0.016908863559365273, 0.018759002909064293, -0.09195982664823532], [0.017293715849518776, 0.9996393322944641, -0.020546697080135345, -3.1043529510498047], [-0.018404817208647728, 0.02086455747485161, 0.9996128678321838, 6.5676093101501465], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3635712773539126, "input_age_at_publish_s": 0.5286660743877292, "vggt_debug_frame": "frames/00000216/frame.json"} +{"frame_idx": 218, "time_s": 55.108928203582764, "localized": true, "localized_streak": 69, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285044463612282, 0.461170097428492, -0.142432522138708], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881724465696157, 0.09842707909667592, -1.4353573326109232], [-5.482788511104186, -0.13420117287815625, -1.4206618506108084], [-5.023342803575311, -0.25811798531033325, -1.4095802226770389], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454], [-4.954075511343998, -0.2660774161820507, -1.4083446104809454]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565119996211884, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8101060475844998, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364906, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847292, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578075408935547, 0.1450393795967102], [-0.9024882316589355, 0.2150396704673767], [-1.375475525856018, 0.16163966059684753], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903]], "goal_body": [-1.490001237045422, 0.11344397890112978], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11040290617036982, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7247459814687597, "remaining_m": 47.570219894871116, "total_m": 48.29496587633987, "selection_total_m": 48.29496587633987, "best_candidate_total_m": 48.29496587633987, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66398710721739, -0.3808209095655185], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578075408935547, 0.1450393795967102], [-0.9024882316589355, 0.2150396704673767], [-1.375475525856018, 0.16163966059684753], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903], [-1.4428383111953735, 0.14360934495925903]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996904730796814, -0.016851812601089478, 0.018303347751498222, -0.09156466275453568], [0.017227832227945328, 0.9996396899223328, -0.020584074780344963, -3.103085517883301], [-0.017949873581528664, 0.020893031731247902, 0.9996205568313599, 6.571465969085693], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3669069651514292, "input_age_at_publish_s": 0.4018283970654011, "vggt_debug_frame": "frames/00000218/frame.json"} +{"frame_idx": 219, "time_s": 55.342437744140625, "localized": true, "localized_streak": 70, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.876080711860737, 0.09738995268742645, -1.433469971437108], [-5.476864212883838, -0.13477348575906145, -1.419034957838447], [-5.017263308550582, -0.2581408662231963, -1.4082641555218214], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746], [-4.947966846444178, -0.26601963712668564, -1.4070758521880746]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56121577747668, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7508954606178447, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936494, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933502, -0.015519242036847375, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579795002937317, 0.1449948102235794], [-0.9025090336799622, 0.2149735987186432], [-1.3754920959472656, 0.16153639554977417], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067]], "goal_body": [-1.4896688279634565, 0.11591405872200622], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10849931311844235, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.718580093922201, "remaining_m": 47.570219894871116, "total_m": 48.288799988793315, "selection_total_m": 48.288799988793315, "best_candidate_total_m": 48.288799988793315, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.666409347023594, -0.37984166203199166], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579795002937317, 0.1449948102235794], [-0.9025090336799622, 0.2149735987186432], [-1.3754920959472656, 0.16153639554977417], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067], [-1.4428718090057373, 0.1434958577156067]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997140765190125, -0.016654619947075844, 0.01715927943587303, -0.09078675508499146], [0.017017187550663948, 0.999630331993103, -0.021204674616456032, -3.1022422313690186], [-0.01679978147149086, 0.021490612998604774, 0.9996278882026672, 6.564942359924316], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3711092360317707, "input_age_at_publish_s": 0.5287463110871613, "vggt_debug_frame": "frames/00000219/frame.json"} +{"frame_idx": 221, "time_s": 55.843663454055786, "localized": true, "localized_streak": 71, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879406750388217, 0.09661579916138407, -1.431992419758291], [-5.4806003187479515, -0.13622043999274602, -1.417065681133349], [-4.9839794208012, -0.1935340728007926, -1.4079663610530908], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547], [-4.873554816208687, -0.20627786581605267, -1.4059431099723547]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564698228156683, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8926000622919731, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936494, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.01551924203684757, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409434, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578251242637634, 0.14504288136959076], [-0.9024857878684998, 0.2150728851556778], [-1.3854875564575195, 0.08580862730741501], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778]], "goal_body": [-1.4901278429135305, 0.11203114657184732], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1075504767152602, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7221605214349505, "remaining_m": 47.570219894871116, "total_m": 48.29238041630607, "selection_total_m": 48.29238041630607, "best_candidate_total_m": 48.29238041630607, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662670801448327, -0.3814589053869565], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578251242637634, 0.14504288136959076], [-0.9024857878684998, 0.2150728851556778], [-1.3854875564575195, 0.08580862730741501], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778], [-1.4928839206695557, 0.05706647038459778]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996790289878845, -0.017079541459679604, 0.018712032586336136, -0.0921938419342041], [0.017454875633120537, 0.9996459484100342, -0.020082106813788414, -3.104863405227661], [-0.018362414091825485, 0.020402276888489723, 0.9996232390403748, 6.568073272705078], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3617814928293228, "input_age_at_publish_s": 0.3972739209420979, "vggt_debug_frame": "frames/00000221/frame.json"} +{"frame_idx": 222, "time_s": 56.11102628707886, "localized": true, "localized_streak": 72, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881326840376657, 0.09935581199866839, -1.4345587807232378], [-5.482276241978267, -0.13307623308900318, -1.4198630802783163], [-5.022766543875926, -0.2567537129560229, -1.4087620646285381], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056], [-4.953478864349705, -0.2646788579677404, -1.4075217817950056]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564781271816653, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7938606547568047, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936492, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847486, -0.011505542546600023, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409433, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580021500587463, 0.14498668909072876], [-0.9025130271911621, 0.21495382487773895], [-1.3754949569702148, 0.16150663793087006], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817]], "goal_body": [-1.4898792911391476, 0.11457577222861759], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11032138834258311, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.724854788047374, "remaining_m": 47.570219894871116, "total_m": 48.29507468291849, "selection_total_m": 48.29507468291849, "best_candidate_total_m": 48.29507468291849, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665172163025943, -0.38031245204468966], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580021500587463, 0.14498668909072876], [-0.9025130271911621, 0.21495382487773895], [-1.3754949569702148, 0.16150663793087006], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817], [-1.4428718090057373, 0.1434653401374817]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997016191482544, -0.016528673470020294, 0.01798672042787075, -0.09103088825941086], [0.016897626221179962, 0.9996458888053894, -0.020557604730129242, -3.1038618087768555], [-0.017640559002757072, 0.020855404436588287, 0.999626874923706, 6.571186542510986], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37200305238366127, "input_age_at_publish_s": 0.530386058613658, "vggt_debug_frame": "frames/00000222/frame.json"} +{"frame_idx": 224, "time_s": 56.6112539768219, "localized": true, "localized_streak": 73, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883860878426982, 0.09883941204948243, -1.4346555100796454], [-5.4849881419562285, -0.1338970573813718, -1.4199488469501544], [-4.988350834899355, -0.1910794080089433, -1.4109198642692937], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067], [-4.877923856976603, -0.20379389115712598, -1.4089122749161067]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56767826363069, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8480010916706532, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361987, -0.40163650569364917, 0.9157890531050259, 0.027255805182649695], [-0.9998133703933502, -0.015519242036847347, -0.011505542546600467, -0.0012976112942659768], [0.018833397874358115, -0.9156676637409434, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457981586456299, 0.14499421417713165], [-0.9025092720985413, 0.2149726152420044], [-1.385496735572815, 0.08565487712621689], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562]], "goal_body": [-1.49026442396428, 0.11164335778615775], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10950056404419438, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7267403125017237, "remaining_m": 47.570219894871116, "total_m": 48.29696020737284, "selection_total_m": 48.29696020737284, "best_candidate_total_m": 48.29696020737284, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66241493376213, -0.3814613968325056], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457981586456299, 0.14499421417713165], [-0.9025092720985413, 0.2149726152420044], [-1.385496735572815, 0.08565487712621689], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562], [-1.4928886890411377, 0.05690118670463562]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996888637542725, -0.01627444662153721, 0.01890171505510807, -0.09283085912466049], [0.016660252586007118, 0.9996523261070251, -0.020436184480786324, -3.104802370071411], [-0.0185625571757555, 0.02074473537504673, 0.9996124505996704, 6.573195934295654], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37626769999042153, "input_age_at_publish_s": 0.40965928975492716, "vggt_debug_frame": "frames/00000224/frame.json"} +{"frame_idx": 225, "time_s": 56.84457206726074, "localized": true, "localized_streak": 74, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88085602152486, 0.09721777773706464, -1.4344140737018305], [-5.481846470620107, -0.13529994045477167, -1.419958487887413], [-4.985171417534627, -0.19221247022283272, -1.4113049716892883], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084], [-4.87473616723979, -0.20486690338178892, -1.4093808708278084]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565421997824657, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8043922522567301, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.4016365056936496, 0.9157890531050256, 0.027255805182648807], [-0.99981337039335, -0.015519242036847514, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.40149474804000773, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457981586456299, 0.14499418437480927], [-0.902509331703186, 0.214972585439682], [-1.3854968547821045, 0.0856548473238945], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635]], "goal_body": [-1.4901499277958026, 0.1124625033195652], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10826148061158784, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7226549227462276, "remaining_m": 47.570219894871116, "total_m": 48.292874817617346, "selection_total_m": 48.292874817617346, "best_candidate_total_m": 48.292874817617346, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663181572268215, -0.3811508473691373], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457981586456299, 0.14499418437480927], [-0.902509331703186, 0.214972585439682], [-1.3854968547821045, 0.0856548473238945], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635], [-1.4928886890411377, 0.056901149451732635]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996981024742126, -0.016521267592906952, 0.018185777589678764, -0.09289244562387466], [0.01690353825688362, 0.9996351003646851, -0.021071171388030052, -3.1033880710601807], [-0.017831018194556236, 0.021372215822339058, 0.99961256980896, 6.569313049316406], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3678176277317107, "input_age_at_publish_s": 0.5279204701073468, "vggt_debug_frame": "frames/00000225/frame.json"} +{"frame_idx": 227, "time_s": 57.34471774101257, "localized": true, "localized_streak": 75, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880436171784643, 0.09885996543155962, -1.4338851441507527], [-5.481519408134089, -0.13380008855037584, -1.4191616594241898], [-5.022079185688453, -0.2577366248452755, -1.4080716748540494], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323], [-4.952789107500806, -0.26570173651324414, -1.4068361262426323]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56365350751208, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9124750631406421, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.4016365056936495, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847514, -0.011505542546599912, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409431, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580090045928955, 0.14498759806156158], [-0.9025123119354248, 0.21496443450450897], [-1.3754948377609253, 0.16152188181877136], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346]], "goal_body": [-1.4898462546736668, 0.11428737716615056], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11011995822993205, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7237990984098964, "remaining_m": 47.570219894871116, "total_m": 48.294018993281014, "selection_total_m": 48.294018993281014, "best_candidate_total_m": 48.294018993281014, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.6649298012301, -0.3804986117710819], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580090045928955, 0.14498759806156158], [-0.9025123119354248, 0.21496443450450897], [-1.3754948377609253, 0.16152188181877136], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346], [-1.4428784847259521, 0.14347946643829346]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996860027313232, -0.017053157091140747, 0.018359756097197533, -0.09049631655216217], [0.017429649829864502, 0.9996369481086731, -0.020545611158013344, -3.103914976119995], [-0.018002724274992943, 0.020859165117144585, 0.9996203184127808, 6.569919586181641], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36945177521556616, "input_age_at_publish_s": 0.40741835813969374, "vggt_debug_frame": "frames/00000227/frame.json"} +{"frame_idx": 228, "time_s": 57.54497241973877, "localized": true, "localized_streak": 76, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.885345599932877, 0.10104540151442709, -1.4347442925427154], [-5.486444721345069, -0.13162160836817804, -1.4197060054836326], [-5.027016505822887, -0.2555728472807983, -1.4082879798929868], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172], [-4.957734481029028, -0.26353948151170314, -1.4070056706844172]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566501709698265, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.761607326465479, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364906, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847264, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409433, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579437375068665, 0.14500460028648376], [-0.9025043845176697, 0.2149900645017624], [-1.375488519668579, 0.16156184673309326], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337]], "goal_body": [-1.4898818111157817, 0.1145983719604533], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11258096752341276, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7301023043189953, "remaining_m": 47.570219894871116, "total_m": 48.30032219919011, "selection_total_m": 48.30032219919011, "best_candidate_total_m": 48.30032219919011, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665136370943472, -0.3803248858711378], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579437375068665, 0.14500460028648376], [-0.9025043845176697, 0.2149900645017624], [-1.375488519668579, 0.16156184673309326], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337], [-1.4428659677505493, 0.14352327585220337]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996857047080994, -0.017058240249753, 0.018370743840932846, -0.09013470262289047], [0.0174225065857172, 0.9996510744094849, -0.019854549318552017, -3.105614423751831], [-0.018025651574134827, 0.020168375223875046, 0.9996340870857239, 6.576052665710449], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.374310206156224, "input_age_at_publish_s": 0.537571441847831, "vggt_debug_frame": "frames/00000228/frame.json"} +{"frame_idx": 230, "time_s": 58.11235594749451, "localized": true, "localized_streak": 77, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881671008897712, 0.09633396462836519, -1.4331986818826346], [-5.482756576177595, -0.13633469710682178, -1.418551091198692], [-4.986106889097446, -0.19343916489280488, -1.4097096830242255], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362], [-4.875679545308202, -0.2061360283361493, -1.4077438443510362]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566630659824085, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8515195154034182, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050258, 0.02725580518264792], [-0.9998133703933499, -0.015519242036847541, -0.011505542546600245, -0.0012976112942695295], [0.018833397874358337, -0.9156676637409434, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457947611808777, 0.14500369131565094], [-0.9025048017501831, 0.2149888277053833], [-1.3854947090148926, 0.08568008989095688], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364]], "goal_body": [-1.4903278611753223, 0.11104702337294303], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10722118566829328, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7233224262338727, "remaining_m": 47.570219894871116, "total_m": 48.29354232110499, "selection_total_m": 48.29354232110499, "best_candidate_total_m": 48.29354232110499, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661840388764562, -0.3817144789341904], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457947611808777, 0.14500369131565094], [-0.9025048017501831, 0.2149888277053833], [-1.3854947090148926, 0.08568008989095688], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364], [-1.492884874343872, 0.05692899599671364]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996886253356934, -0.01675618253648281, 0.018488837406039238, -0.09370680898427963], [0.017137499526143074, 0.999639630317688, -0.020662248134613037, -3.104675054550171], [-0.018135955557227135, 0.02097266912460327, 0.9996155500411987, 6.569683074951172], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36783909099176526, "input_age_at_publish_s": 0.4099978618323803, "vggt_debug_frame": "frames/00000230/frame.json"} +{"frame_idx": 231, "time_s": 58.34581232070923, "localized": true, "localized_streak": 78, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.288444512284967, 0.46104011608608, -0.14199031965588543], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.884770655935801, 0.09848266660267413, -1.4348579405146376], [-5.485906048214897, -0.13426301770119853, -1.420077608654592], [-4.989270453222504, -0.19146319994756666, -1.411061438084482], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612], [-4.87884657265916, -0.20418128072041242, -1.4090567489969612]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56796588281554, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7747823851379112, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364895, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847347, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409431, -0.40149474804000707, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458003044128418, 0.14498652517795563], [-0.9025130867958069, 0.21495379507541656], [-1.385498046875, 0.08562633395195007], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226]], "goal_body": [-1.4902845808794103, 0.11153154043793778], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10987329930118059, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7275754718802527, "remaining_m": 47.570219894871116, "total_m": 48.297795366751366, "selection_total_m": 48.297795366751366, "best_candidate_total_m": 48.297795366751366, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66233362987425, -0.3814842279999817], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458003044128418, 0.14498652517795563], [-0.9025130867958069, 0.21495379507541656], [-1.385498046875, 0.08562633395195007], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226], [-1.4928867816925049, 0.056871138513088226]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.99968421459198, -0.016707204282283783, 0.018769150599837303, -0.09287677705287933], [0.01708853244781494, 0.9996470212936401, -0.02034350484609604, -3.1048710346221924], [-0.018422642722725868, 0.020657818764448166, 0.9996168613433838, 6.574085712432861], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37346385698765516, "input_age_at_publish_s": 0.5359240709803998, "vggt_debug_frame": "frames/00000231/frame.json"} +{"frame_idx": 233, "time_s": 58.84578561782837, "localized": true, "localized_streak": 79, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882133695670362, 0.09654449080922767, -1.432162944379549], [-5.483369519641235, -0.13635108585389322, -1.4170380421906335], [-4.986761115519669, -0.1937482202683194, -1.407786774360966], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346], [-4.876346100438408, -0.20650979976901862, -1.4057298640111346]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566588217314443, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9102843267934909, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364956, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847763, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409433, -0.40149474804000795, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578486680984497, 0.14503267407417297], [-0.9024909734725952, 0.21504347026348114], [-1.385488748550415, 0.08576442301273346], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535]], "goal_body": [-1.4902704221177985, 0.11117039507324222], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10803308211634803, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7250457743928753, "remaining_m": 47.570219894871116, "total_m": 48.29526566926399, "selection_total_m": 48.29526566926399, "best_candidate_total_m": 48.29526566926399, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661891351367375, -0.3817391870291434], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578486680984497, 0.14503267407417297], [-0.9024909734725952, 0.21504347026348114], [-1.385488748550415, 0.08576442301273346], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535], [-1.4928776025772095, 0.05702075734734535]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996717572212219, -0.01743222586810589, 0.018776388838887215, -0.09273938834667206], [0.017801648005843163, 0.9996476173400879, -0.019690774381160736, -3.105811357498169], [-0.01842651702463627, 0.0200185626745224, 0.9996297955513, 6.570941925048828], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3743919120170176, "input_age_at_publish_s": 0.4184860521927476, "vggt_debug_frame": "frames/00000233/frame.json"} +{"frame_idx": 234, "time_s": 59.11243510246277, "localized": true, "localized_streak": 80, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287343142033215, 0.45999933887917743, -0.141011119444509], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883707307191504, 0.09751184918288658, -1.4339100198802426], [-5.484835231059304, -0.135222617385371, -1.4191548133451062], [-4.988197947200931, -0.19241063869489938, -1.4101590223524525], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556], [-4.877776257043017, -0.2051257694375126, -1.4081589090259556]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56782212628531, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8037272848245168, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050258, 0.027255805182649695], [-0.99981337039335, -0.015519242036847541, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409433, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579648971557617, 0.14499704539775848], [-0.9025081396102905, 0.2149716019630432], [-1.385495662689209, 0.08565406501293182], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397]], "goal_body": [-1.490350729451119, 0.11098472426598793], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10848784547060145, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7260203040691127, "remaining_m": 47.570219894871116, "total_m": 48.296240198940225, "selection_total_m": 48.296240198940225, "best_candidate_total_m": 48.296240198940225, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661797799712078, -0.3817109984565743], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579648971557617, 0.14499704539775848], [-0.9025081396102905, 0.2149716019630432], [-1.385495662689209, 0.08565406501293182], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397], [-1.492882490158081, 0.05690179020166397]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996855854988098, -0.016659844666719437, 0.018740514293313026, -0.09347369521856308], [0.017041519284248352, 0.999646782875061, -0.0203944630920887, -3.10512375831604], [-0.018394125625491142, 0.020707417279481888, 0.9996163845062256, 6.572402000427246], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3731233165599406, "input_age_at_publish_s": 0.5521086598746479, "vggt_debug_frame": "frames/00000234/frame.json"} +{"frame_idx": 236, "time_s": 59.612509965896606, "localized": true, "localized_streak": 81, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.87944359845368, 0.09795825858165674, -1.4334446184520764], [-5.516144127977485, -0.19874218884911965, -1.4168100775789225], [-5.0209891338465305, -0.25842608935242417, -1.4079141074351795], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304], [-4.951706205039553, -0.26637288831124195, -1.4066855248890304]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564489279996398, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8143429654731653, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936491, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.015519242036847403, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409434, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578802585601807, 0.14502306282520294], [-0.8928932547569275, 0.28782108426094055], [-1.3754817247390747, 0.16161437332630157], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075]], "goal_body": [-1.4900279211610485, 0.11317496529281734], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10817634831241452, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7219488481016086, "remaining_m": 47.570219894871116, "total_m": 48.29216874297273, "selection_total_m": 48.29216874297273, "best_candidate_total_m": 48.29216874297273, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663777234392962, -0.38093284977165554], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578802585601807, 0.14502306282520294], [-0.8928932547569275, 0.28782108426094055], [-1.3754817247390747, 0.16161437332630157], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075], [-1.4428576231002808, 0.14357903599739075]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996991157531738, -0.016263501718640327, 0.01836298033595085, -0.09205703437328339], [0.01664537377655506, 0.9996442794799805, -0.020838093012571335, -3.1038620471954346], [-0.018017549067735672, 0.021137483417987823, 0.9996142387390137, 6.568209648132324], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36525746528059244, "input_age_at_publish_s": 0.40367013216018677, "vggt_debug_frame": "frames/00000236/frame.json"} +{"frame_idx": 237, "time_s": 59.84589385986328, "localized": true, "localized_streak": 82, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.885242465530537, 0.1002170752204723, -1.4354849937014085], [-5.486372374444672, -0.13251827598544352, -1.4206843273716356], [-4.989735291740272, -0.18969557525102143, -1.4116102134632231], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903], [-4.879300674529308, -0.20240979742504095, -1.409592449640903]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.567554023805876, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7665229828476218, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364945, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847597, -0.011505542546599745, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579192996025085, 0.14501677453517914], [-0.9024981260299683, 0.21502824127674103], [-1.385493278503418, 0.08573918789625168], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931]], "goal_body": [-1.4901101070736966, 0.11291937178121947], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11144112244214416, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7289661343680551, "remaining_m": 47.570219894871116, "total_m": 48.29918602923917, "selection_total_m": 48.29918602923917, "best_candidate_total_m": 48.29918602923917, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663521650990996, -0.38100320170394053], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579192996025085, 0.14501677453517914], [-0.9024981260299683, 0.21502824127674103], [-1.385493278503418, 0.08573918789625168], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931], [-1.4928944110870361, 0.05698985233902931]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996885657310486, -0.016492847353219986, 0.018729254603385925, -0.09167557954788208], [0.016872085630893707, 0.999652087688446, -0.02027418278157711, -3.1048295497894287], [-0.018388360738754272, 0.020583869889378548, 0.9996190071105957, 6.575399398803711], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3781303293071687, "input_age_at_publish_s": 0.5513842320069671, "vggt_debug_frame": "frames/00000237/frame.json"} +{"frame_idx": 239, "time_s": 60.34586000442505, "localized": true, "localized_streak": 83, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8809173694241075, 0.09795389206888316, -1.434340830252788], [-5.482045259732237, -0.13478077421869905, -1.4195929566928192], [-4.985407876408626, -0.19197518651954049, -1.4106465460399016], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768], [-4.874991530307366, -0.2046911188010574, -1.4086575085949768]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565046392911945, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7932933627251177, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936495, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933502, -0.01551924203684768, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409433, -0.40149474804000795, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578951597213745, 0.1450161188840866], [-0.9024991393089294, 0.21500332653522491], [-1.3854913711547852, 0.0857035219669342], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405]], "goal_body": [-1.490064775569373, 0.11272717868020321], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10944856796525554, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7238465027181653, "remaining_m": 47.570219894871116, "total_m": 48.29406639758928, "selection_total_m": 48.29406639758928, "best_candidate_total_m": 48.29406639758928, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663397065633811, -0.38110537730048755], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578951597213745, 0.1450161188840866], [-0.9024991393089294, 0.21500332653522491], [-1.3854913711547852, 0.0857035219669342], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405], [-1.492874026298523, 0.05695658549666405]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996845722198486, -0.016836723312735558, 0.01863393932580948, -0.09180813282728195], [0.017217082902789116, 0.9996427297592163, -0.0204435084015131, -3.1036083698272705], [-0.01828308030962944, 0.020757881924510002, 0.999617338180542, 6.570328712463379], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36245974618941545, "input_age_at_publish_s": 0.4086227328516543, "vggt_debug_frame": "frames/00000239/frame.json"} +{"frame_idx": 240, "time_s": 60.612266302108765, "localized": true, "localized_streak": 84, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286949395078162, 0.462325676130829, -0.1418654104587243], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8833521721911595, 0.09944658772588788, -1.4346665761294068], [-5.520199688271738, -0.19741655970946592, -1.4177283541111407], [-5.025077574927691, -0.2573336689632155, -1.4086374008052571], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309], [-4.955795002919221, -0.26531317734214355, -1.4073817355664309]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565906465149084, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8701296467427746, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936493, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847458, -0.011505542546599967, -0.0012976112942659768], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457933306694031, 0.14500844478607178], [-0.8929026126861572, 0.2877937853336334], [-1.3754870891571045, 0.16157634556293488], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005]], "goal_body": [-1.4900099811032705, 0.11334965503682981], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11085570825180383, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7269128632478777, "remaining_m": 47.570219894871116, "total_m": 48.29713275811899, "selection_total_m": 48.29713275811899, "best_candidate_total_m": 48.29713275811899, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663977997376916, -0.3808465986283036], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457933306694031, 0.14500844478607178], [-0.8929026126861572, 0.2877937853336334], [-1.3754870891571045, 0.16157634556293488], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005], [-1.4428662061691284, 0.14353808760643005]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996835589408875, -0.016918133944272995, 0.018617024645209312, -0.09115084260702133], [0.01729569211602211, 0.9996441006660461, -0.020309582352638245, -3.104569435119629], [-0.018266798928380013, 0.020625147968530655, 0.9996203780174255, 6.573172569274902], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3696278049610555, "input_age_at_publish_s": 0.5406500920653343, "vggt_debug_frame": "frames/00000240/frame.json"} +{"frame_idx": 242, "time_s": 61.11169719696045, "localized": true, "localized_streak": 85, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286903032830274, 0.462286029184527, -0.1397478203294525], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882238095534102, 0.09974125117690757, -1.4323088919469593], [-5.518927603741804, -0.19691602014573473, -1.415152488973585], [-5.023776427412329, -0.256549376279791, -1.4057362572038372], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544], [-4.954493101179927, -0.2644891082407712, -1.4044350894802544]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56617915301342, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8926000622919731, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933502, -0.015519242036847375, -0.011505542546600023, -0.0012976112942677531], [0.01883339787435806, -0.9156676637409432, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457924962043762, 0.14500980079174042], [-0.8929018378257751, 0.2877950668334961], [-1.3754866123199463, 0.1615753024816513], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618]], "goal_body": [-1.4899627732163152, 0.11405787316201699], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10953032674466244, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7266651845539311, "remaining_m": 47.570219894871116, "total_m": 48.296885079425046, "selection_total_m": 48.296885079425046, "best_candidate_total_m": 48.296885079425046, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664613446364402, -0.3805301621550107], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457924962043762, 0.14500980079174042], [-0.8929018378257751, 0.2877950668334961], [-1.3754866123199463, 0.1615753024816513], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618], [-1.442862868309021, 0.14353778958320618]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996992349624634, -0.016397207975387573, 0.018236534669995308, -0.09118553251028061], [0.016756366938352585, 0.9996651411056519, -0.01971927285194397, -3.106440305709839], [-0.01790708862245083, 0.020018920302391052, 0.9996392130851746, 6.572179317474365], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37790663493797183, "input_age_at_publish_s": 0.41714531229808927, "vggt_debug_frame": "frames/00000242/frame.json"} +{"frame_idx": 243, "time_s": 61.344956159591675, "localized": true, "localized_streak": 86, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880251880954884, 0.09825375312816309, -1.4332827554540586], [-5.516957874258326, -0.19843974737311232, -1.416406563619183], [-5.021805409496567, -0.2581230982776619, -1.4073849330726989], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174], [-4.952521727509929, -0.26606982443695326, -1.4061389923839174]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564480435265633, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8211953553039698, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364934, 0.9157890531050259, 0.027255805182649695], [-0.99981337039335, -0.015519242036847375, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409433, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458012878894806, 0.14498284459114075], [-0.8929192423820496, 0.287741094827652], [-1.3754963874816895, 0.1614922732114792], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456]], "goal_body": [-1.4899599941710908, 0.11367493752998692], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10900808086141, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7233882905778446, "remaining_m": 47.570219894871116, "total_m": 48.29360818544896, "selection_total_m": 48.29360818544896, "best_candidate_total_m": 48.29360818544896, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664364646927247, -0.3806851406509504], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458012878894806, 0.14498284459114075], [-0.8929192423820496, 0.287741094827652], [-1.3754963874816895, 0.1614922732114792], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456], [-1.4428716897964478, 0.14345064759254456]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996932744979858, -0.016747044399380684, 0.018245087936520576, -0.09142202883958817], [0.017119446769356728, 0.9996442794799805, -0.020449699833989143, -3.1043522357940674], [-0.017896125093102455, 0.020755773410201073, 0.9996243715286255, 6.569470405578613], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3694929531775415, "input_age_at_publish_s": 0.5453043100424111, "vggt_debug_frame": "frames/00000243/frame.json"} +{"frame_idx": 245, "time_s": 61.8451714515686, "localized": true, "localized_streak": 87, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880161129544509, 0.09794340427390225, -1.4342052579599376], [-5.481376188032679, -0.13494888947795847, -1.4195874763880019], [-4.984758846941036, -0.19233110572756384, -1.4107286028719013], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255], [-4.874340455412836, -0.20508952855245788, -1.4087589119977255]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564458994924024, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7932933627251177, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364934, 0.9157890531050256, 0.027255805182649695], [-0.99981337039335, -0.015519242036847541, -0.011505542546599912, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409433, -0.40149474804000773, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578680396080017, 0.14502739906311035], [-0.902493417263031, 0.2150345891714096], [-1.3854899406433105, 0.08575060218572617], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106]], "goal_body": [-1.490073420419368, 0.11232601433953382], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10911625238069057, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7227593083583416, "remaining_m": 47.570219894871116, "total_m": 48.29297920322946, "selection_total_m": 48.29297920322946, "best_candidate_total_m": 48.29297920322946, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663005140632379, -0.3813264771832567], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578680396080017, 0.14502739906311035], [-0.902493417263031, 0.2150345891714096], [-1.3854899406433105, 0.08575060218572617], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106], [-1.492879867553711, 0.05700547620654106]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996781945228577, -0.01675356552004814, 0.019046733155846596, -0.09169796109199524], [0.017147120088338852, 0.9996388554573059, -0.020690634846687317, -3.1033966541290283], [-0.018693214282393456, 0.02101057395339012, 0.9996044635772705, 6.569208145141602], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36466809501871467, "input_age_at_publish_s": 0.4027034477330744, "vggt_debug_frame": "frames/00000245/frame.json"} +{"frame_idx": 246, "time_s": 62.11196184158325, "localized": true, "localized_streak": 88, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285639104172624, 0.462410207123531, -0.14206674801372393], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882791337184287, 0.09893513801862408, -1.4349342423155642], [-5.519652585232157, -0.19794903014933407, -1.4180689297554072], [-5.024530111922532, -0.2579008233958131, -1.4092279504887273], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736], [-4.955247614244771, -0.26588517069651285, -1.4080074436800736]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564540889215476, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8460910656334818, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.40163650569364906, 0.9157890531050252, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847125, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358337, -0.915667663740943, -0.40149474804000707, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445793092250824, 0.1450091451406479], [-0.8929021954536438, 0.28779515624046326], [-1.3754868507385254, 0.16157832741737366], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584]], "goal_body": [-1.4899130546128965, 0.11384633244345699], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11110987081991477, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7258436006202326, "remaining_m": 47.570219894871116, "total_m": 48.296063495491346, "selection_total_m": 48.296063495491346, "best_candidate_total_m": 48.296063495491346, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66445451736942, -0.3806829205503297], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445793092250824, 0.1450091451406479], [-0.8929021954536438, 0.28779515624046326], [-1.3754868507385254, 0.16157832741737366], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584], [-1.4428658485412598, 0.1435401886701584]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996771216392517, -0.017496073618531227, 0.018426697701215744, -0.09061271697282791], [0.01787617988884449, 0.9996265172958374, -0.020669467747211456, -3.1038591861724854], [-0.018058180809020996, 0.02099219337105751, 0.9996165633201599, 6.572187423706055], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3624502206221223, "input_age_at_publish_s": 0.5457064528018236, "vggt_debug_frame": "frames/00000246/frame.json"} +{"frame_idx": 248, "time_s": 62.5784215927124, "localized": true, "localized_streak": 89, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88084889699976, 0.09891778028859566, -1.4335190778727784], [-5.517478133108298, -0.19769144282746165, -1.4168156572027373], [-5.022310285267304, -0.25725642798032045, -1.4078974916274007], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573], [-4.953021767680584, -0.2651866406522245, -1.4066658344231573]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564859119980778, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.796668530413675, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364906, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.015519242036847153, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358115, -0.915667663740943, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579026103019714, 0.14501787722110748], [-0.8928965330123901, 0.28781262040138245], [-1.375483751296997, 0.16160522401332855], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953]], "goal_body": [-1.4899464277002648, 0.1140544506878518], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10904568190666167, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7238367067424116, "remaining_m": 47.570219894871116, "total_m": 48.294056601613526, "selection_total_m": 48.294056601613526, "best_candidate_total_m": 48.294056601613526, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664591675926506, -0.3805625554125499], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579026103019714, 0.14501787722110748], [-0.8928965330123901, 0.28781262040138245], [-1.375483751296997, 0.16160522401332855], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953], [-1.4428631067276, 0.14356841146945953]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997032880783081, -0.016334168612957, 0.018071578815579414, -0.09152781218290329], [0.016708210110664368, 0.9996451735496521, -0.020744111388921738, -3.1045329570770264], [-0.01772633008658886, 0.021039899438619614, 0.9996214509010315, 6.569907188415527], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39316245540976524, "input_age_at_publish_s": 0.4297197060659528, "vggt_debug_frame": "frames/00000248/frame.json"} +{"frame_idx": 249, "time_s": 62.844871520996094, "localized": true, "localized_streak": 90, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883273251284994, 0.09790501939316787, -1.4332545247027904], [-5.484447022197353, -0.13490698484851915, -1.418485258960301], [-4.987821778138691, -0.19218992719170647, -1.409427079342455], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388], [-4.877403053240139, -0.2049260970684159, -1.4074131011659388]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56755344012233, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8487262608697389, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364906, 0.9157890531050256, 0.02725580518264703], [-0.9998133703933499, -0.015519242036847125, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400073, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578781723976135, 0.1450236737728119], [-0.902495265007019, 0.21502530574798584], [-1.3854905366897583, 0.08573653548955917], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736]], "goal_body": [-1.4903218728231766, 0.11106812770484853], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10825779792721085, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7258013364454652, "remaining_m": 47.570219894871116, "total_m": 48.29602123131658, "selection_total_m": 48.29602123131658, "best_candidate_total_m": 48.29602123131658, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661804184608277, -0.3817327613741527], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578781723976135, 0.1450236737728119], [-0.902495265007019, 0.21502530574798584], [-1.3854905366897583, 0.08573653548955917], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736], [-1.492878794670105, 0.05699070170521736]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996840953826904, -0.016505848616361618, 0.018955187872052193, -0.0931653380393982], [0.0168907567858696, 0.9996506571769714, -0.020328931510448456, -3.105626344680786], [-0.018613019958138466, 0.020642675459384918, 0.9996136426925659, 6.57191276550293], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37786766374483705, "input_age_at_publish_s": 0.5634828452020884, "vggt_debug_frame": "frames/00000249/frame.json"} +{"frame_idx": 251, "time_s": 63.34489631652832, "localized": true, "localized_streak": 91, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.877763341544078, 0.09628021561795652, -1.432697917251304], [-5.478870400419515, -0.13644175924612956, -1.4183074665546795], [-4.982223218803444, -0.19359572958297733, -1.4096430206269308], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374], [-4.8717831935798035, -0.20630512024882286, -1.4077162976976374]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.563988767016024, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8508656018640574, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.40163650569364934, 0.9157890531050257, 0.02725580518264703], [-0.9998133703933498, -0.015519242036847736, -0.011505542546600078, -0.0012976112942695295], [0.018833397874358393, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457898736000061, 0.14502449333667755], [-0.9024942517280579, 0.21504797041416168], [-1.385492205619812, 0.08576903492212296], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043]], "goal_body": [-1.490169478404284, 0.11173118905118262], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10641595392639176, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7191257356840121, "remaining_m": 47.570219894871116, "total_m": 48.289345630555125, "selection_total_m": 48.289345630555125, "best_candidate_total_m": 48.289345630555125, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66243679321004, -0.38156299020069406], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457898736000061, 0.14502449333667755], [-0.9024942517280579, 0.21504797041416168], [-1.385492205619812, 0.08576903492212296], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043], [-1.4928970336914062, 0.0570211187005043]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996914267539978, -0.016334768384695053, 0.018713712692260742, -0.09298043698072433], [0.016729876399040222, 0.9996362328529358, -0.021154921501874924, -3.1035101413726807], [-0.018361344933509827, 0.021461471915245056, 0.9996010661125183, 6.5654401779174805], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3711719112470746, "input_age_at_publish_s": 0.4179203072562814, "vggt_debug_frame": "frames/00000251/frame.json"} +{"frame_idx": 252, "time_s": 63.61238741874695, "localized": true, "localized_streak": 92, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882129636453461, 0.0991621712563493, -1.4346225542932158], [-5.518849972001098, -0.19754981457916365, -1.417763231877918], [-5.023702616599415, -0.25727105308481235, -1.4088909597668728], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941], [-4.954407869465344, -0.265223319202625, -1.4076659042866941]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564395447921473, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9268302018441061, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364906, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847208, -0.011505542546600023, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458020031452179, 0.14498546719551086], [-0.892917275428772, 0.28775203227996826], [-1.3754956722259521, 0.16152071952819824], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711]], "goal_body": [-1.4898566643267732, 0.114502128505646], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11084198029592374, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.725425139190921, "remaining_m": 47.570219894871116, "total_m": 48.295645034062034, "selection_total_m": 48.295645034062034, "best_candidate_total_m": 48.295645034062034, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66511420405408, -0.3803843229264517], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458020031452179, 0.14498546719551086], [-0.892917275428772, 0.28775203227996826], [-1.3754956722259521, 0.16152071952819824], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711], [-1.4428821802139282, 0.1434774398803711]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996886253356934, -0.0171887818723917, 0.018090063706040382, -0.09058835357427597], [0.0175612960010767, 0.9996327757835388, -0.02063891477882862, -3.1039695739746094], [-0.017728662118315697, 0.02095017395913601, 0.9996232986450195, 6.571684837341309], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3757753111422062, "input_age_at_publish_s": 0.5802225191146135, "vggt_debug_frame": "frames/00000252/frame.json"} +{"frame_idx": 254, "time_s": 64.1140468120575, "localized": true, "localized_streak": 93, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880806576526943, 0.09661833669296183, -1.4332679472182694], [-5.4819312770998625, -0.13609808341952423, -1.4183144773204617], [-4.985291740240108, -0.19326727926357012, -1.4093200388050047], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772], [-4.874861869323967, -0.20597907571766783, -1.407320088431772]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564857537909003, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9734420506284411, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.4016365056936493, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847458, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409433, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457944929599762, 0.14500661194324493], [-0.9025031924247742, 0.2150009572505951], [-1.3854947090148926, 0.08569804579019547], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551]], "goal_body": [-1.490078629114203, 0.1126319727652868], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10883264273338807, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7235933931439673, "remaining_m": 47.570219894871116, "total_m": 48.29381328801508, "selection_total_m": 48.29381328801508, "best_candidate_total_m": 48.29381328801508, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663324113176612, -0.38115028107101495], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457944929599762, 0.14500661194324493], [-0.9025031924247742, 0.2150009572505951], [-1.3854947090148926, 0.08569804579019547], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551], [-1.4928898811340332, 0.05694699287414551]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996787905693054, -0.01758369617164135, 0.01825258880853653, -0.09196576476097107], [0.017950376495718956, 0.9996363520622253, -0.020123546943068504, -3.1042075157165527], [-0.017892103642225266, 0.020444722846150398, 0.999630868434906, 6.569848537445068], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36493218736723065, "input_age_at_publish_s": 0.4557629101909697, "vggt_debug_frame": "frames/00000254/frame.json"} +{"frame_idx": 255, "time_s": 64.34784436225891, "localized": true, "localized_streak": 94, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881309564320267, 0.09785167825168628, -1.433801439642198], [-5.482512587322951, -0.1350097259434042, -1.4190141462922874], [-4.985893227650603, -0.19234868523305515, -1.4099891827957902], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663], [-4.875466569957478, -0.20509839316649447, -1.4079824212338663]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565637926771792, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8926000622919731, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364934, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.015519242036847625, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358337, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579023122787476, 0.14502020180225372], [-0.9024966359138489, 0.2150300294160843], [-1.385492205619812, 0.0857425108551979], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866]], "goal_body": [-1.4901535065955485, 0.11196896515528576], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1089715823037332, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7241688911592301, "remaining_m": 47.570219894871116, "total_m": 48.294388786030346, "selection_total_m": 48.294388786030346, "best_candidate_total_m": 48.294388786030346, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66267036014236, -0.38143897262120097], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579023122787476, 0.14502020180225372], [-0.9024966359138489, 0.2150300294160843], [-1.385492205619812, 0.0857425108551979], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866], [-1.4928895235061646, 0.056994564831256866]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996795058250427, -0.016786400228738785, 0.0189494751393795, -0.09213998913764954], [0.01717119663953781, 0.9996458888053894, -0.020329682156443596, -3.1042604446411133], [-0.01860150322318077, 0.020648552104830742, 0.9996137619018555, 6.570485591888428], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3675702284090221, "input_age_at_publish_s": 0.5744698620401323, "vggt_debug_frame": "frames/00000255/frame.json"} +{"frame_idx": 257, "time_s": 64.84817838668823, "localized": true, "localized_streak": 95, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88010999278716, 0.0973947603248142, -1.4331546632565064], [-5.516770834719434, -0.1992518949072286, -1.4164275875466457], [-5.0216108469332745, -0.25887465020773526, -1.407551018677545], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911], [-4.952317411814395, -0.2668130706980216, -1.4063251860106911]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564847235043207, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8224256454449694, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936494, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847403, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409431, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580090045928955, 0.14498759806156158], [-0.8929159641265869, 0.2877548635005951], [-1.3754948377609253, 0.16152212023735046], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136]], "goal_body": [-1.4900666796359083, 0.11300395386591378], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10796656051954644, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7224157314459466, "remaining_m": 47.570219894871116, "total_m": 48.292635626317065, "selection_total_m": 48.292635626317065, "best_candidate_total_m": 48.292635626317065, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663708073594982, -0.3809498886774618], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580090045928955, 0.14498759806156158], [-0.8929159641265869, 0.2877548635005951], [-1.3754948377609253, 0.16152212023735046], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136], [-1.4428786039352417, 0.14347968995571136]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996975064277649, -0.016623523086309433, 0.018127664923667908, -0.09233351051807404], [0.016999121755361557, 0.9996398091316223, -0.020766159519553185, -3.104254722595215], [-0.01777593046426773, 0.02106803096830845, 0.9996200203895569, 6.568614482879639], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.379918796941638, "input_age_at_publish_s": 0.42146411910653114, "vggt_debug_frame": "frames/00000257/frame.json"} +{"frame_idx": 258, "time_s": 65.1150381565094, "localized": true, "localized_streak": 96, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88346119762475, 0.09821897179916483, -1.4347141746321141], [-5.484638180417032, -0.13459362206490777, -1.4198617601015648], [-4.988011216432379, -0.19187583665272445, -1.4108913163473378], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136], [-4.8775811278683765, -0.20461310424130197, -1.4088966471465136]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566187533686787, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8819368407726668, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.40163650569364945, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847819, -0.01150554254659969, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409433, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580239057540894, 0.1449836641550064], [-0.9025141596794128, 0.21495836973190308], [-1.3854994773864746, 0.08563224226236343], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534]], "goal_body": [-1.490123327550993, 0.11239243049894787], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11036683829490913, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7264922318249514, "remaining_m": 47.570219894871116, "total_m": 48.296712126696065, "selection_total_m": 48.296712126696065, "best_candidate_total_m": 48.296712126696065, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663160835462511, -0.3812033349753437], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580239057540894, 0.1449836641550064], [-0.9025141596794128, 0.21495836973190308], [-1.3854994773864746, 0.08563224226236343], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534], [-1.4928961992263794, 0.056875236332416534]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996756315231323, -0.017324203625321388, 0.018669765442609787, -0.09180568903684616], [0.01770227588713169, 0.9996376037597656, -0.020279234275221825, -3.104304313659668], [-0.018311679363250732, 0.020603151991963387, 0.9996200203895569, 6.572936058044434], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37273117201402783, "input_age_at_publish_s": 0.601373768877238, "vggt_debug_frame": "frames/00000258/frame.json"} +{"frame_idx": 260, "time_s": 65.58161926269531, "localized": true, "localized_streak": 97, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28371776287635, 0.459302112473166, -0.1393116187712014], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879940890150714, 0.09744721369722864, -1.4323441418574645], [-5.481030836704313, -0.13522733409848708, -1.4176668049146428], [-4.98438382012723, -0.19232984257500796, -1.408667961762865], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977], [-4.873951775254334, -0.2050268891544551, -1.4066670219441977]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565688187555796, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8629425557795374, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847236, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409432, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458000361919403, 0.1449897587299347], [-0.9025113582611084, 0.21496737003326416], [-1.3854979276657104, 0.08564642816781998], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962]], "goal_body": [-1.490202564814091, 0.11179948796416961], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1070954171416976, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7223933930410321, "remaining_m": 47.570219894871116, "total_m": 48.29261328791215, "selection_total_m": 48.29261328791215, "best_candidate_total_m": 48.29261328791215, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662591777688382, -0.3814355828413333], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458000361919403, 0.1449897587299347], [-0.9025113582611084, 0.21496737003326416], [-1.3854979276657104, 0.08564642816781998], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962], [-1.4928925037384033, 0.05689125135540962]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996926188468933, -0.01620287075638771, 0.018764114007353783, -0.09287187457084656], [0.016586996614933014, 0.9996522665023804, -0.020499905571341515, -3.105029821395874], [-0.018425432965159416, 0.02080484665930271, 0.9996137619018555, 6.568383693695068], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3775059278123081, "input_age_at_publish_s": 0.48762691020965576, "vggt_debug_frame": "frames/00000260/frame.json"} +{"frame_idx": 261, "time_s": 65.81482100486755, "localized": true, "localized_streak": 98, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883371568777223, 0.09841514594139511, -1.4338476070676278], [-5.484617314345531, -0.13451260017842248, -1.4189559853103133], [-4.988008918003025, -0.19193801896148432, -1.409875061772724], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795], [-4.87758566074729, -0.20470683112076848, -1.4078558750993795]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566477149124633, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7913674525526212, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933499, -0.015519242036847292, -0.0115055425466003, -0.0012976112942695295], [0.018833397874358393, -0.9156676637409432, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579610228538513, 0.14500176906585693], [-0.9025055170059204, 0.214991495013237], [-1.385495662689209, 0.08568348735570908], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242]], "goal_body": [-1.4901714571213835, 0.11189095577465435], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1098032195300524, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7265145230304423, "remaining_m": 47.570219894871116, "total_m": 48.29673441790156, "selection_total_m": 48.29673441790156, "best_candidate_total_m": 48.29673441790156, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662650389435063, -0.38143396388858797], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579610228538513, 0.14500176906585693], [-0.9025055170059204, 0.214991495013237], [-1.385495662689209, 0.08568348735570908], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242], [-1.4928908348083496, 0.05693122744560242]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996721148490906, -0.01712617464363575, 0.0190361887216568, -0.0918874740600586], [0.017509223893284798, 0.9996438026428223, -0.020141078159213066, -3.1051254272460938], [-0.018684469163417816, 0.020467782393097878, 0.9996159076690674, 6.57265567779541], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3762048417702317, "input_age_at_publish_s": 0.6175167849287391, "vggt_debug_frame": "frames/00000261/frame.json"} +{"frame_idx": 263, "time_s": 66.34810376167297, "localized": true, "localized_streak": 99, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882425134731209, 0.09913228167911825, -1.434274118974729], [-5.519195967991227, -0.197638214877637, -1.417357042615857], [-5.024062000647996, -0.2574366232841241, -1.4083011909105287], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103], [-4.954766424841109, -0.26539972781031906, -1.4070502835111103]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565443032636058, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8132972377356514, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936492, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847458, -0.011505542546600245, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445795476436615, 0.14500662684440613], [-0.8929035663604736, 0.28779566287994385], [-1.375488042831421, 0.16159051656723022], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155]], "goal_body": [-1.4899743645662586, 0.11368980595810674], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11033112759494126, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7258804034097114, "remaining_m": 47.570219894871116, "total_m": 48.29610029828083, "selection_total_m": 48.29610029828083, "best_candidate_total_m": 48.29610029828083, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664285678074805, -0.38072374831032235], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445795476436615, 0.14500662684440613], [-0.8929035663604736, 0.28779566287994385], [-1.375488042831421, 0.16159051656723022], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155], [-1.4428778886795044, 0.14354996383190155]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999689519405365, -0.016845598816871643, 0.018360693007707596, -0.09120211750268936], [0.017218995839357376, 0.9996441602706909, -0.020371992141008377, -3.104494094848633], [-0.018010981380939484, 0.020681820809841156, 0.9996238350868225, 6.57208776473999], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3662279802374542, "input_age_at_publish_s": 0.48652518121525645, "vggt_debug_frame": "frames/00000263/frame.json"} +{"frame_idx": 264, "time_s": 66.61528539657593, "localized": true, "localized_streak": 100, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8810023708379315, 0.09729760454629055, -1.4326830854916073], [-5.517517007582692, -0.1991692202200186, -1.4159447276490127], [-5.022329723053247, -0.2585563322654032, -1.4071451904675008], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787], [-4.953024026382582, -0.2664619084462281, -1.40593013001787]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56532071734851, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8349130342786572, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.4016365056936491, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847347, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457975924015045, 0.1450013816356659], [-0.892906904220581, 0.2877866327762604], [-1.3754900693893433, 0.1615796536207199], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498]], "goal_body": [-1.4900532115590466, 0.11354563236077786], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10766907426452446, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7231166381045643, "remaining_m": 47.570219894871116, "total_m": 48.29333653297568, "selection_total_m": 48.29333653297568, "best_candidate_total_m": 48.29333653297568, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664134506901677, -0.3807251193935468], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457975924015045, 0.1450013816356659], [-0.892906904220581, 0.2877866327762604], [-1.3754900693893433, 0.1615796536207199], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498], [-1.4428825378417969, 0.14353777468204498]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997072219848633, -0.016688987612724304, 0.017518721520900726, -0.09257710725069046], [0.017053116112947464, 0.999637246131897, -0.02084566280245781, -3.1050097942352295], [-0.017164472490549088, 0.021138310432434082, 0.9996291995048523, 6.569126129150391], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38474341575056314, "input_age_at_publish_s": 0.6299463440664113, "vggt_debug_frame": "frames/00000264/frame.json"} +{"frame_idx": 266, "time_s": 67.11627864837646, "localized": true, "localized_streak": 101, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882089124784092, 0.09994487139380936, -1.4349583657413763], [-5.518688117548938, -0.1966267277411502, -1.4182441332326938], [-5.023516512538658, -0.2561395845385306, -1.409236622494334], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325], [-4.95422427678999, -0.2640625329577917, -1.4079923310938325]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56568682844755, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7446311930131053, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.4016365056936494, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847652, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445796936750412, 0.14499865472316742], [-0.8929088711738586, 0.2877756953239441], [-1.3754907846450806, 0.1615515947341919], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352]], "goal_body": [-1.4899414783128748, 0.11429389300606485], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1103952892314942, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.725651307154648, "remaining_m": 47.570219894871116, "total_m": 48.295871202025765, "selection_total_m": 48.295871202025765, "best_candidate_total_m": 48.295871202025765, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664856670354164, -0.3804246794570134], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445796936750412, 0.14499865472316742], [-0.8929088711738586, 0.2877756953239441], [-1.3754907846450806, 0.1615515947341919], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352], [-1.442872405052185, 0.14351129531860352]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997068643569946, -0.016053523868322372, 0.01812293380498886, -0.09140220284461975], [0.016426626592874527, 0.9996522068977356, -0.020629694685339928, -3.103994846343994], [-0.0177854523062706, 0.02092134766280651, 0.9996229410171509, 6.572068691253662], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3852961668744683, "input_age_at_publish_s": 0.5245092092081904, "vggt_debug_frame": "frames/00000266/frame.json"} +{"frame_idx": 268, "time_s": 67.5500602722168, "localized": true, "localized_streak": 102, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.884578681595144, 0.09873296227274952, -1.432285259280692], [-5.485597360088537, -0.13378033145085055, -1.4169986473590495], [-4.988937120001742, -0.19068737528893998, -1.4075022002930346], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952], [-4.878495907071246, -0.20334166290352673, -1.4053904969803952]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56846493526194, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8322341050069082, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092360988, -0.40163650569364895, 0.9157890531050251, 0.027255805182649695], [-0.9998133703933498, -0.015519242036847347, -0.011505542546600023, -0.0012976112942659768], [0.018833397874358393, -0.915667663740943, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457976520061493, 0.14499977231025696], [-0.9025062918663025, 0.21499566733837128], [-1.385496735572815, 0.08568897843360901], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192]], "goal_body": [-1.4901896742626117, 0.11272789945194073], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10928705149374807, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7288356171881157, "remaining_m": 47.570219894871116, "total_m": 48.29905551205923, "selection_total_m": 48.29905551205923, "best_candidate_total_m": 48.29905551205923, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663366078499118, -0.38100790206135493], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457976520061493, 0.14499977231025696], [-0.9025062918663025, 0.21499566733837128], [-1.385496735572815, 0.08568897843360901], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192], [-1.4928982257843018, 0.05693534016609192]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996967315673828, -0.016709527000784874, 0.018088966608047485, -0.09251093864440918], [0.017057916149497032, 0.9996685981750488, -0.01927986741065979, -3.107266902923584], [-0.017760813236236572, 0.019582580775022507, 0.9996504783630371, 6.574457168579102], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3796924790367484, "input_age_at_publish_s": 0.40603430615738034, "vggt_debug_frame": "frames/00000268/frame.json"} +{"frame_idx": 269, "time_s": 67.85027050971985, "localized": true, "localized_streak": 103, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879937395596867, 0.09657708791787734, -1.4311425805182383], [-5.481044526486892, -0.13611343004181453, -1.4162543715062286], [-4.984404045221696, -0.19324040930161512, -1.4070477616391743], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242], [-4.873976325934699, -0.2059425618450268, -1.4050006772524242]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56648109666165, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7528916740995567, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847403, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409432, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457953870296478, 0.1450028419494629], [-0.9025051593780518, 0.21499021351337433], [-1.3854951858520508, 0.08568187803030014], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392]], "goal_body": [-1.4903138467489736, 0.11103100685220246], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10604516426492197, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7224567910569589, "remaining_m": 47.570219894871116, "total_m": 48.29267668592807, "selection_total_m": 48.29267668592807, "best_candidate_total_m": 48.29267668592807, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661833825849815, -0.38173763713289044], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457953870296478, 0.1450028419494629], [-0.9025051593780518, 0.21499021351337433], [-1.3854951858520508, 0.08568187803030014], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392], [-1.4928877353668213, 0.05693024769425392]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999691367149353, -0.0162927508354187, 0.018755294382572174, -0.09355534613132477], [0.0166684091091156, 0.9996600151062012, -0.020050495862960815, -3.1060004234313965], [-0.018422238528728485, 0.020356927067041397, 0.9996230602264404, 6.5681939125061035], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3649611650034785, "input_age_at_publish_s": 0.5275514950044453, "vggt_debug_frame": "frames/00000269/frame.json"} +{"frame_idx": 271, "time_s": 68.35076475143433, "localized": true, "localized_streak": 104, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880335519629382, 0.09916552544216817, -1.4343530925304744], [-5.516904193847724, -0.19737003956808863, -1.4176578128224293], [-5.0217242648815255, -0.25683967745622116, -1.4088270630152415], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138], [-4.952431019632208, -0.26475662516706766, -1.407607684091138]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.563886940341334, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.796668530413675, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.401636505693649, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847014, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.40149474804000707, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457989037036896, 0.14499254524707794], [-0.8929128646850586, 0.2877633571624756], [-1.3754929304122925, 0.16153238713741302], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142]], "goal_body": [-1.4898151844516574, 0.11499145422208967], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10996666890643385, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7235304207370937, "remaining_m": 47.570219894871116, "total_m": 48.29375031560821, "selection_total_m": 48.29375031560821, "best_candidate_total_m": 48.29375031560821, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665542525198775, -0.38017595154691897], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457989037036896, 0.14499254524707794], [-0.8929128646850586, 0.2877633571624756], [-1.3754929304122925, 0.16153238713741302], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142], [-1.4428741931915283, 0.1434912085533142]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997044801712036, -0.0165255106985569, 0.0178269874304533, -0.09084773063659668], [0.016896262764930725, 0.9996398091316223, -0.020851144567131996, -3.1035683155059814], [-0.01747599057853222, 0.021146191284060478, 0.9996236562728882, 6.569826126098633], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36521631106734276, "input_age_at_publish_s": 0.400400476064533, "vggt_debug_frame": "frames/00000271/frame.json"} +{"frame_idx": 272, "time_s": 68.6179473400116, "localized": true, "localized_streak": 105, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882258337441602, 0.09830386325811613, -1.4340607891267307], [-5.518872882232703, -0.19828479585054382, -1.4173110620993745], [-5.023703686960628, -0.25783356544677005, -1.4084893206707505], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292], [-4.954406656333074, -0.26576165908683613, -1.4072712299158292]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56549391541325, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7722275934682871, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364906, 0.9157890531050256, 0.027255805182648807], [-0.99981337039335, -0.015519242036847375, -0.011505542546600023, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457942247390747, 0.14500917494297028], [-0.8929020166397095, 0.287799209356308], [-1.3754870891571045, 0.16159281134605408], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418]], "goal_body": [-1.4900116798371557, 0.11372834751362249], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10932787095153333, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7248252935913523, "remaining_m": 47.570219894871116, "total_m": 48.29504518846247, "selection_total_m": 48.29504518846247, "best_candidate_total_m": 48.29504518846247, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66429555027087, -0.3806704787876902], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457942247390747, 0.14500917494297028], [-0.8929020166397095, 0.287799209356308], [-1.3754870891571045, 0.16159281134605408], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418], [-1.4428739547729492, 0.1435532122850418]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997000098228455, -0.016795262694358826, 0.01782653108239174, -0.0919380784034729], [0.01716524362564087, 0.9996361136436462, -0.020808575674891472, -3.1044399738311768], [-0.017470557242631912, 0.02110833115875721, 0.9996245503425598, 6.571093559265137], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.364380722399801, "input_age_at_publish_s": 0.5200888551771641, "vggt_debug_frame": "frames/00000272/frame.json"} +{"frame_idx": 274, "time_s": 69.11894273757935, "localized": true, "localized_streak": 106, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880247696080962, 0.09810342456601795, -1.4326348147007772], [-5.481346017786802, -0.1345713565778892, -1.4177318493526254], [-4.984701526221658, -0.19167255616507006, -1.4085825762414452], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157], [-4.874261956749612, -0.2043702133535934, -1.4065480397068157]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56517346064115, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8089412920784713, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936493, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847708, -0.011505542546599856, -0.0012976112942677531], [0.01883339787435845, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457935392856598, 0.14501330256462097], [-0.9024996757507324, 0.21502551436424255], [-1.385494351387024, 0.0857345461845398], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267]], "goal_body": [-1.4900472571533268, 0.11298000045124701], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10849749418495272, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7236635303450599, "remaining_m": 47.570219894871116, "total_m": 48.29388342521617, "selection_total_m": 48.29388342521617, "best_candidate_total_m": 48.29388342521617, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.6636129441952, -0.38102815800237533], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457935392856598, 0.14501330256462097], [-0.9024996757507324, 0.21502551436424255], [-1.385494351387024, 0.0857345461845398], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267], [-1.4928985834121704, 0.05698390305042267]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.99969083070755, -0.01658163219690323, 0.018528301268815994, -0.09179147332906723], [0.01695311814546585, 0.9996547102928162, -0.020075708627700806, -3.1049792766571045], [-0.018189016729593277, 0.020383615046739578, 0.9996267557144165, 6.569591999053955], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3665384412743151, "input_age_at_publish_s": 0.3875371911562979, "vggt_debug_frame": "frames/00000274/frame.json"} +{"frame_idx": 275, "time_s": 69.35260534286499, "localized": true, "localized_streak": 107, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880942836276274, 0.09823826903706578, -1.4332332781490271], [-5.48206433829843, -0.13448731881965514, -1.418507213985564], [-4.9854246065616135, -0.19165244653678037, -1.4095021146977889], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717], [-4.874990485192484, -0.20436382824915622, -1.4074997173344717]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56557074766872, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8248220398599545, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936492, 0.9157890531050255, 0.027255805182650583], [-0.9998133703933499, -0.015519242036847403, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458012878894806, 0.14498752355575562], [-0.90251225233078, 0.21496762335300446], [-1.3854987621307373, 0.08564629405736923], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816]], "goal_body": [-1.4901192745354173, 0.11238527949168509], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10852446609968339, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7238570977192813, "remaining_m": 47.570219894871116, "total_m": 48.2940769925904, "selection_total_m": 48.2940769925904, "best_candidate_total_m": 48.2940769925904, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66314397152636, -0.38121800849820286], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458012878894806, 0.14498752355575562], [-0.90251225233078, 0.21496762335300446], [-1.3854987621307373, 0.08564629405736923], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816], [-1.4928969144821167, 0.056890055537223816]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996879696846008, -0.01646132580935955, 0.01878766529262066, -0.09212100505828857], [0.016844598576426506, 0.9996494054794312, -0.02042771317064762, -3.104736089706421], [-0.018444811925292015, 0.02073781006038189, 0.9996147751808167, 6.569957256317139], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3628308088518679, "input_age_at_publish_s": 0.5039341291412711, "vggt_debug_frame": "frames/00000275/frame.json"} +{"frame_idx": 277, "time_s": 69.85294818878174, "localized": true, "localized_streak": 108, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879412716573354, 0.09809058177979235, -1.432296576572969], [-5.516051960058961, -0.1985231583256546, -1.4154546306893345], [-5.020885082803725, -0.2581030458099818, -1.4065735652074345], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615], [-4.95159728243323, -0.2660353351349478, -1.4053473731588615]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.563361007414866, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8394520049599224, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.401636505693649, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847125, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457932710647583, 0.14500834047794342], [-0.8929027318954468, 0.28779324889183044], [-1.375487208366394, 0.1615748107433319], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544]], "goal_body": [-1.4898388238900002, 0.11458505342015735], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10855914837733725, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7223402088388451, "remaining_m": 47.570219894871116, "total_m": 48.29256010370996, "selection_total_m": 48.29256010370996, "best_candidate_total_m": 48.29256010370996, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665134303800212, -0.3803755665333741], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457932710647583, 0.14500834047794342], [-0.8929027318954468, 0.28779324889183044], [-1.375487208366394, 0.1615748107433319], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544], [-1.4428656101226807, 0.14353665709495544]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996967911720276, -0.016965491697192192, 0.017846181988716125, -0.09092231839895248], [0.01733306609094143, 0.9996365308761597, -0.020647766068577766, -3.1047918796539307], [-0.017489396035671234, 0.020950833335518837, 0.9996275305747986, 6.568066120147705], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3624686822295189, "input_age_at_publish_s": 0.37003474310040474, "vggt_debug_frame": "frames/00000277/frame.json"} +{"frame_idx": 278, "time_s": 70.11981296539307, "localized": true, "localized_streak": 109, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879528593245778, 0.09723607978732574, -1.4336935890281317], [-5.516180807442211, -0.1994018248970688, -1.416999965980384], [-5.021016724820015, -0.2590149305385152, -1.4082553840585605], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814], [-4.951724780509927, -0.2669519448519475, -1.4070481520515814]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56383631454346, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9042004542752698, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361876, -0.40163650569364945, 0.9157890531050258, 0.027255805182649695], [-0.99981337039335, -0.015519242036847292, -0.011505542546600356, -0.0012976112942642004], [0.018833397874358226, -0.9156676637409433, -0.40149474804000773, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457898437976837, 0.14502078294754028], [-0.8928945660591125, 0.28782033920288086], [-1.3754827976226807, 0.16162101924419403], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472]], "goal_body": [-1.489966530742819, 0.113669313909321], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10848433514731434, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7217117602254888, "remaining_m": 47.570219894871116, "total_m": 48.291931655096604, "selection_total_m": 48.291931655096604, "best_candidate_total_m": 48.291931655096604, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664235843093424, -0.3807486005897564], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457898437976837, 0.14502078294754028], [-0.8928945660591125, 0.28782033920288086], [-1.3754827976226807, 0.16162101924419403], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472], [-1.4428659677505493, 0.14358395338058472]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996969699859619, -0.01689480058848858, 0.01790498197078705, -0.09184557944536209], [0.01726897992193699, 0.9996312856674194, -0.020953569561243057, -3.1034250259399414], [-0.017544373869895935, 0.021256420761346817, 0.9996200799942017, 6.568083763122559], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37863799231126904, "input_age_at_publish_s": 0.5028806510381401, "vggt_debug_frame": "frames/00000278/frame.json"} +{"frame_idx": 280, "time_s": 70.62060832977295, "localized": true, "localized_streak": 110, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881301852750202, 0.09949163293742913, -1.4351207140820539], [-5.517924667910409, -0.19710995287910826, -1.418420117682085], [-5.0227553791117145, -0.256669427900583, -1.4095856558431872], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003], [-4.953463983642052, -0.2645989359072134, -1.408365767716003]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564292586559265, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8432799187024241, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936495, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933502, -0.015519242036847791, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.40149474804000795, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457937479019165, 0.14500820636749268], [-0.8929027318954468, 0.2877945601940155], [-1.3754873275756836, 0.16158002614974976], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673]], "goal_body": [-1.489832489823263, 0.11486078838202074], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11070549513952165, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7245890157759346, "remaining_m": 47.570219894871116, "total_m": 48.29480891064705, "selection_total_m": 48.29480891064705, "best_candidate_total_m": 48.29480891064705, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665373725340912, -0.3802483400867885], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457937479019165, 0.14500820636749268], [-0.8929027318954468, 0.2877945601940155], [-1.3754873275756836, 0.16158002614974976], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673], [-1.4428688287734985, 0.14354129135608673]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997010231018066, -0.016595808789134026, 0.017956841737031937, -0.09077398478984833], [0.01696915365755558, 0.9996387362480164, -0.020842500030994415, -3.103318452835083], [-0.01760445535182953, 0.02114098146557808, 0.9996215105056763, 6.571061611175537], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3709718557074666, "input_age_at_publish_s": 0.38038301607593894, "vggt_debug_frame": "frames/00000280/frame.json"} +{"frame_idx": 281, "time_s": 70.82099795341492, "localized": true, "localized_streak": 111, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883530254705025, 0.09998322516954516, -1.4345630065628552], [-5.520151184057637, -0.19660175217931553, -1.4176107004567462], [-5.024986580577554, -0.25615194443420375, -1.4086097634403114], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285], [-4.955686164650157, -0.26408034471741093, -1.4073666514997285]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56547235274372, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8322341050069082, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.40163650569364917, 0.9157890531050259, 0.027255805182648807], [-0.99981337039335, -0.01551924203684743, -0.011505542546600245, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409434, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579455256462097, 0.14500980079174042], [-0.8929015398025513, 0.2878023684024811], [-1.3754868507385254, 0.16160157322883606], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604]], "goal_body": [-1.4898438698339633, 0.11505636777522821], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11130373918256814, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7273721413966421, "remaining_m": 47.570219894871116, "total_m": 48.29759203626776, "selection_total_m": 48.29759203626776, "best_candidate_total_m": 48.29759203626776, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665524016889794, -0.3801590001984753], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579455256462097, 0.14500980079174042], [-0.8929015398025513, 0.2878023684024811], [-1.3754868507385254, 0.16160157322883606], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604], [-1.4428775310516357, 0.14356137812137604]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996988773345947, -0.01693018153309822, 0.017762817442417145, -0.0906117856502533], [0.017291713505983353, 0.9996423125267029, -0.02040104940533638, -3.1048126220703125], [-0.017411071807146072, 0.0207020565867424, 0.9996340870857239, 6.573480129241943], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37538193818181753, "input_age_at_publish_s": 0.512325553689152, "vggt_debug_frame": "frames/00000281/frame.json"} +{"frame_idx": 283, "time_s": 71.28855729103088, "localized": true, "localized_streak": 112, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882969966206531, 0.09900505087131428, -1.4355541462987211], [-5.519774174398082, -0.19781377299299674, -1.418767721508152], [-5.024641248956446, -0.2576730445110451, -1.4099182354449118], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166], [-4.955355283279006, -0.2656445168933841, -1.4086963719838166]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56518760360995, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8541379641179652, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364945, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933503, -0.01551924203684768, -0.011505542546600134, -0.0012976112942677531], [0.01883339787435845, -0.9156676637409432, -0.40149474804000773, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579580426216125, 0.1450015902519226], [-0.8929070234298706, 0.2877809405326843], [-1.375489592552185, 0.16155840456485748], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283]], "goal_body": [-1.489974333780547, 0.11358169744527147], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11106876321162434, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7259497216109684, "remaining_m": 47.570219894871116, "total_m": 48.29616961648208, "selection_total_m": 48.29616961648208, "best_candidate_total_m": 48.29616961648208, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664215841822262, -0.3807545653616812], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579580426216125, 0.1450015902519226], [-0.8929070234298706, 0.2877809405326843], [-1.375489592552185, 0.16155840456485748], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283], [-1.4428702592849731, 0.14351877570152283]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996840953826904, -0.017115164548158646, 0.01840609684586525, -0.09113903343677521], [0.017496097832918167, 0.9996318221092224, -0.02073812671005726, -3.1034560203552246], [-0.018044382333755493, 0.021053610369563103, 0.999615490436554, 6.572554588317871], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36652944004163146, "input_age_at_publish_s": 0.39050358533859253, "vggt_debug_frame": "frames/00000283/frame.json"} +{"frame_idx": 284, "time_s": 71.62211632728577, "localized": true, "localized_streak": 113, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879946172538137, 0.0990001868055419, -1.435800039878799], [-5.516741933911405, -0.19782820973820225, -1.4193694421558436], [-5.021606062845782, -0.25768717926974105, -1.4106780678766906], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626], [-4.952319979361372, -0.26565859531551794, -1.4094779492351626]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56370291345941, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.722734198749041, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092360821, -0.4016365056936491, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847486, -0.011505542546599856, -0.0012976112942677531], [0.01883339787435845, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579651951789856, 0.14499928057193756], [-0.89290851354599, 0.2877761721611023], [-1.375490427017212, 0.16155074536800385], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453]], "goal_body": [-1.489931334156713, 0.1135713635015766], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11021131668833757, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7224866508545299, "remaining_m": 47.570219894871116, "total_m": 48.29270654572564, "selection_total_m": 48.29270654572564, "best_candidate_total_m": 48.29270654572564, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664235652911888, -0.3807931064119616], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579651951789856, 0.14499928057193756], [-0.89290851354599, 0.2877761721611023], [-1.375490427017212, 0.16155074536800385], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453], [-1.4428707361221313, 0.1435108184814453]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996903538703918, -0.016369376331567764, 0.01874067634344101, -0.09115368872880936], [0.01676725596189499, 0.9996330738067627, -0.02127436175942421, -3.1020567417144775], [-0.018385551869869232, 0.02158200368285179, 0.9995980262756348, 6.569332599639893], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3691081670112908, "input_age_at_publish_s": 0.509109300095588, "vggt_debug_frame": "frames/00000284/frame.json"} +{"frame_idx": 286, "time_s": 72.08912706375122, "localized": true, "localized_streak": 114, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880528345141927, 0.09697273657971817, -1.4326115636120393], [-5.481595176395797, -0.1356592043953473, -1.4178837152072183], [-4.98493973930717, -0.19271083881479445, -1.409024993338432], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053], [-4.874498675442761, -0.20539740129713735, -1.4070550824480053]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56501331515472, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8599788804100086, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936493, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847236, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358004, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579222798347473, 0.1450168490409851], [-0.9024980068206787, 0.21503134071826935], [-1.385493516921997, 0.08574359863996506], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762]], "goal_body": [-1.4901005172072594, 0.11263830203022662], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10783163964662033, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7228471685109764, "remaining_m": 47.570219894871116, "total_m": 48.29306706338209, "selection_total_m": 48.29306706338209, "best_candidate_total_m": 48.29306706338209, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663280732542235, -0.38115623150361144], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579222798347473, 0.1450168490409851], [-0.9024980068206787, 0.21503134071826935], [-1.385493516921997, 0.08574359863996506], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762], [-1.4928970336914062, 0.05699395015835762]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996895790100098, -0.0169980525970459, 0.018217138946056366, -0.09233888983726501], [0.01737147942185402, 0.9996380805969238, -0.0205403883010149, -3.104797601699829], [-0.017861399799585342, 0.020850470289587975, 0.9996230602264404, 6.568872928619385], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3933563996106386, "input_age_at_publish_s": 0.41382277105003595, "vggt_debug_frame": "frames/00000286/frame.json"} +{"frame_idx": 287, "time_s": 72.35609984397888, "localized": true, "localized_streak": 115, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879779379492588, 0.09781795386659375, -1.4345706020272333], [-5.480923133950469, -0.13495593718040588, -1.4200094306460556], [-4.984287551757793, -0.19218645110052535, -1.4111903545758169], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316], [-4.8738615481437915, -0.2049115521303424, -1.409229449232316]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56448011315585, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.756406732050585, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364917, 0.9157890531050256, 0.02725580518264792], [-0.9998133703933499, -0.015519242036847458, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409431, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457956850528717, 0.14500154554843903], [-0.9025057554244995, 0.21498677134513855], [-1.3854953050613403, 0.0856766477227211], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608]], "goal_body": [-1.4900775636592203, 0.11244317649787594], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10899784552677899, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7222714489234647, "remaining_m": 47.570219894871116, "total_m": 48.29249134379458, "selection_total_m": 48.29249134379458, "best_candidate_total_m": 48.29249134379458, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663179395878203, -0.3812328859595484], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457956850528717, 0.14500154554843903], [-0.9025057554244995, 0.21498677134513855], [-1.3854953050613403, 0.0856766477227211], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608], [-1.4928871393203735, 0.05692478269338608]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996851086616516, -0.01655219867825508, 0.018860403448343277, -0.09196688234806061], [0.016943838447332382, 0.9996401071548462, -0.020798062905669212, -3.102921724319458], [-0.018509361892938614, 0.021111080422997475, 0.9996057748794556, 6.568910598754883], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.446849605999887, "input_age_at_publish_s": 0.6215937263332307, "vggt_debug_frame": "frames/00000287/frame.json"} +{"frame_idx": 289, "time_s": 72.82367777824402, "localized": true, "localized_streak": 116, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880226831226832, 0.09841888989368197, -1.4334674133658478], [-5.517079553578487, -0.19846166963232914, -1.4167240585067595], [-5.021958788940459, -0.2584022017861365, -1.40779910389081], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424], [-4.952670627658401, -0.2663850901901412, -1.4065664698923424]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564137909804774, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8950781125721683, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.99981337039335, -0.01551924203684732, -0.011505542546600023, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409433, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578808546066284, 0.1450270116329193], [-0.8928905129432678, 0.2878337502479553], [-1.3754805326461792, 0.16164357960224152], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996]], "goal_body": [-1.489971496182354, 0.11328101038149208], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10909336772247125, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7230543921022669, "remaining_m": 47.570219894871116, "total_m": 48.293274286973386, "selection_total_m": 48.293274286973386, "best_candidate_total_m": 48.293274286973386, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663876617352303, -0.3809508338068921], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44578808546066284, 0.1450270116329193], [-0.8928905129432678, 0.2878337502479553], [-1.3754805326461792, 0.16164357960224152], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996], [-1.4428658485412598, 0.14360710978507996]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996851086616516, -0.01676281727850437, 0.018672840669751167, -0.09123218804597855], [0.017148619517683983, 0.9996387362480164, -0.020696287974715233, -3.104160785675049], [-0.01831916533410549, 0.021009983494877815, 0.9996114373207092, 6.569147109985352], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36968881310895085, "input_age_at_publish_s": 0.49414481967687607, "vggt_debug_frame": "frames/00000289/frame.json"} +{"frame_idx": 291, "time_s": 73.35797262191772, "localized": true, "localized_streak": 117, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88580517759913, 0.10059759714943972, -1.4356984950049188], [-5.5225684619793896, -0.19616313668659124, -1.4187705451628871], [-5.027429613277361, -0.25594089323241054, -1.409685776024045], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055], [-4.958143897038672, -0.2639008968146701, -1.4084309548396055]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.567176362220437, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8242850975712778, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364917, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.01551924203684732, -0.011505542546599967, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409433, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579464197158813, 0.14500479400157928], [-0.8929049968719482, 0.28778693079948425], [-1.375488519668579, 0.16156670451164246], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914]], "goal_body": [-1.4900047521759805, 0.1138328884786286], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11219879681246325, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7297005288287484, "remaining_m": 47.570219894871116, "total_m": 48.29992042369987, "selection_total_m": 48.29992042369987, "best_candidate_total_m": 48.29992042369987, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66440927241993, -0.3806057171131093], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579464197158813, 0.14500479400157928], [-0.8929049968719482, 0.28778693079948425], [-1.375488519668579, 0.16156670451164246], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914], [-1.4428683519363403, 0.14352771639823914]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996902942657471, -0.01678423210978508, 0.018375076353549957, -0.09108860045671463], [0.017157122492790222, 0.9996461272239685, -0.020327197387814522, -3.1048731803894043], [-0.018027398735284805, 0.020636165514588356, 0.999624490737915, 6.576075553894043], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3635004432871938, "input_age_at_publish_s": 0.3701561549678445, "vggt_debug_frame": "frames/00000291/frame.json"} +{"frame_idx": 292, "time_s": 73.62482285499573, "localized": true, "localized_streak": 118, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88260200964881, 0.0991476218056615, -1.4333994203526044], [-5.483721094725, -0.13356184674920524, -1.418485453623285], [-4.98708289413069, -0.19071121339745378, -1.4092963985158207], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863], [-4.876651867969574, -0.20341878266900704, -1.4072531468499863]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566458237900157, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8143429654731653, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.40163650569364906, 0.9157890531050255, 0.027255805182648807], [-0.99981337039335, -0.015519242036847264, -0.011505542546599912, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580015540122986, 0.1449897587299347], [-0.9025112986564636, 0.21496856212615967], [-1.385498046875, 0.08564808964729309], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096]], "goal_body": [-1.4900950404399116, 0.11277840217323765], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1095709328947835, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7263016872301625, "remaining_m": 47.570219894871116, "total_m": 48.29652158210128, "selection_total_m": 48.29652158210128, "best_candidate_total_m": 48.29652158210128, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663492414563201, -0.3810406908373698], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580015540122986, 0.1449897587299347], [-0.9025112986564636, 0.21496856212615967], [-1.385498046875, 0.08564808964729309], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096], [-1.4928935766220093, 0.056892767548561096]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996880888938904, -0.01652313582599163, 0.01872868463397026, -0.09175382554531097], [0.01689782179892063, 0.999656617641449, -0.020027564838528633, -3.105458974838257], [-0.018391337245702744, 0.020337792113423347, 0.9996240139007568, 6.572269916534424], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3627280266955495, "input_age_at_publish_s": 0.4887365107424557, "vggt_debug_frame": "frames/00000292/frame.json"} +{"frame_idx": 293, "time_s": 73.85832571983337, "localized": true, "localized_streak": 119, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881833959543005, 0.09865715762273375, -1.4327823586895967], [-5.518469520533062, -0.1979433663195591, -1.415788671147006], [-5.023308707755701, -0.2575083124134565, -1.406623050242152], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204], [-4.954012081312316, -0.2654386829874209, -1.4053568107199204]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56589468510249, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8157235102182196, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936492, 0.9157890531050256, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847125, -0.011505542546599856, -0.0012976112942677531], [0.01883339787435806, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457932412624359, 0.14501245319843292], [-0.8928998708724976, 0.28780609369277954], [-1.375485897064209, 0.1616041213274002], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566]], "goal_body": [-1.4900115017930031, 0.11374617713689783], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1089347823300455, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7253000110176914, "remaining_m": 47.570219894871116, "total_m": 48.29551990588881, "selection_total_m": 48.29551990588881, "best_candidate_total_m": 48.29551990588881, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664300590323503, -0.38066764905794676], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457932412624359, 0.14501245319843292], [-0.8928998708724976, 0.28780609369277954], [-1.375485897064209, 0.1616041213274002], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566], [-1.4428735971450806, 0.1435648798942566]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997014403343201, -0.016558317467570305, 0.017968297004699707, -0.09180571138858795], [0.01692006178200245, 0.9996533989906311, -0.020170556381344795, -3.1055891513824463], [-0.017628077417612076, 0.020468557253479958, 0.9996351003646851, 6.57113790512085], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36448623705655336, "input_age_at_publish_s": 0.6080048391595483, "vggt_debug_frame": "frames/00000293/frame.json"} +{"frame_idx": 295, "time_s": 74.35861372947693, "localized": true, "localized_streak": 120, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882567792175139, 0.09803883404395553, -1.4333213236973463], [-5.483653139388051, -0.1346339145932598, -1.4187404901547733], [-4.987003372102781, -0.19173274237657978, -1.409867735010776], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644], [-4.876568750934016, -0.20442918574655788, -1.4078947968419644]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566927811869146, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7147365437012829, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.40163650569364917, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847236, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457952678203583, 0.1450052410364151], [-0.9025037884712219, 0.21500122547149658], [-1.3854951858520508, 0.08569807559251785], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268]], "goal_body": [-1.490257282692483, 0.11167561251932567], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10798109163580398, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7247635996018729, "remaining_m": 47.570219894871116, "total_m": 48.29498349447299, "selection_total_m": 48.29498349447299, "best_candidate_total_m": 48.29498349447299, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662408634212099, -0.3814761066814756], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457952678203583, 0.1450052410364151], [-0.9025037884712219, 0.21500122547149658], [-1.3854951858520508, 0.08569807559251785], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268], [-1.4928927421569824, 0.05694633349776268]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999692976474762, -0.016287043690681458, 0.018674388527870178, -0.09308803826570511], [0.016673535108566284, 0.9996460676193237, -0.020730961114168167, -3.105292558670044], [-0.018330134451389313, 0.021035965532064438, 0.9996106624603271, 6.570899963378906], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36611461779102683, "input_age_at_publish_s": 0.4773243651725352, "vggt_debug_frame": "frames/00000295/frame.json"} +{"frame_idx": 296, "time_s": 74.62515759468079, "localized": true, "localized_streak": 121, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882610643003908, 0.0986171008094443, -1.4339811292394038], [-5.483731105201294, -0.1341132016944364, -1.4193565851937744], [-4.987090691735492, -0.19128040975030558, -1.410402604221045], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452], [-4.876655462313664, -0.20399239012897397, -1.4084115553810452]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566860168564858, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7932933627251177, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.4016365056936494, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847541, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579601287841797, 0.1450040638446808], [-0.9025042653083801, 0.2150021493434906], [-1.385495662689209, 0.08569910377264023], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526]], "goal_body": [-1.4902218966355316, 0.11185175420171489], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10877492497616904, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7252573659039416, "remaining_m": 47.570219894871116, "total_m": 48.29547726077506, "selection_total_m": 48.29547726077506, "best_candidate_total_m": 48.29547726077506, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662580049662225, -0.3814214517796673], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579601287841797, 0.1450040638446808], [-0.9025042653083801, 0.2150021493434906], [-1.385495662689209, 0.08569910377264023], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526], [-1.4928958415985107, 0.056946706026792526]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.99969083070755, -0.01619124598801136, 0.018870055675506592, -0.09270941466093063], [0.016579585149884224, 0.9996501207351685, -0.020608287304639816, -3.1048455238342285], [-0.018529780209064484, 0.020914774388074875, 0.9996095299720764, 6.571544170379639], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37395082600414753, "input_age_at_publish_s": 0.6103381728753448, "vggt_debug_frame": "frames/00000296/frame.json"} +{"frame_idx": 298, "time_s": 75.09155893325806, "localized": true, "localized_streak": 122, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882804113739141, 0.09871740598580736, -1.4339275403597853], [-5.519562597971277, -0.1980394679837243, -1.4170355321587096], [-5.02442266086396, -0.25781362166474686, -1.408013235659928], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513], [-4.955135016435467, -0.26577317438469894, -1.4067671463961513]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56593749852393, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8653645892685321, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361931, -0.40163650569364917, 0.9157890531050256, 0.027255805182649695], [-0.99981337039335, -0.015519242036847292, -0.011505542546600467, -0.0012976112942659768], [0.018833397874358115, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579017162323, 0.14501920342445374], [-0.8928956389427185, 0.2878165543079376], [-1.3754832744598389, 0.16161400079727173], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764]], "goal_body": [-1.4900466994779606, 0.1132551143947561], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10974687139613971, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7258930821623845, "remaining_m": 47.570219894871116, "total_m": 48.2961129770335, "selection_total_m": 48.2961129770335, "best_candidate_total_m": 48.2961129770335, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663843044696382, -0.3808820832865876], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579017162323, 0.14501920342445374], [-0.8928956389427185, 0.2878165543079376], [-1.3754832744598389, 0.16161400079727173], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764], [-1.4428653717041016, 0.14357687532901764]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996907114982605, -0.01684112846851349, 0.018300184980034828, -0.09171345084905624], [0.017214421182870865, 0.9996429681777954, -0.02043602056801319, -3.1048855781555176], [-0.017949486151337624, 0.020744727924466133, 0.9996236562728882, 6.5720415115356445], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36707931384444237, "input_age_at_publish_s": 0.48422655183821917, "vggt_debug_frame": "frames/00000298/frame.json"} +{"frame_idx": 299, "time_s": 75.32486271858215, "localized": true, "localized_streak": 123, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8814100765511, 0.09711850256279231, -1.4323494552757718], [-5.482479813380214, -0.1355184282149171, -1.4176217364741621], [-4.985827217686943, -0.1925688545987354, -1.4085988311442947], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897], [-4.875385841439051, -0.2052552468396618, -1.406592394104897]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566932890920516, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7354294683924496, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361931, -0.4016365056936492, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847375, -0.011505542546600245, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409434, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457970857620239, 0.14500229060649872], [-0.9025049805641174, 0.21500302851200104], [-1.3854963779449463, 0.08569998294115067], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014]], "goal_body": [-1.4903063376207337, 0.11131389647716827], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10691366459683531, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7236578600610875, "remaining_m": 47.570219894871116, "total_m": 48.293877754932204, "selection_total_m": 48.293877754932204, "best_candidate_total_m": 48.293877754932204, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66207415726831, -0.38162090974856616], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457970857620239, 0.14500229060649872], [-0.9025049805641174, 0.21500302851200104], [-1.3854963779449463, 0.08569998294115067], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014], [-1.4928998947143555, 0.05694667622447014]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996949434280396, -0.016275599598884583, 0.018576914444565773, -0.09356190264225006], [0.016654253005981445, 0.9996529221534729, -0.020413629710674286, -3.1055774688720703], [-0.01823822222650051, 0.02071678638458252, 0.9996190071105957, 6.569669246673584], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38575108582153916, "input_age_at_publish_s": 0.6227214159443974, "vggt_debug_frame": "frames/00000299/frame.json"} +{"frame_idx": 301, "time_s": 75.85924339294434, "localized": true, "localized_streak": 124, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8832684565798505, 0.09826493187896634, -1.4323977301256554], [-5.484460954809476, -0.1345625562392163, -1.4173633665295269], [-4.987843025814199, -0.19185604583593197, -1.4079762326234855], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503], [-4.877415443403057, -0.20459578062331563, -1.4058889167839503]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.568174824873804, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7902490202005708, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361765, -0.4016365056936492, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.015519242036847347, -0.011505542546600689, -0.0012976112942677531], [0.01883339787435845, -0.9156676637409431, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458003044128418, 0.1449897140264511], [-0.9025112390518188, 0.21496982872486115], [-1.3854981660842896, 0.08564984798431396], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824]], "goal_body": [-1.490343846636234, 0.11092225422267366], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10815455893215294, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7266658383942505, "remaining_m": 47.570219894871116, "total_m": 48.29688573326536, "selection_total_m": 48.29688573326536, "best_candidate_total_m": 48.29688573326536, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66175987512093, -0.38175539753067456], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458003044128418, 0.1449897140264511], [-0.9025112390518188, 0.21496982872486115], [-1.3854981660842896, 0.08564984798431396], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824], [-1.4928947687149048, 0.05689435452222824]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996834397315979, -0.016336709260940552, 0.01913437992334366, -0.0931171402335167], [0.016713667660951614, 0.9996660351753235, -0.019709207117557526, -3.1065640449523926], [-0.018806006759405136, 0.020022772252559662, 0.999622642993927, 6.572478294372559], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3845156729221344, "input_age_at_publish_s": 0.5135256159119308, "vggt_debug_frame": "frames/00000301/frame.json"} +{"frame_idx": 303, "time_s": 76.36005592346191, "localized": true, "localized_streak": 125, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8812484866265375, 0.09689050739964866, -1.4318668309909097], [-5.482506852616575, -0.13605470206991832, -1.4169040247848572], [-4.985902082061759, -0.19349149014840528, -1.4076988215770665], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837], [-4.8754690475858755, -0.20626404825825695, -1.405651804793837]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566404487027718, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.900954698579305, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936493, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847347, -0.011505542546600467, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409432, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457940459251404, 0.14501263201236725], [-0.9024999141693115, 0.21502694487571716], [-1.3854947090148926, 0.08573636412620544], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026]], "goal_body": [-1.4902949509787915, 0.11084642991569471], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10735401902037438, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.723954187225046, "remaining_m": 47.570219894871116, "total_m": 48.29417408209616, "selection_total_m": 48.29417408209616, "best_candidate_total_m": 48.29417408209616, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66164168909483, -0.38188373549612875], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457940459251404, 0.14501263201236725], [-0.9024999141693115, 0.21502694487571716], [-1.3854947090148926, 0.08573636412620544], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026], [-1.4929012060165405, 0.056985218077898026]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996742010116577, -0.016905277967453003, 0.019124167039990425, -0.0928911417722702], [0.017286527901887894, 0.9996515512466431, -0.019949104636907578, -3.1058382987976074], [-0.018780259415507317, 0.02027319371700287, 0.9996180534362793, 6.569769859313965], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3622135166078806, "input_age_at_publish_s": 0.3770969216711819, "vggt_debug_frame": "frames/00000303/frame.json"} +{"frame_idx": 304, "time_s": 76.59322214126587, "localized": true, "localized_streak": 126, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880821322376654, 0.09545932774252819, -1.432467289376578], [-5.481978568974762, -0.1373237792804094, -1.417677462537674], [-4.985346698715034, -0.19455696920939491, -1.4086731627650344], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995], [-4.874906217047954, -0.20728443893281323, -1.4066707954030995]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566784256988853, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8293759950022801, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364917, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933498, -0.015519242036847541, -0.0115055425465998, -0.0012976112942695295], [0.018833397874358226, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579175114631653, 0.14502030611038208], [-0.9024961590766907, 0.21504418551921844], [-1.385493278503418, 0.0857626423239708], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649]], "goal_body": [-1.4904138721455475, 0.11023342833243832], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10634728232285044, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7224744979388539, "remaining_m": 47.570219894871116, "total_m": 48.29269439280997, "selection_total_m": 48.29269439280997, "best_candidate_total_m": 48.29269439280997, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.661027010351335, -0.38210092928076256], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579175114631653, 0.14502030611038208], [-0.9024961590766907, 0.21504418551921844], [-1.385493278503418, 0.0857626423239708], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649], [-1.4929016828536987, 0.05701315775513649]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996840953826904, -0.01679391786456108, 0.018698852509260178, -0.09418542683124542], [0.017173785716295242, 0.9996455311775208, -0.020343201234936714, -3.1048665046691895], [-0.01835058256983757, 0.02065790630877018, 0.9996181726455688, 6.568770408630371], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3805233668535948, "input_age_at_publish_s": 0.5159967900253832, "vggt_debug_frame": "frames/00000304/frame.json"} +{"frame_idx": 306, "time_s": 77.1260998249054, "localized": true, "localized_streak": 127, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878029965839435, 0.09650334102679281, -1.432977144827679], [-5.479057536076757, -0.13607727693243277, -1.4185084431873278], [-4.982391265613861, -0.19306612845504034, -1.4098554831579746], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484], [-4.871954719473818, -0.20573791946972797, -1.4079314487584484]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.563586484651577, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.796668530413675, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364934, 0.9157890531050255, 0.02725580518264703], [-0.9998133703933499, -0.015519242036847264, -0.011505542546600078, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579094648361206, 0.14501772820949554], [-0.9024978280067444, 0.2150241881608963], [-1.3854925632476807, 0.085733562707901], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549]], "goal_body": [-1.4900540773341515, 0.11277537617524358], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10719332841883528, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7197541954806761, "remaining_m": 47.570219894871116, "total_m": 48.28997409035179, "selection_total_m": 48.28997409035179, "best_candidate_total_m": 48.28997409035179, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663426589878943, -0.38111695499703907], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579094648361206, 0.14501772820949554], [-0.9024978280067444, 0.2150241881608963], [-1.3854925632476807, 0.085733562707901], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549], [-1.492889165878296, 0.05698506161570549]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996952414512634, -0.016628911718726158, 0.018244460225105286, -0.09241718053817749], [0.01701214350759983, 0.9996335506439209, -0.021055301651358604, -3.103364944458008], [-0.017887648195028305, 0.021359262987971306, 0.9996118545532227, 6.566079616546631], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3657888197340071, "input_age_at_publish_s": 0.3893480901606381, "vggt_debug_frame": "frames/00000306/frame.json"} +{"frame_idx": 307, "time_s": 77.32601046562195, "localized": true, "localized_streak": 128, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878357251465109, 0.09679808887798469, -1.4343557457207592], [-5.479399566787614, -0.13581540960294713, -1.420004816616544], [-4.982735420321211, -0.19283471268125485, -1.4114310304479167], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187], [-4.872290178822778, -0.20551432660265778, -1.4095244425699187]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56375770577437, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.818456389358413, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.4016365056936489, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847292, -0.011505542546600023, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445800244808197, 0.1449931561946869], [-0.902509331703186, 0.21498624980449677], [-1.385498285293579, 0.08567401021718979], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795]], "goal_body": [-1.4900789815512707, 0.11255137987622854], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1078931364624268, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7199600125297116, "remaining_m": 47.570219894871116, "total_m": 48.29017990740083, "selection_total_m": 48.29017990740083, "best_candidate_total_m": 48.29017990740083, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663285798281725, -0.38118785692624013], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445800244808197, 0.1449931561946869], [-0.902509331703186, 0.21498624980449677], [-1.385498285293579, 0.08567401021718979], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795], [-1.4929025173187256, 0.05691831558942795]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996945858001709, -0.01646323688328266, 0.01843242347240448, -0.09251820296049118], [0.016854507848620415, 0.9996315240859985, -0.02127707377076149, -3.1023216247558594], [-0.01807534322142601, 0.021581243723630905, 0.9996036887168884, 6.566728591918945], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36846977612003684, "input_age_at_publish_s": 0.5091766701079905, "vggt_debug_frame": "frames/00000307/frame.json"} +{"frame_idx": 309, "time_s": 77.86025404930115, "localized": true, "localized_streak": 129, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.876510055840743, 0.09674342238276701, -1.4334076933207898], [-5.5132006056973175, -0.1999564686673736, -1.4169821080502127], [-5.018045207301183, -0.2596524468182544, -1.4084404167281428], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572], [-4.94874644523888, -0.26760126167148535, -1.4072612785341572]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56185900285295, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7931165466482315, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936492, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847292, -0.011505542546600078, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579967856407166, 0.14499375224113464], [-0.8929119110107422, 0.2877698838710785], [-1.3754926919937134, 0.16155095398426056], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931]], "goal_body": [-1.4899021353019108, 0.11363075966875669], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10766057130582908, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7180980427100723, "remaining_m": 47.570219894871116, "total_m": 48.28831793758119, "selection_total_m": 48.28831793758119, "best_candidate_total_m": 48.28831793758119, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664309577280239, -0.38079737111509293], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579967856407166, 0.14499375224113464], [-0.8929119110107422, 0.2877698838710785], [-1.3754926919937134, 0.16155095398426056], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931], [-1.4428822994232178, 0.1435084193944931]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996947050094604, -0.01669047772884369, 0.01822013407945633, -0.09159475564956665], [0.01708027347922325, 0.9996239542961121, -0.021452032029628754, -3.1023306846618652], [-0.017855238169431686, 0.02175668627023697, 0.9996038675308228, 6.564530849456787], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36818307591602206, "input_age_at_publish_s": 0.38616287615150213, "vggt_debug_frame": "frames/00000309/frame.json"} +{"frame_idx": 310, "time_s": 78.12738561630249, "localized": true, "localized_streak": 130, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881526372381967, 0.09881093164639054, -1.4350045146717454], [-5.482562814769229, -0.1337919037532762, -1.4206467409169927], [-4.985899471449073, -0.1907979134234239, -1.4119415059706801], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752], [-4.875460119617413, -0.2034739243694137, -1.4100057870479752]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565882429862892, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7354294683924496, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364934, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933502, -0.01551924203684743, -0.011505542546600078, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457920789718628, 0.14501574635505676], [-0.9024986624717712, 0.21502457559108734], [-1.385493278503418, 0.08573367446660995], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804]], "goal_body": [-1.4901313646718322, 0.11259647286835939], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10899080349679832, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.723774491657993, "remaining_m": 47.570219894871116, "total_m": 48.29399438652911, "selection_total_m": 48.29399438652911, "best_candidate_total_m": 48.29399438652911, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663235803010242, -0.38114266323159707], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457920789718628, 0.14501574635505676], [-0.9024986624717712, 0.21502457559108734], [-1.385493278503418, 0.08573367446660995], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804], [-1.4928932189941406, 0.05698421970009804]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997005462646484, -0.015880148857831955, 0.018619129434227943, -0.09253828227519989], [0.01627349853515625, 0.9996434450149536, -0.021168379113078117, -3.103499412536621], [-0.018276335671544075, 0.021465038880705833, 0.9996025562286377, 6.5704240798950195], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3734233630821109, "input_age_at_publish_s": 0.5157523239031434, "vggt_debug_frame": "frames/00000310/frame.json"} +{"frame_idx": 312, "time_s": 78.62815570831299, "localized": true, "localized_streak": 131, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284840056999423, 0.460791690562838, -0.14227522356675398], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882142658188823, 0.09818468957315662, -1.4354335879329712], [-5.483267772362789, -0.13456203296330482, -1.420946095396524], [-4.986625220740697, -0.19175859448391108, -1.41230475647977], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938], [-4.876193358590776, -0.2044766641074709, -1.4103832948173938]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56512048286105, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8076121140727966, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364895, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847125, -0.011505542546600411, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579339027404785, 0.14501039683818817], [-0.9025013446807861, 0.21501003205776215], [-1.3854939937591553, 0.08571173250675201], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936]], "goal_body": [-1.4900705204174183, 0.1127443909144007], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1100227280268359, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7243669813939405, "remaining_m": 47.570219894871116, "total_m": 48.29458687626506, "selection_total_m": 48.29458687626506, "best_candidate_total_m": 48.29458687626506, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66341319287588, -0.3811084865195874], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579339027404785, 0.14501039683818817], [-0.9025013446807861, 0.21501003205776215], [-1.3854939937591553, 0.08571173250675201], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936], [-1.49289071559906, 0.05696139484643936]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996837377548218, -0.016954882070422173, 0.018573712557554245, -0.09184886515140533], [0.017344800755381584, 0.9996282458305359, -0.02103702910244465, -3.1030807495117188], [-0.01821012794971466, 0.021352531388401985, 0.9996061325073242, 6.571106910705566], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36642521200701594, "input_age_at_publish_s": 0.3876566579565406, "vggt_debug_frame": "frames/00000312/frame.json"} +{"frame_idx": 313, "time_s": 78.86182904243469, "localized": true, "localized_streak": 132, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.887964702619808, 0.10129372697680417, -1.436015978045726], [-5.5247221287706, -0.19545751030473113, -1.419047998485344], [-5.029585578475544, -0.2552289797283871, -1.4099301385733862], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772], [-4.9602912886766966, -0.2631882678200581, -1.4086705854688772]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.568383636025462, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8486618142619015, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364906, 0.9157890531050253, 0.027255805182650583], [-0.9998133703933498, -0.015519242036847264, -0.0115055425466003, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457991123199463, 0.14499472081661224], [-0.8929113149642944, 0.28777092695236206], [-1.3754923343658447, 0.16155081987380981], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817]], "goal_body": [-1.4900454342275573, 0.11377619561794983], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11300418400679202, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7320536709373017, "remaining_m": 47.570219894871116, "total_m": 48.30227356580842, "selection_total_m": 48.30227356580842, "best_candidate_total_m": 48.30227356580842, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664362525728588, -0.380598936277858], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457991123199463, 0.14499472081661224], [-0.8929113149642944, 0.28777092695236206], [-1.3754923343658447, 0.16155081987380981], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817], [-1.4428801536560059, 0.14350873231887817]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996902346611023, -0.016814565286040306, 0.018350351601839066, -0.0911540612578392], [0.01718553714454174, 0.9996472597122192, -0.020249078050255775, -3.105602741241455], [-0.018003400415182114, 0.02055816538631916, 0.9996265769004822, 6.578363418579102], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39293352887034416, "input_age_at_publish_s": 0.539704950992018, "vggt_debug_frame": "frames/00000313/frame.json"} +{"frame_idx": 315, "time_s": 79.36248898506165, "localized": true, "localized_streak": 133, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8807773997671, 0.0977372678984123, -1.4344875165950774], [-5.481815286152363, -0.1348579127041285, -1.4199685829798636], [-4.985153293859794, -0.19186223271441705, -1.4111724293714336], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002], [-4.874718431375671, -0.204537372867307, -1.4092165682941002]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56565008571075, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.730943154827677, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.401636505693649, 0.9157890531050256, 0.02725580518264703], [-0.9998133703933499, -0.015519242036847264, -0.011505542546600356, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409432, -0.4014947480400073, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579675793647766, 0.14499950408935547], [-0.9025066494941711, 0.2149863988161087], [-1.3854960203170776, 0.08567564189434052], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176]], "goal_body": [-1.4901584178429876, 0.1123101205619279], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10848962629178022, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7230139925860182, "remaining_m": 47.570219894871116, "total_m": 48.293233887457134, "selection_total_m": 48.293233887457134, "best_candidate_total_m": 48.293233887457134, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663027222460665, -0.3812315976424363], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579675793647766, 0.14499950408935547], [-0.9025066494941711, 0.2149863988161087], [-1.3854960203170776, 0.08567564189434052], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176], [-1.49289071559906, 0.056922849267721176]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996967911720276, -0.016259171068668365, 0.01849355921149254, -0.09276493638753891], [0.016644470393657684, 0.9996435642242432, -0.020874768495559692, -3.1034460067749023], [-0.018147561699151993, 0.021176252514123917, 0.9996110200881958, 6.569658279418945], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3831770601682365, "input_age_at_publish_s": 0.43007658841088414, "vggt_debug_frame": "frames/00000315/frame.json"} +{"frame_idx": 316, "time_s": 79.62920427322388, "localized": true, "localized_streak": 134, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284152311282671, 0.46047376538549, -0.14015454242976705], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881020234224661, 0.09784235762289928, -1.4331711930443545], [-5.482178058188018, -0.13495180087412972, -1.4185418925937847], [-4.985544323891118, -0.19219847821934088, -1.4097220284898615], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201], [-4.8751038430435125, -0.20492888343994142, -1.407760683762201]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564959743774057, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8021589836922433, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361931, -0.4016365056936492, 0.9157890531050256, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847375, -0.011505542546600411, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579750299453735, 0.14500242471694946], [-0.9025047421455383, 0.21500754356384277], [-1.385496735572815, 0.0857064500451088], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365]], "goal_body": [-1.4900927350317728, 0.11243667112188249], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10850261017109769, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7234253050316679, "remaining_m": 47.570219894871116, "total_m": 48.293645199902784, "selection_total_m": 48.293645199902784, "best_candidate_total_m": 48.293645199902784, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663149733204596, -0.38125026998155065], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579750299453735, 0.14500242471694946], [-0.9025047421455383, 0.21500754356384277], [-1.385496735572815, 0.0857064500451088], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365], [-1.4929035902023315, 0.05695271119475365]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996821284294128, -0.016878874972462654, 0.018729524686932564, -0.09192032366991043], [0.017266014590859413, 0.9996365308761597, -0.020704537630081177, -3.1046435832977295], [-0.01837324909865856, 0.021021340042352676, 0.999610185623169, 6.56948709487915], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3844956583343446, "input_age_at_publish_s": 0.5733862509950995, "vggt_debug_frame": "frames/00000316/frame.json"} +{"frame_idx": 318, "time_s": 80.12930107116699, "localized": true, "localized_streak": 135, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878040940165822, 0.09469458537303144, -1.431429594314669], [-5.47904321804553, -0.13783373072500815, -1.4168156525425406], [-4.982370319206553, -0.19475604888177234, -1.4080996014077276], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954], [-4.871925001039458, -0.207413854352839, -1.4061614114079954]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564388185454916, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.86042139250437, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050258, 0.027255805182650583], [-0.9998133703933502, -0.01551924203684768, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579780101776123, 0.14499987661838531], [-0.9025061130523682, 0.2149975597858429], [-1.3854968547821045, 0.08569163829088211], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598]], "goal_body": [-1.4902177756943997, 0.11170293498342598], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10541052074322388, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7191651538590546, "remaining_m": 47.570219894871116, "total_m": 48.28938504873017, "selection_total_m": 48.28938504873017, "best_candidate_total_m": 48.28938504873017, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66246305062831, -0.3814986777983075], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579780101776123, 0.14499987661838531], [-0.9025061130523682, 0.2149975597858429], [-1.3854968547821045, 0.08569163829088211], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598], [-1.4928996562957764, 0.0569378100335598]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996940493583679, -0.016995562240481377, 0.01797020062804222, -0.09360938519239426], [0.01736851967871189, 0.9996326565742493, -0.02080598846077919, -3.1044294834136963], [-0.017609991133213043, 0.021111737936735153, 0.9996220469474792, 6.565235614776611], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3834673915989697, "input_age_at_publish_s": 0.42841267492622137, "vggt_debug_frame": "frames/00000318/frame.json"} +{"frame_idx": 319, "time_s": 80.36274766921997, "localized": true, "localized_streak": 136, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.884010416177146, 0.09913549382523446, -1.4334820377203048], [-5.520637578529659, -0.1974526220317152, -1.4164514318344101], [-5.025477143350567, -0.2570048822972133, -1.4072604558929045], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971], [-4.956175496099167, -0.264933599085837, -1.405990623072971]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56721938425036, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7877475591251684, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050257, 0.027255805182650583], [-0.99981337039335, -0.01551924203684707, -0.01150554254660019, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409433, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579800963401794, 0.14499986171722412], [-0.8929079174995422, 0.28778326511383057], [-1.3754905462265015, 0.1615738868713379], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103]], "goal_body": [-1.4900778746431538, 0.113508261206693], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1097357174510425, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7275803020378114, "remaining_m": 47.570219894871116, "total_m": 48.29780019690893, "selection_total_m": 48.29780019690893, "best_candidate_total_m": 48.29780019690893, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664095031263061, -0.3807192595510178], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579800963401794, 0.14499986171722412], [-0.8929079174995422, 0.28778326511383057], [-1.3754905462265015, 0.1615738868713379], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103], [-1.4428825378417969, 0.14353185892105103]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999701201915741, -0.01660286821424961, 0.017939062789082527, -0.09206106513738632], [0.016962839290499687, 0.9996539950370789, -0.020103996619582176, -3.1059443950653076], [-0.017599070444703102, 0.02040228806436062, 0.9996369481086731, 6.5735273361206055], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3811431070789695, "input_age_at_publish_s": 0.6022948389872909, "vggt_debug_frame": "frames/00000319/frame.json"} +{"frame_idx": 321, "time_s": 80.8634774684906, "localized": true, "localized_streak": 137, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883111884503377, 0.09910130525353633, -1.4345273475274463], [-5.519877774833246, -0.19766510950847938, -1.4176433675752553], [-5.0247400092556855, -0.2574599235819699, -1.408727242589244], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332], [-4.955446814446519, -0.2654224992968519, -1.4074960409437332]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565258308690666, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8460910656334818, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.40163650569364917, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933499, -0.01551924203684743, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409431, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457845985889435, 0.14503879845142365], [-0.8928828835487366, 0.2878586947917938], [-1.375476360321045, 0.16168473660945892], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242]], "goal_body": [-1.489935824276049, 0.11403642618535215], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11071046775797178, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7263017981632569, "remaining_m": 47.570219894871116, "total_m": 48.29652169303437, "selection_total_m": 48.29652169303437, "best_candidate_total_m": 48.29652169303437, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664510465856358, -0.3806255383197171], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457845985889435, 0.14503879845142365], [-0.8928828835487366, 0.2878586947917938], [-1.375476360321045, 0.16168473660945892], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242], [-1.4428647756576538, 0.14364957809448242]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996883273124695, -0.017149973660707474, 0.018141193315386772, -0.09099472314119339], [0.01752229779958725, 0.9996349215507507, -0.020567866042256355, -3.104459524154663], [-0.017781833186745644, 0.02087933011353016, 0.9996238350868225, 6.572522163391113], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37714195530861616, "input_age_at_publish_s": 0.480684912763536, "vggt_debug_frame": "frames/00000321/frame.json"} +{"frame_idx": 322, "time_s": 81.1305365562439, "localized": true, "localized_streak": 138, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880788932007157, 0.0981688364506681, -1.434401093293978], [-5.4819117766222405, -0.13457464588323909, -1.4199251010567742], [-4.9852709635839485, -0.19176231903645302, -1.4111253918512427], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697], [-4.874841997395773, -0.20447809550012952, -1.40916876105697]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565499958480878, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7511190185222577, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.40163650569364917, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847541, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409431, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457905888557434, 0.14501804113388062], [-0.9024977684020996, 0.2150224894285202], [-1.3854923248291016, 0.08573125302791595], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395]], "goal_body": [-1.490157888898085, 0.11207985665257092], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10859739763450485, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7230648462327868, "remaining_m": 47.570219894871116, "total_m": 48.2932847411039, "selection_total_m": 48.2932847411039, "best_candidate_total_m": 48.2932847411039, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662773071230378, -0.3813722322207943], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457905888557434, 0.14501804113388062], [-0.9024977684020996, 0.2150224894285202], [-1.3854923248291016, 0.08573125302791595], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395], [-1.492887020111084, 0.056983113288879395]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996906518936157, -0.016179228201508522, 0.018889345228672028, -0.09249512106180191], [0.01657397858798504, 0.9996435046195984, -0.020931994542479515, -3.1036009788513184], [-0.018543947488069534, 0.02123858965933323, 0.9996024370193481, 6.569604873657227], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3806283427402377, "input_age_at_publish_s": 0.6235715411603451, "vggt_debug_frame": "frames/00000322/frame.json"} +{"frame_idx": 324, "time_s": 81.63119792938232, "localized": true, "localized_streak": 139, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882101296472554, 0.09750856062930513, -1.4345437352188652], [-5.483296710058585, -0.13535201958784615, -1.4199449799720518], [-4.986672134249197, -0.19268018367954376, -1.4111393899441957], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096], [-4.876233442340633, -0.20542872978731896, -1.4091812154120096]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56598040732488, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7365745949587129, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936494, 0.9157890531050253, 0.027255805182649695], [-0.99981337039335, -0.015519242036847403, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409432, -0.4014947480400075, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457927942276001, 0.1450170874595642], [-0.9024977087974548, 0.21503767371177673], [-1.3854939937591553, 0.0857527032494545], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508]], "goal_body": [-1.4902199720635183, 0.11155376339281464], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1089485424524407, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7242076568992823, "remaining_m": 47.570219894871116, "total_m": 48.2944275517704, "selection_total_m": 48.2944275517704, "best_candidate_total_m": 48.2944275517704, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662276887653652, -0.38160368143101075], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457927942276001, 0.1450170874595642], [-0.9024977087974548, 0.21503767371177673], [-1.3854939937591553, 0.0857527032494545], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508], [-1.4929020404815674, 0.0570024773478508]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996796250343323, -0.016853157430887222, 0.01888371631503105, -0.09263747930526733], [0.01724454015493393, 0.9996358156204224, -0.020758455619215965, -3.103804349899292], [-0.018526993691921234, 0.021077444776892662, 0.999606192111969, 6.570794582366943], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3837657291442156, "input_age_at_publish_s": 0.5114391818642616, "vggt_debug_frame": "frames/00000324/frame.json"} +{"frame_idx": 326, "time_s": 82.13181447982788, "localized": true, "localized_streak": 140, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.879428841903966, 0.09732239192059655, -1.4339626862638648], [-5.480450547002777, -0.13525806147140695, -1.4196524204443535], [-4.983780983227026, -0.19224198972968054, -1.4111560704705328], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282], [-4.873340041927312, -0.2049131085908238, -1.4092667964476282]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.563922141389632, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7584108806992179, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.40163650569364906, 0.9157890531050252, 0.02725580518264792], [-0.99981337039335, -0.015519242036847347, -0.011505542546600245, -0.0012976112942677531], [0.018833397874358393, -0.915667663740943, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457908868789673, 0.14501953125], [-0.9024968147277832, 0.2150326520204544], [-1.3854926824569702, 0.08574608713388443], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504]], "goal_body": [-1.4900351996827148, 0.11303118080613561], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10805060992679506, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7210001923006583, "remaining_m": 47.570219894871116, "total_m": 48.29122008717177, "selection_total_m": 48.29122008717177, "best_candidate_total_m": 48.29122008717177, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663648473057147, -0.3810145531645589], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457908868789673, 0.14501953125], [-0.9024968147277832, 0.2150326520204544], [-1.3854926824569702, 0.08574608713388443], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504], [-1.492893099784851, 0.05699753761291504]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996962547302246, -0.016563918441534042, 0.01824902556836605, -0.09222059696912766], [0.016953319311141968, 0.9996273517608643, -0.021394265815615654, -3.1031644344329834], [-0.01788785122334957, 0.0216971505433321, 0.9996045231819153, 6.567478656768799], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3720111227594316, "input_age_at_publish_s": 0.3919606930576265, "vggt_debug_frame": "frames/00000326/frame.json"} +{"frame_idx": 327, "time_s": 82.36538338661194, "localized": true, "localized_streak": 141, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.882086090740209, 0.09724895068675643, -1.4339116359560027], [-5.483204745309218, -0.13547290380468802, -1.4192006241608994], [-4.986562039418351, -0.1926351816738201, -1.410345851951027], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725], [-4.876123047372464, -0.20534644757504594, -1.4083768053091725]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565956226351226, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8248220398599545, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.40163650569364917, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847486, -0.0115055425465998, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409432, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4458009600639343, 0.14499036967754364], [-0.9025107622146606, 0.21497869491577148], [-1.3854986429214478, 0.08566270768642426], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869]], "goal_body": [-1.4901859474450958, 0.11199031725604103], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10873621449146556, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7243705692911941, "remaining_m": 47.570219894871116, "total_m": 48.29459046416231, "selection_total_m": 48.29459046416231, "best_candidate_total_m": 48.29459046416231, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662756131098593, -0.381369206339763], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4458009600639343, 0.14499036967754364], [-0.9025107622146606, 0.21497869491577148], [-1.3854986429214478, 0.08566270768642426], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869], [-1.4929012060165405, 0.05690659210085869]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996833801269531, -0.01705361343920231, 0.01850016787648201, -0.09259182959794998], [0.017433376982808113, 0.9996365308761597, -0.02056422084569931, -3.104313611984253], [-0.01814274862408638, 0.020880229771137238, 0.999617338180542, 6.570765495300293], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36830301489681005, "input_age_at_publish_s": 0.5159999709576368, "vggt_debug_frame": "frames/00000327/frame.json"} +{"frame_idx": 329, "time_s": 82.86536073684692, "localized": true, "localized_streak": 142, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881908285360254, 0.10009366165648803, -1.4347370746797274], [-5.518580570635777, -0.196568343111867, -1.4180341360620878], [-5.0234300727801555, -0.2562154863334749, -1.4090337821556138], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085], [-4.954122622889353, -0.26415762757179184, -1.4077902254659085]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565338552075143, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8132972377356514, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364934, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847541, -0.011505542546600078, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579941034317017, 0.14499850571155548], [-0.8929086327552795, 0.28778403997421265], [-1.3754911422729492, 0.1615820974111557], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423]], "goal_body": [-1.4899217573937822, 0.11424388743683733], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11043143490906496, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7254961742738735, "remaining_m": 47.570219894871116, "total_m": 48.29571606914499, "selection_total_m": 48.29571606914499, "best_candidate_total_m": 48.29571606914499, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664807749115521, -0.38049641064214623], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579941034317017, 0.14499850571155548], [-0.8929086327552795, 0.28778403997421265], [-1.3754911422729492, 0.1615820974111557], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423], [-1.4428898096084595, 0.14353863894939423]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997016787528992, -0.016135957092046738, 0.018336765468120575, -0.09110717475414276], [0.016513895243406296, 0.9996503591537476, -0.020649829879403114, -3.104123830795288], [-0.017997149378061295, 0.020946482196450233, 0.9996185898780823, 6.571796417236328], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3638251246884465, "input_age_at_publish_s": 0.38401693291962147, "vggt_debug_frame": "frames/00000329/frame.json"} +{"frame_idx": 330, "time_s": 83.13201236724854, "localized": true, "localized_streak": 143, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881882632112872, 0.09910252894860427, -1.4349737903832764], [-5.518688477602972, -0.19772755433893696, -1.418352382605645], [-5.023558518891874, -0.25760479169714934, -1.409619988009662], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275], [-4.954262253853283, -0.2655789269493436, -1.4084142404350275]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56439782742506, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7473316121275915, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.40163650569364906, 0.9157890531050257, 0.027255805182650583], [-0.9998133703933499, -0.015519242036847264, -0.011505542546599967, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579705595970154, 0.14500226080417633], [-0.8929063677787781, 0.287787526845932], [-1.3754897117614746, 0.1615792214870453], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618]], "goal_body": [-1.4899319035667062, 0.11374484437579735], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11042806755139457, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7245678559684693, "remaining_m": 47.570219894871116, "total_m": 48.29478775083958, "selection_total_m": 48.29478775083958, "best_candidate_total_m": 48.29478775083958, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66436665466351, -0.38072875231728487], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579705595970154, 0.14500226080417633], [-0.8929063677787781, 0.287787526845932], [-1.3754897117614746, 0.1615792214870453], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618], [-1.4428805112838745, 0.14353778958320618]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996857047080994, -0.016914427280426025, 0.018502308055758476, -0.090958371758461], [0.01730283722281456, 0.9996289610862732, -0.021037818863987923, -3.1035420894622803], [-0.01813959889113903, 0.021351350471377373, 0.9996074438095093, 6.570985317230225], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38017975678667426, "input_age_at_publish_s": 0.5198769378475845, "vggt_debug_frame": "frames/00000330/frame.json"} +{"frame_idx": 332, "time_s": 83.63237500190735, "localized": true, "localized_streak": 144, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880863511844291, 0.09803961010481377, -1.433527903774549], [-5.481921864037508, -0.13458342900117692, -1.4188923358581034], [-4.985266075194069, -0.19161974473319443, -1.409957098774222], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913], [-4.874828997847491, -0.204302451334466, -1.407970245674913]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56583244731234, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7852380363534494, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364895, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847208, -0.011505542546600023, -0.0012976112942659768], [0.01883339787435806, -0.9156676637409433, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457956850528717, 0.14500439167022705], [-0.9025041460990906, 0.21500085294246674], [-1.3854954242706299, 0.08569739013910294], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015]], "goal_body": [-1.4901488652710118, 0.11237784267730588], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10821920812493922, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7234830933776895, "remaining_m": 47.570219894871116, "total_m": 48.2937029882488, "selection_total_m": 48.2937029882488, "best_candidate_total_m": 48.2937029882488, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663072452402247, -0.381219347350353], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457956850528717, 0.14500439167022705], [-0.9025041460990906, 0.21500085294246674], [-1.3854954242706299, 0.08569739013910294], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015], [-1.4928940534591675, 0.0569453202188015]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996960163116455, -0.016215888783335686, 0.018570920452475548, -0.0925804153084755], [0.016597962006926537, 0.9996498227119446, -0.020607827231287956, -3.1044301986694336], [-0.018230242654681206, 0.020909802988171577, 0.9996151328086853, 6.569752216339111], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36928420700132847, "input_age_at_publish_s": 0.3986035152338445, "vggt_debug_frame": "frames/00000332/frame.json"} +{"frame_idx": 333, "time_s": 83.86599445343018, "localized": true, "localized_streak": 145, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.880363947606999, 0.09803279994758096, -1.433126503874828], [-5.517023069512224, -0.1986126169234259, -1.4164153539893483], [-5.021865427039123, -0.25824095801226754, -1.4075919569370157], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525], [-4.952562981116908, -0.26618034906763377, -1.4063734739554525]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564373300921183, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.818456389358413, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.4016365056936495, 0.9157890531050256, 0.027255805182648807], [-0.9998133703933502, -0.01551924203684768, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409431, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579535722732544, 0.14500848948955536], [-0.8929023146629333, 0.2878011167049408], [-1.3754874467849731, 0.16160254180431366], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633]], "goal_body": [-1.4899646075191353, 0.1137656250106368], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10852206199106898, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7228771764734254, "remaining_m": 47.570219894871116, "total_m": 48.29309707134454, "selection_total_m": 48.29309707134454, "best_candidate_total_m": 48.29309707134454, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664347363958006, -0.38070303621061896], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579535722732544, 0.14500848948955536], [-0.8929023146629333, 0.2878011167049408], [-1.3754874467849731, 0.16160254180431366], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633], [-1.4428808689117432, 0.14356163144111633]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996978640556335, -0.01671631820499897, 0.018021687865257263, -0.09166509658098221], [0.01709107495844364, 0.9996365904808044, -0.020845280960202217, -3.1044576168060303], [-0.017666682600975037, 0.021146992221474648, 0.999620258808136, 6.5689167976379395], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3685553171671927, "input_age_at_publish_s": 0.5160073549486697, "vggt_debug_frame": "frames/00000333/frame.json"} +{"frame_idx": 335, "time_s": 84.3665668964386, "localized": true, "localized_streak": 146, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.88000812997298, 0.0987235020959476, -1.4341100112176666], [-5.5165879963141915, -0.197826442241527, -1.4174268873236995], [-5.02141106209659, -0.2573228060014827, -1.4086961557535644], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153], [-4.952112365603435, -0.265243594705443, -1.407490792589153]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56332778447248, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8012678079788238, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364906, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933498, -0.01551924203684743, -0.0115055425465998, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409433, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457962214946747, 0.14500322937965393], [-0.8929058313369751, 0.28778761625289917], [-1.3754892349243164, 0.1615755259990692], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696]], "goal_body": [-1.4897876399097427, 0.11510445895784005], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10977552537066818, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.722899673947241, "remaining_m": 47.570219894871116, "total_m": 48.293119568818355, "selection_total_m": 48.293119568818355, "best_candidate_total_m": 48.293119568818355, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.665616614381051, -0.3801685589629251], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457962214946747, 0.14500322937965393], [-0.8929058313369751, 0.28778761625289917], [-1.3754892349243164, 0.1615755259990692], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696], [-1.4428764581680298, 0.14353492856025696]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999701738357544, -0.016813283786177635, 0.01771305873990059, -0.09072884917259216], [0.017183830961585045, 0.9996322393417358, -0.020979251712560654, -3.1035068035125732], [-0.017353814095258713, 0.021277371793985367, 0.9996230006217957, 6.569141864776611], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.35915364511311054, "input_age_at_publish_s": 0.387778929900378, "vggt_debug_frame": "frames/00000335/frame.json"} +{"frame_idx": 336, "time_s": 84.63322687149048, "localized": true, "localized_streak": 147, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.884143479154625, 0.09918754279126496, -1.4344556093630183], [-5.520911658304655, -0.19757354771192226, -1.4174293987451099], [-5.0257794470168715, -0.25736725748258493, -1.4083360944810406], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593], [-4.95647841350957, -0.26532983357819795, -1.4070799950027593]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.566401290922723, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8132972377356514, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364934, 0.9157890531050252, 0.027255805182648807], [-0.99981337039335, -0.015519242036847403, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358393, -0.915667663740943, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44580116868019104, 0.14499148726463318], [-0.892913281917572, 0.28776809573173523], [-1.3754936456680298, 0.16155365109443665], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532]], "goal_body": [-1.4900254201089436, 0.11349497594631786], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11081565051531143, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.727669314073664, "remaining_m": 47.570219894871116, "total_m": 48.29788920894478, "selection_total_m": 48.29788920894478, "best_candidate_total_m": 48.29788920894478, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664132104411369, -0.38076450445950505], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44580116868019104, 0.14499148726463318], [-0.892913281917572, 0.28776809573173523], [-1.3754936456680298, 0.16155365109443665], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532], [-1.4428882598876953, 0.14350982010364532]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996868968009949, -0.017114998772740364, 0.018253417685627937, -0.09138074517250061], [0.017483429983258247, 0.9996426701545715, -0.02021937444806099, -3.1050233840942383], [-0.017900841310620308, 0.02053217589855194, 0.9996289014816284, 6.5738606452941895], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36711008567363024, "input_age_at_publish_s": 0.5008404469117522, "vggt_debug_frame": "frames/00000336/frame.json"} +{"frame_idx": 338, "time_s": 85.13320899009705, "localized": true, "localized_streak": 148, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.878203803984415, 0.09676914497012312, -1.4325338241519385], [-5.5148673116947124, -0.19988339030471014, -1.415853238269281], [-5.019706029663552, -0.25951883326616265, -1.4071469370429444], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658], [-4.950411834042033, -0.26745906411492637, -1.405945049137658]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.562951889836892, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7650992699019287, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936493, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847652, -0.011505542546600411, -0.0012976112942677531], [0.018833397874358504, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4457947909832001, 0.14500664174556732], [-0.8929036855697632, 0.28779324889183044], [-1.3754879236221313, 0.16158176958560944], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136]], "goal_body": [-1.4899343023191038, 0.11369749973392429], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10760319680824806, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7201729697527484, "remaining_m": 47.570219894871116, "total_m": 48.29039286462386, "selection_total_m": 48.29039286462386, "best_candidate_total_m": 48.29039286462386, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664316847379881, -0.38074612538184055], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.4457947909832001, 0.14500664174556732], [-0.8929036855697632, 0.28779324889183044], [-1.3754879236221313, 0.16158176958560944], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136], [-1.4428730010986328, 0.1435421258211136]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996945858001709, -0.017001884058117867, 0.017933625727891922, -0.09169629216194153], [0.017377646639943123, 0.9996282458305359, -0.021009542047977448, -3.103813886642456], [-0.017569757997989655, 0.021314769983291626, 0.999618411064148, 6.566229343414307], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3678724397905171, "input_age_at_publish_s": 0.3787353178486228, "vggt_debug_frame": "frames/00000338/frame.json"} +{"frame_idx": 339, "time_s": 85.36656546592712, "localized": true, "localized_streak": 149, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881085638545324, 0.09719674994111216, -1.4331672236942952], [-5.482232852308009, -0.1355789178501947, -1.418536349420728], [-4.985598607522105, -0.19280562807190105, -1.409620400912895], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086], [-4.875166138540788, -0.20553067913427814, -1.4076378340920086]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56621705113092, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7446311930131053, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936493, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847486, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.445797860622406, 0.14499786496162415], [-0.9025073051452637, 0.21498791873455048], [-1.385496735572815, 0.08567751944065094], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164]], "goal_body": [-1.4902770926991022, 0.11119596827858591], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10751658344743632, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7231678432072003, "remaining_m": 47.570219894871116, "total_m": 48.293387738078316, "selection_total_m": 48.293387738078316, "best_candidate_total_m": 48.293387738078316, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662004407515369, -0.3816903688204199], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.445797860622406, 0.14499786496162415], [-0.9025073051452637, 0.21498791873455048], [-1.385496735572815, 0.08567751944065094], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164], [-1.4928951263427734, 0.056923847645521164]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.999686062335968, -0.01644868217408657, 0.01890174113214016, -0.09316530078649521], [0.016838038340210915, 0.9996454119682312, -0.02062787488102913, -3.1046624183654785], [-0.018555736169219017, 0.020939666777849197, 0.9996085166931152, 6.569423198699951], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39242192497476935, "input_age_at_publish_s": 0.5241959700360894, "vggt_debug_frame": "frames/00000339/frame.json"} +{"frame_idx": 341, "time_s": 85.86718654632568, "localized": true, "localized_streak": 150, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.881586460049684, 0.09865835664076794, -1.432997852619238], [-5.518416290154679, -0.1981752736423923, -1.4159219737088244], [-5.02329933552932, -0.2580667777198258, -1.4066872552767689], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046], [-4.953997342739344, -0.266043124758907, -1.4054112311037046]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.565370163822553, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8242850975712778, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364945, 0.9157890531050256, 0.027255805182648807], [-0.99981337039335, -0.01551924203684743, -0.011505542546599967, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579383730888367, 0.14501529932022095], [-0.8928978443145752, 0.28781718015670776], [-1.3754850625991821, 0.16163216531276703], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283]], "goal_body": [-1.4900041736646068, 0.11332367787289555], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10947404021187566, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7252633680651374, "remaining_m": 47.570219894871116, "total_m": 48.29548326293625, "selection_total_m": 48.29548326293625, "best_candidate_total_m": 48.29548326293625, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.663919881775165, -0.3809080504945959], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579383730888367, 0.14501529932022095], [-0.8928978443145752, 0.28781718015670776], [-1.3754850625991821, 0.16163216531276703], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283], [-1.4428834915161133, 0.14359141886234283]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996860027313232, -0.01689445599913597, 0.018506309017539024, -0.09129902720451355], [0.017264269292354584, 0.9996507167816162, -0.020009074360132217, -3.1052467823028564], [-0.018161801621317863, 0.020322289317846298, 0.999628484249115, 6.571140289306641], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37709213187918067, "input_age_at_publish_s": 0.41217096196487546, "vggt_debug_frame": "frames/00000341/frame.json"} +{"frame_idx": 342, "time_s": 86.1341814994812, "localized": true, "localized_streak": 151, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.883376737172146, 0.09771439152258843, -1.4331962823125135], [-5.484652243198575, -0.13525476993402208, -1.4181506751805633], [-4.988051465007191, -0.19272919855695658, -1.4089691523376453], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985], [-4.877622423755361, -0.20550980576314348, -1.4069274573561985]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.5666577408979, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8356466056260168, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.40163650569364917, 0.9157890531050255, 0.027255805182648807], [-0.99981337039335, -0.015519242036847375, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358337, -0.9156676637409431, -0.4014947480400073, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44579648971557617, 0.1450037658214569], [-0.9025043249130249, 0.21500501036643982], [-1.3854960203170776, 0.08570317924022675], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651]], "goal_body": [-1.490213932688251, 0.11153633416109299], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10939886316391444, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7265474256359015, "remaining_m": 47.570219894871116, "total_m": 48.296767320507016, "selection_total_m": 48.296767320507016, "best_candidate_total_m": 48.296767320507016, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.662309168782093, -0.38159043161080175], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-0.44579648971557617, 0.1450037658214569], [-0.9025043249130249, 0.21500501036643982], [-1.3854960203170776, 0.08570317924022675], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651], [-1.4928988218307495, 0.05695037543773651]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9996674060821533, -0.017448605969548225, 0.018989047035574913, -0.09209676831960678], [0.0178252961486578, 0.9996440410614014, -0.019852107390761375, -3.105571746826172], [-0.01863589696586132, 0.02018398977816105, 0.9996225833892822, 6.572555065155029], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3797006141394377, "input_age_at_publish_s": 0.5489065111614764, "vggt_debug_frame": "frames/00000342/frame.json"} +{"frame_idx": 344, "time_s": 86.63508701324463, "localized": true, "localized_streak": 152, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8799676906788765, 0.09792365592235708, -1.4330044121677925], [-5.516605996973231, -0.1986862392619777, -1.4161157001439568], [-5.021445200652306, -0.25826549089104667, -1.4070868007840318], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072], [-4.952145708254202, -0.2661979344422525, -1.4058396466380072]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.564602254257704, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8572131893743439, "map_correction_at_base_m": 0.003073909976302425, "map_correction_angle_deg": 0.08133735786443705, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.003073909976302425, "rotation_deg": 0.08133735786443705, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.40163650569364917, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847403, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578951597213745, 0.1450251191854477], [-0.8928916454315186, 0.2878328859806061], [-1.375481367111206, 0.1616481989622116], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426]], "goal_body": [-1.4899636289835108, 0.1138686602228538], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10855097490388373, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7230143284858442, "remaining_m": 47.570219894871116, "total_m": 48.29323422335696, "selection_total_m": 48.29323422335696, "best_candidate_total_m": 48.29323422335696, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.664389709026807, -0.3806710108553493], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 342}, "footprint_evidence": null, "native_local_path_body": [[-0.44578951597213745, 0.1450251191854477], [-0.8928916454315186, 0.2878328859806061], [-1.375481367111206, 0.1616481989622116], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426], [-1.4428722858428955, 0.1436103880405426]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997010231018066, -0.016626672819256783, 0.01792684756219387, -0.09172852337360382], [0.01699218712747097, 0.999646782875061, -0.020433416590094566, -3.1044507026672363], [-0.017580775544047356, 0.02073192410171032, 0.9996305108070374, 6.569080352783203], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37546567991375923, "input_age_at_publish_s": 0.42319940496236086, "vggt_debug_frame": "frames/00000344/frame.json"} +{"frame_idx": 345, "time_s": 86.86898279190063, "localized": true, "localized_streak": 153, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8807019429575735, 0.09990283072173511, -1.4339932236301414], [-5.517372266880068, -0.19674886794859514, -1.417149360807064], [-5.022220248175506, -0.25637739699964435, -1.4079797986038372], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685], [-4.952921215642983, -0.2643167389860057, -1.4067127101411685]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56492861606697, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7902490202005708, "map_correction_at_base_m": 0.0023370322208805198, "map_correction_angle_deg": 0.03887097251941973, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0023370322208805198, "rotation_deg": 0.03887097251941973, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.401636505693649, 0.9157890531050253, 0.02725580518264792], [-0.9998133703933498, -0.01551924203684743, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358393, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.44578835368156433, 0.14502902328968048], [-0.892889142036438, 0.2878410518169403], [-1.3754799365997314, 0.16166150569915771], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572]], "goal_body": [-1.4898817497957781, 0.11449652898413709], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.11002554856111374, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7247242217034495, "remaining_m": 47.570219894871116, "total_m": 48.29494411657456, "selection_total_m": 48.29494411657456, "best_candidate_total_m": 48.29494411657456, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.66496188917933, -0.38043469777143224], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 344}, "footprint_evidence": null, "native_local_path_body": [[-0.44578835368156433, 0.14502902328968048], [-0.892889142036438, 0.2878410518169403], [-1.3754799365997314, 0.16166150569915771], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572], [-1.4428716897964478, 0.14362415671348572]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997039437294006, -0.016052450984716415, 0.018285056576132774, -0.09095005691051483], [0.016423329710960388, 0.9996587038040161, -0.02031681127846241, -3.1043107509613037], [-0.017952682450413704, 0.020611098036170006, 0.9996263980865479, 6.570855140686035], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37719607492908835, "input_age_at_publish_s": 0.5570701500400901, "vggt_debug_frame": "frames/00000345/frame.json"} +{"frame_idx": 347, "time_s": 87.37022733688354, "localized": true, "localized_streak": 154, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.884847636604308, 0.09752675326017357, -1.4318244160543778], [-5.48751703707209, -0.13781292223614372, -1.416595564542294], [-4.991232651312842, -0.197902004528129, -1.4070525544755748], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316], [-4.880473022749539, -0.21131258463275326, -1.4049227656433316]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56716534304642, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8500243097618743, "map_correction_at_base_m": 0.0026433757652061154, "map_correction_angle_deg": 0.37236690394517497, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0026433757652061154, "rotation_deg": 0.37236690394517497, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.40163650569364906, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.01551924203684718, -0.011505542546600467, -0.0012976112942695295], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4447494447231293, 0.1483556479215622], [-0.9008409976959229, 0.22230680286884308], [-1.3848495483398438, 0.09686489403247833], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675]], "goal_body": [-1.4898687870634064, 0.1159199621509478], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1092114767189502, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7275820458466259, "remaining_m": 47.570219894871116, "total_m": 48.29780194071774, "selection_total_m": 48.29780194071774, "best_candidate_total_m": 48.29780194071774, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.655773917534336, -0.3852963185480731], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 345}, "footprint_evidence": null, "native_local_path_body": [[-0.4447494447231293, 0.1483556479215622], [-0.9008409976959229, 0.22230680286884308], [-1.3848495483398438, 0.09686489403247833], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675], [-1.49286949634552, 0.06886908411979675]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9997353553771973, -0.01570974662899971, 0.016804201528429985, -0.09166626632213593], [0.01603826880455017, 0.9996793270111084, -0.019597159698605537, -3.107210397720337], [-0.01649094559252262, 0.019861483946442604, 0.9996667504310608, 6.572962760925293], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.40428571170195937, "input_age_at_publish_s": 0.4484926387667656, "vggt_debug_frame": "frames/00000347/frame.json"} +{"frame_idx": 348, "time_s": 87.63652110099792, "localized": true, "localized_streak": 155, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.6140733957290649, "verified": true, "loaded": true}, {"id": 20, "score": 0.5715142488479614, "verified": true, "loaded": true}, {"id": 18, "score": 0.566247820854187, "verified": true, "loaded": true}, {"id": 21, "score": 0.5497206449508667, "verified": true, "loaded": true}, {"id": 22, "score": 0.5222802758216858, "verified": true, "loaded": true}, {"id": 17, "score": 0.5169702768325806, "verified": true, "loaded": true}], "camera_display": [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8800137251589355, 0.10193226763488461, -1.4297916357553788], [-5.482080548879965, -0.13229553971583563, -1.4130646125973656], [-4.985637335709869, -0.19073000361497883, -1.401683461146124], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433], [-4.874523137831483, -0.20380884025769141, -1.3991361253670433]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.568732355328752, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.3252109733410045, "map_correction_at_base_m": 0.005098140008375552, "map_correction_angle_deg": 0.2848496971822255, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005098140008375552, "rotation_deg": 0.2848496971822255, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936493, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847264, -0.01150554254660019, -0.0012976112942686413], [0.018833397874358226, -0.9156676637409431, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4352648854255676, 0.17434047162532806], [-0.8861150741577148, 0.27547094225883484], [-1.3767153024673462, 0.1789754033088684], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504]], "goal_body": [-1.4795831252120977, 0.2095900018865502], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.1100956357356449, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7299636827640372, "remaining_m": 47.570219894871116, "total_m": 48.30018357763515, "selection_total_m": 48.30018357763515, "best_candidate_total_m": 48.30018357763515, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.660917474001884, -0.3832296754881564], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 347}, "footprint_evidence": null, "native_local_path_body": [[-0.4352648854255676, 0.17434047162532806], [-0.8861150741577148, 0.27547094225883484], [-1.3767153024673462, 0.1789754033088684], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504], [-1.4865217208862305, 0.1573777198791504]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9991419911384583, 0.010609560646116734, -0.040033962577581406, -0.09085986763238907], [-0.01130953524261713, 0.999786376953125, -0.017298724502325058, -3.1087453365325928], [0.03984187915921211, 0.01773664727807045, 0.9990485906600952, 6.5748090744018555], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38622252689674497, "input_age_at_publish_s": 0.6180970598943532, "vggt_debug_frame": "frames/00000348/frame.json"} +{"frame_idx": 350, "time_s": 88.1357192993164, "localized": true, "localized_streak": 156, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.5340186953544617, "verified": true, "loaded": true}, {"id": 21, "score": 0.5272930264472961, "verified": true, "loaded": true}, {"id": 20, "score": 0.5081469416618347, "verified": true, "loaded": true}, {"id": 18, "score": 0.5076987147331238, "verified": true, "loaded": true}, {"id": 22, "score": 0.5023874640464783, "verified": true, "loaded": true}, {"id": 298, "score": 0.4968043863773346, "verified": true, "loaded": true}], "camera_display": [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.860630352035223, 0.09644334742080751, -1.434440043480824], [-5.462984446257307, -0.1383247784291184, -1.418517481657904], [-4.966625256770258, -0.1974682483269179, -1.4071329382983782], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465], [-4.855617288396388, -0.21069537392321447, -1.4045868479283465]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.56477855228488, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.6083645175107701, "map_correction_at_base_m": 0.020634418811105025, "map_correction_angle_deg": 0.259497301858708, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.020634418811105025, "rotation_deg": 0.259497301858708, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364906, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933503, -0.015519242036847375, -0.011505542546600134, -0.001297611294266865], [0.018833397874358226, -0.9156676637409432, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.4105777442455292, 0.2264038324356079], [-0.845666766166687, 0.3819333016872406], [-1.3443924188613892, 0.34625789523124695], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803]], "goal_body": [-1.4451178660578592, 0.38114041645808044], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.10354148756247963, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7077009216812258, "remaining_m": 47.570219894871116, "total_m": 48.27792081655234, "selection_total_m": 48.27792081655234, "best_candidate_total_m": 48.27792081655234, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.65317216157467, -0.38667246022472923], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 348}, "footprint_evidence": null, "native_local_path_body": [[-0.4105777442455292, 0.2264038324356079], [-0.845666766166687, 0.3819333016872406], [-1.3443924188613892, 0.34625789523124695], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803], [-1.4559296369552612, 0.3382793068885803]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9868618249893188, 0.06265077739953995, -0.14892493188381195, -0.09724287688732147], [-0.06575313955545425, 0.997707724571228, -0.015995265915989876, -3.0960898399353027], [0.14758144319057465, 0.025577398017048836, 0.98871910572052, 6.556657791137695], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.40151434298604727, "input_age_at_publish_s": 0.5247983420267701, "vggt_debug_frame": "frames/00000350/frame.json"} +{"frame_idx": 352, "time_s": 88.63593864440918, "localized": true, "localized_streak": 157, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 19, "score": 0.5340186953544617, "verified": true, "loaded": true}, {"id": 21, "score": 0.5272930264472961, "verified": true, "loaded": true}, {"id": 20, "score": 0.5081469416618347, "verified": true, "loaded": true}, {"id": 18, "score": 0.5076987147331238, "verified": true, "loaded": true}, {"id": 22, "score": 0.5023874640464783, "verified": true, "loaded": true}, {"id": 298, "score": 0.4968043863773346, "verified": true, "loaded": true}], "camera_display": [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.867381268587966, 0.09227931074667772, -1.43561935384794], [-5.469855334705311, -0.14258810932003207, -1.4181911873329944], [-4.973557950460503, -0.20176354383564643, -1.4045087785220947], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266], [-4.862471956588637, -0.21500876767435706, -1.4014462512849266]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.582974030012814, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.617951084824098, "map_correction_at_base_m": 0.008176234578485988, "map_correction_angle_deg": 0.29583761479153575, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008176234578485988, "rotation_deg": 0.29583761479153575, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361043, -0.4016365056936486, 0.9157890531050255, 0.027255805182646142], [-0.99981337039335, -0.015519242036847153, -0.011505542546600134, -0.0012976112942659768], [0.01883339787435817, -0.9156676637409431, -0.40149474804000684, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.3789202868938446, 0.276175320148468], [-0.7909659147262573, 0.48524877429008484], [-1.290218710899353, 0.5125740170478821], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192]], "goal_body": [-1.392093193723904, 0.5466647861576324], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.09652831335974617, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7150130316579785, "remaining_m": 47.570219894871116, "total_m": 48.2852329265291, "selection_total_m": 48.2852329265291, "best_candidate_total_m": 48.2852329265291, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.639722289249772, -0.39232595062368814], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 350}, "footprint_evidence": null, "native_local_path_body": [[-0.3789202868938446, 0.276175320148468], [-0.7909659147262573, 0.48524877429008484], [-1.290218710899353, 0.5125740170478821], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192], [-1.4019662141799927, 0.5186902284622192]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9587609171867371, 0.11451155692338943, -0.2601242661476135, -0.11129752546548843], [-0.11945091933012009, 0.9928349256515503, -0.0032053906470537186, -3.097975015640259], [0.2578933835029602, 0.034145280718803406, 0.9655698537826538, 6.566164493560791], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3826613128185272, "input_age_at_publish_s": 0.41575398202985525, "vggt_debug_frame": "frames/00000352/frame.json"} +{"frame_idx": 353, "time_s": 88.86983561515808, "localized": true, "localized_streak": 158, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 23, "score": 0.430120587348938, "verified": true, "loaded": true}, {"id": 15, "score": 0.42002150416374207, "verified": true, "loaded": true}, {"id": 18, "score": 0.4197721481323242, "verified": true, "loaded": true}, {"id": 298, "score": 0.4132133722305298, "verified": true, "loaded": true}, {"id": 21, "score": 0.4127636253833771, "verified": true, "loaded": true}, {"id": 299, "score": 0.4104119837284088, "verified": true, "loaded": true}], "camera_display": [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.851712113893848, 0.09435876138633059, -1.4196730014827137], [-5.4544429935633385, -0.14098717649489778, -1.402884423167723], [-4.958221047364653, -0.20078851687059185, -1.389189565878562], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516], [-4.847217289116022, -0.21416594686711576, -1.3861260563646516]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.574130739323586, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.6021164664826255, "map_correction_at_base_m": 0.023354156814111366, "map_correction_angle_deg": 0.21069176553986363, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.023354156814111366, "rotation_deg": 0.21069176553986363, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936497, 0.9157890531050256, 0.02725580518264792], [-0.99981337039335, -0.015519242036847625, -0.011505542546600245, -0.0012976112942686413], [0.01883339787435845, -0.9156676637409432, -0.4014947480400082, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.3617347776889801, 0.2983013093471527], [-0.7606228590011597, 0.5314978361129761], [-1.2573622465133667, 0.5885062217712402], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142]], "goal_body": [-1.3568527147536324, 0.6284400829034842], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.08473892175117816, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.698426873142024, "remaining_m": 47.570219894871116, "total_m": 48.26864676801314, "selection_total_m": 48.26864676801314, "best_candidate_total_m": 48.26864676801314, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.639709654357858, -0.3925147880871459], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 352}, "footprint_evidence": null, "native_local_path_body": [[-0.3617347776889801, 0.2983013093471527], [-0.7606228590011597, 0.5314978361129761], [-1.2573622465133667, 0.5885062217712402], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142], [-1.3684817552566528, 0.6012588739395142]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.9405578970909119, 0.13951820135116577, -0.3096538484096527, -0.10927031189203262], [-0.14580491185188293, 0.9893091917037964, 0.002869902178645134, -3.1062450408935547], [0.3067438304424286, 0.04244973510503769, 0.9508450031280518, 6.544554233551025], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.48057313496246934, "input_age_at_publish_s": 0.6522727711126208, "vggt_debug_frame": "frames/00000353/frame.json"} +{"frame_idx": 355, "time_s": 89.37113666534424, "localized": true, "localized_streak": 159, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 23, "score": 0.430120587348938, "verified": true, "loaded": true}, {"id": 15, "score": 0.42002150416374207, "verified": true, "loaded": true}, {"id": 18, "score": 0.4197721481323242, "verified": true, "loaded": true}, {"id": 298, "score": 0.4132133722305298, "verified": true, "loaded": true}, {"id": 21, "score": 0.4127636253833771, "verified": true, "loaded": true}, {"id": 299, "score": 0.4104119837284088, "verified": true, "loaded": true}], "camera_display": [-6.286292054065614, 0.43237184247544214, -0.136220013540769], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.864235531628878, 0.09988555026173351, -1.4289311321879843], [-5.466029462316208, -0.13388613812417915, -1.4122738240277224], [-4.969575323521108, -0.19156997630509398, -1.3979255906205483], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149], [-4.858365881102475, -0.2044916166614792, -1.3947114781651149]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.589988723489984, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.7204367928029585, "map_correction_at_base_m": 0.016759753385618782, "map_correction_angle_deg": 0.3355249790572586, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.016759753385618782, "rotation_deg": 0.3355249790572586, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936486, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933499, -0.015519242036847236, -0.011505542546600078, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409432, -0.40149474804000684, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.32185566425323486, 0.3410123586654663], [-0.6884476542472839, 0.622268557548523], [-1.1741869449615479, 0.7408322095870972], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187]], "goal_body": [-1.2702818714746713, 0.7902693680051287], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.08507219577250788, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7113872968940465, "remaining_m": 47.570219894871116, "total_m": 48.28160719176516, "selection_total_m": 48.28160719176516, "best_candidate_total_m": 48.28160719176516, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.636444998906585, -0.3936193085239635], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 353}, "footprint_evidence": null, "native_local_path_body": [[-0.32185566425323486, 0.3410123586654663], [-0.6884476542472839, 0.622268557548523], [-1.1741869449615479, 0.7408322095870972], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187], [-1.2829961776733398, 0.7673913836479187]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.8888610601425171, 0.18990805745124817, -0.41696640849113464, -0.11902488023042679], [-0.19869521260261536, 0.9797987341880798, 0.022685827687382698, -3.1045358180999756], [0.41285136342048645, 0.06268467754125595, 0.9086387753486633, 6.560820579528809], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.44736539805307984, "input_age_at_publish_s": 0.6060751462355256, "vggt_debug_frame": "frames/00000355/frame.json"} +{"frame_idx": 357, "time_s": 89.83744883537292, "localized": true, "localized_streak": 160, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.2294817566871643, "verified": false, "loaded": true}, {"id": 766, "score": 0.22052082419395447, "verified": false, "loaded": true}, {"id": 763, "score": 0.2185920774936676, "verified": false, "loaded": true}, {"id": 267, "score": 0.21610382199287415, "verified": false, "loaded": true}, {"id": 266, "score": 0.21346160769462585, "verified": false, "loaded": true}, {"id": 270, "score": 0.20465852320194244, "verified": false, "loaded": true}], "camera_display": [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.864251245582173, 0.09990540697677641, -1.4289322271596345], [-5.466054592394855, -0.13388315072442314, -1.4122747062719097], [-4.969600408164936, -0.19156694705795108, -1.3979264814241652], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007], [-4.858366060148711, -0.20449150316093334, -1.3947116504815007]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.591792160705342, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715]], "scale_source": "head", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.5105139644491876, "map_correction_at_base_m": 1.8263656057718224e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.8263656057718224e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364884, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933498, -0.01551924203684718, -0.011505542546600078, -0.0012976112942681972], [0.018833397874358115, -0.915667663740943, -0.40149474804000684, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.2798107862472534, 0.37629765272140503], [-0.6109694838523865, 0.6985228061676025], [-1.0795032978057861, 0.8730968832969666], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898]], "goal_body": [-1.1710093944191622, 0.9312921088528183], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.08291851439293328, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7095781882567916, "remaining_m": 47.570219894871116, "total_m": 48.27979808312791, "selection_total_m": 48.27979808312791, "best_candidate_total_m": 48.27979808312791, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.63388479250448, -0.39481635494960826], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 355}, "footprint_evidence": null, "native_local_path_body": [[-0.2798107862472534, 0.37629765272140503], [-0.6109694838523865, 0.6985228061676025], [-1.0795032978057861, 0.8730968832969666], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898], [-1.1844818592071533, 0.9122115969657898]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.8291738033294678, 0.22936996817588806, -0.5097648501396179, -0.12188535928726196], [-0.24103879928588867, 0.9695100784301758, 0.044164322316646576, -3.1039602756500244], [0.5043521523475647, 0.08625318855047226, 0.8591794371604919, 6.559486389160156], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4229044057428837, "input_age_at_publish_s": 0.47305917320773005, "vggt_debug_frame": "frames/00000357/frame.json"} +{"frame_idx": 359, "time_s": 90.33696913719177, "localized": true, "localized_streak": 161, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.2294817566871643, "verified": false, "loaded": true}, {"id": 766, "score": 0.22052082419395447, "verified": false, "loaded": true}, {"id": 763, "score": 0.2185920774936676, "verified": false, "loaded": true}, {"id": 267, "score": 0.21610382199287415, "verified": false, "loaded": true}, {"id": 266, "score": 0.21346160769462585, "verified": false, "loaded": true}, {"id": 270, "score": 0.20465852320194244, "verified": false, "loaded": true}], "camera_display": [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.864200080238431, 0.09984075110421031, -1.4289291460879314], [-5.465972647411359, -0.13389263457710587, -1.4122723565828386], [-4.96951851346617, -0.1915765372934377, -1.3979241287388728], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214], [-4.8583660653316105, -0.20449148478725654, -1.3947116670526214]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.593057132826374, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692]], "scale_source": "head", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.55436708352911, "map_correction_at_base_m": 4.773395270616076e-08, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.773395270616076e-08, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.401636505693649, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933502, -0.015519242036847361, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358254, -0.9156676637409432, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.23053821921348572, 0.4082852303981781], [-0.5190317034721375, 0.7692081332206726], [-0.9621726870536804, 1.0007811784744263], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685]], "goal_body": [-1.0478603097740014, 1.0681383206075459], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.08085957230982396, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7071140574832373, "remaining_m": 47.570219894871116, "total_m": 48.277333952354354, "selection_total_m": 48.277333952354354, "best_candidate_total_m": 48.277333952354354, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.631248702933268, -0.39581770741691014], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 357}, "footprint_evidence": null, "native_local_path_body": [[-0.23053821921348572, 0.4082852303981781], [-0.5190317034721375, 0.7692081332206726], [-0.9621726870536804, 1.0007811784744263], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685], [-1.0613887310028076, 1.0526286363601685]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.753108561038971, 0.2677804231643677, -0.6009335517883301, -0.12451712042093277], [-0.2827417850494385, 0.9564988613128662, 0.07188216596841812, -3.103092908859253], [0.5940408706665039, 0.11577395349740982, 0.7960602045059204, 6.557516574859619], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41946022398769855, "input_age_at_publish_s": 0.45815153094008565, "vggt_debug_frame": "frames/00000359/frame.json"} +{"frame_idx": 360, "time_s": 90.6365556716919, "localized": true, "localized_streak": 162, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.21804186701774597, "verified": true, "loaded": true}, {"id": 763, "score": 0.2045043706893921, "verified": true, "loaded": true}, {"id": 267, "score": 0.18965134024620056, "verified": false, "loaded": true}, {"id": 265, "score": 0.18681934475898743, "verified": false, "loaded": true}, {"id": 266, "score": 0.18538370728492737, "verified": false, "loaded": true}, {"id": 1096, "score": 0.18368612229824066, "verified": false, "loaded": true}], "camera_display": [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.8642267776930055, 0.09987447606105615, -1.4289307126936157], [-5.466015334987867, -0.13388753579392176, -1.4122735545633693], [-4.9695611512712095, -0.19157141050299664, -1.3979253336708177], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889], [-4.858366107147489, -0.20449132292816952, -1.3947116421423889]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.59388682235714, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.7550522909440462, "map_correction_at_base_m": 1.6300123085008937e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.6300123085008937e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361404, -0.401636505693649, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933499, -0.015519242036847361, -0.011505542546600078, -0.001297611294267642], [0.018833397874358268, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.20035094022750854, 0.42395031452178955], [-0.46178656816482544, 0.8049305081367493], [-0.8868997693061829, 1.0681391954421997], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058]], "goal_body": [-0.9686181554731301, 1.1405824834703986], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.07967044659846706, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7057413451096574, "remaining_m": 47.570219894871116, "total_m": 48.275961239980774, "selection_total_m": 48.275961239980774, "best_candidate_total_m": 48.275961239980774, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.629927556717623, -0.39652780012700006], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 359}, "footprint_evidence": null, "native_local_path_body": [[-0.20035094022750854, 0.42395031452178955], [-0.46178656816482544, 0.8049305081367493], [-0.8868997693061829, 1.0681391954421997], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058], [-0.9821159839630127, 1.1270922422409058]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.7032428979873657, 0.28822681307792664, -0.6499036550521851, -0.12611885368824005], [-0.30519524216651917, 0.9480092525482178, 0.09019070863723755, -3.102616548538208], [0.6421099901199341, 0.13492150604724884, 0.7546462416648865, 6.556430816650391], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.42698813369497657, "input_age_at_publish_s": 0.6424613380804658, "vggt_debug_frame": "frames/00000360/frame.json"} +{"frame_idx": 362, "time_s": 91.13573408126831, "localized": true, "localized_streak": 163, "weights": [0.9000000357627869, 0.0524885356426239, 0.04751147702336311, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.21804186701774597, "verified": true, "loaded": true}, {"id": 763, "score": 0.2045043706893921, "verified": true, "loaded": true}, {"id": 267, "score": 0.18965134024620056, "verified": false, "loaded": true}, {"id": 265, "score": 0.18681934475898743, "verified": false, "loaded": true}, {"id": 266, "score": 0.18538370728492737, "verified": false, "loaded": true}, {"id": 1096, "score": 0.18368612229824066, "verified": false, "loaded": true}], "camera_display": [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.864210754416845, 0.09985411489419338, -1.4289299447874635], [-5.465989656396793, -0.1338905907593606, -1.4122730227387463], [-4.969535511645494, -0.19157450968410927, -1.3979248052980588], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122], [-4.858366213007718, -0.20449148686109986, -1.3947118571285122]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.594551076657506, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.099760573118772, "map_correction_at_base_m": 2.189179810493051e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.189179810493051e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569365084, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.015519242036847514, -0.011505542546600175, -0.001297611294267087], [0.01883339787435833, -0.9156676637409434, -0.40149474804000906, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.14494077861309052, 0.44589388370513916], [-0.3561380207538605, 0.8568559288978577], [-0.7445695996284485, 1.1716907024383545], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283]], "goal_body": [-0.8185716627532523, 1.2527433595841777], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 773, "nearest_distance_m": 0.07795198316915751, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7028543139603596, "remaining_m": 47.570219894871116, "total_m": 48.273074208831474, "selection_total_m": 48.273074208831474, "best_candidate_total_m": 48.273074208831474, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.627705444943043, -0.3974243743173519], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 360}, "footprint_evidence": null, "native_local_path_body": [[-0.14494077861309052, 0.44589388370513916], [-0.3561380207538605, 0.8568559288978577], [-0.7445695996284485, 1.1716907024383545], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283], [-0.8315497636795044, 1.2421905994415283]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.6077508330345154, 0.3199831545352936, -0.7268078923225403, -0.1283322274684906], [-0.34055855870246887, 0.9318143725395203, 0.12546665966510773, -3.1015422344207764], [0.7173972725868225, 0.17126818001270294, 0.6752839088439941, 6.554017543792725], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4287341758608818, "input_age_at_publish_s": 0.5806204061955214, "vggt_debug_frame": "frames/00000362/frame.json"} +{"frame_idx": 364, "time_s": 91.63584327697754, "localized": true, "localized_streak": 164, "weights": [1.0, 9.99999993922529e-09, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.19461330771446228, "verified": true, "loaded": true}, {"id": 1096, "score": 0.16955554485321045, "verified": false, "loaded": true}, {"id": 763, "score": 0.16882683336734772, "verified": true, "loaded": true}, {"id": 263, "score": 0.16560542583465576, "verified": false, "loaded": true}, {"id": 265, "score": 0.16444498300552368, "verified": false, "loaded": true}, {"id": 1093, "score": 0.1580245941877365, "verified": false, "loaded": true}], "camera_display": [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.804311072275917, -0.11282456012514253, -1.5736088071716572], [-5.33064727994058, -0.20827341659467624, -1.5560580728236655], [-4.833720737550175, -0.2611137700787003, -1.5395689146374956], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266], [-4.780656833037783, -0.26675626224136195, -1.537808133960266]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.68363391761022, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.092562518789098, "map_correction_at_base_m": 0.2692191267439737, "map_correction_angle_deg": 0.9515169242942823, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.2692191267439737, "rotation_deg": 0.9515169242942823, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361407, -0.40163650569364967, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933502, -0.015519242036847397, -0.01150554254660013, -0.001297611294267309], [0.01883339787435827, -0.9156676637409433, -0.40149474804000795, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.0880138948559761, 0.4605289399623871], [-0.3887425363063812, 0.8391292095184326], [-0.7347159385681152, 1.2001034021377563], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015]], "goal_body": [-0.7761786281049756, 1.2745748402623172], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.24509114496773265, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6164362423040002, "remaining_m": 47.570219894871116, "total_m": 48.18665613717511, "selection_total_m": 48.18665613717511, "best_candidate_total_m": 48.18665613717511, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.508420207802244, -0.47074795385196916], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 362}, "footprint_evidence": null, "native_local_path_body": [[-0.0880138948559761, 0.4605289399623871], [-0.3887425363063812, 0.8391292095184326], [-0.7347159385681152, 1.2001034021377563], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015], [-0.7716604471206665, 1.2386497259140015]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.495307981967926, 0.33764728903770447, -0.8004150986671448, -0.29750192165374756], [-0.361520916223526, 0.9179163575172424, 0.1634998768568039, -2.911755323410034], [0.7899194359779358, 0.20838399231433868, 0.5767178535461426, 6.5118279457092285], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.45165862515568733, "input_age_at_publish_s": 0.5119321029633284, "vggt_debug_frame": "frames/00000364/frame.json"} +{"frame_idx": 366, "time_s": 92.13703966140747, "localized": true, "localized_streak": 165, "weights": [1.0, 9.99999993922529e-09, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.19461330771446228, "verified": true, "loaded": true}, {"id": 1096, "score": 0.16955554485321045, "verified": false, "loaded": true}, {"id": 763, "score": 0.16882683336734772, "verified": true, "loaded": true}, {"id": 263, "score": 0.16560542583465576, "verified": false, "loaded": true}, {"id": 265, "score": 0.16444498300552368, "verified": false, "loaded": true}, {"id": 1093, "score": 0.1580245941877365, "verified": false, "loaded": true}], "camera_display": [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.704095595920231, -0.22700845912716705, -1.585862850715537], [-5.227389042365017, -0.3050796505991915, -1.5650907900366153], [-4.728966060007956, -0.33974487945699394, -1.5457800343763894], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094], [-4.675741792934845, -0.3434466279885351, -1.5437179282602094]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.696891714344854, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.831639175013103, "map_correction_at_base_m": 0.15722051541596208, "map_correction_angle_deg": 2.190395125100826, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.15722051541596208, "rotation_deg": 2.190395125100826, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361459, -0.40163650569364917, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847417, -0.011505542546600106, -0.0012976112942677531], [0.01883339787435829, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[-0.03158337622880936, 0.46779531240463257], [-0.28425249457359314, 0.8800258636474609], [-0.5839683413505554, 1.2802388668060303], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854]], "goal_body": [-0.6215553930898934, 1.3370485092777986], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.28927115933523634, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5337949877518258, "remaining_m": 47.570219894871116, "total_m": 48.10401488262294, "selection_total_m": 48.10401488262294, "best_candidate_total_m": 48.10401488262294, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.506174284284866, -0.4934325193350532], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 364}, "footprint_evidence": null, "native_local_path_body": [[-0.03158337622880936, 0.46779531240463257], [-0.28425249457359314, 0.8800258636474609], [-0.5839683413505554, 1.2802388668060303], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854], [-0.6159735918045044, 1.322975754737854]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.3527255654335022, 0.3549759089946747, -0.8657810688018799, -0.3776118755340576], [-0.3809721767902374, 0.8995705246925354, 0.21361896395683289, -2.841777801513672], [0.8546607494354248, 0.25448960065841675, 0.4525374174118042, 6.412445068359375], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.45528896199539304, "input_age_at_publish_s": 0.5034217108041048, "vggt_debug_frame": "frames/00000366/frame.json"} +{"frame_idx": 368, "time_s": 92.63790893554688, "localized": true, "localized_streak": 166, "weights": [0.8999999761581421, 0.0, 0.0, 0.10000000149011612, 0.0], "retrieval": [{"id": 765, "score": 0.2079952359199524, "verified": true, "loaded": true}, {"id": 1096, "score": 0.2038581818342209, "verified": false, "loaded": true}, {"id": 265, "score": 0.18649016320705414, "verified": false, "loaded": true}, {"id": 1097, "score": 0.17950062453746796, "verified": false, "loaded": true}, {"id": 763, "score": 0.17703033983707428, "verified": false, "loaded": true}, {"id": 263, "score": 0.1751527339220047, "verified": false, "loaded": true}], "camera_display": [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.704123502465061, -0.22697601962244995, -1.585865451607352], [-5.227431668692127, -0.30507666029728675, -1.5650923776498256], [-4.729008762841868, -0.3397418332390023, -1.545781604854124], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934], [-4.675741422783716, -0.3434465992637099, -1.5437178263890934]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.69627610622782, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.363221553993443, "map_correction_at_base_m": 2.881755396738316e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.881755396738316e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364906, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933503, -0.01551924203684743, -0.01150554254660019, -0.001297611294266865], [0.018833397874358282, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.027753425762057304, 0.4680110514163971], [-0.17090140283107758, 0.908808708190918], [-0.4177752733230591, 1.343611240386963], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726]], "goal_body": [-0.4486080937294187, 1.4040554912688261], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.29011786911119875, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5312628077211066, "remaining_m": 47.570219894871116, "total_m": 48.10148270259222, "selection_total_m": 48.10148270259222, "best_candidate_total_m": 48.10148270259222, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.505696011045394, -0.49427798968926095], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 366}, "footprint_evidence": null, "native_local_path_body": [[0.027753425762057304, 0.4680110514163971], [-0.17090140283107758, 0.908808708190918], [-0.4177752733230591, 1.343611240386963], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726], [-0.4441590905189514, 1.390079379081726]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.23201322555541992, 0.3677276372909546, -0.9005255699157715, -0.3786371648311615], [-0.39894235134124756, 0.8803153038024902, 0.25669047236442566, -2.840501070022583], [0.8871386051177979, 0.2997021973133087, 0.35094696283340454, 6.409433841705322], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.432913726195693, "input_age_at_publish_s": 0.45121123595163226, "vggt_debug_frame": "frames/00000368/frame.json"} +{"frame_idx": 369, "time_s": 92.8714530467987, "localized": true, "localized_streak": 167, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 9.99999993922529e-09, 0.0], "retrieval": [{"id": 765, "score": 0.2079952359199524, "verified": true, "loaded": true}, {"id": 1096, "score": 0.2038581818342209, "verified": false, "loaded": true}, {"id": 265, "score": 0.18649016320705414, "verified": false, "loaded": true}, {"id": 1097, "score": 0.17950062453746796, "verified": false, "loaded": true}, {"id": 763, "score": 0.17703033983707428, "verified": false, "loaded": true}, {"id": 263, "score": 0.1751527339220047, "verified": false, "loaded": true}], "camera_display": [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.704104383248151, -0.22699793572108895, -1.5858635504660021], [-5.227402632710172, -0.30507876646092935, -1.565091151432991], [-4.728979568776573, -0.3397439592747409, -1.5457803805711132], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476], [-4.675741203637321, -0.34344662345061394, -1.54371773005476]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.695989792600187, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.7269790460068144, "map_correction_at_base_m": 2.161284613981819e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.161284613981819e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936493, 0.9157890531050259, 0.027255805182646142], [-0.9998133703933499, -0.015519242036847389, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.05447637662291527, 0.46567589044570923], [-0.11859007179737091, 0.9171408414840698], [-0.3401179909706116, 1.3653879165649414], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485]], "goal_body": [-0.36760709564866995, 1.427176524896705], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.2905179423223178, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5301012025319906, "remaining_m": 47.570219894871116, "total_m": 48.1003210974031, "selection_total_m": 48.1003210974031, "best_candidate_total_m": 48.1003210974031, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.505614807769476, -0.494620770606676], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 368}, "footprint_evidence": null, "native_local_path_body": [[0.05447637662291527, 0.46567589044570923], [-0.11859007179737091, 0.9171408414840698], [-0.3401179909706116, 1.3653879165649414], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485], [-0.3637802302837372, 1.4132667779922485]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.17586708068847656, 0.37144848704338074, -0.911645233631134, -0.3791055381298065], [-0.40510520339012146, 0.8713378310203552, 0.27687573432922363, -2.839914083480835], [0.8971961140632629, 0.32061880826950073, 0.3037152886390686, 6.408049583435059], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4173110257834196, "input_age_at_publish_s": 0.6196893178857863, "vggt_debug_frame": "frames/00000369/frame.json"} +{"frame_idx": 371, "time_s": 93.37188529968262, "localized": true, "localized_streak": 168, "weights": [0.8999999761581421, 9.99999993922529e-09, 0.10000000149011612, 9.99999993922529e-09, 0.0], "retrieval": [{"id": 765, "score": 0.23757074773311615, "verified": true, "loaded": true}, {"id": 1096, "score": 0.1957012116909027, "verified": false, "loaded": true}, {"id": 266, "score": 0.18988819420337677, "verified": false, "loaded": true}, {"id": 265, "score": 0.18643689155578613, "verified": false, "loaded": true}, {"id": 766, "score": 0.1862514168024063, "verified": true, "loaded": true}, {"id": 1097, "score": 0.18330371379852295, "verified": false, "loaded": true}], "camera_display": [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.70410695482523, -0.22699490135983158, -1.5858637089964822], [-5.227406499261948, -0.30507840986768286, -1.5650912371215242], [-4.728983447964097, -0.33974359819843514, -1.545780484516847], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724], [-4.675741196460757, -0.3434465631987109, -1.5437176837413724]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.694881553947777, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.060099182089022, "map_correction_at_base_m": 1.7311431360084067e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.7311431360084067e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364884, 0.9157890531050256, 0.02725580518264792], [-0.99981337039335, -0.01551924203684743, -0.0115055425466003, -0.0012976112942677531], [0.01883339787435831, -0.9156676637409432, -0.40149474804000707, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.11250577121973038, 0.4551519751548767], [-0.0025157968048006296, 0.9247707724571228], [-0.1660224050283432, 1.3972806930541992], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164]], "goal_body": [-0.18569893654085612, 1.4616351599911805], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.29111487788975615, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5273295617527982, "remaining_m": 47.570219894871116, "total_m": 48.097549456623916, "selection_total_m": 48.097549456623916, "best_candidate_total_m": 48.097549456623916, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.505645573846163, -0.49505028403161044], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 369}, "footprint_evidence": null, "native_local_path_body": [[0.11250577121973038, 0.4551519751548767], [-0.0025157968048006296, 0.9247707724571228], [-0.1660224050283432, 1.3972806930541992], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164], [-0.18348842859268188, 1.4477548599243164]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[0.050970375537872314, 0.3750070631504059, -0.9256197810173035, -0.37963545322418213], [-0.414127379655838, 0.8513219952583313, 0.32210153341293335, -2.8385770320892334], [0.9087908864021301, 0.3669067621231079, 0.19869285821914673, 6.404935836791992], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.43012298829853535, "input_age_at_publish_s": 0.5510433167219162, "vggt_debug_frame": "frames/00000371/frame.json"} +{"frame_idx": 373, "time_s": 93.87287068367004, "localized": true, "localized_streak": 169, "weights": [0.8999999761581421, 9.99999993922529e-09, 0.10000000149011612, 9.99999993922529e-09, 0.0], "retrieval": [{"id": 765, "score": 0.23757074773311615, "verified": false, "loaded": true}, {"id": 1096, "score": 0.1957012116909027, "verified": false, "loaded": true}, {"id": 266, "score": 0.18988819420337677, "verified": false, "loaded": true}, {"id": 265, "score": 0.18643689155578613, "verified": false, "loaded": true}, {"id": 766, "score": 0.1862514168024063, "verified": false, "loaded": true}, {"id": 1097, "score": 0.18330371379852295, "verified": false, "loaded": true}], "camera_display": [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.704066115632491, -0.22704206874229982, -1.585859855529595], [-5.227344252443874, -0.3050829278973133, -1.5650888192515593], [-4.728921231216271, -0.33974823295345935, -1.5457780645972958], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756], [-4.675741297140764, -0.34344688255155287, -1.543717677574756]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.693484908823564, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 6.307541915735344, "map_correction_at_base_m": 3.821308910959392e-08, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.821308910959392e-08, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236182, -0.40163650569364845, 0.9157890531050253, 0.027255805182650583], [-0.9998133703933498, -0.015519242036847652, -0.011505542546600411, -0.0012976112942677531], [0.01883339787435845, -0.9156676637409431, -0.4014947480400066, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.16846655309200287, 0.4375624358654022], [0.11303656548261642, 0.917888343334198], [0.009910878725349903, 1.4071378707885742], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136]], "goal_body": [-0.0013067989088214604, 1.4730775415566284], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.2915588065032277, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5244402221559571, "remaining_m": 47.570219894871116, "total_m": 48.094660117027075, "selection_total_m": 48.094660117027075, "best_candidate_total_m": 48.094660117027075, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.506017707308644, -0.495176900561565], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 371}, "footprint_evidence": null, "native_local_path_body": [[0.16846655309200287, 0.4375624358654022], [0.11303656548261642, 0.917888343334198], [0.009910878725349903, 1.4071378707885742], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136], [-0.0010922717629000545, 1.4593390226364136]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.07426106929779053, 0.372231662273407, -0.9251644015312195, -0.3798573911190033], [-0.41687238216400146, 0.8311912417411804, 0.3678838908672333, -2.8372175693511963], [0.9059266448020935, 0.4129948318004608, 0.09344786405563354, 6.401793479919434], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3939813510514796, "input_age_at_publish_s": 0.4551598192192614, "vggt_debug_frame": "frames/00000373/frame.json"} +{"frame_idx": 374, "time_s": 94.14012360572815, "localized": true, "localized_streak": 170, "weights": [0.9999716281890869, 9.99999993922529e-09, 2.8402731913956814e-05, 0.0, 0.0], "retrieval": [{"id": 765, "score": 0.22434066236019135, "verified": false, "loaded": true}, {"id": 266, "score": 0.1978531926870346, "verified": false, "loaded": true}, {"id": 265, "score": 0.1880546361207962, "verified": false, "loaded": true}, {"id": 766, "score": 0.1848573535680771, "verified": true, "loaded": true}, {"id": 267, "score": 0.18365193903446198, "verified": false, "loaded": true}, {"id": 1096, "score": 0.18141762912273407, "verified": false, "loaded": true}], "camera_display": [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.70407714335046, -0.22702935212480035, -1.585861041065207], [-5.227361219863212, -0.3050818928198087, -1.5650896071091391], [-4.72893827512258, -0.33974714793875016, -1.545778849372816], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375], [-4.67574120728562, -0.34344699878382023, -1.5437177971436375]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.69249618764087, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.8842457310817293, "map_correction_at_base_m": 3.5871179370328945e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.5871179370328945e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936487, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933498, -0.015519242036847597, -0.011505542546600078, -0.001297611294266865], [0.018833397874358282, -0.915667663740943, -0.40149474804000684, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.19757038354873657, 0.42520755529403687], [0.17462094128131866, 0.9081723690032959], [0.10467219352722168, 1.4032553434371948], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846]], "goal_body": [0.09823451425781982, 1.4697018555729797], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.2916399861449777, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5228103991914123, "remaining_m": 47.570219894871116, "total_m": 48.09303029406253, "selection_total_m": 48.09303029406253, "best_candidate_total_m": 48.09303029406253, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.5063406574715, -0.4950788949480371], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 373}, "footprint_evidence": null, "native_local_path_body": [[0.19757038354873657, 0.42520755529403687], [0.17462094128131866, 0.9081723690032959], [0.10467219352722168, 1.4032553434371948], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846], [0.09720651060342789, 1.4560959339141846]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.1411954164505005, 0.3681453466415405, -0.9189847707748413, -0.3797033727169037], [-0.41575396060943604, 0.8204065561294556, 0.3925325274467468, -2.836481809616089], [0.8984501361846924, 0.43749529123306274, 0.03722023963928223, 6.400113105773926], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4171357727609575, "input_age_at_publish_s": 0.6224200306460261, "vggt_debug_frame": "frames/00000374/frame.json"} +{"frame_idx": 376, "time_s": 94.64118552207947, "localized": true, "localized_streak": 171, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 765, "score": 0.22434066236019135, "verified": false, "loaded": true}, {"id": 266, "score": 0.1978531926870346, "verified": false, "loaded": true}, {"id": 265, "score": 0.1880546361207962, "verified": false, "loaded": true}, {"id": 766, "score": 0.1848573535680771, "verified": true, "loaded": true}, {"id": 267, "score": 0.18365193903446198, "verified": false, "loaded": true}, {"id": 1096, "score": 0.18141762912273407, "verified": false, "loaded": true}], "camera_display": [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.703990588990552, -0.2271285741432587, -1.5858528614351493], [-5.227229453770118, -0.3050908014802376, -1.5650845071144708], [-4.728806399377762, -0.33975605990610536, -1.5457737846794701], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233], [-4.67574089378024, -0.34344672770747575, -1.5437178355346233]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.69059468701998, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.910149130114761, "map_correction_at_base_m": 2.667413905081901e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.667413905081901e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364917, 0.9157890531050257, 0.027255805182649695], [-0.99981337039335, -0.01551924203684757, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.24885529279708862, 0.3974132835865021], [0.28610286116600037, 0.8795161247253418], [0.2783188223838806, 1.37945556640625], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738]], "goal_body": [0.28109397136669756, 1.445745765899284], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.29177555815941764, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5197681184590099, "remaining_m": 47.570219894871116, "total_m": 48.08998801333013, "selection_total_m": 48.08998801333013, "best_candidate_total_m": 48.08998801333013, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.507195021920744, -0.49468094926189027], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 374}, "footprint_evidence": null, "native_local_path_body": [[0.24885529279708862, 0.3974132835865021], [0.28610286116600037, 0.8795161247253418], [0.2783188223838806, 1.37945556640625], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738], [0.2774900496006012, 1.4326825141906738]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.26322615146636963, 0.35586467385292053, -0.8967010378837585, -0.37934571504592896], [-0.4089163839817047, 0.8006977438926697, 0.4378020167350769, -2.8351151943206787], [0.8737847208976746, 0.48191654682159424, -0.06524574756622314, 6.39699649810791], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.408200500998646, "input_age_at_publish_s": 0.5213800650089979, "vggt_debug_frame": "frames/00000376/frame.json"} +{"frame_idx": 378, "time_s": 95.07542490959167, "localized": true, "localized_streak": 172, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 266, "score": 0.17003998160362244, "verified": false, "loaded": true}, {"id": 765, "score": 0.1464444398880005, "verified": false, "loaded": true}, {"id": 267, "score": 0.14549630880355835, "verified": false, "loaded": true}, {"id": 158, "score": 0.13972240686416626, "verified": false, "loaded": true}, {"id": 265, "score": 0.1391194462776184, "verified": false, "loaded": true}, {"id": 156, "score": 0.13516971468925476, "verified": false, "loaded": true}], "camera_display": [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.698205396012272, -0.23378846828766342, -1.5853080491436449], [-5.218418863422981, -0.30570345053142045, -1.5647432755334412], [-4.719995873347826, -0.34036869291270655, -1.5454325461844847], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315], [-4.6757413756778305, -0.3434466004131167, -1.5437179643907315]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.6966220902517, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366]], "scale_source": "head", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 5.170310624184147, "map_correction_at_base_m": 2.557558477670114e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.557558477670114e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936493, 0.9157890531050255, 0.02725580518264703], [-0.9998133703933499, -0.01551924203684743, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400075, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.28649288415908813, 0.3732190430164337], [0.37137937545776367, 0.8513237237930298], [0.41947999596595764, 1.3490047454833984], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716]], "goal_body": [0.42985546152464393, 1.4052500938613757], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.2993513861493375, "attachment_limit_m": 0.75, "candidate_count": 9, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5171461166553293, "remaining_m": 47.570219894871116, "total_m": 48.08736601152644, "selection_total_m": 48.08736601152644, "best_candidate_total_m": 48.08736601152644, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.508274834152704, -0.4941915347105814], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 376}, "footprint_evidence": null, "native_local_path_body": [[0.28649288415908813, 0.3732190430164337], [0.37137937545776367, 0.8513237237930298], [0.41947999596595764, 1.3490047454833984], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716], [0.4237508177757263, 1.3931933641433716]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.3692358732223511, 0.3397812843322754, -0.8649933338165283, -0.38981369137763977], [-0.3975975513458252, 0.7835241556167603, 0.4774998128414154, -2.832606315612793], [0.8399887084960938, 0.5202293395996094, -0.15420889854431152, 6.39046049118042], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5002303468063474, "input_age_at_publish_s": 0.5515749780461192, "vggt_debug_frame": "frames/00000378/frame.json"} +{"frame_idx": 380, "time_s": 95.57595038414001, "localized": true, "localized_streak": 173, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 266, "score": 0.17003998160362244, "verified": false, "loaded": true}, {"id": 765, "score": 0.1464444398880005, "verified": false, "loaded": true}, {"id": 267, "score": 0.14549630880355835, "verified": false, "loaded": true}, {"id": 158, "score": 0.13972240686416626, "verified": false, "loaded": true}, {"id": 265, "score": 0.1391194462776184, "verified": false, "loaded": true}, {"id": 156, "score": 0.13516971468925476, "verified": false, "loaded": true}], "camera_display": [-6.118514875070423, 0.052344381420526, -0.30046514251242123], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.684119775978957, -0.2500034808639011, -1.583981235989832], [-5.196967011368443, -0.3071951575593168, -1.5639121412357309], [-4.698544070564345, -0.34186039144364955, -1.544601420696599], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008], [-4.675741462083433, -0.34344625463771195, -1.543717967365008]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.711721915276623, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123]], "scale_source": "head", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 5.301281327267846, "map_correction_at_base_m": 3.6920648652717967e-07, "map_correction_angle_deg": 0.008806241733425424, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.6920648652717967e-07, "rotation_deg": 0.008806241733425424, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050255, 0.02725580518264925], [-0.99981337039335, -0.01551924203684743, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.4014947480400075, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.32248005270957947, 0.34459784626960754], [0.4576740264892578, 0.8165237307548523], [0.5724208950996399, 1.3031787872314453], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865]], "goal_body": [0.5879229627079555, 1.3369601565830798], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.3191286842074789, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.512539131649358, "remaining_m": 47.570219894871116, "total_m": 48.08275902652047, "selection_total_m": 48.08275902652047, "best_candidate_total_m": 48.08275902652047, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.509296372785702, -0.4917917054834017], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 378}, "footprint_evidence": null, "native_local_path_body": [[0.32248005270957947, 0.34459784626960754], [0.4576740264892578, 0.8165237307548523], [0.5724208950996399, 1.3031787872314453], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865], [0.5776704549789429, 1.3254430294036865]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.49101436138153076, 0.31425732374191284, -0.8124944567680359, -0.41545331478118896], [-0.3775936961174011, 0.7637279033660889, 0.5235863327980042, -2.8267321586608887], [0.7850655913352966, 0.5638812184333801, -0.25633978843688965, 6.3750739097595215], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3989817639812827, "input_age_at_publish_s": 0.4567992449738085, "vggt_debug_frame": "frames/00000380/frame.json"} +{"frame_idx": 381, "time_s": 95.875412940979, "localized": true, "localized_streak": 174, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 181, "score": 0.12072504311800003, "verified": false, "loaded": true}, {"id": 185, "score": 0.10223758220672607, "verified": false, "loaded": true}, {"id": 433, "score": 0.10195483267307281, "verified": false, "loaded": true}, {"id": 184, "score": 0.10193327069282532, "verified": false, "loaded": true}, {"id": 1019, "score": 0.09644772112369537, "verified": false, "loaded": true}, {"id": 430, "score": 0.0945940762758255, "verified": false, "loaded": true}], "camera_display": [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.6756565145784545, -0.25974606815113077, -1.5831840385929858], [-5.184077837565589, -0.3080914627466189, -1.5634127567501748], [-4.685654945267361, -0.34275668768689194, -1.5441020346519927], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067], [-4.67574144578508, -0.34344616080061297, -1.5437179499611067]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.72027230306762, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 5.771468006282022, "map_correction_at_base_m": 1.2395192570816292e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.2395192570816292e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936493, 0.9157890531050255, 0.027255805182648363], [-0.99981337039335, -0.015519242036847403, -0.011505542546600245, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409432, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.3391682207584381, 0.32598739862442017], [0.502181351184845, 0.7926826477050781], [0.6534909009933472, 1.2692383527755737], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354]], "goal_body": [0.669988853973528, 1.2903315677853144], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.3327245375232338, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5089591123591448, "remaining_m": 47.570219894871116, "total_m": 48.07917900723026, "selection_total_m": 48.07917900723026, "best_candidate_total_m": 48.07917900723026, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.50959064601672, -0.4892498515376565], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 380}, "footprint_evidence": null, "native_local_path_body": [[0.3391682207584381, 0.32598739862442017], [0.502181351184845, 0.7926826477050781], [0.6534909009933472, 1.2692383527755737], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354], [0.6565003991127014, 1.2787169218063354]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.5555649995803833, 0.297171026468277, -0.7765546441078186, -0.4314909875392914], [-0.3634571135044098, 0.7532002925872803, 0.5482593178749084, -2.822268009185791], [0.74782794713974, 0.5868379473686218, -0.31044280529022217, 6.363633155822754], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4051085729151964, "input_age_at_publish_s": 0.6139368168078363, "vggt_debug_frame": "frames/00000381/frame.json"} +{"frame_idx": 383, "time_s": 96.37439465522766, "localized": true, "localized_streak": 175, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 181, "score": 0.12072504311800003, "verified": false, "loaded": true}, {"id": 185, "score": 0.10223758220672607, "verified": false, "loaded": true}, {"id": 433, "score": 0.10195483267307281, "verified": false, "loaded": true}, {"id": 184, "score": 0.10193327069282532, "verified": false, "loaded": true}, {"id": 1019, "score": 0.09644772112369537, "verified": false, "loaded": true}, {"id": 430, "score": 0.0945940762758255, "verified": false, "loaded": true}], "camera_display": [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.651222874158368, -0.2756017673982427, -1.5815117595557935], [-5.152799977697372, -0.3102670264270584, -1.562201046978081], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459], [-4.6757415209922035, -0.3434463942485273, -1.543718070193459]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.732412110799977, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.6970232641911478, "map_correction_at_base_m": 2.595966379912558e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.595966379912558e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936492, 0.9157890531050256, 0.027255805182648363], [-0.9998133703933499, -0.015519242036847333, -0.011505542546600245, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409431, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.36233875155448914, 0.30503639578819275], [0.5665515065193176, 0.7614322304725647], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938]], "goal_body": [0.7799452120876247, 1.211663313464264], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.3570490872235482, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5018655885178385, "remaining_m": 47.570219894871116, "total_m": 48.07208548338895, "selection_total_m": 48.07208548338895, "best_candidate_total_m": 48.07208548338895, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.507578434182916, -0.4850357209355725], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 381}, "footprint_evidence": null, "native_local_path_body": [[0.36233875155448914, 0.30503639578819275], [0.5665515065193176, 0.7614322304725647], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938], [0.7620108723640442, 1.1982650756835938]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.645871639251709, 0.26822543144226074, -0.7147760987281799, -0.45747148990631104], [-0.3386717438697815, 0.7384232878684998, 0.5831230282783508, -2.8135123252868652], [0.6842157244682312, 0.6186971068382263, -0.38608622550964355, 6.341595649719238], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3934572790749371, "input_age_at_publish_s": 0.5113677559420466, "vggt_debug_frame": "frames/00000383/frame.json"} +{"frame_idx": 385, "time_s": 96.84178352355957, "localized": true, "localized_streak": 176, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 433, "score": 0.15666435658931732, "verified": false, "loaded": true}, {"id": 431, "score": 0.14647933840751648, "verified": false, "loaded": true}, {"id": 430, "score": 0.14164268970489502, "verified": false, "loaded": true}, {"id": 432, "score": 0.13847091794013977, "verified": false, "loaded": true}, {"id": 434, "score": 0.13530775904655457, "verified": false, "loaded": true}, {"id": 429, "score": 0.10497226566076279, "verified": false, "loaded": true}], "camera_display": [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.59085075670944, -0.20900282328710063, -1.5828022164779723], [-5.126657386586803, -0.3120850584167263, -1.561188184465201], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212], [-4.6757410359024005, -0.34344613573767635, -1.5437180571973212]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.74030492252203, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.6355070942297862, "map_correction_at_base_m": 6.261036621545867e-08, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 6.261036621545867e-08, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004277806686087432, -0.40299562135107375, 0.9151919085862912, 0.027261035602707318], [-0.9998137292771131, -0.015500937014427035, -0.011499030422868067, -0.0012977364353083942], [0.018820391041307838, -0.9150706257571253, -0.4028542450533634, 1.3117041846598745], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.32996365427970886, 0.34508636593818665], [0.633249044418335, 0.7119466662406921], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786]], "goal_body": [0.8881279369006476, 1.116531191338355], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.38111372466578497, "attachment_limit_m": 0.75, "candidate_count": 8, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4932473546277553, "remaining_m": 47.570219894871116, "total_m": 48.06346724949887, "selection_total_m": 48.06346724949887, "best_candidate_total_m": 48.06346724949887, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.502422151765305, -0.48145516470590743], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 383}, "footprint_evidence": null, "native_local_path_body": [[0.32996365427970886, 0.34508636593818665], [0.633249044418335, 0.7119466662406921], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786], [0.8664770722389221, 1.0995274782180786]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.7331500053405762, 0.23409882187843323, -0.6385053992271423, -0.48012030124664307], [-0.3076440393924713, 0.7231593132019043, 0.6183815598487854, -2.80344557762146], [0.6065035462379456, 0.6497986912727356, -0.4581652879714966, 6.316938400268555], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.40288732200860977, "input_age_at_publish_s": 0.42762059113010764, "vggt_debug_frame": "frames/00000385/frame.json"} +{"frame_idx": 386, "time_s": 97.1090178489685, "localized": true, "localized_streak": 177, "weights": [0.8999999761581421, 0.0, 9.99999993922529e-09, 0.10000000149011612, 0.0], "retrieval": [{"id": 433, "score": 0.15666435658931732, "verified": false, "loaded": true}, {"id": 431, "score": 0.14647933840751648, "verified": false, "loaded": true}, {"id": 430, "score": 0.14164268970489502, "verified": false, "loaded": true}, {"id": 432, "score": 0.13847091794013977, "verified": false, "loaded": true}, {"id": 434, "score": 0.13530775904655457, "verified": false, "loaded": true}, {"id": 429, "score": 0.10497226566076279, "verified": false, "loaded": true}], "camera_display": [-6.070083387808962, -0.04880369456749323, -0.293637834867931], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.579073257895299, -0.21844764600862288, -1.5819038215588708], [-5.110709400648153, -0.313194160880772, -1.5605704279313306], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358], [-4.6757411837221845, -0.3434460757962343, -1.5437181973930358]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.74369193086972, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.6767276827719098, "map_correction_at_base_m": 1.7181366675841097e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.7181366675841097e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004277221542637183, -0.403025573745744, 0.9151787214980408, 0.027261149901961684], [-0.9998137371864635, -0.015500533580001537, -0.01149888655358805, -0.00129773918102849], [0.01882010385498023, -0.9150574410197695, -0.40288420585230034, 1.3117028561094985], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.3445896804332733, 0.3276968002319336], [0.6672900915145874, 0.6807705760002136], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773]], "goal_body": [0.942177678813189, 1.0581027118890698], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.3872648744498966, "attachment_limit_m": 0.75, "candidate_count": 8, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4873511279920714, "remaining_m": 47.570219894871116, "total_m": 48.057571022863186, "selection_total_m": 48.057571022863186, "best_candidate_total_m": 48.057571022863186, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.498566863709387, -0.4786926743320637], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 385}, "footprint_evidence": null, "native_local_path_body": [[0.3445896804332733, 0.3276968002319336], [0.6672900915145874, 0.6807705760002136], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773], [0.9173637628555298, 1.038345217704773]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.7779322862625122, 0.21243923902511597, -0.5913470387458801, -0.4933597147464752], [-0.2881454825401306, 0.7157140970230103, 0.6361804604530334, -2.7964909076690674], [0.5583850741386414, 0.665299117565155, -0.4955637454986572, 6.299979209899902], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3891217550262809, "input_age_at_publish_s": 0.5845841988921165, "vggt_debug_frame": "frames/00000386/frame.json"} +{"frame_idx": 388, "time_s": 97.64348268508911, "localized": true, "localized_streak": 178, "weights": [1.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09, 0.0], "retrieval": [{"id": 770, "score": 0.20519384741783142, "verified": true, "loaded": true}, {"id": 767, "score": 0.2034284472465515, "verified": true, "loaded": true}, {"id": 769, "score": 0.19236236810684204, "verified": true, "loaded": true}, {"id": 766, "score": 0.18465496599674225, "verified": true, "loaded": true}, {"id": 771, "score": 0.1786690056324005, "verified": true, "loaded": true}, {"id": 772, "score": 0.1630261242389679, "verified": true, "loaded": true}], "camera_display": [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.637942086744237, -0.02916893536566345, -1.5393540571393598], [-5.197503924588727, -0.19242586071376167, -1.539714209308067], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759], [-4.715317360783871, -0.2626411787243885, -1.537855281032759]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.6731997491952, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6695988543065919, "map_correction_at_base_m": 0.2802370522191237, "map_correction_angle_deg": 6.159394871163466, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.2802370522191237, "rotation_deg": 6.159394871163466, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361015, -0.40163650569364934, 0.9157890531050259, 0.027255805182648585], [-0.9998133703933504, -0.015519242036847243, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409435, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.39018258452415466, 0.28413382172584534], [0.7732332944869995, 0.5559992790222168], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641]], "goal_body": [1.1100124573868775, 0.9539737255869603], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.2505369960196687, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4536747929812777, "remaining_m": 47.570219894871116, "total_m": 48.02389468785239, "selection_total_m": 48.02389468785239, "best_candidate_total_m": 48.02389468785239, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.47486033949613, -0.39783728057311807], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 386}, "footprint_evidence": null, "native_local_path_body": [[0.39018258452415466, 0.28413382172584534], [0.7732332944869995, 0.5559992790222168], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641], [1.102928876876831, 0.9148004651069641]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8141006231307983, 0.24505218863487244, -0.5264883041381836, -0.37666648626327515], [-0.2549581229686737, 0.6637364625930786, 0.7031716108322144, -2.8834919929504395], [0.5217632055282593, 0.7066848278045654, -0.47787022590637207, 6.325984001159668], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4390408066101372, "input_age_at_publish_s": 0.5081700216978788, "vggt_debug_frame": "frames/00000388/frame.json"} +{"frame_idx": 390, "time_s": 98.14455080032349, "localized": true, "localized_streak": 179, "weights": [1.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09, 0.0], "retrieval": [{"id": 770, "score": 0.20519384741783142, "verified": true, "loaded": true}, {"id": 767, "score": 0.2034284472465515, "verified": true, "loaded": true}, {"id": 769, "score": 0.19236236810684204, "verified": true, "loaded": true}, {"id": 766, "score": 0.18465496599674225, "verified": true, "loaded": true}, {"id": 771, "score": 0.1786690056324005, "verified": true, "loaded": true}, {"id": 772, "score": 0.1630261242389679, "verified": true, "loaded": true}], "camera_display": [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.6249566834258875, -0.05539782841666607, -1.5417683925310337], [-5.133478234682837, -0.13848488644406487, -1.5433544947507498], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211], [-4.644525153756922, -0.21735131671542174, -1.544848346721211]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.66645159106436, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.30210138539855813, "map_correction_at_base_m": 0.008788059101253895, "map_correction_angle_deg": 0.9595682832253336, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008788059101253895, "rotation_deg": 0.9595682832253336, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004302784876752508, -0.4017170808973516, 0.9157537185060267, 0.02725611766732383], [-0.9998133916692477, -0.015518156886500427, -0.011505157351465276, -0.0012976187433366704], [0.01883262809966807, -0.9156323354502924, -0.4015753458526843, 1.311760873505674], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.41749244928359985, 0.2339964509010315], [0.799329400062561, 0.5543984174728394], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179]], "goal_body": [1.1820427718165518, 0.8470652297136125], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 774, "nearest_distance_m": 0.27219796325901624, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.42726535774979674, "remaining_m": 47.570219894871116, "total_m": 47.99748525262091, "selection_total_m": 47.99748525262091, "best_candidate_total_m": 47.99748525262091, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.44170108116813, -0.39858611310056974], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 388}, "footprint_evidence": null, "native_local_path_body": [[0.41749244928359985, 0.2339964509010315], [0.799329400062561, 0.5543984174728394], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179], [1.1763147115707397, 0.8756135702133179]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8712865114212036, 0.20716537535190582, -0.44490787386894226, -0.3873825967311859], [-0.21697165071964264, 0.6505379676818848, 0.7278212308883667, -2.868265390396118], [0.4402088224887848, 0.7306729555130005, -0.5218560695648193, 6.293917655944824], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41464648162946105, "input_age_at_publish_s": 0.44532732712104917, "vggt_debug_frame": "frames/00000390/frame.json"} +{"frame_idx": 391, "time_s": 98.24477458000183, "localized": true, "localized_streak": 180, "weights": [1.0, 0.0, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 767, "score": 0.32423412799835205, "verified": true, "loaded": true}, {"id": 770, "score": 0.32059037685394287, "verified": true, "loaded": true}, {"id": 769, "score": 0.31196486949920654, "verified": true, "loaded": true}, {"id": 772, "score": 0.2931057810783386, "verified": true, "loaded": true}, {"id": 771, "score": 0.2903262674808502, "verified": true, "loaded": true}, {"id": 775, "score": 0.28001585602760315, "verified": true, "loaded": true}], "camera_display": [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], "global_route": [[-5.66007571019626, 0.10020829742892756, -0.07639966058938202], [-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.619948049655116, -0.0567366594386316, -1.5390241496270316], [-5.125887710282685, -0.13357127209603892, -1.5399685524304738], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239], [-4.643331217732781, -0.20861689235664915, -1.5408909666292239]], "goal_keyframe": 1012, "route_ids": [776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.66855052480525, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.21193774778069502, "map_correction_at_base_m": 0.002685265799547953, "map_correction_angle_deg": 0.3491154695924951, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.002685265799547953, "rotation_deg": 0.3491154695924951, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361362, -0.40163650569364917, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847548, -0.01150554254660012, -0.0012976112942695295], [0.01883339787435845, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4234195947647095, 0.22109828889369965], [0.8141434788703918, 0.5330836176872253], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443]], "goal_body": [1.2064276734347021, 0.806873899924401], "route_cost_m": 47.570219894871116, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.2738664527622694, "attachment_limit_m": 0.75, "candidate_count": 10, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.42382232662241487, "remaining_m": 47.570219894871116, "total_m": 47.99404222149353, "selection_total_m": 47.99404222149353, "best_candidate_total_m": 47.99404222149353, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.443250973114136, -0.3925331170930173], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 390}, "footprint_evidence": null, "native_local_path_body": [[0.4234195947647095, 0.22109828889369965], [0.8141434788703918, 0.5330836176872253], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443], [1.1957696676254272, 0.8378045558929443]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8890606164932251, 0.19574765861034393, -0.4138290584087372, -0.39294517040252686], [-0.19950659573078156, 0.64793860912323, 0.735100507736206, -2.8676767349243164], [0.41203001141548157, 0.7361103296279907, -0.537003755569458, 6.287583351135254], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39660942321643233, "input_age_at_publish_s": 0.5967744807712734, "vggt_debug_frame": "frames/00000391/frame.json"} +{"frame_idx": 393, "time_s": 98.8780357837677, "localized": true, "localized_streak": 181, "weights": [1.0, 0.0, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 767, "score": 0.32423412799835205, "verified": true, "loaded": true}, {"id": 770, "score": 0.32059037685394287, "verified": true, "loaded": true}, {"id": 769, "score": 0.31196486949920654, "verified": true, "loaded": true}, {"id": 772, "score": 0.2931057810783386, "verified": true, "loaded": true}, {"id": 771, "score": 0.2903262674808502, "verified": true, "loaded": true}, {"id": 775, "score": 0.28001585602760315, "verified": true, "loaded": true}], "camera_display": [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.560621547429345, -0.06583563637268508, -1.5383860621410166], [-5.0677518474664, -0.1497443139162673, -1.5446266253406011], [-4.591866127096728, -0.1590637810846003, -1.5484469305229314], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728], [-4.566975247128843, -0.16330132467762315, -1.5487620908727728]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.653119798887907, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7153626891656854, "map_correction_at_base_m": 0.009668010279830469, "map_correction_angle_deg": 1.058869899605831, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009668010279830469, "rotation_deg": 1.058869899605831, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430284779159823, -0.40171386063498493, 0.9157551308480985, 0.027256105184383372], [-0.9998133908189352, -0.01551820025568841, -0.011505172748262127, -0.0012976184457009765], [0.018832658867651675, -0.915633747540227, -0.40157212468672965, 1.3117610162354036], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.45174986124038696, 0.19253501296043396], [0.883802056312561, 0.4441913366317749], [1.2549556493759155, 0.7422073483467102], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981]], "goal_body": [1.29400212359481, 0.7058400695212472], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.2702752601101657, "attachment_limit_m": 0.75, "candidate_count": 14, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7186342192449912, "remaining_m": 47.17544632218778, "total_m": 47.89408054143277, "selection_total_m": 47.89408054143277, "best_candidate_total_m": 47.89408054143277, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.356757026863205, -0.3773918303271052], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 391}, "footprint_evidence": null, "native_local_path_body": [[0.45174986124038696, 0.19253501296043396], [0.883802056312561, 0.4441913366317749], [1.2549556493759155, 0.7422073483467102], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981], [1.2767751216888428, 0.7549164891242981]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.941554069519043, 0.14887039363384247, -0.3021821677684784, -0.40776872634887695], [-0.14446093142032623, 0.6319327354431152, 0.7614408731460571, -2.844221830368042], [0.30431482195854187, 0.7605910301208496, -0.5734930038452148, 6.229613780975342], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3800130020827055, "input_age_at_publish_s": 0.4813272752799094, "vggt_debug_frame": "frames/00000393/frame.json"} +{"frame_idx": 394, "time_s": 99.11098742485046, "localized": true, "localized_streak": 182, "weights": [1.0, 0.0, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 769, "score": 0.43255287408828735, "verified": true, "loaded": true}, {"id": 770, "score": 0.40463030338287354, "verified": true, "loaded": true}, {"id": 772, "score": 0.39935049414634705, "verified": true, "loaded": true}, {"id": 775, "score": 0.3955550491809845, "verified": true, "loaded": true}, {"id": 771, "score": 0.38598835468292236, "verified": true, "loaded": true}, {"id": 562, "score": 0.37805479764938354, "verified": true, "loaded": true}], "camera_display": [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.504805552341505, -0.009552319801499287, -1.5393192272765601], [-5.012008470562659, -0.09383321373291409, -1.5462369598799546], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582], [-4.553695392955596, -0.1722164713113319, -1.5526706170102582]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.641371766950858, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7153338274485302, "map_correction_at_base_m": 0.015698004133587923, "map_correction_angle_deg": 0.10741607090099448, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.015698004133587923, "rotation_deg": 0.10741607090099448, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.40163650569364945, 0.9157890531050255, 0.027255805182648807], [-0.99981337039335, -0.015519242036847708, -0.011505542546599579, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.43197569251060486, 0.2504611015319824], [0.8743990063667297, 0.4834023416042328], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178]], "goal_body": [1.307607130656462, 0.6721839074876182], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.2759700790184407, "attachment_limit_m": 0.75, "candidate_count": 16, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6845576330374601, "remaining_m": 47.17544632218778, "total_m": 47.86000395522524, "selection_total_m": 47.86000395522524, "best_candidate_total_m": 47.86000395522524, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.333866566208226, -0.3775478823931957], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 393}, "footprint_evidence": null, "native_local_path_body": [[0.43197569251060486, 0.2504611015319824], [0.8743990063667297, 0.4834023416042328], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178], [1.2858632802963257, 0.700043261051178]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9548803567886353, 0.1311197131872177, -0.2664799392223358, -0.4140157401561737], [-0.12738637626171112, 0.6297138333320618, 0.7663114070892334, -2.8250889778137207], [0.2682846486568451, 0.7656815052032471, -0.5845985412597656, 6.196592807769775], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3556521381251514, "input_age_at_publish_s": 0.5968757132068276, "vggt_debug_frame": "frames/00000394/frame.json"} +{"frame_idx": 396, "time_s": 99.64359736442566, "localized": true, "localized_streak": 183, "weights": [1.0, 0.0, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 769, "score": 0.43255287408828735, "verified": true, "loaded": true}, {"id": 770, "score": 0.40463030338287354, "verified": true, "loaded": true}, {"id": 772, "score": 0.39935049414634705, "verified": true, "loaded": true}, {"id": 775, "score": 0.3955550491809845, "verified": true, "loaded": true}, {"id": 771, "score": 0.38598835468292236, "verified": true, "loaded": true}, {"id": 562, "score": 0.37805479764938354, "verified": true, "loaded": true}], "camera_display": [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.521666928943814, -0.06717631418897785, -1.5391643551337915], [-5.029077149035052, -0.15255478199351824, -1.5472827325569154], [-4.536487345342708, -0.2379332119569071, -1.5554011090906843], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788], [-4.511940896749028, -0.24218781335200745, -1.5558056615412788]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.62782714171868, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9826245527194419, "map_correction_at_base_m": 0.021613384379709933, "map_correction_angle_deg": 0.1836281339918703, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.021613384379709933, "rotation_deg": 0.1836281339918703, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092362153, -0.401636505693649, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933496, -0.01551924203684693, -0.011505542546601077, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4415043592453003, 0.1490272730588913], [0.9041458964347839, 0.33866584300994873], [1.3667874336242676, 0.5283044576644897], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145]], "goal_body": [1.3590000179516948, 0.556175635337306], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.2792307262931861, "attachment_limit_m": 0.75, "candidate_count": 17, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6541794245715347, "remaining_m": 47.17544632218778, "total_m": 47.82962574675932, "selection_total_m": 47.82962574675932, "best_candidate_total_m": 47.82962574675932, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.308613967025241, -0.34213141511219525], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 394}, "footprint_evidence": null, "native_local_path_body": [[0.4415043592453003, 0.1490272730588913], [0.9041458964347839, 0.33866584300994873], [1.3667874336242676, 0.5283044576644897], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145], [1.3898415565490723, 0.5377543568611145]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9783848524093628, 0.09455817192792892, -0.18390852212905884, -0.4152454435825348], [-0.08539680391550064, 0.6252148151397705, 0.7757666707038879, -2.8126869201660156], [0.18833741545677185, 0.774703323841095, -0.6036257743835449, 6.1668925285339355], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.35006880201399326, "input_age_at_publish_s": 0.45791640039533377, "vggt_debug_frame": "frames/00000396/frame.json"} +{"frame_idx": 397, "time_s": 99.84351944923401, "localized": true, "localized_streak": 184, "weights": [1.0, 0.0, 9.99999993922529e-09, 0.0, 0.0], "retrieval": [{"id": 769, "score": 0.43255287408828735, "verified": true, "loaded": true}, {"id": 770, "score": 0.40463030338287354, "verified": true, "loaded": true}, {"id": 772, "score": 0.39935049414634705, "verified": true, "loaded": true}, {"id": 775, "score": 0.3955550491809845, "verified": true, "loaded": true}, {"id": 771, "score": 0.38598835468292236, "verified": true, "loaded": true}, {"id": 562, "score": 0.37805479764938354, "verified": true, "loaded": true}], "camera_display": [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.504045051253716, -0.07381443002456756, -1.5375573524356165], [-5.011640008059306, -0.1601626536817058, -1.5465680413883691], [-4.5192349541562375, -0.24651091808060333, -1.5555787316791465], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046], [-4.50968459629703, -0.2481856780732583, -1.5557534971853046]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.6184814436371, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0221017262579404, "map_correction_at_base_m": 0.005001023445450134, "map_correction_angle_deg": 0.170731400874042, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005001023445450134, "rotation_deg": 0.170731400874042, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.4016365056936493, 0.9157890531050252, 0.027255805182649695], [-0.9998133703933497, -0.015519242036847652, -0.0115055425466003, -0.0012976112942695295], [0.01883339787435845, -0.9156676637409431, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4409530460834503, 0.13932138681411743], [0.9098716378211975, 0.31285911798477173], [1.378790259361267, 0.48639681935310364], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517]], "goal_body": [1.3741823305666796, 0.5147156520647461], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 775, "nearest_distance_m": 0.28534053079078475, "attachment_limit_m": 0.75, "candidate_count": 17, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.630749473674644, "remaining_m": 47.17544632218778, "total_m": 47.80619579586242, "selection_total_m": 47.80619579586242, "best_candidate_total_m": 47.80619579586242, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.296751975628, -0.32944265732301964], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 396}, "footprint_evidence": null, "native_local_path_body": [[0.4409530460834503, 0.13932138681411743], [0.9098716378211975, 0.31285911798477173], [1.378790259361267, 0.48639681935310364], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517], [1.3878850936889648, 0.48976263403892517]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9846080541610718, 0.08000531792640686, -0.15539009869098663, -0.41771990060806274], [-0.0721585601568222, 0.6236850619316101, 0.7783380150794983, -2.803380012512207], [0.15918566286563873, 0.7775706648826599, -0.6083121299743652, 6.1433634757995605], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3560439459979534, "input_age_at_publish_s": 0.5736983260139823, "vggt_debug_frame": "frames/00000397/frame.json"} +{"frame_idx": 399, "time_s": 100.37662315368652, "localized": true, "localized_streak": 185, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 775, "score": 0.5438236594200134, "verified": true, "loaded": true}, {"id": 774, "score": 0.5284255743026733, "verified": true, "loaded": true}, {"id": 773, "score": 0.5196602940559387, "verified": true, "loaded": true}, {"id": 772, "score": 0.5056294798851013, "verified": true, "loaded": true}, {"id": 779, "score": 0.504043459892273, "verified": true, "loaded": true}, {"id": 778, "score": 0.5036581754684448, "verified": true, "loaded": true}], "camera_display": [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], "global_route": [[-5.3039988139441245, -0.07025754783614335, -0.06805005555445104], [-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.419736208092637, -0.10088183441420195, -1.5435523273927731], [-4.927745828583523, -0.18930694032957351, -1.554800701706934], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687], [-4.509544698194463, -0.26446995710205545, -1.564362032778687]], "goal_keyframe": 1012, "route_ids": [777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.59687233891331, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5791410343474163, "map_correction_at_base_m": 0.010701055879402357, "map_correction_angle_deg": 0.42645301399540214, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.010701055879402357, "rotation_deg": 0.42645301399540214, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.4016365056936493, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933503, -0.015519242036847403, -0.011505542546600023, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409431, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.48608872294425964, 0.11656201630830765], [0.9704830646514893, 0.24050596356391907], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136]], "goal_body": [1.4134035365312942, 0.38346120349713153], "route_cost_m": 47.17544632218778, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.29161539003433196, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5792160226536287, "remaining_m": 47.17544632218778, "total_m": 47.75466234484141, "selection_total_m": 47.75466234484141, "best_candidate_total_m": 47.75466234484141, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.26545879302118, -0.29891463402446194], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 397}, "footprint_evidence": null, "native_local_path_body": [[0.48608872294425964, 0.11656201630830765], [0.9704830646514893, 0.24050596356391907], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136], [1.3822274208068848, 0.34586066007614136]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9971209764480591, 0.03559958562254906, -0.06695324182510376, -0.4238522946834564], [-0.03045658953487873, 0.6205801367759705, 0.7835513949394226, -2.774099111557007], [0.0694439560174942, 0.7833345532417297, -0.6177092790603638, 6.092398643493652], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3817481859587133, "input_age_at_publish_s": 0.4577911267988384, "vggt_debug_frame": "frames/00000399/frame.json"} +{"frame_idx": 400, "time_s": 100.64300727844238, "localized": true, "localized_streak": 186, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 775, "score": 0.5438236594200134, "verified": true, "loaded": true}, {"id": 774, "score": 0.5284255743026733, "verified": true, "loaded": true}, {"id": 773, "score": 0.5196602940559387, "verified": true, "loaded": true}, {"id": 772, "score": 0.5056294798851013, "verified": true, "loaded": true}, {"id": 779, "score": 0.504043459892273, "verified": true, "loaded": true}, {"id": 778, "score": 0.5036581754684448, "verified": true, "loaded": true}], "camera_display": [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.3828988432326526, -0.10731833703056459, -1.5490623186734973], [-4.907197910927964, -0.1215078085421748, -1.5577695600469734], [-4.415298346431973, -0.21046435774752847, -1.56878933539901], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203], [-4.414871517892063, -0.21054153829371547, -1.568798897194203]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.5796434408331, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6851507611138195, "map_correction_at_base_m": 0.013849822081582884, "map_correction_angle_deg": 0.09340279133344169, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.013849822081582884, "rotation_deg": 0.09340279133344169, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361765, -0.4016365056936492, 0.9157890531050255, 0.02725580518264703], [-0.9998133703933496, -0.015519242036847597, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.40149474804000707, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4886493980884552, 0.10588543862104416], [0.933079719543457, 0.2763268053531647], [1.4213427305221558, 0.3840261995792389], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467]], "goal_body": [1.4288981907999596, 0.33947563207353293], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.2786345184853805, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7483347097784164, "remaining_m": 46.9613796826452, "total_m": 47.70971439242362, "selection_total_m": 47.70971439242362, "best_candidate_total_m": 47.70971439242362, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.247487965044517, -0.276530971452695], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 399}, "footprint_evidence": null, "native_local_path_body": [[0.4886493980884552, 0.10588543862104416], [0.933079719543457, 0.2763268053531647], [1.4213427305221558, 0.3840261995792389], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467], [1.4217664003372192, 0.3841196596622467]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9990353584289551, 0.02380010113120079, -0.03690382465720177, -0.42292916774749756], [-0.014158175326883793, 0.6209341287612915, 0.7837348580360413, -2.7522735595703125], [0.041567813605070114, 0.7835013270378113, -0.6199980974197388, 6.061631679534912], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.35317227710038424, "input_age_at_publish_s": 0.5687982179224491, "vggt_debug_frame": "frames/00000400/frame.json"} +{"frame_idx": 402, "time_s": 101.10893058776855, "localized": true, "localized_streak": 187, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 775, "score": 0.5438236594200134, "verified": true, "loaded": true}, {"id": 774, "score": 0.5284255743026733, "verified": true, "loaded": true}, {"id": 773, "score": 0.5196602940559387, "verified": true, "loaded": true}, {"id": 772, "score": 0.5056294798851013, "verified": true, "loaded": true}, {"id": 779, "score": 0.504043459892273, "verified": true, "loaded": true}, {"id": 778, "score": 0.5036581754684448, "verified": true, "loaded": true}], "camera_display": [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.3381068977045505, -0.11466398979003944, -1.5520078993876691], [-4.846503240517453, -0.20560655555124008, -1.5594531646384369], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894], [-4.3577929482783535, -0.2960138415629068, -1.5668546097418894]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.55265817503404, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3678558343329129, "map_correction_at_base_m": 0.0061464737932596155, "map_correction_angle_deg": 0.6619500457211751, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0061464737932596155, "rotation_deg": 0.6619500457211751, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224145, -0.403040551686078, 0.9151721267474484, 0.02726120704254864], [-0.9998137411416025, -0.015500331838897957, -0.011498814604843866, -0.0012977405538512343], [0.018819960236367672, -0.9150508474448106, -0.4028991879952546, 1.3117021917484168], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4918058514595032, 0.08883572369813919], [0.9850117564201355, 0.17098169028759003], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827]], "goal_body": [1.445822240332296, 0.2585828275193387], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.2621391901433167, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7137608224014957, "remaining_m": 46.9613796826452, "total_m": 47.6751405050467, "selection_total_m": 47.6751405050467, "best_candidate_total_m": 47.6751405050467, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.22601221616838, -0.23401862531668194], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 400}, "footprint_evidence": null, "native_local_path_body": [[0.4918058514595032, 0.08883572369813919], [0.9850117564201355, 0.17098169028759003], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827], [1.4753148555755615, 0.25264421105384827]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.99998939037323, -0.001676616258919239, 0.004329864867031574, -0.41048815846443176], [0.00232144957408309, 0.6270716190338135, 0.7789581418037415, -2.7314186096191406], [-0.004021149128675461, 0.7789598107337952, -0.6270612478256226, 6.033151149749756], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3391551999375224, "input_age_at_publish_s": 0.4199256063438952, "vggt_debug_frame": "frames/00000402/frame.json"} +{"frame_idx": 403, "time_s": 101.37511873245239, "localized": true, "localized_streak": 188, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 775, "score": 0.5438236594200134, "verified": true, "loaded": true}, {"id": 774, "score": 0.5284255743026733, "verified": true, "loaded": true}, {"id": 773, "score": 0.5196602940559387, "verified": true, "loaded": true}, {"id": 772, "score": 0.5056294798851013, "verified": true, "loaded": true}, {"id": 779, "score": 0.504043459892273, "verified": true, "loaded": true}, {"id": 778, "score": 0.5036581754684448, "verified": true, "loaded": true}], "camera_display": [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.329396801404956, -0.11335600331606166, -1.5470370150877422], [-4.838102016940947, -0.20550655023073094, -1.558777421804086], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378], [-4.374335283318261, -0.2924937403730947, -1.5698599940530378]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.545519501655725, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5855548195337372, "map_correction_at_base_m": 0.01967910219006037, "map_correction_angle_deg": 0.5894196603845162, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01967910219006037, "rotation_deg": 0.5894196603845162, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364934, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933496, -0.015519242036847486, -0.01150554254660019, -0.0012976112942695295], [0.018833397874358226, -0.915667663740943, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4933500587940216, 0.0802086740732193], [0.9884716272354126, 0.14988404512405396], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677]], "goal_body": [1.4498021097972633, 0.23000927579256902], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.25466351342154825, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6932488693906119, "remaining_m": 46.9613796826452, "total_m": 47.65462855203582, "selection_total_m": 47.65462855203582, "best_candidate_total_m": 47.65462855203582, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.205873714342452, -0.22003672788227133], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 402}, "footprint_evidence": null, "native_local_path_body": [[0.4933500587940216, 0.0802086740732193], [0.9884716272354126, 0.14988404512405396], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677], [1.4558507204055786, 0.2156554013490677]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9996178150177002, -0.007504174951463938, 0.026614652946591377, -0.4129500091075897], [0.016190098598599434, 0.6214332580566406, 0.7832998633384705, -2.7300477027893066], [-0.022417249158024788, 0.7834312319755554, -0.6210743188858032, 6.011031150817871], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36041681934148073, "input_age_at_publish_s": 0.5359557499177754, "vggt_debug_frame": "frames/00000403/frame.json"} +{"frame_idx": 405, "time_s": 101.80823183059692, "localized": true, "localized_streak": 189, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 775, "score": 0.5438236594200134, "verified": true, "loaded": true}, {"id": 774, "score": 0.5284255743026733, "verified": true, "loaded": true}, {"id": 773, "score": 0.5196602940559387, "verified": true, "loaded": true}, {"id": 772, "score": 0.5056294798851013, "verified": true, "loaded": true}, {"id": 779, "score": 0.504043459892273, "verified": true, "loaded": true}, {"id": 778, "score": 0.5036581754684448, "verified": true, "loaded": true}], "camera_display": [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.2870383113962465, -0.12053451051857511, -1.5489941675985512], [-4.795719385215806, -0.21252894093251484, -1.5609403709454246], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477], [-4.3731363967781665, -0.2916532580728557, -1.5712152899212477]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.51988573722071, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8880241714663304, "map_correction_at_base_m": 0.0014081425005831511, "map_correction_angle_deg": 0.11284917364884979, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0014081425005831511, "rotation_deg": 0.11284917364884979, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364934, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847652, -0.011505542546599856, -0.001297611294266865], [0.018833397874358282, -0.9156676637409431, -0.4014947480400073, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49479416012763977, 0.06800465285778046], [0.9920563697814941, 0.12025680392980576], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163]], "goal_body": [1.4568405207848434, 0.1751986691676074], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.24673689838805832, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6510320173131933, "remaining_m": 46.9613796826452, "total_m": 47.61241169995839, "selection_total_m": 47.61241169995839, "best_candidate_total_m": 47.61241169995839, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.182586558224346, -0.18403915062680398], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 403}, "footprint_evidence": null, "native_local_path_body": [[0.49479416012763977, 0.06800465285778046], [0.9920563697814941, 0.12025680392980576], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163], [1.4197511672973633, 0.16519884765148163]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.998026967048645, -0.02358159050345421, 0.05819154903292656, -0.40641894936561584], [0.03090793639421463, 0.6222115159034729, 0.7822388410568237, -2.7090327739715576], [-0.05465388670563698, 0.7824939489364624, -0.6202548742294312, 5.9726457595825195], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3434848887845874, "input_age_at_publish_s": 0.3871946050785482, "vggt_debug_frame": "frames/00000405/frame.json"} +{"frame_idx": 406, "time_s": 102.14152407646179, "localized": true, "localized_streak": 190, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 774, "score": 0.5574721693992615, "verified": true, "loaded": true}, {"id": 779, "score": 0.5569401979446411, "verified": true, "loaded": true}, {"id": 775, "score": 0.5559638738632202, "verified": true, "loaded": true}, {"id": 773, "score": 0.5494818687438965, "verified": true, "loaded": true}, {"id": 778, "score": 0.5492455959320068, "verified": true, "loaded": true}, {"id": 777, "score": 0.5318464040756226, "verified": true, "loaded": true}], "camera_display": [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.297091297866173, -0.18056361431767343, -1.5397483641618477], [-4.80936598920443, -0.27870596459570507, -1.5514974015606493], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577], [-4.320060038217298, -0.3712679763779798, -1.5631607062885577]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.49944138132019, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.37575209443421825, "map_correction_at_base_m": 0.012001416390799725, "map_correction_angle_deg": 0.13493667352432792, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.012001416390799725, "rotation_deg": 0.13493667352432792, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236182, -0.40163650569364917, 0.9157890531050251, 0.02725580518264792], [-0.9998133703933497, -0.015519242036847403, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4738371670246124, -0.008071871474385262], [0.9703071117401123, 0.02603769674897194], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158]], "goal_body": [1.4613055363641465, 0.13495635663280514], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.23516801589630612, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.621051907424905, "remaining_m": 46.9613796826452, "total_m": 47.58243159007011, "selection_total_m": 47.58243159007011, "best_candidate_total_m": 47.58243159007011, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.164728520716302, -0.1555030838124529], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 405}, "footprint_evidence": null, "native_local_path_body": [[0.4738371670246124, -0.008071871474385262], [0.9703071117401123, 0.02603769674897194], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158], [1.4668262004852295, 0.06594756990671158]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9963538646697998, -0.03385524824261665, 0.07831323146820068, -0.39723971486091614], [0.04019151255488396, 0.6234216094017029, 0.780852198600769, -2.7055821418762207], [-0.07525810599327087, 0.781152606010437, -0.6197879314422607, 5.944180488586426], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3592946110293269, "input_age_at_publish_s": 0.5014047431759536, "vggt_debug_frame": "frames/00000406/frame.json"} +{"frame_idx": 408, "time_s": 102.64184594154358, "localized": true, "localized_streak": 191, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 774, "score": 0.5574721693992615, "verified": true, "loaded": true}, {"id": 779, "score": 0.5569401979446411, "verified": true, "loaded": true}, {"id": 775, "score": 0.5559638738632202, "verified": true, "loaded": true}, {"id": 773, "score": 0.5494818687438965, "verified": true, "loaded": true}, {"id": 778, "score": 0.5492455959320068, "verified": true, "loaded": true}, {"id": 777, "score": 0.5318464040756226, "verified": true, "loaded": true}], "camera_display": [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], "global_route": [[-5.0984864306570365, -0.13028874697961523, -0.06951967342017024], [-4.902518360333666, -0.20468133680152345, -0.07068559770564847], [-4.70479785013455, -0.3063587846537026, -0.05750002633278478], [-4.504869332122107, -0.2666887561152773, -0.05473549417869511], [-4.311260507436318, -0.3267169129676204, -0.06597166278201955], [-4.112026655270174, -0.3815468632077563, -0.05634324489946413], [-3.909532817371041, -0.4660249909539016, -0.0665351035968183], [-3.7162303257443123, -0.5490377789033711, -0.04669459730281261], [-3.5122870632993464, -0.6121686258242396, -0.055756399370685605], [-3.3026777921024104, -0.6629841975004551, -0.04819298550577883], [-3.1033745021112398, -0.729030023080701, -0.05546549332920675], [-2.907017252017545, -0.820511491359897, -0.048913868151428785], [-2.665097965189302, -0.9092296832142079, -0.0563257485868614], [-2.414328811222219, -0.970656359298399, -0.05766542346458575], [-2.184911451195871, -1.0261648475597493, -0.0607538258328873], [-2.080513246917334, -1.0202238336203047, -0.05370988362994261], [-2.036423157463075, -1.002319767404687, -0.053917263342459665], [-1.9981211954832574, -0.9758793445471576, -0.05477132520881828], [-1.9286352535477622, -0.8989044731076874, -0.06550905140104196], [-1.8781822041451277, -0.8109210969290315, -0.0715857628033914], [-1.8412547529757348, -0.6989207082360056, -0.07348560577254531], [-1.8280026075100761, -0.6454056456547346, -0.07329904571839335], [-1.8038859616919392, -0.6084470292853661, -0.06998038492782183], [-1.7490122394848293, -0.5640350038356083, -0.06574480771878571], [-1.6315286588226487, -0.35220816922827214, -0.08616692475438709], [-1.5755197967913195, -0.10824846839079316, -0.0795658352572049], [-1.4903881671927381, 0.08352065227142669, -0.09327270783891423], [-1.365946171366569, 0.34138986695502194, -0.06567483278207792], [-1.2435256750226695, 0.7542960865374999, -0.06369776585436299], [-1.171869471163265, 0.9404495463374198, -0.06949979537799439], [-1.0358403060433803, 1.2621822574807684, -0.04953936436052536], [-0.9702029682026674, 1.4730162790759662, -0.05950105403190348], [-0.8815553929288309, 1.751253450075136, -0.05095269327104873], [-0.7277529427575473, 2.0988976765601794, -0.04665785361589819], [-0.6547783348465439, 2.308721321599971, -0.049631426786923394], [-0.5885307380008034, 2.5363876673189596, -0.05269449427275369], [-0.5114815155144101, 2.745474425134426, -0.05233590199339294], [-0.409715458047748, 2.9605300028907244, -0.053104222679225155], [-0.3321285213992289, 3.165087490813818, -0.03685600252787907], [-0.2562554701523554, 3.394036795457449, -0.052973081113407317], [-0.18531191682020132, 3.612826062136101, -0.040813715781334914], [-0.08687099061629011, 3.8305999706219174, -0.050019282383698516], [0.006928701496501377, 4.047352048180808, -0.03233367080024202], [0.07795908886597203, 4.266216844104621, -0.043850058963445904], [0.13515937582374682, 4.4882547154898695, -0.03096990680837736], [0.21535620340186634, 4.697766971760494, -0.04524403950703554], [0.31401213234426506, 4.916630866129342, -0.03155572070061413], [0.39858410997736815, 5.129084700059022, -0.034741265046481395], [0.4696226087154025, 5.361499098409946, -0.03974411442036546], [0.551264908490203, 5.5707431951914295, -0.036536296474794894], [0.7626133486485116, 5.9973613904617835, -0.018366096963232496], [0.9200801084653214, 6.406162602949678, -0.007576132633863978], [1.1066439856999826, 6.780809512995448, -0.00425235243507233], [1.2095645106544148, 7.023481888028078, -0.01318751247339062], [1.3788759815904004, 7.463604757744264, -0.01019670522194344], [1.4532712394528484, 7.6493726469669845, -0.00020956094708574416], [1.4834789342102568, 7.826190416599426, -0.0035580821200907366], [1.4840540079109974, 8.075107723844754, -0.004142372003004106], [1.4612278471893463, 8.28798676247019, -0.0005029022014953512], [1.4577458977671327, 8.392620864796365, -0.0020509938125482], [1.4377814224618728, 8.478795732486084, -0.0015013827359782773], [1.3981846060791474, 8.549231901607891, -0.008487014152517573], [1.2935792742689332, 8.640093654440735, -0.019470109602285627], [1.2225441040737284, 8.680276238876745, -0.01027359203311257], [1.1543661282237117, 8.720551997960886, -0.007271051130830767], [1.073955406835343, 8.809614182701143, -0.002193604259168206], [0.9106492043089545, 8.937689747479206, 0.0029408565278760644], [0.7010128095754764, 9.012959139055617, 0.008811392715706242], [0.30659607050897986, 9.181936312282637, -0.005517110454990318], [0.11196760103869163, 9.271252023005525, 0.009165747447155755], [-0.9752161533607411, 9.615672578083972, -0.015065061626170554], [-1.0732696795423258, 9.590033396104776, -0.012182486815409291], [-1.156812012995617, 9.552844640707265, -0.01673920417375802], [-1.1959319418540226, 9.53746506855194, -0.019967836176178203], [-1.2320217622915894, 9.524221295432438, -0.019206050356119612], [-1.2651440008441193, 9.509461925014055, -0.016584101386002918], [-1.2898187025438994, 9.493704269333103, -0.010617987139396604], [-1.3123845244369359, 9.470991248170922, -0.008552619702514367], [-1.322510583595124, 9.401219764156071, -0.008035929888356833], [-1.341793487021539, 9.317808264409495, -0.01854740865416932], [-1.3934825682286625, 9.09496741710518, -0.020571453770517337], [-1.4738792147267161, 8.857950861577493, -0.03553807345675458], [-1.5944117024462696, 8.673253040258853, -0.019728485601840543], [-1.6584628622087636, 8.464738687048518, -0.015721743599082242], [-1.7141438386695542, 8.224761321354293, -0.032441717325209674], [-1.784562898952677, 8.001238782173976, -0.022980331122641588], [-1.8815636746553577, 7.771048244792016, -0.042488298274382], [-1.95465299797349, 7.553106568912259, -0.027224224007740553], [-2.0085864359004026, 7.31368830645968, -0.04867955169637411], [-2.0615331219277295, 7.066208347711987, -0.041377878359482534], [-2.1254831504411213, 6.829000072781584, -0.06185035079279039], [-2.1875446132219882, 6.587409673488208, -0.03753237214823574], [-2.2442956471970423, 6.341618959738829, -0.04846181075256145], [-2.305713125834393, 6.093906517139301, -0.04064798436011402], [-2.396491938882053, 5.865512071834363, -0.04997108538035128], [-2.5124457650471537, 5.641181521189083, -0.04054166236159712], [-2.610907972596785, 5.422835044171052, -0.04072695622940775], [-2.6975102859154023, 5.180076022268057, -0.0463107330726194], [-2.785605473012598, 4.971617672942771, -0.04416563511975796], [-2.893961674879947, 4.778506227537803, -0.05218108438151764], [-2.9835399070539608, 4.58879394659762, -0.03681948383049011], [-3.0718438544858104, 4.375306589314877, -0.059171379000882596], [-3.1576488186744114, 4.155705956256635, -0.049359269795384464], [-3.2546194441414227, 3.945033968933215, -0.06570525618810513], [-3.3560211222788525, 3.728712229460479, -0.04778144872520845], [-3.43755119737142, 3.502722213876349, -0.0670091847156356], [-3.5005552163581988, 3.2711299661294815, -0.059822876373792966], [-3.5685096938294367, 3.057480509635857, -0.06567722179022245], [-3.6518368194516078, 2.8456891505093305, -0.05895831516226774], [-3.7130780438121254, 2.6442274861591955, -0.06157370712253557], [-3.8207722188090405, 2.2282733785305258, -0.07039825756019696], [-4.044053664883666, 1.6242465946224156, -0.08920602219811241], [-4.328298119408274, 0.758259625997022, -0.08569821650560511], [-4.327648450970155, 0.5079453586331901, -0.075817235273336], [-4.310447933311638, 0.3924397344555146, -0.0820213434344213], [-4.289860316504113, 0.2764551934604689, -0.08110654324583538], [-4.2715859693239135, 0.22801392163103884, -0.07203265941039155], [-4.059174929220568, 0.0122927991277062, -0.0800242735536521], [-3.9460051997736856, -0.06843807505986566, -0.0732996438635401], [-3.8487192996934483, -0.138772913891398, -0.07460823773239428], [-3.7593839754913625, -0.2473801758691727, -0.06876433240341867], [-3.5854190197833975, -0.3834337043103708, -0.06702716218370958], [-3.3534835272168193, -0.475343225597344, -0.0681205086250119], [-3.126795172041938, -0.5766903804895454, -0.06971453836767078], [-2.944920965249142, -0.6830610416876786, -0.059902810262676465], [-2.749101543894175, -0.7672648927916257, -0.06291549789567946], [-2.5240738928573165, -0.8341017787929164, -0.07177936267373469], [-2.3194743850028137, -0.8925683021706075, -0.06091389365345329], [-2.115380790094058, -0.9795079944143363, -0.0729635042023023], [-1.9138255487803577, -1.0638051810444822, -0.05411400711486164], [-1.7006859267415124, -1.1487024525583478, -0.0647367722691729], [-1.4837711070935633, -1.22951411019005, -0.057365828885614756], [-1.2735441119517994, -1.32297825187027, -0.06565623245604729], [-1.0636480813880045, -1.4389907855730364, -0.05554978857395204], [-0.857240915962584, -1.5265344492374051, -0.05958379283724363], [-0.6291511292981533, -1.5999449261060625, -0.05870715441264496], [-0.40996690208644004, -1.6828970142623851, -0.054266947273335975], [-0.19395136939986157, -1.7874885475415772, -0.06148357135061899], [0.009461435894950743, -1.8616346836914577, -0.05235778491787749], [0.2229870441748566, -1.9227166655806194, -0.06207890434361475], [0.42005044690526266, -1.9671442997499542, -0.04346014195796319], [0.6187280042957175, -2.0241712890627537, -0.05494731354361], [0.8130506904569674, -2.062052450429786, -0.03806484750270127], [1.0074832742387678, -2.035387194161262, -0.045882288115084935], [1.2007642657051891, -1.9552229973940813, -0.050836907186322805], [1.3036828703609475, -1.8819071857072822, -0.05035676610804529], [1.3513663504715692, -1.839350641986267, -0.05486429208943483], [1.399644904999756, -1.7971562230117053, -0.060226446639351616], [1.4440693856561762, -1.7559198078936755, -0.062060575919561656], [1.485259210483547, -1.7129192013887429, -0.05878675524949056], [1.5195669314550047, -1.6689188322204447, -0.05315215403179524], [1.5750157145430195, -1.5808109017581682, -0.04776796966514646], [1.6195720898452646, -1.4751678659433716, -0.055314937498484706], [1.7023502480005523, -1.237421384294177, -0.04931090115650283], [1.8010158826257947, -1.0442428034058415, -0.06237373814711966], [1.9104322601753465, -0.8309457503627415, -0.045463497978106726], [1.9823736624209023, -0.6102311932862226, -0.05195258885765652], [2.0339033271371356, -0.361208578814614, -0.050758620213696426], [2.085757498879895, -0.1301891856005606, -0.05125931935406325], [2.157490397572664, 0.17458788912848933, -0.035464397843272155], [2.1794895960034206, 0.3942850390905974, -0.04156824742831766], [2.204059495113165, 0.6280069865079101, -0.03916013264175405], [2.2513814296688, 0.8440096119026999, -0.03743303654143154], [2.319345508160488, 1.0731675624546457, -0.0362852662397907], [2.353094387407492, 1.3576012910595, -0.045491388947327904], [2.4111390257739984, 1.6064929492566202, -0.033093263095923586], [2.5123197305219063, 1.8320215411104988, -0.04045974896565413], [2.642186984921166, 2.0557676389956425, -0.02599014954854451], [2.7591788618584747, 2.274270454633343, -0.03163252559963389], [2.8785524317664786, 2.5042572444432682, -0.01558445534730252], [3.29725190080467, 3.1352290367443967, -0.0051088869238891145], [3.419573576959584, 3.3631068012058547, -0.003258405689817615], [3.5471871766375607, 3.576851593616862, -0.003913238749818141], [3.6964541586658584, 3.7885748480614536, -0.002510269737069585], [3.8199520863669743, 3.994639663635189, 0.00044211435479185254], [3.939927030210345, 4.211183186183144, -0.008600721618724275], [4.059990283553114, 4.4077730104088575, 0.0018181598887262417], [4.199433526105601, 4.6115087578278, -0.008247382926460826], [4.313711976071197, 4.810464677662084, 0.011331989611160328], [4.407431405435342, 5.037419559073432, -0.005157556458931515], [4.501020846260909, 5.260150347407319, 0.010062600582025735], [4.60441422470876, 5.4827299075097224, 0.0006090483553203262], [4.712265009559459, 5.695648116813472, 0.025249566928044306], [4.874524218303494, 6.131156342790671, 0.016678762613353434], [4.945918219737841, 6.34285156304532, 0.019188240001504205], [5.042541761452782, 6.56764784164222, 0.022792830074429], [5.112086905682334, 6.780607283439286, 0.03413450403655116], [5.168252729901788, 7.006537143108998, 0.02049097950023687], [5.242349886950025, 7.256037916877482, 0.035180033905128916], [5.390046808638774, 7.473108330600551, 0.04066302751421064], [5.512080232808229, 7.665537584194714, 0.04308672516136608], [5.606670770416137, 7.914728661184558, 0.032571303217286685], [5.679194057411298, 8.108880283359518, 0.031336034338725116], [5.76077681363183, 8.318198276648225, 0.04216164014120277], [5.814070357432104, 8.528972036452679, 0.048062083638172326], [5.846778496789133, 8.769837751234943, 0.03756408595216404], [5.874865287241143, 9.00041113095274, 0.046057347773387824], [5.912947888977204, 9.230621120470758, 0.03565819620143218], [5.952433030896223, 9.448270443046873, 0.050032994182244384], [5.973334964374789, 9.669733907482167, 0.030159303421848357], [5.989690075717668, 9.897593018929554, 0.03304885578060496], [6.013962583723309, 10.10162817842459, 0.025616523164754153], [6.0539362028063515, 10.304012329904445, 0.03991431845848997], [6.054268463624068, 10.548062481299924, 0.04035622099965391], [6.032636429310395, 10.77986651287735, 0.04010986809432793], [6.075888075011083, 10.972151804496903, 0.03397606924535185], [6.123135377301802, 11.090491977504037, 0.03995134477743195], [6.155812443244955, 11.14214709009822, 0.04202875358760405], [6.184923475576051, 11.188843665203326, 0.03648739218226654], [6.208437263447895, 11.230620208608405, 0.03582484100566641], [6.23063133004697, 11.25842168144098, 0.030875453349462508], [6.261690014121065, 11.26482879758028, 0.027519209938767605], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.230606286997196, -0.19705268052260205, -1.5402182573817418], [-4.739667687002896, -0.2911871992974966, -1.551079451798407], [-4.260207686182147, -0.3295290283349983, -1.560562245597172], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588], [-4.239056198233145, -0.3151882629363447, -1.5606441948937588]], "goal_keyframe": 1012, "route_ids": [778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 829, 831, 833, 834, 836, 837, 838, 839, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 852, 853, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 899, 902, 906, 907, 908, 909, 910, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012], "goal_distance": 16.472590826427975, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4006780968957759, "map_correction_at_base_m": 0.003591742369910677, "map_correction_angle_deg": 0.17171569077177126, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.003591742369910677, "rotation_deg": 0.17171569077177126, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933497, -0.015519242036847486, -0.011505542546600134, -0.001297611294266865], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4938565194606781, -0.024376200512051582], [0.9932533502578735, 0.00017645256593823433], [1.4682869911193848, 0.0762355849146843], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486]], "goal_body": [1.4643374861938698, 0.08914595490411881], "route_cost_m": 46.9613796826452, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.23881071846281451, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5769832009488363, "remaining_m": 46.9613796826452, "total_m": 47.53836288359404, "selection_total_m": 47.53836288359404, "best_candidate_total_m": 47.53836288359404, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.132340235690233, -0.11816531504597526], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 406}, "footprint_evidence": null, "native_local_path_body": [[0.4938565194606781, -0.024376200512051582], [0.9932533502578735, 0.00017645256593823433], [1.4682869911193848, 0.0762355849146843], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486], [1.485447883605957, 0.09517109394073486]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9935073852539062, -0.044671088457107544, 0.10463093221187592, -0.38916030526161194], [0.05382376164197922, 0.6256943941116333, 0.7782091498374939, -2.684922933578491], [-0.10023044049739838, 0.778788149356842, -0.6192275285720825, 5.903969764709473], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3510357141494751, "input_age_at_publish_s": 0.3607131689786911, "vggt_debug_frame": "frames/00000408/frame.json"} +{"frame_idx": 409, "time_s": 102.87577176094055, "localized": true, "localized_streak": 192, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 774, "score": 0.5574721693992615, "verified": true, "loaded": true}, {"id": 779, "score": 0.5569401979446411, "verified": true, "loaded": true}, {"id": 775, "score": 0.5559638738632202, "verified": true, "loaded": true}, {"id": 773, "score": 0.5494818687438965, "verified": true, "loaded": true}, {"id": 778, "score": 0.5492455959320068, "verified": true, "loaded": true}, {"id": 777, "score": 0.5318464040756226, "verified": true, "loaded": true}], "camera_display": [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.2127809534201095, -0.20182315846348953, -1.5361302152424618], [-4.721927100861702, -0.2966342464790559, -1.544694915234669], [-4.245960236883391, -0.3186414125914716, -1.5520074409831404], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701], [-4.243562070334585, -0.31701985140620614, -1.5520196985688701]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.45882418431584, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.1796090517957826, "map_correction_at_base_m": 0.004746954141720235, "map_correction_angle_deg": 0.44135569222164694, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004746954141720235, "rotation_deg": 0.44135569222164694, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004303766920286778, -0.40166681559471723, 0.9157757623131846, 0.02725592276518185], [-0.9998133783966765, -0.015518833837765117, -0.011505397661047356, -0.0012976140968214978], [0.018833108328654702, -0.9156543753219961, -0.4015250664458767, 1.311763101353981], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4923262596130371, -0.03064178116619587], [0.9920285940170288, -0.013390994630753994], [1.4609375, 0.0715012475848198], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735]], "goal_body": [1.4711893330080443, 0.12170103298960522], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.23529372280457228, "attachment_limit_m": 0.75, "candidate_count": 23, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7441156080187873, "remaining_m": 20.015750914812088, "total_m": 20.759866522830876, "selection_total_m": 20.759866522830876, "best_candidate_total_m": 20.759866522830876, "selected_on_previous_route": false}, "corner_observation": {"phase": "cruise", "target": [9.072899553501895, -0.13332490939796512], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 408}, "footprint_evidence": null, "native_local_path_body": [[0.4923262596130371, -0.03064178116619587], [0.9920285940170288, -0.013390994630753994], [1.4609375, 0.0715012475848198], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735], [1.462912678718567, 0.07361772656440735]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9919071197509766, -0.05466124415397644, 0.11459644138813019, -0.3803974688053131], [0.05474570393562317, 0.630232572555542, 0.7744739055633545, -2.6812245845794678], [-0.11455611884593964, 0.774479866027832, -0.6221396923065186, 5.892176628112793], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34836114989593625, "input_age_at_publish_s": 0.46643303986638784, "vggt_debug_frame": "frames/00000409/frame.json"} +{"frame_idx": 410, "time_s": 103.14314556121826, "localized": true, "localized_streak": 193, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 774, "score": 0.5574721693992615, "verified": true, "loaded": true}, {"id": 779, "score": 0.5569401979446411, "verified": true, "loaded": true}, {"id": 775, "score": 0.5559638738632202, "verified": true, "loaded": true}, {"id": 773, "score": 0.5494818687438965, "verified": true, "loaded": true}, {"id": 778, "score": 0.5492455959320068, "verified": true, "loaded": true}, {"id": 777, "score": 0.5318464040756226, "verified": true, "loaded": true}], "camera_display": [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.169852998396554, -0.13536004799128598, -1.5345283354325585], [-4.67874486203251, -0.2288236934300958, -1.5433301520539617], [-4.19709343290867, -0.27667369940563447, -1.5512922954075679], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929], [-4.164741551203612, -0.2546701114867398, -1.551441368144929]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.446360081253143, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.1911939128533103, "map_correction_at_base_m": 0.005302075888608102, "map_correction_angle_deg": 0.1671036842515822, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005302075888608102, "rotation_deg": 0.1671036842515822, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364906, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933498, -0.01551924203684718, -0.0115055425466003, -0.001297611294266865], [0.018833397874358115, -0.9156676637409433, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49709078669548035, 0.04162327200174332], [0.9967798590660095, 0.05925430729985237], [1.4771324396133423, 0.11927446722984314], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838]], "goal_body": [1.470364559593126, 0.11733846079007126], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.24179756478815387, "attachment_limit_m": 0.75, "candidate_count": 24, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7228424583928492, "remaining_m": 20.015750914812088, "total_m": 20.73859337320494, "selection_total_m": 20.73859337320494, "best_candidate_total_m": 20.73859337320494, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.05885551568483, -0.11020066923256777], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 409}, "footprint_evidence": null, "native_local_path_body": [[0.49709078669548035, 0.04162327200174332], [0.9967798590660095, 0.05925430729985237], [1.4771324396133423, 0.11927446722984314], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838], [1.5038057565689087, 0.14789889752864838]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.991657018661499, -0.05459318310022354, 0.11677420884370804, -0.3775262236595154], [0.05654499679803848, 0.6298571228981018, 0.7746500968933105, -2.6720643043518066], [-0.11584167927503586, 0.7747900485992432, -0.6215153932571411, 5.871227264404297], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34556339168921113, "input_age_at_publish_s": 0.5693687400780618, "vggt_debug_frame": "frames/00000410/frame.json"} +{"frame_idx": 412, "time_s": 103.64394426345825, "localized": true, "localized_streak": 194, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 774, "score": 0.5574721693992615, "verified": true, "loaded": true}, {"id": 779, "score": 0.5569401979446411, "verified": true, "loaded": true}, {"id": 775, "score": 0.5559638738632202, "verified": true, "loaded": true}, {"id": 773, "score": 0.5494818687438965, "verified": true, "loaded": true}, {"id": 778, "score": 0.5492455959320068, "verified": true, "loaded": true}, {"id": 777, "score": 0.5318464040756226, "verified": true, "loaded": true}], "camera_display": [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.113455822059435, -0.142583998362106, -1.5334500997477813], [-4.622026796332462, -0.2345618949036128, -1.5395809809272327], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214], [-4.15494451036351, -0.250051076113869, -1.5442843077806214]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.41921861690835, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5233086291185588, "map_correction_at_base_m": 0.00918962986421356, "map_correction_angle_deg": 0.3578960074610059, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00918962986421356, "rotation_deg": 0.3578960074610059, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004251530553494642, -0.40434069619182833, 0.9145985599655515, 0.02726612717484933], [-0.9998140844722142, -0.015482818859277991, -0.011492554596757909, -0.0012978592201760009], [0.01880747135957883, -0.9144773828385688, -0.40419969730045624, 1.3116445007542745], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49541622400283813, 0.048468831926584244], [0.9949066042900085, 0.07103777676820755], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263]], "goal_body": [1.4671312408189632, 0.1238451984329233], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 776, "nearest_distance_m": 0.26480743754124025, "attachment_limit_m": 0.75, "candidate_count": 24, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6774139877528036, "remaining_m": 20.015750914812088, "total_m": 20.69316490256489, "selection_total_m": 20.69316490256489, "best_candidate_total_m": 20.69316490256489, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.032881770959287, -0.07021197198317819], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 410}, "footprint_evidence": null, "native_local_path_body": [[0.49541622400283813, 0.048468831926584244], [0.9949066042900085, 0.07103777676820755], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263], [1.4532265663146973, 0.16252928972244263]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9925161600112915, -0.050172578543424606, 0.1113315224647522, -0.37092384696006775], [0.05486350879073143, 0.6312909722328186, 0.773603081703186, -2.648197889328003], [-0.10909624397754669, 0.7739214897155762, -0.6238137483596802, 5.8265838623046875], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3587812720797956, "input_age_at_publish_s": 0.43394761020317674, "vggt_debug_frame": "frames/00000412/frame.json"} +{"frame_idx": 413, "time_s": 103.87697553634644, "localized": true, "localized_streak": 195, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 774, "score": 0.5574721693992615, "verified": true, "loaded": true}, {"id": 779, "score": 0.5569401979446411, "verified": true, "loaded": true}, {"id": 775, "score": 0.5559638738632202, "verified": true, "loaded": true}, {"id": 773, "score": 0.5494818687438965, "verified": true, "loaded": true}, {"id": 778, "score": 0.5492455959320068, "verified": true, "loaded": true}, {"id": 777, "score": 0.5318464040756226, "verified": true, "loaded": true}], "camera_display": [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.09839595146312, -0.22144078317782068, -1.5415874814814863], [-4.606818505597422, -0.3125986217793342, -1.5480580815014415], [-4.1245896604837515, -0.35972197660259386, -1.553739368156822], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294], [-4.0906519874719365, -0.3364067089052476, -1.5537197375546294]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.404901973779243, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3649104696042538, "map_correction_at_base_m": 0.011762214592771283, "map_correction_angle_deg": 0.09818064379151867, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.011762214592771283, "rotation_deg": 0.09818064379151867, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936494, 0.9157890531050252, 0.02725580518264703], [-0.9998133703933498, -0.015519242036847458, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49584242701530457, -0.01850838027894497], [0.9952037930488586, 0.006754892412573099], [1.4752559661865234, 0.07269014418125153], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219]], "goal_body": [1.4633723729196157, 0.13157249738256882], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 16, "nearest_distance_m": 0.27843998971518885, "attachment_limit_m": 0.75, "candidate_count": 23, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6519061575188629, "remaining_m": 20.015750914812088, "total_m": 20.66765707233095, "selection_total_m": 20.66765707233095, "best_candidate_total_m": 20.66765707233095, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [9.019155354679505, -0.05486511671799049], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 412}, "footprint_evidence": null, "native_local_path_body": [[0.49584242701530457, -0.01850838027894497], [0.9952037930488586, 0.006754892412573099], [1.4752559661865234, 0.07269014418125153], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219], [1.5028626918792725, 0.10323905944824219]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9929701089859009, -0.04848083108663559, 0.10798229277133942, -0.3712281286716461], [0.05309644341468811, 0.6328998804092407, 0.7724108695983887, -2.6271870136260986], [-0.10578909516334534, 0.7727142572402954, -0.6258764266967773, 5.799576759338379], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3494830816052854, "input_age_at_publish_s": 0.5353146591223776, "vggt_debug_frame": "frames/00000413/frame.json"} +{"frame_idx": 415, "time_s": 104.37623810768127, "localized": true, "localized_streak": 196, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5924261808395386, "verified": true, "loaded": true}, {"id": 774, "score": 0.5815140604972839, "verified": true, "loaded": true}, {"id": 773, "score": 0.5722370147705078, "verified": true, "loaded": true}, {"id": 778, "score": 0.5707537531852722, "verified": true, "loaded": true}, {"id": 777, "score": 0.5456197261810303, "verified": true, "loaded": true}, {"id": 781, "score": 0.5437474250793457, "verified": true, "loaded": true}], "camera_display": [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.040402222991786, -0.16104923615632227, -1.5371949409705965], [-4.549494351055871, -0.2557197971064715, -1.5440530983418779], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445], [-4.100170532622974, -0.3423709656537586, -1.5503303117871445]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.375722303794728, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3007351566219818, "map_correction_at_base_m": 0.010009105294770265, "map_correction_angle_deg": 0.44294436637868034, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.010009105294770265, "rotation_deg": 0.44294436637868034, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936494, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.01551924203684743, -0.011505542546600245, -0.001297611294266865], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49582207202911377, 0.05147412791848183], [0.9953407049179077, 0.07340899109840393], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129]], "goal_body": [1.4630417910763553, 0.12188911190121732], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.24769662380857535, "attachment_limit_m": 0.75, "candidate_count": 23, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6109830952325026, "remaining_m": 20.015750914812088, "total_m": 20.62673401004459, "selection_total_m": 20.62673401004459, "best_candidate_total_m": 20.62673401004459, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.985664559994763, -0.01801269933530708], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 413}, "footprint_evidence": null, "native_local_path_body": [[0.49582207202911377, 0.05147412791848183], [0.9953407049179077, 0.07340899109840393], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129], [1.4525458812713623, 0.09348578006029129]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9930201768875122, -0.05101925507187843, 0.10634046047925949, -0.35972246527671814], [0.05025998875498772, 0.6326062083244324, 0.7728410959243774, -2.612081289291382], [-0.10670141130685806, 0.7727913856506348, -0.6256265640258789, 5.760148525238037], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34281933633610606, "input_age_at_publish_s": 0.38132438715547323, "vggt_debug_frame": "frames/00000415/frame.json"} +{"frame_idx": 416, "time_s": 104.64305472373962, "localized": true, "localized_streak": 197, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5924261808395386, "verified": true, "loaded": true}, {"id": 774, "score": 0.5815140604972839, "verified": true, "loaded": true}, {"id": 773, "score": 0.5722370147705078, "verified": true, "loaded": true}, {"id": 778, "score": 0.5707537531852722, "verified": true, "loaded": true}, {"id": 777, "score": 0.5456197261810303, "verified": true, "loaded": true}, {"id": 781, "score": 0.5437474250793457, "verified": true, "loaded": true}], "camera_display": [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.010275941309698, -0.16383453656240032, -1.5371265396797795], [-4.51942446716248, -0.25894509872442484, -1.5414636294792052], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716], [-4.094111953651382, -0.3413564170573844, -1.545221627050716]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.366733714740878, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6526075219779292, "map_correction_at_base_m": 0.00697907240383646, "map_correction_angle_deg": 0.42474672241318345, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00697907240383646, "rotation_deg": 0.42474672241318345, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042769289372242, -0.4030405516860779, 0.9151721267474484, 0.02726120704254864], [-0.999813741141602, -0.015500331838898124, -0.01149881460484381, -0.0012977405538530107], [0.018819960236367672, -0.9150508474448105, -0.40289918799525437, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4957873821258545, 0.04679481312632561], [0.995522677898407, 0.06306283175945282], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375]], "goal_body": [1.4610701642064896, 0.10989497429257855], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.23449643903079495, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5923661206102353, "remaining_m": 20.015750914812088, "total_m": 20.608117035422325, "selection_total_m": 20.608117035422325, "best_candidate_total_m": 20.608117035422325, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.96756392024597, -0.005207940211739259], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 415}, "footprint_evidence": null, "native_local_path_body": [[0.4957873821258545, 0.04679481312632561], [0.995522677898407, 0.06306283175945282], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375], [1.4285328388214111, 0.07715871930122375]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9917380809783936, -0.04970546439290047, 0.11825789511203766, -0.36000511050224304], [0.05997674539685249, 0.6352425813674927, 0.769980251789093, -2.5989227294921875], [-0.11339467763900757, 0.7707114815711975, -0.627013087272644, 5.739448070526123], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34246877674013376, "input_age_at_publish_s": 0.4782675192691386, "vggt_debug_frame": "frames/00000416/frame.json"} +{"frame_idx": 417, "time_s": 104.87696981430054, "localized": true, "localized_streak": 198, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5924261808395386, "verified": true, "loaded": true}, {"id": 774, "score": 0.5815140604972839, "verified": true, "loaded": true}, {"id": 773, "score": 0.5722370147705078, "verified": true, "loaded": true}, {"id": 778, "score": 0.5707537531852722, "verified": true, "loaded": true}, {"id": 777, "score": 0.5456197261810303, "verified": true, "loaded": true}, {"id": 781, "score": 0.5437474250793457, "verified": true, "loaded": true}], "camera_display": [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], "global_route": [[-4.936802093303111, -0.05879576808769693, 0.024829948024729095], [-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-5.0040019826317055, -0.16528900405089786, -1.5397658891391348], [-4.5130178839441655, -0.2595880059489213, -1.5462731901068967], [-4.035805316272241, -0.28691864020799684, -1.551723123339749], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304], [-4.026980696291675, -0.28093848532471366, -1.5517356952582304]], "goal_keyframe": 1012, "route_ids": [1114, 1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.35473346711994, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.41624539508065533, "map_correction_at_base_m": 0.01610242130193216, "map_correction_angle_deg": 0.3764514576432254, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01610242130193216, "rotation_deg": 0.3764514576432254, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364906, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933496, -0.01551924203684743, -0.011505542546600078, -0.0012976112942659768], [0.018833397874358226, -0.9156676637409432, -0.40149474804000707, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4950670003890991, 0.047851111739873886], [0.9947906732559204, 0.06447120755910873], [1.466261863708496, 0.14335952699184418], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229]], "goal_body": [1.4623163778534267, 0.10121193427675779], "route_cost_m": 20.015750914812088, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.22494538803158423, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5802109534615855, "remaining_m": 20.015750914812088, "total_m": 20.595961868273672, "selection_total_m": 20.595961868273672, "best_candidate_total_m": 20.595961868273672, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.957832106708539, 0.019345551770414193], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 416}, "footprint_evidence": null, "native_local_path_body": [[0.4950670003890991, 0.047851111739873886], [0.9947906732559204, 0.06447120755910873], [1.466261863708496, 0.14335952699184418], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229], [1.473544955253601, 0.15114367008209229]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.991615891456604, -0.05477476865053177, 0.11703774333000183, -0.35357993841171265], [0.05609087646007538, 0.6334894895553589, 0.771715521812439, -2.593282699584961], [-0.11641272902488708, 0.7718100547790527, -0.6251059770584106, 5.728856086730957], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.33718619495630264, "input_age_at_publish_s": 0.57261300412938, "vggt_debug_frame": "frames/00000417/frame.json"} +{"frame_idx": 419, "time_s": 105.37829732894897, "localized": true, "localized_streak": 199, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5924261808395386, "verified": true, "loaded": true}, {"id": 774, "score": 0.5815140604972839, "verified": true, "loaded": true}, {"id": 773, "score": 0.5722370147705078, "verified": true, "loaded": true}, {"id": 778, "score": 0.5707537531852722, "verified": true, "loaded": true}, {"id": 777, "score": 0.5456197261810303, "verified": true, "loaded": true}, {"id": 781, "score": 0.5437474250793457, "verified": true, "loaded": true}], "camera_display": [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], "global_route": [[-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.964195630667787, -0.24557962327574945, -1.5383715366010242], [-4.4736527257227605, -0.342145561756368, -1.5449076458628528], [-3.993265494305537, -0.38814383144355613, -1.5506536938548452], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417], [-3.966191899618292, -0.3699786175500748, -1.550697698837417]], "goal_keyframe": 1012, "route_ids": [1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.322552532476628, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.41005246023058844, "map_correction_at_base_m": 0.006553105857995387, "map_correction_angle_deg": 0.2624305725779244, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.006553105857995387, "rotation_deg": 0.2624305725779244, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224145, -0.4030405516860779, 0.9151721267474484, 0.027261207042546864], [-0.9998137411416027, -0.015500331838897985, -0.011498814604843866, -0.0012977405538538989], [0.018819960236367728, -0.9150508474448106, -0.4028991879952548, 1.3117021917484168], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4961846172809601, -0.0265505351126194], [0.996054470539093, -0.015143427066504955], [1.4751020669937134, 0.043457791209220886], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803]], "goal_body": [1.4802456875891772, 0.08148501494342286], "route_cost_m": 19.78010720014572, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.1935335456015319, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7309061236769594, "remaining_m": 19.78010720014572, "total_m": 20.51101332382268, "selection_total_m": 20.51101332382268, "best_candidate_total_m": 20.51101332382268, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.915253573125328, 0.07088115719076715], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 417}, "footprint_evidence": null, "native_local_path_body": [[0.4961846172809601, -0.0265505351126194], [0.996054470539093, -0.015143427066504955], [1.4751020669937134, 0.043457791209220886], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803], [1.4976239204406738, 0.06703155487775803]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9908446073532104, -0.05737261101603508, 0.12221125513315201, -0.3438986539840698], [0.05863243713974953, 0.6325291395187378, 0.7723141312599182, -2.5709879398345947], [-0.12161185592412949, 0.7724087834358215, -0.6233742237091064, 5.679040908813477], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3591179037466645, "input_age_at_publish_s": 0.43334206007421017, "vggt_debug_frame": "frames/00000419/frame.json"} +{"frame_idx": 420, "time_s": 105.64551854133606, "localized": true, "localized_streak": 200, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5924261808395386, "verified": true, "loaded": true}, {"id": 774, "score": 0.5815140604972839, "verified": true, "loaded": true}, {"id": 773, "score": 0.5722370147705078, "verified": true, "loaded": true}, {"id": 778, "score": 0.5707537531852722, "verified": true, "loaded": true}, {"id": 777, "score": 0.5456197261810303, "verified": true, "loaded": true}, {"id": 781, "score": 0.5437474250793457, "verified": true, "loaded": true}], "camera_display": [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], "global_route": [[-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.939136861148004, -0.2526683178657789, -1.541997384879279], [-4.448818425093679, -0.35027224696328485, -1.5498294634805432], [-3.9724990592104166, -0.37738298459477626, -1.5565064713356265], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984], [-3.967438516756919, -0.3740030828101881, -1.5565269488438984]], "goal_keyframe": 1012, "route_ids": [1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.30579757423145, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.22295662321625426, "map_correction_at_base_m": 0.002317672654504046, "map_correction_angle_deg": 0.1892875360836872, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.002317672654504046, "rotation_deg": 0.1892875360836872, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936491, 0.9157890531050255, 0.027255805182648807], [-0.99981337039335, -0.015519242036847347, -0.011505542546600134, -0.0012976112942659768], [0.018833397874358115, -0.9156676637409431, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49500370025634766, -0.032345302402973175], [0.9949777126312256, -0.02724696509540081], [1.4667690992355347, 0.043975021690130234], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216]], "goal_body": [1.4798550139159543, 0.06207167962269067], "route_cost_m": 19.78010720014572, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.1850103030367967, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7040596333384822, "remaining_m": 19.78010720014572, "total_m": 20.484166833484203, "selection_total_m": 20.484166833484203, "best_candidate_total_m": 20.484166833484203, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.897700584241719, 0.09011279484419728], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 419}, "footprint_evidence": null, "native_local_path_body": [[0.49500370025634766, -0.032345302402973175], [0.9949777126312256, -0.02724696509540081], [1.4667690992355347, 0.043975021690130234], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216], [1.4710280895233154, 0.04832177236676216]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9893738031387329, -0.061921268701553345, 0.13154998421669006, -0.33993855118751526], [0.06311777234077454, 0.6321596503257751, 0.7722631096839905, -2.5555005073547363], [-0.13098010420799255, 0.7723600268363953, -0.6215338706970215, 5.653240203857422], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36195597890764475, "input_age_at_publish_s": 0.5582334389910102, "vggt_debug_frame": "frames/00000420/frame.json"} +{"frame_idx": 422, "time_s": 106.14628672599792, "localized": true, "localized_streak": 201, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5924261808395386, "verified": true, "loaded": true}, {"id": 774, "score": 0.5815140604972839, "verified": true, "loaded": true}, {"id": 773, "score": 0.5722370147705078, "verified": true, "loaded": true}, {"id": 778, "score": 0.5707537531852722, "verified": true, "loaded": true}, {"id": 777, "score": 0.5456197261810303, "verified": true, "loaded": true}, {"id": 781, "score": 0.5437474250793457, "verified": true, "loaded": true}], "camera_display": [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], "global_route": [[-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.869397580570103, -0.19578958082468834, -1.542162435301039], [-4.3787269191863345, -0.29144390049196645, -1.5517910707076341], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699], [-3.961119852591389, -0.3728547594900009, -1.5599859486699699]], "goal_keyframe": 1012, "route_ids": [1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.270334388972692, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.09483320253897391, "map_correction_at_base_m": 0.007223197107637621, "map_correction_angle_deg": 0.32764859182851186, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007223197107637621, "rotation_deg": 0.32764859182851186, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936492, 0.9157890531050257, 0.02725580518264792], [-0.99981337039335, -0.015519242036847458, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.496603399515152, 0.02909727580845356], [0.9965862035751343, 0.024949409067630768], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917]], "goal_body": [1.4786933273741911, 0.018442564518197258], "route_cost_m": 19.78010720014572, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.17644776282744082, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6486152679276176, "remaining_m": 19.78010720014572, "total_m": 20.42872246807334, "selection_total_m": 20.42872246807334, "best_candidate_total_m": 20.42872246807334, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.875452023910603, 0.1352240612788146], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 420}, "footprint_evidence": null, "native_local_path_body": [[0.496603399515152, 0.02909727580845356], [0.9965862035751343, 0.024949409067630768], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917], [1.4221187829971313, 0.021419182419776917]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9858450889587402, -0.07328484952449799, 0.15079551935195923, -0.3299672603607178], [0.07136759161949158, 0.6304315328598022, 0.7729572057723999, -2.529712438583374], [-0.1517122983932495, 0.772777795791626, -0.616277813911438, 5.599379539489746], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5119550148956478, "input_age_at_publish_s": 0.5750318388454616, "vggt_debug_frame": "frames/00000422/frame.json"} +{"frame_idx": 424, "time_s": 106.6466875076294, "localized": true, "localized_streak": 202, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.5382973551750183, "verified": true, "loaded": true}, {"id": 779, "score": 0.524824857711792, "verified": true, "loaded": true}, {"id": 781, "score": 0.5144532918930054, "verified": true, "loaded": true}, {"id": 778, "score": 0.5135311484336853, "verified": true, "loaded": true}, {"id": 918, "score": 0.5106058120727539, "verified": true, "loaded": true}, {"id": 917, "score": 0.5100690126419067, "verified": true, "loaded": true}], "camera_display": [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], "global_route": [[-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.822872852253413, -0.27163291481268903, -1.535808359801982], [-4.331860588106114, -0.36546382466787897, -1.5459476101169514], [-3.856330649509451, -0.384347130997873, -1.555075783568562], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308], [-3.811273635636383, -0.3929573861489999, -1.5560061968760308]], "goal_keyframe": 1012, "route_ids": [1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.228478355438032, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.48794130375206207, "map_correction_at_base_m": 0.013216207168959397, "map_correction_angle_deg": 0.27190215941042506, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.013216207168959397, "rotation_deg": 0.27190215941042506, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.401636505693649, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847236, -0.011505542546600245, -0.001297611294266865], [0.018833397874358226, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49594002962112427, -0.036484308540821075], [0.9959385991096497, -0.03529023379087448], [1.4664790630340576, 0.03654437139630318], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184]], "goal_body": [1.4778511783127033, 0.010594666519557538], "route_cost_m": 19.78010720014572, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.180068907921175, "attachment_limit_m": 0.75, "candidate_count": 24, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.588733162369563, "remaining_m": 19.78010720014572, "total_m": 20.368840362515286, "selection_total_m": 20.368840362515286, "best_candidate_total_m": 20.368840362515286, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.85651368406998, 0.1873534286665252], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 422}, "footprint_evidence": null, "native_local_path_body": [[0.49594002962112427, -0.036484308540821075], [0.9959385991096497, -0.03529023379087448], [1.4664790630340576, 0.03654437139630318], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184], [1.512360692024231, 0.03665394335985184]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9869632720947266, -0.07337817549705505, 0.14324729144573212, -0.3127874732017517], [0.06556634604930878, 0.6295163631439209, 0.7742159366607666, -2.509737730026245], [-0.14698706567287445, 0.7735146284103394, -0.6164983510971069, 5.542414665222168], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3810926713049412, "input_age_at_publish_s": 0.46514853835105896, "vggt_debug_frame": "frames/00000424/frame.json"} +{"frame_idx": 425, "time_s": 106.87968492507935, "localized": true, "localized_streak": 203, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.5382973551750183, "verified": true, "loaded": true}, {"id": 779, "score": 0.524824857711792, "verified": true, "loaded": true}, {"id": 781, "score": 0.5144532918930054, "verified": true, "loaded": true}, {"id": 778, "score": 0.5135311484336853, "verified": true, "loaded": true}, {"id": 918, "score": 0.5106058120727539, "verified": true, "loaded": true}, {"id": 917, "score": 0.5100690126419067, "verified": true, "loaded": true}], "camera_display": [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], "global_route": [[-4.713537323365458, -0.1385006808968252, 0.023331913324752204], [-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.804097293455088, -0.27201776494244356, -1.535833102850788], [-4.313040146693014, -0.36549927938387583, -1.5469784072377954], [-3.837510292182951, -0.3840478197422996, -1.5567742970444796], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128], [-3.813624862847528, -0.38859484178454196, -1.5573164139931128]], "goal_keyframe": 1012, "route_ids": [1113, 1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.21907548809362, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.1562328807950831, "map_correction_at_base_m": 0.004417536685475541, "map_correction_angle_deg": 0.24922206617423803, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004417536685475541, "rotation_deg": 0.24922206617423803, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043013645286036906, -0.4017897808025471, 0.9157218302005437, 0.027256399350870986], [-0.9998134108657287, -0.015517177790260156, -0.011504809709992347, -0.0012976254610919113], [0.01883193341719719, -0.9156004528374081, -0.40164806615705717, 1.3117576512017655], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4955994784832001, -0.03302405774593353], [0.9955787658691406, -0.02847583219408989], [1.4656267166137695, 0.046513717621564865], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026]], "goal_body": [1.4759647646120493, 0.019842674888288503], "route_cost_m": 19.78010720014572, "route_attachment": {"nearest_keyframe": 777, "nearest_distance_m": 0.1897967520608663, "attachment_limit_m": 0.75, "candidate_count": 26, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.569659126701359, "remaining_m": 19.78010720014572, "total_m": 20.34976632684708, "selection_total_m": 20.34976632684708, "best_candidate_total_m": 20.34976632684708, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.842683317286413, 0.20229704710779828], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 424}, "footprint_evidence": null, "native_local_path_body": [[0.4955994784832001, -0.03302405774593353], [0.9955787658691406, -0.02847583219408989], [1.4656267166137695, 0.046513717621564865], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026], [1.4899461269378662, 0.046734943985939026]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9879369735717773, -0.06779363751411438, 0.13923031091690063, -0.3117934763431549], [0.06630697846412659, 0.6273093223571777, 0.7759423851966858, -2.5008609294891357], [-0.1399444341659546, 0.77581387758255, -0.6152470111846924, 5.522411346435547], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36281033605337143, "input_age_at_publish_s": 0.5770184313878417, "vggt_debug_frame": "frames/00000425/frame.json"} +{"frame_idx": 427, "time_s": 107.37886667251587, "localized": true, "localized_streak": 204, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.5382973551750183, "verified": true, "loaded": true}, {"id": 779, "score": 0.524824857711792, "verified": true, "loaded": true}, {"id": 781, "score": 0.5144532918930054, "verified": true, "loaded": true}, {"id": 778, "score": 0.5135311484336853, "verified": true, "loaded": true}, {"id": 918, "score": 0.5106058120727539, "verified": true, "loaded": true}, {"id": 917, "score": 0.5100690126419067, "verified": true, "loaded": true}], "camera_display": [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.736718890908932, -0.2103538679593644, -1.5296307210645859], [-4.246037457607805, -0.3059760269557543, -1.539020700911547], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694], [-3.8104686976142355, -0.3908580371676198, -1.5473560110015694]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.197253998205937, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.48755424536761555, "map_correction_at_base_m": 0.00736234994596871, "map_correction_angle_deg": 0.4883775143698224, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00736234994596871, "rotation_deg": 0.4883775143698224, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.4016365056936495, 0.9157890531050252, 0.027255805182648807], [-0.99981337039335, -0.01551924203684743, -0.011505542546600078, -0.001297611294266865], [0.018833397874358282, -0.9156676637409431, -0.40149474804000773, 1.311764444712032], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.496379017829895, 0.03745558485388756], [0.9963646531105042, 0.04124338552355766], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224]], "goal_body": [1.4833431887544242, 0.022551536486884904], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 778, "nearest_distance_m": 0.17213290045785537, "attachment_limit_m": 0.75, "candidate_count": 27, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7457427843156964, "remaining_m": 19.53596906363964, "total_m": 20.281711847955336, "selection_total_m": 20.281711847955336, "best_candidate_total_m": 20.281711847955336, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.799131801365876, 0.23964934110620126], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 425}, "footprint_evidence": null, "native_local_path_body": [[0.496379017829895, 0.03745558485388756], [0.9963646531105042, 0.04124338552355766], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224], [1.4401925802230835, 0.044605743139982224]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9883908033370972, -0.06023889780044556, 0.1394818276166916, -0.3081095218658447], [0.07080917060375214, 0.6296091675758362, 0.7736784815788269, -2.482595682144165], [-0.1344245821237564, 0.7745731472969055, -0.6180344820022583, 5.477381229400635], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36090350802987814, "input_age_at_publish_s": 0.44147579185664654, "vggt_debug_frame": "frames/00000427/frame.json"} +{"frame_idx": 428, "time_s": 107.64556860923767, "localized": true, "localized_streak": 205, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.5382973551750183, "verified": true, "loaded": true}, {"id": 779, "score": 0.524824857711792, "verified": true, "loaded": true}, {"id": 781, "score": 0.5144532918930054, "verified": true, "loaded": true}, {"id": 778, "score": 0.5135311484336853, "verified": true, "loaded": true}, {"id": 918, "score": 0.5106058120727539, "verified": true, "loaded": true}, {"id": 917, "score": 0.5100690126419067, "verified": true, "loaded": true}], "camera_display": [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.7504959888215765, -0.26326671727995254, -1.5320495186700127], [-4.271489144735549, -0.37613690574610015, -1.5433127676395122], [-3.780752031872795, -0.4712687079460087, -1.554588845433244], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807], [-3.7633456059256294, -0.47464302912612233, -1.554988807464807]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.17730651887267, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.37125673240870116, "map_correction_at_base_m": 0.009225547812116998, "map_correction_angle_deg": 0.4878493834225222, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009225547812116998, "rotation_deg": 0.4878493834225222, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933496, -0.015519242036847458, -0.01150554254660019, -0.001297611294266865], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4749780595302582, -0.011956541799008846], [0.967024564743042, -0.026248829439282417], [1.4669950008392334, -0.02080635167658329], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994]], "goal_body": [1.484179299918262, 0.016350986204585083], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 778, "nearest_distance_m": 0.16155084152613017, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7231448296168737, "remaining_m": 19.53596906363964, "total_m": 20.259113893256515, "selection_total_m": 20.259113893256515, "best_candidate_total_m": 20.259113893256515, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.787663221974295, 0.26718639451247483], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 427}, "footprint_evidence": null, "native_local_path_body": [[0.4749780595302582, -0.011956541799008846], [0.967024564743042, -0.026248829439282417], [1.4669950008392334, -0.02080635167658329], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994], [1.4847289323806763, -0.020613307133316994]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9887133836746216, -0.06675662845373154, 0.13412509858608246, -0.29867562651634216], [0.06297602504491806, 0.627128005027771, 0.7763661742210388, -2.4724199771881104], [-0.13594119250774384, 0.7760502696037292, -0.6158459186553955, 5.457682132720947], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37138947704806924, "input_age_at_publish_s": 0.5770049737766385, "vggt_debug_frame": "frames/00000428/frame.json"} +{"frame_idx": 430, "time_s": 108.14676070213318, "localized": true, "localized_streak": 206, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.5382973551750183, "verified": true, "loaded": true}, {"id": 779, "score": 0.524824857711792, "verified": true, "loaded": true}, {"id": 781, "score": 0.5144532918930054, "verified": true, "loaded": true}, {"id": 778, "score": 0.5135311484336853, "verified": true, "loaded": true}, {"id": 918, "score": 0.5106058120727539, "verified": true, "loaded": true}, {"id": 917, "score": 0.5100690126419067, "verified": true, "loaded": true}], "camera_display": [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.676841618045424, -0.2961662481581726, -1.5321851239250088], [-4.185575360551804, -0.38879672072249694, -1.5409687274451846], [-3.709973738397807, -0.40652023654406744, -1.5485528335037766], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065], [-3.67208829471152, -0.4136637110503125, -1.5492302069846065]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.15293254787034, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5737501855920436, "map_correction_at_base_m": 0.007462067861778358, "map_correction_angle_deg": 0.410548407582488, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007462067861778358, "rotation_deg": 0.410548407582488, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004280285355344526, -0.40286874347555635, 0.9152477559042158, 0.027260550968898123], [-0.9998136957733323, -0.015502645944095672, -0.011499639681429863, -0.0012977247986585283], [0.018821607299790488, -0.9151264631181629, -0.4027273315774511, 1.3117098121247173], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49680009484291077, -0.023811127990484238], [0.9966530799865723, -0.011685797944664955], [1.4655104875564575, 0.07041913270950317], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395]], "goal_body": [1.482545811734738, 0.028653078941595744], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 778, "nearest_distance_m": 0.15625422106339215, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.677281244877746, "remaining_m": 19.53596906363964, "total_m": 20.213250308517388, "selection_total_m": 20.213250308517388, "best_candidate_total_m": 20.213250308517388, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.759455190179676, 0.3073081755951954], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 428}, "footprint_evidence": null, "native_local_path_body": [[0.49680009484291077, -0.023811127990484238], [0.9966530799865723, -0.011685797944664955], [1.4655104875564575, 0.07041913270950317], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395], [1.5040581226348877, 0.0713542103767395]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9899247884750366, -0.06209779158234596, 0.12725184857845306, -0.2937966585159302], [0.06009087339043617, 0.6295157670974731, 0.7746606469154358, -2.4484293460845947], [-0.12821175158023834, 0.7745023369789124, -0.6194417476654053, 5.413212299346924], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3730508228763938, "input_age_at_publish_s": 0.45711833192035556, "vggt_debug_frame": "frames/00000430/frame.json"} +{"frame_idx": 431, "time_s": 108.34726595878601, "localized": true, "localized_streak": 207, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.5382973551750183, "verified": true, "loaded": true}, {"id": 779, "score": 0.524824857711792, "verified": true, "loaded": true}, {"id": 781, "score": 0.5144532918930054, "verified": true, "loaded": true}, {"id": 778, "score": 0.5135311484336853, "verified": true, "loaded": true}, {"id": 918, "score": 0.5106058120727539, "verified": true, "loaded": true}, {"id": 917, "score": 0.5100690126419067, "verified": true, "loaded": true}], "camera_display": [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.659889343517944, -0.3015128900710753, -1.531753529413411], [-4.168759053384349, -0.3948682809414521, -1.5404598666601386], [-3.6931838166991593, -0.41329304429964253, -1.548021344569558], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284], [-3.6746441557383376, -0.41681711566484037, -1.548349999826284]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.143505337339498, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.49154061468121313, "map_correction_at_base_m": 0.0025079841319143046, "map_correction_angle_deg": 0.09143113860787502, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0025079841319143046, "rotation_deg": 0.09143113860787502, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004280670809638065, -0.402849012959487, 0.9152564387181257, 0.027260475537056017], [-0.9998136905632435, -0.015502911694433796, -0.011499734401336337, -0.0012977229882205066], [0.01882179640008369, -0.9151351443839111, -0.40270759552523017, 1.3117106872032493], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49630245566368103, -0.024572018533945084], [0.9961835741996765, -0.013668364845216274], [1.465240240097046, 0.06729043275117874], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752]], "goal_body": [1.4821276234642111, 0.026519981054216157], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 778, "nearest_distance_m": 0.15727424661925882, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6608133289939513, "remaining_m": 19.53596906363964, "total_m": 20.196782392633594, "selection_total_m": 20.196782392633594, "best_candidate_total_m": 20.196782392633594, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.744818696808757, 0.3204769062802243], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 430}, "footprint_evidence": null, "native_local_path_body": [[0.49630245566368103, -0.024572018533945084], [0.9961835741996765, -0.013668364845216274], [1.465240240097046, 0.06729043275117874], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752], [1.4841102361679077, 0.0677020326256752]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9897834062576294, -0.06306876987218857, 0.12787102162837982, -0.2916700839996338], [0.059928279370069504, 0.6297519207000732, 0.7744811177253723, -2.440821886062622], [-0.12937261164188385, 0.7742317318916321, -0.619538426399231, 5.39710807800293], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4109165580011904, "input_age_at_publish_s": 0.6130722388625145, "vggt_debug_frame": "frames/00000431/frame.json"} +{"frame_idx": 433, "time_s": 108.8818769454956, "localized": true, "localized_streak": 208, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.529747486114502, "verified": true, "loaded": true}, {"id": 918, "score": 0.5213428735733032, "verified": true, "loaded": true}, {"id": 781, "score": 0.5112031698226929, "verified": true, "loaded": true}, {"id": 779, "score": 0.5069679617881775, "verified": true, "loaded": true}, {"id": 917, "score": 0.5069051384925842, "verified": true, "loaded": true}, {"id": 782, "score": 0.5065457224845886, "verified": true, "loaded": true}], "camera_display": [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.680445240274938, -0.3314959408071356, -1.5277923368875759], [-4.18811458615864, -0.41837065325231393, -1.5357508341377244], [-3.695783929139552, -0.5052453510821575, -1.5437093312860994], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752], [-3.629221693728661, -0.5169906641201969, -1.5447853061182752]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.033364179212082, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4934696768032824, "map_correction_at_base_m": 0.1029043773636288, "map_correction_angle_deg": 0.7692309748734796, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.1029043773636288, "rotation_deg": 0.7692309748734796, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364895, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933504, -0.015519242036847153, -0.011505542546600134, -0.001297611294266865], [0.01883339787435817, -0.9156676637409434, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4386335611343384, -0.16644270718097687], [0.9385202527046204, -0.15579789876937866], [1.4384069442749023, -0.14515307545661926], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746]], "goal_body": [1.492866603763255, -0.10270215679658279], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 778, "nearest_distance_m": 0.15630947762145161, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6119547592576894, "remaining_m": 19.53596906363964, "total_m": 20.14792382289733, "selection_total_m": 20.14792382289733, "best_candidate_total_m": 20.14792382289733, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.793169475878903, 0.4555795176893885], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 431}, "footprint_evidence": null, "native_local_path_body": [[0.4386335611343384, -0.16644270718097687], [0.9385202527046204, -0.15579789876937866], [1.4384069442749023, -0.14515307545661926], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746], [1.505990743637085, -0.14371392130851746]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9877314567565918, -0.06990887969732285, 0.13964004814624786, -0.18179592490196228], [0.06434955447912216, 0.632544994354248, 0.771845817565918, -2.4338605403900146], [-0.142287477850914, 0.7713621854782104, -0.6202859878540039, 5.373968124389648], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3949324958957732, "input_age_at_publish_s": 0.5122997341677547, "vggt_debug_frame": "frames/00000433/frame.json"} +{"frame_idx": 435, "time_s": 109.34971642494202, "localized": true, "localized_streak": 209, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.529747486114502, "verified": true, "loaded": true}, {"id": 918, "score": 0.5213428735733032, "verified": true, "loaded": true}, {"id": 781, "score": 0.5112031698226929, "verified": true, "loaded": true}, {"id": 779, "score": 0.5069679617881775, "verified": true, "loaded": true}, {"id": 917, "score": 0.5069051384925842, "verified": true, "loaded": true}, {"id": 782, "score": 0.5065457224845886, "verified": true, "loaded": true}], "camera_display": [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.640985755872419, -0.32726716127693845, -1.5239043395591731], [-4.148289150623196, -0.41214008246238176, -1.5307370249878356], [-3.6555926037868796, -0.49701299181742087, -1.5375697095869905], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228], [-3.630096670076063, -0.501404987091286, -1.5379232857382228]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 16.006463309397066, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5663333385013078, "map_correction_at_base_m": 0.010931847275782525, "map_correction_angle_deg": 0.2803090410094374, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.010931847275782525, "rotation_deg": 0.2803090410094374, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364906, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847097, -0.011505542546600356, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409434, -0.40149474804000795, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4347044825553894, -0.1619488000869751], [0.9344907999038696, -0.14733180403709412], [1.434277057647705, -0.13271480798721313], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343]], "goal_body": [1.4932593496799376, -0.10609623999018991], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 778, "nearest_distance_m": 0.1742926910764946, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5742861188002524, "remaining_m": 19.53596906363964, "total_m": 20.110255182439893, "selection_total_m": 20.110255182439893, "best_candidate_total_m": 20.110255182439893, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.7721609894989, 0.49977964636115735], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 433}, "footprint_evidence": null, "native_local_path_body": [[0.4347044825553894, -0.1619488000869751], [0.9344907999038696, -0.14733180403709412], [1.434277057647705, -0.13271480798721313], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343], [1.4601398706436157, -0.13195842504501343]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9883435964584351, -0.06659138202667236, 0.13690373301506042, -0.16878461837768555], [0.06404197216033936, 0.6339671015739441, 0.7707038521766663, -2.4199111461639404], [-0.13811469078063965, 0.7704877257347107, -0.6223126649856567, 5.338508129119873], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38271846156567335, "input_age_at_publish_s": 0.4110394869931042, "vggt_debug_frame": "frames/00000435/frame.json"} +{"frame_idx": 436, "time_s": 109.6504578590393, "localized": true, "localized_streak": 210, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.529747486114502, "verified": true, "loaded": true}, {"id": 918, "score": 0.5213428735733032, "verified": true, "loaded": true}, {"id": 781, "score": 0.5112031698226929, "verified": true, "loaded": true}, {"id": 779, "score": 0.5069679617881775, "verified": true, "loaded": true}, {"id": 917, "score": 0.5069051384925842, "verified": true, "loaded": true}, {"id": 782, "score": 0.5065457224845886, "verified": true, "loaded": true}], "camera_display": [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.572816308142288, -0.26757605736982093, -1.5231274446270748], [-4.079945681059643, -0.3513886485506088, -1.5304791983675645], [-3.5870750831602414, -0.43520123370502706, -1.5378309516610074], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585], [-3.54151486722887, -0.44294874818283425, -1.5385105367241585]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.986607501607239, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6449549391715464, "map_correction_at_base_m": 0.006717066472369383, "map_correction_angle_deg": 0.13385705026159034, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.006717066472369383, "rotation_deg": 0.13385705026159034, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224422, -0.40304055168607766, 0.9151721267474485, 0.027261207042546864], [-0.9998137411416026, -0.015500331838897818, -0.011498814604843977, -0.0012977405538530107], [0.018819960236367506, -0.9150508474448106, -0.40289918799525437, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4539709985256195, -0.08702153712511063], [0.953661322593689, -0.06942649185657501], [1.453351616859436, -0.0518314465880394], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152]], "goal_body": [1.4934152236867662, -0.10345161745075582], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 779, "nearest_distance_m": 0.17152668699062515, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5399160673622272, "remaining_m": 19.53596906363964, "total_m": 20.07588513100187, "selection_total_m": 20.07588513100187, "best_candidate_total_m": 20.07588513100187, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.756829439181312, 0.525251490618167], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 435}, "footprint_evidence": null, "native_local_path_body": [[0.4539709985256195, -0.08702153712511063], [0.953661322593689, -0.06942649185657501], [1.453351616859436, -0.0518314465880394], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152], [1.499542236328125, -0.05020499229431152]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9889092445373535, -0.06559615582227707, 0.13325047492980957, -0.1639726758003235], [0.06219441816210747, 0.6318305134773254, 0.7726073265075684, -2.4041249752044678], [-0.13487178087234497, 0.7723259925842285, -0.6207433938980103, 5.304906845092773], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38261078763753176, "input_age_at_publish_s": 0.5512417447753251, "vggt_debug_frame": "frames/00000436/frame.json"} +{"frame_idx": 438, "time_s": 110.15168070793152, "localized": true, "localized_streak": 211, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.529747486114502, "verified": true, "loaded": true}, {"id": 918, "score": 0.5213428735733032, "verified": true, "loaded": true}, {"id": 781, "score": 0.5112031698226929, "verified": true, "loaded": true}, {"id": 779, "score": 0.5069679617881775, "verified": true, "loaded": true}, {"id": 917, "score": 0.5069051384925842, "verified": true, "loaded": true}, {"id": 782, "score": 0.5065457224845886, "verified": true, "loaded": true}], "camera_display": [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.572720173083987, -0.33829274106214324, -1.5282022732447846], [-4.079748001092454, -0.4215719568752805, -1.5347606868496826], [-3.5867758009676702, -0.5048511826868634, -1.5413191009008491], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672], [-3.4688585977315745, -0.5247712722632905, -1.5428878502158672]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.959727927770368, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8830270268248201, "map_correction_at_base_m": 0.01517018684549982, "map_correction_angle_deg": 0.201674246370107, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01517018684549982, "rotation_deg": 0.201674246370107, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.40163650569364884, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933503, -0.015519242036847292, -0.011505542546600078, -0.001297611294266865], [0.018833397874358337, -0.9156676637409435, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4160114824771881, -0.12480587512254715], [0.9128957986831665, -0.06907463818788528], [1.4097801446914673, -0.013343403115868568], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05]], "goal_body": [1.4963074172424777, 0.008861766506804702], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 779, "nearest_distance_m": 0.15780228449652678, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.48830938344044883, "remaining_m": 19.53596906363964, "total_m": 20.02427844708009, "selection_total_m": 20.02427844708009, "best_candidate_total_m": 20.02427844708009, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.726931470690554, 0.5626311933682908], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 436}, "footprint_evidence": null, "native_local_path_body": [[0.4160114824771881, -0.12480587512254715], [0.9128957986831665, -0.06907463818788528], [1.4097801446914673, -0.013343403115868568], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05], [1.5286331176757812, -1.2683321074291598e-05]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9972946643829346, -0.032491859048604965, 0.06593797355890274, -0.16109520196914673], [0.030658474192023277, 0.6314140558242798, 0.7748395800590515, -2.372211456298828], [-0.06681013852357864, 0.7747648358345032, -0.6287096738815308, 5.252519607543945], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4236834701150656, "input_age_at_publish_s": 0.4763971990905702, "vggt_debug_frame": "frames/00000438/frame.json"} +{"frame_idx": 439, "time_s": 110.3521990776062, "localized": true, "localized_streak": 212, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.529747486114502, "verified": true, "loaded": true}, {"id": 918, "score": 0.5213428735733032, "verified": true, "loaded": true}, {"id": 781, "score": 0.5112031698226929, "verified": true, "loaded": true}, {"id": 779, "score": 0.5069679617881775, "verified": true, "loaded": true}, {"id": 917, "score": 0.5069051384925842, "verified": true, "loaded": true}, {"id": 782, "score": 0.5065457224845886, "verified": true, "loaded": true}], "camera_display": [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.514554507265629, -0.3464756489769263, -1.5312729798671845], [-4.021584332025713, -0.42973823442779047, -1.5381881332250795], [-3.528614157934598, -0.513000823422165, -1.5451032866228445], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053], [-3.4658285530373334, -0.5236053027896297, -1.5459840135151053]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.950069421854407, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6865866568472511, "map_correction_at_base_m": 0.003715097951381508, "map_correction_angle_deg": 0.06423908731675342, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.003715097951381508, "rotation_deg": 0.06423908731675342, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042964942981360554, -0.40203906365663133, 0.9156124351661272, 0.02725736335542095], [-0.9998134766895272, -0.015513820488886887, -0.011503616989402332, -0.0012976484723781212], [0.018829550359643676, -0.9154910773284126, -0.4018974189582658, 1.311746601126613], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4572240114212036, -0.10264833271503448], [0.9519034624099731, -0.029900703579187393], [1.4465829133987427, 0.0428469218313694], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238]], "goal_body": [1.4948413280473138, 0.06000803008207578], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 779, "nearest_distance_m": 0.1586789942878981, "attachment_limit_m": 0.75, "candidate_count": 34, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.47061937774506724, "remaining_m": 19.53596906363964, "total_m": 20.006588441384707, "selection_total_m": 20.006588441384707, "best_candidate_total_m": 20.006588441384707, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.716161678626008, 0.5768871962751541], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 438}, "footprint_evidence": null, "native_local_path_body": [[0.4572240114212036, -0.10264833271503448], [0.9519034624099731, -0.029900703579187393], [1.4465829133987427, 0.0428469218313694], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238], [1.509586215019226, 0.05211219564080238]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9992281198501587, -0.017884520813822746, 0.034983932971954346, -0.16010841727256775], [0.015927990898489952, 0.6295610666275024, 0.7767877578735352, -2.3605756759643555], [-0.035916998982429504, 0.7767452001571655, -0.6287902593612671, 5.233974456787109], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3970748372375965, "input_age_at_publish_s": 0.6279333760030568, "vggt_debug_frame": "frames/00000439/frame.json"} +{"frame_idx": 441, "time_s": 110.88603830337524, "localized": true, "localized_streak": 213, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.6030844449996948, "verified": true, "loaded": true}, {"id": 781, "score": 0.5795905590057373, "verified": true, "loaded": true}, {"id": 783, "score": 0.5749348402023315, "verified": true, "loaded": true}, {"id": 782, "score": 0.5645748376846313, "verified": true, "loaded": true}, {"id": 780, "score": 0.558931827545166, "verified": true, "loaded": true}, {"id": 778, "score": 0.5568303465843201, "verified": true, "loaded": true}], "camera_display": [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.458728231967614, -0.3399343443986016, -1.5259137917446595], [-3.973945559981153, -0.4352676412196175, -1.5340109075502253], [-3.4807532609708898, -0.5171074963442868, -1.5419928558855946], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825], [-3.47017554508519, -0.5188627468149845, -1.5421640482094825]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.932036173289715, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5771637086626269, "map_correction_at_base_m": 0.009021297564635178, "map_correction_angle_deg": 0.2175330525853725, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009021297564635178, "rotation_deg": 0.2175330525853725, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361099, -0.4016365056936493, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933503, -0.01551924203684757, -0.011505542546599856, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409432, -0.4014947480400075, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4636017084121704, -0.0606805682182312], [0.9518598914146423, 0.01529367733746767], [1.443410873413086, 0.1068231612443924], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989]], "goal_body": [1.490063968129466, 0.11667505746663165], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 779, "nearest_distance_m": 0.16014956756826174, "attachment_limit_m": 0.75, "candidate_count": 35, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.42586297469147993, "remaining_m": 19.53596906363964, "total_m": 19.96183203833112, "selection_total_m": 19.96183203833112, "best_candidate_total_m": 19.96183203833112, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.68676605237361, 0.6187448423050774], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 439}, "footprint_evidence": null, "native_local_path_body": [[0.4636017084121704, -0.0606805682182312], [0.9518598914146423, 0.01529367733746767], [1.443410873413086, 0.1068231612443924], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989], [1.4539533853530884, 0.10878624022006989]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9999912977218628, -0.0027327544521540403, 0.0032101706601679325, -0.16278262436389923], [0.0007852807175368071, 0.627389669418335, 0.7787051200866699, -2.3437116146087646], [-0.004142037592828274, 0.7787007093429565, -0.6273821592330933, 5.186108112335205], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41227850411087275, "input_age_at_publish_s": 0.5244342447258532, "vggt_debug_frame": "frames/00000441/frame.json"} +{"frame_idx": 443, "time_s": 111.41932249069214, "localized": true, "localized_streak": 214, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.6030844449996948, "verified": true, "loaded": true}, {"id": 781, "score": 0.5795905590057373, "verified": true, "loaded": true}, {"id": 783, "score": 0.5749348402023315, "verified": true, "loaded": true}, {"id": 782, "score": 0.5645748376846313, "verified": true, "loaded": true}, {"id": 780, "score": 0.558931827545166, "verified": true, "loaded": true}, {"id": 778, "score": 0.5568303465843201, "verified": true, "loaded": true}], "camera_display": [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.432432141263248, -0.35892644403528884, -1.522683258740885], [-3.9391522859865065, -0.4403481935613369, -1.5294347373871482], [-3.445872401849618, -0.5217699513910725, -1.5361862164775695], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432], [-3.3389090109636292, -0.5394255476674576, -1.537650215242432]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.916966072587858, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6933800706928478, "map_correction_at_base_m": 0.009112475244871788, "map_correction_angle_deg": 0.20456851721823593, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009112475244871788, "rotation_deg": 0.20456851721823593, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224089, -0.40304055168607816, 0.9151721267474486, 0.027261207042547753], [-0.9998137411416029, -0.015500331838897763, -0.011498814604843755, -0.0012977405538512343], [0.018819960236367617, -0.9150508474448107, -0.40289918799525504, 1.3117021917484166], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.45324471592903137, -0.04104876145720482], [0.9388043880462646, 0.0782482773065567], [1.4243640899658203, 0.19754531979560852], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521]], "goal_body": [1.4796260343563625, 0.20165060049219174], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 779, "nearest_distance_m": 0.17525001923615063, "attachment_limit_m": 0.75, "candidate_count": 35, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3926070910310507, "remaining_m": 19.53596906363964, "total_m": 19.92857615467069, "selection_total_m": 19.92857615467069, "best_candidate_total_m": 19.92857615467069, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.658228523073166, 0.6619104312363415], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 441}, "footprint_evidence": null, "native_local_path_body": [[0.45324471592903137, -0.04104876145720482], [0.9388043880462646, 0.0782482773065567], [1.4243640899658203, 0.19754531979560852], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521], [1.5296534299850464, 0.22341382503509521]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9986478090286255, 0.017905298620462418, -0.04881138354539871, -0.1643974632024765], [-0.02675793319940567, 0.6279465556144714, 0.7777963876724243, -2.327146530151367], [0.044577620923519135, 0.7780505418777466, -0.6266183853149414, 5.1489458084106445], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4270984912291169, "input_age_at_publish_s": 0.45946479868143797, "vggt_debug_frame": "frames/00000443/frame.json"} +{"frame_idx": 444, "time_s": 111.65276384353638, "localized": true, "localized_streak": 215, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.6030844449996948, "verified": true, "loaded": true}, {"id": 781, "score": 0.5795905590057373, "verified": true, "loaded": true}, {"id": 783, "score": 0.5749348402023315, "verified": true, "loaded": true}, {"id": 782, "score": 0.5645748376846313, "verified": true, "loaded": true}, {"id": 780, "score": 0.558931827545166, "verified": true, "loaded": true}, {"id": 778, "score": 0.5568303465843201, "verified": true, "loaded": true}], "camera_display": [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.4104717670049745, -0.3614491754895113, -1.528000593972553], [-3.9172274584747675, -0.44314985457150424, -1.5339263245960182], [-3.4239832073024856, -0.5248505158328278, -1.5398520543721892], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255], [-3.332152276484448, -0.5400613145806981, -1.5409552909811255]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.912952414937278, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5861753694358924, "map_correction_at_base_m": 0.008581179680343448, "map_correction_angle_deg": 0.3249815314464671, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008581179680343448, "rotation_deg": 0.3249815314464671, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004285228947951358, -0.40261569400638986, 0.9153590769488313, 0.027259582157842743], [-0.999813628952773, -0.015506054231289312, -0.011500853988433701, -0.0012977015620361243], [0.018824031798490848, -0.915237764311509, -0.4024742111054074, 1.3117210345025114], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4468652606010437, -0.027971602976322174], [0.9298733472824097, 0.10126924514770508], [1.4128813743591309, 0.23051008582115173], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844]], "goal_body": [1.4709633244985265, 0.241398483659804], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 779, "nearest_distance_m": 0.1926376879585682, "attachment_limit_m": 0.75, "candidate_count": 36, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.37635667251817956, "remaining_m": 19.53596906363964, "total_m": 19.912325736157822, "selection_total_m": 19.912325736157822, "best_candidate_total_m": 19.912325736157822, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.6410368873614, 0.6724500350557461], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 443}, "footprint_evidence": null, "native_local_path_body": [[0.4468652606010437, -0.027971602976322174], [0.9298733472824097, 0.10126924514770508], [1.4128813743591309, 0.23051008582115173], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844], [1.502806544303894, 0.2545718252658844]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9973345994949341, 0.0315791480243206, -0.06577831506729126, -0.17109404504299164], [-0.03135150298476219, 0.6285707354545593, 0.7771202921867371, -2.309985399246216], [0.06588712334632874, 0.7771111130714417, -0.6259052753448486, 5.126742362976074], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41451083309948444, "input_age_at_publish_s": 0.630839517340064, "vggt_debug_frame": "frames/00000444/frame.json"} +{"frame_idx": 446, "time_s": 112.1533727645874, "localized": true, "localized_streak": 216, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.6030844449996948, "verified": true, "loaded": true}, {"id": 781, "score": 0.5795905590057373, "verified": true, "loaded": true}, {"id": 783, "score": 0.5749348402023315, "verified": true, "loaded": true}, {"id": 782, "score": 0.5645748376846313, "verified": true, "loaded": true}, {"id": 780, "score": 0.558931827545166, "verified": true, "loaded": true}, {"id": 778, "score": 0.5568303465843201, "verified": true, "loaded": true}], "camera_display": [-4.720708887762344, -0.20854448542108162, -0.204349894032901], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.275505013646492, -0.2530057636181926, -1.5232451517635803], [-3.85558895259436, -0.4526560819975778, -1.5327891591414682], [-3.3626109565223326, -0.5357600553842774, -1.5409471614557662], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227], [-3.334747767555264, -0.5404570738262979, -1.5414082523367227]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.892607798705404, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.438462377104159, "map_correction_at_base_m": 0.007304627583248466, "map_correction_angle_deg": 0.3015291713711497, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007304627583248466, "rotation_deg": 0.3015291713711497, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936492, 0.9157890531050252, 0.027255805182648807], [-0.9998133703933496, -0.015519242036847292, -0.011505542546600578, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409431, -0.40149474804000773, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.47454360127449036, 0.13609082996845245], [0.9395943880081177, 0.13900865614414215], [1.419695496559143, 0.2786616384983063], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454]], "goal_body": [1.4607327629408866, 0.2793139585192934], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 780, "nearest_distance_m": 0.17722588294716754, "attachment_limit_m": 0.75, "candidate_count": 35, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.33553282480606306, "remaining_m": 19.53596906363964, "total_m": 19.871501888445703, "selection_total_m": 19.871501888445703, "best_candidate_total_m": 19.871501888445703, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.613352623917896, 0.709101634865867], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 444}, "footprint_evidence": null, "native_local_path_body": [[0.47454360127449036, 0.13609082996845245], [0.9395943880081177, 0.13900865614414215], [1.419695496559143, 0.2786616384983063], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454], [1.4468308687210083, 0.28655487298965454]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9952518939971924, 0.0409192256629467, -0.08831435441970825, -0.17235372960567474], [-0.04335406795144081, 0.6259946227073669, 0.7786213755607605, -2.291027545928955], [0.0871448963880539, 0.7787531018257141, -0.6212484836578369, 5.07696533203125], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4161471170373261, "input_age_at_publish_s": 0.5475446386262774, "vggt_debug_frame": "frames/00000446/frame.json"} +{"frame_idx": 448, "time_s": 112.65384793281555, "localized": true, "localized_streak": 217, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.6030844449996948, "verified": true, "loaded": true}, {"id": 781, "score": 0.5795905590057373, "verified": true, "loaded": true}, {"id": 783, "score": 0.5749348402023315, "verified": true, "loaded": true}, {"id": 782, "score": 0.5645748376846313, "verified": true, "loaded": true}, {"id": 780, "score": 0.558931827545166, "verified": true, "loaded": true}, {"id": 778, "score": 0.5568303465843201, "verified": true, "loaded": true}], "camera_display": [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], "global_route": [[-4.477180935760336, -0.20520956926693446, 0.02636725764777575], [-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.329516168169437, -0.44665570562428325, -1.5325506293590325], [-3.8362772987679037, -0.5282515807501795, -1.5401440210815622], [-3.3430385362255954, -0.609847403086448, -1.5477374105191093], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164], [-3.28217155651898, -0.6199165466735437, -1.548674455066164]], "goal_keyframe": 1012, "route_ids": [1112, 1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.882686927520732, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5112365316243254, "map_correction_at_base_m": 0.009895743937146956, "map_correction_angle_deg": 0.20683263886482145, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009895743937146956, "rotation_deg": 0.20683263886482145, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042951659481146875, -0.40210705587735424, 0.9155825834752016, 0.0272576257866346], [-0.9998134946431652, -0.015512904767336966, -0.011503291489862288, -0.0012976547424390361], [0.01882890009797067, -0.9154612309646573, -0.40196543025709897, 1.311743586929597], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.46514999866485596, -0.05233035981655121], [0.9435679912567139, 0.09298398345708847], [1.4219858646392822, 0.23829832673072815], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397]], "goal_body": [1.4499957959842875, 0.29962356651649635], "route_cost_m": 19.53596906363964, "route_attachment": {"nearest_keyframe": 780, "nearest_distance_m": 0.1735082081774045, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.31628000538148143, "remaining_m": 19.53596906363964, "total_m": 19.852249069021124, "selection_total_m": 19.852249069021124, "best_candidate_total_m": 19.852249069021124, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.590039571895623, 0.745619691690035], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 446}, "footprint_evidence": null, "native_local_path_body": [[0.46514999866485596, -0.05233035981655121], [0.9435679912567139, 0.09298398345708847], [1.4219858646392822, 0.23829832673072815], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397], [1.481023907661438, 0.25623050332069397]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9943640232086182, 0.043091073632240295, -0.09686979651451111, -0.18014545738697052], [-0.0486002042889595, 0.6267693042755127, 0.7776878476142883, -2.264861583709717], [0.0942264199256897, 0.7780125737190247, -0.6211426258087158, 5.041997909545898], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39772747782990336, "input_age_at_publish_s": 0.4458149392157793, "vggt_debug_frame": "frames/00000448/frame.json"} +{"frame_idx": 449, "time_s": 112.92049622535706, "localized": true, "localized_streak": 218, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5565125942230225, "verified": true, "loaded": true}, {"id": 781, "score": 0.5449496507644653, "verified": true, "loaded": true}, {"id": 782, "score": 0.524908185005188, "verified": true, "loaded": true}, {"id": 783, "score": 0.5225574970245361, "verified": true, "loaded": true}, {"id": 780, "score": 0.5137099027633667, "verified": true, "loaded": true}, {"id": 778, "score": 0.5020056366920471, "verified": true, "loaded": true}], "camera_display": [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.30161676936588, -0.45079198061591086, -1.5291456716008405], [-3.8085877514741577, -0.5335819930533097, -1.537401140594599], [-3.315558710259684, -0.6163720254724758, -1.54565661027223], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591], [-3.2796564866034297, -0.6224007850154987, -1.5462577713131591]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.870556351390917, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.560732699838599, "map_correction_at_base_m": 0.005676450058114175, "map_correction_angle_deg": 0.15459554931017536, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005676450058114175, "rotation_deg": 0.15459554931017536, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937225144, -0.40304055168607766, 0.9151721267474479, 0.027261207042547753], [-0.999813741141602, -0.015500331838897596, -0.011498814604844698, -0.0012977405538538989], [0.018819960236367672, -0.9150508474448106, -0.4028991879952546, 1.3117021917484168], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.46326103806495667, -0.043999217450618744], [0.9413737058639526, 0.10231637954711914], [1.419486403465271, 0.24863196909427643], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626]], "goal_body": [1.4630875767021636, 0.30879192240109254], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 780, "nearest_distance_m": 0.17175712866226667, "attachment_limit_m": 0.75, "candidate_count": 35, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7228145274705544, "remaining_m": 19.023776695132256, "total_m": 19.74659122260281, "selection_total_m": 19.74659122260281, "best_candidate_total_m": 19.74659122260281, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.565860316063626, 0.7779593850581614], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 448}, "footprint_evidence": null, "native_local_path_body": [[0.46326103806495667, -0.043999217450618744], [0.9413737058639526, 0.10231637954711914], [1.419486403465271, 0.24863196909427643], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626], [1.454302430152893, 0.2592866122722626]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9938770532608032, 0.04462322220206261, -0.10107987374067307, -0.18028782308101654], [-0.051152002066373825, 0.6250600814819336, 0.7788988351821899, -2.254564046859741], [0.09793796390295029, 0.7793000936508179, -0.6189502477645874, 5.012904167175293], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.42252721870318055, "input_age_at_publish_s": 0.6323675131425261, "vggt_debug_frame": "frames/00000449/frame.json"} +{"frame_idx": 451, "time_s": 113.4204535484314, "localized": true, "localized_streak": 219, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5565125942230225, "verified": true, "loaded": true}, {"id": 781, "score": 0.5449496507644653, "verified": true, "loaded": true}, {"id": 782, "score": 0.524908185005188, "verified": true, "loaded": true}, {"id": 783, "score": 0.5225574970245361, "verified": true, "loaded": true}, {"id": 780, "score": 0.5137099027633667, "verified": true, "loaded": true}, {"id": 778, "score": 0.5020056366920471, "verified": true, "loaded": true}], "camera_display": [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.196168094559429, -0.3794122703975642, -1.525737264787375], [-3.716060158996234, -0.48475039690571364, -1.5317748314006594], [-3.22349187152501, -0.570435002746625, -1.5376699436954844], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165], [-3.2034398428531303, -0.5739231237798785, -1.5379099282793165]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.856278014461568, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8759580695834768, "map_correction_at_base_m": 0.0036168784192403625, "map_correction_angle_deg": 0.49075640000458626, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0036168784192403625, "rotation_deg": 0.49075640000458626, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.40163650569364906, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933498, -0.015519242036847097, -0.0115055425466003, -0.0012976112942659768], [0.01883339787435806, -0.9156676637409432, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.48047399520874023, 0.05164765939116478], [0.9610538482666016, 0.15498735010623932], [1.4448151588439941, 0.2813795804977417], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549]], "goal_body": [1.472194820101329, 0.2580442003453083], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 780, "nearest_distance_m": 0.18081683054429729, "attachment_limit_m": 0.75, "candidate_count": 34, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6864154308377188, "remaining_m": 19.023776695132256, "total_m": 19.710192125969975, "selection_total_m": 19.710192125969975, "best_candidate_total_m": 19.710192125969975, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.534390588401951, 0.8144572197005462], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 449}, "footprint_evidence": null, "native_local_path_body": [[0.48047399520874023, 0.05164765939116478], [0.9610538482666016, 0.15498735010623932], [1.4448151588439941, 0.2813795804977417], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549], [1.4645086526870728, 0.2865249216556549]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9971671104431152, 0.027299463748931885, -0.07009286433458328, -0.18189504742622375], [-0.03723496198654175, 0.6305108070373535, 0.7752869129180908, -2.237187147140503], [0.06535922735929489, 0.7757003307342529, -0.6277081966400146, 4.977127552032471], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.40477790869772434, "input_age_at_publish_s": 0.510709831956774, "vggt_debug_frame": "frames/00000451/frame.json"} +{"frame_idx": 453, "time_s": 113.88792562484741, "localized": true, "localized_streak": 220, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5565125942230225, "verified": true, "loaded": true}, {"id": 781, "score": 0.5449496507644653, "verified": true, "loaded": true}, {"id": 782, "score": 0.524908185005188, "verified": true, "loaded": true}, {"id": 783, "score": 0.5225574970245361, "verified": true, "loaded": true}, {"id": 780, "score": 0.5137099027633667, "verified": true, "loaded": true}, {"id": 778, "score": 0.5020056366920471, "verified": true, "loaded": true}], "camera_display": [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.180545839653995, -0.4060314652474437, -1.528204038083793], [-3.7229581192321635, -0.54575184290678, -1.5372585061527462], [-3.2300482017961403, -0.6292081697582512, -1.545908817761359], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558], [-3.154386941979627, -0.6420186406954853, -1.5472366332652558]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.841428281851016, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5616262085261489, "map_correction_at_base_m": 0.012413736846384518, "map_correction_angle_deg": 0.42464494516961804, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.012413736846384518, "rotation_deg": 0.42464494516961804, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00424951942620172, -0.4044436498962567, 0.9145530469268804, 0.02726651340926889], [-0.9998141116600658, -0.015481431981208799, -0.011492057657571275, -0.0012978685746425356], [0.018806480533052283, -0.9144318779014683, -0.40430267989163116, 1.3116399305698205], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4743421673774719, 0.027087325230240822], [0.9492876529693604, 0.085543192923069], [1.4336100816726685, 0.2097678780555725], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692]], "goal_body": [1.4731959314761542, 0.24709102185047038], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 781, "nearest_distance_m": 0.17131349497455886, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6505799262866101, "remaining_m": 19.023776695132256, "total_m": 19.674356621418866, "selection_total_m": 19.674356621418866, "best_candidate_total_m": 19.674356621418866, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.515689459844102, 0.8542219437439285], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 451}, "footprint_evidence": null, "native_local_path_body": [[0.4743421673774719, 0.027087325230240822], [0.9492876529693604, 0.085543192923069], [1.4336100816726685, 0.2097678780555725], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692], [1.50795316696167, 0.2288362681865692]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9978101253509521, 0.02488153800368309, -0.06128500774502754, -0.1827886551618576], [-0.03242804855108261, 0.6235290765762329, 0.7811273336410522, -2.2195677757263184], [0.05764863267540932, 0.7814041376113892, -0.621356725692749, 4.9417290687561035], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41515670297667384, "input_age_at_publish_s": 0.4713431419804692, "vggt_debug_frame": "frames/00000453/frame.json"} +{"frame_idx": 454, "time_s": 114.15530204772949, "localized": true, "localized_streak": 221, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5565125942230225, "verified": true, "loaded": true}, {"id": 781, "score": 0.5449496507644653, "verified": true, "loaded": true}, {"id": 782, "score": 0.524908185005188, "verified": true, "loaded": true}, {"id": 783, "score": 0.5225574970245361, "verified": true, "loaded": true}, {"id": 780, "score": 0.5137099027633667, "verified": true, "loaded": true}, {"id": 778, "score": 0.5020056366920471, "verified": true, "loaded": true}], "camera_display": [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.158244665357339, -0.4272668288847452, -1.5341367340311196], [-3.689683248766989, -0.5485776940249165, -1.5450648720771234], [-3.196551917185138, -0.6304840908349272, -1.5556887745257426], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397], [-3.1466237491244016, -0.6387768682395549, -1.5567644146239397]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.828744635731157, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.2687448570943729, "map_correction_at_base_m": 0.0075633823016418925, "map_correction_angle_deg": 0.31042120217679114, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0075633823016418925, "rotation_deg": 0.31042120217679114, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050255, 0.027255805182648807], [-0.99981337039335, -0.01551924203684743, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120322], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.47010135650634766, 0.02012428268790245], [0.9467995762825012, 0.1046481803059578], [1.4294475317001343, 0.2352273166179657], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554]], "goal_body": [1.468661757339981, 0.2660402517018846], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 781, "nearest_distance_m": 0.16403747136053473, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6179615590787885, "remaining_m": 19.023776695132256, "total_m": 19.641738254211045, "selection_total_m": 19.641738254211045, "best_candidate_total_m": 19.641738254211045, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.503248988563682, 0.8763007216585226], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 453}, "footprint_evidence": null, "native_local_path_body": [[0.47010135650634766, 0.02012428268790245], [0.9467995762825012, 0.1046481803059578], [1.4294475317001343, 0.2352273166179657], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554], [1.4783142805099487, 0.24844810366630554]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9970974922180176, 0.029885223135352135, -0.07002821564674377, -0.18543286621570587], [-0.03624735027551651, 0.6225112676620483, 0.7817710041999817, -2.1987271308898926], [0.06695675849914551, 0.7820400595664978, -0.6196211576461792, 4.908806800842285], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39882350992411375, "input_age_at_publish_s": 0.6209800681099296, "vggt_debug_frame": "frames/00000454/frame.json"} +{"frame_idx": 456, "time_s": 114.68995881080627, "localized": true, "localized_streak": 222, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 779, "score": 0.5565125942230225, "verified": true, "loaded": true}, {"id": 781, "score": 0.5449496507644653, "verified": true, "loaded": true}, {"id": 782, "score": 0.524908185005188, "verified": true, "loaded": true}, {"id": 783, "score": 0.5225574970245361, "verified": true, "loaded": true}, {"id": 780, "score": 0.5137099027633667, "verified": true, "loaded": true}, {"id": 778, "score": 0.5020056366920471, "verified": true, "loaded": true}], "camera_display": [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.075613028436261, -0.37660392505478324, -1.5298792408441577], [-3.6447471118343024, -0.5591880213426359, -1.5420812899497063], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508], [-3.1526164233077463, -0.6440118050743138, -1.5533422383831508]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.813941233766121, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.1729896512859818, "map_correction_at_base_m": 0.007438995079083723, "map_correction_angle_deg": 0.3783561446870325, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007438995079083723, "rotation_deg": 0.3783561446870325, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042769289372242, -0.4030405516860779, 0.9151721267474484, 0.027261207042547753], [-0.9998137411416026, -0.015500331838898068, -0.011498814604843755, -0.0012977405538521225], [0.018819960236367672, -0.9150508474448105, -0.4028991879952546, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4757229685783386, 0.09979258477687836], [0.9436350464820862, 0.11355984956026077], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086]], "goal_body": [1.4649392906708638, 0.2746196182667382], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 781, "nearest_distance_m": 0.15936332506893092, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5728576261710323, "remaining_m": 19.023776695132256, "total_m": 19.596634321303288, "selection_total_m": 19.596634321303288, "best_candidate_total_m": 19.596634321303288, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.465927348032643, 0.9102368618604142], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 454}, "footprint_evidence": null, "native_local_path_body": [[0.4757229685783386, 0.09979258477687836], [0.9436350464820862, 0.11355984956026077], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086], [1.42642343044281, 0.24173879623413086]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.996993899345398, 0.03239960968494415, -0.07038015872240067, -0.19020900130271912], [-0.03518292307853699, 0.6199992895126343, 0.7838131785392761, -2.179924726486206], [0.06903088837862015, 0.7839331030845642, -0.6169956922531128, 4.861876487731934], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.40185383101925254, "input_age_at_publish_s": 0.5336719159968197, "vggt_debug_frame": "frames/00000456/frame.json"} +{"frame_idx": 458, "time_s": 115.19062185287476, "localized": true, "localized_streak": 223, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 782, "score": 0.5654005408287048, "verified": true, "loaded": true}, {"id": 781, "score": 0.5645197629928589, "verified": true, "loaded": true}, {"id": 783, "score": 0.5638285279273987, "verified": true, "loaded": true}, {"id": 779, "score": 0.534578263759613, "verified": true, "loaded": true}, {"id": 784, "score": 0.5166318416595459, "verified": true, "loaded": true}, {"id": 780, "score": 0.5124117732048035, "verified": true, "loaded": true}], "camera_display": [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.054709031279524, -0.41577077263988205, -1.5288558862315165], [-3.604938494260525, -0.568245228686747, -1.542057194052679], [-3.112303013937019, -0.6528069739794162, -1.5546959855557987], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273], [-3.0188196780598067, -0.668853544567158, -1.557094343671273]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.800742127832828, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.16936529346330026, "map_correction_at_base_m": 0.00700447623563626, "map_correction_angle_deg": 0.15685313844848692, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00700447623563626, "rotation_deg": 0.15685313844848692, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936493, 0.9157890531050252, 0.027255805182648807], [-0.9998133703933496, -0.015519242036847541, -0.011505542546600134, -0.001297611294266865], [0.018833397874358337, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.46724608540534973, 0.07035306841135025], [0.9404224753379822, 0.11301771551370621], [1.4252794981002808, 0.2351393699645996], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237]], "goal_body": [1.46447518944179, 0.2618739823438443], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 781, "nearest_distance_m": 0.17148828003901176, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5320067050084312, "remaining_m": 19.023776695132256, "total_m": 19.555783400140687, "selection_total_m": 19.555783400140687, "best_candidate_total_m": 19.555783400140687, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.437734620535245, 0.9462710682034197], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 456}, "footprint_evidence": null, "native_local_path_body": [[0.46724608540534973, 0.07035306841135025], [0.9404224753379822, 0.11301771551370621], [1.4252794981002808, 0.2351393699645996], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237], [1.517286777496338, 0.25831338763237]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9979453086853027, 0.02640365995466709, -0.05838194489479065, -0.1961691528558731], [-0.02952807955443859, 0.6191237568855286, 0.7847381234169006, -2.160538911819458], [0.05686561018228531, 0.7848494648933411, -0.6170721054077148, 4.817893028259277], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41181692481040955, "input_age_at_publish_s": 0.44235318107530475, "vggt_debug_frame": "frames/00000458/frame.json"} +{"frame_idx": 459, "time_s": 115.42426586151123, "localized": true, "localized_streak": 224, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 782, "score": 0.5654005408287048, "verified": true, "loaded": true}, {"id": 781, "score": 0.5645197629928589, "verified": true, "loaded": true}, {"id": 783, "score": 0.5638285279273987, "verified": true, "loaded": true}, {"id": 779, "score": 0.534578263759613, "verified": true, "loaded": true}, {"id": 784, "score": 0.5166318416595459, "verified": true, "loaded": true}, {"id": 780, "score": 0.5124117732048035, "verified": true, "loaded": true}], "camera_display": [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], "global_route": [[-3.986868405371116, -0.3621417654263266, 0.04089727892755696], [-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.023332273021786, -0.46047677870148984, -1.529946793438321], [-3.553443796088471, -0.5815125965720194, -1.5413475917742505], [-3.0608845278525227, -0.6667304410037618, -1.5524528762348315], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634], [-3.0162233758637655, -0.6744573103395597, -1.5534598110615634]], "goal_keyframe": 1012, "route_ids": [1111, 1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.79414243806189, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3068713018400513, "map_correction_at_base_m": 0.004835521592018519, "map_correction_angle_deg": 0.19737279910099326, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004835521592018519, "rotation_deg": 0.19737279910099326, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224422, -0.4030405516860776, 0.915172126747448, 0.027261207042546864], [-0.9998137411416024, -0.015500331838897846, -0.011498814604844032, -0.0012977405538538989], [0.018819960236367506, -0.9150508474448105, -0.4028991879952546, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4853670597076416, 0.04201195761561394], [0.9645224213600159, 0.11937389522790909], [1.450089931488037, 0.23863884806632996], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714]], "goal_body": [1.4635141570090373, 0.25823799637253464], "route_cost_m": 19.023776695132256, "route_attachment": {"nearest_keyframe": 781, "nearest_distance_m": 0.18452978280652188, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5130232552509132, "remaining_m": 19.023776695132256, "total_m": 19.53679995038317, "selection_total_m": 19.53679995038317, "best_candidate_total_m": 19.53679995038317, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.422038173028533, 0.9627032843191317], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 458}, "footprint_evidence": null, "native_local_path_body": [[0.4853670597076416, 0.04201195761561394], [0.9645224213600159, 0.11937389522790909], [1.450089931488037, 0.23863884806632996], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714], [1.4941171407699585, 0.24945276975631714]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.998228907585144, 0.024031987413764, -0.05442489683628082, -0.19892622530460358], [-0.027789650484919548, 0.6205189228057861, 0.7836989760398865, -2.1481449604034424], [0.0526055246591568, 0.7838231921195984, -0.618752121925354, 4.796813488006592], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4122247532941401, "input_age_at_publish_s": 0.6086444682441652, "vggt_debug_frame": "frames/00000459/frame.json"} +{"frame_idx": 461, "time_s": 115.92481398582458, "localized": true, "localized_streak": 225, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 782, "score": 0.5654005408287048, "verified": true, "loaded": true}, {"id": 781, "score": 0.5645197629928589, "verified": true, "loaded": true}, {"id": 783, "score": 0.5638285279273987, "verified": true, "loaded": true}, {"id": 779, "score": 0.534578263759613, "verified": true, "loaded": true}, {"id": 784, "score": 0.5166318416595459, "verified": true, "loaded": true}, {"id": 780, "score": 0.5124117732048035, "verified": true, "loaded": true}], "camera_display": [-4.39177463247351, -0.3616166511187, -0.2068009726446321], "global_route": [[-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-4.0033282156026075, -0.49790118470659994, -1.531581735260905], [-3.5139552746287426, -0.5882092394661713, -1.5452475505633807], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402], [-3.023982082125664, -0.6732194342874971, -1.5588076471690402]], "goal_keyframe": 1012, "route_ids": [1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.777763269560332, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.152404846986851, "map_correction_at_base_m": 0.007942692383045312, "map_correction_angle_deg": 0.3000423756889387, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007942692383045312, "rotation_deg": 0.3000423756889387, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050257, 0.027255805182650583], [-0.9998133703933498, -0.015519242036847375, -0.01150554254660019, -0.0012976112942659768], [0.018833397874358337, -0.9156676637409433, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4786531925201416, -0.0060547091998159885], [0.9681094884872437, 0.08483362942934036], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988]], "goal_body": [1.4809130900889171, 0.19457187021426525], "route_cost_m": 18.759816870093346, "route_attachment": {"nearest_keyframe": 782, "nearest_distance_m": 0.16599872222863296, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.706932466299188, "remaining_m": 18.759816870093346, "total_m": 19.466749336392535, "selection_total_m": 19.466749336392535, "best_candidate_total_m": 19.466749336392535, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.388576991202301, 1.0063005410467665], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 459}, "footprint_evidence": null, "native_local_path_body": [[0.4786531925201416, -0.0060547091998159885], [0.9681094884872437, 0.08483362942934036], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988], [1.4562269449234009, 0.1808839738368988]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9999091625213623, 0.005930085200816393, -0.012108692899346352, -0.20088884234428406], [-0.005855420138686895, 0.6179770231246948, 0.7861743569374084, -2.127770185470581], [0.012144975364208221, 0.7861737608909607, -0.6178861856460571, 4.754215240478516], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41273361910134554, "input_age_at_publish_s": 0.531087894923985, "vggt_debug_frame": "frames/00000461/frame.json"} +{"frame_idx": 463, "time_s": 116.42528533935547, "localized": true, "localized_streak": 226, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 782, "score": 0.5654005408287048, "verified": true, "loaded": true}, {"id": 781, "score": 0.5645197629928589, "verified": true, "loaded": true}, {"id": 783, "score": 0.5638285279273987, "verified": true, "loaded": true}, {"id": 779, "score": 0.534578263759613, "verified": true, "loaded": true}, {"id": 784, "score": 0.5166318416595459, "verified": true, "loaded": true}, {"id": 780, "score": 0.5124117732048035, "verified": true, "loaded": true}], "camera_display": [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], "global_route": [[-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.943087143485337, -0.416424990442108, -1.5288494590311055], [-3.505351588612022, -0.5886819341582248, -1.5423625194605477], [-3.0130988060420907, -0.6753735882567344, -1.5554680621561774], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278], [-2.8924863156132994, -0.696614901412886, -1.5586792011957278]], "goal_keyframe": 1012, "route_ids": [1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.756593552611582, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.11214699767153777, "map_correction_at_base_m": 0.008584011848377052, "map_correction_angle_deg": 0.22949651296597232, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008584011848377052, "rotation_deg": 0.22949651296597232, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936493, 0.9157890531050259, 0.027255805182648807], [-0.9998133703933503, -0.015519242036847264, -0.011505542546600023, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409433, -0.40149474804000773, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4664011299610138, 0.07766444236040115], [0.9367458820343018, 0.062067970633506775], [1.4297586679458618, 0.14536473155021667], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967]], "goal_body": [1.485016057583162, 0.1570112231018661], "route_cost_m": 18.759816870093346, "route_attachment": {"nearest_keyframe": 782, "nearest_distance_m": 0.15226386610418913, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.669678558192977, "remaining_m": 18.759816870093346, "total_m": 19.429495428286323, "selection_total_m": 19.429495428286323, "best_candidate_total_m": 19.429495428286323, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.358817888014077, 1.0450906090256074], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 461}, "footprint_evidence": null, "native_local_path_body": [[0.4664011299610138, 0.07766444236040115], [0.9367458820343018, 0.062067970633506775], [1.4297586679458618, 0.14536473155021667], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967], [1.5505573749542236, 0.16577422618865967]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9999383687973022, -0.006345064379274845, 0.009119695983827114, -0.19447320699691772], [0.0032270606607198715, 0.6195917129516602, 0.7849176526069641, -2.1110079288482666], [-0.010630841366946697, 0.7848986983299255, -0.6195330619812012, 4.718719482421875], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3880125777795911, "input_age_at_publish_s": 0.42284580413252115, "vggt_debug_frame": "frames/00000463/frame.json"} +{"frame_idx": 464, "time_s": 116.69218802452087, "localized": true, "localized_streak": 227, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 782, "score": 0.5654005408287048, "verified": true, "loaded": true}, {"id": 781, "score": 0.5645197629928589, "verified": true, "loaded": true}, {"id": 783, "score": 0.5638285279273987, "verified": true, "loaded": true}, {"id": 779, "score": 0.534578263759613, "verified": true, "loaded": true}, {"id": 784, "score": 0.5166318416595459, "verified": true, "loaded": true}, {"id": 780, "score": 0.5124117732048035, "verified": true, "loaded": true}], "camera_display": [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], "global_route": [[-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.9083921038245095, -0.46872141827037517, -1.531665165915869], [-3.444794053199051, -0.6004038235361264, -1.5448143906274825], [-2.952540526036056, -0.687112531426207, -1.557779346159454], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166], [-2.8938393240788405, -0.6974525231960813, -1.5593254159827166]], "goal_keyframe": 1012, "route_ids": [1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.746425288200513, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.28760862435419676, "map_correction_at_base_m": 0.0019371246180138334, "map_correction_angle_deg": 0.03890802493870007, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0019371246180138334, "rotation_deg": 0.03890802493870007, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004290255627173889, -0.40235839518125793, 0.9154721817367342, 0.027258594017755655], [-0.9998135610108054, -0.015509519671661337, -0.011502087569058517, -0.0012976778968427638], [0.01882649530702518, -0.9153508489244531, -0.40221684008472014, 1.3117324436592437], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49031299352645874, 0.03824132680892944], [0.9715880155563354, 0.06671348959207535], [1.4650847911834717, 0.14709357917308807], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037]], "goal_body": [1.4843215634782787, 0.1554057275955456], "route_cost_m": 18.759816870093346, "route_attachment": {"nearest_keyframe": 782, "nearest_distance_m": 0.15201975588565797, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6468619527567423, "remaining_m": 18.759816870093346, "total_m": 19.40667882285009, "selection_total_m": 19.40667882285009, "best_candidate_total_m": 19.40667882285009, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.337875904142779, 1.0620256972884614], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 463}, "footprint_evidence": null, "native_local_path_body": [[0.49031299352645874, 0.03824132680892944], [0.9715880155563354, 0.06671348959207535], [1.4650847911834717, 0.14709357917308807], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037], [1.523934245109558, 0.1566789150238037]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9998550415039062, -0.009318548254668713, 0.01424502208828926, -0.19414106011390686], [0.0054123178124427795, 0.6193859577178955, 0.7850679755210876, -2.0977084636688232], [-0.01613886095583439, 0.7850313782691956, -0.6192457675933838, 4.696252346038818], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3940010811202228, "input_age_at_publish_s": 0.5858037299476564, "vggt_debug_frame": "frames/00000464/frame.json"} +{"frame_idx": 466, "time_s": 117.19257068634033, "localized": true, "localized_streak": 228, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 782, "score": 0.5654005408287048, "verified": true, "loaded": true}, {"id": 781, "score": 0.5645197629928589, "verified": true, "loaded": true}, {"id": 783, "score": 0.5638285279273987, "verified": true, "loaded": true}, {"id": 779, "score": 0.534578263759613, "verified": true, "loaded": true}, {"id": 784, "score": 0.5166318416595459, "verified": true, "loaded": true}, {"id": 780, "score": 0.5124117732048035, "verified": true, "loaded": true}], "camera_display": [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], "global_route": [[-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.872412915842951, -0.5110688082326575, -1.5357118082217687], [-3.388334928075699, -0.6104635558303286, -1.548097736557528], [-2.8960190979700466, -0.6969155166456931, -1.5603971654111572], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086], [-2.8861775704941617, -0.6986437223254427, -1.5606430344937086]], "goal_keyframe": 1012, "route_ids": [1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.726857043596551, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.16510238600417493, "map_correction_at_base_m": 0.008302803349415817, "map_correction_angle_deg": 0.12810778783312896, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008302803349415817, "rotation_deg": 0.12810778783312896, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933499, -0.015519242036847375, -0.011505542546600078, -0.001297611294266865], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4808519184589386, 0.009281176142394543], [0.9708335995674133, 0.07471893727779388], [1.4643317461013794, 0.1550905406475067], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737]], "goal_body": [1.4802525214530653, 0.17226419788238945], "route_cost_m": 18.759816870093346, "route_attachment": {"nearest_keyframe": 782, "nearest_distance_m": 0.16695222385652186, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5991606306058075, "remaining_m": 18.759816870093346, "total_m": 19.358977500699154, "selection_total_m": 19.358977500699154, "best_candidate_total_m": 19.358977500699154, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.29752769645103, 1.089250493026904], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 464}, "footprint_evidence": null, "native_local_path_body": [[0.4808519184589386, 0.009281176142394543], [0.9708335995674133, 0.07471893727779388], [1.4643317461013794, 0.1550905406475067], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737], [1.4741969108581543, 0.15669718384742737]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.999849796295166, -0.007688173092901707, 0.015544832684099674, -0.19496242702007294], [0.00741454865783453, 0.6207934617996216, 0.7839391231536865, -2.0687594413757324], [-0.01567719131708145, 0.7839365005493164, -0.6206432580947876, 4.648015975952148], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3909717411734164, "input_age_at_publish_s": 0.4697143519297242, "vggt_debug_frame": "frames/00000466/frame.json"} +{"frame_idx": 467, "time_s": 117.39271354675293, "localized": true, "localized_streak": 229, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.6026400327682495, "verified": true, "loaded": true}, {"id": 782, "score": 0.5684170126914978, "verified": true, "loaded": true}, {"id": 918, "score": 0.5544013381004333, "verified": true, "loaded": true}, {"id": 784, "score": 0.5532910227775574, "verified": true, "loaded": true}, {"id": 917, "score": 0.5525059700012207, "verified": true, "loaded": true}, {"id": 781, "score": 0.5349297523498535, "verified": true, "loaded": true}], "camera_display": [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], "global_route": [[-3.7373702186099433, -0.4545963414720715, 0.04385540404035332], [-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.8725650487921106, -0.5250872604861909, -1.5332488914284848], [-3.3806934822883745, -0.6141545834635274, -1.5446271998968704], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777], [-2.899565369259161, -0.7012765001858545, -1.555756983495777]], "goal_keyframe": 1012, "route_ids": [1110, 1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.720873381770998, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3472077767639783, "map_correction_at_base_m": 0.01283723559401674, "map_correction_angle_deg": 0.3509772103951487, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01283723559401674, "rotation_deg": 0.3509772103951487, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361709, -0.4016365056936491, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847097, -0.011505542546600467, -0.0012976112942677531], [0.01883339787435806, -0.9156676637409433, -0.4014947480400073, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.47695785760879517, -0.006753852125257254], [0.97117018699646, 0.06910229474306107], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225]], "goal_body": [1.4816216705289031, 0.1634408122086468], "route_cost_m": 18.759816870093346, "route_attachment": {"nearest_keyframe": 782, "nearest_distance_m": 0.16616237557356595, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5930005960647456, "remaining_m": 18.759816870093346, "total_m": 19.35281746615809, "selection_total_m": 19.35281746615809, "best_candidate_total_m": 19.35281746615809, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.28146891560385, 1.1033101756008334], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 466}, "footprint_evidence": null, "native_local_path_body": [[0.47695785760879517, -0.006753852125257254], [0.97117018699646, 0.06910229474306107], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225], [1.4545879364013672, 0.1433015912771225]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9997719526290894, -0.011228417046368122, 0.018169589340686798, -0.1909026950597763], [0.007226458750665188, 0.6226858496665955, 0.7824386358261108, -2.067894458770752], [-0.020099494606256485, 0.7823914289474487, -0.6224628686904907, 4.6426239013671875], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.40190881583839655, "input_age_at_publish_s": 0.6345171718858182, "vggt_debug_frame": "frames/00000467/frame.json"} +{"frame_idx": 469, "time_s": 117.92559623718262, "localized": true, "localized_streak": 230, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.6026400327682495, "verified": true, "loaded": true}, {"id": 782, "score": 0.5684170126914978, "verified": true, "loaded": true}, {"id": 918, "score": 0.5544013381004333, "verified": true, "loaded": true}, {"id": 784, "score": 0.5532910227775574, "verified": true, "loaded": true}, {"id": 917, "score": 0.5525059700012207, "verified": true, "loaded": true}, {"id": 781, "score": 0.5349297523498535, "verified": true, "loaded": true}], "camera_display": [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.784027449563268, -0.46963204881373866, -1.5297297651229216], [-3.2921611355642724, -0.5588208059764996, -1.540354681392839], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327], [-2.8205665533389115, -0.6443337508780811, -1.550541703447327]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.701902308841985, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3516671574290216, "map_correction_at_base_m": 0.004830755590776348, "map_correction_angle_deg": 0.08412106652870088, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004830755590776348, "rotation_deg": 0.08412106652870088, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936494, 0.9157890531050256, 0.02725580518264703], [-0.9998133703933502, -0.015519242036847652, -0.011505542546599912, -0.0012976112942677531], [0.018833397874358282, -0.915667663740943, -0.4014947480400075, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49617576599121094, 0.06170231103897095], [0.9921910166740417, 0.12470127642154694], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213]], "goal_body": [1.4853105978867087, 0.13710768708111953], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 782, "nearest_distance_m": 0.1861338366719915, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.741392526911348, "remaining_m": 18.549689948558807, "total_m": 19.291082475470155, "selection_total_m": 19.291082475470155, "best_candidate_total_m": 19.291082475470155, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.240898133380282, 1.1366947352432786], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 467}, "footprint_evidence": null, "native_local_path_body": [[0.49617576599121094, 0.06170231103897095], [0.9921910166740417, 0.12470127642154694], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213], [1.4677635431289673, 0.18510380387306213]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9988969564437866, -0.02168400213122368, 0.0416499599814415, -0.18873143196105957], [0.019003722816705704, 0.6244200468063354, 0.7808575630187988, -2.0496160984039307], [-0.042939186096191406, 0.7807877063751221, -0.623319149017334, 4.600213527679443], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3926758668385446, "input_age_at_publish_s": 0.5300473449751735, "vggt_debug_frame": "frames/00000469/frame.json"} +{"frame_idx": 471, "time_s": 118.42452931404114, "localized": true, "localized_streak": 231, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.6026400327682495, "verified": true, "loaded": true}, {"id": 782, "score": 0.5684170126914978, "verified": true, "loaded": true}, {"id": 918, "score": 0.5544013381004333, "verified": true, "loaded": true}, {"id": 784, "score": 0.5532910227775574, "verified": true, "loaded": true}, {"id": 917, "score": 0.5525059700012207, "verified": true, "loaded": true}, {"id": 781, "score": 0.5349297523498535, "verified": true, "loaded": true}], "camera_display": [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.766530404891383, -0.5122017808449009, -1.528621046908469], [-3.290929739896625, -0.6259981988865695, -1.5383776541660192], [-2.798841239286954, -0.7140698347532499, -1.547994287040667], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588], [-2.769441875233361, -0.7193315953267838, -1.5485688237739588]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.68386069935167, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.46555388104657297, "map_correction_at_base_m": 0.007780006548840324, "map_correction_angle_deg": 0.16767995615790796, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007780006548840324, "rotation_deg": 0.16767995615790796, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004291867976567387, -0.4022758652064409, 0.9155084424196649, 0.02725827641311529], [-0.9998135392182017, -0.015510631212951487, -0.011502483007982789, -0.00129767029791239], [0.018827285126773674, -0.9153871031382216, -0.4021342869527167, 1.3117361028499046], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4832320809364319, 0.023188458755612373], [0.9712258577346802, 0.05639513581991196], [1.4672815799713135, 0.11907446384429932], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741]], "goal_body": [1.4842340480236378, 0.14062176061699339], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 783, "nearest_distance_m": 0.17380876390554648, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7039854909554738, "remaining_m": 18.549689948558807, "total_m": 19.253675439514282, "selection_total_m": 19.253675439514282, "best_candidate_total_m": 19.253675439514282, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.207406230931666, 1.1724974497997298], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 469}, "footprint_evidence": null, "native_local_path_body": [[0.4832320809364319, 0.023188458755612373], [0.9712258577346802, 0.05639513581991196], [1.4672815799713135, 0.11907446384429932], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741], [1.496917963027954, 0.12281917780637741]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9987560510635376, -0.022803006693720818, 0.04435112327337265, -0.18483150005340576], [0.020353714004158974, 0.6255063414573669, 0.7799535989761353, -2.0322468280792236], [-0.045527197420597076, 0.7798858880996704, -0.6242643594741821, 4.564483642578125], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39965879870578647, "input_age_at_publish_s": 0.44147268403321505, "vggt_debug_frame": "frames/00000471/frame.json"} +{"frame_idx": 472, "time_s": 118.69091868400574, "localized": true, "localized_streak": 232, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.6026400327682495, "verified": true, "loaded": true}, {"id": 782, "score": 0.5684170126914978, "verified": true, "loaded": true}, {"id": 918, "score": 0.5544013381004333, "verified": true, "loaded": true}, {"id": 784, "score": 0.5532910227775574, "verified": true, "loaded": true}, {"id": 917, "score": 0.5525059700012207, "verified": true, "loaded": true}, {"id": 781, "score": 0.5349297523498535, "verified": true, "loaded": true}], "camera_display": [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.753690876739216, -0.5326061590166944, -1.5294520521851003], [-3.2669859170594524, -0.6283639321839098, -1.5391954473187917], [-2.7747140095301477, -0.7153960732351203, -1.5488783480645516], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367], [-2.771294717353242, -0.7160005984577573, -1.548945605020367]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.675882099181221, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5099329043404276, "map_correction_at_base_m": 0.002539785589052627, "map_correction_angle_deg": 0.1368324421141438, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.002539785589052627, "rotation_deg": 0.1368324421141438, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364906, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933503, -0.015519242036847208, -0.011505542546600356, -0.001297611294266865], [0.01883339787435817, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.47727763652801514, 0.008008826524019241], [0.9704928398132324, 0.06172078475356102], [1.4664183855056763, 0.12542200088500977], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868]], "goal_body": [1.4826464716606504, 0.149138095758517], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 783, "nearest_distance_m": 0.16834082565172004, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6817869230012926, "remaining_m": 18.549689948558807, "total_m": 19.2314768715601, "selection_total_m": 19.2314768715601, "best_candidate_total_m": 19.2314768715601, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.187466030730787, 1.189321927010001], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 471}, "footprint_evidence": null, "native_local_path_body": [[0.47727763652801514, 0.008008826524019241], [0.9704928398132324, 0.06172078475356102], [1.4664183855056763, 0.12542200088500977], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868], [1.4698630571365356, 0.12586446106433868]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9987567663192749, -0.021575648337602615, 0.04493728280067444, -0.18575361371040344], [0.021563973277807236, 0.6257607936859131, 0.7797169089317322, -2.020608901977539], [-0.044942885637283325, 0.7797165513038635, -0.624517560005188, 4.542548179626465], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38356186728924513, "input_age_at_publish_s": 0.576930332928896, "vggt_debug_frame": "frames/00000472/frame.json"} +{"frame_idx": 474, "time_s": 119.19185757637024, "localized": true, "localized_streak": 233, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 783, "score": 0.6026400327682495, "verified": true, "loaded": true}, {"id": 782, "score": 0.5684170126914978, "verified": true, "loaded": true}, {"id": 918, "score": 0.5544013381004333, "verified": true, "loaded": true}, {"id": 784, "score": 0.5532910227775574, "verified": true, "loaded": true}, {"id": 917, "score": 0.5525059700012207, "verified": true, "loaded": true}, {"id": 781, "score": 0.5349297523498535, "verified": true, "loaded": true}], "camera_display": [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.6920889855887484, -0.5559612371918501, -1.526772995980345], [-3.200077624486447, -0.6446270480881333, -1.5347297129648412], [-2.7243327309920735, -0.6585185907182645, -1.5412441499138385], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936], [-2.6898900846352065, -0.664725525218306, -1.5418011499420936]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.657479706694362, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7191217091024474, "map_correction_at_base_m": 0.002614572539516425, "map_correction_angle_deg": 0.2726362957540166, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.002614572539516425, "rotation_deg": 0.2726362957540166, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224533, -0.4030405516860776, 0.9151721267474484, 0.027261207042547753], [-0.9998137411416024, -0.015500331838897707, -0.011498814604844199, -0.0012977405538521225], [0.01881996023636756, -0.9150508474448107, -0.4028991879952546, 1.3117021917484166], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49306416511535645, -0.0036181677132844925], [0.9901725649833679, 0.05007775500416756], [1.4505672454833984, 0.17092998325824738], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238]], "goal_body": [1.482978105063324, 0.13493748239148529], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 783, "nearest_distance_m": 0.1635680730440412, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6398269946048395, "remaining_m": 18.549689948558807, "total_m": 19.189516943163646, "selection_total_m": 19.189516943163646, "best_candidate_total_m": 19.189516943163646, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.146161910645015, 1.2164975845520778], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 472}, "footprint_evidence": null, "native_local_path_body": [[0.49306416511535645, -0.0036181677132844925], [0.9901725649833679, 0.05007775500416756], [1.4505672454833984, 0.17092998325824738], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238], [1.485366702079773, 0.1746889054775238]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9977757930755615, -0.028258543461561203, 0.060377348214387894, -0.1834079772233963], [0.029292147606611252, 0.6277377605438232, 0.7778736352920532, -2.0017638206481934], [-0.05988271161913872, 0.777911901473999, -0.6255137920379639, 4.501342296600342], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39552490320056677, "input_age_at_publish_s": 0.46753232972696424, "vggt_debug_frame": "frames/00000474/frame.json"} +{"frame_idx": 475, "time_s": 119.42565393447876, "localized": true, "localized_streak": 234, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5686584711074829, "verified": true, "loaded": true}, {"id": 783, "score": 0.5672003030776978, "verified": true, "loaded": true}, {"id": 784, "score": 0.5490715503692627, "verified": true, "loaded": true}, {"id": 917, "score": 0.5396279096603394, "verified": true, "loaded": true}, {"id": 785, "score": 0.532368540763855, "verified": true, "loaded": true}, {"id": 782, "score": 0.5222867131233215, "verified": true, "loaded": true}], "camera_display": [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.670875818274647, -0.5575385162804691, -1.5259446565279777], [-3.1789783942304517, -0.6468272153833032, -1.53398036746688], [-2.7032524455795075, -0.661321190790285, -1.5405663269732823], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312], [-2.691243241729695, -0.6635010982611869, -1.5407625113061312]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.645497503167766, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7590073354541836, "map_correction_at_base_m": 0.0034739840691521686, "map_correction_angle_deg": 0.045733531516862304, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0034739840691521686, "rotation_deg": 0.045733531516862304, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004290351414835525, -0.40235349216812133, 0.9154743361912748, 0.027258575158086273], [-0.9998135597161297, -0.015509585707315615, -0.011502111064879805, -0.0012976774455086826], [0.01882654223426644, -0.9153530029946398, -0.40221193569584246, 1.3117326610525024], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4920315146446228, -0.00471284007653594], [0.9895025491714478, 0.04551218822598457], [1.450729489326477, 0.16314813494682312], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246]], "goal_body": [1.4832909943747228, 0.12874544095167817], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 783, "nearest_distance_m": 0.164414899232356, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6190486134030233, "remaining_m": 18.549689948558807, "total_m": 19.16873856196183, "selection_total_m": 19.16873856196183, "best_candidate_total_m": 19.16873856196183, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.12838289736815, 1.2317797686506937], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 474}, "footprint_evidence": null, "native_local_path_body": [[0.4920315146446228, -0.00471284007653594], [0.9895025491714478, 0.04551218822598457], [1.450729489326477, 0.16314813494682312], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246], [1.4628747701644897, 0.16437432169914246]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9973797798156738, -0.030467819422483444, 0.06561809033155441, -0.179013192653656], [0.031941648572683334, 0.6283605098724365, 0.7772663235664368, -1.992907166481018], [-0.06491342931985855, 0.777325451374054, -0.6257410049438477, 4.481455326080322], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4021165990270674, "input_age_at_publish_s": 0.6351554901339114, "vggt_debug_frame": "frames/00000475/frame.json"} +{"frame_idx": 477, "time_s": 119.89285445213318, "localized": true, "localized_streak": 235, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5686584711074829, "verified": true, "loaded": true}, {"id": 783, "score": 0.5672003030776978, "verified": true, "loaded": true}, {"id": 784, "score": 0.5490715503692627, "verified": true, "loaded": true}, {"id": 917, "score": 0.5396279096603394, "verified": true, "loaded": true}, {"id": 785, "score": 0.532368540763855, "verified": true, "loaded": true}, {"id": 782, "score": 0.5222867131233215, "verified": true, "loaded": true}], "camera_display": [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.631680059495301, -0.535760065136631, -1.5273783161008534], [-3.1552441501786315, -0.6492345970510689, -1.5377378337348069], [-2.663463274852345, -0.7389457605360619, -1.5479121824689617], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306], [-2.6369963282936895, -0.7437738862256467, -1.5484597514059306]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.623165586457723, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5528872354561146, "map_correction_at_base_m": 0.004009216786174538, "map_correction_angle_deg": 0.26335661996245696, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004009216786174538, "rotation_deg": 0.26335661996245696, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364917, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933503, -0.01551924203684707, -0.011505542546600411, -0.0012976112942677531], [0.01883339787435817, -0.9156676637409433, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4801003634929657, 0.022911572828888893], [0.9695189595222473, 0.043991170823574066], [1.4671965837478638, 0.09212604910135269], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191]], "goal_body": [1.4817302968011852, 0.13451559861203977], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 783, "nearest_distance_m": 0.1801394197096431, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5744728272713959, "remaining_m": 18.549689948558807, "total_m": 19.124162775830204, "selection_total_m": 19.124162775830204, "best_candidate_total_m": 19.124162775830204, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.090767143487351, 1.2586725121373052], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 475}, "footprint_evidence": null, "native_local_path_body": [[0.4801003634929657, 0.022911572828888893], [0.9695189595222473, 0.043991170823574066], [1.4671965837478638, 0.09212604910135269], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191], [1.493980884552002, 0.09471660107374191]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9971343278884888, -0.03091895952820778, 0.06904648244380951, -0.17422884702682495], [0.03457040712237358, 0.6255890130996704, 0.7793865203857422, -1.9709057807922363], [-0.06729254126548767, 0.779539942741394, -0.6227273941040039, 4.437392711639404], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37812959123402834, "input_age_at_publish_s": 0.5197849059477448, "vggt_debug_frame": "frames/00000477/frame.json"} +{"frame_idx": 479, "time_s": 120.42641878128052, "localized": true, "localized_streak": 236, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5686584711074829, "verified": true, "loaded": true}, {"id": 783, "score": 0.5672003030776978, "verified": true, "loaded": true}, {"id": 784, "score": 0.5490715503692627, "verified": true, "loaded": true}, {"id": 917, "score": 0.5396279096603394, "verified": true, "loaded": true}, {"id": 785, "score": 0.532368540763855, "verified": true, "loaded": true}, {"id": 782, "score": 0.5222867131233215, "verified": true, "loaded": true}], "camera_display": [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.5555293511836807, -0.5034769395987295, -1.5283282737127482], [-3.0636542048204753, -0.5927698161419386, -1.5375810496117315], [-2.57177900114976, -0.6820627090296343, -1.546833826702681], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986], [-2.5553010217317023, -0.685054040529387, -1.5471437975650986]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.602310188941408, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7967462136998565, "map_correction_at_base_m": 0.0015306545604123723, "map_correction_angle_deg": 0.11793059971920564, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0015306545604123723, "rotation_deg": 0.11793059971920564, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847264, -0.0115055425466003, -0.001297611294266865], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.3117644447120322], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49157100915908813, 0.07494525611400604], [0.9891600012779236, 0.12398800998926163], [1.4867490530014038, 0.1730307638645172], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727]], "goal_body": [1.4791950713915056, 0.14773066547173686], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 784, "nearest_distance_m": 0.17034610878837544, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5310672792823259, "remaining_m": 18.549689948558807, "total_m": 19.080757227841133, "selection_total_m": 19.080757227841133, "best_candidate_total_m": 19.080757227841133, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.049893757881796, 1.2917960051385564], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 477}, "footprint_evidence": null, "native_local_path_body": [[0.49157100915908813, 0.07494525611400604], [0.9891600012779236, 0.12398800998926163], [1.4867490530014038, 0.1730307638645172], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727], [1.5034184455871582, 0.17467372119426727]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9972072839736938, -0.029701512306928635, 0.06852278113365173, -0.17089661955833435], [0.034809451550245285, 0.6269076466560364, 0.778315544128418, -1.9464844465255737], [-0.06607460975646973, 0.7785272598266602, -0.6241229772567749, 4.393207550048828], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3675142992287874, "input_age_at_publish_s": 0.39052829006686807, "vggt_debug_frame": "frames/00000479/frame.json"} +{"frame_idx": 480, "time_s": 120.69325542449951, "localized": true, "localized_streak": 237, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5686584711074829, "verified": true, "loaded": true}, {"id": 783, "score": 0.5672003030776978, "verified": true, "loaded": true}, {"id": 784, "score": 0.5490715503692627, "verified": true, "loaded": true}, {"id": 917, "score": 0.5396279096603394, "verified": true, "loaded": true}, {"id": 785, "score": 0.532368540763855, "verified": true, "loaded": true}, {"id": 782, "score": 0.5222867131233215, "verified": true, "loaded": true}], "camera_display": [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.5441725072183656, -0.5762163256871027, -1.5303739519682074], [-3.052243041431435, -0.6651011962243434, -1.5406120027070782], [-2.5765354750498872, -0.6792091219452123, -1.5490829655435248], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237], [-2.554678862594386, -0.6831583114429884, -1.5495378460356237]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.589170778907922, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3567285595477079, "map_correction_at_base_m": 0.0009844666757269666, "map_correction_angle_deg": 0.12637383798116886, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0009844666757269666, "rotation_deg": 0.12637383798116886, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936494, 0.9157890531050253, 0.027255805182648807], [-0.9998133703933496, -0.015519242036847625, -0.011505542546599967, -0.0012976112942659768], [0.018833397874358282, -0.9156676637409429, -0.40149474804000707, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49575546383857727, 0.00771679449826479], [0.9932668805122375, 0.057540200650691986], [1.4545886516571045, 0.17480376362800598], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804]], "goal_body": [1.477732106887786, 0.1549562649917281], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 784, "nearest_distance_m": 0.15732989364755587, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5057261132038734, "remaining_m": 18.549689948558807, "total_m": 19.05541606176268, "selection_total_m": 19.05541606176268, "best_candidate_total_m": 19.05541606176268, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [8.030118185956434, 1.3082025147430694], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 479}, "footprint_evidence": null, "native_local_path_body": [[0.49575546383857727, 0.00771679449826479], [0.9932668805122375, 0.057540200650691986], [1.4545886516571045, 0.17480376362800598], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804], [1.4766932725906372, 0.1770174354314804]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9972622394561768, -0.029394328594207764, 0.06785137951374054, -0.1680702269077301], [0.03461135923862457, 0.6253141164779663, 0.7796052694320679, -1.933393955230713], [-0.06534439325332642, 0.7798193693161011, -0.6225847005844116, 4.367077827453613], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3644130611792207, "input_age_at_publish_s": 0.5115149691700935, "vggt_debug_frame": "frames/00000480/frame.json"} +{"frame_idx": 482, "time_s": 121.19409346580505, "localized": true, "localized_streak": 238, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5686584711074829, "verified": true, "loaded": true}, {"id": 783, "score": 0.5672003030776978, "verified": true, "loaded": true}, {"id": 784, "score": 0.5490715503692627, "verified": true, "loaded": true}, {"id": 917, "score": 0.5396279096603394, "verified": true, "loaded": true}, {"id": 785, "score": 0.532368540763855, "verified": true, "loaded": true}, {"id": 782, "score": 0.5222867131233215, "verified": true, "loaded": true}], "camera_display": [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.492721309349706, -0.5205843334023346, -1.525949722501169], [-3.001558395989663, -0.6136192787927195, -1.536128516987619], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697], [-2.5689296055383912, -0.6955668191100388, -1.5450942580281697]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.573064162224032, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6312259702305235, "map_correction_at_base_m": 0.01308104159048461, "map_correction_angle_deg": 0.5011784330524524, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01308104159048461, "rotation_deg": 0.5011784330524524, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936493, 0.9157890531050252, 0.027255805182648807], [-0.9998133703933497, -0.015519242036847625, -0.011505542546600023, -0.0012976112942686413], [0.018833397874358226, -0.915667663740943, -0.40149474804000707, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4917796552181244, 0.07661904394626617], [0.9899020195007324, 0.11991021037101746], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525]], "goal_body": [1.4765555322417563, 0.15597658806284387], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 784, "nearest_distance_m": 0.14453480151819822, "attachment_limit_m": 0.75, "candidate_count": 27, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.47214225848387564, "remaining_m": 18.549689948558807, "total_m": 19.02183220704268, "selection_total_m": 19.02183220704268, "best_candidate_total_m": 19.02183220704268, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.984473870695459, 1.3314312378472515], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 480}, "footprint_evidence": null, "native_local_path_body": [[0.4917796552181244, 0.07661904394626617], [0.9899020195007324, 0.11991021037101746], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525], [1.4286608695983887, 0.15804217755794525]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9969041347503662, -0.03333176672458649, 0.07121417671442032, -0.16554062068462372], [0.03473111242055893, 0.6258904337882996, 0.7791373133659363, -1.919575572013855], [-0.07054229825735092, 0.7791984677314758, -0.6227952241897583, 4.331744194030762], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3687647879123688, "input_age_at_publish_s": 0.3857701397500932, "vggt_debug_frame": "frames/00000482/frame.json"} +{"frame_idx": 483, "time_s": 121.42783784866333, "localized": true, "localized_streak": 239, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5752180218696594, "verified": true, "loaded": true}, {"id": 783, "score": 0.5455070734024048, "verified": true, "loaded": true}, {"id": 568, "score": 0.5355764031410217, "verified": true, "loaded": true}, {"id": 919, "score": 0.5327951908111572, "verified": true, "loaded": true}, {"id": 784, "score": 0.5277185440063477, "verified": true, "loaded": true}, {"id": 785, "score": 0.5225085020065308, "verified": true, "loaded": true}], "camera_display": [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.480963783949463, -0.5253511737608347, -1.5258526649301447], [-2.9898122537917424, -0.6184092303605704, -1.5363657376529951], [-2.5142456946793916, -0.6365558889335654, -1.54507419726592], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677], [-2.4962355276226087, -0.639968256513046, -1.5454597038803677]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.572743158031862, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5176735555405827, "map_correction_at_base_m": 0.009973479032762885, "map_correction_angle_deg": 0.15672171639863336, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009973479032762885, "rotation_deg": 0.15672171639863336, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936493, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933503, -0.01551924203684732, -0.011505542546600134, -0.001297611294266865], [0.01883339787435817, -0.9156676637409432, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4917892515659332, 0.07080448418855667], [0.9905179738998413, 0.10643704980611801], [1.454992651939392, 0.2105131894350052], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489]], "goal_body": [1.4763897062133422, 0.14316461110622802], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 784, "nearest_distance_m": 0.1446454826513052, "attachment_limit_m": 0.75, "candidate_count": 27, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.460932694847125, "remaining_m": 18.549689948558807, "total_m": 19.01062264340593, "selection_total_m": 19.01062264340593, "best_candidate_total_m": 19.01062264340593, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.963546138556847, 1.340743843156955], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 482}, "footprint_evidence": null, "native_local_path_body": [[0.4917892515659332, 0.07080448418855667], [0.9905179738998413, 0.10643704980611801], [1.454992651939392, 0.2105131894350052], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489], [1.473280668258667, 0.2118198126554489]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9955847263336182, -0.03699807822704315, 0.0862712413072586, -0.1705857217311859], [0.04424954950809479, 0.6255574226379395, 0.7789223194122314, -1.912851333618164], [-0.08278624713420868, 0.7793004512786865, -0.6211583614349365, 4.317863941192627], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39166264794766903, "input_age_at_publish_s": 0.540164708159864, "vggt_debug_frame": "frames/00000483/frame.json"} +{"frame_idx": 485, "time_s": 121.92868518829346, "localized": true, "localized_streak": 240, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5752180218696594, "verified": true, "loaded": true}, {"id": 783, "score": 0.5455070734024048, "verified": true, "loaded": true}, {"id": 568, "score": 0.5355764031410217, "verified": true, "loaded": true}, {"id": 919, "score": 0.5327951908111572, "verified": true, "loaded": true}, {"id": 784, "score": 0.5277185440063477, "verified": true, "loaded": true}, {"id": 785, "score": 0.5225085020065308, "verified": true, "loaded": true}], "camera_display": [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.4387085533273147, -0.6010328024121669, -1.5235679030797853], [-2.947680904380012, -0.6947550797306565, -1.5339623667047142], [-2.472137566481315, -0.7135447121612888, -1.5425662371226907], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436], [-2.4347351445600456, -0.7206837008463163, -1.5433580013514436]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.54379491518904, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.45434864306717004, "map_correction_at_base_m": 0.008104876068791516, "map_correction_angle_deg": 0.0590445730770579, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008104876068791516, "rotation_deg": 0.0590445730770579, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0042884629661464335, -0.4024501550581376, 0.9154318553442788, 0.02725894676976015], [-0.9998135852407108, -0.015508283809128443, -0.011501647769362966, -0.0012976863409432937], [0.01882561694880014, -0.9153105297258283, -0.40230862570857284, 1.31172837503201], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49790847301483154, -0.0021569302771240473], [0.9970142841339111, 0.027732962742447853], [1.462656021118164, 0.12645617127418518], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436]], "goal_body": [1.476885608861056, 0.13020893473232853], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 784, "nearest_distance_m": 0.14774935811153367, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4143525206117744, "remaining_m": 18.549689948558807, "total_m": 18.964042469170582, "selection_total_m": 18.964042469170582, "best_candidate_total_m": 18.964042469170582, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.928380447254054, 1.374655195856621], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 483}, "footprint_evidence": null, "native_local_path_body": [[0.49790847301483154, -0.0021569302771240473], [0.9970142841339111, 0.027732962742447853], [1.462656021118164, 0.12645617127418518], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436], [1.500673770904541, 0.12873293459415436]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9945783615112305, -0.04114799201488495, 0.09550433605909348, -0.1594814509153366], [0.04890565574169159, 0.6254125833511353, 0.7787601351737976, -1.8923287391662598], [-0.09177402406930923, 0.7792086005210876, -0.6200094223022461, 4.268945217132568], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37386271078139544, "input_age_at_publish_s": 0.42073989659547806, "vggt_debug_frame": "frames/00000485/frame.json"} +{"frame_idx": 486, "time_s": 122.19580554962158, "localized": true, "localized_streak": 241, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5752180218696594, "verified": true, "loaded": true}, {"id": 783, "score": 0.5455070734024048, "verified": true, "loaded": true}, {"id": 568, "score": 0.5355764031410217, "verified": true, "loaded": true}, {"id": 919, "score": 0.5327951908111572, "verified": true, "loaded": true}, {"id": 784, "score": 0.5277185440063477, "verified": true, "loaded": true}, {"id": 785, "score": 0.5225085020065308, "verified": true, "loaded": true}], "camera_display": [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], "global_route": [[-3.533091084951804, -0.5104938124872422, 0.03640529223495531], [-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.422422068080591, -0.603416323800757, -1.5236134044965504], [-2.931562141327695, -0.6979986435920482, -1.5341330256559127], [-2.4560570178715446, -0.7176187510645127, -1.5429927741539262], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361], [-2.4443225412308767, -0.7198798252951635, -1.543244255648361]], "goal_keyframe": 1012, "route_ids": [1109, 1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.53224066572262, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.41411982525500574, "map_correction_at_base_m": 0.009772337482012717, "map_correction_angle_deg": 0.14777118042269988, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009772337482012717, "rotation_deg": 0.14777118042269988, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936491, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933502, -0.01551924203684732, -0.01150554254660019, -0.001297611294266865], [0.018833397874358282, -0.9156676637409432, -0.4014947480400073, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4974677264690399, -0.008906256407499313], [0.9969947934150696, 0.01283532939851284], [1.4641855955123901, 0.10394711792469025], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225]], "goal_body": [1.479027776358942, 0.10649475842796852], "route_cost_m": 18.549689948558807, "route_attachment": {"nearest_keyframe": 784, "nearest_distance_m": 0.1531264438320041, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.40023923323806776, "remaining_m": 18.549689948558807, "total_m": 18.949929181796875, "selection_total_m": 18.949929181796875, "best_candidate_total_m": 18.949929181796875, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.910244731353453, 1.3941988707388413], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 485}, "footprint_evidence": null, "native_local_path_body": [[0.4974677264690399, -0.008906256407499313], [0.9969947934150696, 0.01283532939851284], [1.4641855955123901, 0.10394711792469025], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225], [1.47612726688385, 0.10446687787771225]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9929599761962891, -0.04861156642436981, 0.10801531374454498, -0.15355859696865082], [0.05389602482318878, 0.6266193389892578, 0.7774595618247986, -1.885146975517273], [-0.10547801852226257, 0.777807891368866, -0.6195878982543945, 4.254255771636963], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38783791195601225, "input_age_at_publish_s": 0.5653110737912357, "vggt_debug_frame": "frames/00000486/frame.json"} +{"frame_idx": 488, "time_s": 122.69663643836975, "localized": true, "localized_streak": 242, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5752180218696594, "verified": true, "loaded": true}, {"id": 783, "score": 0.5455070734024048, "verified": true, "loaded": true}, {"id": 568, "score": 0.5355764031410217, "verified": true, "loaded": true}, {"id": 919, "score": 0.5327951908111572, "verified": true, "loaded": true}, {"id": 784, "score": 0.5277185440063477, "verified": true, "loaded": true}, {"id": 785, "score": 0.5225085020065308, "verified": true, "loaded": true}], "camera_display": [-3.797943689685497, -0.523424499302678, -0.2002690244629129], "global_route": [[-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.358339478794425, -0.5446256986203197, -1.5221381758171695], [-2.8675244348674167, -0.6392597291528217, -1.5341839586289756], [-2.392050389718609, -0.6589305637526941, -1.5444864698795098], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404], [-2.357493612675246, -0.6655934440181639, -1.5453345761813404]], "goal_keyframe": 1012, "route_ids": [1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.504201181846907, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.35884980020785356, "map_correction_at_base_m": 0.005317143431648045, "map_correction_angle_deg": 0.17179340798239526, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005317143431648045, "rotation_deg": 0.17179340798239526, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.4016365056936493, 0.9157890531050258, 0.027255805182649695], [-0.99981337039335, -0.015519242036847541, -0.011505542546600078, -0.001297611294266865], [0.018833397874358393, -0.9156676637409432, -0.4014947480400073, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4939454197883606, 0.048845190554857254], [0.9938895106315613, 0.056321557611227036], [1.4634902477264404, 0.1340627372264862], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007]], "goal_body": [1.4919840303799319, 0.0714952144526857], "route_cost_m": 18.14375764131546, "route_attachment": {"nearest_keyframe": 785, "nearest_distance_m": 0.1759041649957694, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7050674151951154, "remaining_m": 18.14375764131546, "total_m": 18.848825056510577, "selection_total_m": 18.848825056510577, "best_candidate_total_m": 18.848825056510577, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.863645955708418, 1.432560921002987], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 486}, "footprint_evidence": null, "native_local_path_body": [[0.4939454197883606, 0.048845190554857254], [0.9938895106315613, 0.056321557611227036], [1.4634902477264404, 0.1340627372264862], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007], [1.4986897706985474, 0.13458913564682007]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9891915321350098, -0.060397982597351074, 0.13361407816410065, -0.14515353739261627], [0.06683173775672913, 0.6253657937049866, 0.7774645686149597, -1.8612700700759888], [-0.1305149644613266, 0.7779908776283264, -0.614570140838623, 4.20219087600708], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36515082605183125, "input_age_at_publish_s": 0.4174629761837423, "vggt_debug_frame": "frames/00000488/frame.json"} +{"frame_idx": 489, "time_s": 122.89669942855835, "localized": true, "localized_streak": 243, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5752180218696594, "verified": true, "loaded": true}, {"id": 783, "score": 0.5455070734024048, "verified": true, "loaded": true}, {"id": 568, "score": 0.5355764031410217, "verified": true, "loaded": true}, {"id": 919, "score": 0.5327951908111572, "verified": true, "loaded": true}, {"id": 784, "score": 0.5277185440063477, "verified": true, "loaded": true}, {"id": 785, "score": 0.5225085020065308, "verified": true, "loaded": true}], "camera_display": [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], "global_route": [[-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.340000772602017, -0.5462713677536897, -1.5213467677480974], [-2.8490737040475205, -0.6405088213666863, -1.5318321601538762], [-2.358146636248489, -0.7347462786271342, -1.5423175526160198], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287], [-2.3023797195496547, -0.7454511953565213, -1.5435086420151287]], "goal_keyframe": 1012, "route_ids": [1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.496936332164449, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6410341821291982, "map_correction_at_base_m": 0.002110207844231259, "map_correction_angle_deg": 0.18352528795485756, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.002110207844231259, "rotation_deg": 0.18352528795485756, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224367, -0.4030405516860778, 0.9151721267474482, 0.02726120704254864], [-0.9998137411416022, -0.015500331838897957, -0.011498814604843921, -0.0012977405538521225], [0.018819960236367617, -0.9150508474448105, -0.40289918799525437, 1.3117021917484173], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49310994148254395, 0.048771340399980545], [0.9930590987205505, 0.055901072919368744], [1.4930082559585571, 0.06303080171346664], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406]], "goal_body": [1.492031100864876, 0.07030642188544423], "route_cost_m": 18.14375764131546, "route_attachment": {"nearest_keyframe": 785, "nearest_distance_m": 0.16971282612761734, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6911124319782007, "remaining_m": 18.14375764131546, "total_m": 18.83487007329366, "selection_total_m": 18.83487007329366, "best_candidate_total_m": 18.83487007329366, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.849324980313712, 1.4474974656338881], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 488}, "footprint_evidence": null, "native_local_path_body": [[0.49310994148254395, 0.048771340399980545], [0.9930590987205505, 0.055901072919368744], [1.4930082559585571, 0.06303080171346664], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406], [1.5498000383377075, 0.06384070217609406]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.988966703414917, -0.0600602850317955, 0.13541752099990845, -0.14240653812885284], [0.06825151294469833, 0.6265923380851746, 0.7763528823852539, -1.854038953781128], [-0.13147956132888794, 0.7770295143127441, -0.6155797243118286, 4.189182281494141], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.34937264304608107, "input_age_at_publish_s": 0.5402754279784858, "vggt_debug_frame": "frames/00000489/frame.json"} +{"frame_idx": 491, "time_s": 123.43014907836914, "localized": true, "localized_streak": 244, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5752180218696594, "verified": true, "loaded": true}, {"id": 783, "score": 0.5455070734024048, "verified": true, "loaded": true}, {"id": 568, "score": 0.5355764031410217, "verified": true, "loaded": true}, {"id": 919, "score": 0.5327951908111572, "verified": true, "loaded": true}, {"id": 784, "score": 0.5277185440063477, "verified": true, "loaded": true}, {"id": 785, "score": 0.5225085020065308, "verified": true, "loaded": true}], "camera_display": [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], "global_route": [[-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.302876927659304, -0.6289968377337445, -1.5277653100414024], [-2.81187682315275, -0.7226374949828775, -1.5400279309282312], [-2.3363683956929333, -0.7413463353524801, -1.5505314349335062], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798], [-2.30719870295585, -0.7469094076049574, -1.551259941663798]], "goal_keyframe": 1012, "route_ids": [1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.47384184100225, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5813562706808362, "map_correction_at_base_m": 0.006421626007978553, "map_correction_angle_deg": 0.21631354094357202, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.006421626007978553, "rotation_deg": 0.21631354094357202, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364917, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933498, -0.015519242036847292, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4978918731212616, -0.01904437132179737], [0.9978090524673462, -0.009943587705492973], [1.4671547412872314, 0.06932304799556732], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443]], "goal_body": [1.4914324878255583, 0.08284416159070429], "route_cost_m": 18.14375764131546, "route_attachment": {"nearest_keyframe": 785, "nearest_distance_m": 0.1590140618642178, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6431328321130663, "remaining_m": 18.14375764131546, "total_m": 18.786890473428528, "selection_total_m": 18.786890473428528, "best_candidate_total_m": 18.786890473428528, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.808118681648946, 1.4805180617882328], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 489}, "footprint_evidence": null, "native_local_path_body": [[0.4978918731212616, -0.01904437132179737], [0.9978090524673462, -0.009943587705492973], [1.4671547412872314, 0.06932304799556732], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443], [1.4968541860580444, 0.0698637142777443]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9893703460693359, -0.05998848006129265, 0.1324683427810669, -0.13761509954929352], [0.06625378131866455, 0.6249556541442871, 0.777843713760376, -1.8272292613983154], [-0.12944850325584412, 0.7783520221710205, -0.6143381595611572, 4.143324375152588], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3612027168273926, "input_age_at_publish_s": 0.40494988672435284, "vggt_debug_frame": "frames/00000491/frame.json"} +{"frame_idx": 492, "time_s": 123.69688987731934, "localized": true, "localized_streak": 245, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5739753246307373, "verified": true, "loaded": true}, {"id": 568, "score": 0.5530111789703369, "verified": true, "loaded": true}, {"id": 919, "score": 0.5345833897590637, "verified": true, "loaded": true}, {"id": 920, "score": 0.5281562805175781, "verified": true, "loaded": true}, {"id": 922, "score": 0.510640561580658, "verified": true, "loaded": true}, {"id": 921, "score": 0.5101324319839478, "verified": true, "loaded": true}], "camera_display": [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], "global_route": [[-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.2687988246128876, -0.6345189117775325, -1.5221757044575843], [-2.778119285658949, -0.730056663888023, -1.5324786340092609], [-2.302650502818296, -0.7506012701597529, -1.5411921145251455], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137], [-2.2998697752882755, -0.7511426899006715, -1.5412505021738137]], "goal_keyframe": 1012, "route_ids": [1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.456400114369835, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6548779760869662, "map_correction_at_base_m": 0.009274462314881, "map_correction_angle_deg": 0.3156801756027586, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.009274462314881, "rotation_deg": 0.3156801756027586, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224034, -0.40304055168607783, 0.9151721267474482, 0.027261207042547753], [-0.9998137411416022, -0.015500331838897985, -0.011498814604843866, -0.0012977405538530107], [0.01881996023636756, -0.9150508474448105, -0.4028991879952546, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.497297465801239, -0.022079752758145332], [0.9972655773162842, -0.016430754214525223], [1.4671473503112793, 0.05959349870681763], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261]], "goal_body": [1.4916656932044883, 0.07679559200127983], "route_cost_m": 18.14375764131546, "route_attachment": {"nearest_keyframe": 785, "nearest_distance_m": 0.15498268055835035, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6141311074790443, "remaining_m": 18.14375764131546, "total_m": 18.757888748794503, "selection_total_m": 18.757888748794503, "best_candidate_total_m": 18.757888748794503, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.786262637084585, 1.4969336178661723], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 491}, "footprint_evidence": null, "native_local_path_body": [[0.497297465801239, -0.022079752758145332], [0.9972655773162842, -0.016430754214525223], [1.4671473503112793, 0.05959349870681763], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261], [1.4699807167053223, 0.05962551385164261]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9889189004898071, -0.061416905373334885, 0.1351577788591385, -0.129227876663208], [0.06712985038757324, 0.6270262598991394, 0.7761002779006958, -1.8178449869155884], [-0.13241316378116608, 0.7765733003616333, -0.615955114364624, 4.11580753326416], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36119228415191174, "input_age_at_publish_s": 0.5216558980755508, "vggt_debug_frame": "frames/00000492/frame.json"} +{"frame_idx": 494, "time_s": 124.19760870933533, "localized": true, "localized_streak": 246, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5739753246307373, "verified": true, "loaded": true}, {"id": 568, "score": 0.5530111789703369, "verified": true, "loaded": true}, {"id": 919, "score": 0.5345833897590637, "verified": true, "loaded": true}, {"id": 920, "score": 0.5281562805175781, "verified": true, "loaded": true}, {"id": 922, "score": 0.510640561580658, "verified": true, "loaded": true}, {"id": 921, "score": 0.5101324319839478, "verified": true, "loaded": true}], "camera_display": [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], "global_route": [[-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.2066557711775867, -0.5760688670397283, -1.5225854860827255], [-2.7161889932825187, -0.672519859961187, -1.5343999022755828], [-2.240791526054777, -0.6939470102292056, -1.5447296495512033], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646], [-2.2136796213258925, -0.6992786033186125, -1.5453827239845646]], "goal_keyframe": 1012, "route_ids": [1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.424917697888045, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4711213104283419, "map_correction_at_base_m": 0.00407017975649619, "map_correction_angle_deg": 0.25324564311854153, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00407017975649619, "rotation_deg": 0.25324564311854153, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004286618069550774, -0.40254458917183594, 0.9153903422223788, 0.027259309392651865], [-0.9998136101768611, -0.015507011917978097, -0.011501195002573794, -0.0012976950260004116], [0.01882471276374087, -0.9152690240087085, -0.4024030863195627, 1.3117241876052013], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4941486120223999, 0.039939265698194504], [0.9941384196281433, 0.03675077483057976], [1.4652904272079468, 0.10445830225944519], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436]], "goal_body": [1.489288389678236, 0.06718977946283411], "route_cost_m": 18.14375764131546, "route_attachment": {"nearest_keyframe": 785, "nearest_distance_m": 0.16964809545454193, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5622872594111131, "remaining_m": 18.14375764131546, "total_m": 18.706044900726575, "selection_total_m": 18.706044900726575, "best_candidate_total_m": 18.706044900726575, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.742350363840475, 1.5172681787813513], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 492}, "footprint_evidence": null, "native_local_path_body": [[0.4941486120223999, 0.039939265698194504], [0.9941384196281433, 0.03675077483057976], [1.4652904272079468, 0.10445830225944519], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436], [1.4929287433624268, 0.10428205132484436]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9864400625228882, -0.07046477496623993, 0.14822591841220856, -0.11661340296268463], [0.07196569442749023, 0.6259785890579224, 0.7765125632286072, -1.7932637929916382], [-0.14750303328037262, 0.7766502499580383, -0.6124193668365479, 4.066010475158691], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.369879764970392, "input_age_at_publish_s": 0.39483096171170473, "vggt_debug_frame": "frames/00000494/frame.json"} +{"frame_idx": 495, "time_s": 124.43129253387451, "localized": true, "localized_streak": 247, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5739753246307373, "verified": true, "loaded": true}, {"id": 568, "score": 0.5530111789703369, "verified": true, "loaded": true}, {"id": 919, "score": 0.5345833897590637, "verified": true, "loaded": true}, {"id": 920, "score": 0.5281562805175781, "verified": true, "loaded": true}, {"id": 922, "score": 0.510640561580658, "verified": true, "loaded": true}, {"id": 921, "score": 0.5101324319839478, "verified": true, "loaded": true}], "camera_display": [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], "global_route": [[-3.1466173825068253, -0.6442875480583568, 0.04108920361146334], [-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.185268094010922, -0.5778432555830868, -1.5242068362480075], [-2.6945827605967003, -0.6733212433428717, -1.5347868076865125], [-2.219118378355501, -0.6938060980780394, -1.5438785479618145], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732], [-2.215022822425498, -0.6946030080278272, -1.5439668546765732]], "goal_keyframe": 1012, "route_ids": [1108, 1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.415942518339346, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5683641785742357, "map_correction_at_base_m": 0.0034187975489114106, "map_correction_angle_deg": 0.18657103102031833, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0034187975489114106, "rotation_deg": 0.18657103102031833, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050253, 0.02725580518264792], [-0.9998133703933499, -0.01551924203684732, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4929106533527374, 0.041383374482393265], [0.9929080605506897, 0.0397757887840271], [1.4638437032699585, 0.10897268354892731], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284]], "goal_body": [1.4876944558244853, 0.07652054815366205], "route_cost_m": 18.14375764131546, "route_attachment": {"nearest_keyframe": 785, "nearest_distance_m": 0.18086678261229647, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5461798746561167, "remaining_m": 18.14375764131546, "total_m": 18.689937515971575, "selection_total_m": 18.689937515971575, "best_candidate_total_m": 18.689937515971575, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.722604489194393, 1.5303114650949199], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 494}, "footprint_evidence": null, "native_local_path_body": [[0.4929106533527374, 0.041383374482393265], [0.9929080605506897, 0.0397757887840271], [1.4638437032699585, 0.10897268354892731], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284], [1.4680169820785522, 0.10895927250385284]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9866409301757812, -0.06856236606836319, 0.14778068661689758, -0.11333351582288742], [0.07231713086366653, 0.6285257339477539, 0.7744196057319641, -1.7823655605316162], [-0.14598000049591064, 0.7747610211372375, -0.6151710748672485, 4.050198078155518], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3685563853941858, "input_age_at_publish_s": 0.5201521730050445, "vggt_debug_frame": "frames/00000495/frame.json"} +{"frame_idx": 497, "time_s": 124.93140959739685, "localized": true, "localized_streak": 248, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5739753246307373, "verified": true, "loaded": true}, {"id": 568, "score": 0.5530111789703369, "verified": true, "loaded": true}, {"id": 919, "score": 0.5345833897590637, "verified": true, "loaded": true}, {"id": 920, "score": 0.5281562805175781, "verified": true, "loaded": true}, {"id": 922, "score": 0.510640561580658, "verified": true, "loaded": true}, {"id": 921, "score": 0.5101324319839478, "verified": true, "loaded": true}], "camera_display": [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.148187575142382, -0.6547392704627573, -1.5243456275044487], [-2.657232586708954, -0.748386120554942, -1.538253210460259], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966], [-2.216589237433043, -0.6884764239536194, -1.5482235471282966]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.388204402908851, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.38809934069315727, "map_correction_at_base_m": 0.00558259734043651, "map_correction_angle_deg": 0.43600424073746186, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00558259734043651, "rotation_deg": 0.43600424073746186, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092360932, -0.4016365056936493, 0.9157890531050253, 0.027255805182649695], [-0.99981337039335, -0.01551924203684743, -0.011505542546600078, -0.001297611294266865], [0.018833397874358337, -0.9156676637409433, -0.40149474804000795, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4974607229232788, -0.02665860578417778], [0.9974596500396729, -0.025629807263612747], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378]], "goal_body": [1.4768919246610368, 0.11407938314701205], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 786, "nearest_distance_m": 0.1633871052578411, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7236823631091213, "remaining_m": 17.897772803902626, "total_m": 18.621455167011746, "selection_total_m": 18.621455167011746, "best_candidate_total_m": 18.621455167011746, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.674602843569947, 1.5363444176603251], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 495}, "footprint_evidence": null, "native_local_path_body": [[0.4974607229232788, -0.02665860578417778], [0.9974596500396729, -0.025629807263612747], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378], [1.4188965559005737, 0.1166590005159378]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9868890047073364, -0.06889910995960236, 0.14595460891723633, -0.10402859002351761], [0.07165780663490295, 0.6232497096061707, 0.7787328958511353, -1.7615488767623901], [-0.14462018013000488, 0.7789818048477173, -0.6101411581039429, 3.999741554260254], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36163712991401553, "input_age_at_publish_s": 0.394871492870152, "vggt_debug_frame": "frames/00000497/frame.json"} +{"frame_idx": 498, "time_s": 125.1978006362915, "localized": true, "localized_streak": 249, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5739753246307373, "verified": true, "loaded": true}, {"id": 568, "score": 0.5530111789703369, "verified": true, "loaded": true}, {"id": 919, "score": 0.5345833897590637, "verified": true, "loaded": true}, {"id": 920, "score": 0.5281562805175781, "verified": true, "loaded": true}, {"id": 922, "score": 0.510640561580658, "verified": true, "loaded": true}, {"id": 921, "score": 0.5101324319839478, "verified": true, "loaded": true}], "camera_display": [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.119012918078961, -0.6687319178542408, -1.5290723856242732], [-2.6283872904404424, -0.7644592582155552, -1.5401548143020554], [-2.175257445913047, -0.6749094485286617, -1.5470645789540702], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229], [-2.1313318998730297, -0.6453323326253653, -1.5473438930012229]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.38545123684931, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6279427381969961, "map_correction_at_base_m": 0.0099615004622904, "map_correction_angle_deg": 0.4255167062559046, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0099615004622904, "rotation_deg": 0.4255167062559046, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004286432687806874, -0.4025540782733039, 0.9153861701819312, 0.027259345807409296], [-0.9998136126825463, -0.015506884112876651, -0.011501149498440055, -0.0012976958984198816], [0.01882462189496914, -0.9152648527123941, -0.402412578083577, 1.3117237668239468], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4966467320919037, -0.03031764179468155], [0.9966398477554321, -0.03293558955192566], [1.4251911640167236, 0.139509379863739], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537]], "goal_body": [1.4719390203444966, 0.13458872052010074], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 786, "nearest_distance_m": 0.1597392043667033, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7030285869264631, "remaining_m": 17.897772803902626, "total_m": 18.60080139082909, "selection_total_m": 18.60080139082909, "best_candidate_total_m": 18.60080139082909, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.636888323748051, 1.5298107176919251], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 497}, "footprint_evidence": null, "native_local_path_body": [[0.4966467320919037, -0.03031764179468155], [0.9966398477554321, -0.03293558955192566], [1.4251911640167236, 0.139509379863739], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537], [1.4628322124481201, 0.17675837874412537]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.986396074295044, -0.06725529581308365, 0.1499994844198227, -0.10890977084636688], [0.07518378645181656, 0.6268777251243591, 0.775481641292572, -1.7436391115188599], [-0.14618657529354095, 0.7762094140052795, -0.6132932901382446, 3.980008125305176], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.35976951289922, "input_age_at_publish_s": 0.5113726584240794, "vggt_debug_frame": "frames/00000498/frame.json"} +{"frame_idx": 500, "time_s": 125.69724726676941, "localized": true, "localized_streak": 250, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.5739753246307373, "verified": true, "loaded": true}, {"id": 568, "score": 0.5530111789703369, "verified": true, "loaded": true}, {"id": 919, "score": 0.5345833897590637, "verified": true, "loaded": true}, {"id": 920, "score": 0.5281562805175781, "verified": true, "loaded": true}, {"id": 922, "score": 0.510640561580658, "verified": true, "loaded": true}, {"id": 921, "score": 0.5101324319839478, "verified": true, "loaded": true}], "camera_display": [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.069863308590589, -0.6061802531017761, -1.52577565972328], [-2.579066344891612, -0.7007141809633453, -1.5392557820286734], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434], [-2.14027901930261, -0.6412152709106067, -1.5493107581263434]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.354876260222484, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3363427887809654, "map_correction_at_base_m": 0.010753599285164452, "map_correction_angle_deg": 0.4527698542789222, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.010753599285164452, "rotation_deg": 0.4527698542789222, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847458, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.40149474804000707, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49450457096099854, 0.032730456441640854], [0.9944106340408325, 0.023039761930704117], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954]], "goal_body": [1.457963287119509, 0.1365544487277066], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 786, "nearest_distance_m": 0.150757692444727, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6591851565070057, "remaining_m": 17.897772803902626, "total_m": 18.556957960409633, "selection_total_m": 18.556957960409633, "best_candidate_total_m": 18.556957960409633, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.597726569442763, 1.5361942487085918], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 498}, "footprint_evidence": null, "native_local_path_body": [[0.49450457096099854, 0.032730456441640854], [0.9944106340408325, 0.023039761930704117], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954], [1.416805386543274, 0.15629954636096954]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9835113286972046, -0.07961937040090561, 0.16237753629684448, -0.09384457021951675], [0.07763872295618057, 0.6250323057174683, 0.7767283320426941, -1.7283878326416016], [-0.16333383321762085, 0.7765278220176697, -0.6085448265075684, 3.938591241836548], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3610199219547212, "input_age_at_publish_s": 0.37865043012425303, "vggt_debug_frame": "frames/00000500/frame.json"} +{"frame_idx": 501, "time_s": 125.93041181564331, "localized": true, "localized_streak": 251, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.551525354385376, "verified": true, "loaded": true}, {"id": 568, "score": 0.5187883973121643, "verified": true, "loaded": true}, {"id": 922, "score": 0.5096211433410645, "verified": true, "loaded": true}, {"id": 920, "score": 0.5034396052360535, "verified": true, "loaded": true}, {"id": 919, "score": 0.497482568025589, "verified": true, "loaded": true}, {"id": 921, "score": 0.48709672689437866, "verified": true, "loaded": true}], "camera_display": [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.04815321961328, -0.6102803394898633, -1.5255935695071736], [-2.5572351915208285, -0.7042636674120271, -1.5385065423716227], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087], [-2.1411512176908034, -0.6399330773307694, -1.5479513001047087]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.339951783703304, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.35763803101223224, "map_correction_at_base_m": 0.0011005820066722445, "map_correction_angle_deg": 0.20350316887791026, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0011005820066722445, "rotation_deg": 0.20350316887791026, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361654, -0.40163650569364884, 0.9157890531050252, 0.027255805182650583], [-0.9998133703933496, -0.015519242036847264, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358115, -0.9156676637409433, -0.40149474804000707, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49336546659469604, 0.03330294415354729], [0.9932901263237, 0.024624096229672432], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393]], "goal_body": [1.4504438233406822, 0.14877855293935038], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 786, "nearest_distance_m": 0.1538276984317818, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6394857121649254, "remaining_m": 17.897772803902626, "total_m": 18.537258516067553, "selection_total_m": 18.537258516067553, "best_candidate_total_m": 18.537258516067553, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.579121002557192, 1.541232944487729], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 500}, "footprint_evidence": null, "native_local_path_body": [[0.49336546659469604, 0.03330294415354729], [0.9932901263237, 0.024624096229672432], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393], [1.3923630714416504, 0.1591387391090393]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9836447238922119, -0.08206918835639954, 0.16033801436424255, -0.0860389694571495], [0.07429362833499908, 0.6260601878166199, 0.7762275338172913, -1.7190762758255005], [-0.16408559679985046, 0.775443971157074, -0.609723687171936, 3.9200937747955322], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38179114600643516, "input_age_at_publish_s": 0.5147945969365537, "vggt_debug_frame": "frames/00000501/frame.json"} +{"frame_idx": 503, "time_s": 126.43001365661621, "localized": true, "localized_streak": 252, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.551525354385376, "verified": true, "loaded": true}, {"id": 568, "score": 0.5187883973121643, "verified": true, "loaded": true}, {"id": 922, "score": 0.5096211433410645, "verified": true, "loaded": true}, {"id": 920, "score": 0.5034396052360535, "verified": true, "loaded": true}, {"id": 919, "score": 0.497482568025589, "verified": true, "loaded": true}, {"id": 921, "score": 0.48709672689437866, "verified": true, "loaded": true}], "camera_display": [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-3.0029349563713246, -0.6849028212474204, -1.5260911628549378], [-2.5135988673525085, -0.7710168077010469, -1.5356318112804792], [-2.0779751322708413, -0.5963442217169419, -1.5396211804944482], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497], [-2.0524818777031073, -0.5790528710331593, -1.5397279580335497]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.325341772477909, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5623741959464822, "map_correction_at_base_m": 0.00776842427979745, "map_correction_angle_deg": 0.6248865158714922, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00776842427979745, "rotation_deg": 0.6248865158714922, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933503, -0.01551924203684718, -0.0115055425466003, -0.001297611294266865], [0.018833397874358226, -0.9156676637409433, -0.40149474804000773, 1.311764444712034], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49654555320739746, -0.034672316163778305], [0.9934872388839722, -0.03236183896660805], [1.39109206199646, 0.2170470803976059], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476]], "goal_body": [1.436319916849167, 0.1988327853745473], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 786, "nearest_distance_m": 0.1684692214010356, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5985929498776569, "remaining_m": 17.897772803902626, "total_m": 18.49636575378028, "selection_total_m": 18.49636575378028, "best_candidate_total_m": 18.49636575378028, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.524934275962027, 1.5380890823484388], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 501}, "footprint_evidence": null, "native_local_path_body": [[0.49654555320739746, -0.034672316163778305], [0.9934872388839722, -0.03236183896660805], [1.39109206199646, 0.2170470803976059], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476], [1.4131006002426147, 0.23860009014606476]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9849495887756348, -0.07031016796827316, 0.15789562463760376, -0.08350673317909241], [0.07884880155324936, 0.6301497220993042, 0.7724598050117493, -1.696218729019165], [-0.15380966663360596, 0.7732837796211243, -0.6151219606399536, 3.880042552947998], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37684758100658655, "input_age_at_publish_s": 0.3965932819992304, "vggt_debug_frame": "frames/00000503/frame.json"} +{"frame_idx": 504, "time_s": 126.6964921951294, "localized": true, "localized_streak": 253, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.551525354385376, "verified": true, "loaded": true}, {"id": 568, "score": 0.5187883973121643, "verified": true, "loaded": true}, {"id": 922, "score": 0.5096211433410645, "verified": true, "loaded": true}, {"id": 920, "score": 0.5034396052360535, "verified": true, "loaded": true}, {"id": 919, "score": 0.497482568025589, "verified": true, "loaded": true}, {"id": 921, "score": 0.48709672689437866, "verified": true, "loaded": true}], "camera_display": [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.9894889945456002, -0.690236411134113, -1.5257987591279851], [-2.5045331086024456, -0.7593262614283125, -1.5372735830765336], [-2.0680796107826023, -0.5867962988358002, -1.543283914218975], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202], [-2.0640019057020993, -0.5840596076379558, -1.5433193804581202]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.31400720921069, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.38480412700453676, "map_correction_at_base_m": 0.011898630578589347, "map_correction_angle_deg": 0.39290935898911333, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.011898630578589347, "rotation_deg": 0.39290935898911333, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092360932, -0.4016365056936495, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933504, -0.015519242036847652, -0.011505542546599745, -0.0012976112942686413], [0.018833397874358337, -0.9156676637409431, -0.40149474804000773, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49549442529678345, -0.03808680921792984], [0.9851624965667725, -0.02041054144501686], [1.3842990398406982, 0.22653962671756744], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211]], "goal_body": [1.4300394861418266, 0.21233213512989635], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 786, "nearest_distance_m": 0.1765595478399032, "attachment_limit_m": 0.75, "candidate_count": 32, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5783305024244655, "remaining_m": 17.897772803902626, "total_m": 18.47610330632709, "selection_total_m": 18.47610330632709, "best_candidate_total_m": 18.47610330632709, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.495611537036545, 1.5354438510199613], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 503}, "footprint_evidence": null, "native_local_path_body": [[0.49549442529678345, -0.03808680921792984], [0.9851624965667725, -0.02041054144501686], [1.3842990398406982, 0.22653962671756744], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211], [1.3878289461135864, 0.22995403409004211]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.984729528427124, -0.07190242409706116, 0.1585487425327301, -0.07927671074867249], [0.0790800154209137, 0.6265964508056641, 0.775321364402771, -1.6890369653701782], [-0.15509358048439026, 0.7760199308395386, -0.6113420724868774, 3.860177755355835], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3619471709243953, "input_age_at_publish_s": 0.5193651127628982, "vggt_debug_frame": "frames/00000504/frame.json"} +{"frame_idx": 506, "time_s": 127.19675588607788, "localized": true, "localized_streak": 254, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.551525354385376, "verified": true, "loaded": true}, {"id": 568, "score": 0.5187883973121643, "verified": true, "loaded": true}, {"id": 922, "score": 0.5096211433410645, "verified": true, "loaded": true}, {"id": 920, "score": 0.5034396052360535, "verified": true, "loaded": true}, {"id": 919, "score": 0.497482568025589, "verified": true, "loaded": true}, {"id": 921, "score": 0.48709672689437866, "verified": true, "loaded": true}], "camera_display": [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.92139148607342, -0.6298945810001095, -1.5246130088910155], [-2.4307583989776966, -0.7255666539713976, -1.5358394077129345], [-1.99669317036841, -0.5418392727197476, -1.5402873046401833], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977], [-1.9739377441544979, -0.5265143924071056, -1.5404041407544977]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.289646073702276, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6198194162103472, "map_correction_at_base_m": 0.0070794903909588355, "map_correction_angle_deg": 0.19555636331580914, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0070794903909588355, "rotation_deg": 0.19555636331580914, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224034, -0.4030405516860778, 0.9151721267474485, 0.027261207042546864], [-0.9998137411416028, -0.015500331838897957, -0.011498814604843755, -0.0012977405538512343], [0.018819960236367617, -0.9150508474448107, -0.4028991879952546, 1.311702191748417], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4948834776878357, 0.02853364683687687], [0.9947528839111328, 0.017106054350733757], [1.391550064086914, 0.2715469300746918], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096]], "goal_body": [1.4164936784073505, 0.24189264756703244], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 787, "nearest_distance_m": 0.1756472329520015, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5298558641668795, "remaining_m": 17.897772803902626, "total_m": 18.427628668069506, "selection_total_m": 18.427628668069506, "best_candidate_total_m": 18.427628668069506, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.443582089543542, 1.5321035288515932], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 504}, "footprint_evidence": null, "native_local_path_body": [[0.4948834776878357, 0.02853364683687687], [0.9947528839111328, 0.017106054350733757], [1.391550064086914, 0.2715469300746918], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096], [1.4113878011703491, 0.29049789905548096]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9833253622055054, -0.07280627638101578, 0.16664478182792664, -0.07146257907152176], [0.08482124656438828, 0.626957893371582, 0.7744218111038208, -1.6641780138015747], [-0.1608620285987854, 0.7756435871124268, -0.6103280782699585, 3.8118176460266113], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3682927689515054, "input_age_at_publish_s": 0.3916981420479715, "vggt_debug_frame": "frames/00000506/frame.json"} +{"frame_idx": 507, "time_s": 127.43019509315491, "localized": true, "localized_streak": 255, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.551525354385376, "verified": true, "loaded": true}, {"id": 568, "score": 0.5187883973121643, "verified": true, "loaded": true}, {"id": 922, "score": 0.5096211433410645, "verified": true, "loaded": true}, {"id": 920, "score": 0.5034396052360535, "verified": true, "loaded": true}, {"id": 919, "score": 0.497482568025589, "verified": true, "loaded": true}, {"id": 921, "score": 0.48709672689437866, "verified": true, "loaded": true}], "camera_display": [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.91066038737938, -0.70401608928141, -1.5263732323120345], [-2.435149764615173, -0.723455592044683, -1.5353373885021449], [-2.001002214845906, -0.5412829292851997, -1.5388843149074836], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381], [-1.975332942754327, -0.5239001068953844, -1.5389406603034381]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.28434707900799, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5299121309932467, "map_correction_at_base_m": 0.001683149710630022, "map_correction_angle_deg": 0.22491242638886047, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.001683149710630022, "rotation_deg": 0.22491242638886047, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004294079286585206, -0.4021626773488354, 0.91555815862822, 0.027257840310051407], [-0.9998135093302896, -0.01551215565123279, -0.011503025154397939, -0.0012976598696958774], [0.018828368058100675, -0.9154368104761074, -0.4020210673355322, 1.3117411210588497], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4966270625591278, -0.04048839211463928], [0.9685592651367188, 0.02154843509197235], [1.3652170896530151, 0.27521374821662903], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956]], "goal_body": [1.4104865350879905, 0.2649947427459882], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 787, "nearest_distance_m": 0.16801851406003485, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5117634826618248, "remaining_m": 17.897772803902626, "total_m": 18.40953628656445, "selection_total_m": 18.40953628656445, "best_candidate_total_m": 18.40953628656445, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.419198451834874, 1.5322044717258994], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 506}, "footprint_evidence": null, "native_local_path_body": [[0.4966270625591278, -0.04048839211463928], [0.9685592651367188, 0.02154843509197235], [1.3652170896530151, 0.27521374821662903], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956], [1.387537956237793, 0.29672783613204956]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9836554527282715, -0.06924028694629669, 0.16621644794940948, -0.07266447693109512], [0.0865284651517868, 0.6277682781219482, 0.7735759615898132, -1.654054880142212], [-0.15790803730487823, 0.7753146290779114, -0.6115164756774902, 3.7929842472076416], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.37634772527962923, "input_age_at_publish_s": 0.5289627062156796, "vggt_debug_frame": "frames/00000507/frame.json"} +{"frame_idx": 509, "time_s": 127.9301085472107, "localized": true, "localized_streak": 256, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 918, "score": 0.551525354385376, "verified": true, "loaded": true}, {"id": 568, "score": 0.5187883973121643, "verified": true, "loaded": true}, {"id": 922, "score": 0.5096211433410645, "verified": true, "loaded": true}, {"id": 920, "score": 0.5034396052360535, "verified": true, "loaded": true}, {"id": 919, "score": 0.497482568025589, "verified": true, "loaded": true}, {"id": 921, "score": 0.48709672689437866, "verified": true, "loaded": true}], "camera_display": [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.8618573755175167, -0.7094827843080491, -1.5285759153137277], [-2.386331361431974, -0.7273395835638192, -1.539748262239436], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116], [-1.9759841659996558, -0.5170510753381832, -1.543721348209116]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.25640971910854, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3418666819625937, "map_correction_at_base_m": 0.0026787083532299203, "map_correction_angle_deg": 0.33820788206721547, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0026787083532299203, "rotation_deg": 0.33820788206721547, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936494, 0.9157890531050255, 0.02725580518264792], [-0.9998133703933498, -0.015519242036847458, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409431, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49585890769958496, -0.03558315709233284], [0.9670799970626831, 0.031642068177461624], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326]], "goal_body": [1.391448912550947, 0.31627617431261823], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 787, "nearest_distance_m": 0.16151197094648345, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.46374400846900826, "remaining_m": 17.897772803902626, "total_m": 18.361516812371633, "selection_total_m": 18.361516812371633, "best_candidate_total_m": 18.361516812371633, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.369150076966895, 1.5310164940372504], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 507}, "footprint_evidence": null, "native_local_path_body": [[0.49585890769958496, -0.03558315709233284], [0.9670799970626831, 0.031642068177461624], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326], [1.3333358764648438, 0.31178197264671326]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9850097894668579, -0.06597976386547089, 0.15938317775726318, -0.062044255435466766], [0.08392249047756195, 0.623947024345398, 0.7769473791122437, -1.6293399333953857], [-0.15070945024490356, 0.7786763906478882, -0.609056830406189, 3.743238687515259], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3535519181750715, "input_age_at_publish_s": 0.3873879429884255, "vggt_debug_frame": "frames/00000509/frame.json"} +{"frame_idx": 510, "time_s": 128.1965687274933, "localized": true, "localized_streak": 257, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5556758046150208, "verified": true, "loaded": true}, {"id": 918, "score": 0.5438864231109619, "verified": true, "loaded": true}, {"id": 568, "score": 0.5162001252174377, "verified": true, "loaded": true}, {"id": 921, "score": 0.5139272212982178, "verified": true, "loaded": true}, {"id": 920, "score": 0.5058866739273071, "verified": true, "loaded": true}, {"id": 919, "score": 0.5019261837005615, "verified": true, "loaded": true}], "camera_display": [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.8352734760940046, -0.716801345756358, -1.530039507445614], [-2.359806999161296, -0.7356209644201428, -1.5421263916245047], [-1.9374082197944849, -0.4972159876053128, -1.546549924434066], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215], [-1.8905052855511841, -0.46536580756832535, -1.54690801033215]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.241660308633266, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.22816929169180544, "map_correction_at_base_m": 0.003202494808055302, "map_correction_angle_deg": 0.14988495435466806, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.003202494808055302, "rotation_deg": 0.14988495435466806, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050252, 0.027255805182649695], [-0.9998133703933497, -0.015519242036847458, -0.01150554254660019, -0.001297611294266865], [0.018833397874358226, -0.915667663740943, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4947563409805298, -0.037241652607917786], [0.9661703705787659, 0.028616828843951225], [1.339538812637329, 0.33825066685676575], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672]], "goal_body": [1.3799833487182256, 0.33965038279262383], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 787, "nearest_distance_m": 0.16663826608226723, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.43868865550397534, "remaining_m": 17.897772803902626, "total_m": 18.3364614594066, "selection_total_m": 18.3364614594066, "best_candidate_total_m": 18.3364614594066, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.340524391087707, 1.5207335369125476], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 509}, "footprint_evidence": null, "native_local_path_body": [[0.4947563409805298, -0.037241652607917786], [0.9661703705787659, 0.028616828843951225], [1.339538812637329, 0.33825066685676575], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672], [1.3800398111343384, 0.3779257833957672]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9848629236221313, -0.06723641604185104, 0.15976494550704956, -0.056873053312301636], [0.08370109647512436, 0.6226502656936646, 0.7780108451843262, -1.615186095237732], [-0.1517883539199829, 0.7796063423156738, -0.6075974702835083, 3.7162396907806396], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3586940676905215, "input_age_at_publish_s": 0.5017450107261539, "vggt_debug_frame": "frames/00000510/frame.json"} +{"frame_idx": 511, "time_s": 128.4297091960907, "localized": true, "localized_streak": 258, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5556758046150208, "verified": true, "loaded": true}, {"id": 918, "score": 0.5438864231109619, "verified": true, "loaded": true}, {"id": 568, "score": 0.5162001252174377, "verified": true, "loaded": true}, {"id": 921, "score": 0.5139272212982178, "verified": true, "loaded": true}, {"id": 920, "score": 0.5058866739273071, "verified": true, "loaded": true}, {"id": 919, "score": 0.5019261837005615, "verified": true, "loaded": true}], "camera_display": [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.8035461125968233, -0.6507515867609319, -1.528595708468572], [-2.3123339497259927, -0.7431023184359056, -1.542084682395143], [-1.8988581340438166, -0.464148562929215, -1.5454072707384374], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747], [-1.8954142386872554, -0.4617953005411408, -1.545434273570747]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.232432031138783, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.1574486616690373, "map_correction_at_base_m": 0.004581343865001703, "map_correction_angle_deg": 0.21611878294318534, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004581343865001703, "rotation_deg": 0.21611878294318534, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050251, 0.027255805182648807], [-0.9998133703933495, -0.015519242036847458, -0.01150554254660019, -0.001297611294266865], [0.018833397874358226, -0.915667663740943, -0.40149474804000707, 1.3117644447120327], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49539774656295776, 0.03566047176718712], [0.9953902363777161, 0.03291941061615944], [1.3520821332931519, 0.3815730810165405], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718]], "goal_body": [1.3731629201508724, 0.35299164938697203], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 787, "nearest_distance_m": 0.17214541018133825, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.42571458611931406, "remaining_m": 17.897772803902626, "total_m": 18.32348739002194, "selection_total_m": 18.32348739002194, "best_candidate_total_m": 18.32348739002194, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.322981875760401, 1.528575975121389], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 510}, "footprint_evidence": null, "native_local_path_body": [[0.49539774656295776, 0.03566047176718712], [0.9953902363777161, 0.03291941061615944], [1.3520821332931519, 0.3815730810165405], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718], [1.3550477027893066, 0.3845064043998718]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9852054119110107, -0.067987821996212, 0.15731480717658997, -0.052674904465675354], [0.08105108886957169, 0.6239495277404785, 0.7772500514984131, -1.6075358390808105], [-0.15100005269050598, 0.7785015106201172, -0.6092079877853394, 3.701993942260742], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36747778207063675, "input_age_at_publish_s": 0.6186344958841801, "vggt_debug_frame": "frames/00000511/frame.json"} +{"frame_idx": 513, "time_s": 128.92903351783752, "localized": true, "localized_streak": 259, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5556758046150208, "verified": true, "loaded": true}, {"id": 918, "score": 0.5438864231109619, "verified": true, "loaded": true}, {"id": 568, "score": 0.5162001252174377, "verified": true, "loaded": true}, {"id": 921, "score": 0.5139272212982178, "verified": true, "loaded": true}, {"id": 920, "score": 0.5058866739273071, "verified": true, "loaded": true}, {"id": 919, "score": 0.5019261837005615, "verified": true, "loaded": true}], "camera_display": [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], "global_route": [[-2.9119797513154193, -0.7237517395894513, 0.049790918861887634], [-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.7698404030398014, -0.7255397820654768, -1.5277431909907164], [-2.297180674516721, -0.7281414545825697, -1.538965019631191], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053], [-1.9001622864947678, -0.45547955540434426, -1.5423323945115053]], "goal_keyframe": 1012, "route_ids": [1107, 1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.208613220526633, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.21900454745385328, "map_correction_at_base_m": 0.006492913494937434, "map_correction_angle_deg": 0.13620832045247674, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.006492913494937434, "rotation_deg": 0.13620832045247674, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361432, -0.40163650569364917, 0.9157890531050255, 0.027255805182649695], [-0.99981337039335, -0.015519242036847514, -0.011505542546599967, -0.0012976112942686413], [0.018833397874358393, -0.9156676637409433, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4972207248210907, -0.02843482606112957], [0.9618889689445496, 0.058876633644104004], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479]], "goal_body": [1.3516209321263029, 0.40033515989591073], "route_cost_m": 17.897772803902626, "route_attachment": {"nearest_keyframe": 920, "nearest_distance_m": 0.16228659830068826, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.38914840323248134, "remaining_m": 17.897772803902626, "total_m": 18.28692120713511, "selection_total_m": 18.28692120713511, "best_candidate_total_m": 18.28692120713511, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.278593533650923, 1.531589318184648], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 511}, "footprint_evidence": null, "native_local_path_body": [[0.4972207248210907, -0.02843482606112957], [0.9618889689445496, 0.058876633644104004], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479], [1.299799919128418, 0.4020902216434479]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9870164394378662, -0.06423246115446091, 0.14721797406673431, -0.04235565662384033], [0.07553643733263016, 0.6232548952102661, 0.7783621549606323, -1.589877963066101], [-0.14175044000148773, 0.7793763875961304, -0.6103109121322632, 3.6612071990966797], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3791235932148993, "input_age_at_publish_s": 0.5045095281675458, "vggt_debug_frame": "frames/00000513/frame.json"} +{"frame_idx": 515, "time_s": 129.42800521850586, "localized": true, "localized_streak": 260, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5556758046150208, "verified": true, "loaded": true}, {"id": 918, "score": 0.5438864231109619, "verified": true, "loaded": true}, {"id": 568, "score": 0.5162001252174377, "verified": true, "loaded": true}, {"id": 921, "score": 0.5139272212982178, "verified": true, "loaded": true}, {"id": 920, "score": 0.5058866739273071, "verified": true, "loaded": true}, {"id": 919, "score": 0.5019261837005615, "verified": true, "loaded": true}], "camera_display": [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.7260655001678455, -0.7363795991414328, -1.5276339858182568], [-2.261296661709675, -0.7018887451331839, -1.5394494827617038], [-1.8491988798472625, -0.41879275134048566, -1.5451118349646191], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017], [-1.8227211270353032, -0.4006035245373747, -1.545475647821017]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.18365516241433, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.16756290849849512, "map_correction_at_base_m": 0.005829116713457253, "map_correction_angle_deg": 0.24783850296165885, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005829116713457253, "rotation_deg": 0.24783850296165885, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364917, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933498, -0.01551924203684743, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.40149474804000707, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49645721912384033, -0.022227423265576363], [0.9449765086174011, 0.10493280738592148], [1.2918201684951782, 0.4650708734989166], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296]], "goal_body": [1.3303628839550932, 0.4558028742646461], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 920, "nearest_distance_m": 0.15111760662911278, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7346476514524825, "remaining_m": 17.446807339787483, "total_m": 18.181454991239967, "selection_total_m": 18.181454991239967, "best_candidate_total_m": 18.181454991239967, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.2257640057174495, 1.5276213553132416], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 513}, "footprint_evidence": null, "native_local_path_body": [[0.49645721912384033, -0.022227423265576363], [0.9449765086174011, 0.10493280738592148], [1.2918201684951782, 0.4650708734989166], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296], [1.3141052722930908, 0.48821014165878296]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9887135028839111, -0.06349052488803864, 0.13570095598697662, -0.03296491503715515], [0.06729960441589355, 0.6210199594497681, 0.7809001803398132, -1.5693484544754028], [-0.1338527649641037, 0.7812190651893616, -0.6097378730773926, 3.6171345710754395], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38102370919659734, "input_age_at_publish_s": 0.40606127632781863, "vggt_debug_frame": "frames/00000515/frame.json"} +{"frame_idx": 516, "time_s": 129.69410228729248, "localized": true, "localized_streak": 261, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5556758046150208, "verified": true, "loaded": true}, {"id": 918, "score": 0.5438864231109619, "verified": true, "loaded": true}, {"id": 568, "score": 0.5162001252174377, "verified": true, "loaded": true}, {"id": 921, "score": 0.5139272212982178, "verified": true, "loaded": true}, {"id": 920, "score": 0.5058866739273071, "verified": true, "loaded": true}, {"id": 919, "score": 0.5019261837005615, "verified": true, "loaded": true}], "camera_display": [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.6849365067930915, -0.6727893352348504, -1.5277409823989154], [-2.212861386908406, -0.6749540591813945, -1.5402285419066255], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645], [-1.817466278551775, -0.40603612004768763, -1.5445597528442645]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.173700355755889, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.10592329232415025, "map_correction_at_base_m": 0.004326153065902758, "map_correction_angle_deg": 0.33227265804826517, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004326153065902758, "rotation_deg": 0.33227265804826517, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364917, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.015519242036847375, -0.0115055425466003, -0.001297611294266865], [0.018833397874358337, -0.9156676637409433, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.494796484708786, 0.04611409083008766], [0.9579405784606934, 0.13838039338588715], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805]], "goal_body": [1.3159615772479156, 0.48359300926862847], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 920, "nearest_distance_m": 0.15549814097141718, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7074647885148089, "remaining_m": 17.446807339787483, "total_m": 18.154272128302292, "selection_total_m": 18.154272128302292, "best_candidate_total_m": 18.154272128302292, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.1947991633324495, 1.5090694820754322], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 515}, "footprint_evidence": null, "native_local_path_body": [[0.494796484708786, 0.04611409083008766], [0.9579405784606934, 0.13838039338588715], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805], [1.2915716171264648, 0.4809635281562805]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9885724782943726, -0.06066083535552025, 0.13800328969955444, -0.031329911202192307], [0.07092659175395966, 0.6206374168395996, 0.780883252620697, -1.5551011562347412], [-0.13301903009414673, 0.7817477583885193, -0.6092425584793091, 3.591153144836426], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.36561616510152817, "input_age_at_publish_s": 0.5286962748505175, "vggt_debug_frame": "frames/00000516/frame.json"} +{"frame_idx": 518, "time_s": 130.19383597373962, "localized": true, "localized_streak": 262, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5556758046150208, "verified": true, "loaded": true}, {"id": 918, "score": 0.5438864231109619, "verified": true, "loaded": true}, {"id": 568, "score": 0.5162001252174377, "verified": true, "loaded": true}, {"id": 921, "score": 0.5139272212982178, "verified": true, "loaded": true}, {"id": 920, "score": 0.5058866739273071, "verified": true, "loaded": true}, {"id": 919, "score": 0.5019261837005615, "verified": true, "loaded": true}], "camera_display": [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.6316109767221127, -0.681798942112251, -1.5286864153010926], [-2.1671335703447716, -0.6464701471473822, -1.539955633906245], [-1.7544375308143692, -0.3642242152621842, -1.5443440304029212], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088], [-1.7298795921926797, -0.34742887859866034, -1.5446051673441088]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.148736157359005, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.17060135959180042, "map_correction_at_base_m": 0.005756050823497787, "map_correction_angle_deg": 0.14530270085368155, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.005756050823497787, "rotation_deg": 0.14530270085368155, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936493, 0.9157890531050257, 0.027255805182648807], [-0.99981337039335, -0.01551924203684757, -0.011505542546599912, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4923025965690613, 0.049913350492715836], [0.9400115013122559, 0.17902971804141998], [1.2866203784942627, 0.5393937826156616], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144]], "goal_body": [1.2831686892190937, 0.5379908938070013], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 788, "nearest_distance_m": 0.16663759326738614, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6558611333811163, "remaining_m": 17.446807339787483, "total_m": 18.1026684731686, "selection_total_m": 18.1026684731686, "best_candidate_total_m": 18.1026684731686, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.146856410381844, 1.4919156876076842], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 516}, "footprint_evidence": null, "native_local_path_body": [[0.4923025965690613, 0.049913350492715836], [0.9400115013122559, 0.17902971804141998], [1.2866203784942627, 0.5393937826156616], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144], [1.3072457313537598, 0.5608376264572144]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9891136884689331, -0.059288524091243744, 0.1346818208694458, -0.022779449820518494], [0.06911876052618027, 0.6208154559135437, 0.7809038758277893, -1.5295251607894897], [-0.12991118431091309, 0.7817116379737854, -0.6099592447280884, 3.5422773361206055], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3666447610594332, "input_age_at_publish_s": 0.39931203704327345, "vggt_debug_frame": "frames/00000518/frame.json"} +{"frame_idx": 519, "time_s": 130.42703199386597, "localized": true, "localized_streak": 263, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.56186842918396, "verified": true, "loaded": true}, {"id": 918, "score": 0.5186958312988281, "verified": true, "loaded": true}, {"id": 921, "score": 0.517822265625, "verified": true, "loaded": true}, {"id": 570, "score": 0.5066500902175903, "verified": true, "loaded": true}, {"id": 568, "score": 0.49536895751953125, "verified": true, "loaded": true}, {"id": 920, "score": 0.4931592047214508, "verified": true, "loaded": true}], "camera_display": [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.6161925827436807, -0.7549994537495088, -1.5315354406280717], [-2.1674111172682906, -0.6450601487691889, -1.541509136791963], [-1.7553227669211466, -0.36193350334146057, -1.5462447221575621], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357], [-1.7294400039627282, -0.34415070629991984, -1.5465421594192357]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.137606514318737, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.2556145076086051, "map_correction_at_base_m": 0.0012497705169008215, "map_correction_angle_deg": 0.20250849856302316, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0012497705169008215, "rotation_deg": 0.20250849856302316, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.401636505693649, 0.9157890531050255, 0.027255805182648807], [-0.9998133703933496, -0.015519242036847153, -0.01150554254660019, -0.001297611294266865], [0.01883339787435806, -0.9156676637409433, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49785012006759644, -0.01818041317164898], [0.9146021604537964, 0.18159110844135284], [1.2597520351409912, 0.5433527827262878], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825]], "goal_body": [1.2660643583647688, 0.5675350388170363], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 569, "nearest_distance_m": 0.1700400144576381, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.630399805179232, "remaining_m": 17.446807339787483, "total_m": 18.077207144966714, "selection_total_m": 18.077207144966714, "best_candidate_total_m": 18.077207144966714, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.123250034511775, 1.4813049884695515], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 518}, "footprint_evidence": null, "native_local_path_body": [[0.49785012006759644, -0.01818041317164898], [0.9146021604537964, 0.18159110844135284], [1.2597520351409912, 0.5433527827262878], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825], [1.2814304828643799, 0.566074550151825]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9893877506256104, -0.057662248611450195, 0.13336721062660217, -0.01989855244755745], [0.06943394243717194, 0.6186643242835999, 0.7825812101364136, -1.516788125038147], [-0.1276349425315857, 0.7835365533828735, -0.6080952882766724, 3.5176146030426025], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3732109288685024, "input_age_at_publish_s": 0.5293259718455374, "vggt_debug_frame": "frames/00000519/frame.json"} +{"frame_idx": 521, "time_s": 130.92680644989014, "localized": true, "localized_streak": 264, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.56186842918396, "verified": true, "loaded": true}, {"id": 918, "score": 0.5186958312988281, "verified": true, "loaded": true}, {"id": 921, "score": 0.517822265625, "verified": true, "loaded": true}, {"id": 570, "score": 0.5066500902175903, "verified": true, "loaded": true}, {"id": 568, "score": 0.49536895751953125, "verified": true, "loaded": true}, {"id": 920, "score": 0.4931592047214508, "verified": true, "loaded": true}], "camera_display": [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.566275407553111, -0.7645584738888669, -1.5281959388733029], [-2.1241802745352643, -0.6211922277436708, -1.5342923442001928], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884], [-1.724446214461714, -0.35056679225201837, -1.5359364960905884]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.120204419796146, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4194701404975275, "map_correction_at_base_m": 0.004676816106697401, "map_correction_angle_deg": 0.5252964273714316, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004676816106697401, "rotation_deg": 0.5252964273714316, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.401636505693649, 0.9157890531050252, 0.027255805182648807], [-0.9998133703933496, -0.015519242036847403, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409431, -0.40149474804000707, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4966122806072235, -0.024279477074742317], [0.901554524898529, 0.20388920605182648], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407]], "goal_body": [1.2456561188571218, 0.6006328483569531], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 921, "nearest_distance_m": 0.15141017071164697, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5883236116837243, "remaining_m": 17.446807339787483, "total_m": 18.035130951471206, "selection_total_m": 18.035130951471206, "best_candidate_total_m": 18.035130951471206, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.072245265483222, 1.461143919267186], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 519}, "footprint_evidence": null, "native_local_path_body": [[0.4966122806072235, -0.024279477074742317], [0.901554524898529, 0.20388920605182648], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407], [1.2396653890609741, 0.5484312176704407]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9882793426513672, -0.05609388276934624, 0.14197693765163422, -0.015051331371068954], [0.0765792727470398, 0.6223855018615723, 0.7789556384086609, -1.4977669715881348], [-0.1320590227842331, 0.7806982398033142, -0.6107950210571289, 3.4763340950012207], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.367214092053473, "input_age_at_publish_s": 0.39820616878569126, "vggt_debug_frame": "frames/00000521/frame.json"} +{"frame_idx": 522, "time_s": 131.19338965415955, "localized": true, "localized_streak": 265, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.56186842918396, "verified": true, "loaded": true}, {"id": 918, "score": 0.5186958312988281, "verified": true, "loaded": true}, {"id": 921, "score": 0.517822265625, "verified": true, "loaded": true}, {"id": 570, "score": 0.5066500902175903, "verified": true, "loaded": true}, {"id": 568, "score": 0.49536895751953125, "verified": true, "loaded": true}, {"id": 920, "score": 0.4931592047214508, "verified": true, "loaded": true}], "camera_display": [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.5437105265770064, -0.7008085391380456, -1.5243361166607363], [-2.0942522750426433, -0.5934795066006915, -1.5350013075846338], [-1.6794521525290826, -0.31437343924233563, -1.5413753423006828], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101], [-1.6553698706408801, -0.29816922496867004, -1.5417454032295101]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.102012913633287, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.2126909567632195, "map_correction_at_base_m": 0.015509436397957812, "map_correction_angle_deg": 0.596704458319321, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.015509436397957812, "rotation_deg": 0.596704458319321, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092360988, -0.4016365056936493, 0.915789053105026, 0.027255805182648807], [-0.9998133703933507, -0.015519242036847541, -0.011505542546599967, -0.0012976112942695295], [0.018833397874358393, -0.9156676637409433, -0.40149474804000773, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4945686161518097, 0.041552815586328506], [0.915327250957489, 0.23288539052009583], [1.2691099643707275, 0.586209237575531], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916]], "goal_body": [1.2404059230557776, 0.596598835603259], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 921, "nearest_distance_m": 0.1422991441653031, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5703454120917436, "remaining_m": 17.446807339787483, "total_m": 18.017152751879227, "selection_total_m": 18.017152751879227, "best_candidate_total_m": 18.017152751879227, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.055696498993138, 1.4657959294741294], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 521}, "footprint_evidence": null, "native_local_path_body": [[0.4945686161518097, 0.041552815586328506], [0.915327250957489, 0.23288539052009583], [1.2691099643707275, 0.586209237575531], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916], [1.2896497249603271, 0.606722354888916]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9871978759765625, -0.06765618920326233, 0.14444074034690857, -0.002704732120037079], [0.07177571952342987, 0.6202720403671265, 0.7810958623886108, -1.495138168334961], [-0.14243853092193604, 0.7814635038375854, -0.6074751615524292, 3.4606213569641113], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3812254308722913, "input_age_at_publish_s": 0.5356761910952628, "vggt_debug_frame": "frames/00000522/frame.json"} +{"frame_idx": 524, "time_s": 131.62657284736633, "localized": true, "localized_streak": 266, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.56186842918396, "verified": true, "loaded": true}, {"id": 918, "score": 0.5186958312988281, "verified": true, "loaded": true}, {"id": 921, "score": 0.517822265625, "verified": true, "loaded": true}, {"id": 570, "score": 0.5066500902175903, "verified": true, "loaded": true}, {"id": 568, "score": 0.49536895751953125, "verified": true, "loaded": true}, {"id": 920, "score": 0.4931592047214508, "verified": true, "loaded": true}], "camera_display": [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], "global_route": [[-2.45931106475302, -0.747506321586372, 0.03830266470655713], [-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.5037538949447913, -0.7060537612837381, -1.52519729439656], [-2.061114775997186, -0.5658198952277811, -1.53424047334004], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878], [-1.6577414010454654, -0.2921032143039177, -1.5391121002417878]], "goal_keyframe": 1012, "route_ids": [1106, 1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.087605544193439, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3345648455192584, "map_correction_at_base_m": 0.001290937695594007, "map_correction_angle_deg": 0.3177316860579349, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.001290937695594007, "rotation_deg": 0.3177316860579349, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.4016365056936494, 0.9157890531050258, 0.02725580518264792], [-0.9998133703933503, -0.01551924203684757, -0.011505542546599967, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.4014947480400075, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4925774335861206, 0.04195639491081238], [0.9009982347488403, 0.26302000880241394], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251]], "goal_body": [1.218911479538988, 0.635710471629394], "route_cost_m": 17.446807339787483, "route_attachment": {"nearest_keyframe": 921, "nearest_distance_m": 0.14132674530905448, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5328150083014332, "remaining_m": 17.446807339787483, "total_m": 17.979622348088917, "selection_total_m": 17.979622348088917, "best_candidate_total_m": 17.979622348088917, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [7.012858553371316, 1.454806976691642], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 522}, "footprint_evidence": null, "native_local_path_body": [[0.4925774335861206, 0.04195639491081238], [0.9009982347488403, 0.26302000880241394], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251], [1.2456343173980713, 0.6078106164932251]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9867016077041626, -0.06542232632637024, 0.14879530668258667, -0.00010776892304420471], [0.07664094865322113, 0.6200172901153564, 0.7808359861373901, -1.4751386642456055], [-0.14333975315093994, 0.7818558216094971, -0.6067579984664917, 3.42287540435791], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.38214219314977527, "input_age_at_publish_s": 0.42862906074151397, "vggt_debug_frame": "frames/00000524/frame.json"} +{"frame_idx": 525, "time_s": 131.9265434741974, "localized": true, "localized_streak": 267, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.56186842918396, "verified": true, "loaded": true}, {"id": 918, "score": 0.5186958312988281, "verified": true, "loaded": true}, {"id": 921, "score": 0.517822265625, "verified": true, "loaded": true}, {"id": 570, "score": 0.5066500902175903, "verified": true, "loaded": true}, {"id": 568, "score": 0.49536895751953125, "verified": true, "loaded": true}, {"id": 920, "score": 0.4931592047214508, "verified": true, "loaded": true}], "camera_display": [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], "global_route": [[-2.205323939162703, -0.7749974921813643, 0.03446557634191166], [-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.494000413327297, -0.7334921067522098, -1.5255286190493462], [-2.0592929269218554, -0.5566868742540745, -1.533513849477008], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998], [-1.6616715884831605, -0.28414223291034624, -1.5381693930063998]], "goal_keyframe": 1012, "route_ids": [1105, 1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.07487417031965, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4213402825764261, "map_correction_at_base_m": 0.0029822461031239907, "map_correction_angle_deg": 0.27075051435846825, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0029822461031239907, "rotation_deg": 0.27075051435846825, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004331809827067157, -0.4002315152228285, 0.9164038245479231, 0.02725030784228366], [-0.9998129994161804, -0.015538162530561256, -0.011512241467008466, -0.0012974807961887436], [0.01884679341540546, -0.9162823253384367, -0.4000893633306746, 1.3118266893141806], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4798608124256134, 0.01716882735490799], [0.8727458119392395, 0.27394840121269226], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097]], "goal_body": [1.1990279009561562, 0.6654212512002029], "route_cost_m": 17.19091387093067, "route_attachment": {"nearest_keyframe": 921, "nearest_distance_m": 0.14686063532032445, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7420054357355568, "remaining_m": 17.19091387093067, "total_m": 17.93291930666623, "selection_total_m": 17.93291930666623, "best_candidate_total_m": 17.93291930666623, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.987893478485858, 1.4514921051420608], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 524}, "footprint_evidence": null, "native_local_path_body": [[0.4798608124256134, 0.01716882735490799], [0.8727458119392395, 0.27394840121269226], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097], [1.2108274698257446, 0.6176134943962097]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9872304201126099, -0.06333427131175995, 0.14616836607456207, 0.004756498150527477], [0.07573500275611877, 0.620631217956543, 0.7804364562034607, -1.4628405570983887], [-0.14014504849910736, 0.78154057264328, -0.6079095602035522, 3.3981339931488037], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.371231934055686, "input_age_at_publish_s": 0.5569949597120285, "vggt_debug_frame": "frames/00000525/frame.json"} +{"frame_idx": 527, "time_s": 132.42651104927063, "localized": true, "localized_streak": 268, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.56186842918396, "verified": true, "loaded": true}, {"id": 918, "score": 0.5186958312988281, "verified": true, "loaded": true}, {"id": 921, "score": 0.517822265625, "verified": true, "loaded": true}, {"id": 570, "score": 0.5066500902175903, "verified": true, "loaded": true}, {"id": 568, "score": 0.49536895751953125, "verified": true, "loaded": true}, {"id": 920, "score": 0.4931592047214508, "verified": true, "loaded": true}], "camera_display": [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], "global_route": [[-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.443166579405838, -0.7184030695046175, -1.5219096843954345], [-2.0086347053965814, -0.5383671097800669, -1.5315879993584642], [-1.68483454620289, -0.198600884034704, -1.5342061246834013], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294], [-1.622702339923665, -0.15655849491228935, -1.5352258139611294]], "goal_keyframe": 1012, "route_ids": [1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.044072582920139, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7503581385074892, "map_correction_at_base_m": 0.012097972470662275, "map_correction_angle_deg": 0.4088473132203839, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.012097972470662275, "rotation_deg": 0.4088473132203839, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.40163650569364906, 0.9157890531050255, 0.027255805182649695], [-0.9998133703933499, -0.015519242036847375, -0.0115055425466003, -0.0012976112942677531], [0.018833397874358337, -0.9156676637409433, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.46712008118629456, 0.03959242254495621], [0.8611904978752136, 0.29656118154525757], [1.1168601512908936, 0.6901693344116211], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655]], "goal_body": [1.1526699593207201, 0.7211849632646925], "route_cost_m": 17.118532925844193, "route_attachment": {"nearest_keyframe": 570, "nearest_distance_m": 0.13445814311043525, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.747288100057477, "remaining_m": 17.118532925844193, "total_m": 17.86582102590167, "selection_total_m": 17.86582102590167, "best_candidate_total_m": 17.86582102590167, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.941455936346004, 1.396567222160731], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 525}, "footprint_evidence": null, "native_local_path_body": [[0.46712008118629456, 0.03959242254495621], [0.8611904978752136, 0.29656118154525757], [1.1168601512908936, 0.6901693344116211], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655], [1.1701960563659668, 0.7429357171058655]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9860048294067383, -0.068933866918087, 0.15179996192455292, 0.01688670739531517], [0.0773344412446022, 0.6175220012664795, 0.7827426791191101, -1.4385032653808594], [-0.14769728481769562, 0.7835271954536438, -0.6035487651824951, 3.339893102645874], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3802894647233188, "input_age_at_publish_s": 0.43824559822678566, "vggt_debug_frame": "frames/00000527/frame.json"} +{"frame_idx": 528, "time_s": 132.65982294082642, "localized": true, "localized_streak": 269, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5722522735595703, "verified": true, "loaded": true}, {"id": 792, "score": 0.5236929655075073, "verified": true, "loaded": true}, {"id": 790, "score": 0.5123997926712036, "verified": true, "loaded": true}, {"id": 570, "score": 0.5097309350967407, "verified": true, "loaded": true}, {"id": 918, "score": 0.5090047121047974, "verified": true, "loaded": true}, {"id": 921, "score": 0.5074682235717773, "verified": true, "loaded": true}], "camera_display": [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], "global_route": [[-2.135187313897053, -0.7597318941682789, 0.041951679161220834], [-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.382606043937158, -0.714642668871929, -1.530373056237857], [-1.9544919473304079, -0.49908076276742097, -1.5393432595588277], [-1.6285257947007983, -0.16141456530061316, -1.5440371833001123], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192], [-1.6086538884840573, -0.14815572561193324, -1.5444135159328192]], "goal_keyframe": 1012, "route_ids": [1104, 1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 15.004968623434113, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.2126909567632195, "map_correction_at_base_m": 0.02191076413878107, "map_correction_angle_deg": 0.7291927721430829, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.02191076413878107, "rotation_deg": 0.7291927721430829, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.40163650569364917, 0.9157890531050259, 0.027255805182648807], [-0.9998133703933503, -0.015519242036847347, -0.011505542546600134, -0.0012976112942686413], [0.018833397874358226, -0.9156676637409432, -0.4014947480400073, 1.3117644447120338], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49492618441581726, 0.0345551036298275], [0.8769524097442627, 0.3241841793060303], [1.1363096237182617, 0.7153723835945129], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318]], "goal_body": [1.1380441382155444, 0.7093561274594763], "route_cost_m": 17.118532925844193, "route_attachment": {"nearest_keyframe": 570, "nearest_distance_m": 0.144425491818626, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.726214862442835, "remaining_m": 17.118532925844193, "total_m": 17.844747788287027, "selection_total_m": 17.844747788287027, "best_candidate_total_m": 17.844747788287027, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.940537951049657, 1.3989556182074736], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 527}, "footprint_evidence": null, "native_local_path_body": [[0.49492618441581726, 0.0345551036298275], [0.8769524097442627, 0.3241841793060303], [1.1363096237182617, 0.7153723835945129], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318], [1.1534514427185059, 0.7320153713226318]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9854941368103027, -0.07721641659736633, 0.151126429438591, 0.05088776722550392], [0.07063554227352142, 0.6230741739273071, 0.7789667844772339, -1.4223543405532837], [-0.15431199967861176, 0.7783420085906982, -0.6085816621780396, 3.3284013271331787], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.391578062903136, "input_age_at_publish_s": 0.5826037339866161, "vggt_debug_frame": "frames/00000528/frame.json"} +{"frame_idx": 530, "time_s": 133.0932457447052, "localized": true, "localized_streak": 270, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5722522735595703, "verified": true, "loaded": true}, {"id": 792, "score": 0.5236929655075073, "verified": true, "loaded": true}, {"id": 790, "score": 0.5123997926712036, "verified": true, "loaded": true}, {"id": 570, "score": 0.5097309350967407, "verified": true, "loaded": true}, {"id": 918, "score": 0.5090047121047974, "verified": true, "loaded": true}, {"id": 921, "score": 0.5074682235717773, "verified": true, "loaded": true}], "camera_display": [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], "global_route": [[-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.3673727043928428, -0.7186463472012727, -1.527659155244601], [-1.9413126316972362, -0.49099947028344015, -1.5356239752815934], [-1.6145812277246443, -0.1540638956334508, -1.539546482727365], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947], [-1.6091432885994066, -0.15045321804652634, -1.5396386486110947]], "goal_keyframe": 1012, "route_ids": [1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.988368534672844, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.04843227558655628, "map_correction_at_base_m": 0.0032108899886609784, "map_correction_angle_deg": 0.15819418474433034, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0032108899886609784, "rotation_deg": 0.15819418474433034, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361265, -0.401636505693649, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933498, -0.01551924203684732, -0.011505542546600134, -0.001297611294266865], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4691467583179474, 0.02924402803182602], [0.8493465781211853, 0.3273410499095917], [1.112702488899231, 0.7158485054969788], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043]], "goal_body": [1.1133589374276796, 0.7528475677050134], "route_cost_m": 17.048147223889828, "route_attachment": {"nearest_keyframe": 570, "nearest_distance_m": 0.14968186020292504, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7408372752811268, "remaining_m": 17.048147223889828, "total_m": 17.788984499170954, "selection_total_m": 17.788984499170954, "best_candidate_total_m": 17.788984499170954, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.894252479960621, 1.3670747053109396], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 528}, "footprint_evidence": null, "native_local_path_body": [[0.4691467583179474, 0.02924402803182602], [0.8493465781211853, 0.3273410499095917], [1.112702488899231, 0.7158485054969788], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043], [1.1174325942993164, 0.7203477025032043]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9841146469116211, -0.07897946238517761, 0.15899889171123505, 0.05669931322336197], [0.07555145025253296, 0.6241406202316284, 0.7776505947113037, -1.4059498310089111], [-0.16065610945224762, 0.7773098945617676, -0.608258843421936, 3.291929244995117], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3856248608790338, "input_age_at_publish_s": 0.4532205960713327, "vggt_debug_frame": "frames/00000530/frame.json"} +{"frame_idx": 531, "time_s": 133.42665243148804, "localized": true, "localized_streak": 271, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5722522735595703, "verified": true, "loaded": true}, {"id": 792, "score": 0.5236929655075073, "verified": true, "loaded": true}, {"id": 790, "score": 0.5123997926712036, "verified": true, "loaded": true}, {"id": 570, "score": 0.5097309350967407, "verified": true, "loaded": true}, {"id": 918, "score": 0.5090047121047974, "verified": true, "loaded": true}, {"id": 921, "score": 0.5074682235717773, "verified": true, "loaded": true}], "camera_display": [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], "global_route": [[-2.074409567056155, -0.7250268123913151, 0.03738079025431679], [-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.3199674431109742, -0.7275518136187396, -1.5282674075011948], [-1.8986708689399552, -0.4755271566136203, -1.53513661842024], [-1.651878931307531, -0.08481329842165763, -1.5359520353192457], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261], [-1.6488032580478191, -0.06960046291581001, -1.5358256693705261]], "goal_keyframe": 1012, "route_ids": [1103, 1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.966769765890128, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.14258965209842023, "map_correction_at_base_m": 0.015815756241976984, "map_correction_angle_deg": 0.08551373748285886, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.015815756241976984, "rotation_deg": 0.08551373748285886, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224256, -0.4030405516860777, 0.9151721267474482, 0.02726120704254953], [-0.9998137411416026, -0.01550033183889779, -0.011498814604844088, -0.0012977405538538989], [0.018819960236367672, -0.9150508474448108, -0.40289918799525504, 1.3117021917484166], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4686117470264435, 0.02424135059118271], [0.842654287815094, 0.34227660298347473], [1.0216267108917236, 0.768343448638916], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905]], "goal_body": [1.0815418974422413, 0.788235467579273], "route_cost_m": 17.048147223889828, "route_attachment": {"nearest_keyframe": 922, "nearest_distance_m": 0.16054869337138186, "attachment_limit_m": 0.75, "candidate_count": 28, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.697561799277804, "remaining_m": 17.048147223889828, "total_m": 17.74570902316763, "selection_total_m": 17.74570902316763, "best_candidate_total_m": 17.74570902316763, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.867321699927639, 1.330790919016715], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 530}, "footprint_evidence": null, "native_local_path_body": [[0.4686117470264435, 0.02424135059118271], [0.842654287815094, 0.34227660298347473], [1.0216267108917236, 0.768343448638916], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905], [1.0221492052078247, 0.7838557958602905]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.982532262802124, -0.08232902735471725, 0.16689229011535645, 0.06574779003858566], [0.0796077623963356, 0.6246685981750488, 0.7768216729164124, -1.3843629360198975], [-0.1682073473930359, 0.7765379548072815, -0.6072031259536743, 3.251427412033081], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.39170547807589173, "input_age_at_publish_s": 0.6270493334159255, "vggt_debug_frame": "frames/00000531/frame.json"} +{"frame_idx": 533, "time_s": 133.92706084251404, "localized": true, "localized_streak": 272, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5722522735595703, "verified": true, "loaded": true}, {"id": 792, "score": 0.5236929655075073, "verified": true, "loaded": true}, {"id": 790, "score": 0.5123997926712036, "verified": true, "loaded": true}, {"id": 570, "score": 0.5097309350967407, "verified": true, "loaded": true}, {"id": 918, "score": 0.5090047121047974, "verified": true, "loaded": true}, {"id": 921, "score": 0.5074682235717773, "verified": true, "loaded": true}], "camera_display": [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], "global_route": [[-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.264087227349496, -0.7092302175871854, -1.5277508654444463], [-1.8464227771170614, -0.4345132866365873, -1.5370818219682891], [-1.5840074202681511, -0.05435145750911463, -1.5411404049767157], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726], [-1.5764078184310963, -0.017588668602049218, -1.5410341102548726]], "goal_keyframe": 1012, "route_ids": [1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.940146665656629, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.2804978890103111, "map_correction_at_base_m": 0.014329888650490532, "map_correction_angle_deg": 0.4232902300340859, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.014329888650490532, "rotation_deg": 0.4232902300340859, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936494, 0.9157890531050251, 0.027255805182649695], [-0.9998133703933496, -0.01551924203684768, -0.01150554254660019, -0.0012976112942659768], [0.018833397874358337, -0.915667663740943, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4854012131690979, 0.045621804893016815], [0.8562700152397156, 0.3809669017791748], [1.0575122833251953, 0.7967827320098877], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278]], "goal_body": [1.0611350900770258, 0.825559822529599], "route_cost_m": 16.964631907641888, "route_attachment": {"nearest_keyframe": 922, "nearest_distance_m": 0.1690073096982199, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7190978217280963, "remaining_m": 16.964631907641888, "total_m": 17.683729729369983, "selection_total_m": 17.683729729369983, "best_candidate_total_m": 17.683729729369983, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.81825674470715, 1.3010605995559623], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 531}, "footprint_evidence": null, "native_local_path_body": [[0.4854012131690979, 0.045621804893016815], [0.8562700152397156, 0.3809669017791748], [1.0575122833251953, 0.7967827320098877], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278], [1.0593981742858887, 0.8342755436897278]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9801536798477173, -0.09190461784601212, 0.1756490021944046, 0.0802217498421669], [0.08067820221185684, 0.6244180202484131, 0.7769125699996948, -1.36969792842865], [-0.18108026683330536, 0.7756646871566772, -0.6046109199523926, 3.216397523880005], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.41688432171940804, "input_age_at_publish_s": 0.5515730283223093, "vggt_debug_frame": "frames/00000533/frame.json"} +{"frame_idx": 535, "time_s": 134.42777132987976, "localized": true, "localized_streak": 273, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5722522735595703, "verified": true, "loaded": true}, {"id": 792, "score": 0.5236929655075073, "verified": true, "loaded": true}, {"id": 790, "score": 0.5123997926712036, "verified": true, "loaded": true}, {"id": 570, "score": 0.5097309350967407, "verified": true, "loaded": true}, {"id": 918, "score": 0.5090047121047974, "verified": true, "loaded": true}, {"id": 921, "score": 0.5074682235717773, "verified": true, "loaded": true}], "camera_display": [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], "global_route": [[-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.2156838297825185, -0.6827621989908419, -1.5259912250932066], [-1.798011825313008, -0.40804080360421935, -1.5348430878795603], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273], [-1.5686945875257772, -0.017908735303456602, -1.53670427309273]], "goal_keyframe": 1012, "route_ids": [1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.915440127442642, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.33084956876349264, "map_correction_at_base_m": 0.008386634514378644, "map_correction_angle_deg": 0.22950113417962537, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008386634514378644, "rotation_deg": 0.22950113417962537, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236121, -0.4016365056936491, 0.9157890531050255, 0.02725580518264792], [-0.99981337039335, -0.01551924203684743, -0.011505542546600134, -0.0012976112942677531], [0.018833397874358393, -0.9156676637409433, -0.40149474804000773, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4731246531009674, 0.06996393948793411], [0.8495546579360962, 0.39905428886413574], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786]], "goal_body": [1.0262668084838016, 0.8696500209156559], "route_cost_m": 16.964631907641888, "route_attachment": {"nearest_keyframe": 571, "nearest_distance_m": 0.186100272282942, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6639478348840228, "remaining_m": 16.964631907641888, "total_m": 17.62857974252591, "selection_total_m": 17.62857974252591, "best_candidate_total_m": 17.62857974252591, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.77686973307273, 1.25544672651792], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 533}, "footprint_evidence": null, "native_local_path_body": [[0.4731246531009674, 0.06996393948793411], [0.8495546579360962, 0.39905428886413574], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786], [1.023539662361145, 0.8168126344680786]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.976737380027771, -0.09558392316102982, 0.1919587254524231, 0.08941015601158142], [0.09158848971128464, 0.6234599351882935, 0.7764723896980286, -1.3449259996414185], [-0.1938968300819397, 0.7759906649589539, -0.6002023220062256, 3.1625516414642334], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.3898355760611594, "input_age_at_publish_s": 0.44498092075809836, "vggt_debug_frame": "frames/00000535/frame.json"} +{"frame_idx": 536, "time_s": 134.62805676460266, "localized": true, "localized_streak": 274, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.5722522735595703, "verified": true, "loaded": true}, {"id": 792, "score": 0.5236929655075073, "verified": true, "loaded": true}, {"id": 790, "score": 0.5123997926712036, "verified": true, "loaded": true}, {"id": 570, "score": 0.5097309350967407, "verified": true, "loaded": true}, {"id": 918, "score": 0.5090047121047974, "verified": true, "loaded": true}, {"id": 921, "score": 0.5074682235717773, "verified": true, "loaded": true}], "camera_display": [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], "global_route": [[-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.227279125671889, -0.6784900216669101, -1.5271417049720368], [-1.8072833716468253, -0.4144111645401143, -1.5364032629570572], [-1.5072390834871472, -0.05990055324753296, -1.5417092463877848], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612], [-1.4876357254727877, 0.034179479575580984, -1.5414955653106612]], "goal_keyframe": 1012, "route_ids": [1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.90425677362586, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.19791323225091542, "map_correction_at_base_m": 0.004497696171866769, "map_correction_angle_deg": 0.30862194441844343, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.004497696171866769, "rotation_deg": 0.30862194441844343, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00430435909236182, -0.4016365056936494, 0.9157890531050253, 0.02725580518264703], [-0.9998133703933495, -0.015519242036847403, -0.011505542546600245, -0.001297611294266865], [0.018833397874358226, -0.915667663740943, -0.4014947480400073, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4437409043312073, 0.0722750574350357], [0.8251568675041199, 0.38967323303222656], [1.0756382942199707, 0.7808144688606262], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125]], "goal_body": [1.0195824509810774, 0.8736922594061535], "route_cost_m": 16.964631907641888, "route_attachment": {"nearest_keyframe": 571, "nearest_distance_m": 0.18875078404144371, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6517840798976396, "remaining_m": 16.964631907641888, "total_m": 17.616415987539526, "selection_total_m": 17.616415987539526, "best_candidate_total_m": 17.616415987539526, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.763308578973662, 1.2544638887457147], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 535}, "footprint_evidence": null, "native_local_path_body": [[0.4437409043312073, 0.0722750574350357], [0.8251568675041199, 0.38967323303222656], [1.0756382942199707, 0.7808144688606262], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125], [1.082595705986023, 0.8766632080078125]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.975867509841919, -0.1002676710486412, 0.19398294389247894, 0.09662048518657684], [0.08957340568304062, 0.6263570785522461, 0.7743729948997498, -1.3369019031524658], [-0.19914714992046356, 0.7730609774589539, -0.6022603511810303, 3.1527774333953857], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4040398891083896, "input_age_at_publish_s": 0.6098535018973053, "vggt_debug_frame": "frames/00000536/frame.json"} +{"frame_idx": 538, "time_s": 135.1948790550232, "localized": true, "localized_streak": 275, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.4959977865219116, "verified": true, "loaded": true}, {"id": 792, "score": 0.49149835109710693, "verified": true, "loaded": true}, {"id": 790, "score": 0.4677487313747406, "verified": true, "loaded": true}, {"id": 571, "score": 0.46176573634147644, "verified": true, "loaded": true}, {"id": 570, "score": 0.4509013295173645, "verified": true, "loaded": true}, {"id": 793, "score": 0.44893530011177063, "verified": true, "loaded": true}], "camera_display": [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], "global_route": [[-2.0091275598288867, -0.6735196466828848, 0.03518655367099072], [-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.1953425863293416, -0.6595080880610036, -1.518354160800071], [-1.7765832674352113, -0.386427474346104, -1.5265810949482337], [-1.5082907758922932, -0.010304541312644133, -1.530924445173363], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967], [-1.4991129869959225, 0.033252881759181285, -1.5309315151871967]], "goal_keyframe": 1012, "route_ids": [1102, 1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.882882298871115, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.21966881984929132, "map_correction_at_base_m": 0.015582011828528612, "map_correction_angle_deg": 0.33586307008547495, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.015582011828528612, "rotation_deg": 0.33586307008547495, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361321, -0.4016365056936493, 0.9157890531050252, 0.027255805182648807], [-0.9998133703933497, -0.01551924203684743, -0.01150554254660019, -0.001297611294266865], [0.018833397874358226, -0.9156676637409431, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4329564869403839, 0.08505995571613312], [0.8191296458244324, 0.4026607871055603], [1.0443425178527832, 0.8060802817344666], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249]], "goal_body": [1.0124825177922931, 0.8796917851490733], "route_cost_m": 16.964631907641888, "route_attachment": {"nearest_keyframe": 571, "nearest_distance_m": 0.18505133554621503, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6159074021369666, "remaining_m": 16.964631907641888, "total_m": 17.580539309778853, "selection_total_m": 17.580539309778853, "best_candidate_total_m": 17.580539309778853, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.723024358079698, 1.247815807577115], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 536}, "footprint_evidence": null, "native_local_path_body": [[0.4329564869403839, 0.08505995571613312], [0.8191296458244324, 0.4026607871055603], [1.0443425178527832, 0.8060802817344666], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249], [1.048659324645996, 0.8503842949867249]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9707304239273071, -0.11034310609102249, 0.21332398056983948, 0.10910671204328537], [0.09729049354791641, 0.6314107179641724, 0.7693212628364563, -1.3280997276306152], [-0.21958434581756592, 0.7675577998161316, -0.6021943092346191, 3.1194944381713867], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.45251379208639264, "input_age_at_publish_s": 0.5726411403156817, "vggt_debug_frame": "frames/00000538/frame.json"} +{"frame_idx": 540, "time_s": 135.69496893882751, "localized": true, "localized_streak": 276, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.4959977865219116, "verified": true, "loaded": true}, {"id": 792, "score": 0.49149835109710693, "verified": true, "loaded": true}, {"id": 790, "score": 0.4677487313747406, "verified": true, "loaded": true}, {"id": 571, "score": 0.46176573634147644, "verified": true, "loaded": true}, {"id": 570, "score": 0.4509013295173645, "verified": true, "loaded": true}, {"id": 793, "score": 0.44893530011177063, "verified": true, "loaded": true}], "camera_display": [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], "global_route": [[-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.1258885442232613, -0.6124348740865049, -1.5160354094852933], [-1.7848607625976558, -0.2862538684647422, -1.52081511156318], [-1.5549693225143506, 0.11623886186557453, -1.5223853299884853], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876], [-1.5548746006083598, 0.11668563326545112, -1.5223834357134876]], "goal_keyframe": 1012, "route_ids": [1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.861910635403257, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.445228930797933, "map_correction_at_base_m": 0.00414758296597367, "map_correction_angle_deg": 0.25897079378230764, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00414758296597367, "rotation_deg": 0.25897079378230764, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936495, 0.9157890531050252, 0.02725580518264792], [-0.99981337039335, -0.015519242036847375, -0.011505542546600245, -0.0012976112942677531], [0.018833397874358282, -0.9156676637409431, -0.40149474804000795, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4533536434173584, 0.11970634013414383], [0.7706198692321777, 0.46907562017440796], [0.9716143608093262, 0.8867526054382324], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329]], "goal_body": [1.0151487076771986, 0.9074421266027202], "route_cost_m": 16.780576817691326, "route_attachment": {"nearest_keyframe": 923, "nearest_distance_m": 0.17196918467738265, "attachment_limit_m": 0.75, "candidate_count": 31, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7269260240559923, "remaining_m": 16.780576817691326, "total_m": 17.507502841747318, "selection_total_m": 17.507502841747318, "best_candidate_total_m": 17.507502841747318, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.666814334495613, 1.2034848981230515], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 538}, "footprint_evidence": null, "native_local_path_body": [[0.4533536434173584, 0.11970634013414383], [0.7706198692321777, 0.46907562017440796], [0.9716143608093262, 0.8867526054382324], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329], [0.9716773629188538, 0.8872049450874329]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9603967666625977, -0.12192057073116302, 0.2505470812320709, 0.11823207885026932], [0.11920545995235443, 0.6329634785652161, 0.7649492621421814, -1.3084696531295776], [-0.2518502175807953, 0.7645211815834045, -0.59336256980896, 3.075064182281494], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4074534811079502, "input_age_at_publish_s": 0.4806449068710208, "vggt_debug_frame": "frames/00000540/frame.json"} +{"frame_idx": 541, "time_s": 135.9284007549286, "localized": true, "localized_streak": 277, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.4959977865219116, "verified": true, "loaded": true}, {"id": 792, "score": 0.49149835109710693, "verified": true, "loaded": true}, {"id": 790, "score": 0.4677487313747406, "verified": true, "loaded": true}, {"id": 571, "score": 0.46176573634147644, "verified": true, "loaded": true}, {"id": 570, "score": 0.4509013295173645, "verified": true, "loaded": true}, {"id": 793, "score": 0.44893530011177063, "verified": true, "loaded": true}], "camera_display": [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], "global_route": [[-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.1040966423169896, -0.606073268397572, -1.5208672265465915], [-1.6841989230138998, -0.3347621789416255, -1.5296053012505524], [-1.481524636490692, 0.0866524335323664, -1.5332629237098792], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635], [-1.4648694673653986, 0.1640971031287224, -1.533480946984635]], "goal_keyframe": 1012, "route_ids": [1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.841897759405795, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.15270378892755673, "map_correction_at_base_m": 0.0067245348808691145, "map_correction_angle_deg": 0.44038292570880316, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0067245348808691145, "rotation_deg": 0.44038292570880316, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361154, -0.40163650569364917, 0.9157890531050253, 0.027255805182650583], [-0.9998133703933504, -0.015519242036847292, -0.01150554254660019, -0.0012976112942686413], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4516242444515228, 0.12323926389217377], [0.8565675616264343, 0.4165325164794922], [1.0365427732467651, 0.8481450080871582], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563]], "goal_body": [1.013894670032255, 0.9060800215849348], "route_cost_m": 16.780576817691326, "route_attachment": {"nearest_keyframe": 923, "nearest_distance_m": 0.17931095732405972, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7052382119394182, "remaining_m": 16.780576817691326, "total_m": 17.485815029630743, "selection_total_m": 17.485815029630743, "best_candidate_total_m": 17.485815029630743, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.654071932632992, 1.189238940824913], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 540}, "footprint_evidence": null, "native_local_path_body": [[0.4516242444515228, 0.12323926389217377], [0.8565675616264343, 0.4165325164794922], [1.0365427732467651, 0.8481450080871582], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563], [1.0490506887435913, 0.926366925239563]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9554017782211304, -0.13432304561138153, 0.262992799282074, 0.13107478618621826], [0.12053418904542923, 0.6356314420700073, 0.7625249028205872, -1.2951964139938354], [-0.26959115266799927, 0.7602171301841736, -0.5910930633544922, 3.0582098960876465], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.42876739986240864, "input_age_at_publish_s": 0.6714113699272275, "vggt_debug_frame": "frames/00000541/frame.json"} +{"frame_idx": 543, "time_s": 136.39527821540833, "localized": true, "localized_streak": 278, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 922, "score": 0.4959977865219116, "verified": true, "loaded": true}, {"id": 792, "score": 0.49149835109710693, "verified": true, "loaded": true}, {"id": 790, "score": 0.4677487313747406, "verified": true, "loaded": true}, {"id": 571, "score": 0.46176573634147644, "verified": true, "loaded": true}, {"id": 570, "score": 0.4509013295173645, "verified": true, "loaded": true}, {"id": 793, "score": 0.44893530011177063, "verified": true, "loaded": true}], "camera_display": [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], "global_route": [[-1.8576987631359003, -0.5707588201535909, 0.04118310313040724], [-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.092619092686071, -0.6006698745050256, -1.5200228285168749], [-1.6715855501651444, -0.33107958185242126, -1.5272248500607983], [-1.470790752884938, 0.09202762497970696, -1.5294596103575213], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423], [-1.4550531849503243, 0.1637614318429348, -1.5294776187936423]], "goal_keyframe": 1012, "route_ids": [1100, 1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.813058754039508, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4086902868606226, "map_correction_at_base_m": 0.007352514228081296, "map_correction_angle_deg": 0.2920416671806791, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.007352514228081296, "rotation_deg": 0.2920416671806791, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361598, -0.40163650569364895, 0.9157890531050257, 0.027255805182649695], [-0.9998133703933499, -0.01551924203684732, -0.01150554254660019, -0.0012976112942677531], [0.018833397874358226, -0.9156676637409432, -0.40149474804000707, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4150630831718445, 0.10731463879346848], [0.8325915336608887, 0.382396399974823], [1.0278353691101074, 0.8080993890762329], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817]], "goal_body": [1.0158815709371143, 0.9089820486373642], "route_cost_m": 16.780576817691326, "route_attachment": {"nearest_keyframe": 923, "nearest_distance_m": 0.19223803040561407, "attachment_limit_m": 0.75, "candidate_count": 33, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6602379345872836, "remaining_m": 16.780576817691326, "total_m": 17.44081475227861, "selection_total_m": 17.44081475227861, "best_candidate_total_m": 17.44081475227861, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.620109429979157, 1.1545414009032533], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 541}, "footprint_evidence": null, "native_local_path_body": [[0.4150630831718445, 0.10731463879346848], [0.8325915336608887, 0.382396399974823], [1.0278353691101074, 0.8080993890762329], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817], [1.0426298379898071, 0.8800336122512817]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9428342580795288, -0.14683851599693298, 0.2991693615913391, 0.1491684913635254], [0.14015087485313416, 0.6397559642791748, 0.7556918263435364, -1.2737382650375366], [-0.30236005783081055, 0.754420816898346, -0.5826042890548706, 3.0173189640045166], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4963783333078027, "input_age_at_publish_s": 0.6691338699311018, "vggt_debug_frame": "frames/00000543/frame.json"} +{"frame_idx": 545, "time_s": 136.9289104938507, "localized": true, "localized_streak": 279, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 794, "score": 0.48128825426101685, "verified": true, "loaded": true}, {"id": 793, "score": 0.45425185561180115, "verified": true, "loaded": true}, {"id": 795, "score": 0.44906896352767944, "verified": true, "loaded": true}, {"id": 922, "score": 0.42364025115966797, "verified": true, "loaded": true}, {"id": 792, "score": 0.3987349271774292, "verified": true, "loaded": true}, {"id": 796, "score": 0.37012797594070435, "verified": true, "loaded": true}], "camera_display": [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], "global_route": [[-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-2.015319153593718, -0.5335271741944094, -1.5220639370294293], [-1.6219623518051538, -0.24461678697056755, -1.5275809065562915], [-1.5148595877551854, 0.24377769511501768, -1.5274681217036625], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218], [-1.5102301707310861, 0.26488802577515447, -1.5274632469400218]], "goal_keyframe": 1012, "route_ids": [1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.769332273844636, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6977706583936449, "map_correction_at_base_m": 0.016979342360591416, "map_correction_angle_deg": 0.15146988746334067, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.016979342360591416, "rotation_deg": 0.15146988746334067, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004315701046609055, -0.4010559857182779, 0.9160433783637196, 0.027253544895917692], [-0.9998132171089343, -0.01552705998119347, -0.011508314499675432, -0.0012975575140297124], [0.01883893889685173, -0.9159219435780982, -0.4009140651727745, 1.3117901692898157], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.44858884811401367, 0.1300591379404068], [0.855309784412384, 0.39988717436790466], [0.9855589866638184, 0.8826243281364441], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651]], "goal_body": [1.045748679541112, 0.8892701796174843], "route_cost_m": 16.61973188072443, "route_attachment": {"nearest_keyframe": 923, "nearest_distance_m": 0.227693265432354, "attachment_limit_m": 0.75, "candidate_count": 30, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.749214825323925, "remaining_m": 16.61973188072443, "total_m": 17.368946706048355, "selection_total_m": 17.368946706048355, "best_candidate_total_m": 17.368946706048355, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.573490510239615, 1.1329557831755281], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 543}, "footprint_evidence": null, "native_local_path_body": [[0.44858884811401367, 0.1300591379404068], [0.855309784412384, 0.39988717436790466], [0.9855589866638184, 0.8826243281364441], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651], [0.9911888837814331, 0.9034901261329651]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.9208872318267822, -0.16821293532848358, 0.3516699969768524, 0.18434368073940277], [0.16604049503803253, 0.6469401717185974, 0.7442439794540405, -1.2543895244598389], [-0.3527009189128876, 0.7437559366226196, -0.5678287744522095, 2.984100341796875], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.43209769716486335, "input_age_at_publish_s": 0.6107239192351699, "vggt_debug_frame": "frames/00000545/frame.json"} +{"frame_idx": 547, "time_s": 137.4292619228363, "localized": true, "localized_streak": 280, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 794, "score": 0.48128825426101685, "verified": true, "loaded": true}, {"id": 793, "score": 0.45425185561180115, "verified": true, "loaded": true}, {"id": 795, "score": 0.44906896352767944, "verified": true, "loaded": true}, {"id": 922, "score": 0.42364025115966797, "verified": true, "loaded": true}, {"id": 792, "score": 0.3987349271774292, "verified": true, "loaded": true}, {"id": 796, "score": 0.37012797594070435, "verified": true, "loaded": true}], "camera_display": [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], "global_route": [[-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.9718000361664774, -0.5170514706009666, -1.5254165882614537], [-1.5515554695347347, -0.24627681041822846, -1.5341215061730706], [-1.4383888616983094, 0.2372831303886489, -1.5347361470193681], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185], [-1.4220061966290607, 0.312974123703623, -1.5348011701974185]], "goal_keyframe": 1012, "route_ids": [1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.734401799317402, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.29056634848094676, "map_correction_at_base_m": 0.010931551612149412, "map_correction_angle_deg": 0.3982541616330314, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.010931551612149412, "rotation_deg": 0.3982541616330314, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004293326635553429, -0.4022012023776307, 0.9155412389141129, 0.027257988810662326], [-0.9998135195030328, -0.015511636789671546, -0.011502840651952118, -0.0012976634199208803], [0.018827999504975212, -0.9154198937810418, -0.4020596031741408, 1.3117394130797395], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.44800567626953125, 0.12432459741830826], [0.8955161571502686, 0.34733664989471436], [1.0610512495040894, 0.8155622482299805], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169]], "goal_body": [1.0613885035566084, 0.8863881647038592], "route_cost_m": 16.61973188072443, "route_attachment": {"nearest_keyframe": 924, "nearest_distance_m": 0.24722209260919567, "attachment_limit_m": 0.75, "candidate_count": 29, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6955910190347796, "remaining_m": 16.61973188072443, "total_m": 17.31532289975921, "selection_total_m": 17.31532289975921, "best_candidate_total_m": 17.31532289975921, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.5365685286388135, 1.0849515504473102], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 545}, "footprint_evidence": null, "native_local_path_body": [[0.44800567626953125, 0.12432459741830826], [0.8955161571502686, 0.34733664989471436], [1.0610512495040894, 0.8155622482299805], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169], [1.0856387615203857, 0.8889991044998169]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8948220014572144, -0.19279392063617706, 0.40264734625816345, 0.20270606875419617], [0.19287382066249847, 0.6464588642120361, 0.7381672263145447, -1.2268650531768799], [-0.40260908007621765, 0.7381880879402161, -0.5412807464599609, 2.931212902069092], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4206500588916242, "input_age_at_publish_s": 0.518124152906239, "vggt_debug_frame": "frames/00000547/frame.json"} +{"frame_idx": 549, "time_s": 137.92966985702515, "localized": true, "localized_streak": 281, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 794, "score": 0.48128825426101685, "verified": true, "loaded": true}, {"id": 793, "score": 0.45425185561180115, "verified": true, "loaded": true}, {"id": 795, "score": 0.44906896352767944, "verified": true, "loaded": true}, {"id": 922, "score": 0.42364025115966797, "verified": true, "loaded": true}, {"id": 792, "score": 0.3987349271774292, "verified": true, "loaded": true}, {"id": 796, "score": 0.37012797594070435, "verified": true, "loaded": true}], "camera_display": [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], "global_route": [[-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.963431488000634, -0.3794921243706799, -1.5236221454812129], [-1.5414430408269832, -0.11146580842858, -1.532984923354509], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598], [-1.425731329565545, 0.3173623148984239, -1.5334299009275598]], "goal_keyframe": 1012, "route_ids": [1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.69663515012692, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.3899690213676467, "map_correction_at_base_m": 0.014796661610128358, "map_correction_angle_deg": 0.41077646479071495, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.014796661610128358, "rotation_deg": 0.41077646479071495, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361487, -0.4016365056936491, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933498, -0.015519242036847403, -0.01150554254660019, -0.001297611294266865], [0.01883339787435831, -0.9156676637409432, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4426633417606354, 0.2257542908191681], [0.9018798470497131, 0.4235425889492035], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146]], "goal_body": [1.0807340016190603, 0.8642528445638793], "route_cost_m": 16.61973188072443, "route_attachment": {"nearest_keyframe": 924, "nearest_distance_m": 0.2592063251209089, "attachment_limit_m": 0.75, "candidate_count": 27, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6533970418186733, "remaining_m": 16.61973188072443, "total_m": 17.273128922543105, "selection_total_m": 17.273128922543105, "best_candidate_total_m": 17.273128922543105, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.502640056727433, 1.059418572204416], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 547}, "footprint_evidence": null, "native_local_path_body": [[0.4426633417606354, 0.2257542908191681], [0.9018798470497131, 0.4235425889492035], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146], [1.084031105041504, 0.8286399245262146]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8718669414520264, -0.20887702703475952, 0.44296562671661377, 0.23262088000774384], [0.21492844820022583, 0.6495391130447388, 0.7293180227279663, -1.2129570245742798], [-0.4400612711906433, 0.7310740947723389, -0.5214179754257202, 2.9006166458129883], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.42663346929475665, "input_age_at_publish_s": 0.4732294278219342, "vggt_debug_frame": "frames/00000549/frame.json"} +{"frame_idx": 550, "time_s": 138.1965847015381, "localized": true, "localized_streak": 282, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 795, "score": 0.45150887966156006, "verified": true, "loaded": true}, {"id": 794, "score": 0.43353602290153503, "verified": true, "loaded": true}, {"id": 796, "score": 0.4302099347114563, "verified": true, "loaded": true}, {"id": 793, "score": 0.383521169424057, "verified": true, "loaded": true}, {"id": 943, "score": 0.32359012961387634, "verified": false, "loaded": true}, {"id": 590, "score": 0.3190828561782837, "verified": true, "loaded": true}], "camera_display": [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], "global_route": [[-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.9279449286271881, -0.36101467602273285, -1.5275678401032686], [-1.5653521502085037, -0.05049363960784525, -1.5338250148952888], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325], [-1.4644953730933365, 0.41190229914816, -1.531280775096325]], "goal_keyframe": 1012, "route_ids": [1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.66670127075213, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4005337099107374, "map_correction_at_base_m": 0.021516330691185564, "map_correction_angle_deg": 0.4290797122458551, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.021516330691185564, "rotation_deg": 0.4290797122458551, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004276928937224145, -0.40304055168607805, 0.9151721267474485, 0.027261207042546864], [-0.9998137411416027, -0.015500331838897902, -0.011498814604843921, -0.0012977405538530107], [0.018819960236367644, -0.9150508474448107, -0.40289918799525504, 1.3117021917484173], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4424137771129608, 0.21788039803504944], [0.8593075275421143, 0.4505508244037628], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851]], "goal_body": [1.090345953789635, 0.8660113477837765], "route_cost_m": 16.61973188072443, "route_attachment": {"nearest_keyframe": 290, "nearest_distance_m": 0.24811922458786548, "attachment_limit_m": 0.75, "candidate_count": 26, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6134947873421032, "remaining_m": 16.61973188072443, "total_m": 17.233226668066532, "selection_total_m": 17.233226668066532, "best_candidate_total_m": 17.233226668066532, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.482184911570549, 1.0249267737456524], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 549}, "footprint_evidence": null, "native_local_path_body": [[0.4424137771129608, 0.21788039803504944], [0.8593075275421143, 0.4505508244037628], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851], [1.0495433807373047, 0.8839084506034851]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8516141176223755, -0.2187994122505188, 0.47631970047950745, 0.2533348500728607], [0.23595860600471497, 0.6514122486114502, 0.7211003303527832, -1.1889349222183228], [-0.4680568277835846, 0.72649085521698, -0.5031243562698364, 2.86466646194458], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.44572725100442767, "input_age_at_publish_s": 0.6749159661121666, "vggt_debug_frame": "frames/00000550/frame.json"} +{"frame_idx": 552, "time_s": 138.69708919525146, "localized": true, "localized_streak": 283, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 795, "score": 0.45150887966156006, "verified": true, "loaded": true}, {"id": 794, "score": 0.43353602290153503, "verified": true, "loaded": true}, {"id": 796, "score": 0.4302099347114563, "verified": true, "loaded": true}, {"id": 793, "score": 0.383521169424057, "verified": true, "loaded": true}, {"id": 943, "score": 0.32359012961387634, "verified": false, "loaded": true}, {"id": 590, "score": 0.3190828561782837, "verified": true, "loaded": true}], "camera_display": [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], "global_route": [[-1.7365090739482891, -0.46597374961856186, 0.04219499871617022], [-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.8457168867399614, -0.428797981748148, -1.529780376003946], [-1.5064392398919062, -0.10277845566310262, -1.5370751923706765], [-1.3968713398697017, 0.38506531821671786, -1.5352336020020503], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347], [-1.3805615077444924, 0.45768362121323936, -1.5349594718585347]], "goal_keyframe": 1012, "route_ids": [1099, 1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.630166983578555, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6463836112374081, "map_correction_at_base_m": 0.008157430680786339, "map_correction_angle_deg": 0.4576131859939459, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008157430680786339, "rotation_deg": 0.4576131859939459, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361543, -0.4016365056936492, 0.9157890531050252, 0.027255805182649695], [-0.9998133703933496, -0.015519242036847361, -0.011505542546600245, -0.001297611294267309], [0.018833397874358226, -0.9156676637409431, -0.4014947480400073, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.47470054030418396, 0.11132164299488068], [0.8840367197990417, 0.3434748947620392], [1.1105672121047974, 0.7892146706581116], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152]], "goal_body": [1.1101928396058174, 0.8521410018150795], "route_cost_m": 16.61973188072443, "route_attachment": {"nearest_keyframe": 290, "nearest_distance_m": 0.23076021547881087, "attachment_limit_m": 0.75, "candidate_count": 24, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5701249104484661, "remaining_m": 16.61973188072443, "total_m": 17.189856791172897, "selection_total_m": 17.189856791172897, "best_candidate_total_m": 17.189856791172897, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.447176159477373, 0.9861170943284471], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 550}, "footprint_evidence": null, "native_local_path_body": [[0.47470054030418396, 0.11132164299488068], [0.8840367197990417, 0.3434748947620392], [1.1105672121047974, 0.7892146706581116], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152], [1.1442875862121582, 0.8555655479431152]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.8241503238677979, -0.23651480674743652, 0.5146233439445496, 0.2791226804256439], [0.25635576248168945, 0.6544491052627563, 0.7113213539123535, -1.1728068590164185], [-0.5050328373908997, 0.7181622982025146, -0.47873246669769287, 2.8277454376220703], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4688948108814657, "input_age_at_publish_s": 0.6482188999652863, "vggt_debug_frame": "frames/00000552/frame.json"} +{"frame_idx": 554, "time_s": 139.1976673603058, "localized": true, "localized_streak": 284, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.4070192575454712, "verified": true, "loaded": true}, {"id": 795, "score": 0.3998892605304718, "verified": true, "loaded": true}, {"id": 794, "score": 0.3776465654373169, "verified": true, "loaded": true}, {"id": 944, "score": 0.3670022487640381, "verified": false, "loaded": true}, {"id": 943, "score": 0.36683234572410583, "verified": false, "loaded": true}, {"id": 590, "score": 0.36341872811317444, "verified": false, "loaded": true}], "camera_display": [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], "global_route": [[-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7907544325098295, -0.4056849171868109, -1.5321876861477937], [-1.5490041356074586, -0.011047523379213331, -1.5376543203678943], [-1.4402752092161597, 0.4769870751699399, -1.5370792559883393], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779], [-1.4270021822818189, 0.5365637544407589, -1.5370090542258779]], "goal_keyframe": 1012, "route_ids": [1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.583995293164124, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7376720051396437, "map_correction_at_base_m": 0.011662942756823058, "map_correction_angle_deg": 0.388883187085723, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.011662942756823058, "rotation_deg": 0.388883187085723, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936493, 0.9157890531050256, 0.02725580518264792], [-0.9998133703933502, -0.01551924203684743, -0.011505542546600078, -0.001297611294266865], [0.018833397874358282, -0.9156676637409432, -0.40149474804000773, 1.3117644447120325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4909976124763489, 0.07703826576471329], [0.854020357131958, 0.3641378879547119], [1.1242539882659912, 0.7848204374313354], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195]], "goal_body": [1.1747228571626265, 0.8083039325364629], "route_cost_m": 16.390458926558495, "route_attachment": {"nearest_keyframe": 290, "nearest_distance_m": 0.22303225500886195, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7122663235905001, "remaining_m": 16.390458926558495, "total_m": 17.102725250148996, "selection_total_m": 17.102725250148996, "best_candidate_total_m": 17.102725250148996, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.402549622619117, 0.9243831651747672], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 552}, "footprint_evidence": null, "native_local_path_body": [[0.4909976124763489, 0.07703826576471329], [0.854020357131958, 0.3641378879547119], [1.1242539882659912, 0.7848204374313354], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195], [1.1572426557540894, 0.8361751437187195]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.7618745565414429, -0.2712138891220093, 0.5882095098495483, 0.31064996123313904], [0.29565876722335815, 0.6623775959014893, 0.6883617639541626, -1.1493860483169556], [-0.5763100385665894, 0.6983544826507568, -0.4244619607925415, 2.779742479324341], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4442571019753814, "input_age_at_publish_s": 0.5666273338720202, "vggt_debug_frame": "frames/00000554/frame.json"} +{"frame_idx": 556, "time_s": 139.66485595703125, "localized": true, "localized_streak": 285, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.4070192575454712, "verified": true, "loaded": true}, {"id": 795, "score": 0.3998892605304718, "verified": true, "loaded": true}, {"id": 794, "score": 0.3776465654373169, "verified": true, "loaded": true}, {"id": 944, "score": 0.3670022487640381, "verified": false, "loaded": true}, {"id": 943, "score": 0.36683234572410583, "verified": false, "loaded": true}, {"id": 590, "score": 0.36341872811317444, "verified": false, "loaded": true}], "camera_display": [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], "global_route": [[-1.5962059352751594, -0.2879778195949396, 0.0566549613521678], [-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7347671762000476, -0.375550236885112, -1.546334675127462], [-1.5173415115155087, 0.03657953436395989, -1.5530892294168073], [-1.4056481332900188, 0.5239393310976244, -1.5553465461284801], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487], [-1.4015880171365507, 0.5416554465628831, -1.5554285994467487]], "goal_keyframe": 1012, "route_ids": [1097, 1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.518557935608206, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9369095153292574, "map_correction_at_base_m": 0.023651779457516234, "map_correction_angle_deg": 0.4752559943369254, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.023651779457516234, "rotation_deg": 0.4752559943369254, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361515, -0.4016365056936494, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933495, -0.015519242036847437, -0.011505542546600092, -0.001297611294267309], [0.018833397874358254, -0.915667663740943, -0.40149474804000707, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49512651562690735, 0.04219570755958557], [0.8648815751075745, 0.3258357346057892], [1.1698949337005615, 0.7220262289047241], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227]], "goal_body": [1.2084471101265861, 0.7592745088097768], "route_cost_m": 16.390458926558495, "route_attachment": {"nearest_keyframe": 290, "nearest_distance_m": 0.25397130654755967, "attachment_limit_m": 0.75, "candidate_count": 25, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6544408154240144, "remaining_m": 16.390458926558495, "total_m": 17.04489974198251, "selection_total_m": 17.04489974198251, "best_candidate_total_m": 17.04489974198251, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.383518285406263, 0.8743167846460954], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 554}, "footprint_evidence": null, "native_local_path_body": [[0.49512651562690735, 0.04219570755958557], [0.8648815751075745, 0.3258357346057892], [1.1698949337005615, 0.7220262289047241], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227], [1.1809824705123901, 0.7364282608032227]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.7084367275238037, -0.29844674468040466, 0.6395678520202637, 0.3645932376384735], [0.31938305497169495, 0.6725324392318726, 0.667603611946106, -1.1195709705352783], [-0.6293742656707764, 0.6772220134735107, -0.3811279535293579, 2.747264862060547], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.43723515095189214, "input_age_at_publish_s": 0.5316001232713461, "vggt_debug_frame": "frames/00000556/frame.json"} +{"frame_idx": 558, "time_s": 140.20023441314697, "localized": true, "localized_streak": 286, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.4070192575454712, "verified": true, "loaded": true}, {"id": 795, "score": 0.3998892605304718, "verified": true, "loaded": true}, {"id": 794, "score": 0.3776465654373169, "verified": true, "loaded": true}, {"id": 944, "score": 0.3670022487640381, "verified": false, "loaded": true}, {"id": 943, "score": 0.36683234572410583, "verified": false, "loaded": true}, {"id": 590, "score": 0.36341872811317444, "verified": false, "loaded": true}], "camera_display": [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.5600269790510501, -0.12267455618990741, -1.5631180095839519], [-1.3683161638499217, 0.31020525260793175, -1.5708493378046904], [-1.2749317798152684, 0.7909883049169562, -1.5746198415027486], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334], [-1.307109221551047, 0.8447722974389884, -1.5733242910271334]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.20332686436903, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.2825651360719829, "map_correction_at_base_m": 0.26309601587941905, "map_correction_angle_deg": 1.2072350966262422, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.26309601587941905, "rotation_deg": 1.2072350966262422, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004331809827067198, -0.40023151522282846, 0.9164038245479234, 0.027250307842282773], [-0.9998129994161804, -0.0155381625305611, -0.0115122414670083, -0.0012974807961891877], [0.018846793415405266, -0.9162823253384367, -0.4000893633306746, 1.3118266893141803], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49789464473724365, 0.035077109932899475], [0.8549640774726868, 0.3460417687892914], [1.14315664768219, 0.7420620918273926], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657]], "goal_body": [1.1374318566365773, 0.8288506805533709], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 801, "nearest_distance_m": 0.3182001269316371, "attachment_limit_m": 0.75, "candidate_count": 12, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5025283745750039, "remaining_m": 16.262676179409027, "total_m": 16.76520455398403, "selection_total_m": 16.76520455398403, "best_candidate_total_m": 16.76520455398403, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.410521474546858, 0.7691997393329144], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 556}, "footprint_evidence": null, "native_local_path_body": [[0.49789464473724365, 0.035077109932899475], [0.8549640774726868, 0.3460417687892914], [1.14315664768219, 0.7420620918273926], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657], [1.1367478370666504, 0.804421603679657]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.7039028406143188, -0.30323243141174316, 0.6423172950744629, 0.6696507930755615], [0.31830501556396484, 0.6737464666366577, 0.6668940782546997, -1.0766785144805908], [-0.6349829435348511, 0.6738811731338501, -0.3777318000793457, 2.690626621246338], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4463211218826473, "input_age_at_publish_s": 0.4965941021218896, "vggt_debug_frame": "frames/00000558/frame.json"} +{"frame_idx": 559, "time_s": 140.43453240394592, "localized": true, "localized_streak": 287, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.4070192575454712, "verified": true, "loaded": true}, {"id": 795, "score": 0.3998892605304718, "verified": true, "loaded": true}, {"id": 794, "score": 0.3776465654373169, "verified": true, "loaded": true}, {"id": 944, "score": 0.3670022487640381, "verified": false, "loaded": true}, {"id": 943, "score": 0.36683234572410583, "verified": false, "loaded": true}, {"id": 590, "score": 0.36341872811317444, "verified": false, "loaded": true}], "camera_display": [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.5037011223669015, -0.18955299144194804, -1.549271601025134], [-1.2704587117790571, 0.2115389893552715, -1.5593443650546015], [-1.232594050064996, 0.6858028218220582, -1.5610542745711897], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592], [-1.3372188533670255, 0.8548146221935453, -1.5565996662025592]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.226872135933915, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4549115488231375, "map_correction_at_base_m": 0.0956064140045204, "map_correction_angle_deg": 0.881639621825845, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0956064140045204, "rotation_deg": 0.881639621825845, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.4016365056936492, 0.9157890531050257, 0.02725580518264792], [-0.9998133703933502, -0.01551924203684741, -0.011505542546600092, -0.0012976112942677531], [0.018833397874358268, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4980436861515045, 0.03315452113747597], [0.8854464292526245, 0.28868788480758667], [1.1301920413970947, 0.6966858506202698], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376]], "goal_body": [1.139089967124085, 0.9059050434009194], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 801, "nearest_distance_m": 0.2307822189414511, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.48385001177280457, "remaining_m": 16.262676179409027, "total_m": 16.746526191181832, "selection_total_m": 16.746526191181832, "best_candidate_total_m": 16.746526191181832, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.385175618772331, 0.6847987905860697], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 558}, "footprint_evidence": null, "native_local_path_body": [[0.4980436861515045, 0.03315452113747597], [0.8854464292526245, 0.28868788480758667], [1.1301920413970947, 0.6966858506202698], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376], [1.1115037202835083, 0.8946300745010376]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.6870101690292358, -0.31144440174102783, 0.6565209627151489, 0.62213134765625], [0.3271389603614807, 0.6741875410079956, 0.6621566414833069, -1.0510283708572388], [-0.6488431692123413, 0.6696817278862, -0.36128807067871094, 2.6069812774658203], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.43191037233918905, "input_age_at_publish_s": 0.6812751041725278, "vggt_debug_frame": "frames/00000559/frame.json"} +{"frame_idx": 561, "time_s": 140.90232372283936, "localized": true, "localized_streak": 288, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.4070192575454712, "verified": true, "loaded": true}, {"id": 795, "score": 0.3998892605304718, "verified": true, "loaded": true}, {"id": 794, "score": 0.3776465654373169, "verified": true, "loaded": true}, {"id": 944, "score": 0.3670022487640381, "verified": false, "loaded": true}, {"id": 943, "score": 0.36683234572410583, "verified": false, "loaded": true}, {"id": 590, "score": 0.36341872811317444, "verified": false, "loaded": true}], "camera_display": [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4603853737572714, -0.101968212957539, -1.563253540776389], [-1.3127729026875392, 0.36325962586596017, -1.5653021770302993], [-1.1922732474455526, 0.8485213361907769, -1.5662992818248225], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375], [-1.2356182246662724, 0.9671978431569537, -1.5640635406688375]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.148811677824774, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.21782675179956937, "map_correction_at_base_m": 0.07017619363301741, "map_correction_angle_deg": 0.9569256412748169, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.07017619363301741, "rotation_deg": 0.9569256412748169, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361404, -0.4016365056936494, 0.9157890531050257, 0.027255805182648807], [-0.9998133703933502, -0.015519242036847403, -0.01150554254660012, -0.001297611294267309], [0.018833397874358275, -0.9156676637409432, -0.4014947480400075, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49887052178382874, 0.029894085600972176], [0.8386268019676208, 0.38031691312789917], [1.163046956062317, 0.7607792019844055], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583]], "goal_body": [1.1261549447777865, 0.899628246413479], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.24613673087100185, "attachment_limit_m": 0.75, "candidate_count": 11, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.43812913928548824, "remaining_m": 16.262676179409027, "total_m": 16.700805318694517, "selection_total_m": 16.700805318694517, "best_candidate_total_m": 16.700805318694517, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.363524546795908, 0.6761483930040613], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 559}, "footprint_evidence": null, "native_local_path_body": [[0.49887052178382874, 0.029894085600972176], [0.8386268019676208, 0.38031691312789917], [1.163046956062317, 0.7607792019844055], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583], [1.17719304561615, 0.8863490223884583]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.6855987310409546, -0.3035774827003479, 0.6616611480712891, 0.7082462906837463], [0.32957959175109863, 0.6809802055358887, 0.6539443731307983, -1.0348831415176392], [-0.6491010189056396, 0.6664133071899414, -0.36682629585266113, 2.6151511669158936], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4273374108597636, "input_age_at_publish_s": 0.6100671621970832, "vggt_debug_frame": "frames/00000561/frame.json"} +{"frame_idx": 563, "time_s": 141.43563747406006, "localized": true, "localized_streak": 289, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.38232100009918213, "verified": true, "loaded": true}, {"id": 797, "score": 0.35712355375289917, "verified": true, "loaded": true}, {"id": 590, "score": 0.3476400673389435, "verified": false, "loaded": true}, {"id": 795, "score": 0.33549997210502625, "verified": true, "loaded": true}, {"id": 944, "score": 0.32673025131225586, "verified": false, "loaded": true}, {"id": 943, "score": 0.32304567098617554, "verified": false, "loaded": true}], "camera_display": [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.616131602643308, -0.29536225568163665, -1.533764762385528], [-1.4473271911635548, 0.15162218746984024, -1.537424316886927], [-1.3348254320536244, 0.6387992609378186, -1.5387927581204586], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521], [-1.3167390192478265, 0.7171207405954227, -1.539012755462521]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.39786280942268, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7095293485864715, "map_correction_at_base_m": 0.3033716081798291, "map_correction_angle_deg": 0.9519485066307669, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.3033716081798291, "rotation_deg": 0.9519485066307669, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043101051608316066, -0.4013423999507887, 0.9159179553842385, 0.02725466202513882], [-0.9998132927352459, -0.015523202852080108, -0.011506947602137059, -0.0012975840724400722], [0.01883620618404164, -0.915796543002295, -0.4012005597723385, 1.3117774784896574], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4991647005081177, 0.02605637162923813], [0.859944224357605, 0.33933180570602417], [1.1902085542678833, 0.7147321701049805], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963]], "goal_body": [1.2187799886912445, 0.7910105388960654], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 799, "nearest_distance_m": 0.2185302739828485, "attachment_limit_m": 0.75, "candidate_count": 23, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6247897402052014, "remaining_m": 16.262676179409027, "total_m": 16.88746591961423, "selection_total_m": 16.88746591961423, "best_candidate_total_m": 16.88746591961423, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.237156667695593, 0.7759712044478023], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 561}, "footprint_evidence": null, "native_local_path_body": [[0.4991647005081177, 0.02605637162923813], [0.859944224357605, 0.33933180570602417], [1.1902085542678833, 0.7147321701049805], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963], [1.2433037757873535, 0.7750837802886963]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.662031888961792, -0.31305044889450073, 0.6809650659561157, 0.4675168991088867], [0.3402861952781677, 0.6839873194694519, 0.6452648043632507, -1.0903807878494263], [-0.6677719354629517, 0.6589087843894958, -0.3462947607040405, 2.6621410846710205], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.46491545299068093, "input_age_at_publish_s": 0.5420699240639806, "vggt_debug_frame": "frames/00000563/frame.json"} +{"frame_idx": 565, "time_s": 141.90228271484375, "localized": true, "localized_streak": 290, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.38232100009918213, "verified": true, "loaded": true}, {"id": 797, "score": 0.35712355375289917, "verified": true, "loaded": true}, {"id": 590, "score": 0.3476400673389435, "verified": false, "loaded": true}, {"id": 795, "score": 0.33549997210502625, "verified": true, "loaded": true}, {"id": 944, "score": 0.32673025131225586, "verified": false, "loaded": true}, {"id": 943, "score": 0.32304567098617554, "verified": false, "loaded": true}], "camera_display": [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.5444995702373467, -0.23899856477745907, -1.5457211405823497], [-1.4035421102059638, 0.22821347478394127, -1.5492548576177012], [-1.2901294975854811, 0.715176750461278, -1.5513583895946312], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306], [-1.3351034293607014, 0.8334589412126707, -1.5484502242437306]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.301728621934524, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9487694690905294, "map_correction_at_base_m": 0.04637625501773087, "map_correction_angle_deg": 0.6115508584398717, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.04637625501773087, "rotation_deg": 0.6115508584398717, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004325944683445472, -0.4005316973519451, 0.9162726917348162, 0.027251490080936414], [-0.9998130786752953, -0.015534120290939486, -0.011510813030086886, -0.0012975087743023472], [0.01884393569355313, -0.9161512159699163, -0.40038962969140535, 1.3118133947093809], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.49944502115249634, 0.023010319098830223], [0.8485903143882751, 0.36398845911026], [1.1831284761428833, 0.7355853319168091], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125]], "goal_body": [1.1902242817956417, 0.8509181086703399], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 800, "nearest_distance_m": 0.20200617190616432, "attachment_limit_m": 0.75, "candidate_count": 23, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.5400447302079926, "remaining_m": 16.262676179409027, "total_m": 16.80272090961702, "selection_total_m": 16.80272090961702, "best_candidate_total_m": 16.80272090961702, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.224804347977172, 0.7028638760312218], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 563}, "footprint_evidence": null, "native_local_path_body": [[0.49944502115249634, 0.023010319098830223], [0.8485903143882751, 0.36398845911026], [1.1831284761428833, 0.7355853319168091], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125], [1.200819492340088, 0.8609201312065125]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.654850959777832, -0.31731584668159485, 0.6859162449836731, 0.5480263233184814], [0.3485288918018341, 0.6785187125205994, 0.646637499332428, -1.0555880069732666], [-0.6705953478813171, 0.6625127196311951, -0.3337348699569702, 2.6102123260498047], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.46540218126028776, "input_age_at_publish_s": 0.5587412039749324, "vggt_debug_frame": "frames/00000565/frame.json"} +{"frame_idx": 567, "time_s": 142.40226316452026, "localized": true, "localized_streak": 291, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.38232100009918213, "verified": true, "loaded": true}, {"id": 797, "score": 0.35712355375289917, "verified": true, "loaded": true}, {"id": 590, "score": 0.3476400673389435, "verified": false, "loaded": true}, {"id": 795, "score": 0.33549997210502625, "verified": true, "loaded": true}, {"id": 944, "score": 0.32673025131225586, "verified": false, "loaded": true}, {"id": 943, "score": 0.32304567098617554, "verified": false, "loaded": true}], "camera_display": [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4737032722753467, -0.15620976835608058, -1.5544607094051255], [-1.3570870728710682, 0.3299934153623427, -1.5571339046547155], [-1.2523070697152523, 0.8143171670660352, -1.5592597816476912], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548], [-1.296314529162859, 0.8862051777015636, -1.556766223402548]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.191496952137935, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9901433986726751, "map_correction_at_base_m": 0.0645820416876237, "map_correction_angle_deg": 0.3814285622931154, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0645820416876237, "rotation_deg": 0.3814285622931154, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361411, -0.4016365056936494, 0.9157890531050258, 0.027255805182648807], [-0.9998133703933502, -0.015519242036847404, -0.011505542546600106, -0.001297611294267309], [0.018833397874358268, -0.9156676637409432, -0.4014947480400073, 1.3117644447120334], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4978176951408386, 0.023192841559648514], [0.8367979526519775, 0.3907420039176941], [1.1645179986953735, 0.7624306082725525], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521]], "goal_body": [1.164800118322215, 0.890088487618878], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 801, "nearest_distance_m": 0.22809527300511503, "attachment_limit_m": 0.75, "candidate_count": 18, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4531039013456615, "remaining_m": 16.262676179409027, "total_m": 16.715780080754687, "selection_total_m": 16.715780080754687, "best_candidate_total_m": 16.715780080754687, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.20825993487096, 0.6502139508291307], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 565}, "footprint_evidence": null, "native_local_path_body": [[0.4978176951408386, 0.023192841559648514], [0.8367979526519775, 0.3907420039176941], [1.1645179986953735, 0.7624306082725525], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521], [1.1611111164093018, 0.8466870784759521]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.6507368087768555, -0.3202149271965027, 0.6884795427322388, 0.6510016322135925], [0.34962671995162964, 0.6785202622413635, 0.6460428833961487, -1.030468225479126], [-0.6740199327468872, 0.6611147522926331, -0.32958245277404785, 2.5777156352996826], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4569068900309503, "input_age_at_publish_s": 0.5225859116762877, "vggt_debug_frame": "frames/00000567/frame.json"} +{"frame_idx": 569, "time_s": 142.93589091300964, "localized": true, "localized_streak": 292, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.38232100009918213, "verified": true, "loaded": true}, {"id": 797, "score": 0.35712355375289917, "verified": true, "loaded": true}, {"id": 590, "score": 0.3476400673389435, "verified": false, "loaded": true}, {"id": 795, "score": 0.33549997210502625, "verified": true, "loaded": true}, {"id": 944, "score": 0.32673025131225586, "verified": false, "loaded": true}, {"id": 943, "score": 0.32304567098617554, "verified": false, "loaded": true}], "camera_display": [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.5365775383268958, -0.05948225434631382, -1.5471647304951557], [-1.3671663164879617, 0.3891987976028233, -1.5505598150424913], [-1.300860249488062, 0.866659057498131, -1.5490323609230008], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208], [-1.368117699279558, 0.9778295340807066, -1.5449469862671208]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.1580979970656, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.1345724475064194, "map_correction_at_base_m": 0.02857326048236379, "map_correction_angle_deg": 0.3798298733189965, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.02857326048236379, "rotation_deg": 0.3798298733189965, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043261633877538334, -0.4005205038242607, 0.9162775836648537, 0.02725144607144614], [-0.9998130757197761, -0.015534271024484955, -0.011510866322692447, -0.0012975077319654638], [0.018844042297328518, -0.9161561070254883, -0.40037843302280685, 1.3118138904946115], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.45549994707107544, 0.11401403695344925], [0.8242930769920349, 0.4206375479698181], [1.1175199747085571, 0.8032405972480774], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814]], "goal_body": [1.1636524136583566, 0.8886287843181776], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.21548705503645432, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.425910288728239, "remaining_m": 16.262676179409027, "total_m": 16.688586468137267, "selection_total_m": 16.688586468137267, "best_candidate_total_m": 16.688586468137267, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.165142912983569, 0.6393942284674127], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 567}, "footprint_evidence": null, "native_local_path_body": [[0.45549994707107544, 0.11401403695344925], [0.8242930769920349, 0.4206375479698181], [1.1175199747085571, 0.8032405972480774], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814], [1.1138006448745728, 0.933184027671814]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.6457865238189697, -0.3172283172607422, 0.6944969892501831, 0.6863719820976257], [0.35360997915267944, 0.6819051504135132, 0.6402853727340698, -1.029442310333252], [-0.6766977310180664, 0.6590687036514282, -0.3281900882720947, 2.5720481872558594], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.45307433139532804, "input_age_at_publish_s": 0.48066583508625627, "vggt_debug_frame": "frames/00000569/frame.json"} +{"frame_idx": 570, "time_s": 143.20294046401978, "localized": true, "localized_streak": 293, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.38232100009918213, "verified": true, "loaded": true}, {"id": 797, "score": 0.35712355375289917, "verified": true, "loaded": true}, {"id": 590, "score": 0.3476400673389435, "verified": false, "loaded": true}, {"id": 795, "score": 0.33549997210502625, "verified": true, "loaded": true}, {"id": 944, "score": 0.32673025131225586, "verified": false, "loaded": true}, {"id": 943, "score": 0.32304567098617554, "verified": false, "loaded": true}], "camera_display": [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.5331493871222812, -0.15177183105631276, -1.5323269091014975], [-1.417045824756713, 0.3345563694267595, -1.5345438045764825], [-1.30094231013924, 0.8208845335099824, -1.5367606982085404], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516], [-1.2903066065659243, 0.8654348030550918, -1.536963777501516]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.228702448420906, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9832823909286174, "map_correction_at_base_m": 0.0986762329495605, "map_correction_angle_deg": 0.4353461154747218, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0986762329495605, "rotation_deg": 0.4353461154747218, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361411, -0.401636505693649, 0.9157890531050258, 0.027255805182648807], [-0.9998133703933504, -0.015519242036847396, -0.011505542546600127, -0.001297611294267087], [0.01883339787435827, -0.9156676637409433, -0.4014947480400075, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4732670187950134, 0.07370298355817795], [0.8180779814720154, 0.43578779697418213], [1.1628888845443726, 0.7978726029396057], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046]], "goal_body": [1.1863720316337143, 0.8652771966874508], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 801, "nearest_distance_m": 0.19877764241282306, "attachment_limit_m": 0.75, "candidate_count": 24, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4696563842727613, "remaining_m": 16.262676179409027, "total_m": 16.732332563681787, "selection_total_m": 16.732332563681787, "best_candidate_total_m": 16.732332563681787, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.12096409236179, 0.6590074869089382], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 569}, "footprint_evidence": null, "native_local_path_body": [[0.4732670187950134, 0.07370298355817795], [0.8180779814720154, 0.43578779697418213], [1.1628888845443726, 0.7978726029396057], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046], [1.1944754123687744, 0.8310415148735046]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.6376980543136597, -0.3231693208217621, 0.6992160081863403, 0.6145573258399963], [0.35305288434028625, 0.6841486692428589, 0.6381961703300476, -1.0473690032958984], [-0.6846131086349487, 0.6538365483283997, -0.32218456268310547, 2.5710654258728027], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.48155897529795766, "input_age_at_publish_s": 0.7126927617937326, "vggt_debug_frame": "frames/00000570/frame.json"} +{"frame_idx": 572, "time_s": 143.7037115097046, "localized": true, "localized_streak": 294, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.31354770064353943, "verified": true, "loaded": true}, {"id": 797, "score": 0.30288398265838623, "verified": true, "loaded": true}, {"id": 798, "score": 0.27846768498420715, "verified": true, "loaded": true}, {"id": 590, "score": 0.27397027611732483, "verified": false, "loaded": true}, {"id": 795, "score": 0.25632861256599426, "verified": true, "loaded": true}, {"id": 591, "score": 0.25565433502197266, "verified": false, "loaded": true}], "camera_display": [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4981279692582956, -0.05834075164871688, -1.5496952768415915], [-1.3807749640266525, 0.42768717608567375, -1.5474183559255787], [-1.2675870548677888, 0.9130587371711858, -1.544975580670655], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467], [-1.3167906359305852, 0.9936566437271446, -1.5417029382911467]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.146752838419562, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.3972450899065296, "map_correction_at_base_m": 0.05358230256787173, "map_correction_angle_deg": 0.5397457418948336, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.05358230256787173, "rotation_deg": 0.5397457418948336, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043043590923614195, -0.4016365056936489, 0.9157890531050261, 0.02725580518264792], [-0.9998133703933502, -0.015519242036847403, -0.011505542546600118, -0.001297611294267531], [0.018833397874358268, -0.9156676637409434, -0.40149474804000707, 1.3117644447120336], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4585251212120056, 0.10535108298063278], [0.8074594140052795, 0.46346399188041687], [1.1524745225906372, 0.8231409788131714], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505]], "goal_body": [1.1687208054794753, 0.901610380515163], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.19635800683851534, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.4141903235746532, "remaining_m": 16.262676179409027, "total_m": 16.676866502983682, "selection_total_m": 16.676866502983682, "best_candidate_total_m": 16.676866502983682, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [6.096435994139373, 0.6096655998827483], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 0, "view": 0, "total": 0, "label": "idle", "settled_views": 0, "reason": ""}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 570}, "footprint_evidence": null, "native_local_path_body": [[0.4585251212120056, 0.10535108298063278], [0.8074594140052795, 0.46346399188041687], [1.1524745225906372, 0.8231409788131714], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505], [1.1512480974197388, 0.9176196455955505]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.6306856870651245, -0.31729552149772644, 0.7082085609436035, 0.6923873424530029], [0.36250409483909607, 0.6864554286003113, 0.6303727626800537, -1.009936809539795], [-0.6861680746078491, 0.6542954444885254, -0.31791675090789795, 2.544095754623413], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.46237664483487606, "input_age_at_publish_s": 0.690120488870889, "vggt_debug_frame": "frames/00000572/frame.json"} +{"frame_idx": 574, "time_s": 144.2038311958313, "localized": true, "localized_streak": 295, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.31354770064353943, "verified": true, "loaded": true}, {"id": 797, "score": 0.30288398265838623, "verified": true, "loaded": true}, {"id": 798, "score": 0.27846768498420715, "verified": true, "loaded": true}, {"id": 590, "score": 0.27397027611732483, "verified": false, "loaded": true}, {"id": 795, "score": 0.25632861256599426, "verified": true, "loaded": true}, {"id": 591, "score": 0.25565433502197266, "verified": false, "loaded": true}], "camera_display": [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304], [-1.795808483218194, -0.37953542546378216, -1.5171900288778304]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.107611146348686, "planner_name": "no route / scan", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9631029418719061, "map_correction_at_base_m": 0.0329165565309098, "map_correction_angle_deg": 0.38919764354234615, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0329165565309098, "rotation_deg": 0.38919764354234615, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361404, -0.4016365056936491, 0.9157890531050258, 0.027255805182648807], [-0.9998133703933497, -0.015519242036847406, -0.011505542546600127, -0.001297611294267087], [0.01883339787435827, -0.9156676637409432, -0.40149474804000707, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [1.2039810629244914, 0.8709438435583283], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14861202300807688, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3696316318148994, "remaining_m": 16.262676179409027, "total_m": 16.632307811223928, "selection_total_m": 16.632307811223928, "best_candidate_total_m": 16.632307811223928, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_braking", "target": [7.2288384072158856, 1.495357497360731], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": false, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 572}, "footprint_evidence": "footprint_evidence/00000574.npz", "native_local_path_body": [[0.45139506459236145, 0.11229683458805084], [0.8206029534339905, 0.4494696855545044], [1.152747392654419, 0.8040016889572144], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998], [1.1548551321029663, 0.8504798412322998]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.5831029415130615, -0.337110698223114, 0.739153265953064, 0.7201298475265503], [0.3770977854728699, 0.6935701370239258, 0.6138060092926025, -1.013314962387085], [-0.7195751667022705, 0.6366450786590576, -0.277299165725708, 2.499255418777466], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5494952141307294, "input_age_at_publish_s": 0.7355702347122133, "vggt_debug_frame": "frames/00000574/frame.json"} +{"frame_idx": 576, "time_s": 144.70392322540283, "localized": true, "localized_streak": 296, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.31354770064353943, "verified": true, "loaded": true}, {"id": 797, "score": 0.30288398265838623, "verified": true, "loaded": true}, {"id": 798, "score": 0.27846768498420715, "verified": true, "loaded": true}, {"id": 590, "score": 0.27397027611732483, "verified": false, "loaded": true}, {"id": 795, "score": 0.25632861256599426, "verified": true, "loaded": true}, {"id": 591, "score": 0.25565433502197266, "verified": false, "loaded": true}], "camera_display": [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903], [-1.8157751792727543, -0.3605800440661646, -1.5099114610901903]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.09250239688106, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9400846693273938, "map_correction_at_base_m": 0.06132572884588132, "map_correction_angle_deg": 0.5722629153479551, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.06132572884588132, "rotation_deg": 0.5722629153479551, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004331809827067212, -0.4002315152228285, 0.9164038245479235, 0.02725030784228366], [-0.9998129994161804, -0.015538162530561131, -0.011512241467008327, -0.0012974807961889656], [0.018846793415405273, -0.9162823253384367, -0.4000893633306746, 1.3118266893141808], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-0.04896450022426778, 0.000927017314380228], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1497789408286591, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.35841481922123025, "remaining_m": 16.262676179409027, "total_m": 16.621090998630258, "selection_total_m": 16.621090998630258, "best_candidate_total_m": 16.621090998630258, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_braking", "target": [7.2288384072158856, 1.495357497360731], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 574}, "footprint_evidence": null, "native_local_path_body": [[-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748], [-0.048964500427246094, 0.0009270173031836748]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.5594574213027954, -0.3469766676425934, 0.752738356590271, 0.7382787466049194], [0.3844841420650482, 0.6959041953086853, 0.6065388321876526, -1.0296117067337036], [-0.7342885732650757, 0.6287484765052795, -0.2559218406677246, 2.5161383152008057], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4586512711830437, "input_age_at_publish_s": 0.635741775855422, "vggt_debug_frame": "frames/00000576/frame.json"} +{"frame_idx": 578, "time_s": 145.20404195785522, "localized": true, "localized_streak": 297, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 796, "score": 0.31354770064353943, "verified": true, "loaded": true}, {"id": 797, "score": 0.30288398265838623, "verified": true, "loaded": true}, {"id": 798, "score": 0.27846768498420715, "verified": true, "loaded": true}, {"id": 590, "score": 0.27397027611732483, "verified": false, "loaded": true}, {"id": 795, "score": 0.25632861256599426, "verified": true, "loaded": true}, {"id": 591, "score": 0.25565433502197266, "verified": false, "loaded": true}], "camera_display": [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554], [-1.7119736120802278, -0.29581956408847443, -1.5089687693830554]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.959143879773238, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9200493736831564, "map_correction_at_base_m": 0.07383975216688933, "map_correction_angle_deg": 0.6395716603446606, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.07383975216688933, "rotation_deg": 0.6395716603446606, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004308911151905084, -0.4014035134977283, 0.9158911794729566, 0.0272548998982316], [-0.9998133088720967, -0.015522379825324298, -0.011506655760368828, -0.0012975897331389818], [0.01883562281726442, -0.9157697718729514, -0.4012616904675159, 1.3117747703239493], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-0.0977697518496759, 0.004418809710423665], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.13862121397968352, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.2806066996806844, "remaining_m": 16.262676179409027, "total_m": 16.543282879089713, "selection_total_m": 16.543282879089713, "best_candidate_total_m": 16.543282879089713, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_braking", "target": [7.2288384072158856, 1.495357497360731], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 576}, "footprint_evidence": "footprint_evidence/00000578.npz", "native_local_path_body": [[-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651], [-0.09776975214481354, 0.004418809898197651]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.5222067832946777, -0.3660334646701813, 0.7702725529670715, 0.849100649356842], [0.39467278122901917, 0.696940541267395, 0.5987547636032104, -0.9953556656837463], [-0.755998432636261, 0.616679310798645, -0.21948373317718506, 2.4452168941497803], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5319793159142137, "input_age_at_publish_s": 0.74044209998101, "vggt_debug_frame": "frames/00000578/frame.json"} +{"frame_idx": 580, "time_s": 145.67079043388367, "localized": true, "localized_streak": 298, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": false, "loaded": true}], "camera_display": [-1.583657533973617, -0.16395352409850283, -0.212966507564539], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623], [-1.6691585946996699, -0.19093226922060946, -1.5220003928786623]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.849081017641575, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.139869199233357, "map_correction_at_base_m": 0.09393962586260203, "map_correction_angle_deg": 0.6560409599064984, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.09393962586260203, "rotation_deg": 0.6560409599064984, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004327499831662196, -0.4004521033011831, 0.916307473344437, 0.027251177015243044], [-0.9998130576594497, -0.015535192111766974, -0.011511191932727094, -0.0012975013609486385], [0.01884469365281781, -0.9161859913618573, -0.4003100133064652, 1.3118169200305676], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-0.12110038870126043, 0.00931581754610205], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1449136480471972, "attachment_limit_m": 0.75, "candidate_count": 15, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7372713739477064, "remaining_m": 15.583116039633751, "total_m": 16.320387413581457, "selection_total_m": 16.320387413581457, "best_candidate_total_m": 16.320387413581457, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_braking", "target": [7.2288384072158856, 1.495357497360731], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 578}, "footprint_evidence": null, "native_local_path_body": [[-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994], [-0.12110038846731186, 0.00931581761687994]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.48954975605010986, -0.373808890581131, 0.7877868413925171, 0.9650865793228149], [0.3967037498950958, 0.709060788154602, 0.5829742550849915, -0.9891865253448486], [-0.7765097618103027, 0.5979128479957581, -0.19882917404174805, 2.4588375091552734], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4471102599054575, "input_age_at_publish_s": 0.6970849470235407, "vggt_debug_frame": "frames/00000580/frame.json"} +{"frame_idx": 582, "time_s": 146.2042510509491, "localized": true, "localized_streak": 299, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": false, "loaded": true}], "camera_display": [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909], [-1.696078805197898, -0.234068424259136, -1.5244968471252909]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.916242964048118, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9341227141117797, "map_correction_at_base_m": 0.05479206078080991, "map_correction_angle_deg": 0.597617418028124, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.05479206078080991, "rotation_deg": 0.597617418028124, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043318098270671845, -0.4002315152228283, 0.9164038245479231, 0.02725030784228366], [-0.9998129994161803, -0.0155381625305612, -0.011512241467008244, -0.0012974807961887852], [0.018846793415405266, -0.9162823253384368, -0.4000893633306746, 1.3118266893141803], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-0.12496580756823897, 0.011677444603893583], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.17688096854630542, "attachment_limit_m": 0.75, "candidate_count": 16, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.2785792525659101, "remaining_m": 16.262676179409027, "total_m": 16.54125543197494, "selection_total_m": 16.54125543197494, "best_candidate_total_m": 16.54125543197494, "selected_on_previous_route": false}, "corner_observation": {"phase": "survey_braking", "target": [7.2288384072158856, 1.495357497360731], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 580}, "footprint_evidence": null, "native_local_path_body": [[-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229], [-0.12496580928564072, 0.011677444912493229]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4695082902908325, -0.3712695837020874, 0.8010749816894531, 0.9063522815704346], [0.4000120162963867, 0.7193931341171265, 0.5678591132164001, -0.9959945678710938], [-0.7871166467666626, 0.5870540738105774, -0.18924880027770996, 2.477161169052124], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.43893617391586304, "input_age_at_publish_s": 0.654310705140233, "vggt_debug_frame": "frames/00000582/frame.json"} +{"frame_idx": 584, "time_s": 146.70434093475342, "localized": true, "localized_streak": 300, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": false, "loaded": true}], "camera_display": [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844], [-1.6726468192656725, -0.20848482028983906, -1.5174597298195844]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.866811100517115, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7863105054666715, "map_correction_at_base_m": 0.03534651287538157, "map_correction_angle_deg": 0.45563048174636417, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.03534651287538157, "rotation_deg": 0.45563048174636417, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043318098270671845, -0.40023151522282824, 0.916403824547923, 0.02725030784228455], [-0.9998129994161803, -0.015538162530561131, -0.011512241467008216, -0.001297480796189035], [0.01884679341540524, -0.9162823253384368, -0.40008936333067435, 1.3118266893141801], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-0.12501414204124384, 0.011741787944521069], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1471067017825482, "attachment_limit_m": 0.75, "candidate_count": 15, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.26291780180597396, "remaining_m": 16.262676179409027, "total_m": 16.525593981215, "selection_total_m": 16.525593981215, "best_candidate_total_m": 16.525593981215, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_braking", "target": [7.2288384072158856, 1.495357497360731], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 582}, "footprint_evidence": "footprint_evidence/00000584.npz", "native_local_path_body": [[-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263], [-0.12501414120197296, 0.011741788126528263]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.46913373470306396, -0.3785620927810669, 0.7978749871253967, 0.948916494846344], [0.3970440626144409, 0.7165956497192383, 0.573451578617096, -0.9961703419685364], [-0.7888408303260803, 0.5858169198036194, -0.1858733892440796, 2.4620447158813477], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5296727959066629, "input_age_at_publish_s": 0.6827252190560102, "vggt_debug_frame": "frames/00000584/frame.json"} +{"frame_idx": 586, "time_s": 147.20445132255554, "localized": true, "localized_streak": 301, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": false, "loaded": true}], "camera_display": [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264], [-1.6961869313520563, -0.2267767765916613, -1.5176499911068264]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.903999798686343, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.680355429182272, "map_correction_at_base_m": 0.029851005855788388, "map_correction_angle_deg": 0.3846884223763688, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.029851005855788388, "rotation_deg": 0.3846884223763688, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361404, -0.401636505693649, 0.9157890531050253, 0.027255805182649695], [-0.9998133703933498, -0.015519242036847403, -0.011505542546600134, -0.0012976112942671841], [0.018833397874358282, -0.9156676637409433, -0.40149474804000773, 1.311764444712033], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [0.0, 0.0], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1650251922842502, "attachment_limit_m": 0.75, "candidate_count": 16, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.26997962513915275, "remaining_m": 16.262676179409027, "total_m": 16.53265580454818, "selection_total_m": 16.53265580454818, "best_candidate_total_m": 16.53265580454818, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 584}, "footprint_evidence": null, "native_local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.47263145446777344, -0.3746047616004944, 0.7976784110069275, 0.9170047640800476], [0.3994159698486328, 0.7157925367355347, 0.5728070735931396, -1.001932144165039], [-0.7855485081672668, 0.589332103729248, -0.1886829137802124, 2.474306344985962], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4609708902426064, "input_age_at_publish_s": 0.623134349938482, "vggt_debug_frame": "frames/00000586/frame.json"} +{"frame_idx": 588, "time_s": 147.67119145393372, "localized": true, "localized_streak": 302, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": false, "loaded": true}], "camera_display": [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666], [-1.6806640894016813, -0.20820871173899036, -1.507871960691666]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.859368093764719, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.1654370636897704, "map_correction_at_base_m": 0.026101551558244982, "map_correction_angle_deg": 0.622787677717416, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.026101551558244982, "rotation_deg": 0.622787677717416, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0043318098270671845, -0.40023151522282835, 0.9164038245479235, 0.027250307842282773], [-0.9998129994161805, -0.0155381625305612, -0.011512241467008327, -0.0012974807961888546], [0.018846793415405322, -0.9162823253384368, -0.40008936333067435, 1.3118266893141808], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.072104350687058e-06, -1.9381781107579597e-11], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13800720265072336, "attachment_limit_m": 0.75, "candidate_count": 16, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7445195308783809, "remaining_m": 15.583116039633751, "total_m": 16.327635570512133, "selection_total_m": 16.327635570512133, "best_candidate_total_m": 16.327635570512133, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000588.npz", "native_local_path_body": [[-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11], [-1.0721043963712873e-06, -1.9381780902438805e-11]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4725985527038574, -0.38176557421684265, 0.7942956686019897, 0.951897919178009], [0.39996811747550964, 0.7102129459381104, 0.579329788684845, -1.0032480955123901], [-0.7852872610092163, 0.5914834141731262, -0.1829514503479004, 2.456360101699829], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.546642413828522, "input_age_at_publish_s": 0.6258913339115679, "vggt_debug_frame": "frames/00000588/frame.json"} +{"frame_idx": 590, "time_s": 148.2046456336975, "localized": true, "localized_streak": 303, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": false, "loaded": true}], "camera_display": [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507], [-1.6682073038038312, -0.2125446634611503, -1.5214429626417507]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.869229451234816, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6676200075098719, "map_correction_at_base_m": 0.018919942081172626, "map_correction_angle_deg": 0.5847689297820691, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.018919942081172626, "rotation_deg": 0.5847689297820691, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.004304359092361376, -0.40163650569364967, 0.9157890531050251, 0.027255805182648807], [-0.9998133703933497, -0.01551924203684732, -0.011505542546600106, -0.0012976112942674894], [0.018833397874358226, -0.9156676637409429, -0.40149474804000773, 1.3117644447120331], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.3799276681987742e-05, 1.5668748494561195e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.152703766803546, "attachment_limit_m": 0.75, "candidate_count": 15, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.26624232634040573, "remaining_m": 16.262676179409027, "total_m": 16.528918505749434, "selection_total_m": 16.528918505749434, "best_candidate_total_m": 16.528918505749434, "selected_on_previous_route": false}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08], [-1.3799276530335192e-05, 1.5668748076791417e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.46746277809143066, -0.37915143370628357, 0.798575758934021, 0.9453312158584595], [0.3984586298465729, 0.7160131931304932, 0.5731979608535767, -0.9897058606147766], [-0.7891196012496948, 0.5861479043960571, -0.1836334466934204, 2.458131790161133], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.444400270935148, "input_age_at_publish_s": 0.6056434907950461, "vggt_debug_frame": "frames/00000590/frame.json"} +{"frame_idx": 592, "time_s": 148.70472931861877, "localized": true, "localized_streak": 304, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": true, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": true, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": true, "loaded": true}], "camera_display": [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978], [-1.6660555286113632, -0.14882385673256682, -1.5248701460613978]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763505506248215, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.5715172885133555, "map_correction_at_base_m": 0.06385257208860179, "map_correction_angle_deg": 1.6571892292626726, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.06385257208860179, "rotation_deg": 1.6571892292626726, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.003620835909470599, -0.4366565532183085, 0.8996210002433374, 0.02736264409578748], [-0.9998226239039257, -0.015046842942403493, -0.01132754374678141, -0.00130048557268031], [0.018482702107248616, -0.8995024441595325, -0.43652461863432346, 1.3101964583427117], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-8.899558005370635e-06, 1.626366584192679e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915112628549114, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757126640091281, "remaining_m": 15.583116039633751, "total_m": 16.25882870364288, "selection_total_m": 16.25882870364288, "best_candidate_total_m": 16.25882870364288, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000592.npz", "native_local_path_body": [[-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08], [-8.899558451958e-06, 1.6263665969518115e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.47998368740081787, -0.4263157248497009, 0.7667273879051208, 1.0346710681915283], [0.39391565322875977, 0.6761903762817383, 0.6225729584693909, -0.9865772128105164], [-0.7838663458824158, 0.6008506417274475, -0.15662801265716553, 2.466871738433838], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5484858527779579, "input_age_at_publish_s": 0.7106188973411918, "vggt_debug_frame": "frames/00000592/frame.json"} +{"frame_idx": 594, "time_s": 149.204843044281, "localized": true, "localized_streak": 305, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.3575596213340759, "verified": true, "loaded": true}, {"id": 799, "score": 0.35331451892852783, "verified": true, "loaded": true}, {"id": 797, "score": 0.33220165967941284, "verified": false, "loaded": true}, {"id": 800, "score": 0.3215317130088806, "verified": true, "loaded": true}, {"id": 796, "score": 0.2939609885215759, "verified": false, "loaded": true}, {"id": 517, "score": 0.268225759267807, "verified": true, "loaded": true}], "camera_display": [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833], [-1.6660580712791275, -0.14882627324188036, -1.5248699631736833]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763510000737096, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.162416608645241, "map_correction_at_base_m": 1.5634324722646313e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.5634324722646313e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0017742456904513704, -0.5316392016018613, 0.8469690734450491, 0.027337898617139977], [-0.9998477917406245, -0.013757281439501126, -0.01072989090303686, -0.0013043379796360277], [0.017356422546902617, -0.8468591952193291, -0.5315338729270638, 1.305771674714698], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-5.410979529757301e-06, 1.7142276597802665e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915056153204688, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757150849733311, "remaining_m": 15.583116039633751, "total_m": 16.25883112460708, "selection_total_m": 16.25883112460708, "best_candidate_total_m": 16.25883112460708, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08], [-5.410979611042421e-06, 1.714227693128123e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.478387713432312, -0.5069699287414551, 0.7170263528823853, 1.0344682931900024], [0.39540499448776245, 0.6047079563140869, 0.6913632750511169, -0.982721745967865], [-0.7840919494628906, 0.6142554879188538, -0.08882653713226318, 2.469033718109131], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5079116099514067, "input_age_at_publish_s": 0.6741577880457044, "vggt_debug_frame": "frames/00000594/frame.json"} +{"frame_idx": 596, "time_s": 149.67158889770508, "localized": true, "localized_streak": 306, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 947, "score": 0.2680599093437195, "verified": false, "loaded": true}, {"id": 946, "score": 0.24956849217414856, "verified": false, "loaded": true}, {"id": 591, "score": 0.24871698021888733, "verified": false, "loaded": true}, {"id": 592, "score": 0.24697279930114746, "verified": false, "loaded": true}, {"id": 945, "score": 0.23491814732551575, "verified": false, "loaded": true}, {"id": 797, "score": 0.22452136874198914, "verified": false, "loaded": true}], "camera_display": [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652], [-1.6660656274281926, -0.14883240397348274, -1.5248691660929652]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763519916192578, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5387102544279301, "map_correction_at_base_m": 4.2181867159905886e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.2181867159905886e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-1.0936707028563752e-05, -0.62293810055829, 0.7822711312283089, 0.026810616791657083], [-0.999872095748105, -0.01250444088901416, -0.009971514546209898, -0.0013017283187238826], [0.015993499450731974, -0.7821711844800235, -0.6228582873691548, 1.3012430986907317], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [4.179311774226424e-06, 1.6640515780973785e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914862003975043, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.675721931356495, "remaining_m": 15.583116039633751, "total_m": 16.258837970990246, "selection_total_m": 16.258837970990246, "best_candidate_total_m": 16.258837970990246, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000596.npz", "native_local_path_body": [[4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08], [4.179311872576363e-06, 1.66405165202832e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.47686123847961426, -0.5839353799819946, 0.6569800972938538, 1.0338183641433716], [0.39708229899406433, 0.5237057209014893, 0.7536962628364563, -0.9789130091667175], [-0.7841741442680359, 0.6202836632728577, -0.017864584922790527, 2.4714555740356445], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5753438891842961, "input_age_at_publish_s": 0.8119503930211067, "vggt_debug_frame": "frames/00000596/frame.json"} +{"frame_idx": 599, "time_s": 150.44025254249573, "localized": true, "localized_streak": 307, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426], [-1.6660654921194413, -0.1488318714519714, -1.5248691341729426]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76351936199677, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.7769953175449795, "map_correction_at_base_m": 3.836822274309471e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.836822274309471e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.0024728309201795806, -0.7529141950911528, 0.6581140478195872, 0.024914482670547855], [-0.9999069511351679, -0.010690614794866021, -0.008473477850400313, -0.0012836515093577194], [0.013415445531686096, -0.6580318575764774, -0.7528705733628038, 1.2941695201180818], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [3.5378588217807586e-06, 3.0319636688750785e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914870248606276, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757206179772205, "remaining_m": 15.583116039633751, "total_m": 16.25883665761097, "selection_total_m": 16.25883665761097, "best_candidate_total_m": 16.25883665761097, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08], [3.5378589018364437e-06, 3.031963657917913e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.47474396228790283, -0.6922176480293274, 0.5435556769371033, 1.0318819284439087], [0.40001755952835083, 0.38041114807128906, 0.8338304758071899, -0.9732471108436584], [-0.7839668393135071, 0.6132879257202148, 0.09630131721496582, 2.4756717681884766], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.48170187324285507, "input_age_at_publish_s": 0.552310380153358, "vggt_debug_frame": "frames/00000599/frame.json"} +{"frame_idx": 601, "time_s": 150.94117259979248, "localized": true, "localized_streak": 308, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743], [-1.666059522298617, -0.14882704062467855, -1.524869699352743]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763508310795105, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.291938817476961, "map_correction_at_base_m": 3.5317445211360457e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.5317445211360457e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.0036810459808681306, -0.8170190272436971, 0.5765989585684745, 0.023254500020002844], [-0.9999243035882072, -0.009776891890027645, -0.0074699048594447925, -0.0012656486473660161], [0.011740400083693037, -0.5765278150330072, -0.8169931710235658, 1.2902843485973186], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-3.8892727161561004e-06, 9.566059416226852e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915003308462692, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757153332199012, "remaining_m": 15.583116039633751, "total_m": 16.258831372853653, "selection_total_m": 16.258831372853653, "best_candidate_total_m": 16.258831372853653, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000601.npz", "native_local_path_body": [[-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08], [-3.889272647938924e-06, 9.566059588905773e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4738023281097412, -0.7447768449783325, 0.4699142277240753, 1.0302844047546387], [0.40179193019866943, 0.2920077443122864, 0.8679257035255432, -0.9702984094619751], [-0.7836295366287231, 0.60003262758255, 0.16089117527008057, 2.478236675262451], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5789803778752685, "input_age_at_publish_s": 0.634723958093673, "vggt_debug_frame": "frames/00000601/frame.json"} +{"frame_idx": 603, "time_s": 151.44134092330933, "localized": true, "localized_streak": 309, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352], [-1.6660698839318266, -0.14883697097343962, -1.5248685296668352]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76352366730948, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.294545962856238, "map_correction_at_base_m": 7.551731239716925e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 7.551731239716925e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.004144595668101908, -0.8418478472993997, 0.5396990127136742, 0.022421148679543812], [-0.9999310669256658, -0.009417965447480692, -0.007011656275770745, -0.0012562885123337114], [0.010985614395537732, -0.5396327491212859, -0.8418288497979598, 1.2886754081222382], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [1.0716456210374693e-05, 9.591859026606458e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.139147254193107, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757264233541246, "remaining_m": 15.583116039633751, "total_m": 16.258842462987875, "selection_total_m": 16.258842462987875, "best_candidate_total_m": 16.258842462987875, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08], [1.071645601768978e-05, 9.591858685098487e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4733928442001343, -0.7649414539337158, 0.43676549196243286, 1.0294806957244873], [0.40258610248565674, 0.2531367540359497, 0.8796854019165039, -0.9691216945648193], [-0.7834691405296326, 0.5922724008560181, 0.188121497631073, 2.4793663024902344], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.49593128729611635, "input_age_at_publish_s": 0.6437161038629711, "vggt_debug_frame": "frames/00000603/frame.json"} +{"frame_idx": 605, "time_s": 151.90816497802734, "localized": true, "localized_streak": 310, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806], [-1.6660514545527536, -0.14882084568548137, -1.524870100021806]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763500023234256, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.3954117437928395, "map_correction_at_base_m": 1.6619940649040813e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.6619940649040813e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.00414459566810188, -0.8418478472993994, 0.5396990127136739, 0.0224211486795447], [-0.9999310669256657, -0.009417965447480692, -0.0070116562757707585, -0.0012562885123336837], [0.010985614395537746, -0.5396327491212859, -0.8418288497979598, 1.2886754081222382], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.3983176235744597e-05, 9.56828223949426e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915157901721717, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757057013233946, "remaining_m": 15.583116039633751, "total_m": 16.258821740957146, "selection_total_m": 16.258821740957146, "best_candidate_total_m": 16.258821740957146, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876871.521266452, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 1, "total": 6, "label": "front floor", "settled_views": 0, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000605.npz", "native_local_path_body": [[-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08], [-1.3983176359033678e-05, 9.568282166583231e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4732927083969116, -0.7649862170219421, 0.43679550290107727, 1.029503583908081], [0.40261584520339966, 0.2531764507293701, 0.8796603083610535, -0.9691162109375], [-0.7835143804550171, 0.5921974778175354, 0.1881689429283142, 2.479358434677124], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6066202339716256, "input_age_at_publish_s": 0.684212070889771, "vggt_debug_frame": "frames/00000605/frame.json"} +{"frame_idx": 608, "time_s": 152.70844197273254, "localized": true, "localized_streak": 311, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053], [-1.666069127499251, -0.14883611607896174, -1.5248684252589053]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763522103839563, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0768107178283652, "map_correction_at_base_m": 2.3716514083895138e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.3716514083895138e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.004144595668101936, -0.8418478472993997, 0.5396990127136742, 0.0224211486795447], [-0.9999310669256657, -0.009417965447480692, -0.007011656275770772, -0.0012562885123333645], [0.010985614395537774, -0.5396327491212859, -0.8418288497979594, 1.2886754081222378], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [9.507810320685017e-06, 1.0663944013667775e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914729168172624, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757250413518903, "remaining_m": 15.583116039633751, "total_m": 16.25884108098564, "selection_total_m": 16.25884108098564, "best_candidate_total_m": 16.25884108098564, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "front floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07], [9.5078103186097e-06, 1.0663944038924456e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.47336721420288086, -0.7649529576301575, 0.4367731809616089, 1.029482126235962], [0.4025936722755432, 0.2531469464302063, 0.8796790242195129, -0.9691219329833984], [-0.7834807634353638, 0.5922531485557556, 0.18813353776931763, 2.4793665409088135], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4995246403850615, "input_age_at_publish_s": 0.5083546643145382, "vggt_debug_frame": "frames/00000608/frame.json"} +{"frame_idx": 610, "time_s": 153.20862317085266, "localized": true, "localized_streak": 312, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016], [-1.6660546827409513, -0.14882322525861813, -1.5248696015495016]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763502760531262, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.3115831155773283, "map_correction_at_base_m": 2.276789711573186e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.276789711573186e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.004144595668101797, -0.8418478472993998, 0.539699012713674, 0.022421148679543812], [-0.9999310669256661, -0.009417965447480664, -0.0070116562757707585, -0.0012562885123336837], [0.010985614395537746, -0.5396327491212858, -0.8418288497979598, 1.2886754081222374], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.880964835780571e-06, 1.0789208344940247e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915066747028224, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757089867582802, "remaining_m": 15.583116039633751, "total_m": 16.25882502639203, "selection_total_m": 16.25882502639203, "best_candidate_total_m": 16.25882502639203, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000610.npz", "native_local_path_body": [[-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07], [-9.88096508081071e-06, 1.0789208459982547e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.47331488132476807, -0.7649763822555542, 0.436788946390152, 1.029499888420105], [0.40260931849479675, 0.25316768884658813, 0.8796658515930176, -0.9691174030303955], [-0.7835044860839844, 0.5922139883041382, 0.18815839290618896, 2.4793598651885986], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5942989774048328, "input_age_at_publish_s": 0.6153918309137225, "vggt_debug_frame": "frames/00000610/frame.json"} +{"frame_idx": 612, "time_s": 153.70878267288208, "localized": true, "localized_streak": 313, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982], [-1.6660596001410686, -0.1488275902199092, -1.5248690447202982]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76350873106492, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6249082437730148, "map_correction_at_base_m": 1.666424968802213e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.666424968802213e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.004144595668101825, -0.8418478472993995, 0.5396990127136739, 0.0224211486795447], [-0.9999310669256659, -0.009417965447480664, -0.0070116562757707585, -0.0012562885123339057], [0.01098561439553774, -0.5396327491212858, -0.8418288497979598, 1.2886754081222371], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-3.2106492856569966e-06, 1.0837434506146092e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914932363304933, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757136791632621, "remaining_m": 15.583116039633751, "total_m": 16.258829718797013, "selection_total_m": 16.258829718797013, "best_candidate_total_m": 16.258829718797013, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07], [-3.210649310858571e-06, 1.0837434416544056e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4732860326766968, -0.7649893164634705, 0.436797559261322, 1.0294945240020752], [0.402617871761322, 0.253179132938385, 0.8796586990356445, -0.9691196084022522], [-0.7835174202919006, 0.5921924114227295, 0.18817204236984253, 2.479362964630127], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4781540078110993, "input_age_at_publish_s": 0.5991806290112436, "vggt_debug_frame": "frames/00000612/frame.json"} +{"frame_idx": 614, "time_s": 154.17561554908752, "localized": true, "localized_streak": 314, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24878621101379395, "verified": false, "loaded": true}, {"id": 535, "score": 0.23824794590473175, "verified": false, "loaded": true}, {"id": 546, "score": 0.22959613800048828, "verified": false, "loaded": true}, {"id": 543, "score": 0.22599412500858307, "verified": false, "loaded": true}, {"id": 897, "score": 0.221873939037323, "verified": false, "loaded": true}, {"id": 538, "score": 0.21752037107944489, "verified": false, "loaded": true}], "camera_display": [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818], [-1.6660525783192774, -0.14882111878152582, -1.5248694991269818]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763501979819738, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9943013881711901, "map_correction_at_base_m": 4.0579272727453886e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.0579272727453886e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.005678121561469962, -0.8418268275252505, 0.5397178442429943, 0.0224283053905161], [-0.9999232650746136, -0.010722336013407302, -0.0062044720112740676, -0.00119462254187995], [0.011010127068125257, -0.5396411992881821, -0.8418231127337592, 1.2886759376176151], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.2495475114313208e-05, 1.0831669137329543e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915088904437675, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757069864091814, "remaining_m": 15.583116039633751, "total_m": 16.258823026042933, "selection_total_m": 16.258823026042933, "best_candidate_total_m": 16.258823026042933, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000614.npz", "native_local_path_body": [[-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07], [-1.249547494808212e-05, 1.0831669072786099e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4720020294189453, -0.76556396484375, 0.43717968463897705, 1.0295377969741821], [0.4029770791530609, 0.25370192527770996, 0.8793433904647827, -0.9691405296325684], [-0.784106969833374, 0.5912251472473145, 0.18875688314437866, 2.479402780532837], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5802771979942918, "input_age_at_publish_s": 0.6392299463041127, "vggt_debug_frame": "frames/00000614/frame.json"} +{"frame_idx": 616, "time_s": 154.70911502838135, "localized": true, "localized_streak": 315, "weights": [0.8999999761581421, 0.10000000149011612, 0.0, 0.0, 0.0], "retrieval": [{"id": 546, "score": 0.2770927846431732, "verified": false, "loaded": true}, {"id": 542, "score": 0.2763957977294922, "verified": false, "loaded": true}, {"id": 897, "score": 0.26226067543029785, "verified": false, "loaded": true}, {"id": 538, "score": 0.2595173120498657, "verified": false, "loaded": true}, {"id": 535, "score": 0.2475733906030655, "verified": false, "loaded": true}, {"id": 896, "score": 0.23815226554870605, "verified": false, "loaded": true}], "camera_display": [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529], [-1.6660663631851684, -0.14883366227300598, -1.524868473228529]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763519631070812, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.705795805214418, "map_correction_at_base_m": 4.6203784189806613e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.6203784189806613e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.06543905038965045, -0.8394475213828163, 0.5394864127374728, 0.022633489912047722], [-0.9977846784718063, -0.06153629443843395, 0.025278842412195357, 0.0012174295796768542], [0.011977733133403418, -0.5399455003155712, -0.8416147518894572, 1.288695456461413], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [6.354283250048447e-06, 1.0868136865316688e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914770955317893, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757205911609542, "remaining_m": 15.583116039633751, "total_m": 16.258836630794704, "selection_total_m": 16.258836630794704, "best_candidate_total_m": 16.258836630794704, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07], [6.3542834141117055e-06, 1.086813696815625e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4183776378631592, -0.7877913117408752, 0.4520455002784729, 1.0308548212051392], [0.4170176386833191, 0.27552860975265503, 0.8661295175552368, -0.9701011180877686], [-0.8068807721138, 0.5508800745010376, 0.21324783563613892, 2.481193780899048], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.47260169638320804, "input_age_at_publish_s": 0.6311492761597037, "vggt_debug_frame": "frames/00000616/frame.json"} +{"frame_idx": 618, "time_s": 155.2092957496643, "localized": true, "localized_streak": 316, "weights": [0.8999989032745361, 1.1036349860660266e-06, 0.10000000149011612, 0.0, 0.0], "retrieval": [{"id": 542, "score": 0.24621528387069702, "verified": false, "loaded": true}, {"id": 538, "score": 0.24239300191402435, "verified": false, "loaded": true}, {"id": 546, "score": 0.2412796914577484, "verified": false, "loaded": true}, {"id": 897, "score": 0.22476279735565186, "verified": false, "loaded": true}, {"id": 535, "score": 0.2246617078781128, "verified": false, "loaded": true}, {"id": 481, "score": 0.22140689194202423, "verified": true, "loaded": true}], "camera_display": [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104], [-1.6660677683818435, -0.14883485407293584, -1.5248680149159104]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763519655740232, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6654606692011743, "map_correction_at_base_m": 3.751916774830974e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.751916774830974e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.22605963930664294, -0.8177156208458298, 0.5293752949479879, 0.022460377618365612], [-0.9740025430022207, -0.1979440709112086, 0.11016892037369275, 0.007788352844539478], [0.014699853800537552, -0.5405176298843704, -0.8412042594295548, 1.2887369529729342], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [8.377424572140835e-06, 1.0841332330760005e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914705567894342, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757212282688367, "remaining_m": 15.583116039633751, "total_m": 16.25883726790259, "selection_total_m": 16.25883726790259, "best_candidate_total_m": 16.25883726790259, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000618.npz", "native_local_path_body": [[8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07], [8.377424819627777e-06, 1.0841332453992436e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.2658727169036865, -0.8338642716407776, 0.48371726274490356, 1.0338398218154907], [0.44715791940689087, 0.3378540277481079, 0.8281936049461365, -0.9728859663009644], [-0.8540268540382385, 0.4364919066429138, 0.28304266929626465, 2.4863474369049072], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5870457086712122, "input_age_at_publish_s": 0.6436885339207947, "vggt_debug_frame": "frames/00000618/frame.json"} +{"frame_idx": 621, "time_s": 155.94318771362305, "localized": true, "localized_streak": 317, "weights": [0.39137959480285645, 9.99999993922529e-09, 0.5086204409599304, 0.10000000149011612, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": false, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925], [-1.6660546384724193, -0.1488229018999867, -1.5248692279762925]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763505297407226, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.5700679665205948, "map_correction_at_base_m": 3.8736482462398124e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.8736482462398124e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.4476762556242402, -0.7475983796659071, 0.4905941631034455, 0.02032547546423835], [-0.8939986151558961, -0.38571897172309966, 0.22800734846099718, 0.017084882579994312], [0.018773551864254223, -0.5406639784318767, -0.8410291410983421, 1.2887655164504226], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.48537993907155e-06, 1.0535279417369739e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915026033312441, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.675707928493586, "remaining_m": 15.583116039633751, "total_m": 16.258823968127338, "selection_total_m": 16.258823968127338, "best_candidate_total_m": 16.258823968127338, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07], [-9.485380360274576e-06, 1.0535279670875752e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.033051490783691406, -0.8619445562362671, 0.5059240460395813, 1.0364203453063965], [0.46904265880584717, 0.43361812829971313, 0.7693986892700195, -0.9772897362709045], [-0.8825568556785583, 0.2627297341823578, 0.3899570107460022, 2.494399070739746], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.49742825981229544, "input_age_at_publish_s": 0.5093121048994362, "vggt_debug_frame": "frames/00000621/frame.json"} +{"frame_idx": 623, "time_s": 156.4441225528717, "localized": true, "localized_streak": 318, "weights": [0.08856292068958282, 0.0, 0.6123814582824707, 0.2990556061267853, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": false, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021], [-1.6660597938337216, -0.1488273690049331, -1.5248686255478021]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763510407855579, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8424967040056324, "map_correction_at_base_m": 3.6092712372379615e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.6092712372379615e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5083733028357178, -0.7188852267409696, 0.4740892487048068, 0.01929150198329399], [-0.8609053376935122, -0.4370445026637515, 0.2604498074912211, 0.019685609617988126], [0.019964581005455534, -0.5405516936103141, -0.8410738861956766, 1.28876654121023], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-2.957832702104345e-06, 1.0530967750651461e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914892280080504, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757134256174133, "remaining_m": 15.583116039633751, "total_m": 16.258829465251164, "selection_total_m": 16.258829465251164, "best_candidate_total_m": 16.258829465251164, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000623.npz", "native_local_path_body": [[-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07], [-2.9578327485069167e-06, 1.053096809755516e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.03605318069458008, -0.8612380623817444, 0.5069214701652527, 1.0367485284805298], [0.47037631273269653, 0.4621735215187073, 0.7517591714859009, -0.9786338210105896], [-0.8817293047904968, 0.21134039759635925, 0.4217687249183655, 2.4968342781066895], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5758090699091554, "input_age_at_publish_s": 0.5892775910906494, "vggt_debug_frame": "frames/00000623/frame.json"} +{"frame_idx": 625, "time_s": 156.94480419158936, "localized": true, "localized_streak": 319, "weights": [0.009909511543810368, 0.0, 0.0, 0.9900904893875122, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": true, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876], [-1.666061029497972, -0.14882852738471897, -1.524868493788876]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763512919751456, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.958255903216127, "map_correction_at_base_m": 9.278575089989118e-08, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 9.278575089989118e-08, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5122099565992984, -0.7169111507820273, 0.47294752588943084, 0.019218627033747104], [-0.858626410977035, -0.4402870630138408, 0.262503311436905, 0.01985091433726574], [0.020041126047195573, -0.5405420464931799, -0.8410782658229403, 1.288766492227317], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.3259441204761876e-06, 1.0502149295388682e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914863148657874, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757146112869332, "remaining_m": 15.583116039633751, "total_m": 16.258830650920686, "selection_total_m": 16.258830650920686, "best_candidate_total_m": 16.258830650920686, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876876.873158103, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 2, "total": 6, "label": "left floor", "settled_views": 1, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07], [-1.3259441402624361e-06, 1.0502149194735466e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.0405239462852478, -0.8610522150993347, 0.5068992972373962, 1.0367618799209595], [0.4703828692436218, 0.46402281522750854, 0.7506149411201477, -0.9787214398384094], [-0.8815315365791321, 0.20801883935928345, 0.42382824420928955, 2.496992588043213], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.48875597678124905, "input_age_at_publish_s": 0.5823963964357972, "vggt_debug_frame": "frames/00000625/frame.json"} +{"frame_idx": 627, "time_s": 157.34504199028015, "localized": true, "localized_streak": 320, "weights": [0.00990331918001175, 0.09903319925069809, 0.0, 0.8910635113716125, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": false, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156], [-1.666062389640401, -0.14882975024260858, -1.5248686361173156]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763513312103962, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9865504492767228, "map_correction_at_base_m": 2.597004715499066e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.597004715499066e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5122099565992982, -0.716911150782027, 0.4729475258894307, 0.019218627033746216], [-0.8586264109770352, -0.4402870630138409, 0.26250331143690503, 0.01985091433726581], [0.020041126047195518, -0.5405420464931799, -0.8410782658229405, 1.2887664922273172], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [5.013600474075551e-07, 1.0541409639588807e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914857556514684, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.675715340222887, "remaining_m": 15.583116039633751, "total_m": 16.258831379856638, "selection_total_m": 16.258831379856638, "best_candidate_total_m": 16.258831379856638, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000627.npz", "native_local_path_body": [[5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07], [5.01360034377285e-07, 1.0541409523057155e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.04059135913848877, -0.8610492944717407, 0.5068989992141724, 1.0367597341537476], [0.4703839123249054, 0.4640505909919739, 0.7505971193313599, -0.9787225723266602], [-0.8815279006958008, 0.20796933770179749, 0.4238601326942444, 2.496994972229004], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5786889647133648, "input_age_at_publish_s": 0.6381618278101087, "vggt_debug_frame": "frames/00000627/frame.json"} +{"frame_idx": 629, "time_s": 157.94539785385132, "localized": true, "localized_streak": 321, "weights": [0.009914938360452652, 0.0016846121288836002, 0.0, 0.9884004592895508, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": false, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017], [-1.66606170455645, -0.14882966493906302, -1.5248687127085017]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76351344986064, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0455594014020129, "map_correction_at_base_m": 5.816308827283506e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 5.816308827283506e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5122099565992986, -0.716911150782027, 0.4729475258894309, 0.019218627033746216], [-0.8586264109770354, -0.4402870630138412, 0.26250331143690514, 0.019850914337265754], [0.0200411260471956, -0.5405420464931802, -0.8410782658229408, 1.2887664922273172], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [3.601546151355876e-07, 1.0726349052028488e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914869953567463, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757141112793972, "remaining_m": 15.583116039633751, "total_m": 16.25883015091315, "selection_total_m": 16.25883015091315, "best_candidate_total_m": 16.25883015091315, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07], [3.6015461546412553e-07, 1.0726348875778058e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.04067140817642212, -0.8610456585884094, 0.5068985819816589, 1.036759376525879], [0.47038501501083374, 0.46408355236053467, 0.7505760192871094, -0.9787233471870422], [-0.8815235495567322, 0.20791053771972656, 0.423897922039032, 2.4969964027404785], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.49082071892917156, "input_age_at_publish_s": 0.6346395509317517, "vggt_debug_frame": "frames/00000629/frame.json"} +{"frame_idx": 631, "time_s": 158.4456968307495, "localized": true, "localized_streak": 322, "weights": [0.009900994598865509, 9.900994690781317e-09, 0.0, 0.9900990128517151, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": true, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648], [-1.6660543119517754, -0.1488235752684428, -1.524869308278648]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76350496308208, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7256187789200079, "map_correction_at_base_m": 2.81900696945375e-07, "map_correction_angle_deg": 0.011528108894328367, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.81900696945375e-07, "rotation_deg": 0.011528108894328367, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5122099565992984, -0.7169111507820272, 0.4729475258894306, 0.019218627033747104], [-0.8586264109770347, -0.440287063013841, 0.262503311436905, 0.019850914337265907], [0.020041126047195545, -0.5405420464931798, -0.8410782658229403, 1.2887664922273172], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.15653143548398e-06, 1.072680375351262e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915033423341355, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.675708018163434, "remaining_m": 15.583116039633751, "total_m": 16.258824057797185, "selection_total_m": 16.258824057797185, "best_candidate_total_m": 16.258824057797185, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000631.npz", "native_local_path_body": [[-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07], [-9.156531632470433e-06, 1.0726803623128944e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.0405537486076355, -0.8610509037971497, 0.5068991184234619, 1.0367686748504639], [0.4703832268714905, 0.46403515338897705, 0.7506071329116821, -0.9787192344665527], [-0.8815299272537231, 0.2079969048500061, 0.423842191696167, 2.4969897270202637], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5747075327672064, "input_age_at_publish_s": 0.6374489679001272, "vggt_debug_frame": "frames/00000631/frame.json"} +{"frame_idx": 634, "time_s": 159.21282148361206, "localized": true, "localized_streak": 323, "weights": [0.009909350425004959, 0.0, 0.0, 0.9900906085968018, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": false, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282], [-1.6660478889188952, -0.14881836771780144, -1.524869950373282]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763494979668122, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6359435141573198, "map_correction_at_base_m": 4.665119739252993e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.665119739252993e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5115334038997015, -0.7172606902170411, 0.47314974264407983, 0.019231545418784357], [-0.859029959465803, -0.4397152877999949, 0.26214117268210535, 0.019821756405955723], [0.020027616806963577, -0.5405437706091355, -0.8410774795586269, 1.2887665018889263], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.7105937561612574e-05, 1.0733710848393168e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915183300480444, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757009392650172, "remaining_m": 15.583116039633751, "total_m": 16.258816978898768, "selection_total_m": 16.258816978898768, "best_candidate_total_m": 16.258816978898768, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": false, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07], [-1.710593824100215e-05, 1.0733710809063268e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.03983086347579956, -0.861082136631012, 0.5069036483764648, 1.036772608757019], [0.47038382291793823, 0.46373599767684937, 0.7507916688919067, -0.9787023663520813], [-0.8815627098083496, 0.20853447914123535, 0.42351001501083374, 2.496959924697876], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5025760810822248, "input_age_at_publish_s": 0.5114724757149816, "vggt_debug_frame": "frames/00000634/frame.json"} +{"frame_idx": 636, "time_s": 159.71311497688293, "localized": true, "localized_streak": 324, "weights": [0.009923510253429413, 0.09923510253429413, 0.0, 0.8908413648605347, 0.0], "retrieval": [{"id": 546, "score": 0.23089075088500977, "verified": false, "loaded": true}, {"id": 538, "score": 0.22674088180065155, "verified": false, "loaded": true}, {"id": 897, "score": 0.2225915491580963, "verified": false, "loaded": true}, {"id": 535, "score": 0.218927800655365, "verified": false, "loaded": true}, {"id": 529, "score": 0.21143212914466858, "verified": true, "loaded": true}, {"id": 481, "score": 0.21100746095180511, "verified": true, "loaded": true}], "camera_display": [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732], [-1.6660560416181864, -0.14882538810496193, -1.5248692607877732]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763506856553033, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0628270765400438, "map_correction_at_base_m": 1.84222339354519e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.84222339354519e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.42144112609311124, -0.758622162190285, 0.49686999534194765, 0.020706865834315913], [-0.9066717123392485, -0.3635195000200371, 0.21400929687515208, 0.015968726683512027], [0.018269736757412558, -0.5406902885561372, -0.8410233222568182, 1.288764081983477], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-6.496123386004802e-06, 1.0541375679162578e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1391499594753582, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757101285129896, "remaining_m": 15.583116039633751, "total_m": 16.25882616814674, "selection_total_m": 16.25882616814674, "best_candidate_total_m": 16.25882616814674, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000636.npz", "native_local_path_body": [[-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07], [-6.496123205579352e-06, 1.0541375417005838e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.06212198734283447, -0.8610261678695679, 0.5047523379325867, 1.0362193584442139], [0.46778783202171326, 0.421623170375824, 0.7767937779426575, -0.9767297506332397], [-0.8816550374031067, 0.28437286615371704, 0.3765854239463806, 2.4933815002441406], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5612355154007673, "input_age_at_publish_s": 0.5870278491638601, "vggt_debug_frame": "frames/00000636/frame.json"} +{"frame_idx": 638, "time_s": 160.1800639629364, "localized": true, "localized_streak": 325, "weights": [0.8863881230354309, 2.611512570638297e-07, 0.10000000894069672, 0.013611617498099804, 0.0], "retrieval": [{"id": 546, "score": 0.25647300481796265, "verified": false, "loaded": true}, {"id": 542, "score": 0.25234130024909973, "verified": false, "loaded": true}, {"id": 538, "score": 0.24576036632061005, "verified": false, "loaded": true}, {"id": 535, "score": 0.24028562009334564, "verified": false, "loaded": true}, {"id": 897, "score": 0.23975950479507446, "verified": false, "loaded": true}, {"id": 874, "score": 0.22927848994731903, "verified": true, "loaded": true}], "camera_display": [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586], [-1.6660658731563087, -0.14883404189631833, -1.5248682865232586]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763519486686047, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.6275806334134484, "map_correction_at_base_m": 2.0827509400319842e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.0827509400319842e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.2779917508122662, -0.8057083784188812, 0.5230244692420689, 0.022169088296460693], [-0.9604564644654273, -0.24199378849733674, 0.13770398031748393, 0.009941454960386648], [0.015619422105271452, -0.5406228031394194, -0.8411200974764392, 1.288746808806012], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [6.7786116036456005e-06, 1.0505701867321268e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914754440809715, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757194455848372, "remaining_m": 15.583116039633751, "total_m": 16.258835485218587, "selection_total_m": 16.258835485218587, "best_candidate_total_m": 16.258835485218587, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07], [6.778611805202672e-06, 1.0505701908414267e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.2137284278869629, -0.8443629741668701, 0.49129563570022583, 1.0346136093139648], [0.4544639587402344, 0.3592405915260315, 0.8151127099990845, -0.9738562703132629], [-0.8647443652153015, 0.3974888324737549, 0.3069525957107544, 2.488131284713745], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5092206988483667, "input_age_at_publish_s": 0.6030397256836295, "vggt_debug_frame": "frames/00000638/frame.json"} +{"frame_idx": 640, "time_s": 160.7137131690979, "localized": true, "localized_streak": 326, "weights": [0.9951831698417664, 9.99999993922529e-09, 9.99999993922529e-09, 0.004816840402781963, 0.0], "retrieval": [{"id": 542, "score": 0.2641562819480896, "verified": false, "loaded": true}, {"id": 546, "score": 0.2629660665988922, "verified": false, "loaded": true}, {"id": 538, "score": 0.24723151326179504, "verified": false, "loaded": true}, {"id": 897, "score": 0.24606581032276154, "verified": false, "loaded": true}, {"id": 535, "score": 0.23357410728931427, "verified": true, "loaded": true}, {"id": 545, "score": 0.22998462617397308, "verified": false, "loaded": true}], "camera_display": [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758], [-1.6660543644896024, -0.14882342562594175, -1.5248694138997758]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763502690246291, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.853368312811434, "map_correction_at_base_m": 4.514888433026541e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.514888433026541e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.10363708853510678, -0.8363257792918819, 0.5383479774010423, 0.02268900431830545], [-0.9945352531880083, -0.09399828681729053, 0.04543074115264743, 0.0027683532570115937], [0.012608887588955758, -0.54011435175085, -0.841497179428742, 1.288706787997818], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-8.909500174465202e-06, 1.0427096292774303e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915036706369, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757073209641264, "remaining_m": 15.583116039633751, "total_m": 16.258823360597876, "selection_total_m": 16.258823360597876, "best_candidate_total_m": 16.258823360597876, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000640.npz", "native_local_path_body": [[-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07], [-8.90950013854308e-06, 1.0427095986642598e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.38319599628448486, -0.8005794286727905, 0.4606882929801941, 1.03165864944458], [0.425204873085022, 0.2898746728897095, 0.8574226498603821, -0.9707306623458862], [-0.8199767470359802, 0.5244477391242981, 0.229331374168396, 2.482365369796753], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6320334388874471, "input_age_at_publish_s": 0.6983541841618717, "vggt_debug_frame": "frames/00000640/frame.json"} +{"frame_idx": 642, "time_s": 161.11395597457886, "localized": true, "localized_streak": 327, "weights": [0.9951831698417664, 9.99999993922529e-09, 9.99999993922529e-09, 0.004816840402781963, 0.0], "retrieval": [{"id": 542, "score": 0.2641562819480896, "verified": false, "loaded": true}, {"id": 546, "score": 0.2629660665988922, "verified": false, "loaded": true}, {"id": 538, "score": 0.24723151326179504, "verified": false, "loaded": true}, {"id": 897, "score": 0.24606581032276154, "verified": false, "loaded": true}, {"id": 535, "score": 0.23357410728931427, "verified": false, "loaded": true}, {"id": 545, "score": 0.22998462617397308, "verified": false, "loaded": true}], "camera_display": [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367], [-1.6660492021368873, -0.14881987907043737, -1.5248698319994367]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763496782924573, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.662405414915799, "map_correction_at_base_m": 7.767270564071329e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 7.767270564071329e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.032654850850364986, -0.841752071267303, 0.5388757846045273, 0.02222105649822037], [-0.9994125554882864, 0.021889017436485497, -0.026370719520665026, -0.0027326198368140125], [0.010402146332020586, -0.5394203568951305, -0.8419723712324636, 1.288662272942112], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.4858948834665679e-05, 1.0387339836872766e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915147024127658, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757028742892786, "remaining_m": 15.583116039633751, "total_m": 16.25881891392303, "selection_total_m": 16.25881891392303, "best_candidate_total_m": 16.25881891392303, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07], [-1.485894881625427e-05, 1.0387339699491349e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.5052778720855713, -0.7499927282333374, 0.42685532569885254, 1.02862548828125], [0.39325276017189026, 0.24018144607543945, 0.8875051140785217, -0.968550980091095], [-0.768144965171814, 0.6162986159324646, 0.1735782027244568, 2.4782986640930176], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4787514670751989, "input_age_at_publish_s": 0.6420819200575352, "vggt_debug_frame": "frames/00000642/frame.json"} +{"frame_idx": 644, "time_s": 161.71431279182434, "localized": true, "localized_streak": 328, "weights": [0.9951831698417664, 9.99999993922529e-09, 9.99999993922529e-09, 0.004816840402781963, 0.0], "retrieval": [{"id": 380, "score": 0.20568054914474487, "verified": false, "loaded": true}, {"id": 1055, "score": 0.19838441908359528, "verified": false, "loaded": true}, {"id": 372, "score": 0.1955358386039734, "verified": false, "loaded": true}, {"id": 700, "score": 0.1950072944164276, "verified": false, "loaded": true}, {"id": 371, "score": 0.19058912992477417, "verified": false, "loaded": true}, {"id": 170, "score": 0.18928611278533936, "verified": false, "loaded": true}], "camera_display": [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662], [-1.6660541830743272, -0.14882425249617093, -1.5248696183559662]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.7635047265774, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.729791117453731, "map_correction_at_base_m": 3.0049156228593054e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.0049156228593054e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.2344269134294747, -0.8204220356599669, 0.5214898902792698, 0.020141027711045645], [-0.9721058267923847, 0.19377080242194739, -0.13214816550012487, -0.010707992527418345], [0.007367752453995227, -0.5379224475073616, -0.8429621324184537, 1.2885753787558325], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-8.013786555241277e-06, 1.0347109279746744e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915052546326825, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757085169513851, "remaining_m": 15.583116039633751, "total_m": 16.258824556585136, "selection_total_m": 16.258824556585136, "best_candidate_total_m": 16.258824556585136, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000644.npz", "native_local_path_body": [[-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07], [-8.013787009986117e-06, 1.0347109480335348e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.669506311416626, -0.6491533517837524, 0.361055850982666, 1.0229830741882324], [0.33154940605163574, 0.17380917072296143, 0.9272893071174622, -0.9657448530197144], [-0.6647077798843384, 0.7405338883399963, 0.09886002540588379, 2.4729819297790527], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.7140945233404636, "input_age_at_publish_s": 0.9401351739652455, "vggt_debug_frame": "frames/00000644/frame.json"} +{"frame_idx": 647, "time_s": 162.44808840751648, "localized": true, "localized_streak": 329, "weights": [0.9951831698417664, 9.99999993922529e-09, 9.99999993922529e-09, 0.004816840402781963, 0.0], "retrieval": [{"id": 1055, "score": 0.25837597250938416, "verified": false, "loaded": true}, {"id": 859, "score": 0.25792255997657776, "verified": false, "loaded": true}, {"id": 370, "score": 0.24772286415100098, "verified": false, "loaded": true}, {"id": 161, "score": 0.24559178948402405, "verified": false, "loaded": true}, {"id": 372, "score": 0.24485789239406586, "verified": false, "loaded": true}, {"id": 181, "score": 0.24469003081321716, "verified": false, "loaded": true}], "camera_display": [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953], [-1.6660570505213426, -0.148826330496048, -1.5248691847225953]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763508075692327, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.585415315678992, "map_correction_at_base_m": 4.1140952357182804e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.1140952357182804e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.4676367646082795, -0.7476049181183924, 0.47159595290024736, 0.01546143741200634], [-0.8839105506805838, 0.3929541081887323, -0.2535531645496552, -0.019649628946653994], [0.004242025724472118, -0.535419419952984, -0.8445756626584517, 1.288440512750948], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-4.620733507032659e-06, 1.0330678804498305e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1391497231883768, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757109247380645, "remaining_m": 15.583116039633751, "total_m": 16.258826964371817, "selection_total_m": 16.258826964371817, "best_candidate_total_m": 16.258826964371817, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07], [-4.6207333070924506e-06, 1.0330678890113631e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.8322386741638184, -0.4900691509246826, 0.25925111770629883, 1.0145992040634155], [0.2366294264793396, 0.1089010238647461, 0.965477705001831, -0.9631839394569397], [-0.5013835430145264, 0.8648542165756226, 0.025333046913146973, 2.467978000640869], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5003227270208299, "input_age_at_publish_s": 0.6524456078186631, "vggt_debug_frame": "frames/00000647/frame.json"} +{"frame_idx": 649, "time_s": 162.915034532547, "localized": true, "localized_streak": 330, "weights": [0.9951831698417664, 9.99999993922529e-09, 9.99999993922529e-09, 0.004816840402781963, 0.0], "retrieval": [{"id": 1055, "score": 0.25837597250938416, "verified": false, "loaded": true}, {"id": 859, "score": 0.25792255997657776, "verified": false, "loaded": true}, {"id": 370, "score": 0.24772286415100098, "verified": false, "loaded": true}, {"id": 161, "score": 0.24559178948402405, "verified": false, "loaded": true}, {"id": 372, "score": 0.24485789239406586, "verified": false, "loaded": true}, {"id": 181, "score": 0.24469003081321716, "verified": false, "loaded": true}], "camera_display": [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812], [-1.6660529262747095, -0.14882296881456192, -1.5248696179549812]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76350391368541, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.4755357788353916, "map_correction_at_base_m": 2.0193264228851547e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.0193264228851547e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.581073177317794, -0.6890834836128286, 0.4330333881051346, 0.012093766342075263], [-0.8138461315979326, 0.49008940091267517, -0.3121968180429382, -0.0238663992505935], [0.0029045971982368385, -0.5338317447708254, -0.8455857328444303, 1.2883583959791554], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.956014856797095e-06, 1.044579482571583e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915076666332823, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757056877262786, "remaining_m": 15.583116039633751, "total_m": 16.25882172736003, "selection_total_m": 16.25882172736003, "best_candidate_total_m": 16.25882172736003, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000649.npz", "native_local_path_body": [[-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07], [-9.95601476461161e-06, 1.0445794629276861e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.8983840942382812, -0.3923434019088745, 0.1974145770072937, 1.0096341371536255], [0.1791708916425705, 0.08299708366394043, 0.9803107976913452, -0.962263286113739], [-0.40100330114364624, 0.9160666465759277, -0.0042667388916015625, 2.4660885334014893], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5746044651605189, "input_age_at_publish_s": 0.6346093621104956, "vggt_debug_frame": "frames/00000649/frame.json"} +{"frame_idx": 652, "time_s": 163.68216013908386, "localized": true, "localized_streak": 331, "weights": [0.8999999165534973, 0.0, 9.99999993922529e-09, 4.988920210280412e-08, 0.10000000149011612], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617], [-1.6660608473929464, -0.14883044290091085, -1.5248686004234617]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763510660956548, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 3.951019178709118, "map_correction_at_base_m": 6.005574485242018e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 6.005574485242018e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6227032359273972, -0.6627771198635737, 0.41589321868827595, 0.010629692728205242], [-0.7824542590757071, 0.5257893389506026, -0.3336328873180437, -0.025386200486347002], [0.0024520236202742185, -0.5331716988280926, -0.8460035030358513, 1.288324807190352], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [1.2423984204070882e-06, 1.0305669076403064e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914854899539422, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757150625076933, "remaining_m": 15.583116039633751, "total_m": 16.258831102141443, "selection_total_m": 16.258831102141443, "best_candidate_total_m": 16.258831102141443, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07], [1.2423984117049258e-06, 1.0305669206900347e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.919991135597229, -0.35213857889175415, 0.17209088802337646, 1.00761079788208], [0.1556721329689026, 0.07465732097625732, 0.9849835634231567, -0.9619976878166199], [-0.3596985340118408, 0.9329656362533569, -0.013866186141967773, 2.465514659881592], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5142250028438866, "input_age_at_publish_s": 0.5420104321092367, "vggt_debug_frame": "frames/00000652/frame.json"} +{"frame_idx": 654, "time_s": 164.2158133983612, "localized": true, "localized_streak": 332, "weights": [0.00990111194550991, 0.0, 0.0, 9.901111930332718e-09, 0.9900988936424255], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358], [-1.666052254830848, -0.14882267181114894, -1.5248695577021358]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763499232167515, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.639994604993974, "map_correction_at_base_m": 3.739387811308651e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.739387811308651e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6227032359273974, -0.662777119863574, 0.4158932186882759, 0.010629692728207907], [-0.7824542590757073, 0.5257893389506029, -0.33363288731804375, -0.025386200486346933], [0.0024520236202742324, -0.5331716988280923, -0.8460035030358513, 1.2883248071903517], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.0600298677121752e-05, 1.0232547874433036e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915062582144222, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757054987468812, "remaining_m": 15.583116039633751, "total_m": 16.258821538380634, "selection_total_m": 16.258821538380634, "best_candidate_total_m": 16.258821538380634, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876881.710467292, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 3, "total": 6, "label": "right floor", "settled_views": 2, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000654.npz", "native_local_path_body": [[-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07], [-1.0600298992358148e-05, 1.0232547964506011e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.919979453086853, -0.35216185450553894, 0.172105610370636, 1.0076218843460083], [0.1556859314441681, 0.07466137409210205, 0.9849811792373657, -0.9619945883750916], [-0.359722375869751, 0.9329565763473511, -0.013860464096069336, 2.465510129928589], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5796732981689274, "input_age_at_publish_s": 0.6312937461771071, "vggt_debug_frame": "frames/00000654/frame.json"} +{"frame_idx": 656, "time_s": 164.71610689163208, "localized": true, "localized_streak": 333, "weights": [0.009900989942252636, 0.0, 0.0, 9.900990249889219e-09, 0.9900990128517151], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238], [-1.6660604327905615, -0.14883013862516492, -1.524869005607238]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763510517803908, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.57294976080327, "map_correction_at_base_m": 3.015962018716173e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.015962018716173e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6227032359273972, -0.6627771198635738, 0.41589321868827583, 0.010629692728207907], [-0.7824542590757071, 0.5257893389506025, -0.3336328873180436, -0.025386200486346544], [0.0024520236202742463, -0.5331716988280925, -0.8460035030358513, 1.288324807190352], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [5.654567251306399e-07, 1.0374007022652369e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1391489303016, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757148896491433, "remaining_m": 15.583116039633751, "total_m": 16.258830929282894, "selection_total_m": 16.258830929282894, "best_candidate_total_m": 16.258830929282894, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -1.0320351276720363], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right floor"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07], [5.65456730328151e-07, 1.0374007075597547e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9199938774108887, -0.35213303565979004, 0.1720873862504959, 1.0076110363006592], [0.15566881000995636, 0.0746564269065857, 0.9849842190742493, -0.9619973301887512], [-0.35969287157058716, 0.9329678416252136, -0.013867616653442383, 2.465514659881592], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5112002892419696, "input_age_at_publish_s": 0.6513021984137595, "vggt_debug_frame": "frames/00000656/frame.json"} +{"frame_idx": 658, "time_s": 165.1830542087555, "localized": true, "localized_streak": 334, "weights": [0.011921635828912258, 0.0, 0.0, 9.99999993922529e-09, 0.9880784153938293], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362], [-1.6660609702663605, -0.14883040966186645, -1.5248689645103362]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763511476274658, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.890029240457815, "map_correction_at_base_m": 2.7781255894922486e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.7781255894922486e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6227032359273974, -0.6627771198635739, 0.41589321868827617, 0.010629692728205242], [-0.7824542590757072, 0.5257893389506028, -0.33363288731804375, -0.025386200486346863], [0.0024520236202741907, -0.5331716988280926, -0.8460035030358513, 1.2883248071903526], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [1.3845411657567394e-06, 1.0345369236069939e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13914878115514767, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757144011617734, "remaining_m": 15.583116039633751, "total_m": 16.258830440795524, "selection_total_m": 16.258830440795524, "best_candidate_total_m": 16.258830440795524, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000658.npz", "native_local_path_body": [[1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07], [1.3845411785951e-06, 1.0345369361175472e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9199650287628174, -0.35219043493270874, 0.17212367057800293, 1.0076125860214233], [0.15570294857025146, 0.07466626167297363, 0.9849780797958374, -0.9619973301887512], [-0.3597516417503357, 0.9329453706741333, -0.01385343074798584, 2.465514659881592], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5836179777979851, "input_age_at_publish_s": 0.6499656662344933, "vggt_debug_frame": "frames/00000658/frame.json"} +{"frame_idx": 660, "time_s": 165.7166986465454, "localized": true, "localized_streak": 335, "weights": [0.009900989942252636, 0.0, 0.0, 9.900990249889219e-09, 0.9900989532470703], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394], [-1.666044765382301, -0.14881629503045168, -1.524870026592394]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763491891533835, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.203468815208447, "map_correction_at_base_m": 4.3512259691024843e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.3512259691024843e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6227032359273971, -0.6627771198635736, 0.4158932186882757, 0.01062969272820613], [-0.7824542590757069, 0.5257893389506025, -0.3336328873180437, -0.02538620048634674], [0.0024520236202742463, -0.5331716988280925, -0.8460035030358513, 1.2883248071903515], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.981841558406473e-05, 9.968823747754794e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915235564407427, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6756980821426165, "remaining_m": 15.583116039633751, "total_m": 16.258814121776368, "selection_total_m": 16.258814121776368, "best_candidate_total_m": 16.258814121776368, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08], [-1.981841523956973e-05, 9.968823633244028e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.919989824295044, -0.352140873670578, 0.17209234833717346, 1.0076297521591187], [0.1556735336780548, 0.07465773820877075, 0.9849832653999329, -0.9619919657707214], [-0.35970088839530945, 0.9329646229743958, -0.013865470886230469, 2.465506076812744], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5078734527342021, "input_age_at_publish_s": 0.6411874718032777, "vggt_debug_frame": "frames/00000660/frame.json"} +{"frame_idx": 663, "time_s": 166.41756391525269, "localized": true, "localized_streak": 336, "weights": [0.009900989942252636, 0.0, 0.0, 9.900990249889219e-09, 0.9900990128517151], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486], [-1.6660525338384082, -0.14882287477218803, -1.5248694876875486]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763502683874524, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 4.872958525985515, "map_correction_at_base_m": 2.820118381811475e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.820118381811475e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6227032359273974, -0.6627771198635739, 0.41589321868827595, 0.010629692728207019], [-0.7824542590757076, 0.5257893389506028, -0.3336328873180437, -0.02538620048634685], [0.00245202362027426, -0.5331716988280925, -0.8460035030358515, 1.2883248071903513], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.838102585139495e-06, 1.0084274645297628e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915067148407242, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757054490933491, "remaining_m": 15.583116039633751, "total_m": 16.2588214887271, "selection_total_m": 16.2588214887271, "best_candidate_total_m": 16.2588214887271, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000663.npz", "native_local_path_body": [[-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07], [-9.838102414505556e-06, 1.0084274748578537e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9199687242507935, -0.3521827459335327, 0.17211878299713135, 1.0076223611831665], [0.15569840371608734, 0.07466500997543335, 0.9849787354469299, -0.961994469165802], [-0.35974377393722534, 0.9329482913017273, -0.013855218887329102, 2.465510129928589], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.568343719933182, "input_age_at_publish_s": 0.5761246932670474, "vggt_debug_frame": "frames/00000663/frame.json"} +{"frame_idx": 665, "time_s": 166.91810822486877, "localized": true, "localized_streak": 337, "weights": [0.08489350974559784, 0.10000000149011612, 0.0, 9.99999993922529e-09, 0.8151065111160278], "retrieval": [{"id": 370, "score": 0.2799840271472931, "verified": false, "loaded": true}, {"id": 859, "score": 0.2704477310180664, "verified": true, "loaded": true}, {"id": 858, "score": 0.2669377326965332, "verified": true, "loaded": true}, {"id": 156, "score": 0.2659289240837097, "verified": false, "loaded": true}, {"id": 161, "score": 0.26478052139282227, "verified": false, "loaded": true}, {"id": 165, "score": 0.25898444652557373, "verified": false, "loaded": true}], "camera_display": [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286], [-1.6660504447206854, -0.14882066236800373, -1.5248698040666286]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763495741977266, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.195935227029754, "map_correction_at_base_m": 3.4384822334365827e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.4384822334365827e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6242194438632338, -0.6449929135893924, 0.4408335596600399, 0.011163386332382785], [-0.7812428350809543, 0.5130948060300393, -0.35551842801698735, -0.025921556519282643], [0.0031174569360974402, -0.5663195753675334, -0.8241798468888866, 1.2897526711954086], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.2749135158476192e-05, 1.0057121760221165e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915134648998895, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757026438821784, "remaining_m": 15.583116039633751, "total_m": 16.25881868351593, "selection_total_m": 16.25881868351593, "best_candidate_total_m": 16.25881868351593, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07], [-1.2749134839395992e-05, 1.00571220684742e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9206818342208862, -0.34397798776626587, 0.18445773422718048, 1.007896065711975], [0.15423664450645447, 0.1134989857673645, 0.981493353843689, -0.9628790616989136], [-0.3585478663444519, 0.9320930242538452, -0.051442742347717285, 2.4641849994659424], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5243085119873285, "input_age_at_publish_s": 0.6130192591808736, "vggt_debug_frame": "frames/00000665/frame.json"} +{"frame_idx": 667, "time_s": 167.45181918144226, "localized": true, "localized_streak": 338, "weights": [0.08489350974559784, 0.10000000149011612, 0.0, 9.99999993922529e-09, 0.8151065111160278], "retrieval": [{"id": 943, "score": 0.22898557782173157, "verified": false, "loaded": true}, {"id": 859, "score": 0.22402718663215637, "verified": false, "loaded": true}, {"id": 1056, "score": 0.22051860392093658, "verified": false, "loaded": true}, {"id": 942, "score": 0.21749714016914368, "verified": false, "loaded": true}, {"id": 674, "score": 0.21391865611076355, "verified": false, "loaded": true}, {"id": 1055, "score": 0.2131122201681137, "verified": false, "loaded": true}], "camera_display": [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092], [-1.6660525261452523, -0.14882246182513015, -1.5248694202276092]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.76350385978482, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.558893202907865, "map_correction_at_base_m": 2.1583673894734333e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.1583673894734333e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6253229005602676, -0.5864658986107163, 0.5148096928007655, 0.01266298353993367], [-0.7803494536785899, 0.46562616320615063, -0.41742904340910986, -0.027206142045544307], [0.005099037008977736, -0.6627594027282029, -0.7488150465348145, 1.2943316387435468], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.0033456253673892e-05, 9.902140128927175e-08], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13915070848679284, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757053389755956, "remaining_m": 15.583116039633751, "total_m": 16.258821378609348, "selection_total_m": 16.258821378609348, "best_candidate_total_m": 16.258821378609348, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000667.npz", "native_local_path_body": [[-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08], [-1.003345641947817e-05, 9.902139908035679e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9211645126342773, -0.3190633952617645, 0.22283241152763367, 1.0087783336639404], [0.15182584524154663, 0.23258113861083984, 0.9606533050537109, -0.9659532308578491], [-0.358335942029953, 0.91875159740448, -0.1658034324645996, 2.460360288619995], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5828836932778358, "input_age_at_publish_s": 0.6562111787497997, "vggt_debug_frame": "frames/00000667/frame.json"} +{"frame_idx": 669, "time_s": 167.9525306224823, "localized": true, "localized_streak": 339, "weights": [0.08489350974559784, 0.10000000149011612, 0.0, 9.99999993922529e-09, 0.8151065111160278], "retrieval": [{"id": 943, "score": 0.22898557782173157, "verified": false, "loaded": true}, {"id": 859, "score": 0.22402718663215637, "verified": false, "loaded": true}, {"id": 1056, "score": 0.22051860392093658, "verified": false, "loaded": true}, {"id": 942, "score": 0.21749714016914368, "verified": false, "loaded": true}, {"id": 674, "score": 0.21391865611076355, "verified": false, "loaded": true}, {"id": 1055, "score": 0.2131122201681137, "verified": false, "loaded": true}], "camera_display": [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014], [-1.6660533655666936, -0.14882202159419666, -1.5248690493142014]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.763499510855917, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.070657016299639, "map_correction_at_base_m": 1.1158484256852477e-06, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.1158484256852477e-06, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6265425966581336, -0.5225351185300181, 0.578274523453786, 0.013681266069347942], [-0.7793573743840523, 0.4135567171925463, -0.4707153329328895, -0.028092550676830738], [0.006815978732352512, -0.7456057212547019, -0.6663524974562458, 1.2988985093641097], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.0251521800326193e-05, 1.0016866723304509e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.1391502682227325, "attachment_limit_m": 0.75, "candidate_count": 13, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.6757049882850676, "remaining_m": 15.583116039633751, "total_m": 16.25882102791882, "selection_total_m": 16.25882102791882, "best_candidate_total_m": 16.25882102791882, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07], [-1.0251521416648757e-05, 1.0016866980322447e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9216924905776978, -0.2910988926887512, 0.2564074695110321, 1.0094317197799683], [0.14959973096847534, 0.3431207537651062, 0.9273015856742859, -0.9693071246147156], [-0.3579151928424835, 0.8930452466011047, -0.27270376682281494, 2.457042932510376], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.4975003832951188, "input_age_at_publish_s": 0.6419310932978988, "vggt_debug_frame": "frames/00000669/frame.json"} +{"frame_idx": 671, "time_s": 168.45375227928162, "localized": true, "localized_streak": 340, "weights": [0.9999980926513672, 6.836587544967188e-07, 0.0, 9.99999993922529e-09, 1.2331130392340128e-06], "retrieval": [{"id": 795, "score": 0.22071759402751923, "verified": true, "loaded": true}, {"id": 797, "score": 0.21986660361289978, "verified": true, "loaded": true}, {"id": 792, "score": 0.21292740106582642, "verified": true, "loaded": true}, {"id": 796, "score": 0.21149206161499023, "verified": true, "loaded": true}, {"id": 943, "score": 0.21081480383872986, "verified": false, "loaded": true}, {"id": 794, "score": 0.2054997682571411, "verified": true, "loaded": true}], "camera_display": [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232], [-1.6341276055141138, -0.3034068053791348, -1.544161358424232]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.005024450845864, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 2.1774915191757436, "map_correction_at_base_m": 0.1590257089295498, "map_correction_angle_deg": 4.387813176779971, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.1590257089295498, "rotation_deg": 4.387813176779971, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.627864803665129, -0.4538456196331446, 0.6323052600274303, 0.014269343790470401], [-0.7782782127772733, 0.35743343270834266, -0.5162599778198421, -0.028623022442085172], [0.00829528991429418, -0.8162508773178364, -0.5776380297756545, 1.303450275326367], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.860549271843064e-05, 1.0073216127095126e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1540165847655009, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32529438484413664, "remaining_m": 16.262676179409027, "total_m": 16.587970564253165, "selection_total_m": 16.587970564253165, "best_candidate_total_m": 16.587970564253165, "selected_on_previous_route": false}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000671.npz", "native_local_path_body": [[-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07], [-1.8605493096401915e-05, 1.0073215861439166e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9132472276687622, -0.21832884848117828, 0.34396594762802124, 0.7885305881500244], [0.2046419233083725, 0.4842112064361572, 0.8506829142570496, -0.9340781569480896], [-0.35228079557418823, 0.8472734093666077, -0.397525429725647, 2.415917158126831], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6446506250649691, "input_age_at_publish_s": 0.7077796380035579, "vggt_debug_frame": "frames/00000671/frame.json"} +{"frame_idx": 674, "time_s": 169.22139954566956, "localized": true, "localized_streak": 341, "weights": [1.0, 9.99999993922529e-09, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": true, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": true, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": true, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918], [-1.6871873762381155, -0.287451971916747, -1.5362325872949918]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.000571840806082, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.2311898309295548, "map_correction_at_base_m": 0.055966158967960124, "map_correction_angle_deg": 1.0306165938396785, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.055966158967960124, "rotation_deg": 1.0306165938396785, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6300470582267402, -0.3414759585251336, 0.6974488326530996, 0.014400599870767472], [-0.7764910719285582, 0.2653286442568032, -0.5715438091275992, -0.028798094992356388], [0.010115316854616113, -0.9016622872706764, -0.4323225648503015, 1.3103136128622108], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-8.885890300909668e-06, 9.971966368533578e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14956720086893305, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.31442333551017865, "remaining_m": 16.262676179409027, "total_m": 16.577099514919205, "selection_total_m": 16.577099514919205, "best_candidate_total_m": 16.577099514919205, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08], [-8.885890565579757e-06, 9.971966363764295e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9134845733642578, -0.16946138441562653, 0.36990416049957275, 0.8001459836959839], [0.1983024626970291, 0.6084189414978027, 0.7684416770935059, -0.9633172750473022], [-0.3552778959274292, 0.7753124237060547, -0.5221767425537109, 2.442974805831909], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5323704737238586, "input_age_at_publish_s": 0.6371928760781884, "vggt_debug_frame": "frames/00000674/frame.json"} +{"frame_idx": 676, "time_s": 169.7216601371765, "localized": true, "localized_streak": 342, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": true, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": true, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": true, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759], [-1.7062562756341326, -0.29869143816727917, -1.533852506051759]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.016025245075086, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.1824883756419737, "map_correction_at_base_m": 0.022266853656239496, "map_correction_angle_deg": 0.1950636139666645, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.022266853656239496, "rotation_deg": 0.1950636139666645, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6302774436015482, -0.3296722392468439, 0.7028986831379531, 0.01436460025640951], [-0.7763020417554594, 0.25563610476444676, -0.5761990297693717, -0.02877497134397787], [0.01027054299448213, -0.908826934355949, -0.4170469030406121, 1.3109996290638237], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.3489142148556386e-05, 1.0103262192587904e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14513249690098454, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3203702843965641, "remaining_m": 16.262676179409027, "total_m": 16.58304646380559, "selection_total_m": 16.58304646380559, "best_candidate_total_m": 16.58304646380559, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876889.021102611, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 4, "total": 6, "label": "right surroundings", "settled_views": 3, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000676.npz", "native_local_path_body": [[-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07], [-1.348914247500943e-05, 1.0103261871563518e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.914371132850647, -0.16517871618270874, 0.369650661945343, 0.7866843342781067], [0.195036381483078, 0.6203824281692505, 0.7596621513366699, -0.9719429612159729], [-0.35480475425720215, 0.7667083740234375, -0.5350439548492432, 2.453646183013916], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5796855459921062, "input_age_at_publish_s": 0.6698685493320227, "vggt_debug_frame": "frames/00000676/frame.json"} +{"frame_idx": 678, "time_s": 170.2219295501709, "localized": true, "localized_streak": 343, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": true, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": true, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": true, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084], [-1.6988175548980813, -0.29528597636428433, -1.5361466060750084]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.008106958640447, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.1327813197577068, "map_correction_at_base_m": 0.008500872093672531, "map_correction_angle_deg": 0.07129210365268958, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008500872093672531, "rotation_deg": 0.07129210365268958, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.630277443601548, -0.3296722392468439, 0.702898683137953, 0.01436460025640951], [-0.7763020417554592, 0.25563610476444654, -0.5761990297693713, -0.028774971343977607], [0.010270542994482185, -0.908826934355949, -0.4170469030406121, 1.310999629063823], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-8.995576514491061e-06, 1.0124401802661482e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14809879421401106, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3184611354163761, "remaining_m": 16.262676179409027, "total_m": 16.581137314825405, "selection_total_m": 16.581137314825405, "best_candidate_total_m": 16.581137314825405, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.741221002224058, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "right surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07], [-8.995576536108274e-06, 1.0124401939037853e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9148579835891724, -0.16514411568641663, 0.3684595227241516, 0.7930529117584229], [0.19432589411735535, 0.6198214292526245, 0.7603018283843994, -0.9670268297195435], [-0.3539384603500366, 0.7671693563461304, -0.5349569320678711, 2.4488956928253174], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5114991739392281, "input_age_at_publish_s": 0.6670075058937073, "vggt_debug_frame": "frames/00000678/frame.json"} +{"frame_idx": 680, "time_s": 170.68883800506592, "localized": true, "localized_streak": 344, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": true, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": true, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": true, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423], [-1.6966366995526516, -0.29538045397549073, -1.538964356671423]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.00696241853054, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.091808232555009, "map_correction_at_base_m": 0.003562479330524249, "map_correction_angle_deg": 0.047809380336252476, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.003562479330524249, "rotation_deg": 0.047809380336252476, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6302774436015484, -0.32967223924684386, 0.7028986831379532, 0.014364600256410398], [-0.77630204175546, 0.25563610476444665, -0.5761990297693715, -0.02877497134397812], [0.010270542994482212, -0.9088269343559492, -0.417046903040613, 1.3109996290638237], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.3285982848880204e-05, 1.0167268580665842e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1508590873457125, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32031447300952437, "remaining_m": 16.262676179409027, "total_m": 16.58299065241855, "selection_total_m": 16.58299065241855, "best_candidate_total_m": 16.58299065241855, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000680.npz", "native_local_path_body": [[-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07], [-1.32859831865062e-05, 1.0167268271743524e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9150199890136719, -0.16517357528209686, 0.36804360151290894, 0.79399174451828], [0.19369758665561676, 0.6203972101211548, 0.7599924802780151, -0.9641323685646057], [-0.3538638949394226, 0.7666975259780884, -0.5356820821762085, 2.4492344856262207], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6078290152363479, "input_age_at_publish_s": 0.8560765688307583, "vggt_debug_frame": "frames/00000680/frame.json"} +{"frame_idx": 683, "time_s": 171.45591711997986, "localized": true, "localized_streak": 345, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": true, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": true, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": true, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054], [-1.6987578510564618, -0.29693308474370195, -1.537850682682054]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.009752795366657, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0729014785712405, "map_correction_at_base_m": 0.0028509293140368875, "map_correction_angle_deg": 0.109830275731093, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0028509293140368875, "rotation_deg": 0.109830275731093, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6314672499296328, -0.32928914097641837, 0.7020098104024751, 0.014315381852096465], [-0.7753346916302944, 0.2561636793409192, -0.5772662170446828, -0.028824783454061045], [0.010258080759231097, -0.9088172704243329, -0.41706826870142244, 1.3109985085141571], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.01291157744908e-06, 1.0198114439252463e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14938454799182205, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3206542284439493, "remaining_m": 16.262676179409027, "total_m": 16.583330407852976, "selection_total_m": 16.583330407852976, "best_candidate_total_m": 16.583330407852976, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07], [-9.012911505124066e-06, 1.0198114352988341e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9148368835449219, -0.1652582883834839, 0.3684609830379486, 0.7916640639305115], [0.19381433725357056, 0.6207883358001709, 0.7596432566642761, -0.9660513997077942], [-0.35427364706993103, 0.7663626074790955, -0.5358908176422119, 2.4505515098571777], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5565702635794878, "input_age_at_publish_s": 0.6761381062678993, "vggt_debug_frame": "frames/00000683/frame.json"} +{"frame_idx": 685, "time_s": 171.95618677139282, "localized": true, "localized_streak": 346, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": true, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": true, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": true, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665], [-1.697902134118252, -0.29784477184037605, -1.5368586581706665]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.00879630123995, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0210989170023568, "map_correction_at_base_m": 0.0015961505152274887, "map_correction_angle_deg": 0.09729516225796357, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0015961505152274887, "rotation_deg": 0.09729516225796357, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.6314672499296328, -0.32928914097641837, 0.702009810402475, 0.014315381852097353], [-0.7753346916302939, 0.2561636793409192, -0.577266217044683, -0.028824783454061087], [0.010258080759231097, -0.9088172704243329, -0.417068268701422, 1.3109985085141567], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [4.821608686913752e-07, 1.0364834237329376e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1480603935373163, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3195740537593476, "remaining_m": 16.262676179409027, "total_m": 16.582250233168374, "selection_total_m": 16.582250233168374, "best_candidate_total_m": 16.582250233168374, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000685.npz", "native_local_path_body": [[4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07], [4.821608854399528e-07, 1.0364833968878884e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.9145424365997314, -0.16584406793117523, 0.3689287304878235, 0.791571855545044], [0.19449053704738617, 0.6194316148757935, 0.7605774402618408, -0.9652731418609619], [-0.3546633720397949, 0.7673332691192627, -0.5342414379119873, 2.4470720291137695], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6279197190888226, "input_age_at_publish_s": 0.7258561779744923, "vggt_debug_frame": "frames/00000685/frame.json"} +{"frame_idx": 688, "time_s": 172.72327136993408, "localized": true, "localized_streak": 347, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 943, "score": 0.2456037551164627, "verified": false, "loaded": true}, {"id": 796, "score": 0.2346944808959961, "verified": true, "loaded": true}, {"id": 589, "score": 0.23463097214698792, "verified": false, "loaded": true}, {"id": 590, "score": 0.2315438836812973, "verified": false, "loaded": true}, {"id": 795, "score": 0.23111741244792938, "verified": true, "loaded": true}, {"id": 941, "score": 0.22733314335346222, "verified": false, "loaded": true}], "camera_display": [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476], [-1.6774293707373031, -0.28985622598686245, -1.5373746772375476]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.977073359541835, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.6440068125565095, "map_correction_at_base_m": 0.021970977150230143, "map_correction_angle_deg": 0.862165291586734, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.021970977150230143, "rotation_deg": 0.862165291586734, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.5408943482142362, -0.35507353313078255, 0.7624671075790217, 0.017700373374847977], [-0.8410151653838667, 0.21618634697630418, -0.4959404752340626, -0.024997686917585166], [0.011260358086820493, -0.9094978006851165, -0.4155561994299837, 1.3110782769487928], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.1562531990327879e-05, 1.0375703345857565e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1566454187273785, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3082745318976331, "remaining_m": 16.262676179409027, "total_m": 16.57095071130666, "selection_total_m": 16.57095071130666, "best_candidate_total_m": 16.57095071130666, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07], [-1.1562531653908081e-05, 1.0375703141107806e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.857826828956604, -0.21685516834259033, 0.4659475088119507, 0.8197900652885437], [0.24388256669044495, 0.6262779235839844, 0.7404710054397583, -0.9536915421485901], [-0.45238757133483887, 0.7488323450088501, -0.4843508005142212, 2.425553321838379], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5501378867775202, "input_age_at_publish_s": 0.6135439639911056, "vggt_debug_frame": "frames/00000688/frame.json"} +{"frame_idx": 690, "time_s": 173.22354197502136, "localized": true, "localized_streak": 348, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 944, "score": 0.2973655164241791, "verified": false, "loaded": true}, {"id": 590, "score": 0.2947753071784973, "verified": false, "loaded": true}, {"id": 796, "score": 0.2921057939529419, "verified": true, "loaded": true}, {"id": 943, "score": 0.29103535413742065, "verified": false, "loaded": true}, {"id": 946, "score": 0.28806042671203613, "verified": false, "loaded": true}, {"id": 797, "score": 0.2756718695163727, "verified": true, "loaded": true}], "camera_display": [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846], [-1.728719096714777, -0.31518714494518907, -1.5262968640874846]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.008399613319094, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.881857517253282, "map_correction_at_base_m": 0.058270597052912494, "map_correction_angle_deg": 0.6380460169431409, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.058270597052912494, "rotation_deg": 0.6380460169431409, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.3950790440101014, -0.38461159868533723, 0.8342580339084386, 0.021868138161683426], [-0.9185542355639148, 0.15247726726740912, -0.3647037143960233, -0.018711636133319873], [0.013063893434094892, -0.9103980454303339, -0.41352718600470606, 1.3111870928169627], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.568659999232842e-05, 1.0345389875521775e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.13987218687260788, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.31509543249700167, "remaining_m": 16.262676179409027, "total_m": 16.57777161190603, "selection_total_m": 16.57777161190603, "best_candidate_total_m": 16.57777161190603, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000690.npz", "native_local_path_body": [[-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07], [-1.5686600818298757e-05, 1.0345389966914809e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.7591545581817627, -0.2822728157043457, 0.586520791053772, 0.7985545992851257], [0.30152571201324463, 0.6460619568824768, 0.7012034058570862, -0.9822071194648743], [-0.5768594741821289, 0.709172785282135, -0.40534842014312744, 2.4583373069763184], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6406091060489416, "input_age_at_publish_s": 0.7334141759201884, "vggt_debug_frame": "frames/00000690/frame.json"} +{"frame_idx": 693, "time_s": 173.9239113330841, "localized": true, "localized_streak": 349, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 798, "score": 0.3668922185897827, "verified": true, "loaded": true}, {"id": 797, "score": 0.35586032271385193, "verified": true, "loaded": true}, {"id": 799, "score": 0.3224496841430664, "verified": true, "loaded": true}, {"id": 796, "score": 0.29987943172454834, "verified": true, "loaded": true}, {"id": 944, "score": 0.27550795674324036, "verified": false, "loaded": true}, {"id": 800, "score": 0.27220287919044495, "verified": true, "loaded": true}], "camera_display": [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022], [-1.715354353500647, -0.27133146235685945, -1.5094968266252022]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.93589335300461, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8521717906002165, "map_correction_at_base_m": 0.048828563088746446, "map_correction_angle_deg": 1.2094330987007202, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.048828563088746446, "rotation_deg": 1.2094330987007202, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.16136459100104822, -0.40814908404924327, 0.8985409250339284, 0.025999559065119193], [-0.9867597096032755, 0.051658662597616534, -0.15374218055655442, -0.008388282631193386], [0.0163323076974131, -0.911452526338256, -0.41108095061299954, 1.3113225217781006], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.5049319429518079e-05, 1.0012365093424783e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.15597844579463738, "attachment_limit_m": 0.75, "candidate_count": 19, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.27253334139921137, "remaining_m": 16.262676179409027, "total_m": 16.535209520808237, "selection_total_m": 16.535209520808237, "best_candidate_total_m": 16.535209520808237, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07], [-1.504931969975587e-05, 1.0012364981548671e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.5907679796218872, -0.35687926411628723, 0.7236231565475464, 0.8700708150863647], [0.3732157051563263, 0.674271821975708, 0.6372343301773071, -0.9970229864120483], [-0.715334415435791, 0.6465251445770264, -0.26514530181884766, 2.4512314796447754], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5513226799666882, "input_age_at_publish_s": 0.5736589217558503, "vggt_debug_frame": "frames/00000693/frame.json"} +{"frame_idx": 695, "time_s": 174.39082670211792, "localized": true, "localized_streak": 350, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 798, "score": 0.4424445629119873, "verified": true, "loaded": true}, {"id": 799, "score": 0.4221635162830353, "verified": true, "loaded": true}, {"id": 797, "score": 0.38640445470809937, "verified": true, "loaded": true}, {"id": 800, "score": 0.3726516366004944, "verified": true, "loaded": true}, {"id": 796, "score": 0.3198202848434448, "verified": true, "loaded": true}, {"id": 512, "score": 0.3006277084350586, "verified": false, "loaded": true}], "camera_display": [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735], [-1.7156166158628499, -0.210441438892631, -1.501924531989735]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.865812135159164, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.930333794220597, "map_correction_at_base_m": 0.06135933670721165, "map_correction_angle_deg": 0.8069140123135896, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.06135933670721165, "rotation_deg": 0.8069140123135896, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.002606810961859607, -0.41001294998512855, 0.9120759756627194, 0.027293764140348564], [-0.9998203064058244, -0.01605712978575312, -0.010075886145012952, -0.0012286840512107933], [0.01877656611771475, -0.9119383473829444, -0.40989741538254565, 1.311391387325832], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.5480935161476005e-05, 1.0099330850727177e-07], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13763204397952794, "attachment_limit_m": 0.75, "candidate_count": 16, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7495541697869584, "remaining_m": 15.583116039633751, "total_m": 16.33267020942071, "selection_total_m": 16.33267020942071, "best_candidate_total_m": 16.33267020942071, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000695.npz", "native_local_path_body": [[-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07], [-1.548093496239744e-05, 1.0099331149149293e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.46035540103912354, -0.398398220539093, 0.7933172583580017, 0.9461514949798584], [0.40409374237060547, 0.701647937297821, 0.5868548154830933, -1.0194462537765503], [-0.7904313206672668, 0.5907361507415771, -0.1620173454284668, 2.4782965183258057], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.65374740306288, "input_age_at_publish_s": 0.7348552462644875, "vggt_debug_frame": "frames/00000695/frame.json"} +{"frame_idx": 697, "time_s": 174.95779275894165, "localized": true, "localized_streak": 351, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 799, "score": 0.42652642726898193, "verified": true, "loaded": true}, {"id": 798, "score": 0.42367953062057495, "verified": true, "loaded": true}, {"id": 800, "score": 0.37641289830207825, "verified": true, "loaded": true}, {"id": 797, "score": 0.35767775774002075, "verified": true, "loaded": true}, {"id": 513, "score": 0.3092983365058899, "verified": true, "loaded": true}, {"id": 810, "score": 0.30531221628189087, "verified": true, "loaded": true}], "camera_display": [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286], [-1.7237240820306865, -0.2809382906616591, -1.514599063567286]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.95895735839855, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.4523396156561523, "map_correction_at_base_m": 0.07209006407499609, "map_correction_angle_deg": 1.4871029807158878, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.07209006407499609, "rotation_deg": 1.4871029807158878, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.1743514287483173, -0.39938215554001394, 0.9000530390647167, 0.027375785745758385], [-0.9844442970183539, -0.09084474141028583, 0.15038836067374817, 0.006884098388617768], [0.021702657935365494, -0.9122725068718833, -0.40900839581141857, 1.3114473383020193], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-2.3038436799902003e-05, 1.0122246751731717e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.16063092529886452, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.28675200280472607, "remaining_m": 16.262676179409027, "total_m": 16.549428182213752, "selection_total_m": 16.549428182213752, "best_candidate_total_m": 16.549428182213752, "selected_on_previous_route": false}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07], [-2.30384375754511e-05, 1.0122246862920292e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.2810823917388916, -0.41493871808052063, 0.8653432130813599, 0.8668385744094849], [0.42894312739372253, 0.7522943615913391, 0.5000609755516052, -1.015535593032837], [-0.8584874868392944, 0.5117412209510803, -0.03347158432006836, 2.4954946041107178], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6250216877087951, "input_age_at_publish_s": 0.7908767433837056, "vggt_debug_frame": "frames/00000697/frame.json"} +{"frame_idx": 700, "time_s": 175.724862575531, "localized": true, "localized_streak": 352, "weights": [1.0, 0.0, 0.0, 9.99999993922529e-09, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895], [-1.747020185488263, -0.31875711041221244, -1.519753102933895]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.027483957113054, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9896620538102241, "map_correction_at_base_m": 0.04470720571983091, "map_correction_angle_deg": 0.8742560971391392, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.04470720571983091, "rotation_deg": 0.8742560971391392, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.41599385694088953, -0.36174717099050413, 0.8343189409738998, 0.02501274601592307], [-0.908993796105736, -0.19171213343098412, 0.3701036834950782, 0.01820320534075745], [0.026065103658475974, -0.9123516000839301, -0.408577003997491, 1.3114858857634248], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.364841861913203e-05, 1.2069986439941531e-07], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.15013632759647436, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32208130408734587, "remaining_m": 16.262676179409027, "total_m": 16.58475748349637, "selection_total_m": 16.58475748349637, "best_candidate_total_m": 16.58475748349637, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000700.npz", "native_local_path_body": [[-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07], [-1.3648418644152116e-05, 1.206998661018588e-07]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.035991549491882324, -0.4163770079612732, 0.9084795117378235, 0.8121531009674072], [0.43944674730300903, 0.8098667860031128, 0.3885902762413025, -1.0260838270187378], [-0.8975474238395691, 0.4132142663002014, 0.15382707118988037, 2.5264570713043213], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6356132295913994, "input_age_at_publish_s": 0.7223419961519539, "vggt_debug_frame": "frames/00000700/frame.json"} +{"frame_idx": 703, "time_s": 176.4585883617401, "localized": true, "localized_streak": 353, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644], [-1.7490239945003068, -0.3350308797246262, -1.5165852668138644]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.041323102777659, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8679829363209315, "map_correction_at_base_m": 0.016695915662705296, "map_correction_angle_deg": 1.5939712843517744, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.016695915662705296, "rotation_deg": 1.5939712843517744, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5049750617571835, -0.3400243356222812, 0.7933370268605612, 0.023300638276836594], [-0.8626862431229732, -0.22842723019231462, 0.4512133048049868, 0.02245322175082423], [0.027796275464514464, -0.9122524056922479, -0.40868437134175695, 1.3114872027095155], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-8.351602784240406e-06, 6.433129102426121e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14276705014951818, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3267681923251538, "remaining_m": 16.262676179409027, "total_m": 16.58944437173418, "selection_total_m": 16.58944437173418, "best_candidate_total_m": 16.58944437173418, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08], [-8.35160244605504e-06, 6.433128874050453e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.03654181957244873, -0.41531845927238464, 0.9089419841766357, 0.7976827621459961], [0.4379943311214447, 0.8241909742355347, 0.3589850664138794, -1.029099464416504], [-0.8982348442077637, 0.38499337434768677, 0.21202445030212402, 2.525519371032715], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.589849135838449, "input_age_at_publish_s": 0.6010877918452024, "vggt_debug_frame": "frames/00000703/frame.json"} +{"frame_idx": 705, "time_s": 176.95935988426208, "localized": true, "localized_streak": 354, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919], [-1.7489787419440903, -0.33562689779261756, -1.515662255764919]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.043307629343667, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8524701456945696, "map_correction_at_base_m": 0.0010976363423284424, "map_correction_angle_deg": 0.0575648005304844, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0010976363423284424, "rotation_deg": 0.0575648005304844, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5049750617571837, -0.34002433562228124, 0.7933370268605614, 0.023300638276836594], [-0.8626862431229733, -0.22842723019231478, 0.4512133048049868, 0.02245322175082408], [0.027796275464514464, -0.9122524056922479, -0.4086843713417574, 1.3114872027095152], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-2.483262426633197e-06, 6.50991064287044e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.142313532859506, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32702343590218586, "remaining_m": 16.262676179409027, "total_m": 16.58969961531121, "selection_total_m": 16.58969961531121, "best_candidate_total_m": 16.58969961531121, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876894.633282236, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 5, "total": 6, "label": "left surroundings", "settled_views": 4, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000705.npz", "native_local_path_body": [[-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08], [-2.4832625058479607e-06, 6.509910832619425e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.03662639856338501, -0.414755254983902, 0.909195601940155, 0.7963266968727112], [0.43711385130882263, 0.8248044848442078, 0.35864898562431335, -1.0304083824157715], [-0.8986601233482361, 0.38428595662117004, 0.21150487661361694, 2.5259928703308105], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.655195530038327, "input_age_at_publish_s": 0.7526062042452395, "vggt_debug_frame": "frames/00000705/frame.json"} +{"frame_idx": 708, "time_s": 177.7284858226776, "localized": true, "localized_streak": 355, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402], [-1.7508506884774229, -0.3420780883818244, -1.5166792283529402]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.052040755407598, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6940287613473617, "map_correction_at_base_m": 0.00680101614905812, "map_correction_angle_deg": 0.09044030833248655, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.00680101614905812, "rotation_deg": 0.09044030833248655, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5049750617571835, -0.340024335622281, 0.793337026860561, 0.023300638276837482], [-0.8626862431229732, -0.2284272301923147, 0.45121330480498667, 0.022453221750824356], [0.02779627546451452, -0.9122524056922479, -0.40868437134175717, 1.3114872027095155], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.1122490092170188e-05, 6.466065751996039e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1428883340760154, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.33261373045208237, "remaining_m": 16.262676179409027, "total_m": 16.59528990986111, "selection_total_m": 16.59528990986111, "best_candidate_total_m": 16.59528990986111, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [0.508778997775942, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "left surroundings"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08], [-1.1122489922854584e-05, 6.466066082566613e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.037081360816955566, -0.41374027729034424, 0.9096395373344421, 0.788195013999939], [0.4360840916633606, 0.8257205486297607, 0.3577936291694641, -1.0299403667449951], [-0.8991417288780212, 0.38341182470321655, 0.21104437112808228, 2.527294635772705], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5477963811717927, "input_age_at_publish_s": 0.5632027829997241, "vggt_debug_frame": "frames/00000708/frame.json"} +{"frame_idx": 710, "time_s": 178.22863793373108, "localized": true, "localized_streak": 356, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168], [-1.7455380492923949, -0.33888924214877836, -1.5148207053301168]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.04300630353232, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8794256519556107, "map_correction_at_base_m": 0.006467393410763006, "map_correction_angle_deg": 0.14923450215772438, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.006467393410763006, "rotation_deg": 0.14923450215772438, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5049750617571835, -0.3400243356222809, 0.7933370268605611, 0.023300638276837482], [-0.8626862431229728, -0.2284272301923147, 0.4512133048049868, 0.022453221750824162], [0.027796275464514686, -0.912252405692248, -0.40868437134175695, 1.3114872027095155], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.275799979736995e-05, 6.388937898584994e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.13870805602429506, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32570560125828424, "remaining_m": 16.262676179409027, "total_m": 16.588381780667312, "selection_total_m": 16.588381780667312, "best_candidate_total_m": 16.588381780667312, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000710.npz", "native_local_path_body": [[-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08], [-1.2757999684254173e-05, 6.388938089685325e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.038420021533966064, -0.41504716873168945, 0.9089884757995605, 0.7949759364128113], [0.4377772808074951, 0.824708104133606, 0.3580610156059265, -1.0287761688232422], [-0.8982623815536499, 0.38417768478393555, 0.2133834958076477, 2.5209052562713623], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6364010330289602, "input_age_at_publish_s": 0.7095597251318395, "vggt_debug_frame": "frames/00000710/frame.json"} +{"frame_idx": 712, "time_s": 178.72869753837585, "localized": true, "localized_streak": 357, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504], [-1.7479625607203215, -0.34043712346418076, -1.5157391831892504]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.049205605959461, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9298953515571625, "map_correction_at_base_m": 0.0030145731567427425, "map_correction_angle_deg": 0.12345767439001497, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0030145731567427425, "rotation_deg": 0.12345767439001497, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5049750617571835, -0.3400243356222812, 0.7933370268605612, 0.023300638276836594], [-0.8626862431229732, -0.22842723019231462, 0.4512133048049868, 0.02245322175082419], [0.027796275464514464, -0.9122524056922479, -0.40868437134175695, 1.3114872027095155], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-7.41023720305472e-06, 6.416704071083771e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1399344255666291, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32966630145638, "remaining_m": 16.262676179409027, "total_m": 16.59234248086541, "selection_total_m": 16.59234248086541, "best_candidate_total_m": 16.59234248086541, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08], [-7.4102372309425846e-06, 6.416703968170623e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.03732782602310181, -0.4132623076438904, 0.9098467230796814, 0.7900590896606445], [0.43759721517562866, 0.8253029584884644, 0.35690852999687195, -1.0288503170013428], [-0.8983960747718811, 0.3848237097263336, 0.21164923906326294, 2.522965669631958], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5770160076208413, "input_age_at_publish_s": 0.7488474631682038, "vggt_debug_frame": "frames/00000712/frame.json"} +{"frame_idx": 715, "time_s": 179.49748587608337, "localized": true, "localized_streak": 358, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946], [-1.7503441001681126, -0.3331787879040782, -1.520245655335946]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.047042264115735, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8046604192129394, "map_correction_at_base_m": 0.008863829710109657, "map_correction_angle_deg": 0.5367184926897179, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.008863829710109657, "rotation_deg": 0.5367184926897179, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.5036516090016278, -0.34038369284999753, 0.7940239280978061, 0.02332998565285571], [-0.8634604139921379, -0.22788312476117986, 0.45000599431297184, 0.02238963178933137], [0.027769951721190178, -0.9122544727711007, -0.40868154679471846, 1.3114872425046975], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-2.2929684981686145e-05, 6.522338062327599e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.14758484149224552, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3323801753447372, "remaining_m": 16.262676179409027, "total_m": 16.595056354753766, "selection_total_m": 16.595056354753766, "best_candidate_total_m": 16.595056354753766, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000715.npz", "native_local_path_body": [[-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08], [-2.2929685655981302e-05, 6.52233822506787e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[0.026668906211853027, -0.4127391576766968, 0.9104588031768799, 0.794792652130127], [0.43624937534332275, 0.8242825865745544, 0.3608943223953247, -1.0278022289276123], [-0.899430513381958, 0.3875623941421509, 0.202039897441864, 2.530766725540161], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.649153130594641, "input_age_at_publish_s": 0.6929384670220315, "vggt_debug_frame": "frames/00000715/frame.json"} +{"frame_idx": 717, "time_s": 179.99883842468262, "localized": true, "localized_streak": 359, "weights": [1.0, 0.0, 0.0, 0.0, 9.99999993922529e-09], "retrieval": [{"id": 1058, "score": 0.40345636010169983, "verified": true, "loaded": true}, {"id": 513, "score": 0.39575061202049255, "verified": true, "loaded": true}, {"id": 1060, "score": 0.3874119818210602, "verified": true, "loaded": true}, {"id": 804, "score": 0.3857393264770508, "verified": true, "loaded": true}, {"id": 803, "score": 0.3728712201118469, "verified": true, "loaded": true}, {"id": 1059, "score": 0.36896055936813354, "verified": true, "loaded": true}], "camera_display": [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716], [-1.7471334048906177, -0.3210106299229807, -1.5259646781683716]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.036600467382586, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9322058646901652, "map_correction_at_base_m": 0.01382597873219706, "map_correction_angle_deg": 0.4035628497160885, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01382597873219706, "rotation_deg": 0.4035628497160885, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.4207974665111277, -0.3606948469726731, 0.8323633338543789, 0.024933205830425464], [-0.9067774378612495, -0.19370072927224274, 0.3744792459739108, 0.018431386566439445], [0.026156650466066633, -0.9123482092089408, -0.40857872532675366, 1.3114861539657812], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.9221632512839144e-05, 6.470313543169503e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.15468823643881016, "attachment_limit_m": 0.75, "candidate_count": 21, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.33114173806143776, "remaining_m": 16.262676179409027, "total_m": 16.593817917470464, "selection_total_m": 16.593817917470464, "best_candidate_total_m": 16.593817917470464, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08], [-1.922163210110739e-05, 6.470313707040987e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.07389318943023682, -0.413399875164032, 0.9075464010238647, 0.8059030771255493], [0.4358903169631958, 0.8051146864891052, 0.402231365442276, -1.0214728116989136], [-0.8969613313674927, 0.4253127872943878, 0.12070447206497192, 2.5307998657226562], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.558198019862175, "input_age_at_publish_s": 0.7342731091193855, "vggt_debug_frame": "frames/00000717/frame.json"} +{"frame_idx": 720, "time_s": 180.7341113090515, "localized": true, "localized_streak": 360, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.4110097587108612, "verified": true, "loaded": true}, {"id": 799, "score": 0.41029995679855347, "verified": true, "loaded": true}, {"id": 800, "score": 0.35661405324935913, "verified": true, "loaded": true}, {"id": 797, "score": 0.3445306420326233, "verified": true, "loaded": true}, {"id": 864, "score": 0.3080667555332184, "verified": false, "loaded": true}, {"id": 525, "score": 0.2913426458835602, "verified": true, "loaded": true}], "camera_display": [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135], [-1.7441915825053873, -0.2861367719270902, -1.5407437525632135]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.99928821049719, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.48151246109761975, "map_correction_at_base_m": 0.03798854512572935, "map_correction_angle_deg": 1.0303043420305176, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.03798854512572935, "rotation_deg": 1.0303043420305176, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.1969481920051087, -0.39704144988830714, 0.896420379474111, 0.0272809979696218], [-0.9801649643818, -0.1003412946358007, 0.17090426322721022, 0.007930306137706913], [0.0220919049505236, -0.9122991349669264, -0.4089281551498438, 1.3114528730248167], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-2.18482529269451e-05, 6.833041448218563e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.17554764967933398, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3262002155576916, "remaining_m": 16.262676179409027, "total_m": 16.588876394966718, "selection_total_m": 16.588876394966718, "best_candidate_total_m": 16.588876394966718, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000720.npz", "native_local_path_body": [[-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08], [-2.1848252799827605e-05, 6.833041510390103e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.3199031352996826, -0.39951059222221375, 0.8591002821922302, 0.8387253880500793], [0.4227188527584076, 0.7513118386268616, 0.5067931413650513, -1.0021034479141235], [-0.8479214310646057, 0.525282621383667, -0.07146632671356201, 2.5258655548095703], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.669844166841358, "input_age_at_publish_s": 0.6841491712257266, "vggt_debug_frame": "frames/00000720/frame.json"} +{"frame_idx": 722, "time_s": 181.23414206504822, "localized": true, "localized_streak": 361, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.4110097587108612, "verified": true, "loaded": true}, {"id": 799, "score": 0.41029995679855347, "verified": true, "loaded": true}, {"id": 800, "score": 0.35661405324935913, "verified": true, "loaded": true}, {"id": 797, "score": 0.3445306420326233, "verified": true, "loaded": true}, {"id": 864, "score": 0.3080667555332184, "verified": false, "loaded": true}, {"id": 525, "score": 0.2913426458835602, "verified": true, "loaded": true}], "camera_display": [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962], [-1.7442012946581893, -0.2861449208052962, -1.5407434061105962]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.999298344554264, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.2102677947359952, "map_correction_at_base_m": 1.2488950110340334e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 1.2488950110340334e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[0.05455828235498322, -0.40804898133388895, 0.9113283835472534, 0.027477663840048905], [-0.9983162640959606, -0.04029671163361799, 0.04172303767705987, 0.0013767764347658862], [0.0196984940530551, -0.9120702844977973, -0.40956045398469465, 1.3114118693511063], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-9.226993536785494e-06, 6.802910139907939e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.17554651349327172, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.32620634780161867, "remaining_m": 16.262676179409027, "total_m": 16.588882527210647, "selection_total_m": 16.588882527210647, "best_candidate_total_m": 16.588882527210647, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08], [-9.226993824995589e-06, 6.80291023513746e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4522613286972046, -0.37899070978164673, 0.8073574304580688, 0.835604727268219], [0.3980860114097595, 0.7242740392684937, 0.5629873275756836, -0.9993816018104553], [-0.7981150150299072, 0.5760149955749512, -0.17669034004211426, 2.520782947540283], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.598917210008949, "input_age_at_publish_s": 0.7854191302321851, "vggt_debug_frame": "frames/00000722/frame.json"} +{"frame_idx": 725, "time_s": 182.00115442276, "localized": true, "localized_streak": 362, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651], [-1.754722154871021, -0.3275969771901197, -1.5082933412584651]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 14.03795271607295, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8331121513316213, "map_correction_at_base_m": 0.05368248300581611, "map_correction_angle_deg": 2.5035422158601777, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.05368248300581611, "rotation_deg": 2.5035422158601777, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00107352763592225, -0.40997840228697985, 0.9120945988200075, 0.02730063769028135], [-0.9998226691241521, -0.016708270601714884, -0.0086870017242143, -0.0011589892001060281], [0.018801006459004885, -0.9119421820223667, -0.40988776366758395, 1.3113919663823197], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-6.970639575289664e-06, 6.83059198946951e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.129772115088071, "attachment_limit_m": 0.75, "candidate_count": 22, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.3173250042423677, "remaining_m": 16.262676179409027, "total_m": 16.580001183651394, "selection_total_m": 16.580001183651394, "best_candidate_total_m": 16.580001183651394, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": "footprint_evidence/00000725.npz", "native_local_path_body": [[-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08], [-6.970639788050903e-06, 6.830592269579938e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.4638800621032715, -0.3753640949726105, 0.802444577217102, 0.7902002930641174], [0.40406444668769836, 0.7164438366889954, 0.5687180757522583, -1.019681692123413], [-0.7883827686309814, 0.588056206703186, -0.1806727647781372, 2.4904980659484863], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.7070409110747278, "input_age_at_publish_s": 0.7469096588902175, "vggt_debug_frame": "frames/00000725/frame.json"} +{"frame_idx": 727, "time_s": 182.5023181438446, "localized": true, "localized_streak": 363, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469], [-1.7332227980406252, -0.29501200122826887, -1.5010072297676469]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.979196437134824, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.6406883733288858, "map_correction_at_base_m": 0.03970074779364757, "map_correction_angle_deg": 0.6609017465176619, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.03970074779364757, "rotation_deg": 0.6609017465176619, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0010735276359222778, -0.40997840228697996, 0.9120945988200074, 0.02730063769028135], [-0.9998226691241521, -0.016708270601714953, -0.008687001724214244, -0.0011589892001064028], [0.018801006459004913, -0.9119421820223667, -0.4098877636675844, 1.3113919663823195], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-1.9485764100594572e-05, 2.8507379189605364e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.13459839631467527, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.28203822948813434, "remaining_m": 16.262676179409027, "total_m": 16.54471440889716, "selection_total_m": 16.54471440889716, "best_candidate_total_m": 16.54471440889716, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876901.959944295, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 5, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08], [-1.9485763914417475e-05, 2.8507379568054603e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.467022180557251, -0.3834548592567444, 0.7967765927314758, 0.8407847285270691], [0.40331530570983887, 0.7095174789428711, 0.5778596997261047, -1.0188734531402588], [-0.7869099974632263, 0.5912253260612488, -0.17670726776123047, 2.4734768867492676], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5757458829320967, "input_age_at_publish_s": 0.7755271606147289, "vggt_debug_frame": "frames/00000727/frame.json"} +{"frame_idx": 730, "time_s": 183.2361490726471, "localized": true, "localized_streak": 364, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734], [-1.720022295023544, -0.29039927444046665, -1.4982269182836734]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.961971647257004, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.7539327760571379, "map_correction_at_base_m": 0.01425452852064524, "map_correction_angle_deg": 0.1724467113966783, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.01425452852064524, "rotation_deg": 0.1724467113966783, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.001073527635922139, -0.40997840228697974, 0.9120945988200077, 0.02730063769028046], [-0.9998226691241521, -0.01670827060171498, -0.008687001724214216, -0.0011589892001060836], [0.0188010064590049, -0.9119421820223667, -0.40988776366758417, 1.311391966382319], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [-2.2184537071609794e-05, 2.7424594494156486e-08], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1358956428268415, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.27167006337435035, "remaining_m": 16.262676179409027, "total_m": 16.53434624278338, "selection_total_m": 16.53434624278338, "best_candidate_total_m": 16.53434624278338, "selected_on_previous_route": true}, "corner_observation": {"phase": "survey_return", "target": [7.103855629247991, 1.4828898548207625], "hold": true, "head_target": [-0.04122100222405805, -0.397176858764722], "head_anchor": [[-0.9813343880290535, 0.1923091752144025, 0.0, 7.103855629247991], [-0.1923091752144025, -0.9813343880290535, 0.0, 1.4828898548207625], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "head_deadline": 2876907.585006757, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": true, "survey_label": "return to driving view"}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 6, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08], [-2.2184536646818742e-05, 2.7424594151170822e-08]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.46718621253967285, -0.38597360253334045, 0.7954633235931396, 0.8534083962440491], [0.403125137090683, 0.7077388763427734, 0.5801688432693481, -1.0156711339950562], [-0.7869101762771606, 0.5917179584503174, -0.1750502586364746, 2.461135149002075], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5917644361034036, "input_age_at_publish_s": 0.6839392450638115, "vggt_debug_frame": "frames/00000730/frame.json"} +{"frame_idx": 732, "time_s": 183.73587656021118, "localized": true, "localized_streak": 365, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4745305921539895, 0.09683942502561482, -1.5128947331101252], [-1.2893693154392647, 0.5351738091876781, -1.5250146662585142], [-1.2410403871481286, 1.008671210944914, -1.5307724907979066], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824], [-1.286431138341154, 1.116172358261077, -1.5293544365239824]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.961979871999148, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.9332345914951018, "map_correction_at_base_m": 5.462141184746929e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 5.462141184746929e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0010735276359221668, -0.4099784022869799, 0.9120945988200071, 0.02730063769028135], [-0.9998226691241521, -0.01670827060171498, -0.008687001724214105, -0.0011589892001059587], [0.018801006459004885, -0.9119421820223667, -0.4098877636675846, 1.311391966382319], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4413137435913086, 0.1252342164516449], [0.8715827465057373, 0.3287953734397888], [1.2230523824691772, 0.6497901678085327], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435]], "goal_body": [1.2878072748139142, 0.7481164454959022], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.1358922233099795, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.2716730397401486, "remaining_m": 16.262676179409027, "total_m": 16.534349219149174, "selection_total_m": 16.534349219149174, "best_candidate_total_m": 16.534349219149174, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [5.984804105482703, 0.5000939035510933], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 6, "reason": "learned path footprint"}, "footprint_diagnostics": null, "footprint_evidence": null, "native_local_path_body": [[0.4413137435913086, 0.1252342164516449], [0.8715827465057373, 0.3287953734397888], [1.2230523824691772, 0.6497901678085327], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435], [1.260743260383606, 0.7602357268333435]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.46718549728393555, -0.38597372174263, 0.7954635620117188, 0.8534019589424133], [0.4031253159046173, 0.707738995552063, 0.580168604850769, -1.0156726837158203], [-0.7869104146957397, 0.5917177200317383, -0.17504966259002686, 2.461137533187866], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5829902142286301, "input_age_at_publish_s": 0.6916305967606604, "vggt_debug_frame": "frames/00000732/frame.json"} +{"frame_idx": 735, "time_s": 184.5046648979187, "localized": true, "localized_streak": 366, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4745319450252397, 0.09683446990758515, -1.5128944878694732], [-1.2893707362052447, 0.5351688364368572, -1.5250144043917155], [-1.2410419098902845, 1.0086662202159218, -1.5307722038148937], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246], [-1.28643144487055, 1.1161720458414286, -1.5293542354473246]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.961986448580546, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8680543560550417, "map_correction_at_base_m": 2.78427173133351e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 2.78427173133351e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.00107352763592225, -0.40997840228697974, 0.9120945988200077, 0.02730063769028135], [-0.9998226691241523, -0.01670827060171498, -0.008687001724214216, -0.001158989200106278], [0.0188010064590049, -0.9119421820223668, -0.4098877636675844, 1.3113919663823197], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.44130849838256836, 0.1252538114786148], [0.8715671896934509, 0.32883673906326294], [1.2230205535888672, 0.6498493552207947], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532]], "goal_body": [1.2877703370574034, 0.7481797908349952], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.13588904123133058, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.2716754119812808, "remaining_m": 16.262676179409027, "total_m": 16.53435159139031, "selection_total_m": 16.53435159139031, "best_candidate_total_m": 16.53435159139031, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [5.984807894559949, 0.5000965048070003], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 6, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 732}, "footprint_evidence": null, "native_local_path_body": [[0.44130849838256836, 0.1252538114786148], [0.8715671896934509, 0.32883673906326294], [1.2230205535888672, 0.6498493552207947], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532], [1.2607098817825317, 0.7602995038032532]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.46723008155822754, -0.3859647810459137, 0.7954416275024414, 0.853396475315094], [0.4031132757663727, 0.7077300548553467, 0.5801877975463867, -1.0156733989715576], [-0.7868900299072266, 0.5917341709136963, -0.17508530616760254, 2.4611384868621826], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6073841680772603, "input_age_at_publish_s": 0.6305464776232839, "vggt_debug_frame": "frames/00000735/frame.json"} +{"frame_idx": 737, "time_s": 185.00601506233215, "localized": true, "localized_streak": 367, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.6323699568797672, -0.26057836108745547, -0.18972219661377093], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4734883116007125, 0.10090801026280882, -1.5129744157683886], [-1.2883271347856584, 0.5392423339051575, -1.5250943166939779], [-1.2399982916855357, 1.0127396645369755, -1.5308521087525084], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576], [-1.2864309218554681, 1.1161718929916855, -1.529354273757576]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.957642846563857, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627], [-1.6323699568797672, -0.26057836108745547, -0.18972219661377093]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.35348135033171196, "map_correction_at_base_m": 5.269953873533605e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 5.269953873533605e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0010735276359221946, -0.40997840228698057, 0.9120945988200071, 0.02730063769028135], [-0.9998226691241516, -0.0167082706017148, -0.008687001724214272, -0.0011589892001061392], [0.0188010064590048, -0.9119421820223662, -0.4098877636675846, 1.3113919663823197], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.44095107913017273, 0.12555597722530365], [0.8721427321434021, 0.3271552622318268], [1.2250707149505615, 0.6465458869934082], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551]], "goal_body": [1.2903872303573818, 0.7446282880930302], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 802, "nearest_distance_m": 0.13797601866366904, "attachment_limit_m": 0.75, "candidate_count": 20, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.2697803201830188, "remaining_m": 16.262676179409027, "total_m": 16.532456499592048, "selection_total_m": 16.532456499592048, "best_candidate_total_m": 16.532456499592048, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [5.981731768255597, 0.4970497188712545], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 6, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 735}, "footprint_evidence": null, "native_local_path_body": [[0.44095107913017273, 0.12555597722530365], [0.8721427321434021, 0.3271552622318268], [1.2250707149505615, 0.6465458869934082], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551], [1.2597652673721313, 0.754493772983551]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.4631558656692505, -0.3867739140987396, 0.7974287867546082, 0.8573849201202393], [0.4042094647884369, 0.7085422277450562, 0.5784311294555664, -1.0146721601486206], [-0.7887340188026428, 0.5902320146560669, -0.1718277931213379, 2.4594638347625732], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6211132351309061, "input_age_at_publish_s": 0.7291713343001902, "vggt_debug_frame": "frames/00000737/frame.json"} +{"frame_idx": 740, "time_s": 185.7073998451233, "localized": true, "localized_streak": 368, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.5944670647769792, -0.22438716593827568, -0.19181631113860903], "global_route": [[-1.5485790461332272, -0.1702276708036743, 0.050541021394854], [-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4554744617540365, 0.1712564025252572, -1.5143536874383936], [-1.2703132736164369, 0.609590726090655, -1.5264736091857334], [-1.2219843739152187, 1.0830880714985245, -1.5322314113404139], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852], [-1.2004773257914962, 1.1670780968606476, -1.5338781505852852]], "goal_keyframe": 1012, "route_ids": [1096, 1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.906311882731048, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627], [-1.6323699568797672, -0.26057836108745547, -0.18972219661377093], [-1.5944670647769792, -0.22438716593827568, -0.19181631113860903]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 1.0906606706186928, "map_correction_at_base_m": 4.983411304693046e-07, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 4.983411304693046e-07, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0010735276359221113, -0.4099784022869801, 0.912094598820007, 0.02730063769028135], [-0.9998226691241513, -0.01670827060171487, -0.008687001724214216, -0.0011589892001063473], [0.018801006459004843, -0.9119421820223664, -0.40988776366758417, 1.3113919663823195], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.45422571897506714, 0.15031349658966064], [0.8918071389198303, 0.3376394510269165], [1.2550365924835205, 0.6452640891075134], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485]], "goal_body": [1.3056968777227491, 0.7291164191883854], "route_cost_m": 16.262676179409027, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.16250638409359816, "attachment_limit_m": 0.75, "candidate_count": 17, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.252273628498005, "remaining_m": 16.262676179409027, "total_m": 16.514949807907033, "selection_total_m": 16.514949807907033, "best_candidate_total_m": 16.514949807907033, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [5.944975036881948, 0.4615001512200998], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 6, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 737}, "footprint_evidence": null, "native_local_path_body": [[0.45422571897506714, 0.15031349658966064], [0.8918071389198303, 0.3376394510269165], [1.2550365924835205, 0.6452640891075134], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485], [1.3288003206253052, 0.6908546686172485]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.4338092803955078, -0.39231741428375244, 0.8111082911491394, 0.904547393321991], [0.4117702841758728, 0.7143905758857727, 0.5657662153244019, -1.0028939247131348], [-0.8014079928398132, 0.5794248580932617, -0.14836466312408447, 2.4397714138031006], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6576519808731973, "input_age_at_publish_s": 0.6788145089522004, "vggt_debug_frame": "frames/00000740/frame.json"} +{"frame_idx": 742, "time_s": 186.2406198978424, "localized": true, "localized_streak": 369, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 798, "score": 0.368999183177948, "verified": true, "loaded": true}, {"id": 797, "score": 0.3504025638103485, "verified": true, "loaded": true}, {"id": 799, "score": 0.34641313552856445, "verified": true, "loaded": true}, {"id": 800, "score": 0.3135219216346741, "verified": true, "loaded": true}, {"id": 796, "score": 0.2995937764644623, "verified": true, "loaded": true}, {"id": 803, "score": 0.2712637782096863, "verified": true, "loaded": true}], "camera_display": [-1.5595411419306875, -0.18568358960041675, -0.19372242859644945], "global_route": [[-1.3231300647604023, 0.46664259234258143, 0.06627819451293288], [-1.1513326628669838, 1.1933103784871526, 0.045773996733317446], [-1.0849361252570016, 1.4053573353481852, 0.051770971617333295], [-0.9601026933270713, 1.8428491528200057, 0.06209060055053078], [-0.8676198867726663, 2.0570131514100183, 0.04262680969286853], [-0.7681934482198838, 2.2741684009997787, 0.0514081100455443], [-0.6539128839763388, 2.6976357895549476, 0.04725324342662235], [-0.5757732746949502, 2.9063333433974226, 0.04053944236670132], [-0.4738319334798413, 3.125806332428942, 0.04130159602170952], [-0.3989475111774565, 3.344173702321573, 0.04186728454921823], [-0.33300828226625123, 3.5750233655593098, 0.03843813949842895], [-0.25029941514508813, 3.7854808079972315, 0.04020926770902372], [-0.13553683451563714, 3.9960582956964883, 0.026372006752211904], [-0.04920947297086231, 4.199773851121146, 0.03146097643273821], [0.019700505157056902, 4.422035509996137, 0.024280756659294796], [0.09716646440223942, 4.6384436463378815, 0.03644840120051257], [0.18886689257138434, 4.842589238083841, 0.015756830374422822], [0.275570809204152, 5.053729975774292, 0.02434946469964044], [0.35421059100658425, 5.270149547139039, 0.010796134295845524], [0.43776434921063423, 5.487765060450951, 0.024683814640740816], [0.5338442624293636, 5.69694758739733, 0.009467202948911731], [0.6395433755216511, 5.9046810247396, 0.020705526184802533], [0.718201295888584, 6.110958160173139, 0.008688654534991066], [0.7919620489568491, 6.336007530599181, 0.0276711865053178], [0.8771445448987114, 6.541919281783601, 0.01592952504422834], [0.9865097978179906, 6.755782693335844, 0.01311337039242105], [1.0545855960840973, 6.970114105541461, 0.011793623057126664], [1.109708684477548, 7.194141142764174, 0.012792901634899264], [1.1799699273986861, 7.401135717434633, 0.014371567308245344], [1.278210844913817, 7.602434698040133, -0.0013445532162142428], [1.3826938056366234, 7.845838849524158, -0.0034899144964475916], [1.4749182571442176, 8.058427752006766, 0.008931887557656223], [1.6562557959440198, 8.26879938651062, -0.0001674305538400013], [1.9169277448234527, 8.505960957449147, 0.006013057090212989], [2.0566221597135725, 8.53971322932072, 0.01822762200760269], [2.1899449020509154, 8.539891552057579, 0.018292831528650185], [2.320384459658808, 8.498171563049487, 0.008654246873732337], [2.515824157145025, 8.401021145192523, 0.022543639426929992], [2.7211630020001416, 8.326168056831118, 0.014058151197117227], [2.941868318301109, 8.256122453034958, 0.03084412877490766], [3.148782848515426, 8.183134876109, 0.016615019403739103], [3.3701536540691164, 8.085546921542303, 0.02070458700294941], [3.590523449092171, 8.027960519750092, 0.018608248287913628], [3.8215186639283316, 7.985205547779939, 0.013334164765652547], [4.01824037226304, 7.9286778231992034, 0.027560342394092285], [4.269044050330028, 7.85885818555826, 0.01189910310257063], [4.47954497530651, 7.863702698933984, 0.014043354741743324], [4.584841732636869, 7.899724459869239, 0.009644758183280335], [4.789996458628497, 7.978556268411861, 0.010394353594370739], [4.9961727732200245, 8.053603255532577, 0.014443431570736739], [5.105959973551585, 8.132838719870307, 0.01504268359235927], [5.165406936634502, 8.210108837522819, 0.003561670770410804], [5.228094411698262, 8.297014978731204, 0.014484583196438135], [5.315508933976998, 8.421556456198214, 0.010696063452317713], [5.405542276846166, 8.560387211668349, 0.01052684579619639], [5.464922639139056, 8.656303450733077, 0.01991207332472755], [5.5076845388364095, 8.762083356128146, 0.017008059413830653], [5.53440659225333, 8.893280803577413, 0.016662867133097833], [5.574758454079085, 9.104714346072365, 0.03680900687519295], [5.621593774989309, 9.307081623850207, 0.025996014253557794], [5.695037668493779, 9.496787570225845, 0.0393419003296443], [5.74548842791884, 9.668566722737584, 0.038296957044977376], [5.773374108992202, 9.793099654013176, 0.03664006111390672], [5.857367950704557, 10.034596254242292, 0.04544285215395222], [5.942979117221654, 10.219812971393502, 0.03349523705626639], [6.007357831829351, 10.473203330951154, 0.04136284015443581], [6.034984253066376, 10.722811491488963, 0.03773110575920818], [6.1001468854100445, 10.912854051092834, 0.026376815803889283], [6.160710672979748, 11.021966605000552, 0.03092219504438631], [6.1953717927321375, 11.057668496376376, 0.03449177390122299], [6.235325626956959, 11.079077206966053, 0.03539141630975701], [6.325285385612284, 11.114502917473828, 0.034491452832020375], [6.332098376647448, 11.121084310287797, 0.03248743698284279], [6.336180732148568, 11.150578042838408, 0.030917802964549487], [6.3330877645779395, 11.16806085118003, 0.029537550574075973], [6.2960908443148025, 11.244559789603526, 0.022835960578063693]], "local_path_display": [[-1.4431961862256446, 0.21920362442960517, -1.5152937784399934], [-1.2580349454143183, 0.657537923621256, -1.527413652485658], [-1.2097060667543205, 1.1310351606009879, -1.533171416108114], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702], [-1.2513552507329178, 1.2531477036176497, -1.5320398289368702]], "goal_keyframe": 1012, "route_ids": [1093, 1090, 1089, 1087, 1086, 1085, 1083, 1082, 1081, 1080, 1079, 1078, 1077, 1076, 1075, 1074, 1073, 1072, 1071, 1070, 1069, 1068, 1067, 1066, 1065, 1064, 1063, 1062, 1061, 1060, 1059, 1058, 1057, 1056, 1055, 1054, 1053, 1052, 1051, 1050, 1049, 1048, 1047, 1046, 1045, 1044, 1043, 1042, 1041, 1040, 1039, 1038, 1037, 1036, 1035, 1034, 1033, 1032, 1031, 1030, 1029, 1028, 1027, 1026, 1025, 1024, 1023, 1022, 1021, 1020, 1019, 1018, 1017, 1015, 1014, 1012], "goal_distance": 13.854596043328325, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627], [-1.6323699568797672, -0.26057836108745547, -0.18972219661377093], [-1.5944670647769792, -0.22438716593827568, -0.19181631113860903], [-1.5595411419306875, -0.18568358960041675, -0.19372242859644945]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.5075011689001202, "map_correction_at_base_m": 5.558095534307488e-07, "map_correction_angle_deg": 0.012738960308610043, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 5.558095534307488e-07, "rotation_deg": 0.012738960308610043, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.001100855214144436, -0.4085790639230684, 0.9127222669802388, 0.027295711772873155], [-0.9998223826913153, -0.016722866980681345, -0.00869188065996046, -0.0011588781974232187], [0.018814653524794167, -0.9125697202097468, -0.40848808375403856, 1.3114542588481037], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4553132951259613, 0.14344243705272675], [0.9047994613647461, 0.30006536841392517], [1.2884290218353271, 0.5818398594856262], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153]], "goal_body": [1.346048319660063, 0.6580093049705971], "route_cost_m": 15.583116039633751, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13875382101549585, "attachment_limit_m": 0.75, "candidate_count": 16, "connection_check": "measured_depth", "switch_margin_m": 0.25, "distance_m": 0.7409523361344507, "remaining_m": 15.583116039633751, "total_m": 16.324068375768203, "selection_total_m": 16.324068375768203, "best_candidate_total_m": 16.324068375768203, "selected_on_previous_route": true}, "corner_observation": {"phase": "cruise", "target": [5.907566259361872, 0.4299164780957725], "hold": false, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": false, "braking": false, "pass": 1, "view": 6, "total": 6, "label": "return to driving view", "settled_views": 6, "reason": "learned path footprint"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 740}, "footprint_evidence": "footprint_evidence/00000742.npz", "native_local_path_body": [[0.4553132951259613, 0.14344243705272675], [0.9047994613647461, 0.30006536841392517], [1.2884290218353271, 0.5818398594856262], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153], [1.3510079383850098, 0.6946728825569153]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.3705347776412964, -0.4013719856739044, 0.8376182913780212, 0.9530230760574341], [0.4261551797389984, 0.7278223633766174, 0.5372767448425293, -0.9929229617118835], [-0.8252851366996765, 0.5560351610183716, -0.09863686561584473, 2.4232757091522217], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.6615968230180442, "input_age_at_publish_s": 0.7638817117549479, "vggt_debug_frame": "frames/00000742/frame.json"} +{"frame_idx": 745, "time_s": 187.00708031654358, "localized": true, "localized_streak": 370, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 799, "score": 0.3600059449672699, "verified": true, "loaded": true}, {"id": 798, "score": 0.355035662651062, "verified": true, "loaded": true}, {"id": 800, "score": 0.33797478675842285, "verified": true, "loaded": true}, {"id": 797, "score": 0.325212687253952, "verified": true, "loaded": true}, {"id": 803, "score": 0.3141624629497528, "verified": true, "loaded": true}, {"id": 527, "score": 0.3073595464229584, "verified": false, "loaded": true}], "camera_display": [-1.520965102762411, -0.13478344905709605, -0.19589301996070613], "global_route": [], "local_path_display": [[-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963], [-1.6014641064274255, -0.16547735666987862, -1.5048618585156963]], "goal_keyframe": 1012, "route_ids": [], "goal_distance": 13.79074791310649, "planner_name": "near goal", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627], [-1.6323699568797672, -0.26057836108745547, -0.18972219661377093], [-1.5944670647769792, -0.22438716593827568, -0.19181631113860903], [-1.5595411419306875, -0.18568358960041675, -0.19372242859644945], [-1.520965102762411, -0.13478344905709605, -0.19589301996070613]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.68130216151911, "map_correction_at_base_m": 3.271159226983802e-07, "map_correction_angle_deg": 0.016052665408649136, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 3.271159226983802e-07, "rotation_deg": 0.016052665408649136, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0011282036939248008, -0.40717876460064983, 0.9133477874362614, 0.027290690310497467], [-0.9998220960913742, -0.016737470824816886, -0.008696737195107496, -0.0011587662482082095], [0.018828258652285823, -0.9131951109859696, -0.40708744263050667, 1.311516543683018], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "goal_body": [0.0, 0.0], "route_cost_m": null, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13111532135902046, "attachment_limit_m": 0.75, "candidate_count": 0, "connection_check": "measured_depth", "switch_margin_m": 0.25}, "corner_observation": {"phase": "survey_braking", "target": [6.938035278416191, 1.4358071995284944], "hold": true, "head_target": null, "scan_w": 0.0, "coverage": 0.0, "speed_scale": 0.5, "lookahead": 0.22, "survey_complete": false, "survey_label": "waiting for base to stop"}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "measured depth"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 742}, "footprint_evidence": null, "native_local_path_body": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "native_planner_status": 3, "blind_zone": false, "native_map_camera": [[-0.278367280960083, -0.4114161729812622, 0.8678988814353943, 1.0142035484313965], [0.4428338408470154, 0.7468653321266174, 0.49607494473457336, -0.9831623435020447], [-0.8522968888282776, 0.5224259495735168, -0.02571392059326172, 2.4076128005981445], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5435692076571286, "input_age_at_publish_s": 0.6446326458826661, "vggt_debug_frame": "frames/00000745/frame.json"} +{"frame_idx": 747, "time_s": 187.50790691375732, "localized": true, "localized_streak": 371, "weights": [1.0, 0.0, 0.0, 0.0, 0.0], "retrieval": [{"id": 799, "score": 0.3600059449672699, "verified": true, "loaded": true}, {"id": 798, "score": 0.355035662651062, "verified": true, "loaded": true}, {"id": 800, "score": 0.33797478675842285, "verified": true, "loaded": true}, {"id": 797, "score": 0.325212687253952, "verified": true, "loaded": true}, {"id": 803, "score": 0.3141624629497528, "verified": true, "loaded": true}, {"id": 527, "score": 0.3073595464229584, "verified": false, "loaded": true}], "camera_display": [-1.5156348178784942, -0.12538722103810462, -0.19621871320038403], "global_route": [], "local_path_display": [[-1.4220786423637959, 0.301674578366522, -1.5169108139076792], [-1.1927664212063211, 0.7068333796936987, -1.5309258073739722], [-0.849479473299537, 1.0263502525648982, -1.5498329852244606], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813], [-0.7899801262460455, 1.0615891660339352, -1.5529645111659813]], "goal_keyframe": 1012, "route_ids": [], "goal_distance": 13.779970679622087, "planner_name": "episode-map route", "n_views": 7, "trajectory": [[-5.449514337929369, 0.14633862346936777, -0.13900732510583041], [-5.502139167581195, 0.15918502934838452, -0.1357071688082761], [-5.5339287829968775, 0.17285073846364574, -0.1404441489454949], [-5.611752996334461, 0.2026611259301112, -0.14235631794108788], [-5.652638734811891, 0.2130254147715558, -0.13951817730694077], [-5.729493299965117, 0.25037721244423716, -0.1365739037740073], [-5.77277589370693, 0.2685555145654348, -0.13888002042197273], [-5.805907388894418, 0.2847122897132168, -0.14181574730584307], [-5.846605666467177, 0.2935520792525237, -0.14038578126238505], [-5.914741278852272, 0.32342050227657504, -0.1433517259449742], [-5.9535194799898274, 0.331252668998848, -0.13530541635651555], [-6.018014054693758, 0.35885274757687746, -0.14012985406091066], [-6.042314668239879, 0.3719292208685032, -0.13968434416058156], [-6.111896262999418, 0.39932683096665667, -0.14559577758636283], [-6.138415657379236, 0.40763725467958745, -0.1410070780800899], [-6.182427969742465, 0.422775645085105, -0.14023579975554795], [-6.249069917934873, 0.4454690213374364, -0.1380317700857912], [-6.2700500334411355, 0.45430604659954277, -0.13945226450029785], [-6.278972163685813, 0.4588171386916211, -0.14075802929549425], [-6.288807814563137, 0.463044014223398, -0.14235016191101152], [-6.282308356414335, 0.45873621049123203, -0.13924350471666963], [-6.285212180893302, 0.4604993126625674, -0.14225532089358578], [-6.2834728352335905, 0.46002310623358733, -0.1404175226452285], [-6.285806936984361, 0.4609564320751751, -0.14096553389121064], [-6.28567141051888, 0.460703710294188, -0.14032361947660005], [-6.283216355402349, 0.4612707980831301, -0.14167654079582032], [-6.281701162028462, 0.45941552246009865, -0.14042384082459664], [-6.2822303374097554, 0.4583820152855078, -0.13977496743721202], [-6.282226997602336, 0.45921874272244345, -0.14044358199525614], [-6.285924395599622, 0.4600769125616244, -0.13963741916649913], [-6.280165097151681, 0.45725883474137463, -0.13978833311160105], [-6.284098356361646, 0.46099365100473966, -0.1395403236941622], [-6.289146692927931, 0.46361046351772917, -0.14241502855359373], [-6.287377737438685, 0.4610833500878182, -0.14080542490611264], [-6.285728971644934, 0.4605501823599014, -0.14125233966398804], [-6.2881962485311185, 0.46109888073421335, -0.13967202846379873], [-6.288062916816919, 0.46190786269591344, -0.1425971216649467], [-6.284062653439841, 0.46218328656372654, -0.14067900222927127], [-6.285655718335624, 0.4626038607605736, -0.1422026573284268], [-6.2858134108090695, 0.4595435279222597, -0.14099169805977346], [-6.284043783926331, 0.45962933807762907, -0.13927060529256813], [-6.287164358552774, 0.46231968351861497, -0.1410348068943848], [-6.284563796698148, 0.46101187811354416, -0.1411203409403699], [-6.286443067170083, 0.4614176266183212, -0.14117154387049285], [-6.286181724407346, 0.46133371715885696, -0.14268729939413466], [-6.2864738209813265, 0.459090701121013, -0.13987454797017645], [-6.280368905713242, 0.4567292897003612, -0.1389160571752413], [-6.285124450108205, 0.46117048258952087, -0.14231869481429343], [-6.283448074776285, 0.45823916321526337, -0.1400024062781154], [-6.286530063487932, 0.46131160262276794, -0.1408163716897855], [-6.287214976332027, 0.4621357767655758, -0.1403631506481589], [-6.28528580400504, 0.4617522073203113, -0.1399115953471875], [-6.278880106333922, 0.45761406701980034, -0.13744214361143686], [-6.287370261685506, 0.460582900397811, -0.13882090358869253], [-6.285263639123029, 0.46193036938343734, -0.1416450886588459], [-6.283390447417775, 0.4596045563380766, -0.13952392899548577], [-6.284152816252863, 0.45934299500153486, -0.13960299381580948], [-6.2876931867291646, 0.4612982408539579, -0.14056683614812143], [-6.282937783799257, 0.4602593467492966, -0.14053024561600563], [-6.283590451247292, 0.4581503231346966, -0.1396056894674092], [-6.2846606997272385, 0.46214394606256937, -0.14168316415912968], [-6.287683464636487, 0.46231880462339614, -0.14180645493292615], [-6.282260651457156, 0.45813062584858866, -0.13944810310868166], [-6.2813042599400735, 0.45900068551581796, -0.14030714380808967], [-6.280902418056598, 0.45768094316554997, -0.13822259409415533], [-6.286838443607483, 0.46240510457530704, -0.14191134160830138], [-6.287988818828293, 0.4625475353623192, -0.14029742225865666], [-6.28246781184988, 0.45980773441984946, -0.13957924468855049], [-6.285044463612282, 0.461170097428492, -0.142432522138708], [-6.278941760561583, 0.45974049743322176, -0.14029079192543953], [-6.283151111472444, 0.4598144155643591, -0.1393269653547738], [-6.284945284327449, 0.46170843676806816, -0.1416164484909051], [-6.287652390348555, 0.4607961894948591, -0.14165629710264832], [-6.283824780885393, 0.45930701067928936, -0.14119523029091569], [-6.283716130088738, 0.4618250160403097, -0.14100869759803675], [-6.289447880383529, 0.4643389377584066, -0.14221732804087256], [-6.28495395348425, 0.4588656452450959, -0.14020195341503944], [-6.288444512284967, 0.46104011608608, -0.14199031965588543], [-6.286145141779594, 0.46034521043242815, -0.13975056893421228], [-6.287343142033215, 0.45999933887917743, -0.141011119444509], [-6.282802538300384, 0.45982386591849034, -0.14028531806078243], [-6.289111565463703, 0.4625663367363968, -0.1426196517634411], [-6.284390844559235, 0.4606733930224993, -0.14145678071640494], [-6.286949395078162, 0.462325676130829, -0.1418654104587243], [-6.286903032830274, 0.462286029184527, -0.1397478203294525], [-6.2838434061021875, 0.4608886453187804, -0.14041127549929816], [-6.283323030704144, 0.46039510368178593, -0.14114862315201276], [-6.285639104172624, 0.462410207123531, -0.14206674801372393], [-6.2843223064935785, 0.46095402856169, -0.1404430401200532], [-6.2870328686958405, 0.4602173867155819, -0.14034537654195917], [-6.28065211520593, 0.4580432583401941, -0.13936250035323222], [-6.285254106758195, 0.4622949408940453, -0.1417444705194753], [-6.284290982551964, 0.4604731420939614, -0.14070556915066917], [-6.284909046152208, 0.46051594722235123, -0.14094042884351393], [-6.28340213095311, 0.45975348604370314, -0.1401119412316308], [-6.286869401684482, 0.4615961058018865, -0.14199339088464297], [-6.28371776287635, 0.459302112473166, -0.1393116187712014], [-6.28700299585584, 0.46156457273127405, -0.14113275875724246], [-6.286024584639387, 0.46192913001379843, -0.14144997938173837], [-6.284230312185658, 0.4598053123120578, -0.13966173645596164], [-6.285871342271415, 0.46165544988073837, -0.14188731560565176], [-6.289622687828871, 0.4618833728679608, -0.14001223403719704], [-6.284199626010611, 0.45875892682652086, -0.13835350820443698], [-6.283616533844054, 0.4614110107182188, -0.1412753066910704], [-6.2854238224488075, 0.4609225331797404, -0.14105140735276694], [-6.284334703086769, 0.46068101159372166, -0.13990140300824755], [-6.284655806706587, 0.4604463928651965, -0.1402795437749183], [-6.282671357576401, 0.46099212421555347, -0.13939608626049466], [-6.282441635635768, 0.4599126882777651, -0.14062207859164016], [-6.284525201051633, 0.46182304088871007, -0.14204915953493008], [-6.287120424712862, 0.46296525485161366, -0.14178792915179478], [-6.28596417505716, 0.46196606469959267, -0.14258773551442366], [-6.2826816987053515, 0.4607282127435921, -0.14240751878962837], [-6.283846353051057, 0.4599158868644606, -0.13974068180642202], [-6.282969940487003, 0.45997448307359123, -0.1414398557407684], [-6.28342605185194, 0.46093549045040927, -0.1404401490002461], [-6.289492777625963, 0.4633330255247028, -0.14288516895334374], [-6.286770558856551, 0.46162381999062374, -0.1406633011171608], [-6.285891549385617, 0.4612451121693897, -0.14004280885291093], [-6.286016444295024, 0.4599220827546935, -0.14019426894283066], [-6.286240045390237, 0.4604047301835412, -0.14088365464616653], [-6.286326696218714, 0.46149861791673086, -0.1410754820419567], [-6.285266061513639, 0.4591422526503943, -0.13938855462052652], [-6.287880171714196, 0.46058870382303674, -0.13975747439785363], [-6.285224533043042, 0.45984390420722265, -0.13920406674264268], [-6.284433691959043, 0.45816495565612936, -0.13962139329762185], [-6.280932434381482, 0.4587459681605539, -0.13978064122989703], [-6.281080208643022, 0.45868477338154845, -0.14100306036064564], [-6.2789148871486, 0.4588700132813277, -0.14002327571428302], [-6.284680778036687, 0.4600012876437063, -0.1415920500512458], [-6.284840056999423, 0.460791690562838, -0.14227522356675398], [-6.2917405633143115, 0.4640984496291991, -0.1432491118197124], [-6.284094347849052, 0.4595428565217472, -0.14129774549363622], [-6.284152311282671, 0.46047376538549, -0.14015454242976705], [-6.28108125291619, 0.4575383347276034, -0.13844407523868735], [-6.28813571940235, 0.46180390570461904, -0.1407859338994653], [-6.286302799520129, 0.4622526031528831, -0.14167552616310203], [-6.2840195284779234, 0.459804036296966, -0.14113694743215427], [-6.285153215276717, 0.46007226466525664, -0.14148312693948767], [-6.281956094206256, 0.4593317513284658, -0.14058384827439713], [-6.285324082363626, 0.4601879135050151, -0.14101439715712188], [-6.285593041673655, 0.4618682065968218, -0.14165259223568266], [-6.284618262102681, 0.4616625737277853, -0.14181373950105042], [-6.28451708873475, 0.4599031506718787, -0.14045930400623857], [-6.283506862088283, 0.46050616743671124, -0.1400690509633596], [-6.282974574362678, 0.4613003302399341, -0.1410267751223902], [-6.287796121977344, 0.46239661940859067, -0.14176345910256877], [-6.280992697162169, 0.45954006965339067, -0.1394498565760645], [-6.284541241160529, 0.45929042640668394, -0.14010117658243698], [-6.2855745755330865, 0.46166556271299664, -0.14035377517035724], [-6.287176694963419, 0.46140903582941917, -0.14068692801555588], [-6.28366356653788, 0.4604963407285063, -0.14014758885333284], [-6.2848248343192505, 0.46175360669313115, -0.1410674845258602], [-6.288048631124356, 0.46220235261438036, -0.13940353393195776], [-6.289955009415333, 0.4637773090901418, -0.13885542502938747], [-6.271683638924719, 0.4501327402523736, -0.14207353736962675], [-6.2853618107613, 0.44021448827270504, -0.14452309200922403], [-6.269927143348587, 0.4367428065672234, -0.12751648393333098], [-6.286292054065614, 0.43237184247544214, -0.136220013540769], [-6.285931318515715, 0.42918527864460154, -0.13612339935384715], [-6.284835592338263, 0.42596899751665207, -0.13600686591196692], [-6.284285122853973, 0.42405487485730475, -0.13594010292963238], [-6.282584832650754, 0.4210598356891073, -0.13581434997593772], [-6.227492063148301, 0.21894428660376386, -0.28591934914205225], [-6.142939754617705, 0.10180999708992511, -0.30386036176767545], [-6.14023815716785, 0.09971023399467116, -0.30365759695831135], [-6.13899517367032, 0.09874772819059885, -0.3035644717315387], [-6.136009408715266, 0.0970706447062919, -0.3033733351100392], [-6.132882748775728, 0.09566966285901835, -0.30319153971438945], [-6.1311118841353025, 0.09517459712149234, -0.3031039630868116], [-6.127801470628203, 0.09432353568396046, -0.30294378643218495], [-6.1249250176708845, 0.08208475721491038, -0.30221528977591366], [-6.118514875070423, 0.052344381420526, -0.30046514251242123], [-6.112651513752102, 0.03305141601697015, -0.29926977283668715], [-6.099576935777481, 0.0004658796847050173, -0.2971394179912881], [-6.082593790275986, -0.030021017798361527, -0.2950394501595966], [-6.070083387808962, -0.04880369456749323, -0.293637834867931], [-6.087267615660675, 0.08259327597945276, -0.2280460211511393], [-6.057751429225846, 0.06016019135277029, -0.2273485995987506], [-6.054127793729169, 0.05288915362458324, -0.22502192070456656], [-6.000868696481929, 0.017251868894498035, -0.2201440194510325], [-5.9673692368932265, -0.0019178153407481968, -0.22254928729526108], [-5.937699621181135, -0.014274149947695935, -0.22043630606518044], [-5.91493378232744, -0.02538547183535922, -0.2182885403840487], [-5.862108088430354, -0.051643848531224945, -0.22180070031816462], [-5.826881361015499, -0.06382911781823286, -0.2276666906134926], [-5.789955769695213, -0.06435695187172996, -0.2337552309270297], [-5.77166140117426, -0.07374334453932851, -0.2251270121084626], [-5.728411290903411, -0.08290596456022326, -0.22691435392567422], [-5.699857247251641, -0.0836865966418594, -0.21740151704509342], [-5.654680273912231, -0.09190721121197942, -0.21806832860065556], [-5.640177025618836, -0.08794800623476995, -0.21619119148393368], [-5.6177725309761115, -0.09322684725162556, -0.21509434160804802], [-5.568056619823222, -0.10472172767313737, -0.21665203141367267], [-5.536755579636708, -0.11676019122530512, -0.22345301474690765], [-5.493343124852155, -0.12063468140569933, -0.2195165267783719], [-5.470590704953231, -0.1294345229725793, -0.22209074252950406], [-5.457107661653648, -0.1276055067945836, -0.2224717119069844], [-5.402623012330373, -0.13756639606732524, -0.22034117102224188], [-5.373137488413292, -0.1443467811605479, -0.2227597682457752], [-5.3137034137912575, -0.15585214933531089, -0.22196003402605352], [-5.251555073971254, -0.1606308302137367, -0.2146197999854958], [-5.230718670365956, -0.16732972503075327, -0.21367774211181684], [-5.18402052996109, -0.18077838670750612, -0.2100281663592723], [-5.159953332937185, -0.17968356392568108, -0.21043944886867322], [-5.110933623073178, -0.19275944667776312, -0.21217442002402748], [-5.093504280664407, -0.1969839180944004, -0.2118374085948201], [-5.032801047733299, -0.10232576827668804, -0.20849064762065855], [-4.992676577611261, -0.10337300266980032, -0.20529359290933763], [-4.956215491261327, -0.11182211814069443, -0.20451519510519295], [-4.897955967644966, -0.13050259258527896, -0.2098107578804685], [-4.877202787897826, -0.13719975427294484, -0.21198821059762302], [-4.830923409591531, -0.1572602264392784, -0.20578083754557436], [-4.793391734080766, -0.17296078072608911, -0.20407423595811586], [-4.769956199420726, -0.1888802489132133, -0.20952289260848317], [-4.720708887762344, -0.20854448542108162, -0.204349894032901], [-4.683196046484413, -0.2308961436746022, -0.21217800673777215], [-4.654529288062568, -0.2417071259760557, -0.20845711953768414], [-4.61782247265821, -0.25710140664812986, -0.20809403485651218], [-4.5810835596904145, -0.27174875972031765, -0.2081209422312696], [-4.54570035217232, -0.2877866085543923, -0.21212295227515693], [-4.5001374752727035, -0.30983805691250454, -0.2080542866087723], [-4.457222085813177, -0.3321789708584788, -0.20581133417757896], [-4.435332508006278, -0.34329196596316214, -0.20751609829430478], [-4.39177463247351, -0.3616166511187, -0.2068009726446321], [-4.352756808666133, -0.36930751155344255, -0.20606438924268594], [-4.328246838471868, -0.3781017745904227, -0.20798288124908876], [-4.275996444825719, -0.3984842381234288, -0.2124460055591167], [-4.269689307129706, -0.3964913531257308, -0.21084834780614453], [-4.225715168189293, -0.4105471755668588, -0.2083660912863335], [-4.187127428982933, -0.4207654857357823, -0.20805267449658787], [-4.164191453219784, -0.4303029443799522, -0.20871149985380782], [-4.120933358399094, -0.44391301265002414, -0.20727373388897324], [-4.099015357852261, -0.4473860218761718, -0.2063874439479439], [-4.051196012771708, -0.46010440282470233, -0.2065214170332797], [-4.0027770183568325, -0.474610582566964, -0.2087587237151332], [-3.9744052797627165, -0.4821698373702019, -0.20887694649622973], [-3.938102016482661, -0.4929782646235319, -0.20555080026361444], [-3.9254123305145083, -0.5030910001437428, -0.20536560914445295], [-3.871919040366475, -0.5111555773790686, -0.20205595958490813], [-3.8545291596058413, -0.5113157399412636, -0.2019916786651475], [-3.797943689685497, -0.523424499302678, -0.2002690244629129], [-3.783054762034077, -0.5260471886837963, -0.20097606960145825], [-3.7317299581102614, -0.5400888451966877, -0.20461769669784996], [-3.701788041097178, -0.5422716886049777, -0.20083569946657837], [-3.645345765602246, -0.5498462159425652, -0.2007799321489399], [-3.626393767255261, -0.5534287198394441, -0.20352737712076113], [-3.572114820615251, -0.5637034457383303, -0.1997853549098763], [-3.5498100575014173, -0.5772763307679121, -0.2070150277958614], [-3.5034231838158365, -0.5784555680126937, -0.20234733427855317], [-3.4812927468710506, -0.5783748962467752, -0.20250868245323989], [-3.4372752136014815, -0.5920973145083162, -0.20517927039784128], [-3.4161281545978763, -0.595448493214235, -0.20280177191657806], [-3.362454502466908, -0.6071200671395145, -0.20360285263848282], [-3.3428509896186536, -0.6157141777068178, -0.20428318504974957], [-3.287092985479284, -0.6251628763161508, -0.2043571810436698], [-3.256730865442393, -0.6309655728193679, -0.2050562309879998], [-3.2401217928209705, -0.6326795516861448, -0.20559771690438394], [-3.1949235834005645, -0.6384973923992197, -0.20333487048234994], [-3.1460976160479075, -0.646665953498675, -0.20217607245690244], [-3.1177867050409485, -0.6554815906042628, -0.20338855523641503], [-3.0631251557046593, -0.6667384373260501, -0.2046071759810016], [-3.0361135822194787, -0.6737348847729612, -0.20506178928769697], [-2.9918460811238967, -0.6850524010559247, -0.2037647361563964], [-2.973241585605936, -0.6787786102380118, -0.19920934906773607], [-2.93232391942151, -0.6912659400675851, -0.20034623409429259], [-2.9047356299041187, -0.6963577661680018, -0.20038561242919167], [-2.841469047056829, -0.7069651689032854, -0.19635205654396742], [-2.8132399790365255, -0.6812662533968896, -0.20592316972881514], [-2.7737612105106195, -0.6897683687104808, -0.20442796183877704], [-2.727616383081052, -0.6973204094803018, -0.20580237914565408], [-2.6870456215538043, -0.69697883120924, -0.2034470325792242], [-2.6283188958859167, -0.7090497803009896, -0.20173875939851743], [-2.614259798951834, -0.7066148629219406, -0.2046237352050409], [-2.5782829938135334, -0.7066513160924099, -0.19778194528408594], [-2.5296223227181205, -0.7150347943822588, -0.1956568186931929], [-2.5054699533941607, -0.7103618548302943, -0.2001298114227062], [-2.455892597074829, -0.7095383898397767, -0.20127449308002304], [-2.4076709824116413, -0.6899911160971925, -0.20405379865037726], [-2.3454037813446957, -0.6936113976742071, -0.2052965080145795], [-2.303479562281845, -0.6773050589374936, -0.20433564287890765], [-2.2560747995501598, -0.6729066210683303, -0.20999142684708488], [-2.2093568630694542, -0.6627855413971311, -0.20817847035395604], [-2.148298135329995, -0.6518956735722168, -0.20800422953594616], [-2.0898028547408796, -0.6162158499085633, -0.22060835139089968], [-1.9178822099721424, -0.35483467437149296, -0.2358050028426108], [-1.8535583087457832, -0.4294230745160714, -0.22125930272496713], [-1.8236501797426672, -0.34879554365711085, -0.23991148822168468], [-1.9702266581155317, -0.5508654722420274, -0.20955097049718513], [-1.8840453538462127, -0.49712497985900184, -0.21813253401827476], [-1.8103574888834784, -0.41475258225886624, -0.2268411070876632], [-1.7928171170980516, -0.38353264646166996, -0.2254681225346355], [-1.8245086177113712, -0.44824556075453215, -0.208510395490154], [-1.759139142090167, -0.38970060790867156, -0.23054137222656573], [-1.7131761069679814, -0.3770668832048425, -0.20774877198751024], [-1.727783017745828, -0.35220533838627355, -0.20078168131353308], [-1.6152799902079278, -0.275864888309592, -0.20063029186269082], [-1.583657533973617, -0.16395352409850283, -0.212966507564539], [-1.6223900802036875, -0.2122113113752011, -0.21463968335096523], [-1.594896592344254, -0.17698744996772375, -0.2080337755659048], [-1.6187340805691663, -0.20216027229097855, -0.20812120988606692], [-1.5920150170176997, -0.17481839346088823, -0.19918560953145187], [-1.5901794879387112, -0.18259979237159696, -0.21205935267420767], [-1.5650235112246018, -0.0966805332560936, -0.21932860960936568], [-1.5653115466979073, -0.09682012580637589, -0.22374193577887008], [-1.5659934843246788, -0.09729060623902397, -0.22822611676881094], [-1.5678619757900258, -0.09870879993670467, -0.23516340344585956], [-1.569351805512584, -0.09988452425435068, -0.23893484213698563], [-1.5700935053463105, -0.10047654898703984, -0.24048598748820788], [-1.5700766264226482, -0.10045842410067007, -0.24048754698492852], [-1.5700933049677013, -0.10047509631447049, -0.2404858893009592], [-1.5700796134870725, -0.10046125151947072, -0.2404870917608281], [-1.5700850059963876, -0.10046496227881185, -0.24048646065702323], [-1.5701120253182106, -0.10040870433121407, -0.24048571655903234], [-1.5715553460691138, -0.09846480032683735, -0.24043069157616775], [-1.5759982060113793, -0.0936219078824041, -0.24024857417959183], [-1.583688795968421, -0.08799904557230276, -0.23990311159134986], [-1.5861778156926327, -0.08672026299565472, -0.23978479490867283], [-1.5863425122294008, -0.08664457250388091, -0.23977683524889798], [-1.5863457346238907, -0.08664566168223375, -0.23977686769453194], [-1.586347382880219, -0.08664542859216917, -0.23977680778225002], [-1.5863368204419634, -0.08663944741196983, -0.23977758168910507], [-1.5863034091330865, -0.08664771522655523, -0.23977945652440652], [-1.5826717246770667, -0.08859296021723773, -0.23995065872083493], [-1.5776292704532175, -0.09218767697943919, -0.24017814352060812], [-1.5725201395187351, -0.09724707301898894, -0.24039327286472284], [-1.569258399781062, -0.10170072478125869, -0.2405166281220001], [-1.565597783468796, -0.10908762729231136, -0.24062802475428563], [-1.5632591502258149, -0.11890686782970228, -0.24064118490028835], [-1.5630237260374154, -0.12429313097529993, -0.24059298507016996], [-1.5631380195260345, -0.1264096798860308, -0.24056244350843542], [-1.5631290558096471, -0.1264011948805428, -0.24056327607364508], [-1.5631377879100534, -0.1264095139957544, -0.24056276534001392], [-1.563137246676435, -0.12640806189396003, -0.24056277538967746], [-1.5631218146371606, -0.12639550123695553, -0.24056387283875363], [-1.563128839826469, -0.12640076724999072, -0.24056338592767484], [-1.5622868011060116, -0.1264129607645914, -0.23918345441734096], [-1.5600403151935467, -0.12627791179577685, -0.23473459067105235], [-1.5584160846925776, -0.12615501970385323, -0.23025942127532467], [-1.5863970402412866, -0.3515590912400959, -0.24208270755105438], [-1.6172033839116575, -0.3275831620993399, -0.22800848459767747], [-1.634449089204499, -0.3355006773232143, -0.22494329952609365], [-1.626194187753629, -0.33179689965616643, -0.22727416161434605], [-1.6249502972059617, -0.3312776065739311, -0.23002319124142073], [-1.6276658517902098, -0.3327416704460393, -0.2288753190575578], [-1.6244517211343532, -0.3340321695949118, -0.22802387911246785], [-1.5917121350952472, -0.31612660346159926, -0.22900662183733006], [-1.6385027092502127, -0.32127289609869836, -0.21791470180832112], [-1.613701401528076, -0.25408248482672735, -0.2019486256978063], [-1.6191724045514868, -0.1707957877133599, -0.1943998972601238], [-1.6596999546607454, -0.24040862140003272, -0.20503840560355263], [-1.70918922872358, -0.28035201480027516, -0.20901052052228225], [-1.7147059987055537, -0.2937166745496138, -0.2057987958966328], [-1.716120397039174, -0.2946300060772118, -0.20482839195287522], [-1.7198599730610917, -0.30192106207611147, -0.2057738928118628], [-1.7116404043608955, -0.2977357677373953, -0.20401820557785683], [-1.715119534602938, -0.30169206108842306, -0.20483648354569345], [-1.719586135508226, -0.2950061951655154, -0.2092761061377026], [-1.7131081751039456, -0.2856031853485721, -0.21503141670174625], [-1.6894645552759262, -0.259493249497895, -0.23039612507329227], [-1.6851549042863057, -0.2644310939423167, -0.23055254493028227], [-1.6839872714234607, -0.31310199314070153, -0.1986055486731026], [-1.6516841972732141, -0.2711119868267211, -0.19208560443355177], [-1.6355773886953178, -0.2636254981408852, -0.18954522459014272], [-1.6355822829647457, -0.2636305414292075, -0.18954485553954986], [-1.6355852960861914, -0.2636352688919048, -0.18954460364740627], [-1.6323699568797672, -0.26057836108745547, -0.18972219661377093], [-1.5944670647769792, -0.22438716593827568, -0.19181631113860903], [-1.5595411419306875, -0.18568358960041675, -0.19372242859644945], [-1.520965102762411, -0.13478344905709605, -0.19589301996070613], [-1.5156348178784942, -0.12538722103810462, -0.19621871320038403]], "scale_source": "anchors", "bev_size": 400, "bev_res": 0.05, "gravity_head_deg": 0.8934595321641463, "map_correction_at_base_m": 0.0, "map_correction_angle_deg": 0.0, "correction_recovery": {"started": false, "large": false, "pending": false, "distance_m": 0.0, "rotation_deg": 0.0, "deadline": 12.0, "stable_samples": 0}, "camera_in_base": [[-0.0011282036939248008, -0.4071787646006498, 0.9133477874362614, 0.027290690310497467], [-0.999822096091374, -0.016737470824816914, -0.008696737195107496, -0.0011587662482079875], [0.01882825865228588, -0.9131951109859696, -0.40708744263050645, 1.311516543683018], [0.0, 0.0, 0.0, 1.0]], "neutral_camera_in_base": [[-0.00426871775000931, -0.4034608725262634, 0.9149869411030505, 0.027262806291952213], [-0.9998138521342719, -0.015494670334327373, -0.011496793973063357, -0.001297779025435375], [0.018815927540233313, -0.9148656948052958, -0.403319626771651, 1.3116835456753861], [0.0, 0.0, 0.0, 1.0]], "local_path_body": [[0.4768894612789154, 0.11350318789482117], [0.941175103187561, 0.15055634081363678], [1.3985364437103271, 0.04512876272201538], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983]], "goal_body": [1.4999768046178958, -0.00834179886396591], "route_cost_m": null, "route_attachment": {"nearest_keyframe": 803, "nearest_distance_m": 0.13215980506721525, "attachment_limit_m": 0.75, "candidate_count": 0, "connection_check": "measured_depth", "switch_margin_m": 0.25}, "corner_observation": {"phase": "cruise", "target": [5.568361998639955, 0.7984567881164605], "hold": false, "head_target": null, "scan_w": 0.0, "speed_scale": 1.0, "lookahead": 0.4}, "rectangle_clear": true, "head_survey": {"active": true, "braking": true, "pass": 1, "view": 1, "total": 6, "label": "waiting for base to stop", "settled_views": 0, "reason": "measured depth"}, "footprint_diagnostics": {"clear": true, "reason": "clear", "sweep_time_s": null, "blocking_cell_count": 0, "cells": [], "ignored_current_body_cell_count": 0, "self_cells": [], "depth_supported_cells": 0, "depth_note": "Nearby obstacle returns only; no returns does not establish free space", "command_capture_frame": 742}, "footprint_evidence": null, "native_local_path_body": [[0.4768894612789154, 0.11350318789482117], [0.941175103187561, 0.15055634081363678], [1.3985364437103271, 0.04512876272201538], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983], [1.4611284732818604, 0.015565337613224983]], "native_planner_status": 6, "blind_zone": false, "native_map_camera": [[-0.23713719844818115, -0.4151947796344757, 0.8782821893692017, 1.024871587753296], [0.4487737715244293, 0.7550063729286194, 0.4780873954296112, -0.982170581817627], [-0.8616080284118652, 0.5075221657752991, 0.00728839635848999, 2.4061927795410156], [0.0, 0.0, 0.0, 1.0]], "compute_s": 0.5188539298251271, "input_age_at_publish_s": 0.554309019818902, "vggt_debug_frame": "frames/00000747/frame.json"} diff --git a/cases/20261026_goal1012_05/reports/recording_validation.json b/cases/20261026_goal1012_05/reports/recording_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..286c9c9b0b1926e83537d864d1754fd24bcf51c9 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/recording_validation.json @@ -0,0 +1,57 @@ +{ + "raw_rgb": 749, + "raw_depth": 749, + "debug_frames": 377, + "actual_passes": 376, + "input_view_references_verified": 2633, + "sample_frame": 747, + "sample_outputs": [ + "observation", + "consumed_bev", + "body_grid", + "planner_debug", + "planner_state" + ], + "replay_recorded_bev_frames": 376, + "debug": { + "status": "closed", + "frames": 377, + "passes": 376, + "unique_views": 497, + "bytes": 2877524741, + "write_s": 78.07609125599265, + "snapshot_s": 6.443127133417875, + "queued_frames": 0, + "error": null, + "run_error": null + }, + "survey": { + "completed_views": [ + "front floor", + "left floor", + "right floor", + "right surroundings", + "left surroundings", + "return to driving view" + ], + "complete": true, + "duration_including_braking_s": 39.056854248046875, + "cancellation_episodes": 0, + "fresh_feedback_command_renewals": 534, + "nonzero_base_requests_during_survey": 0 + }, + "relay": { + "verified": true, + "attempts": 1, + "container": "4c326c6c1a93", + "directory": "/tmp/stretch_depth_nav_f8dddb4508d74748ab25c416d679eac8", + "errors": [], + "process_exit_code": 0 + }, + "stop_audit": { + "streaming_position": true, + "runstopped": false, + "samples": 240, + "max_translation_m": 1.4683917270863872e-05 + } +} diff --git a/cases/20261026_goal1012_05/reports/resolved_bev_config.json b/cases/20261026_goal1012_05/reports/resolved_bev_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2220e1784616edb114d01747f6d3645f9b9c2e80 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/resolved_bev_config.json @@ -0,0 +1,77 @@ +{ + "_comment": "bev_planner_best.json with the heads fine-tuned on CROSS's default checkpoint vfin2 (Jamie-nus/VGGT-Omega-CROSS vggt_omega_cross_1b_512.pt): occupancy cross_nav/configs/train/vfin2_route_ft.yaml, observability vfin2_vis_ft.yaml (its frozen gravity = the occupancy file). For CROSS's own pass (pose_est.ff.nav_bev_head / nav_bev_visibility / nav_bev_visibility_gravity = occupancy / visibility / visibility_gravity below; cross_nav/policy/sim/cross_nav_service.py --bev this file) and for the standalone planner with --backbone vfin2. HSSD val240: CROSS shared pass 97.1 / 97.9 %, SPL 0.73 / 0.74 (the vdl_s1 heads on vfin2: 95.0 / 94.2 %, 0.68); standalone on vfin2 96.7 %, SPL 0.76 (outputs/2026-10-16_vfin2_heads). The hybrid planner keeps bev_planner_best.json (its trajectory head shares the vdl_s1 backbone).", + "backbone": "/workspace/CROSS/models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt", + "occupancy": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "visibility": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt", + "visibility_gravity": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "history_m": [ + 0.0, + 0.5, + 1.0, + 2.0, + 4.0, + 8.0, + 16.0, + 32.0 + ], + "image_hw": null, + "area": 262144, + "gravity": "imu", + "scale": "odometry", + "min_baseline_m": 0.2, + "dedupe_views": true, + "planner": { + "thresholds": [ + 0.75, + 0.625, + 0.5, + 0.375, + 0.25 + ], + "risk_weight": 128.0, + "visibility_weight": 16.0, + "radius": 0.23, + "min_travel": 1.0, + "min_progress": 0.5 + }, + "goal_margin_m": 0.25, + "blind_zone": "fallback", + "blind_zone_m": 1.3, + "blind_zone_hfov_deg": 90.0, + "no_path": "rotate_hold", + "turn_point_m": 0.3, + "horizon": 16, + "spacing": 0.5, + "debug_cells": 100, + "max_chunk": 16, + "history_rule": { + "type": "keyframe", + "trans": 0.5, + "rot_deg": 30, + "lags": [ + 0, + 1, + 2, + 4, + 8, + 16, + 32, + 64 + ] + }, + "occ_block": 0.6, + "near_goal_m": 1.0, + "near_goal_occ": 0.5, + "near_goal_clear_m": 0.1, + "memory_steps": 4, + "relax_after": 8, + "bump": true, + "scale_memory": true, + "map": { + "retry": true, + "retry_radii": [], + "radius": 0.23 + }, + "unstick_after": 6, + "unstick_clear_m": 0.5 +} diff --git a/cases/20261026_goal1012_05/reports/robot_relay_close.json b/cases/20261026_goal1012_05/reports/robot_relay_close.json new file mode 100644 index 0000000000000000000000000000000000000000..f3656ff28c1516dac8f44a5ddf96e0e04602eb26 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/robot_relay_close.json @@ -0,0 +1,8 @@ +{ + "verified": true, + "attempts": 1, + "container": "4c326c6c1a93", + "directory": "/tmp/stretch_depth_nav_f8dddb4508d74748ab25c416d679eac8", + "errors": [], + "process_exit_code": 0 +} diff --git a/cases/20261026_goal1012_05/reports/stop_audit.json b/cases/20261026_goal1012_05/reports/stop_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..f399f5210e1ab4386789863bd6f1b1cf985e3bb5 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/stop_audit.json @@ -0,0 +1,6 @@ +{ + "streaming_position": true, + "runstopped": false, + "samples": 240, + "max_translation_m": 1.4683917270863872e-05 +} diff --git a/cases/20261026_goal1012_05/reports/summary.json b/cases/20261026_goal1012_05/reports/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..96580f453edc65f5637835891a58686738e5a5de --- /dev/null +++ b/cases/20261026_goal1012_05/reports/summary.json @@ -0,0 +1,72 @@ +{ + "run": "stretch_cross_nav_live_20261026_goal1012_05", + "target_keyframe": 1012, + "duration_s": 100.90620255470276, + "odom_distance_m": 5.0953437370769565, + "goal_distance_m": 13.779970679622087, + "reason": "no global route; navigation ended", + "raw_frames": 749, + "published_observations": 377, + "bev_sets": 376, + "vggt_debug": { + "status": "closed", + "frames": 377, + "passes": 376, + "unique_views": 497, + "bytes": 2877524741, + "write_s": 78.07609125599265, + "snapshot_s": 6.443127133417875, + "queued_frames": 0, + "error": null, + "run_error": null + }, + "source_age_at_receive_s": { + "median": 0.08182978630065918, + "p95": 0.160781180858612, + "max": 0.27056193351745605 + }, + "survey": { + "completed_views": [ + "front floor", + "left floor", + "right floor", + "right surroundings", + "left surroundings", + "return to driving view" + ], + "complete": true, + "duration_including_braking_s": 39.056854248046875, + "cancellation_episodes": 0, + "fresh_feedback_command_renewals": 534, + "nonzero_base_requests_during_survey": 0 + }, + "final_attachment": { + "nearest_keyframe": 803, + "nearest_distance_m": 0.13215980506721525, + "attachment_limit_m": 0.75, + "candidate_count": 0, + "connection_check": "measured_depth", + "switch_margin_m": 0.25 + }, + "stop_audit": { + "streaming_position": true, + "runstopped": false, + "samples": 240, + "max_translation_m": 1.4683917270863872e-05 + }, + "relay_close": { + "verified": true, + "attempts": 1, + "container": "4c326c6c1a93", + "directory": "/tmp/stretch_depth_nav_f8dddb4508d74748ab25c416d679eac8", + "errors": [], + "process_exit_code": 0 + }, + "attachment_recheck": { + "evidence_frame": 742, + "points_in_starting_footprint_outside_self_mask": 10, + "nearby_permanent_keyframes": 13, + "clear_using_retained_evidence": 0, + "interpretation": "The recorded memory alone suffices to veto every attachment at path fraction zero. This locates the blocking condition; source-time self observations, depth noise and physical returns have not yet been distinguished." + } +} diff --git a/cases/20261026_goal1012_05/reports/vggt_index.jsonl b/cases/20261026_goal1012_05/reports/vggt_index.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0c24da7b316e50997a10841a38c74430d45f543 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/vggt_index.jsonl @@ -0,0 +1,377 @@ +{"capture_frame": 101, "passes": 0, "file": "frames/00000101/frame.json"} +{"capture_frame": 102, "passes": 1, "file": "frames/00000102/frame.json"} +{"capture_frame": 109, "passes": 1, "file": "frames/00000109/frame.json"} +{"capture_frame": 113, "passes": 1, "file": "frames/00000113/frame.json"} +{"capture_frame": 114, "passes": 1, "file": "frames/00000114/frame.json"} +{"capture_frame": 115, "passes": 1, "file": "frames/00000115/frame.json"} +{"capture_frame": 117, "passes": 1, "file": "frames/00000117/frame.json"} +{"capture_frame": 119, "passes": 1, "file": "frames/00000119/frame.json"} +{"capture_frame": 120, "passes": 1, "file": "frames/00000120/frame.json"} +{"capture_frame": 122, "passes": 1, "file": "frames/00000122/frame.json"} +{"capture_frame": 123, "passes": 1, "file": "frames/00000123/frame.json"} +{"capture_frame": 125, "passes": 1, "file": "frames/00000125/frame.json"} +{"capture_frame": 126, "passes": 1, "file": "frames/00000126/frame.json"} +{"capture_frame": 127, "passes": 1, "file": "frames/00000127/frame.json"} +{"capture_frame": 128, "passes": 1, "file": "frames/00000128/frame.json"} +{"capture_frame": 130, "passes": 1, "file": "frames/00000130/frame.json"} +{"capture_frame": 131, "passes": 1, "file": "frames/00000131/frame.json"} +{"capture_frame": 133, "passes": 1, "file": "frames/00000133/frame.json"} +{"capture_frame": 134, "passes": 1, "file": "frames/00000134/frame.json"} +{"capture_frame": 136, "passes": 1, "file": "frames/00000136/frame.json"} +{"capture_frame": 137, "passes": 1, "file": "frames/00000137/frame.json"} +{"capture_frame": 138, "passes": 1, "file": "frames/00000138/frame.json"} +{"capture_frame": 140, "passes": 1, "file": "frames/00000140/frame.json"} +{"capture_frame": 141, "passes": 1, "file": "frames/00000141/frame.json"} +{"capture_frame": 142, "passes": 1, "file": "frames/00000142/frame.json"} +{"capture_frame": 144, "passes": 1, "file": "frames/00000144/frame.json"} +{"capture_frame": 145, "passes": 1, "file": "frames/00000145/frame.json"} +{"capture_frame": 147, "passes": 1, "file": "frames/00000147/frame.json"} +{"capture_frame": 148, "passes": 1, "file": "frames/00000148/frame.json"} +{"capture_frame": 150, "passes": 1, "file": "frames/00000150/frame.json"} +{"capture_frame": 151, "passes": 1, "file": "frames/00000151/frame.json"} +{"capture_frame": 153, "passes": 1, "file": "frames/00000153/frame.json"} +{"capture_frame": 154, "passes": 1, "file": "frames/00000154/frame.json"} +{"capture_frame": 155, "passes": 1, "file": "frames/00000155/frame.json"} +{"capture_frame": 157, "passes": 1, "file": "frames/00000157/frame.json"} +{"capture_frame": 158, "passes": 1, "file": "frames/00000158/frame.json"} +{"capture_frame": 160, "passes": 1, "file": "frames/00000160/frame.json"} +{"capture_frame": 161, "passes": 1, "file": "frames/00000161/frame.json"} +{"capture_frame": 163, "passes": 1, "file": "frames/00000163/frame.json"} +{"capture_frame": 165, "passes": 1, "file": "frames/00000165/frame.json"} +{"capture_frame": 166, "passes": 1, "file": "frames/00000166/frame.json"} +{"capture_frame": 167, "passes": 1, "file": "frames/00000167/frame.json"} +{"capture_frame": 169, "passes": 1, "file": "frames/00000169/frame.json"} +{"capture_frame": 171, "passes": 1, "file": "frames/00000171/frame.json"} +{"capture_frame": 172, "passes": 1, "file": "frames/00000172/frame.json"} +{"capture_frame": 174, "passes": 1, "file": "frames/00000174/frame.json"} +{"capture_frame": 175, "passes": 1, "file": "frames/00000175/frame.json"} +{"capture_frame": 177, "passes": 1, "file": "frames/00000177/frame.json"} +{"capture_frame": 178, "passes": 1, "file": "frames/00000178/frame.json"} +{"capture_frame": 180, "passes": 1, "file": "frames/00000180/frame.json"} +{"capture_frame": 181, "passes": 1, "file": "frames/00000181/frame.json"} +{"capture_frame": 183, "passes": 1, "file": "frames/00000183/frame.json"} +{"capture_frame": 184, "passes": 1, "file": "frames/00000184/frame.json"} +{"capture_frame": 186, "passes": 1, "file": "frames/00000186/frame.json"} +{"capture_frame": 187, "passes": 1, "file": "frames/00000187/frame.json"} +{"capture_frame": 189, "passes": 1, "file": "frames/00000189/frame.json"} +{"capture_frame": 191, "passes": 1, "file": "frames/00000191/frame.json"} +{"capture_frame": 192, "passes": 1, "file": "frames/00000192/frame.json"} +{"capture_frame": 194, "passes": 1, "file": "frames/00000194/frame.json"} +{"capture_frame": 195, "passes": 1, "file": "frames/00000195/frame.json"} +{"capture_frame": 197, "passes": 1, "file": "frames/00000197/frame.json"} +{"capture_frame": 198, "passes": 1, "file": "frames/00000198/frame.json"} +{"capture_frame": 200, "passes": 1, "file": "frames/00000200/frame.json"} +{"capture_frame": 201, "passes": 1, "file": "frames/00000201/frame.json"} +{"capture_frame": 203, "passes": 1, "file": "frames/00000203/frame.json"} +{"capture_frame": 204, "passes": 1, "file": "frames/00000204/frame.json"} +{"capture_frame": 206, "passes": 1, "file": "frames/00000206/frame.json"} +{"capture_frame": 207, "passes": 1, "file": "frames/00000207/frame.json"} +{"capture_frame": 209, "passes": 1, "file": "frames/00000209/frame.json"} +{"capture_frame": 210, "passes": 1, "file": "frames/00000210/frame.json"} +{"capture_frame": 212, "passes": 1, "file": "frames/00000212/frame.json"} +{"capture_frame": 213, "passes": 1, "file": "frames/00000213/frame.json"} +{"capture_frame": 215, "passes": 1, "file": "frames/00000215/frame.json"} +{"capture_frame": 216, "passes": 1, "file": "frames/00000216/frame.json"} +{"capture_frame": 218, "passes": 1, "file": "frames/00000218/frame.json"} +{"capture_frame": 219, "passes": 1, "file": "frames/00000219/frame.json"} +{"capture_frame": 221, "passes": 1, "file": "frames/00000221/frame.json"} +{"capture_frame": 222, "passes": 1, "file": "frames/00000222/frame.json"} +{"capture_frame": 224, "passes": 1, "file": "frames/00000224/frame.json"} +{"capture_frame": 225, "passes": 1, "file": "frames/00000225/frame.json"} +{"capture_frame": 227, "passes": 1, "file": "frames/00000227/frame.json"} +{"capture_frame": 228, "passes": 1, "file": "frames/00000228/frame.json"} +{"capture_frame": 230, "passes": 1, "file": "frames/00000230/frame.json"} +{"capture_frame": 231, "passes": 1, "file": "frames/00000231/frame.json"} +{"capture_frame": 233, "passes": 1, "file": "frames/00000233/frame.json"} +{"capture_frame": 234, "passes": 1, "file": "frames/00000234/frame.json"} +{"capture_frame": 236, "passes": 1, "file": "frames/00000236/frame.json"} +{"capture_frame": 237, "passes": 1, "file": "frames/00000237/frame.json"} +{"capture_frame": 239, "passes": 1, "file": "frames/00000239/frame.json"} +{"capture_frame": 240, "passes": 1, "file": "frames/00000240/frame.json"} +{"capture_frame": 242, "passes": 1, "file": "frames/00000242/frame.json"} +{"capture_frame": 243, "passes": 1, "file": "frames/00000243/frame.json"} +{"capture_frame": 245, "passes": 1, "file": "frames/00000245/frame.json"} +{"capture_frame": 246, "passes": 1, "file": "frames/00000246/frame.json"} +{"capture_frame": 248, "passes": 1, "file": "frames/00000248/frame.json"} +{"capture_frame": 249, "passes": 1, "file": "frames/00000249/frame.json"} +{"capture_frame": 251, "passes": 1, "file": "frames/00000251/frame.json"} +{"capture_frame": 252, "passes": 1, "file": "frames/00000252/frame.json"} +{"capture_frame": 254, "passes": 1, "file": "frames/00000254/frame.json"} +{"capture_frame": 255, "passes": 1, "file": "frames/00000255/frame.json"} +{"capture_frame": 257, "passes": 1, "file": "frames/00000257/frame.json"} +{"capture_frame": 258, "passes": 1, "file": "frames/00000258/frame.json"} +{"capture_frame": 260, "passes": 1, "file": "frames/00000260/frame.json"} +{"capture_frame": 261, "passes": 1, "file": "frames/00000261/frame.json"} +{"capture_frame": 263, "passes": 1, "file": "frames/00000263/frame.json"} +{"capture_frame": 264, "passes": 1, "file": "frames/00000264/frame.json"} +{"capture_frame": 266, "passes": 1, "file": "frames/00000266/frame.json"} +{"capture_frame": 268, "passes": 1, "file": "frames/00000268/frame.json"} +{"capture_frame": 269, "passes": 1, "file": "frames/00000269/frame.json"} +{"capture_frame": 271, "passes": 1, "file": "frames/00000271/frame.json"} +{"capture_frame": 272, "passes": 1, "file": "frames/00000272/frame.json"} +{"capture_frame": 274, "passes": 1, "file": "frames/00000274/frame.json"} +{"capture_frame": 275, "passes": 1, "file": "frames/00000275/frame.json"} +{"capture_frame": 277, "passes": 1, "file": "frames/00000277/frame.json"} +{"capture_frame": 278, "passes": 1, "file": "frames/00000278/frame.json"} +{"capture_frame": 280, "passes": 1, "file": "frames/00000280/frame.json"} +{"capture_frame": 281, "passes": 1, "file": "frames/00000281/frame.json"} +{"capture_frame": 283, "passes": 1, "file": "frames/00000283/frame.json"} +{"capture_frame": 284, "passes": 1, "file": "frames/00000284/frame.json"} +{"capture_frame": 286, "passes": 1, "file": "frames/00000286/frame.json"} +{"capture_frame": 287, "passes": 1, "file": "frames/00000287/frame.json"} +{"capture_frame": 289, "passes": 1, "file": "frames/00000289/frame.json"} +{"capture_frame": 291, "passes": 1, "file": "frames/00000291/frame.json"} +{"capture_frame": 292, "passes": 1, "file": "frames/00000292/frame.json"} +{"capture_frame": 293, "passes": 1, "file": "frames/00000293/frame.json"} +{"capture_frame": 295, "passes": 1, "file": "frames/00000295/frame.json"} +{"capture_frame": 296, "passes": 1, "file": "frames/00000296/frame.json"} +{"capture_frame": 298, "passes": 1, "file": "frames/00000298/frame.json"} +{"capture_frame": 299, "passes": 1, "file": "frames/00000299/frame.json"} +{"capture_frame": 301, "passes": 1, "file": "frames/00000301/frame.json"} +{"capture_frame": 303, "passes": 1, "file": "frames/00000303/frame.json"} +{"capture_frame": 304, "passes": 1, "file": "frames/00000304/frame.json"} +{"capture_frame": 306, "passes": 1, "file": "frames/00000306/frame.json"} +{"capture_frame": 307, "passes": 1, "file": "frames/00000307/frame.json"} +{"capture_frame": 309, "passes": 1, "file": "frames/00000309/frame.json"} +{"capture_frame": 310, "passes": 1, "file": "frames/00000310/frame.json"} +{"capture_frame": 312, "passes": 1, "file": "frames/00000312/frame.json"} +{"capture_frame": 313, "passes": 1, "file": "frames/00000313/frame.json"} +{"capture_frame": 315, "passes": 1, "file": "frames/00000315/frame.json"} +{"capture_frame": 316, "passes": 1, "file": "frames/00000316/frame.json"} +{"capture_frame": 318, "passes": 1, "file": "frames/00000318/frame.json"} +{"capture_frame": 319, "passes": 1, "file": "frames/00000319/frame.json"} +{"capture_frame": 321, "passes": 1, "file": "frames/00000321/frame.json"} +{"capture_frame": 322, "passes": 1, "file": "frames/00000322/frame.json"} +{"capture_frame": 324, "passes": 1, "file": "frames/00000324/frame.json"} +{"capture_frame": 326, "passes": 1, "file": "frames/00000326/frame.json"} +{"capture_frame": 327, "passes": 1, "file": "frames/00000327/frame.json"} +{"capture_frame": 329, "passes": 1, "file": "frames/00000329/frame.json"} +{"capture_frame": 330, "passes": 1, "file": "frames/00000330/frame.json"} +{"capture_frame": 332, "passes": 1, "file": "frames/00000332/frame.json"} +{"capture_frame": 333, "passes": 1, "file": "frames/00000333/frame.json"} +{"capture_frame": 335, "passes": 1, "file": "frames/00000335/frame.json"} +{"capture_frame": 336, "passes": 1, "file": "frames/00000336/frame.json"} +{"capture_frame": 338, "passes": 1, "file": "frames/00000338/frame.json"} +{"capture_frame": 339, "passes": 1, "file": "frames/00000339/frame.json"} +{"capture_frame": 341, "passes": 1, "file": "frames/00000341/frame.json"} +{"capture_frame": 342, "passes": 1, "file": "frames/00000342/frame.json"} +{"capture_frame": 344, "passes": 1, "file": "frames/00000344/frame.json"} +{"capture_frame": 345, "passes": 1, "file": "frames/00000345/frame.json"} +{"capture_frame": 347, "passes": 1, "file": "frames/00000347/frame.json"} +{"capture_frame": 348, "passes": 1, "file": "frames/00000348/frame.json"} +{"capture_frame": 350, "passes": 1, "file": "frames/00000350/frame.json"} +{"capture_frame": 352, "passes": 1, "file": "frames/00000352/frame.json"} +{"capture_frame": 353, "passes": 1, "file": "frames/00000353/frame.json"} +{"capture_frame": 355, "passes": 1, "file": "frames/00000355/frame.json"} +{"capture_frame": 357, "passes": 1, "file": "frames/00000357/frame.json"} +{"capture_frame": 359, "passes": 1, "file": "frames/00000359/frame.json"} +{"capture_frame": 360, "passes": 1, "file": "frames/00000360/frame.json"} +{"capture_frame": 362, "passes": 1, "file": "frames/00000362/frame.json"} +{"capture_frame": 364, "passes": 1, "file": "frames/00000364/frame.json"} +{"capture_frame": 366, "passes": 1, "file": "frames/00000366/frame.json"} +{"capture_frame": 368, "passes": 1, "file": "frames/00000368/frame.json"} +{"capture_frame": 369, "passes": 1, "file": "frames/00000369/frame.json"} +{"capture_frame": 371, "passes": 1, "file": "frames/00000371/frame.json"} +{"capture_frame": 373, "passes": 1, "file": "frames/00000373/frame.json"} +{"capture_frame": 374, "passes": 1, "file": "frames/00000374/frame.json"} +{"capture_frame": 376, "passes": 1, "file": "frames/00000376/frame.json"} +{"capture_frame": 378, "passes": 1, "file": "frames/00000378/frame.json"} +{"capture_frame": 380, "passes": 1, "file": "frames/00000380/frame.json"} +{"capture_frame": 381, "passes": 1, "file": "frames/00000381/frame.json"} +{"capture_frame": 383, "passes": 1, "file": "frames/00000383/frame.json"} +{"capture_frame": 385, "passes": 1, "file": "frames/00000385/frame.json"} +{"capture_frame": 386, "passes": 1, "file": "frames/00000386/frame.json"} +{"capture_frame": 388, "passes": 1, "file": "frames/00000388/frame.json"} +{"capture_frame": 390, "passes": 1, "file": "frames/00000390/frame.json"} +{"capture_frame": 391, "passes": 1, "file": "frames/00000391/frame.json"} +{"capture_frame": 393, "passes": 1, "file": "frames/00000393/frame.json"} +{"capture_frame": 394, "passes": 1, "file": "frames/00000394/frame.json"} +{"capture_frame": 396, "passes": 1, "file": "frames/00000396/frame.json"} +{"capture_frame": 397, "passes": 1, "file": "frames/00000397/frame.json"} +{"capture_frame": 399, "passes": 1, "file": "frames/00000399/frame.json"} +{"capture_frame": 400, "passes": 1, "file": "frames/00000400/frame.json"} +{"capture_frame": 402, "passes": 1, "file": "frames/00000402/frame.json"} +{"capture_frame": 403, "passes": 1, "file": "frames/00000403/frame.json"} +{"capture_frame": 405, "passes": 1, "file": "frames/00000405/frame.json"} +{"capture_frame": 406, "passes": 1, "file": "frames/00000406/frame.json"} +{"capture_frame": 408, "passes": 1, "file": "frames/00000408/frame.json"} +{"capture_frame": 409, "passes": 1, "file": "frames/00000409/frame.json"} +{"capture_frame": 410, "passes": 1, "file": "frames/00000410/frame.json"} +{"capture_frame": 412, "passes": 1, "file": "frames/00000412/frame.json"} +{"capture_frame": 413, "passes": 1, "file": "frames/00000413/frame.json"} +{"capture_frame": 415, "passes": 1, "file": "frames/00000415/frame.json"} +{"capture_frame": 416, "passes": 1, "file": "frames/00000416/frame.json"} +{"capture_frame": 417, "passes": 1, "file": "frames/00000417/frame.json"} +{"capture_frame": 419, "passes": 1, "file": "frames/00000419/frame.json"} +{"capture_frame": 420, "passes": 1, "file": "frames/00000420/frame.json"} +{"capture_frame": 422, "passes": 1, "file": "frames/00000422/frame.json"} +{"capture_frame": 424, "passes": 1, "file": "frames/00000424/frame.json"} +{"capture_frame": 425, "passes": 1, "file": "frames/00000425/frame.json"} +{"capture_frame": 427, "passes": 1, "file": "frames/00000427/frame.json"} +{"capture_frame": 428, "passes": 1, "file": "frames/00000428/frame.json"} +{"capture_frame": 430, "passes": 1, "file": "frames/00000430/frame.json"} +{"capture_frame": 431, "passes": 1, "file": "frames/00000431/frame.json"} +{"capture_frame": 433, "passes": 1, "file": "frames/00000433/frame.json"} +{"capture_frame": 435, "passes": 1, "file": "frames/00000435/frame.json"} +{"capture_frame": 436, "passes": 1, "file": "frames/00000436/frame.json"} +{"capture_frame": 438, "passes": 1, "file": "frames/00000438/frame.json"} +{"capture_frame": 439, "passes": 1, "file": "frames/00000439/frame.json"} +{"capture_frame": 441, "passes": 1, "file": "frames/00000441/frame.json"} +{"capture_frame": 443, "passes": 1, "file": "frames/00000443/frame.json"} +{"capture_frame": 444, "passes": 1, "file": "frames/00000444/frame.json"} +{"capture_frame": 446, "passes": 1, "file": "frames/00000446/frame.json"} +{"capture_frame": 448, "passes": 1, "file": "frames/00000448/frame.json"} +{"capture_frame": 449, "passes": 1, "file": "frames/00000449/frame.json"} +{"capture_frame": 451, "passes": 1, "file": "frames/00000451/frame.json"} +{"capture_frame": 453, "passes": 1, "file": "frames/00000453/frame.json"} +{"capture_frame": 454, "passes": 1, "file": "frames/00000454/frame.json"} +{"capture_frame": 456, "passes": 1, "file": "frames/00000456/frame.json"} +{"capture_frame": 458, "passes": 1, "file": "frames/00000458/frame.json"} +{"capture_frame": 459, "passes": 1, "file": "frames/00000459/frame.json"} +{"capture_frame": 461, "passes": 1, "file": "frames/00000461/frame.json"} +{"capture_frame": 463, "passes": 1, "file": "frames/00000463/frame.json"} +{"capture_frame": 464, "passes": 1, "file": "frames/00000464/frame.json"} +{"capture_frame": 466, "passes": 1, "file": "frames/00000466/frame.json"} +{"capture_frame": 467, "passes": 1, "file": "frames/00000467/frame.json"} +{"capture_frame": 469, "passes": 1, "file": "frames/00000469/frame.json"} +{"capture_frame": 471, "passes": 1, "file": "frames/00000471/frame.json"} +{"capture_frame": 472, "passes": 1, "file": "frames/00000472/frame.json"} +{"capture_frame": 474, "passes": 1, "file": "frames/00000474/frame.json"} +{"capture_frame": 475, "passes": 1, "file": "frames/00000475/frame.json"} +{"capture_frame": 477, "passes": 1, "file": "frames/00000477/frame.json"} +{"capture_frame": 479, "passes": 1, "file": "frames/00000479/frame.json"} +{"capture_frame": 480, "passes": 1, "file": "frames/00000480/frame.json"} +{"capture_frame": 482, "passes": 1, "file": "frames/00000482/frame.json"} +{"capture_frame": 483, "passes": 1, "file": "frames/00000483/frame.json"} +{"capture_frame": 485, "passes": 1, "file": "frames/00000485/frame.json"} +{"capture_frame": 486, "passes": 1, "file": "frames/00000486/frame.json"} +{"capture_frame": 488, "passes": 1, "file": "frames/00000488/frame.json"} +{"capture_frame": 489, "passes": 1, "file": "frames/00000489/frame.json"} +{"capture_frame": 491, "passes": 1, "file": "frames/00000491/frame.json"} +{"capture_frame": 492, "passes": 1, "file": "frames/00000492/frame.json"} +{"capture_frame": 494, "passes": 1, "file": "frames/00000494/frame.json"} +{"capture_frame": 495, "passes": 1, "file": "frames/00000495/frame.json"} +{"capture_frame": 497, "passes": 1, "file": "frames/00000497/frame.json"} +{"capture_frame": 498, "passes": 1, "file": "frames/00000498/frame.json"} +{"capture_frame": 500, "passes": 1, "file": "frames/00000500/frame.json"} +{"capture_frame": 501, "passes": 1, "file": "frames/00000501/frame.json"} +{"capture_frame": 503, "passes": 1, "file": "frames/00000503/frame.json"} +{"capture_frame": 504, "passes": 1, "file": "frames/00000504/frame.json"} +{"capture_frame": 506, "passes": 1, "file": "frames/00000506/frame.json"} +{"capture_frame": 507, "passes": 1, "file": "frames/00000507/frame.json"} +{"capture_frame": 509, "passes": 1, "file": "frames/00000509/frame.json"} +{"capture_frame": 510, "passes": 1, "file": "frames/00000510/frame.json"} +{"capture_frame": 511, "passes": 1, "file": "frames/00000511/frame.json"} +{"capture_frame": 513, "passes": 1, "file": "frames/00000513/frame.json"} +{"capture_frame": 515, "passes": 1, "file": "frames/00000515/frame.json"} +{"capture_frame": 516, "passes": 1, "file": "frames/00000516/frame.json"} +{"capture_frame": 518, "passes": 1, "file": "frames/00000518/frame.json"} +{"capture_frame": 519, "passes": 1, "file": "frames/00000519/frame.json"} +{"capture_frame": 521, "passes": 1, "file": "frames/00000521/frame.json"} +{"capture_frame": 522, "passes": 1, "file": "frames/00000522/frame.json"} +{"capture_frame": 524, "passes": 1, "file": "frames/00000524/frame.json"} +{"capture_frame": 525, "passes": 1, "file": "frames/00000525/frame.json"} +{"capture_frame": 527, "passes": 1, "file": "frames/00000527/frame.json"} +{"capture_frame": 528, "passes": 1, "file": "frames/00000528/frame.json"} +{"capture_frame": 530, "passes": 1, "file": "frames/00000530/frame.json"} +{"capture_frame": 531, "passes": 1, "file": "frames/00000531/frame.json"} +{"capture_frame": 533, "passes": 1, "file": "frames/00000533/frame.json"} +{"capture_frame": 535, "passes": 1, "file": "frames/00000535/frame.json"} +{"capture_frame": 536, "passes": 1, "file": "frames/00000536/frame.json"} +{"capture_frame": 538, "passes": 1, "file": "frames/00000538/frame.json"} +{"capture_frame": 540, "passes": 1, "file": "frames/00000540/frame.json"} +{"capture_frame": 541, "passes": 1, "file": "frames/00000541/frame.json"} +{"capture_frame": 543, "passes": 1, "file": "frames/00000543/frame.json"} +{"capture_frame": 545, "passes": 1, "file": "frames/00000545/frame.json"} +{"capture_frame": 547, "passes": 1, "file": "frames/00000547/frame.json"} +{"capture_frame": 549, "passes": 1, "file": "frames/00000549/frame.json"} +{"capture_frame": 550, "passes": 1, "file": "frames/00000550/frame.json"} +{"capture_frame": 552, "passes": 1, "file": "frames/00000552/frame.json"} +{"capture_frame": 554, "passes": 1, "file": "frames/00000554/frame.json"} +{"capture_frame": 556, "passes": 1, "file": "frames/00000556/frame.json"} +{"capture_frame": 558, "passes": 1, "file": "frames/00000558/frame.json"} +{"capture_frame": 559, "passes": 1, "file": "frames/00000559/frame.json"} +{"capture_frame": 561, "passes": 1, "file": "frames/00000561/frame.json"} +{"capture_frame": 563, "passes": 1, "file": "frames/00000563/frame.json"} +{"capture_frame": 565, "passes": 1, "file": "frames/00000565/frame.json"} +{"capture_frame": 567, "passes": 1, "file": "frames/00000567/frame.json"} +{"capture_frame": 569, "passes": 1, "file": "frames/00000569/frame.json"} +{"capture_frame": 570, "passes": 1, "file": "frames/00000570/frame.json"} +{"capture_frame": 572, "passes": 1, "file": "frames/00000572/frame.json"} +{"capture_frame": 574, "passes": 1, "file": "frames/00000574/frame.json"} +{"capture_frame": 576, "passes": 1, "file": "frames/00000576/frame.json"} +{"capture_frame": 578, "passes": 1, "file": "frames/00000578/frame.json"} +{"capture_frame": 580, "passes": 1, "file": "frames/00000580/frame.json"} +{"capture_frame": 582, "passes": 1, "file": "frames/00000582/frame.json"} +{"capture_frame": 584, "passes": 1, "file": "frames/00000584/frame.json"} +{"capture_frame": 586, "passes": 1, "file": "frames/00000586/frame.json"} +{"capture_frame": 588, "passes": 1, "file": "frames/00000588/frame.json"} +{"capture_frame": 590, "passes": 1, "file": "frames/00000590/frame.json"} +{"capture_frame": 592, "passes": 1, "file": "frames/00000592/frame.json"} +{"capture_frame": 594, "passes": 1, "file": "frames/00000594/frame.json"} +{"capture_frame": 596, "passes": 1, "file": "frames/00000596/frame.json"} +{"capture_frame": 599, "passes": 1, "file": "frames/00000599/frame.json"} +{"capture_frame": 601, "passes": 1, "file": "frames/00000601/frame.json"} +{"capture_frame": 603, "passes": 1, "file": "frames/00000603/frame.json"} +{"capture_frame": 605, "passes": 1, "file": "frames/00000605/frame.json"} +{"capture_frame": 608, "passes": 1, "file": "frames/00000608/frame.json"} +{"capture_frame": 610, "passes": 1, "file": "frames/00000610/frame.json"} +{"capture_frame": 612, "passes": 1, "file": "frames/00000612/frame.json"} +{"capture_frame": 614, "passes": 1, "file": "frames/00000614/frame.json"} +{"capture_frame": 616, "passes": 1, "file": "frames/00000616/frame.json"} +{"capture_frame": 618, "passes": 1, "file": "frames/00000618/frame.json"} +{"capture_frame": 621, "passes": 1, "file": "frames/00000621/frame.json"} +{"capture_frame": 623, "passes": 1, "file": "frames/00000623/frame.json"} +{"capture_frame": 625, "passes": 1, "file": "frames/00000625/frame.json"} +{"capture_frame": 627, "passes": 1, "file": "frames/00000627/frame.json"} +{"capture_frame": 629, "passes": 1, "file": "frames/00000629/frame.json"} +{"capture_frame": 631, "passes": 1, "file": "frames/00000631/frame.json"} +{"capture_frame": 634, "passes": 1, "file": "frames/00000634/frame.json"} +{"capture_frame": 636, "passes": 1, "file": "frames/00000636/frame.json"} +{"capture_frame": 638, "passes": 1, "file": "frames/00000638/frame.json"} +{"capture_frame": 640, "passes": 1, "file": "frames/00000640/frame.json"} +{"capture_frame": 642, "passes": 1, "file": "frames/00000642/frame.json"} +{"capture_frame": 644, "passes": 1, "file": "frames/00000644/frame.json"} +{"capture_frame": 647, "passes": 1, "file": "frames/00000647/frame.json"} +{"capture_frame": 649, "passes": 1, "file": "frames/00000649/frame.json"} +{"capture_frame": 652, "passes": 1, "file": "frames/00000652/frame.json"} +{"capture_frame": 654, "passes": 1, "file": "frames/00000654/frame.json"} +{"capture_frame": 656, "passes": 1, "file": "frames/00000656/frame.json"} +{"capture_frame": 658, "passes": 1, "file": "frames/00000658/frame.json"} +{"capture_frame": 660, "passes": 1, "file": "frames/00000660/frame.json"} +{"capture_frame": 663, "passes": 1, "file": "frames/00000663/frame.json"} +{"capture_frame": 665, "passes": 1, "file": "frames/00000665/frame.json"} +{"capture_frame": 667, "passes": 1, "file": "frames/00000667/frame.json"} +{"capture_frame": 669, "passes": 1, "file": "frames/00000669/frame.json"} +{"capture_frame": 671, "passes": 1, "file": "frames/00000671/frame.json"} +{"capture_frame": 674, "passes": 1, "file": "frames/00000674/frame.json"} +{"capture_frame": 676, "passes": 1, "file": "frames/00000676/frame.json"} +{"capture_frame": 678, "passes": 1, "file": "frames/00000678/frame.json"} +{"capture_frame": 680, "passes": 1, "file": "frames/00000680/frame.json"} +{"capture_frame": 683, "passes": 1, "file": "frames/00000683/frame.json"} +{"capture_frame": 685, "passes": 1, "file": "frames/00000685/frame.json"} +{"capture_frame": 688, "passes": 1, "file": "frames/00000688/frame.json"} +{"capture_frame": 690, "passes": 1, "file": "frames/00000690/frame.json"} +{"capture_frame": 693, "passes": 1, "file": "frames/00000693/frame.json"} +{"capture_frame": 695, "passes": 1, "file": "frames/00000695/frame.json"} +{"capture_frame": 697, "passes": 1, "file": "frames/00000697/frame.json"} +{"capture_frame": 700, "passes": 1, "file": "frames/00000700/frame.json"} +{"capture_frame": 703, "passes": 1, "file": "frames/00000703/frame.json"} +{"capture_frame": 705, "passes": 1, "file": "frames/00000705/frame.json"} +{"capture_frame": 708, "passes": 1, "file": "frames/00000708/frame.json"} +{"capture_frame": 710, "passes": 1, "file": "frames/00000710/frame.json"} +{"capture_frame": 712, "passes": 1, "file": "frames/00000712/frame.json"} +{"capture_frame": 715, "passes": 1, "file": "frames/00000715/frame.json"} +{"capture_frame": 717, "passes": 1, "file": "frames/00000717/frame.json"} +{"capture_frame": 720, "passes": 1, "file": "frames/00000720/frame.json"} +{"capture_frame": 722, "passes": 1, "file": "frames/00000722/frame.json"} +{"capture_frame": 725, "passes": 1, "file": "frames/00000725/frame.json"} +{"capture_frame": 727, "passes": 1, "file": "frames/00000727/frame.json"} +{"capture_frame": 730, "passes": 1, "file": "frames/00000730/frame.json"} +{"capture_frame": 732, "passes": 1, "file": "frames/00000732/frame.json"} +{"capture_frame": 735, "passes": 1, "file": "frames/00000735/frame.json"} +{"capture_frame": 737, "passes": 1, "file": "frames/00000737/frame.json"} +{"capture_frame": 740, "passes": 1, "file": "frames/00000740/frame.json"} +{"capture_frame": 742, "passes": 1, "file": "frames/00000742/frame.json"} +{"capture_frame": 745, "passes": 1, "file": "frames/00000745/frame.json"} +{"capture_frame": 747, "passes": 1, "file": "frames/00000747/frame.json"} diff --git a/cases/20261026_goal1012_05/reports/vggt_provenance.json b/cases/20261026_goal1012_05/reports/vggt_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d7aa5cc7fcddf5552ec3220c57de43935e2941 --- /dev/null +++ b/cases/20261026_goal1012_05/reports/vggt_provenance.json @@ -0,0 +1,508 @@ +{ + "schema_version": 1, + "created_unix": 1793013917.557678, + "metadata": { + "origin": "live_recorded", + "cross_root": "/workspace/CROSS", + "map_run": "/workspace/lite3_ROS/log/record3d_mapping_20261022_154858/mapping", + "config_overrides": [ + "pose_est.ff.checkpoint=finetuned", + "pose_est.obs_max_interval_steps=1", + "pose_est.ff.nav_bev_head=/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "pose_est.ff.nav_bev_visibility=/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt", + "pose_est.ff.nav_bev_visibility_gravity=/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "mapping.loop_closure.async_pgo=False" + ], + "resolved_config": { + "state_device": "cpu", + "retrieval": { + "vpr_model_type": "boq", + "top_k": 10, + "own_session_slots": 2, + "map_score_threshold": 0.0, + "store_images_uint8": true, + "vpr_score_threshold_high": 0.3, + "vpr_score_threshold_low": 0.3, + "initial_buffer_size": 1000, + "historical_slots": 0, + "historical_min_score": null, + "index": { + "projection": "map", + "fit_at": 4096, + "fit_dim": 0, + "fit_energy": 0.9, + "extend": true, + "extend_margin": 0.05, + "extend_dims": 64, + "max_dim": 2048, + "recent": 1024, + "shortlist": 64, + "max_rescore": 256, + "keep_full_max": 131072, + "store_dtype": "auto", + "backend": "exact", + "ivf_nlist": 0, + "ivf_nprobe": 16, + "ivf_min_rows": 200000 + }, + "locality": { + "enabled": false, + "min_keyframes": 0, + "slots": 5, + "k_sigma": 3.0, + "r_min": 5.0, + "drift_rate": 0.05, + "r_max": 2000.0, + "min_weight": 0.05, + "score_threshold": null + } + }, + "tracking": { + "new_kf_after_n_unsuccessful_steps": 5, + "odom_std_per_meter": 0.5, + "odom_std_per_radian": 0.5, + "odom_min_std_translation": 0.1, + "odom_min_std_rotation": 0.1 + }, + "mapping": { + "kf_gmm_n_components": 5, + "kf_retrieval_threshold_new_kf": 0.75, + "kf_match_threshold_new_kf": 50, + "new_component_weight_threshold": 0.2, + "cluster_eps": 1.0, + "projection": { + "vertical": "y", + "estimate_vertical": false, + "vertical_weight": 0.0, + "vertical_gate": 0.0 + }, + "loop_closure": { + "async_pgo": false, + "async_pgo_lag_steps": -1, + "async_pgo_min_s": 0.1, + "async_pgo_provisional_kf": 1000, + "mode": "verified", + "confidence": 0.999, + "noise": { + "visual_scale": 1.0, + "visual_t_a": 0.03, + "visual_t_b": 0.02, + "visual_r_a": 0.003, + "visual_r_b": 0.001, + "odom_k_t": 0.06, + "odom_k_r": 0.07, + "odom_floor_t": 0.002, + "odom_floor_r": 0.001, + "pair_t_a": 0.05, + "pair_t_b": 0.025, + "pair_r_a": 0.003, + "pair_r_b": 0.0015, + "map_t_a": 0.05, + "map_t_b": 0.03, + "map_r_a": 0.02, + "map_r_b": 0.001, + "gate_inflation": 2.0, + "gate_vertical_ratio": 0.25 + }, + "use_inpass": true, + "use_prior": true, + "use_posterior": true, + "test_dof": "split", + "adaptive_scale": true, + "adaptive_window": 150, + "odom_guard_factor": 2.0, + "odom_guard_window": 30, + "odom_guard_persist": 2, + "odom_guard_map": true, + "odom_guard_rescale": true, + "anisotropic": true, + "informative_margin": 2.0, + "pure_verdict_clusters": true, + "loop_edges_per_pass": 1, + "scale_min_span_m": 1.0, + "test_before_apply": false, + "corroborate_window": 0, + "corroborate_tol_t": 0.5, + "corroborate_tol_r_deg": 5.0, + "full_session_pgo": true, + "gravity_prior_deg": 0.0, + "pgo_window_min_nodes": 1000, + "pgo_window_margin": 50, + "anchor_corroborate_window": 0, + "anchor_contradict_min": 0, + "anchor_contradict_window": 20, + "anchor_min_separation": 0.0, + "anchor_contradict_min_offset": 0.0, + "anchor_needs_posterior": true, + "intra_enabled": true, + "intra_min_edges": 3, + "intra_window_steps": 15, + "intra_min_loop_steps": 300, + "intra_min_conf": 0.3, + "intra_min_residual_t": 0.1, + "intra_min_residual_r_deg": 1.0, + "intra_cooldown_steps": 100, + "intra_min_residual_sigma": 2.0, + "intra_after_merge_cooldown_steps": 300 + }, + "cluster_std": { + "use_conf_weight": true, + "min_std_translation": 0.01, + "min_std_rotation": 0.01 + }, + "hypothesis": { + "filter_process_std": 0.05, + "h0_informative_only": true, + "unmatched_evidence": "self", + "unmatched_miss_margin": 2.0, + "llr_hist_length": 8, + "llr_bias": 0.1, + "active_dist_threshold": 0.001, + "alignment_threshold": 1.0, + "adopt_dominant_steps": 20, + "adopt_in_mapping_session": false, + "merge_in_mapping_session": false, + "adopt_close_steps": 5, + "adopt_close_dist": 3.0, + "adopt_w0_max": 0.05, + "adopt_wk_min": 0.9, + "tracking_active_threshold": 1e-12, + "tracking_floor_weight": 1e-08, + "realize_sum_thresh": 0.3, + "realize_hitrate_thresh": 0.4, + "realize_min_frames": 2, + "death_ttl_base": 4, + "death_ttl_gain": 4.0, + "ttl_sum_thresh": 0.25, + "ttl_hitrate_thresh": 0.4, + "death_ttl_max": 20, + "newborn_mix_coeff": 0.1, + "newborn_conf_power": 1.0, + "detect_overlap_sum_thresh": 2.0, + "detect_overlap_hitrate_thresh": 0.5, + "detect_overlap_rel_margin": 1.0, + "detect_conf_rel_margin": 1.0, + "detect_conf_hitrate_thresh": 0.5, + "session_recovery": false, + "chart_aware": false, + "reset_evidence_on_slot_reuse": false, + "lc_recheck_after_realization": false, + "detect_min_frames": 3, + "detect_llr_cap": 5.0, + "detect_min_weight": 0.5, + "reloc_unique_evidence": false, + "reloc_unique_min_dist": 3.0, + "reloc_min_frames": 0, + "reloc_placement": true, + "reloc_placement_sep_m": 10.0, + "reloc_placement_yaw_tol_deg": 10.0, + "reloc_placement_t_tol_m": 3.0, + "reloc_placement_drift": 0.1, + "reloc_placement_dominance": 2.0, + "reloc_placement_min_steps": 6, + "reloc_placement_rival_min_steps": 2, + "reloc_placement_places_after_m": 20.0, + "reloc_placement_min_spread_m": 0.0, + "h0_innovation_gate": 16.81, + "reloc_association_evidence": false, + "reloc_detection_prob": 0.3, + "reloc_consistency_nats": 3.0, + "reloc_min_verified_frames": 3, + "reloc_realize_nats": 2.0, + "detect_reject_cooldown_steps": 30, + "verify_outlier_sigma": 4.0, + "verify_max_outlier_frac": 0.5, + "self_lc_conf_thresh": 0.55, + "self_lc_cooldown_steps": 300, + "self_lc_min_kf_id_gap": 30, + "comp0_keepalive_score": 0.01, + "comp0_sigma_inflation_factor": 1.2, + "comp0_weight_floor": 0.01, + "visualize_pose_graph": false + }, + "topo": { + "proximity_distance_thresh": 0.5, + "use_proximity_grid": false, + "enable_incremental_proximity": false, + "enabled": true + }, + "keyframe_quality": { + "enabled": true, + "info_min": 0.35, + "info_rel": 0.5, + "texture_rel": 0.25, + "empty_snr": 1.5, + "clip_dark": 0.04, + "clip_bright": 0.96, + "near_abs": 0.8, + "near_rel": 0.25, + "person": true, + "person_score": 0.5, + "stereo_near": true, + "grid": 16, + "window": 200, + "warmup": 5 + }, + "world_capture": { + "enabled": false, + "between": false, + "min_translation": 0.25, + "min_rotation_deg": 5.0, + "max_side": 0, + "image_codec": "jpeg", + "image_quality": 95, + "depth": true, + "right": true, + "anchors": 3 + } + }, + "pgo": { + "visual_robust_enabled": true, + "visual_robust_type": "huber", + "visual_robust_delta": 1.0 + }, + "pose_est": { + "type": "ff", + "kp_detector": { + "type": "xfeat", + "n_keypoints": 300, + "detection_threshold": 0.1 + }, + "kp_matcher": { + "type": "lightglue", + "min_conf": 0.7, + "allow_batch_inference": true + }, + "kf_match_threshold": 10, + "inlier_count_threshold": 10, + "max_depth": 30.0, + "obs_min_translation": 0.3, + "obs_min_rotation": 0.15, + "obs_max_interval_steps": 1, + "obs_warmup_steps": 10, + "obs_confident_max_interval_steps": 0, + "obs_confident_min_translation": 0.6, + "obs_confident_min_rotation": 0.3, + "obs_confident_weight": 0.9, + "ff": { + "backend": "vggt_omega", + "checkpoint": "models/VGGT-Omega-CROSS/vggt_omega_cross_1b_512.pt", + "image_resolution": 512, + "da3_process_res": 504, + "half_precision_weights": true, + "token_cache": 1024, + "compile": true, + "dense_head_bf16": true, + "cuda_graphs": true, + "max_refs": 6, + "n_ref_anchors": 0, + "use_curr_anchor": false, + "right_image": "pair", + "use_odom_anchor": true, + "odom_anchor_min_translation": 0.15, + "odom_anchor_weight": 0.5, + "scale_method": "adaptive", + "use_map_anchors": true, + "map_anchor_weight": 1.0, + "map_anchor_min_dist": 0.5, + "map_anchor_max_dist": 60.0, + "map_anchor_max_pairs": 8, + "map_anchor_min_pair_covis": 0.15, + "anchor_max_rot_err_deg": 20.0, + "anchor_min_dir_cos": 0.5, + "covis_grid": 48, + "covis_depth_tol": 0.15, + "min_covis": 0.15, + "covis_source": "auto", + "scale_source": "anchors", + "scale_focal": "calibrated", + "depth_scale": false, + "depth_scale_views": "current", + "depth_scale_min_depth": 0.2, + "depth_scale_max_depth": 10.0, + "depth_scale_conf_quantile": 0.5, + "depth_scale_min_pixels": 200, + "depth_scale_std_floor": 0.02, + "nav_bev_head": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "nav_bev_every": 1, + "nav_bev_visibility": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt", + "nav_bev_visibility_gravity": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "nav_extra_views": 0, + "nav_extra_radius_m": 6.0, + "nav_extra_range_m": 5.0, + "nav_extra_cell_m": 0.5, + "max_rel_distance": 40.0, + "kf_conf_threshold_new_kf": 0.35, + "scale_std_inflation": true, + "base_measurement_std": null + } + }, + "visualization": { + "visualize_pointcloud": false, + "visualize_current_gmm_state": true, + "visualize_keyframe_gmms": true, + "visualize_system_data": true, + "visualize_trajectory": true, + "visualize_camera": true, + "visualize_pinhole_camera": false, + "visualize_keyframe_gmm_trajectory": true, + "visualize_hypotheses": true, + "visualize_odom_trajectory": true + }, + "storage": { + "format": "v2", + "image_codec": "webp_lossless", + "image_quality": 95, + "png_level": 3, + "depth_codec": "png16", + "depth_drop_bits": 0, + "descriptor_dtype": "float16", + "decode_cache": 1024, + "max_ram_images": 2000, + "encode_ahead": true, + "spill_dir": null, + "encode_workers": 4, + "gc_freeze": true + }, + "geo": { + "enabled": true, + "confidence": null, + "drift_rate": null, + "pred_floor": 0.5, + "uere": 3.0, + "sigma_v_factor": 4.0, + "window_s": 20.0, + "min_fixes": 5, + "holdoff_s": 10.0, + "factor_interval_prior_s": 20.0, + "anchor_dof": 4, + "anchor_max_yaw_std_deg": 3.0, + "anchor_refit_every": 100, + "max_fix_log": 20000, + "gauge_tilt_deg": 0.5, + "opt_min_factors": 3, + "opt_min_keyframes": 20, + "robust_c": null, + "gate": true, + "decimate": true, + "robust": true, + "retrieval_gate": true, + "proposal_gate": true, + "fix_max_age_s": 3.0, + "retrieval_focus": true, + "focus_margin_m": 5.0, + "focus_global_slots": 2, + "compass_gate": true, + "compass_sigma_deg": 5.0, + "compass_offset_deg": null, + "compass_frame": "frd", + "pose_graph": true, + "pool_sessions": false, + "compass_anchor": false, + "compass_session_sigma_deg": 4.0, + "compass_max_sigma_deg": 30.0, + "compass_max_spread_deg": 15.0, + "compass_anchor_interval_s": 1.0, + "component_anchors": false, + "component_max_pos_std_m": 10.0, + "component_min_fixes": 20 + } + }, + "camera_catalog": [ + { + "K": [ + [ + 354.9346028645833, + 0.0, + 192.0962890625 + ], + [ + 0.0, + 354.9346028645833, + 257.36876627604164 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "width": 384, + "height": 512, + "T_right_in_left": null + }, + { + "K": [ + [ + 484.898876953125, + 0.0, + 185.15163574218752 + ], + [ + 0.0, + 484.86406250000005, + 260.13437500000003 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "width": 384, + "height": 512, + "T_right_in_left": null + } + ], + "session_camera_id": 1, + "checkpoint_provenance": { + "repo": "Jamie-nus/VGGT-Omega-CROSS", + "revision": "fc5669ed9bdb4da6333a656cc06ba61f1312911d", + "files": { + "nav/cross_nav_occupancy.pt": { + "path": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_occupancy.pt", + "bytes": 146473481, + "sha256": "a0d27dfa188d46b0d845d45494ff7baf0cc747e05ab3ac10d11edf9ceca8f14e" + }, + "nav/cross_nav_observability.pt": { + "path": "/workspace/CROSS/models/VGGT-Omega-CROSS/nav/cross_nav_observability.pt", + "bytes": 120158117, + "sha256": "eb3328443291477457184d5c86aa7292318a44525b43b8be3afa45fd0a786610" + }, + "README.md": { + "path": "/workspace/CROSS/models/VGGT-Omega-CROSS/README.md", + "bytes": 15106, + "sha256": "7fcb81c1eee2df763aa7e19b4351957c86433775858c317700484a0d2dc742e9" + } + } + }, + "cross_git_revision": "4781371e6f4db4241be0a0df7c238436680ee268", + "checkpoints": { + "vggt_omega_cross_1b_512.pt": { + "bytes": 2315585871, + "sha256": "8b3c4c920cf6b7e2b3f4ce296e2426c604b69d00f59481bddb8a4b62981897e1" + }, + "nav/cross_nav_occupancy.pt": { + "bytes": 146473481, + "sha256": "a0d27dfa188d46b0d845d45494ff7baf0cc747e05ab3ac10d11edf9ceca8f14e" + }, + "nav/cross_nav_observability.pt": { + "bytes": 120158117, + "sha256": "eb3328443291477457184d5c86aa7292318a44525b43b8be3afa45fd0a786610" + } + } + }, + "input_encoding": "Exact per-view CHW tensors; shared content-addressed lossless NPZ assets", + "bfloat16_storage": "Converted losslessly to float32; original dtype recorded on inference inputs", + "outputs": "Geometry predictions, raw float BEV-head outputs, consumed BEV, base grid and planner state", + "intermediate_transformer_tokens_saved": false, + "write_policy": "Bounded asynchronous lossless compression; no sampling or silent drops", + "runtime": { + "torch": "2.6.0+cu124", + "cuda": "12.4", + "backend": "_VGGTOmegaBackend", + "estimator": "PoseEstFeedForward", + "cuda_graphs": true, + "compiled": true + } +} diff --git a/cases/20261026_goal1012_05/tools/ablate_bev_references.py b/cases/20261026_goal1012_05/tools/ablate_bev_references.py new file mode 100644 index 0000000000000000000000000000000000000000..413fdc06a9c7b902590997ccb552f8ddfd9dcf44 --- /dev/null +++ b/cases/20261026_goal1012_05/tools/ablate_bev_references.py @@ -0,0 +1,103 @@ +"""Offline, fixed-backbone BEV reference-mask ablation; never connects to a robot.""" + +import argparse +import json +import sys +from pathlib import Path + +import cv2 +import numpy as np + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--run', type=Path, required=True) + parser.add_argument('--cross-root', type=Path, required=True) + parser.add_argument('--adapter-root', type=Path, required=True) + parser.add_argument('--frame', type=int, default=747) + parser.add_argument('--output', type=Path, required=True) + args = parser.parse_args() + sys.path[:0] = [str(args.adapter_root), str(args.cross_root)] + import torch + from cross.cv.pose_est_ff import _VGGTOmegaBackend + from web_console.stretch_nav_learned import reproject_bev + from web_console.stretch_vggt_debug import load_debug_frame, load_debug_view + + args.output.mkdir(parents=True, exist_ok=True) + debug = load_debug_frame(args.run / 'vggt_debug', args.frame) + call = debug['passes'][0] + inputs = np.stack([load_debug_view(args.run / 'vggt_debug', x['asset']) for x in call['views']]) + recorded = call['head_calls'][0] + metadata = json.loads((args.run / 'vggt_debug/run.json').read_text())['metadata'] + config = metadata['resolved_config']['pose_est']['ff'] + source = next(json.loads(line) for line in (args.run / 'capture/observations.jsonl').read_text().splitlines() + if json.loads(line)['frame_idx'] == args.frame) + heads = args.cross_root / 'models/VGGT-Omega-CROSS' + backend = _VGGTOmegaBackend(str(heads / 'vggt_omega_cross_1b_512.pt'), 'cuda', + half_weights=config['half_precision_weights'], token_cache=config['token_cache'], + compile_blocks=config['compile'], dense_head_bf16=config['dense_head_bf16'], + cuda_graphs=config['cuda_graphs']) + backend.enable_nav(str(heads / 'nav/cross_nav_occupancy.pt'), + str(heads / 'nav/cross_nav_observability.pt'), + str(heads / 'nav/cross_nav_occupancy.pt')) + backend.warmup(inputs.shape[-1]) + print('Replaying the exact seven input tensors once.', flush=True) + with torch.inference_mode(): + backend.infer(torch.as_tensor(inputs, device='cuda'), **call['infer_args']) + nav = backend.last_nav + # Tokens were not archived. Recompute them once, but retain the exact + # recorded geometry so only the head's reference mask changes below. + nav['pose_enc'] = torch.as_tensor(call['pose_encoding'], device='cuda') + nav['depth'] = torch.as_tensor(call['prediction']['depth'], device='cuda') + nav['conf'] = torch.as_tensor(call['prediction']['depth_conf'], device='cuda') + arrays, reports = {}, {} + masks = {'all_recorded_views': np.ones(len(inputs), bool), + 'head_lifts_current_view_only': np.arange(len(inputs)) == 0} + for i, view in enumerate(call['views'][1:], 1): + mask = np.ones(len(inputs), bool) + mask[i] = False + masks[f'head_drops_view_{i}_kf_{view.get("reference", {}).get("id", "unknown")}'] = mask + masks['all_recorded_views_repeat'] = np.ones(len(inputs), bool) + for label, mask in masks.items(): + result = backend.nav(nav['tokens'], nav['pts'], nav['patch_hw'], nav['dino'], + nav['depth'], nav['conf'], nav['pose_enc'], nav['hw'], + recorded['inputs']['log_scale'], recorded['inputs']['up_cam'], views=mask) + raw = {k: result[k].float().cpu().numpy() for k in ('prob', 'observability', 'uncertainty')} + # Keep the recorded image-time camera frame, metric scale and gravity. + consumed = {k: raw[k].astype(np.float16) for k in raw} + bev = debug['outputs']['consumed_bev'] + grid = reproject_bev(consumed['prob'], consumed['observability'], consumed['uncertainty'], + bev['R_bev_from_cam'], source['camera_pose'], source['base_pose_matrix'], bev['res']) + for key, array in {**{f'raw_{k}': v for k, v in raw.items()}, **grid}.items(): + arrays[label + '__' + key] = array + uv = debug['outputs']['body_grid']['base_pixel_to_camera_pixel'] @ [190., 190., 1.] + raw_at_cell = float(cv2.remap(raw['prob'], np.array([[uv[0]]], np.float32), + np.array([[uv[1]]], np.float32), cv2.INTER_LINEAR)[0, 0]) + report = {'head_view_mask': mask.tolist(), 'occupancy_at_cell_190_190': float(grid['prob'][190, 190]), + 'raw_occupancy_at_cell': raw_at_cell, + 'observability_at_cell': float(grid['obs'][190, 190])} + if label == 'all_recorded_views': + report['raw_occupancy_max_abs_difference_from_recording'] = float( + abs(raw['prob'] - recorded['outputs']['prob']).max()) + report['raw_occupancy_mean_abs_difference_from_recording'] = float( + abs(raw['prob'] - recorded['outputs']['prob']).mean()) + report['base_occupancy_max_abs_difference_from_recording'] = float( + abs(grid['prob'] - debug['outputs']['body_grid']['prob']).max()) + reports[label] = report + print(label, json.dumps(report), flush=True) + np.savez_compressed(args.output / 'head_mask_outputs.npz', **arrays) + repeat_difference = float(abs(arrays['all_recorded_views__prob'] - + arrays['all_recorded_views_repeat__prob']).max()) + assert repeat_difference < .01, 'Repeated baseline varied materially; investigate before interpreting ablation' + report = {'capture_frame': args.frame, 'method': 'Recompute the recorded backbone tokens once, retain exact ' + 'recorded depth/confidence/pose, then change only the BEV-head valid/lift mask. ' + 'Keep all seven backbone-context images, recorded scale/gravity and TF.', + 'limitations': 'Removing a head view does not remove that image from the transformer context. ' + 'This tests explicit reference lifting, not full removal of historical appearance or training priors.', + 'source': 'offline_counterfactual; never used for robot execution', + 'repeated_baseline_max_abs_difference': repeat_difference, 'results': reports} + (args.output / 'report.json').write_text(json.dumps(report, indent=2) + '\n') + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/tools/analyze_attachment.py b/cases/20261026_goal1012_05/tools/analyze_attachment.py new file mode 100644 index 0000000000000000000000000000000000000000..1734b51838b76f5c526d71bc3ef390ab68383e4e --- /dev/null +++ b/cases/20261026_goal1012_05/tools/analyze_attachment.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +"""Recheck the saved depth veto at a selected frame, without a robot, GPU or pickle.""" +import argparse +import json +from pathlib import Path +import sys + +import numpy as np + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--extracted', type=Path, default=Path('extracted')) + parser.add_argument('--frame', type=int, default=747) + parser.add_argument('--evidence-frame', type=int, help='Earlier saved obstacle-memory frame, if needed') + parser.add_argument('--output', type=Path) + args = parser.parse_args() + dataset = Path(__file__).resolve().parents[1] + sys.path.insert(0, str(dataset / 'code/lite3_ROS')) + from web_console.stretch_nav_control import attachment_clear + + case = json.loads((dataset / 'manifest.json').read_text()) + run = args.extracted / 'runs' / case['case'] + mapping = args.extracted / 'maps' / case['reference_map'] + observations = {x['frame_idx']: x for x in map(json.loads, (run / 'observations.jsonl').read_text().splitlines())} + raw = {x['frame_idx']: x for x in map(json.loads, (run / 'capture/observations.jsonl').read_text().splitlines())} + row, source = observations[args.frame], raw[args.frame] + camera = np.asarray(source['camera_pose']) + base = np.asarray(source['base_pose_matrix']) + neutral = np.asarray(row['neutral_camera_in_base']) + alignment = np.asarray(row['native_map_camera']) @ np.linalg.inv(camera) + reference = base @ neutral + reference_map = alignment @ reference + inv_alignment = np.linalg.inv(alignment) + graph = json.loads((mapping / 'graph.json').read_text()) + evidence_frame = args.frame if args.evidence_frame is None else args.evidence_frame + with np.load(run / 'footprint_evidence' / f'{evidence_frame:08d}.npz', allow_pickle=False) as evidence: + points = evidence['measured_obstacles_odom'].copy() + candidates = [] + for node in graph['nodes']: + if node['temporary']: + continue + position = np.asarray(node['pose'])[:3, 3] + distance = np.linalg.norm(position - reference_map[:3, 3]) + if distance > .75: + continue + target_odom = inv_alignment[:3, :3] @ position + inv_alignment[:3, 3] + target = base[:2, 3] + target_odom[:2] - reference[:2, 3] + candidates.append({'keyframe': node['id'], 'distance_m': float(distance), + 'depth_attachment_clear': bool(attachment_clear(points, source['base_pose'], target))}) + result = {'capture_frame': args.frame, 'evidence_frame': evidence_frame, 'localized': row['localized'], + 'recorded_attachment': row['route_attachment'], + 'candidate_scope': 'All permanent nodes within 0.75 m; native graph reachability is not re-evaluated.', + 'nearby_before_depth_check': len(candidates), + 'clear_after_depth_check': sum(x['depth_attachment_clear'] for x in candidates), + 'measured_obstacle_points': len(points), 'candidates': candidates, + 'interpretation': 'This checks the recorded adapter depth veto. It does not prove whether the returns ' + 'represent physical obstacles, self observations, noise or accumulated old returns.'} + text = json.dumps(result, indent=2) + '\n' + if args.output: + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(text) + print(text) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/tools/diagnose_bev_region.py b/cases/20261026_goal1012_05/tools/diagnose_bev_region.py new file mode 100644 index 0000000000000000000000000000000000000000..8cea0fa90ab606c358cb48950eb641b9a6e3c36f --- /dev/null +++ b/cases/20261026_goal1012_05/tools/diagnose_bev_region.py @@ -0,0 +1,193 @@ +"""Compare arbitrary saved BEV cells with survey depth, raw heads and planner memory; no hardware.""" + +import argparse +import csv +import json +import sys +from pathlib import Path + +import cv2 +import numpy as np + +ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(ROOT if (ROOT / 'web_console').is_dir() else ROOT / 'code/lite3_ROS')) +from scripts.diagnose_stretch_bev_blockage import ( # noqa: E402 + column_free_space, + depth_at_ground, + map_probability, + project_ground, + sampled, +) +from web_console.stretch_nav_geometry import body_to_world, world_to_body # noqa: E402 +from web_console.stretch_nav_learned import reproject_bev # noqa: E402 +from web_console.stretch_nav_report import clean_json # noqa: E402 +from web_console.stretch_vggt_debug import load_debug_frame # noqa: E402 + + +def timeline(run, raw, cells, begin, end): + result = [] + for path in sorted((run / 'vggt_debug/frames').glob('*/frame.json')): + index = int(path.parent.name) + if index > end or raw[index]['relative_time_s'] < begin: + continue + data = json.loads(path.read_text()) + metadata = data.get('outputs', {}) + if not metadata.get('body_grid') or not metadata.get('planner_state'): + continue + with np.load(path.parent / 'arrays.npz', allow_pickle=False) as archive: + cache = {} + + def unpack(value): + if isinstance(value, dict): + if 'npz_key' in value: + key = value['npz_key'] + if key not in cache: + cache[key] = archive[key] + return cache[key] + return {k: unpack(v) for k, v in value.items()} + if isinstance(value, list): + return [unpack(v) for v in value] + return value + + grid = unpack(metadata['body_grid']) + state = unpack(metadata['planner_state']) + n, res = len(grid['prob']), .05 + for cell in cells: + body = world_to_body(cell['world_xy'], np.asarray(raw[index]['base_pose_matrix'])) + rc = np.floor(n / 2 - body / res).astype(int) + if not ((rc >= 0) & (rc < n)).all(): + continue + result.append({'frame': index, 'time_s': raw[index]['relative_time_s'], 'cell': cell['label'], + 'current_occupancy': float(grid['prob'][tuple(rc)]), + 'current_observability': float(grid['obs'][tuple(rc)]), + 'fused_occupancy': map_probability(state, cell['world_xy'])['occupancy']}) + return result + + +def figure(run, raw, debug, cells, curve, output): + import matplotlib + + matplotlib.use('Agg') + import matplotlib.pyplot as plt + from matplotlib.patches import Rectangle + + frame = debug['capture_frame'] + floor_views = [row for row in cells[0]['depth_history'] if row.get('floor_returns', 0) >= 40] + selected = max(floor_views, key=lambda row: min(row['pixel_uv'][0], 480 - row['pixel_uv'][0], + row['pixel_uv'][1], 640 - row['pixel_uv'][1]))['frame'] + fig, axes = plt.subplots(2, 3, figsize=(17, 10), constrained_layout=True) + for axis, index, title in ((axes[0, 0], frame, 'Current RGB'), + (axes[0, 1], selected, 'Survey RGB: same fixed world cells')): + rgb = cv2.cvtColor(cv2.imread(str(run / 'capture/rgb' / f'{index:08d}.jpg')), cv2.COLOR_BGR2RGB) + axis.imshow(rgb) + for cell in cells: + uv, _ = project_ground(cell['world_xy'], raw[index]) + if 0 <= uv[0] < rgb.shape[1] and 0 <= uv[1] < rgb.shape[0]: + axis.scatter(*uv, s=170, facecolors='none', edgecolors='lime', linewidths=2) + axis.annotate(cell['label'], uv + [8, -8], color='lime', weight='bold') + axis.set_title(f'{title}, frame {index}') + axis.axis('off') + axes[0, 0].text(.02, .98, 'A and B ground centres are outside this view', transform=axes[0, 0].transAxes, + va='top', color='white', bbox={'facecolor': 'black', 'alpha': .7}) + grid = debug['outputs']['body_grid'] + half, res = len(grid['prob']) * .05 / 2, .05 + extent = (half, -half, -half, half) + axes[0, 2].imshow(grid['prob'], extent=extent, origin='upper', cmap='RdYlGn_r', vmin=0, vmax=1) + axes[0, 2].set(xlim=(3., -3.), ylim=(-.5, 5.), title='Current BEV: forward-left red patch', + xlabel='Left [m]', ylabel='Forward [m]') + world = debug['outputs']['planner_state']['world'] + n = len(grid['prob']) + rr, cc = np.mgrid[:n, :n] + local = np.column_stack([(n / 2 - rr.ravel() - .5) * res, (n / 2 - cc.ravel() - .5) * res]) + xy = body_to_world(local, np.asarray(raw[frame]['base_pose_matrix'])) + uv = ((xy - world['o']) / world['c']['res'] - .5).astype(np.float32) + fused = cv2.remap(world['num'] / np.maximum(world['den'], 1e-6), + uv[:, 0].reshape(n, n), uv[:, 1].reshape(n, n), cv2.INTER_LINEAR) + for axis, values, title in ((axes[1, 0], grid['prob'], 'Current occupancy: detailed near field'), + (axes[1, 1], fused, 'Separate native planner memory')): + axis.imshow(values, extent=extent, origin='upper', cmap='RdYlGn_r', vmin=0, vmax=1) + axis.set(xlim=(1.5, -.3), ylim=(-.3, 1.5), title=title, xlabel='Left [m]', ylabel='Forward [m]') + for axis in (axes[0, 2], axes[1, 0], axes[1, 1]): + axis.add_patch(Rectangle((-.23, -.23), .46, .46, fill=False, color='black', linewidth=1.5)) + for cell in cells: + fwd, left = cell['body_xy'] + axis.scatter(left, fwd, marker='x', color='black', s=60) + axis.annotate(cell['label'], (left + .025, fwd + .025), weight='bold') + axis.set_aspect('equal') + for label, style in (('A', '-'), ('B', '--')): + points = [x for x in curve if x['cell'] == label] + axes[1, 2].plot([x['time_s'] for x in points], [x['current_occupancy'] for x in points], + style, label=f'{label}: current') + axes[1, 2].plot([x['time_s'] for x in points], [x['fused_occupancy'] for x in points], + style, alpha=.6, label=f'{label}: fused memory') + axes[1, 2].axhline(.6, color='red', linewidth=.8, label='blocking threshold') + axes[1, 2].set(xlabel='Capture-relative time [s]', ylabel='Occupancy', ylim=(0, 1), + title='Same fixed world cells through the survey') + axes[1, 2].legend(fontsize=8) + axes[1, 2].grid(alpha=.2) + fig.suptitle('Frame 747: false occupancy in the nearby forward-left patch', fontsize=15) + fig.savefig(output / 'region_analysis.png', dpi=150) + plt.close(fig) + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--run', type=Path, required=True) + parser.add_argument('--frame', type=int, default=747) + parser.add_argument('--output', type=Path, required=True) + args = parser.parse_args() + run, output, frame = args.run.resolve(), args.output.resolve(), args.frame + output.mkdir(parents=True, exist_ok=True) + raw = {r['frame_idx']: r for r in map(json.loads, + (run / 'capture/observations.jsonl').read_text().splitlines())} + debug = load_debug_frame(run / 'vggt_debug', frame) + grid, bev = debug['outputs']['body_grid'], debug['outputs']['consumed_bev'] + history = [r for r in raw.values() if r['frame_idx'] <= frame and + r['relative_time_s'] >= raw[frame]['relative_time_s'] - 60.] + recomputed = reproject_bev(bev['prob'], bev['observability'], bev['uncertainty'], + bev['R_bev_from_cam'], raw[frame]['camera_pose'], raw[frame]['base_pose_matrix'], bev['res']) + cells = [] + for label, rc in (('A', (190, 190)), ('B', (189, 189))): + body = (len(grid['prob']) / 2 - np.asarray(rc) - .5) * bev['res'] + xy = body_to_world([body], np.asarray(raw[frame]['base_pose_matrix']))[0] + depth_history = [depth_at_ground(run, source, xy) for source in history] + floors = [row for row in depth_history if row.get('floor_returns', 0) >= 3 and + row.get('elevated_returns', 0) == 0] + if not floors: + raise ValueError('No supporting floor observation at selected cell') + uv = grid['base_pixel_to_camera_pixel'] @ [rc[1], rc[0], 1.] + raw_head = debug['passes'][0]['head_calls'][0]['outputs'] + cells.append({'label': label, 'row': rc[0], 'column': rc[1], 'body_xy': body, + 'world_xy': xy, 'current_occupancy': float(grid['prob'][rc]), + 'observability': float(grid['obs'][rc]), 'error_score': float(grid['err'][rc]), + 'raw_head_occupancy': sampled(raw_head['prob'], uv), + 'native_memory': map_probability(debug['outputs']['planner_state'], xy), + 'current_floor_projection': depth_history[-1], 'floor_observations': len(floors), + 'latest_floor_observation': floors[-1], 'depth_history': depth_history, + 'column_free_space': column_free_space(run, history, xy)}) + curve = timeline(run, raw, cells, history[0]['relative_time_s'], frame) + report = {'run': run.name, 'capture_frame': frame, + 'display_provenance': 'The viewer uses the current reprojected VGGT BEV. ' + 'Native planner WorldMap memory is separate.', + 'reprojection_max_abs_difference': float(abs(recomputed['prob'] - grid['prob']).max()), + 'cells': cells, 'occupancy_timeline': curve, + 'vggt_input_views': debug['passes'][0]['views'], + 'finding': 'The selected nearby forward-left cells have high current learned occupancy despite positive ' + 'survey floor and free-space ray evidence. This supports a false-occupancy diagnosis at these ' + 'cells, without declaring the entire left-hand furniture row absent.', + 'stop_relationship': 'The eventual fatal stop was the separate measured-depth graph-attachment veto. ' + 'These selected cells are not asserted to have caused that stop.'} + (output / 'region_report.json').write_text(json.dumps(clean_json(report), indent=2, allow_nan=False) + '\n') + with (output / 'occupancy_timeline.csv').open('w', newline='') as stream: + writer = csv.DictWriter(stream, fieldnames=list(curve[0])) + writer.writeheader() + writer.writerows(curve) + figure(run, raw, debug, cells, curve, output) + print(json.dumps(clean_json({'frame': frame, 'reprojection_difference': report['reprojection_max_abs_difference'], + 'cells': [{k: c[k] for k in ('label', 'body_xy', 'current_occupancy', 'observability', + 'raw_head_occupancy', 'native_memory', 'floor_observations', + 'latest_floor_observation')} for c in cells]}), indent=2)) + + +if __name__ == '__main__': + main() diff --git a/cases/20261026_goal1012_05/tools/unpack.py b/cases/20261026_goal1012_05/tools/unpack.py new file mode 100644 index 0000000000000000000000000000000000000000..1aa0fc3365ef783ef926e76faccaf50bd9552127 --- /dev/null +++ b/cases/20261026_goal1012_05/tools/unpack.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +"""Verify the dataset archives and extract the saved run, map and native source.""" +import argparse +import hashlib +import json +from pathlib import Path +import shutil +import tarfile + + +def sha256(path): + result = hashlib.sha256() + with path.open('rb') as stream: + for block in iter(lambda: stream.read(8 * 1024 * 1024), b''): + result.update(block) + return result.hexdigest() + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--output', type=Path, default=Path('extracted')) + parser.add_argument('--dataset', type=Path, default=Path(__file__).resolve().parents[1]) + args = parser.parse_args() + dataset, output = args.dataset.resolve(), args.output.resolve() + output.mkdir(parents=True, exist_ok=True) + manifest = json.loads((dataset / 'manifest.json').read_text()) + pending_links = [] + for entry in manifest['archives']: + path = dataset / entry['path'] + print('Verify/extract:', entry['path'], flush=True) + if path.stat().st_size != entry['bytes'] or sha256(path) != entry['sha256']: + raise ValueError('Archive checksum mismatch: ' + str(path)) + expected = {x['path']: x for x in entry.get('members', [])} + seen = set() + with tarfile.open(path, 'r:*') as archive: + # Native CROSS contains one relative package alias. Defer symlinks + # until ordinary files are extracted and validate their targets. + for member in archive: + name = Path(member.name) + if name.is_absolute() or '..' in name.parts: + raise ValueError('Unsafe archive member: ' + member.name) + target = output / name + if target.is_symlink() or any(p.is_symlink() for p in target.parents): + raise ValueError('Extraction path contains a symlink') + if member.isdir(): + target.mkdir(parents=True, exist_ok=True) + elif member.isfile(): + if expected and member.name not in expected: + raise ValueError('Unlisted archive member: ' + member.name) + if target.exists(): + raise FileExistsError('Choose an empty output directory: ' + str(target)) + target.parent.mkdir(parents=True, exist_ok=True) + with archive.extractfile(member) as source, target.open('xb') as dest: + shutil.copyfileobj(source, dest, 8 * 1024 * 1024) + if member.name in expected and sha256(target) != expected[member.name]['sha256']: + raise ValueError('Extracted member checksum mismatch: ' + member.name) + seen.add(member.name) + elif member.issym(): + link = Path(member.linkname) + if link.is_absolute(): + raise ValueError('Absolute symlink target') + resolved = (target.parent / link).resolve() + resolved.relative_to(output) + pending_links.append((target, member.linkname, resolved)) + else: + raise ValueError('Non-regular archive member: ' + member.name) + if expected and seen != set(expected): + raise ValueError('Missing archive members') + for target, link, resolved in pending_links: + if not resolved.exists() or target.exists() or target.is_symlink(): + raise ValueError('Invalid source alias: ' + str(target)) + if any(p.is_symlink() for p in target.parents): + raise ValueError('Source alias parent is a symlink') + target.parent.mkdir(parents=True, exist_ok=True) + target.symlink_to(link) + print('Ready:', output / 'runs' / manifest['case']) + + +if __name__ == '__main__': + main()